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1.3 Robot Controller Specifications
[ 1 ] Specifications
The table below lists the robot controller specifications.
Robot Controller Specifications
Item Specifications
Control system
(NOTE 1)
PTP, CP 3-dimensional linear, 3-dimensional circular
H∗-D/-E, XYC-D: Up to four axes simultaneously
VC-E (5-axis models): Up to five axes simultaneously
No. of controllable axes
(NOTE 1)
V∗-D/-E: Up to six axes simultaneously
Drive system All axes: Full-digital AC servo
Memory capacity
1.25 MB (equivalent to 5000 steps, 13,000 points)
Language used
DENSO robot language (conforming to SLIM)
No. of teach programs
loadable to the memory
255
Teaching system
1) Remote teaching 2) Numerical input (MDI)
Input signal 20 user open points (PLC 12, hand input 8) + 36 fixed system pointsExternal
signals
(I/O)
Output signal 32 user open points (PLC 24, hand output 8) + 33 fixed system points
External
communication
RS-232C: 1 line
Ethernet: 1 line (option)
Timer function 0.02 to 10 sec. (in units of 1/60 sec.)
Self-diagnosis
function
Overrun, servo error, memory error, input error, etc.
Error display
Error codes will be displayed on the external I/O or the operating panel (option).
Error messages will be displayed in English on the teach pendant (option).
Power source
All RC5 models: 3-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz
RC5 for VS-D/-E, H∗-D/-E, XYC-D: Single-phase, 230 VAC-10% to 230 VAC+10%,
50/60 Hz
RC5 for VC-E: Single-phase, 200 VAC-10% to 230 VAC+10%,
50/60 Hz
Power capacity
(NOTE 1)
VM-D/HM-E: 3.3 kVA H∗-D: 2.0 kVA VS-E: 1.9 kVA HS-E: 1.8 kVA
VS-D, XYC-D: 1.5 kVA VC-E: 0.6 kVA
Environmental conditions
(in operation)
Temperature: 0 to 40°C
Humidity: 90% RH or less (no condensation allowed)
Degree of protection IP20
Robot control
cable
VM-D, VS-E, H∗-E: Standard: 4 m, 6 m High strength: 6 m, 12 m (selectable)
VS-D, H∗-D, XYC-D: 3 m, 6 m (selectable)
VC-E: 4 m, 6 m (selectable)
I/O cable 8 m, 15 m
Cables
(option)
Power cable 5 m
Weight
VM-D: Approx. 19 kg (excluding attached cables)
VS-D/-E, VC-E, HS-E: Approx. 17 kg (excluding attached cables)
H∗-D/E, XYC-D: Approx. 16 kg (excluding attached cables)
NOTE 1: For extended-joint support controllers, refer to the manual "SUPPLEMENT
Extended-Joints Support" separately issued.