3Controller
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3-91
■ Specifications
Table 3-40 ： Specifications
■ Functions
(1) Additional robot axis function
・ The robot controller can control a maximum of 2 axes such the travel axis, etc., as the 7th and 8th axes of the
robot arm.
・ Additional axes are controlled in such a way that they start moving and stop simultaneously with the standard
robot axes.
(2) Multi-mechanism function
・ The robot controller can control user-created mechanisms, such as a rotation axis and a linear driving axis, for
up to 2 units as multi-mechanisms.
・The robot controller controls multi-mechanisms independent of the standard robot axes (asynchronous control).
It can control up to 3 axes of user-created mechanisms per unit.
(3) Programming language
・ The additional axes can be programmed with MELFA-BASICIV language method and MOVEMASTER command
method.
・ User-created mechanisms can only be controlled using the MELFA-BASIC IV language.
Item Specifications Specification of user mechanism
Number of controllable robots (mechanisms) 3
Number of control axes (total) 8 axes
Number of control axes (for each mechanism) 2 axes 3 axes
Applicable amplifier MELSERVO-J2-Super series
Applicable encoder ABS method only (absolute value encoder)
Communication method SSCNET (differential communication) of Mitsubishi
Mountable optional slots Slot 1 or 3
Number of mountable interface cards 1
Control function Synchronous interpolation control
Path control method CP control/PTP control PTP control
Acceleration/deceleration The trapezoidal method/acceleration/deceleration time pattern can be set.
Position control Distance control/angle control can be selected.
Actual value control with pitch/deceleration ratio setting
Minimum command value 0.01mm or 0.001mm (can be changed by a parameter)
Maximum motion range Max. .80000.00(0) deg. to +80000.00 (0) deg.
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