IAI RA Series User manual

XSELController
RA/SA Series
Extension Motion
Control Function
Instruction Manual Second Edition
IAI Corporation

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely
such as the operation procedure, structure and maintenance procedure.
To ensure the safe operation of this product, please read and fully understand this manual.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or
display them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
•This Instruction Manual is original.
•The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
•Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
•If you have any question or comment regarding the content of this manual, please contact
the IAI sales office near you.
•Using or copying all or part of this Instruction Manual without permission is prohibited.
•SSCNET is a registered trademark of Mitsubishi Electric Corporation.
•The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
ME0364-2B

ME0364-2B

Construction of Instruction Manual for Each Controller Model and
This Manual
XSEL-RA/SA
zOperation Pattern
• Positioner Function Extension Motion Control Feature
(This Manual) ME0346
• Synchronization Control
Function
Basic Specifications XSEL-RA/SA ME0359
and Their Functions
Teaching Tool
• PC Software  PC Software ME0154
• Teaching Pendant
(i) TB-02 Touch Panel Teaching ME0356
(ii) TB-03 Touch Panel Teaching ME0377
ME0364-2B

Table of Overall Contents
19
Chapter 3 Basic Settings
In this chapter, explains the settings necessary for operation.
9
Chapter 1 Outline of Extension Motion Control
Feature
In this chapter, explains the specifications of the product and
supportive operations.
15
Chapter 2 Installation and Wiring
In this chapter, explains the connections to actuators and
external devices
33
Chapter 4 Operation Program
In this chapter, explains how to create programs for each
supportive operation.
111
Chapter 5 Practical Settings
In this chapter, explains such things as synchronization with
the XSEL controller built-in driver.
Chapter 6 Parameter Detail
In this chapter, explains the related parameters. 143
Chapter 7 Details of Features
In this chapter, explains details related to operations and
MECHATROLINK communication. 163
167
Chapter 8 Troubleshooting
In this chapter, explains how to act in errors and contents of
them.
ME0364-2B

Table of Contents
Safety Guide ···································································································· 1
Precautions in Operation ···················································································· 8
1. Outline of Extension Motion Control Feature................................................................9
1.1. Supportive Operations...............................................................................................10
1.2. Basic Specifications...................................................................................................12
1.3. Teaching Tools and Instruction Manuals....................................................................13
2. Installation and Wiring ................................................................................................15
2.1. Starting Procedures ...................................................................................................15
2.2. Name and Function of Each Part Related to Extension Motion Control Feature .......16
2.3. Example for Emergency Stop System Construction ..................................................17
2.4. Cable Layout .............................................................................................................18
3. Basic Settings.............................................................................................................19
3.1. Check Items before Starting Setup............................................................................19
3.2. How to Set Up ...........................................................................................................22
3.3. RC Controller Settings...............................................................................................23
3.4. Setup of XSEL (Functions in Common).....................................................................24
3.5. Setup of XSEL (for Each Axis)...................................................................................27
3.6. Operation Check .......................................................................................................30
4. Operation Program .....................................................................................................33
4.1. Support Function .......................................................................................................33
4.2. Positioner Function....................................................................................................34
4.2.1. Position Data Count............................................................................................. 34
4.2.2. Editing the Position Data ..................................................................................... 34
4.2.3. Positioning Completion........................................................................................ 36
4.2.4. Actuator Control Commands ............................................................................... 37
4.3. Electronic Shaft .........................................................................................................38
4.4. Electronic CAM..........................................................................................................39
4.4.1. Combination of Master Axes and Slave Axes ..................................................... 41
4.4.2. Synchronized Electronic CAM Operation............................................................ 43
4.4.3. Independent Electronic CAM (virtual master) Operation .................................... 47
4.4.4. Reciprocal Movement and Feed Movement ....................................................... 48
4.4.5. Editing of Electronic CAM Data ........................................................................... 50
4.4.6. CAM Curve Types ............................................................................................... 59
4.5. SEL Commands Used in Extension Motion Control Features ...................................64
4.5.1. List of SEL Commands in Extension Motion Control Features ........................... 64
4.5.2. Relation of Other SEL Commands with Extension Motion Control Features...... 66
4.5.3. Extension Motion Control Axis Position Operation Commands .......................... 68
4.5.4. Extension Motion Control Axis Actuator Control Declaration Command............. 75
4.5.5 Extension Motion Control Axis Actuator Control Command................................ 79
4.5.6. Extension Motion Control Axis Status Acquisition Commands.......................... 104
4.6. Sample Programs....................................................................................................106
4.6.1. Positioning Using Position Data ........................................................................ 106
4.6.2. Electronic Shaft Synchronizing Operation......................................................... 107
4.6.3. Electronic Cam Synchronizing Operation ......................................................... 108
4.7. Sample Programs....................................................................................................109
4.7.1. Pausing.............................................................................................................. 109
4.7.2. Synchronous Movement.................................................................................... 109
4.7.3. Others.................................................................................................................110
ME0364-2B

5. Practical Settings...................................................................................................... 111
5.1. Special Ways for Axes Use...................................................................................... 112
5.1.1. Standard Driver Control......................................................................................112
5.1.2. Drive Invalid Axis ................................................................................................114
5.2. Extension Motion Control Axis Status Extension Input Port Assignment ................. 115
5.3. How to Use Wrist Unit ............................................................................................. 118
5.3.1. Preparation Before Operation ............................................................................119
5.3.2. Caution .............................................................................................................. 122
5.3.3. When Operating with Extension Motion Control Command.............................. 123
5.3.4. When Operating with Information of Cartesian Coordinates Gained from
Camera.............................................................................................................. 124
5.3.5. Coordinate Conversion Commands .................................................................. 128
5.3.6. Settings in Common for Coordinate Conversion Commands ........................... 131
5.3.7. Caution .............................................................................................................. 132
5.3.8. Coordinate System............................................................................................ 134
5.3.9. Form .................................................................................................................. 140
5.3.10. Troubleshooting................................................................................................. 141
6. Parameter Detail.......................................................................................................143
6.1. Extension Motion Control Parameter List ................................................................143
6.1.1. I/O Parameter .................................................................................................... 143
6.1.2. All Axes Parameter............................................................................................ 144
6.1.3. Each Axis Parameter......................................................................................... 144
6.1.4. Extension Motion Control Common Parameters............................................... 145
6.1.5. Extension Motion Control Each Axis Parameters.............................................. 146
6.2. Details of Extension Motion Control Parameter.......................................................148
6.3. Relation with Existing Parameters...........................................................................159
6.4. List for Degrees of Indispensability for Parameter Settings (Reference) .................161
7. Details of Features ...................................................................................................163
7.1. Details Related to Operation ...................................................................................163
7.1.1. Safety Speed of Extension Motion Control Axis ................................................ 163
7.2. Transmission Cycle of MECHATROLINK Communication ......................................164
8. Troubleshooting........................................................................................................167
8.1. Notes Related to Generally for Errors......................................................................167
8.2. Process in Trouble Occurrence ...............................................................................168
Change History................................................................................................................175
ME0364-2B

1
Safety Guide (Read before Use)
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
●This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
●Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an injury or damage on the work piece.
ME0364-2B

2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
ME0364-2B

3
No. Operation
Description Description
(2) Cable Wiring
●Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
●Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
●Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
●When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
●Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
●Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
●The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ωor below).
ME0364-2B

4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
●Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
●Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
●Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
●When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
●Take the measure so that the work part is not dropped in power failure or
emergency stop.
●Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
●Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
ME0364-2B

5
No. Operation
Description Description
6 Trial
Operation
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
●When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
●Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
●Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
●Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
●Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
●Make sure to operate automatic operation start from outside of the
safety protection fence.
●In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.
ME0364-2B

6
No. Operation
Description Description
8 Maintenance
and
Inspection
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
●When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
●Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
●The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
●Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
●Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ●When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
●When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
●Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ●Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
●See Overseas Specifications Compliance Manual to check whether
complies if necessary.
●For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
ME0364-2B

7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury. Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury. Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice
ME0364-2B

8
Precautions in Operation
1. Take noise prevention measures on the electronic devices installed in the same
equipment.
2. RC controllers shall be connected to the same 24-VDC power as a general rule. Our PS24
products can be connected in parallel, but if commercially available DC power supply units
are to be used, connect each controller’s power supply to common ground (0 V).
3. Make sure to have the emergency stop circuits for the XSEL controller and each RC
controller joint in the same system, so the input of emergency stop will be made at the
same time.
Error No. C65 “Servo on/off Logic Error” or Error No. E58 “Servo on/off Timeout Error” will
occur when only the RC controller side comes into the emergency stop condition while the
servo for a command from the XSEL controller is on.
Power
supply 1
+
-
Power
supply 2
+
-
0V (common)
Emergency stop ON!
ME0364-2B

1. Outline of Extension Motion Control Feature
9
1. Outline of Extension Motion Control Feature
“Extension motion control feature” is a feature that control axes can be added to an XSEL controller
(hereafter described as XSEL).
In addition to the control *1 axes connected to the driver mounted on XSEL (8 axes max.), it is
available to make operation (Note 1) with 32 control axes at maximum *2 connected.
As an extension motion control axis, MECHATROLINK-III type IAI-produced positioner controller
(hereafter described as RC controller) axis is to be connected. Refer to 1.2 for the lineup of the RC
controllers that supports connection with the extension motion control feature.
*1 It should be so-called the standard motion control axes.
*2 It should be so-called the extension motion control axes.
Note 1 It is also available to use the standard motion control axes as the extension motion control
axes. [Refer to 5.1.1.]
MECHATROLINK-ⅢCable
RC Cntroller
MECHATROLINK-
ⅢType
Standard Motion
Control Axes
Extension Motion
Control Axes
(8 axes max.) (32 axes max.)
ME0364-2B

1. Outline of Extension Motion Control Feature
10
1.1. Supportive Operations
The extension motion control axes are basically available for operations only with the SEL
commands dedicated for the extension motion control (such as XMVP, XMVL, etc.).
Operation cannot be made with the SEL commands for the standard motion control (such as
MOVP, MOVL, PATH, etc.).
In this section, explains the outline of operation available to command to the extension motion
control axes.
The extension motion control feature mainly supports two types of functions as follows.
* Controllers for SCARA Robot are not available to use (2) Synchronization Control Function.
(1) Positioner Function
(2) Synchronization Control Function
In (1) Positioner Function, it is available to perform positioning to the target position with the
position data set in advance. It is available to have a single-axis actuator perform positioning on
several points and to have Cartesian combination unit axes perform linear interpolation operation.
Also, the number of position data available to use in one axis varies depending on the total
number of the extension motion control axes to be used. For example, if the number of axes in
use is eight, 512 points of position data are available for one axis, and if 32 axes (max. number of
axes) are in use, 128 points are available.
Figure : Example for two-point positioning of
slider
Figure : Example for linear interpolation operation by X
and Y combination unit
[Reference]
The position data for the extension motion control axes is to be stored in the domain called
“User Data Retaining Memory (“UBM” in short)”. The position data will be retained even when
the power to the controller is turned off.
Also, it is not necessary for flash ROM writing in order to save the position data.
ME0364-2B

1. Outline of Extension Motion Control Feature
11
The synchronization control function in (2) is a feature to make the extension motion control axes
synchronize to the operation of a specified axis (master axis) as a slave axis. As it makes the axis
synchronize to the master axis in real time, the slave axis tracks the positions of the master axis
even when the speed or acceleration/deceleration of the master axis has changed.
There are two types of synchronizing methods, “Electronic Shaft” and “Electronic Cam”, to
support the feature. The electronic shaft operation enables the slave axes to make the same
operation as the master axis (operation ratio = 1:1) or operation multiplied by a certain ratio. The
electronic cam operation enables the slave axes to make the synchronizing operation to the
master axis following the “Electronic cam table”.
主軸 従軸1
従軸2 従軸3
Example for Operation Upwards and Downwards of Thin Plate Using Electronic Shaft Feature
Example for Operation Using Electronic Cam Feature
Slave axis 2 Slave axis 3
Slave axis 1Master axis
Master axis
Master axis
position
Slave
axis
Displacement
Set Electronic Cam Table
ME0364-2B

1. Outline of Extension Motion Control Feature
12
1.2. Basic Specifications
• Basic Specifications
Item Contents
Number of Controlled
Axes 32 axes max.(Note 3)
RC Controller Connection
I/F MECHATROLINK-Ⅲ(Standard servo profile)
Connectable Controller
(Note 1)
Single-axis type : SCON-CA/CB, PCON-CB, ACON-CB,
DCON-CB
Multi-axis type : MCON-C
Positioner Function
Servo ON/OFF, Home-return, PTP Movement (Absolute,
Relative), Linear Interpolation Movement (Absolute, Relative),
Direct Indication Movement (Absolute, Relative)
Synchronization Control
Function (Note 2)
Electronic Shaft,
Synchronizing Electronic Cam (Master slave indicated),
Independent Electronic CAM (Virtual master)
Other Function JOG/Inching, Axis Movement Stop, Pause,
Axis Movement Cancellation, Soft limit, Teaching
Note 1 : Only for MECHATROLINK-Ⅲapplicable for standard servo profile. For the RC
controller function specifications, the specifications for MECHATROLINK-III type are
partly different from those for other types. For details, refer to the RC Controller
MECHATROLINK-ⅢInstruction Manual.
Note 2 : SCARA Robot controllers cannot use the synchronizing control feature.
Note 3 : For MCON-C, the number of controlled axes is counted basically under the condition
that there are two controlled axes per driver board to be used. Therefore, when a
single-axis type driver board is to be used, the maximum number of controlled axes
might be reduced.
• MECHATROLINK Communication Specifications
Item Contents
Communication System Cyclic communication
Transmission Frequency 1msec or 2msec (Note 1)
communication Frequency Same value as transmission cycle (actual scale)
Baud Rate 100Mbps
Number of Connected
Slave Axes 32 axes max.
Input and Output Data
Size 32byte / 32byte
Master Station Address 01H (fixed)
Slave Station Address
(Setting at Delivery : 0H)
Station address : 03H to EFH
Extension address : 00H to FEH
Note 1 : In default, it should be 1msec when the number of connected axes is 16 or less, and
2msec when more than 16.
ME0364-2B