Detailed specification of Mitsubishi PLC module R32MTCPU

1. R32MTCPU control specification

[Number of control axes] 32 axes (1 system 16 axes * 2)

[Operation period] 0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms

[Interpolation function] 4-axis linear interpolation, 2-axis circular interpolation, 3-axis spiral interpolation

[Control mode] PTP (Point To Point) control, speed control, speed and position switching control, fixed-size delivery, connection track control, position tracking control, positioning position stop control, high-speed oscillation control, advanced synchronization control, cam control, speed and torque control

[Acceleration and deceleration treatment] trapezoidal, S-shaped, advanced S-shaped acceleration and deceleration

[Compensation function] Clearance compensation, electronic gear, phase correction

[Programming language] Motion SFC, special instructions

[Servo program capacity] 32K steps

[Positioning data] 6400 data axis (can be specified indirectly)

[Peripheral device interface]

Sports CPU: PERIPHERAL I/F

PLC CPU：USB，Ethernet

[Origin reset function] Proximity dog type (2 types), count type (3 types), data setting type (2 types), dog cradle type, stop stop stop type (2 types), limit switch combination type, scale origin signal detection type, scale origin signal detection type (origin reset retry, origin transfer)

[JOG operation function] Yes

[Manual pulse generator operation function] 3 sets can be connected (when high-speed counter is used)

[Speed and torque control] Speed control, torque control and pawn control not included in position circuit

[Synchronous encoder operation function] Up to 12 sets can be connected

[M code function] M code output, completion function, etc

[Limit switch output function]

Output points: 64 points * 2 intervals

Focus data: motion control data, word device

[ROM operation function] Standard function (no battery operation)

[External input signal setting function] External input signal (FLS, RLS, DOG) of servo amplifier, bit device

[Torque limit value change function] Positive direction torque limit value, negative direction torque limit value

[Target location change function] Yes

[Servo parameter change function] Yes

[Servo amplifier control mode switching function] Gain switching function, control mode switching of PI-PID control, control loop (fully closed/semi-closed)

[Any data monitoring function (SSCNET III/H)] Communication data 6 points/1 axis

[Emergency stop] Emergency stop of motion controller, servo amplifier forced stop terminal

[Input and output points] 4096 points in total

[Timing setting] Yes

[Security feature] File password, password in the SFC program unit of the movement, security key function

[Clear all function] Clear all user data in motion CPU

[Remote operation] Remote run/stop, remote latch clear

[Digital oscilloscope function] Motion buffer scheme (real-time waveform display available) Sampling: word 16CH, 16CH bit sampling offline message

[Position system] corresponds to the battery connected to the servo amplifier (method/incremental method of each axis can be specified)

[Number of SSCNET III/H systems] 2

2. R32MTCPU unit specification

[Number of control axes] 32 axes

[Servo amplifier connection mode] SSCNET III/H (2 systems)

[Extension line distance] SSCNET III/H: 1600 m

[Inter office distance] SSCNET III/H: 100m

[Number of SSCNET III/H unit connected offices] 8 offices (1 system 4 offices)

[PERIPHERAL I/F(Ethernet)]

Data transmission speed: 100Mbps/10Mbps

Transmission mode: baseband

Cable length: 30m

[Memory card slot] SD/SDHC memory card

[Memory capacity] Standard ROM 12Mb, SD memory card capacity (32Gb)

[Number of extended cascade segments] 7 segments

[DC5V internal consumption current] 1.2A

[R32MTCPU overall dimension] 106 [H] 27.8 [W] 110 [D] [mm]

[R32MTCPU weight] 0.28kg

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