Computational Hardware

1 Ghz high performance, low-power CPU with a minimum of 128 MB of dynamic RAM

Flash disk with a minimum of 64 MB of storage for OS, firmware and user program and data storage

32 KBytes of NVRAM for storing key user application dynamic status and state information including error logs

Software

Three programming methods available: 
Embedded Guidance Programming Language (GPL)
PC/Unix/Linux controlled over Ethernet
DIO MotionBlocks (PLC)

Web based operator interface supports local or remote control via browser connected to embedded web server

Extensive robotic and low-level motion control available
Continuous path following, s-curve profiling
Straight-line and circular motions
Torque and velocity control
Control of up to 32 axes via networked distributed control organized into up to 12 multi-axis robots
Distributed control network can consist of up to 16 controllers

Conveyor belt tracking
Kinematic models for many robot geometries
Advanced Controls License - Enables enhanced motion control modes including: high speed position latching, and real-time trajectory modification.

Provides controller with a complete set of image-processing, measurement, inspection and finder tools. A powerful patented Object Locator finds parts in any orientation and at different scales within milliseconds.

Motion Control

Number of integrated motor drives
Bus voltage 24 VDC to 340 VDC
Total power several KW

Current per motor: 10A peak/9 A RMS/9 A stall*

Current per motor: 20A peak/9 A RMS/9 A stall*

Current per motor: 33.3 A peak/9 A RMS/9 A stall*

Current per motor:
Axis 1 & 2: 33.3 A peak/9 A RMS/9 A stall*
Axis 3 & 4: 20 A peak/9 A RMS/9 A stall*
Axis 5 & 6: 10 A peak/9 A RMS/9 A stall*

*These values assume adequate heat sinks and forced-air cooling.

Four differential digital encoder interfaces
Four configurable single-ended digital encoder interfaces

Support for selected absolute encoders (may require the "Enhanced Encoders" license)

Configurable limit stop, home, and hall-effect input signals. Signal lines shared among several functions.

Up to 1 A at 24 VDC available for releasing motor brakes

Communications Interfaces

RS-232 port with software (no hardware) flow control

Remote front panel interface with second RS-232 port (no hardware flow control), compliant with IEC Category 3 (CAT-3) safety standards

100 Mbit Ethernet ports. One ports can be optionally configured to communicate with selected EtherCAT slave smart amplifiers (requires special software license).

12 general purpose optically isolated inputs, software configurable in groups of four as sinking or sourcing, signals transition to a high or low in 4 μsec.
5 VDC to 24 VDC for logic high if sinking
24 VDC supplied for logic high if sourcing

Additional remote I/O available via PreciseFlex RIO modules or 3^rd party MODBUS/TCP devices

Eight general purpose optically isolated outputs, individually software configurable as sinking or sourcing, signals turn on in 3 μsec and turn off within 400 μsec.
24 VDC maximum pull up if sinking
24 VDC supplied if sourcing
100 mA maximum per channel

Additional remote I/O available via PreciseFlex RIO modules or 3^rd party MODBUS/TCP devices

RS-485 multi-drop serial communications. Not available on controllers embedded in PreciseFlex Robots

I2C multi-drop serial communications

Software support for dual USB 2.0 parts not available, future feature

Software support for MicroSD Card not available, future feature

General

224 mm (L) x 131.36 mm (W) x 54.50 mm (H), 0.758 kg

294 mm (L) x 151.36 mm (W) x 54.71 mm (H), 1.003 kg