Mitsubishi CRn-500 Series User manual

Mitsubishi Industrial Robot
CRn-500 Series INSTRUCTION MANUAL
Expansion Serial Interface
Tracking Function Manual
BFP-A8524-A

All teaching work must be carried out by an operator who has received special training.
(This also applies to maintenance work with the power source turned ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures of
operating the robot, and to the measures to be taken when an error occurs or when
restarting. Carry out work following this plan. (This also applies to maintenance work
with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during teaching work.
(This also applies to maintenance work with the power source turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress on the
start switch, etc. (This also applies to maintenance work with the power source turned
ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the operator and
robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and follow
this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign indicating
that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other related
devices, etc., and confirm that there are no errors.
Inspection before starting work
A
lways read the following precautions and the separate
"Safety Manual" before starting use of the robot to learn the
required measures to be taken.
Safety Precautions
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do so could
lead to a drop or reliability or faults. (Temperature, humidity, atmosphere, noise
environment, etc.)
Transport the robot with the designated transportation posture. Transporting the robot
in a non-designated posture could lead to personal injuries or faults from dropping.
Always use the robot installed on a secure table. Use in an instable posture could lead
to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable. Failure to
observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the rated
load or tolerable torque. Exceeding these values could lead to alarms or faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to observe
this could lead to personal injuries or damage if the object comes off or flies off during
operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state could
lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure the
priority right for the robot control. Failure to observe this could lead to personal injuries
or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do so
could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with peripheral
devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic operation,
the door is locked or that the robot will automatically stop. Failure to do so could lead to
personal injuries.
Never carry out modifications based on personal judgments, or use non-designated
maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or fingers
catching depending on the posture.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

Do not stop the robot or apply emergency stop by turning the robot controller's main
power OFF. If the robot controller main power is turned OFF during automatic operation,
the robot accuracy could be adversely affected.Moreover, it may interfere with the
peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the internal
information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic operation or
rewriting the program or parameters, the internal information of the robot controller may
be damaged.
Precautions for the basic configuration are shown below.(When CR1-571/CR1B-571 is used for the controller.)
Provide an earth leakage breaker that packed together on the primary power supply of
the controller as protection against electric leakage. Confirm the setting connector of the
input power supply voltage of the controller, if the type which more than one power supply
voltage can be used. Then connect the power supply.
Failure to do so could lead to electric shock accidents.
Cover
Terminal cover
Rear side of controller
Earth leakage
breaker
(NV)
Protective earth
terminal
(PE)
Cover
Terminal
Power supply *RV-1A/2AJ series and RP-1AH/3AH/5AH series: Single phase 90-132VAC, 180-253VAC.
*Except the above: Single phase 180-253VAC.
For using RH-5AH/10AH/15AH series or RH-6SH/12SH/18SH series.
While pressing the brake releasing switch on the robot arm, beware of the arm which
may drop with its own weight.
Dropping of the hand could lead to a collision with the peripheral equipment or catch the
hands or fingers.
CAUTION
CAUTION
CAUTION
WARNING

■ Revision history
Date of print Specifications No. Details of revisions
2007-01-19 BFP-A8524-* First print.
2009-09-30 BFP-A8524-A The EC Declaration of Conformity was changed.
(Correspond to the EMC directive; 2006/42/EC)

Preface
Thank you very much for purchasing Mitsubishi Electric Industrial Robot CRn-500 series.
The expansion serial interface is an option to add the tracking function to the robot controller in combination
with a CRn-500 series controller. The tracking function allows robots to follow workpieces on a conveyer or
transport, line up and process the workpieces without having to stop the conveyer.
Please be sure to read this manual carefully and understand the contents thoroughly before starting to use
the equipment in order to make full use of the tracking function.
Within this manual, we have tried to describe all ways in which the equipment can be handled, including
non-standard operations, to the greatest extent possible. Please avoid handling the equipment in any way not
described in this manual.
Note that this manual is written for the following software version.
Robot controller: Version K8 or later
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The details of this manual are subject to change without notice.
・ An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
･ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm may
occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
･ This Instruction Manual is original.
Copyright(C) 2007-2009 MITSUBISHI ELECTRIC CORPORATION

[Contents]
1. Overview....................................................................................................................................................... 1-1
1.1. What is the Tracking Function?............................................................................................................ 1-1
1.2. Applications .......................................................................................................................................... 1-2
2. System Configuration ................................................................................................................................... 2-3
2.1. Components ......................................................................................................................................... 2-3
2.1.1. Configuration of the Expansion serial interface and Included Items ............................................. 2-3
2.1.2. Devices Provided by Customers ...................................................................................................2-3
2.2. Example of System Configuration ........................................................................................................ 2-5
2.2.1. Configuration Example of Conveyer Tracking Systems................................................................ 2-5
2.2.2. Configuration Example of Vision Tracking Systems ..................................................................... 2-6
3. Specification ................................................................................................................................................. 3-7
3.1. Tracking Specifications......................................................................................................................... 3-7
4. Operation Procedure .................................................................................................................................. 4-11
5. Preparation and Connection of Equipment ................................................................................................ 5-12
5.1. Preparation of Equipment ................................................................................................................... 5-12
5.2. Connection of Equipment ................................................................................................................... 5-12
5.2.1. Installation of Option Cards (Expansion serial interface/Ethernet Interface) .............................. 5-12
5.2.2. Connection of Conveyer Encoder ............................................................................................... 5-14
5.2.3. Connection of Photoelectronic Sensor........................................................................................ 5-15
6. Parameter Setting ...................................................................................................................................... 6-16
6.1. Dedicated Input/Output Parameters ................................................................................................... 6-16
6.2. Operation Parameters ........................................................................................................................ 6-16
6.3. Tracking Parameter Setting................................................................................................................ 6-17
7. Sample Robot Programs............................................................................................................................ 7-18
8. Calibration of Conveyer and Robot Coordinate Systems (“A” program) .................................................... 8-19
9. Calibration of Vision Coordinate and Robot Coordinate Systems (“B” program) ....................................... 9-22
10. Workpiece Recognition and Teaching (“C” program) .......................................................................... 10-25
10.1. Program for Conveyer Tracking.................................................................................................... 10-25
10.2. Program for Vision Tracking ......................................................................................................... 10-27
11. Teaching and Setting of Adjustment Variables (“1” Program).............................................................. 11-31
12. Sensor Monitoring Program (“CM1” Program) ..................................................................................... 12-35
12.1. Program for Conveyer Tracking.................................................................................................... 12-35
12.2. Program for Vision Tracking ......................................................................................................... 12-35
13. Automatic Operation............................................................................................................................. 13-36
14. Maintenance ......................................................................................................................................... 14-38
14.1. MELFA-BASIC IV Instructions ...................................................................................................... 14-38
14.1.1. List of Instructions ..................................................................................................................... 14-38
14.1.2. List of Status Variables ............................................................................................................. 14-38
14.1.3. List of Functions ........................................................................................................................ 14-39
14.1.4. Explanation of Tracking Operation Instructions ........................................................................ 14-39
14.2. Timing Diagram of Dedicated Input/Output Signals...................................................................... 14-46
14.2.1. Robot Program Start Processing .............................................................................................. 14-46
15. Troubleshooting.................................................................................................................................... 15-47
15.1. Occurrence of Error Numbers in the Range from 9000 to 9999................................................... 15-47
15.2. Occurrence of Other Errors .......................................................................................................... 15-48
16. Appendix............................................................................................................................................... 16-49
16.1. List of Parameters Related to Tracking ........................................................................................ 16-49
16.2. Expansion serial interface Connector Pin Assignment ................................................................. 16-50
16.3. Chart of sample program .............................................................................................................. 16-51
16.3.1. Conveyer tracking ..................................................................................................................... 16-51
16.3.2. Vision Tracking.......................................................................................................................... 16-57
16.4. Sample Programs ......................................................................................................................... 16-61
16.4.1. Conveyer Tracking .................................................................................................................... 16-61
16.4.2. Vision Tracking.......................................................................................................................... 16-69

1 Overview
What is the Tracking Function? 1-1
1. Overview
1.1. What is the Tracking Function?
The tracking function allows a robot to follow workpieces moving on a conveyer. With this function, it
becomes possible to transport, line up and process workpieces without having to stop the conveyer. It also
eliminates the need for mechanical fixtures and so forth required to fix workpiece positions.
The features of this function are described below.
(1) It is possible to follow lined-up workpieces moving on a conveyer while working on them (conveyer
tracking making use of photoelectronic sensors).
(2) It is possible to follow workpieces that are not in a line moving on a conveyer while working on them,
even in the case of different types of workpieces (vision tracking combined with vision sensors).
(3) It is possible to follow changes of movement speed due to automatic calculation of conveyer
movement speed.
(4) Tracking function can be easily achieved by using Mitsubishi’s robot command MELFA-BASIC IV.
(5) System construction is made easy by use of sample programs.
However, there is a restriction matter to use the tracking function. Please refer to "3.1 Tracking
Specifications" for the restriction matter.

1 Overview
1-2 Applications
1.2. Applications
Tracking is primarily intended for applications such as the following.
(1) Transfer of processed food pallets
Figure 1−1Example of Processed Food Pallet Transfer
(2) Lining up parts
Figure 1−2Example of Parts Lineup
(3) Assembly of small electrical products
Figure 1−3 Example of Small Electrical Products Assembly

2 System Configuration
Components 2-3
2. System Configuration
2.1. Components
2.1.1. Configuration of the Expansion serial interface and Included Items
“Table 2−1 List of Configuration in the Expansion Serial Interface (2A-RZ581)” lists the configuration of the
Expansion serial interface you have purchased.
Table 2−1 List of Configuration in the Expansion Serial Interface (2A-RZ581)
Product name Model name Remark
Expansion serial interface card 2A-RZ581
Tracking function Manual BFP-A8524 This manual
Expansion serial interface instruction manual BFP-A8106 Separate volume
Ferrite core ZCAT3035
or equivalent
For encoder cable
Sample program −Please refer to "7 Sample Robot
Programs" for the sample robot program.
2.1.2. Devices Provided by Customers
When configuring the system, the customers must have certain other devices in addition to this product. The
table below shows the minimum list of required devices. Note that different devices are required depending
on whether conveyer tracking or vision tracking is used. Please refer to “Table 2−2 List of Devices Provided
by Customers (Conveyer Tracking)” and “Table 2−3 List of Devices Provided by Customers (Vision
Tracking)” for further details.
Table 2−2List of Devices Provided by Customers (Conveyer Tracking)
Name of devices to be
provided by customers Model Quantity Remark
Robot part
Teaching pendant R28TB
Hand −1
Hand sensor −Used to confirm that workpieces are gripped
correctly. Provide as necessary.
Solenoid valve set
Hand input cable See the Remark
column
Different models are used depending on the robot
used. Check the robot version and provide as
necessary.
Air hand interface 2A-RZ365
Expansion option box CR1-EB3 Provide as necessary.
Calibration jig
−
(1)
This is a jig with a sharp tip that is attached to the
mechanical interface of the robot arm and used for
calibration tasks. It is recommended to use the jig if
high precision is required.
Conveyer part
Conveyer
(with encoder)
−
Encoder(Recommended product):
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Recommended connector for encoder input
terminal:
10120-30000VE plug made by 3M
10320-52F0-008 shell made by 3M
Photoelectronic sensor −Used to synchronize tracking
5-V power supply −+5 VDC (±10%) : For the encorder
24-V power supply −
1
+24 VDC (±10%) : For the Photoelectronic sensor
Personal computer part
Personal computer
−
Please refer to the instruction manual of RT
ToolBox for the details of the personal computer
specifications.
RT ToolBox
(Personal computer
support software)
3A-01C-WINJ
or
3A-02C-WINJ
1

2 System Configuration
2-4 Components
Table 2−3List of Devices Provided by Customers (Vision Tracking)
Name of devices to be
provided by customers Model Quantity Remark
Robot part
Teaching pendant R28TB
Hand −
Ethernet interface card 2A-HR533
1
Hand sensor −Used to confirm that workpieces are gripped
correctly. Provide as necessary.
Solenoid valve set
Hand input cable See the Remark
column
Different models are used depending on the
robot used. Check the robot version and provide
as necessary.
Air hand interface 2A-RZ365
Expansion option box CR1-EB3 Provide as necessary.
Calibration jig
−
(1)
This is a jig with a sharp tip that is attached to the
mechanical interface of the robot arm and used
for calibration tasks. It is recommended to use
the jig if high precision is required.
Conveyer part
Conveyer
(with encoder)
−
Encoder(Recommended product):
Omron encoder (E6B2-CWZ1X-1000 or -2000)
Recommended connector for encoder input
terminal:
10120-30000VE plug made by 3M
10320-52F0-008 shell made by 3M
Photoelectronic sensor −Used to synchronize tracking
5-V power supply −+5 VDC (±10%) : For the encorder
24-V power supply −
1
+24 VDC (±10%) :
For the Photoelectronic sensor and Vision sensor
Vision sensor part
Basic network vision sensor
set 4D-2CG5xxxx-PKG See the instruction manual of the network vision
sensor for details
Lens −
1
C-mount lens
Lighting installation −(1) Provide as necessary.
Connection part
Hub −1
Ethernet cable (straight) −2 Between Robot controller and Hub
Between Personal computer and Hub
Personal computer part
Personal computer
−
Please refer to the instruction manual of RT
ToolBox or the instruction of the network vision
sensor for details of the personal computer
specifications.
RT ToolBox
(Personal computer support
software)
3A-01C-WINJ
or
3A-02C-WINJ
1 Recommended version is versions F3 or later.
Versions F2 and earlier do not support MELFA-BASIC
IV special commands for vision sensors, so errors
occur in syntax checks, so use these versions without
syntax checking.

2 System Configuration
Example of System Configuration 2-5
2.2. Example of System Configuration
The following figure shows examples of conveyer tracking systems and vision tracking systems.
2.2.1. Configuration Example of Conveyer Tracking Systems
The following figure shows a configuration example of a system that recognizes lined-up workpieces on a
conveyer passing a photoelectronic sensor and follows the workpieces.
Figure 2−1 Configuration Example of Conveyer Tracking (Top View)
Figure 2−2 Configuration Example of Conveyer Tracking
Robot movement range Workpieces
Controler
ＲEncoder
（Detected the speed
of the conveyor.）
（Detected the inflow
of the work.）
Photoelectric sensor
Robot
Workpieces
flow direction

2 System Configuration
2-6 Example of System Configuration
2.2.2. Configuration Example of Vision Tracking Systems
The following figure shows a configuration example of a system that recognizes positions of workpieces that
are not lined up on a conveyer with a vision sensor and follows the workpieces.
Figure 2−3 Configuration Example of Vision Tracking (Top View)
Figure 2−4 Configuration Example of Vision Tracking
（Recognized the work of the position and inclination）
Camera for vision sensors
Robot movement range
Ｒ
Controller
Workpieces
Encoder
（Detected the speed
of the conveyor.）
Robot
Workpieces
flow direction

3 Specification
Tracking Specifications and Restriction matter 3-7
3. Specification
3.1. Tracking Specifications and Restriction matter
”Table 3−1 Tracking Function Specifications” and “Table 3−2 Expansion serial interface Card Specifications”
shows the tracking specifications.
Please refer to “Standard Specifications Manual” for the specifications of the robot arm and controller to be
used.
Table 3−1 Tracking Function Specifications
Item Specification and Restriction matter
Supported robots RP-1AH/3AH/5AH series
RV-1A/2AJ
RV-3S/3SJ/6S/12S series
RH-6SH/12SH/18SH series
Applicable robot controller CR1/CR1B/CR2A/CR2B/CR3 contoller
Option (*1) Expansion serial interface card (2A-HR581)
Ethernet interface card(2A-HR533) is required in the case of vision tracking.
Software In the case of conveyer tracking : Robot controller Ver. K8 or later
In the case of vision tracking : Robot controller Ver. K8 or later
Robot program language Load commands dedicated for the tracking function
Movement
speed (*2)
Possible to support up to 300 mm/s (When the robot always transport the
workpieces)
Possible to support up to 500 mm/s when the interval of workpiece is wide.
Possible to support two conveyers by one Expansion serial interface card.
Encoder Output aspect : ZZ,,BB,,AA,
Output form : line driver output (*3)
Highest response frequency : 100 kHz
Resolution(pulse/rotation) : Up to 2000 (4000 and 8000 uncorrespond)
Recommended encoder : Omron E6B2-CWZ1X-1000
E6B2-CWZ1X-2000
Conveyer
Encoder cable Shielded twisted-pair cable
Conductor size: 24AWG (0.2 mm2) Cable length: Up to 25 m
Photoelectronic sensor (*4) Used to detect workpieces positions in conveyer tracking.
Vision sensor (*5) Mitsubishi’s network vision sensor
Precision at handling
position (*6)
Approximately ±2 mm (when the conveyer speed is approximately 300 mm/s)
(Photoelectronic sensor recognition error, vision sensor recognition error, robot
repeatability error and so on)
（*1）Please refer to “5.2.1Installation of Option Cards (Expansion serial interface/Ethernet Interface)” for
information about the expansion slots in which option cards can be mounted. And please refer to
“Table 3−4 List of Combinations of Option Cards to be Mounted” for combinations of option cards to
be installed. In the case of CR1/CR1B controllers, the expansion option box (CR1-EB3) is required.
（*2）The specification values in the table should only be considered guidelines. The actual values depend
on the specific operation environment, robot model, hand and other factors.
（*3）The line driver output is a data transmission circuit in accordance with RS-422A. It enables the
long-distance transmission.
（*4）The output signal of a photoelectronic sensor must be connected to a general input signal (arbitrary)
of the robot controller.
（*5）In the case of vision tracking, please refer to the instruction manual of network vision sensor.
（*6）The precision with which workpieces can be grabbed is different from the repeatability at normal
transportation due to the conveyer speed, sensor sensitivity, vision sensor recognition error and other
factors. The value above should only be used as a guideline.
Please refer to “Figure 3−1 Average number of errors due to conveyer speed” for average of number
errors due to conveyer speed.

3 Specification
3-8 Tracking Specifications and Restriction matter
Figure 3−1 Average number of errors due to conveyer speed
Table 3−2 Expansion serial interface Card Specifications
Item Specification of interface card
Card
name(*1)
RZ581B RZ581A
Function(*2) Tracking function
Expansion Serial function(*4) Expansion Serial function
Slot(*3) Slot1/Slot2/Slot3 Slot1/Slot2
Channel 6 channels or less (2 channnels / card) 4 channels or less (2 channnels / card)
Encoder Recommended encoder manufacturer:
Omron Model: E6B2-CWZ1X 1000
E6B2-CWZ1X 2000
Recommended encoder manufacturer:
Omron Model: E6B2-CWZ1X 1000
E6B2-CWZ1X 2000
Encoder cable Shielded twisted-pair cable:
Conductor size : 24AWG (0.2 mm2)
Length of cable : 25m
Shielded twisted-pair cable:
Conductor size : 24AWG (0.2 mm2)
Length of cable : 25m
(*1)Please refer to “Figure 3−2 Position in which card name is confirmed" for the method of confirming the
card name.
Figure 3−2 Position in which card name is confirmed
(*2)The tracking function and the expansion serial function integrated from version B of interface card (card
name : RZ581B). However, robot controller's software version should be since the K8.
Average number of errors due to conveyer speed
0
0.5
1
1.5
2
2.5
0 100 200 300 400 500 600 700
Conveyer speed(mm/s)
Average number of errors(mm)
"Card name" has been described at this
position of the Expansion serial interface
card.
Card name is “RZ581A" or “RZ581B”.

3 Specification
Tracking Specifications and Restriction matter 3-9
(*3)The installation of interface card to expansion slot 3 became possible from version B (card name :
RZ581B). However, robot controller's software version should be since the K7.
Please confirm “Table 3−3 Combination of Expansion serial interface Card and robot controller’s software
version” about details.
Table 3−3 Combination of Expansion serial interface Card and robot controller’s software version
Card name Software’s version Combination result
1 RZ581A Version K6 former Error 7930(EX-SIO card is set in SLOT3) occurs if the
interface card is set in slot 3.
2 RZ581B Version K6 former
Error 7930(EX-SIO card is set in SLOT3) occurs if the
interface card is set in slot 3. Because, this card is
considered to be RZ581A.
3 RZ581A Version K7 or later
Error 7930(EX-SIO card is set in SLOT3) occurs if the
interface card is set in slot 3. Because, this card is
considered to be RZ581A.
4 RZ581B Version K7 or later This card can be set in slot 3. Because, this card is
considered to be RZ581B.
(*4) Please refer to "CRn-500 series INSTRUCTION MANUAL Expansion Serial Interface (BFP-A8106)" for
the Expansion Serial function and the specification.

3 Specification
3-10 Tracking Specifications and Restriction matter
Table 3−4 List of Combinations of Option Cards to be Mounted
Number of
sheets SLOT1 SLOT2 SLOT3 Number of
sheets SLOT1 SLOT2
ETH －－ ETH －
SIO（TRK) －－ SIO（TRK) －
－SIO（TRK) －－
SIO（TRK)
－－
SIO（TRK) AX －
AX －－ －AX
－AX －－
CC
－－AX
－CC －ETH SIO（TRK)
ETH AX
ETH SIO（TRK) －ETH CC
ETH －SIO（TRK) SIO（TRK) SIO（TRK)
ETH AX －SIO（TRK) AX
ETH －AX SIO（TRK) CC
ETH CC －AX SIO（TRK)
SIO（TRK) SIO（TRK) －AX CC
SIO（TRK) －SIO（TRK)
SIO（TRK) AX －
SIO（TRK) －AX
SIO（TRK) CC －
AX SIO（TRK) －
AX －SIO（TRK)
AX CC －
－SIO（TRK) SIO（TRK)
－SIO（TRK) AX
－AX SIO（TRK)
－CC SIO（TRK)
－CC AX
ETH SIO（TRK) SIO（TRK)
ETH SIO（TRK) AX
ETH AX SIO（TRK)
ETH CC SIO（TRK)
ETH CC AX
SIO（TRK) SIO（TRK) SIO（TRK)
SIO（TRK) SIO（TRK) AX
SIO（TRK) AX SIO（TRK)
SIO（TRK) CC SIO（TRK)
SIO（TRK) CC AX
AX SIO（TRK) SIO（TRK)
AX CC SIO（TRK)
3
11
2
2
AX : Additional axis RZ541 Only one card can be mounted. There is no restriction on slot
usage.
For CR1/CR1B/CR2A/CR2B For CR4/CR7/CR8 or more
SIO(TRK) :
Expansion serial RZ581B Up to 3 cards can be mounted.
CC : CC-Link HR575 Only one card can be mounted. Be sure to use SLOT2.
<Sign explanation> <Card name> <Installation specification of card>
ETH : Ethernet HR533 Only one card can be mounted. Be sure to use SLOT1.