Master units

Master units

1-axis control or simultaneous 2-axis control by connecting a slave unit.

Provided with "pulse train input mode", which allows controlling axis travel distance and speed.

Specifications

Type of controller	CA20-M10			CA20-M40 (Note 1)
No. of controlled axis	1-axis control or simultaneous 2-axis control by connecting a slave unit.
Motor capacity (W)	50	100	200	400
Drive system	AC servo motor
Control system	PTP, semi-closed loop control
Teaching method	Remote teaching, direct teaching or MDI
Speed setting	10 step (variable)
Acceleration setting	20 step (variable)
Operation mode	Sequential (multitask), palletizing, external point designation, easy
Operation method	Step, continuous, single
CPU	32-bit, RISC SH7145
Self-diagnosis function	CPU down, memory error, driver error, master power voltage error, program error, etc. by watchdog timers.
No. of programs	Sequential: 8, Palletizing: 8
No. of program steps	Max. 2000 steps (Total No. of tasks) + Coordinate table (999 per each task) × 4 (When slave unite is connected)
Memory	FRAM
No. of counters	99
No. of timers	9
Alarm display	Error indicator lamp ON (on front panel) and teach pendant display
External input	4-system input and 4-general-purpose inputs
External output	4-system output and 4-general-purpose outputs
Communication function	For teach pendant × 1 channel (RS-232C)
Power supply	AC100V ∼ 120V, AC200V ∼ 240V, ±10% 50/60HZ Changeover of 100V or 200V circuit by short-bar on front terminal block.			AC200V ∼ 230V, ±10% 50/60Hz
Power capacity (per 1-axis) (VA)	100	160	450	700
Noise conditions	1500Vp-p, pulse width 1μs (by noise simulator)
Ambient conditions	Room temperature 0 - 40°C, humidity 30% - 90% RH, non-condensing and no corrosive gas present.
Dimensions	55 (W) × 160 (H) × 134 (D) (excluding metal fixtures)			85 (W) × 160 (H) × 134 (D) (excluding metal fixtures)
Mass (kg)	0.93			1.36