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![Page 1: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/1.jpg)
![Page 2: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/2.jpg)
従来のシステム クールマッスルを使ったシステム
AC
32CPU
50000 AC
1
AC32 RISC
CPU
THE POWER OF MUSCLE
![Page 3: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/3.jpg)
C 3PLC
XY
C
P
![Page 4: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/4.jpg)
32 RISC CPU
AC
![Page 5: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/5.jpg)
CMLP1=1000P2=2000
S1=100S2=300A1=50T1=100
B1A1,S1,P1
T1B2S1,P3
K46=1
K48=100
K58=2000
K28=7000
K34=21
K60=50...
4
PLC
CML
PLCPTP
500
PID
CML
C M L C o o l M u s c l eLanguage
CML
10000(100 100)
200000 (2000 100
CW / CCW
P3 5000
A1,S2,P2
4
2 1
50
![Page 6: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/6.jpg)
C
PTP
PTP
2
1
![Page 7: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/7.jpg)
PID
PC
PLC
TorqueCommand
P
I
D
Positioning
PositioningCommand Inertia
1x Integral
VelocityIntegral
Position Output
Position LoopPosition Feed Back
6
D-SUB
CMLVisual Basic C
PID
PID
CML
![Page 8: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/8.jpg)
7
W A CMPS-XMUS-W A CMPS-XMUS-24 )
![Page 9: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/9.jpg)
8
CM1C1-400S)
40 40
CM1C2-2000)
(CM1DC1-SSC-1800)
COOL WORKS
2
15
1 2
(CM1DC1-MBS)(CM1DC1-SBS)(CM1DC1-CASE)
D-SUB9
![Page 10: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/10.jpg)
CM1- -11L30 CM1- -11S30W W
rpm rpm
Kgfcm (Nm)
Kgfcm (Nm)
DC V
A A A A
RH
G G
CM 1 - - 1 1 L 3 0 -
PV
C L
S
RPM
0.20.30.40.50.60.70.80.9
(Kgf
cm)
30002500200015001000500
0.100.150.200.250.300.350.400.45
RPM
CM1- -11L30 CM1- -11S30
9
0.10
30002500200015001000500
0.050
CM L/S
(Kgf
cm)
Min. Max.
CE
A
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CM1- -17L30 CM1- -17S30W W
rpm rpm
Kgfcm Nm
Kgfcm (Nm)
cm
cm
DC V
A A A A
%RH
G G
3000250020001500100050000.00
1.00
2.00
3.00
4.00
5.00
6.00
(Kgf
cm)
RPM300025002000150010005000
RPM
0.00
0.4
0.6
0.8
1.0
1.2
1.4
(Kgf
cm)
CM1- -17L30 CM1- -17S30
10
CM1 17L/S
Min. Max.
![Page 12: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/12.jpg)
![Page 13: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/13.jpg)
mm
LCM- -11L30 85CM- -11S30 71
LCM- -17L30 76.5CM- -17S30 60.5
12
CM
CM mm
![Page 14: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/14.jpg)
LCM- -23L20CM- -23S30
13
CM1- - L/S mm
![Page 15: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/15.jpg)
PINCW/CCW Step/Dir
+ V DC IN
GROUND
INPUT Pin CCW - Direction -
OUTPUT TX
OUTPUT
INPUT V +
INPUT
INPUT Pin CW - Step -
INPUT CCW + Direction +
INPUT CW + Step +
GROUND V -
12 V DC OUT V (Max. mA)
INPUTCW/CCW
Kpps sec
INPUT
14
DC V V CWDC V V CCW
V DC V
DC V V ( 5V DC+0.8V
INPUT INPUT1 VINPUT2 INPUT2 VINPUT3 VINPUT4 V
14
TX
TX
RX
RX
RS CINPUT
Max kbps
GND
GND
![Page 16: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/16.jpg)
CW CCW ON CW CCW
CW CCW CW CCW CW CCW
CW CCW
C
C
C
C
CW/CCW
C
![Page 17: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/17.jpg)
16
D-SUB
CM1DC-MBS) CM1DC-SBS)
mm mm
CN2 CN3 CN2 CN3
D-Sub 9 Socket type D-Sub 9 Socket typeD-Sub 9 Pin type D-Sub 9 Pin type
![Page 18: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/18.jpg)
17
RLRLSERIES
RKRKSERIES
mmmm
mm/sec
Nmm
mmmm/sec
RDRDSERIES
AC
CRCRSERIES
Z
LM
Nmm
mmmm
RCRCSERIES
Nmm
mm/secmm
IGIGSERIES
RPM
NN
N marc min
SUS
Nmm
mmmm/sec
![Page 19: B]B B¥BlB·BrB¢B®B. 'BRB B) ¨1¡B-BjB·B¦B …B B Bt 0 : Ç 0 Ï'Î Ù î 1f 2 Ù î B B¨BkB¤B B 1 BB B{B_B BjB BnB B®B CML P1=1000 P2=2000 S1=100 S2=300 A1=50 T1=100 B1 A1,S1,P1](https://reader033.pdfslide.tips/reader033/viewer/2022041917/5e6a711e2a128b118451d13a/html5/thumbnails/19.jpg)
18
SERIES
CRCRSERIES
ROBOROBOSERIES
Super MY ROBO PTRW
Nmm
mm
N
RS XYEasyMulti
XY
mmmm
mm
RWRWSERIES
CAD
XY Zmm
mm XY Zmm
1540 400
mmmm
mm/sec
MHEMHE
SRLSRLSERIES
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