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MELSEC-
A
3 SPECIFICATIONS AND FUNCTIONS
3.2 Performance specifications
Item Specifications
No. of control axes 2 axes
Interpolation function
2-axis linear interpolation
2-axis circular interpolation *
1
Control method
PTP (Point To Point) control, path control (both linear and arc can be set), speed control,
speed/position changeover control
Control unit mm, inch, degree, pulse
Positioning data 600 data (positioning data No. 1 to 600)/axis setting possible
Backup Parameters and positioning data can be saved on flash ROM (battery-less).
Positioning
Positioning
method
PTP control : Incremental method/absolute method
Speed/position changeover : Incremental method/absolute method *
2
Path control : Incremental method/absolute method
Positioning
range *
3
For absolute method
-214748364.8 to 214748364.7 (
m)/-13421772.8 to 13421772.7 (
m)
-21474.83648 to 21474.83647 (inch)/-1342.17728 to 1342.17727 (inch)
0 to 359.99999 (degree)/0 to 359.99999 (degree)
-2147483648 to 2147483647 (pulse)/-134217728 to 134217727 (pulse)
For incremental method
-214748364.8 to 214748364.7 (
m)/-13421772.8 to 13421772.7 (
m)
-21474.83648 to 21474.83647 (inch)/-1342.17728 to 1342.17727 (inch)
-21474.83648 to 21474.83647 (degree)/-1342.17728 to 1342.17727 (degree)
-2147483648 to 2147483647 (pulse)/-134217728 to 134217727 (pulse)
For speed/position changeover control (Incremental method)
0 to 214748364.7 (
m)/0 to 13421772.7 (
m)
0 to 21474.83647 (inch)/0 to 1342.17727 (inch)
0 to 21474.83647 (degree)/0 to 1342.17727 (degree)
0 to 2147483647 (pulse)/0 to 134217727 (pulse)
Speed/position changeover control (absolute method)
0 to 359.99999 (degree)/0 to 359.99999 (degree)
Speed
command *
3
0.01 to 6000000.00 (mm/min)/0.01 to 375000.00 (mm/min)
0.001 to 600000.000 (inch/min)/0.001 to 37500.000 (inch/min)
0.001 to 600000.000 (degree/min)/0.001 to 37500.000 (degree/min)
1 to 1000000 (pulse/s)/1 to 62500 (pulse/s)
Note: Refer to section "12.3.2 Electronic gear function" [3].
Acceleration/
deceleration
process
Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration *
4
Acceleration/
deceleration time
Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible
Four patterns can be set each for acceleration time and deceleration time
Sudden stop
deceleration time
Changeover between 1 to 65535 (ms)/1 to 8388608 (ms) possible (Same range as
acceleration/deceleration time)
Starting time
20ms or less (link scan time excluded)
External device
connection connector
10136-3000VE (soldered type, accessory)
10136-6000EL (crimp type, optional)
Applicable wire size
For 10136-3000VE : Approx. 0.05 to 0.2mm
2
(30 to 24 AWG)
For 10136-6000EL : Approx. 0.08mm
2
(28 AWG)
Max. output pulse
When connected to differential driver : 400kpps
When connected to open collector : 200kpps
Max. connection distance
between servos
When connected to differential driver : 10m
When connected to open collector : 2m