総合取扱説明書(PDF/2.1MB)
Contents
1. 5 2 PA10 6C2. 2 1 1
3. PA10 6C y
4. AN km 7 Am N
5. gt
6. 3 VI gt Hf PA10 PA10 6C
7. JIS B8433 ISO 10218 EN 775 OSHA ANSI RIA R15 06 PA10 6C
8. 5cm 10cm 4 4
9. 2mm lt D 100 4
10. 0 PA10 6C TN mm 2 PA10 II 3
11. 2 6 2 3 PA10 2 2 2 2 2 1 3 1317 480 450 317 mm 116 99 213 2 4 PA10 6C 2 8 2 1 4 2 op 4 3
12. Ul k CN1C CN1A 6 7 CN2C CN2A C27 2 2 27 o75sq 4 17 Qo O CN6 CN2A CN1A 0 o Ed Ed O CN2C op el H CN1C T 4 18 4 28
13. PA10 5 1 90 3 6 567 0854 2 15 6 TEL 0726 36 8630 e mail sonobata mys 5 2 1 FAX 0726 36 8631 tar co jp
14. PA10 PA10 6C PA10 PA10 6C PA10 PA10 6C 91 10017
15. 4 6 4 5 4 2 3 PA10 4 1 0 lt 50 0 40 C 10 60 C 10 60 C 30 9096RH 8096
16. a a b c b O W1 c d d EY a b c d e f 5 2 3 8 Rev 2002 12 11 2003 08 22 1 2 18 3 7 WRUN 2004 11 10 3 12 3 8 2 Microsoft Windows Visual
17. NN 0 2 Q 1 1 IV 7 2 3
18. D yy 4 gt NNNN NN NN NN ROBOT CONTROL UNIT MODEL PAIO 6C CNT DATE RALNe PA10 6C1C _ POWER 2 AC85V 264V 50760Hz DEMAWD 13A AC100V MASS 14ks 5 XXII gt 162 1 99 8 57 Y 213 94 260 1 CN3A CN4A a a CN2A CN1A mm 6 777 O O 240 5
19. JIS FA htp www jisha or jp tyo ec seminar inst html obot VIl VIll N
20. 3 2 PC AT OS Windows NT 2000 XP CPU Pentium 133MHz 32MB RAM 64MB HDD 40MB CD ROM DVD ROM VGA PCI x 2 1 1 DIO 3 PA PA PA10 6C Visual C DLL Visual Basic Ver 6 0 Visual C T Ver6 0 NN
21. 0 lt 40 8096RH 1 AC100 240V 1096 50 60Hz 1 5kVA 1000m 10 60 5Y7 1 2 13 o o 240 5 400 LU B Me 200 240 5 mm 2 9 2 10 2 14 NO Ad 9 DD S W SO0AOE q NO 1f AH a OTe
22. NN PA10 PA10 PA10 D
23. 4 1 2 3 AC100V AC240V 10 1 5kVA 2P 4 1 4 1 2 4 3 4 2
24. 2 N 4
25. D VO PA10 6C DILO D LO eee a CLOSE 0 4 M4 6 48 mm 3 9 20 0 1 ID 4 M4x0 7 4 6 6 913 90 3 10 20 0 1 _8 4 4 5 lt E 4 ll 1 amp 1 6 1 4 4 5 9 90 48 0 1 3 11 48h7 3 48H7 mm
26. b o o pd EC O O op Qo olo dlo olp dIO olE dlo Qn 9 4 15 4 4 16 22
27. 7 1 O W 1 2
28. e Windows Microsoft Visual C Microsoft Visual Basic XXVI EO I CO II kk V CO VI VII IEEE XX FT INT i XXIII XXIV HP XXV XXVI XXVI 0 4070 1 1 1 0 CN 1 2 1 1 1 2 gk2 L 4 4 lt 1 2 1 1 2 i 1 2 1 1 3 _ fk 1 3 2 PE 32 EE RS Ci NNN 2 3 b kkk 2 3 CYTE EE OC RN RR 2 3 2 2 ERESNSIRSRSASA Sa 2 16 44 2 17 2 Nk ES 2 17 RAINDIOR SR RR 2 18 2 2 RA 2 19 251 2 19 0 MPR2OES
29. 3 NN J 2 Oo 4 jr 47
30. 2 10 ARCNET PA10 CBL4 125 0 5m 2 16 ARCNET 2 27 2 22 PA10 3 7 3 1 PA10 6C 1500 2300 1500 2300 125 55 mm 3 1 3 2 PA 3 1
31. M16 30mm A2 70 122N m 4 122N m 4 1 EE 4 2 4 8 8 8 4 2 A7075 T6 N 1 8 4 i 4 M16 30mm SUS304 A2 70 A7075 T6 12 4 CN
32. 1 FR M
33. 2 1 2 10 b c d
34. N 4 1 3 52
35. PA10 PA10 6C 91 10018 PA10 DC GC20007 PA10 WindowsNT 2000 XP DC GC20010 PA10 DC GC20008 PA
36. 200 240 5 7 CN4 CN5 CN3 lt Ea pa GM CN6 O O Ol pd CN2C olo dlo POWER PF O CN1C jkk lall CS CNO 8 XXIV gt 2 3 1 8000 30 PA10 6C
37. CN1A b o BC 4 ARCNET PCI Pcl DIO CN3 CN2C o o Oo Oo L T T mm O O TcNc T 4 6 4 11 LS 4 3 4 14 4 4
38. SI RGB line red X green Y blue Z fA ARM 0 0 0 0 3 3 3 8 3 36 OOoooooo ggggegd 3 COM CN4 3 4 3 9 3 10 3 4 TFT LCD 640 x 480 132 5 x 99 4mm 2b 3 0 40 C 20 60 C 10 9096RH 10 9096RH IP65
39. 5 A http www keyence co jp http www omrom co jp 1
40. 8000 1 3 1 8000 1 3 3 4 5 1 2 N
41. N N 4 XVI
42. ON N N CRT
43. DIO DIO N PCI 4 5 DIO PCI PCI DIO CS 4 6 N 4 CN3A CN4A CN2A
44. 17 2 1 S1 U S1 U 2 S1 V S1 V 3 S1 W S1 W 4 S2 U S2 U 5 S2 V S2 V 6 S2 W S2 W 7 N C 8 N C 9 N C 10 N C 11 E1 U E1 U 12 E1 V E1 V 13 E1 W E1 W 14 N C 15 E2 U E2 U 16 E2 V E2 V 17 E2 W E2 W 18 W1 U W1 U 19 W1 V W1 V 20 W1 W W1 W 21 N C 22 W2 U W2 U 23 W2 V W2 V 24 W2 W W2 W 25 EEPOW1 1 26 EEPOW2 2 27 EEPOW3 3 28 N C 29 S1 S1 30 S2 S2 4 17 4 18 4 4 2 2 31 N C 32 E1 E1 33 E2 E2 34 W1 W1 35 W2 W2 36
45. 4 2 1 2mm lt D 100Q J 24 OFF 5 ON ON OFF 5 ON OFF 4 2 2
46. 77 2 J N XIX gt
47. N 4 1 1 2 PA10 6C N PA10 F
48. 2 1 PA10 6C ARM IP54 6 R P P R P R R P S1 2 E1 E2 W1 W2 S E W 317mm S2 450mm S2 E1 480mm E1 W1 70mm W1 2 1 4 2 9 rad sec S1 177 1 S2 124 64 1 E1 158 107 2 E2 255 27x W1 165 27x W2 255 27x 10kg AC
49. ARCNET PTP 1Mbyte PTP 50000 DUO 8 PCI 1 DC5V 59 PCI DC3 3V DC2 5V DC1 8V 1 8A t y p 0 50 C 35 8596RH 107mm x 174mm x 15mm 150g 10mm 2 7Z 2 18 OFF PTP Point To Point DIO ON OFF
50. 2 4mm 2 5mm 6 0 3sq 3 0 75sq 0 50 30 9096RH 65 9dB 2 1 2 1000m 10 60 C 38kg Y 65 80 D YN 95 a 0 05 4 SO M16 SUS304 A2 70 122N m 50mm
51. 2 6 DIO PIO 32732L CONTEC 32 8 32 8 DC12 24V DC35V 100mA 1msec PCI 1 PCR E96LMD PCR E96FA DC5V 300mA 176mm L x 107 mm H 2 2 5 2 5 1 2 7 PA10 CBL3 1b
52. 4 17 ARCNET PCI Hei Pcl DI0 COM CN4A CN1A SR NA i CN3 cN4 cnsy Ce o EC ed IO CN2C o S So POWER J T cNO L rc 4 7 4 12 g Ni li 4 8 ARCNET 6 ARCNET 4 2 ARCNET
53. 2 N 4 A al Nr 1 2 8000
54. PA10 1 5 DLL PA 2 Windows NT 2000 XP NL 8 ll ci pel DIO 1 RONET 7 CQ 1 Ns el JI 1 3 1 4 PA10 PA10 6C 2 1 2 1
55. pa_odr_jou pa_mod_dpd pa_set_mat pa_get_mod 3 5 3 3 PA 2 2 pa_inp_dio 32ch Da_oup_dio 32ch pa_set_tol 3 4 I ORR RN PA C Y WinPApciY binYTRAM dat 177 KO 64 990 174 ip 107 0 255 00 65 00 1000 EE TA CTT TAT TT MET 50 00 50 ws 50 mm ov vol 20 200 000 EE FT 000 HOW ah 6 000 0 000 mw 45 000 0 900 es 45 0 00001 ps ppp 3 24604 8 ME CIF MIR 250 000 CEM i EE CP dus aac EE 14 9 85 944 5 84 sad 156 000 53 ls RT WRUN ARMO 1 i 7 Ver 3 003 t
56. 37 S1 LSW S1 38 N C 39 E2 LSW E2 40 LSW GND GND 41 W2 ISW W2 42 N C F G 4 4 7 4 7 1 CN4 CN5 SW 24V CN10 i 1 CN4 i i Ce CN4 A i 4 7kQ WV Se yy 5 CN5 2 RB ON oO 0 8 20EO URI0 2 PD a ON 0 AC125V0 2A DC30V0 5 a 6 6 449
57. PA10 DC GC20009 PA10 91 10013 4 http wwwrobot arm com PA CAD gt
58. 1 ON OFF 2 4 2 3 l
59. WV dh mi 1 N C N C PH B N C N C 2 3 4 PH A 5 6 ARCNET DIO ARCNET LAN rr CN3 WRUN 3091 F11 T ARCNET Ethernet 8 Ethernet DI DO 26 1H 1 4 13 7 SEG LED BOOT 2 2 3 4
60. N 8 a 2 777
61. SIN 46 RGW1 SINC W1 SIN 47 RGW1 COS W1 COS 48 RGW1 COS W1 COS 49 RMW2 SIN W2 SIN 50 RMW2 SIN W2 SIN 51 RMW2 COS W2 COS 52 RMW2 COS W2 COS 53 RGWZ2 SIN W2 SIN 54 RGW2 SINC W2 SIN 55 RGW2 COS W2 COS 4 15 4 16 4 3 3 3 56 RGW2 COS W2 COS 57 REF1 1 58 REF1 1 59 REF2 2 60 REF2 2 61 N C 62 N C 63 EESIG1 1 64 EESIG2 2 65 EESIG3 3 66 EESIG4 4 67 EESIG5 5 68 EESIG6 6 69 N C 70 N C 71 N C 72 N C FG 4 4
62. 3 1 PICMG CPU IntelR Celeron M 733MHz 1st 32KB CPU 2nd 128KB CPU RAM 128MB SDRAM ECC 128MB x 1 168Pin DIMM slot x 3 MAX 768MB RAM 4MB SGRAM ATI 3D Rage Pro 1 600 x 1 200 64 k FDD 3 5 HDD 40GB E IDE CD ROM 24 Enhanced IDE x 2 1ch FDD x 1 D sub25 x 1 D sub9 x 2 PS 2 x 1 VGA x 1 DIO PCI 4 ISA 1 OS Windows R 2000 109 2 15 CRT 3 3 Ml 4
63. DC24V 10m 253W x 185H x 58D mm 1 2kg 3 5 PA10 CBL6 0 5m 2m 3 3 7 DI O DO DIO 96 3 6 DI O PCR E96FA SM I 3 5 DI O 3 11 3 8 6 ISA PCI 90 mm 3 6 4 6 6 4 M6 ID mm 3 7 4 6 6 11 8 31 5h7 DY 11
64. mm 3 15 3 76 3 9 D C 1 0 5kg 7 0kg 60mm 30mm AC100V 0 4 0 C Sm 3 10 M4 x 0 7 x 10 4 M4 x 0 7 x 10 4 M4 M6 x 10 4 PA10 PA10 6C 4 1
65. 4 98 76h7 9 49H7 25 6H7 9912 6 B 4 5 6 B B lt gt mm 227 2 11 2 2 9 8 N m 0 1kg m2 lt GX9 8 L
66. 5m 2 12 2 19 2 20 2 5 2 _ Tl 2 8 PA10 CBL1 PA10 CBL2 23 5mm x 5m 25m 19 5mm x 5m 25m 0 52kg m 0 53kg m 250mm 200mm 2 13 2 14 2 5 3 2 2 9 PA10 CBLO 2P 3m EHIMESsssg 2 15 2 5 4 ARCNET
67. yk DC12V 24V 12kQ 1 vw 1kQ WW yk 1 do 0 EE 4 11 1 100mA 4 21 c 6 7 OP6 7 IP2 3 2 3 OP6 7 IP2 3 O 77 1 37 O 76 1 36 O 75 1 35 7 O 74 34 3 O 73 1 33 O 72 1 32 O 71 1 31 O 70 1 30 O 67 1 27 O 66 1 26 O 65 1 25 6 O 64 1 24 2 O 63 1 23 O 62 1 22 O 61 1 21 O 60 1 20 6 7 ON677 NC _ ON677 NC N C N C N C N C N C N C NC ND N C N C N C EXTO0 ACK N C 4 STB N C 4 5 OP4 5 0
68. 000 Ee lt 9IdP 9N0 Lo oo SN gldr YYNOE H WVy 5 gt 0 SA A A Y s lt SM b AZ 2 11 2 15 2 3 2 16 PA10 6C 2 2 10 2 14 3 uk 2 4 6 ARCNET 1000 1 19 400us PID 100uxs
69. 4 15 0 2 BOOT 4 14 4 3 17 3 1 RMS1 SIN S1 SIN 2 RMS1 SIN S1 SIN 3 RMS1 COS S1 COS 4 RMS1 COS S1 COS 5 RGS1 SIN S1 SIN 6 RGS1 SIN S1 SIN 7 RGS1 COS S1 COS 8 RGS1 COS S1 COS 9 RMS2 SIN S2 SIN 10 RMS2 SIN S2 SIN 11 RMS2 COS S2 COS 12 RMS2 COSC S2 COS 13 RGS2 SIN S2 SIN 14 RGS2 SIN S2 SIN 15 RGS2 COS S2 COS 16 RGS2 COS S2 COS 17 N C 18 N C 19 N C 20 N C 21
70. PA10 PA10 6C 7 1 1 1 1 1 38kg 10kg 2 930mm 7 2 1 1 3 PCI
71. Visual C Visual Basic te PA Visual C Visual Basic 3 3 PA 17 2 pa_ini_sys PA pa_ter_sys PA pa_opn_arm pa_cls_arm pa_sta_arm pa_ext_arm pa_stp_arm pa_sus_arm pa_rsm_arm pa_exe_axs pa_mov XYZ pa_mov_YPR pa_mov mat pa_ply_pnt pa_add_pnt pa_set_pnt pa_mod_vel
72. 0 1 OP4 5 IP071 O 57 17 O 56 1 16 O 55 1 15 5 O 54 1 14 1 O 53 1 13 O 52 1 12 O 51 1 11 O 50 1 10 O 47 1 07 O 46 1 06 O 45 1 05 4 O 44 04 0 O 43 1 03 O 42 1 02 O 41 1 01 O 40 1 00 4 5 ON4 5 INO 1 ON4 5 INO 1 4 12 DI JUO 4 22 4 5 D O 100 37 32 0 O 40 O 77 32 4 EXTO0 EXTIO ACK STB IP071 IP2 3 16 OP4 5 OP677
73. N m GXL2 kg m G ks L m L Lp W1 W2 St Lr W2 R Lr Lp MI 70 mm 2 8 lt 2 12 2 2 2 3 2 16 PA10 6C 2 IPM 2 3 PA10 6C CNT 240W x 300H x 400D mm 14kg
74. 3 8 mm 3 12 Fx Fy 200N Fz Mx My Mz 18Nem PA10 Z 3 3 7 125 sec max F PCI ISA 5m 90 x 31 380g 0 50 C 3 8 M6 x 8 4 3 13 3 9 3 14 3 3
75. 31 9 3 2 12 36 1 3 32 8 3 3 13 35 1 4 33 7 3 4 14 34 1 5 34 6 3 5 15 33 1 6 35 5 3 6 16 32 1 7 36 4 3 7 17 31 1 8 37 3 3 8 4 23 4 7 DIO PA a OE ta a se 9 O 40 94 0 1 O 60 66 2 1 O 41 93 0 2 0 61 65 2 2 O 42 92 0 3 O 62 64 2 3 O 43 91 0 4 O 63 63 2 4 O 44 90 0 5 O 64 62 2 5 O 45 89 0 6 0 65 61 2 6 O 46 88 0 7 0 66 60 2 7 O 47 87 0 8 O 67 59 2 8 O 50 86 1 1 O
76. 2 3 2 4 FEGND 2 1 1 PA10 6C Ly 6 5 _z W2 4 2 2 1 PA10 6C 2 1 2 2 a 2 2 b
77. PI IF RS485 ARCNET 10 5 2 5Mbps 80m HYC4000 SMSC ON OFF ON OFF ON OFF ON OFF 2 2 4 3 DIO 2 ECI PCI 4 4 4 9 2 4 1 2 5 MHI D7281 7 PA10 6C 6 PA
78. TEL 082 531 4162 980 0811 1 8 1 8 TEL 022 264 1817 920 0864 1 33 5 TEL 076 231 6339 760 0055 2 2 15 2 8 TEL 087 834 5717 950 0087 2 4 10 3 TEL 025 241 6020 900 0015 1 12 12 7 TEL 098 866 1373 2 A a 652 8585 TEL 1 1 1 078 672 2967 FAX 078 672 2815 567 0854 TEL 07 2 15 6 26 36 8630 FAX 0726 36 8631
79. 2 5 mm 4 0 mm lt 680 Kpa lt 7 kgfcm2 10 mm 2 2 M 5ER SMC Rc1 8 4 13 4 25 4 26 4 4mm 2 5mm M3X0 5X6 4 14 9 Sg A UI i
80. 55 a a NS NN amp gt TY x 3 0 IN Y 484 mo 1 SN In Me amp 177 40 954 mm 2 5 PA10 6C 2 9 2 1 5 A7075 T6 234 8 168 5 iim gt 4 M16 30mm SUS304 A2 70 A7075 T6 er 12 mm 2 6 PA10 6C 2 10 2 1 6 SUS304 4 M2x0 4 gt 98 6H7 9 6 6 lt gt 4 M3x0 5
81. 70 58 3 1 O 51 85 1 2 O 71 57 3 2 O 52 84 1 3 0 72 56 3 3 O 53 83 1 4 0 73 55 3 4 O 54 82 1 5 0 74 54 3 5 O 55 81 1 6 O 75 53 3 6 O 56 80 1 7 O 76 52 3 7 O 57 79 1 8 0 77 51 3 8 4 24 4 7 3 50mm a 4 8
82. Basic Visual C Microsoft Corporation WinRT BSQUARE Corporation PA10 PA10 6C 91 10017 REV 2 TA 6 3 845 FAX 03 6716 5789 550 0001 1 3 20 TEL 06 6446 4052 461 0047 1 1 9 TEL 052 725 5196 812 0011 2 2 1 7 TEL 092 441 3861 060 0002 2 4 1 7 TEL 011 261 1545 733 0036 1 20 24 7
83. N C 22 N C 23 N C 24 N C 4 3 2 3 25 RME1 SIN E1 SIN 26 RME1 SIN E1 SIN 27 RME1 COS E1 COS 28 RME1 COSC E1 COS 29 RGE1 SIN E1 SIN 30 RGE1 SIN E1 SIN 31 RGE1 COS E1 COS 32 RGE1 COS E1 COS 33 RME2 SIN E2 SIN 34 RME2 SIN E2 SIN 35 RME2 COS E2 COS 36 RME2 COSC E2 COS 37 RGE2 SIN E2 SIN 38 RGE2 SIN E2 SIN 39 RGE2 COS E2 COS 40 RGE2 COS E2 COS 41 RMW1 SIN W1 SIN 42 RMW1 SIN W1 SIN 43 RMW1 COS W1 COS 44 RMW1 COS W1 COS 45 RGW1 SIN W1
84. 16 IN071 ON475 ON6 7 16 N C 4 6 DIO PA a 3 gt 00 46 0 1 20 18 2 1 01 45 0 2 21 17 2 2 02 44 0 3 22 16 2 3 103 43 0 4 23 15 2 4 04 42 0 5 24 14 2 5 05 41 0 6 25 13 2 6 06 40 0 7 26 12 2 7 07 39 0 8 27 11 2 8 10 38 1 1 30 10 3 1 11 37 1 2
85. 4 19 4 7 2 _ DIJO DLO DLO DUO 12V 24V a Vcc 5 1kQ 3k WW 0 vy 0 ce T Dci2v OO 24V ee 1 Vcc 5 1kQ 3kQ WI 4 oO OO es 4 10 DC24V 1 8mA 4 20 DC12V 4mA b Vcc 12kQ AA Or ke 3 1
86. NRSONSUN 2 20 2 NSRRSPSR8RB2 20288NRRESRRRSe 2 21 RON OS 2 21 5 24 TH 3 1 3 ERE RE 3 2 SS 3 3 AV T T 3 5 3 RS 3 7 SR NN RN 3 8 3 6 SL NN 3 9 3 7 DI O kk 3 11 TT CR Shy 3 12 3 9 2N BB BAR Rk 3 14 ol 4 1 RS 4 3 A RN NN RN 4 3 RIRS NN kk EE 4 3 4 2 Eo 4 4 421 kk 4 4 4 2 2 kd dd d 4 4 4 2 3 kk 4 6 433 EA Sk A 4 7 4 4 kik 4 9 EDIONIROH 0 OO 4 10 4 6 kk 4 11 4 7 SRR lilvk lt lt Aei e 4 19 0 RSS 4 19 2 DUO lls 4 20 02068 4 20 60 O20OR00255eESSH24RRESG 4 21 0 MR A NE FEN LE CN 4 22 4 7 3 kk 4 25 a 4 25 5 El 4 27 1 2 3 S5lEls AA 5 1 2 S522 EDSS2BOR eo 1
87. Q 9 3 FF 3 a 4 3 PA10 6C 4 8 4 4 IN gt a N RSS 4 4 PCI PCI 4 9 4 5 DIO 0 DIO
88. RH 1000m 1000m 3G 1 AC100 240V 10 50760Hz 50MQ AC500V 1 D 4 3 N
89. for MH Ver 3 2 RC 6 CW sec 0 I 1 y SPA 2 4 WE mam fnamewx Duy wrt omg OFF OFF OFF OFF OFF OFF Slldeg Sz2ldeg Saidsgl le geg Wildeg W2ldeg 00 00 00 00 00 00 00 oo ao ao 00 00 00 ao mm Y mm Z mm Yawl deg Pitch deg Rollldeg ao oo fat7o enethimm oo 00 ao 00 Ee 00 00 F717 Key D AA EL DO 200 SW Jump aon 949 3 2 3 5 PA10 3D
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