2

目　次

目次 ･･････････････････････････････････････ P. 2

特長 ･･････････････････････････････････････ P. 4

コントローラ仕様･･･････････････････････ P. 6

外形図 ･･･････････････････････････････････ P. 8

オプション ･･････････････････････････････P. 10

3

Simple system

Wire-saving by serial interface.

Controller with three control functions

The SANMOTION C has the three functions of motion control, robot control,

and sequence control and makes it easy to build a variety of application systems.

Applications

Robot deviceMeasurement equipment

Pneumatic/hydraulicpressure control equipment

Manufacturing equipment

Conveying equipment

Packaging equipment

Robots, Conveying equipment, Packaging machines, Semiconductor manufacturing equipment,Press machines, Wire winding machines, Inspection equipment, Liquid crystal manufacturing equipment.

Cartesian coordinate,

SCARA,

Vertical articulated,

Parallel link

Motion function block

Electronic cam

Electronic gear

Digital input/output

Analog input/output

Timer, Counter

Sequencecontrol

Robotcontrol

Motioncontrol

Networking

Reducedwiring GA1060

■ GA1060　LSI Specialized for servo communications : Features synchronous communications between a controller and several 　servo-amplifiers using multi-drop serial interface based on the RS485.

4

■ Loaders, unloaders, Conveying equipment [linear/circular interpolation control]

■ Packaging equipment [electronic cam, electronic gear control]

Model Remarks

CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485

I/O module DM272-A8DI, 8DO0.5A（100%）/ 2.0A（50%）

Interface module SX210-A RS232C

Run-time firmware TTMCU-CP23X

Model Remarks

CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485

I/O module DM272-A8DI, 8DO0.5A（100%）/ 2.0A（50%）

Interface module SX210-A RS232C

Run-time firmware TTMCU-CP23X 　

■ Conveyer robots [PTP control]

Model Remarks

CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485

I/O module DM272-A8DI, 8DO0.5A（100%）/ 2.0A（50%）

Interface module SX210-A RS232C

Run-time firmware TTMCU-CP23X 　

Examples of system configurations

5

Software with a variety of functions for system development is available.

■ Programming tool

■ Analysis Diagnostic Tool〔SCOPE〕

■ Assembly robots [3-dimensional linear, 3-dimensional circular control]

Model Remarks

CPU module CP232-ZPower PC 400MHz, 64MB, CAN, RS485

I/O module DM272-A8DI, 8DO0.5A（100%）/ 2.0A（50%）

Interface module SX210-A RS232C

Run-time firmware TTMCU-CP23X 　

“IECEDIT / TEACH VIEW”Development tool software※ Option

IEC EDITMonitoring real-time management

6

Module structure

CPU moduleCP232-Z

I/O module

DM272-ADM276-ADI266-ADO276-AAM280-A

DI266-BDO276-B

Encodermodule

Interfacemodule

SM210-ASM230-A

Fieldbusmodule

FM280-AFM299-A

MM240-A

Powersupply USB

Status displayLED

RS485

Bus linkmodule

BL210-B

Compact flashRun-time firmware

TTMCU-CP23X

Communications cable between CPU and bus link module

Plug-in module

SX210-ASX230-A

FX200-A NX250-A

7

Specifications

■ CPU moduleModel No. CP232-Z Remarks

CPU Power PC 400MHz

Memory 64MB

Battery backed up SRAM 512KB

Specifications of provided interfaces CAN 125kbps to 1Mbps D-Sub 9-pin female connector

RS485 1200bps to 115200bps D-Sub 9-pin female connector

USB USB 1.1 high speed For memory storage

Expansion unit maximum 12

Input power supply DC24V（DC19.2V to DC30V） 2-pin connector x 1 (Phoenix Contact)　※ 2

Maximum input power 75W

Rush current 5.5A

Maximum output power（K-BUS DC24V) 45W

Maximum output power（K-BUS DC5V) 10W

Weight 650g

■ Expansion moduleType Model No. Specifications Mass Cable side connector

Plug-in module SX210-A RS232C, baud rate 1200 to 115200bps 31g D-Sub 9-pin female connector

SX230-A RS485／ 422 , baud rate 1200 to 115200bps

FX200-A CAN baund rate　125Kbps to 1Mbps 27g D-Sub 9-pin female connector

NX250-A Ethernet　10／ 100Mbps 23g 8-pin RJ45 connector

I/O module DM272-A Digital inputs: 8ch, 24 VDC, sink inputDigital outputs: 8ch, 24 VDC, 1A, source output

135g 2-pin connector x 1 + 8-pin connector x 2(Phoenix Contact) 　※ 2Photocoupler insulation

DM276-A Digital inputs: 6ch, 24 VDC, source inputDigital outputs: 8ch, 24 VDC, 1A, sink output

135g

DI266-A Digital inputs: 16ch, 24 VDC, source input 125g

DI266-B Digital inputs: 16ch, 24 VDC, source input 125g 24-pin connector x 1 (Fujitsu Component)

DO276-A Digital outputs: 16ch, 24 VDC, 0.5A, sink output 130g2-pin connector x 1 + 8-pin connector x 2 (Phoenix Contact) 　※ 2

DO276-B Digital outputs: 16ch, 24 VDC, 0.5A, sink output 130g 24-pin connector x 1 (Fujitsu Component)

Non-insulation AM280-A Analog input: 4ch, ± 10 V or 0 to 10 VAnalog output: 4ch, ± 10 V

135g 2-pin connector x 1 + 8-pin connector x 2 (Phoenix Contact) 　※ 2

Fieldbus module FM280-A SERCOS baund rate 2Mbps / 4Mbps 130g SMA Optical fiber connector

FM299-A GA1060 motion bus, maximum 16 axis control 130g D-Sub 9-pin female connector x 2

Interface module SM210-A RS232C, 2 ch, baud rate 1,200 to 115,200 bps 132g D-Sub 9-pin female connector x 2

SM230-A RS485/422, 2 ch, baud rate 1,200 to 115,200 bps 132g

Encoder moduleMM240-A

Encoder inputs : 2 ch, maximum input frequency 250 kHzLatch inputs: 2ch, 24 VDC, sink/source input

135g2-pin connector x 2 (Phoenix Contact)　※ 2D-Sub 9-pin male x 2

Bus link module　※ 1Communication module to expand extension-modules

BL210-B Communication rate 125kbps to 1Mbps 121g2-pin connector x 2 (Phoenix Contact)　※ 2D-Sub 9-pin male x 2

※ 1：Bus Link Module expands up to 12 units, also a maximum 41 units of modules are expansible on CAN-bus.

※ 2：Connector kit options are available. P8　Prepare other connectors and cables as necessary.

■ Common specificationsOperating ambient temperature 0 to ＋ 55℃

Storage ambient temperature － 45 to ＋ 70℃

Operating/storage ambient temperature 10 to 95% (no condensation allowed)

Vibration-proof Complies with JIS B 3502, frequency range: 5 ≦ f ＜ 9, displacement amplitude 3.5, frequency range: 9 ≦ f ＜ 150 4.9 m/s²

Shock resistant Complies with JIS B 3502 147 m/s²

Operating altitude 2000 meters max.

Installation location In control panel

Overvoltage category Ⅱ or lower

Degree of pollution 2 or lower

8

Options

Model No. Applications

TTMCU-CP23X Sequence/motion/robot control

※Contact our customer support team for designing a custom product.

Motion control function/specifications

Number of axes controlled 16 axes maximum

Calculation period 1 to 32 msec

Control type Position control (PTP), speed control

Acceleration/deceleration type Automatic trapezoidal acceleration/deceleration, S-shaped acceleration/deceleration

Control unit Any desired (pulse, mm, inch, degree)

Maximum reference value － 2147483648 to 2147483647(32-bit signed)

Programming language Complies with IEC61131-3, IL, ST, LD, SFC

Function block home, move relative, absolute move, move velocity, CamIn, GearIn

Robot control function/specifications

Number of axes controlled 9 axes maximum (robot: 6 axes; 3 added axes)

Calculation period 1 to 32msec

Control type PTP, 3-dimensional linear, 3-dimensional circular

Teaching type Remote teaching, numeric input

Control unit Any desired (pulse, mm, inch, degree)

Programming language Original robot language

Robots supported Orthogonal robots, SCARA robots, vertical articulated robots, parallel link robots

Run-time firmware

■ Cables and connectors with terminal resistors for GA1060 motion busModel No. Specifications

AL-00642156-□□ Cable between controller and amp　□ is the cable length: Unit x 1 m Maximum length 10 m

AL-00642351-□□ Cable between amps　□ is the cable length: Unit x 0.1 m Maximum length 3 m

AL-00642358-01 Connector with terminal resistor for amp side

AL-00642356-01 Connector with terminal resistor for controller side

■ Connector set (Manufacturer : Phoenix Contact)

Model No. Specifications Manufacturer model No.

AL-00591171-01 For CPU module and bus link module power supply MSTB2,5/2-ST-5,08　×1

AL-00591171-02 For I/O module MSTB2,5/2-ST-5,08　×1

MSTB2,5/8-ST-5,08　×2

AL-00591171-03 For encoder module power supply MSTB2,5/2-ST-5,08　×2

■ 24-pin connector (Manufacturer : Fujitsu Component) Not available at Sanyo Denki. Prepare as necessary.

Terminal shape Manufacturer model No.

Soldered Socket FCN-361J024-AU

Connector cover FCN-360C024-J2　※

Pressure connection Socket FCN-363J024

Connector cover FCN-360C024-J2　※

Contact FCN-363J-AU

Pressure welding FCN-367J024-AU/F

※ Besides J2 type connector covers, B types and E types can be used.

■ “IECEDIT / TEACH VIEW”Development tool softwareModel No. Applications

IEC EDIT Sequence/motion control integrated development tool

TEACH VIEW Robot Programming Tools (Virtual pendant)

9

Dimensions　（Unit : mm）

CPU moduleCP232-Z　● Option Power supply connector; Model No.: AL-00591171-01

Plug-in moduleFX200-A，　SX210-A，　SX230-A　

NX250-A

Bus link moduleBL210-B　● Option Power supply connector; Model No.: AL-00591171-01

Encoder module

MM240-A　● Option Power supply connector; Model No.: AL-00591171-03

COM

PACT

FLA

SH 120±

2

180±24

+24VSI1

0V

SI0

CAN1

PWR

DIA

G

CTRL

CP 232/Z

72±

1

ETHERNET

TX RX

CAN

0

DIN rail

100±

2

70±

1

120±

2

22.5±1

37

100±2

26

120±

2

22.5±1

100±2

72±

1

87.5 21.5

58 50

83 21.5

58 50

10

Dimensions　（Unit : mm）

Fieldbus module, interface moduleFM299-A，SM210-A，SM230-A

I/O moduleDM272-A，DM276-A，DI266-A，DO276-A，AM280-A

● Option I/O connector; Model No.: AL-00591171-02

DI266-B，DO276-B

37

22.5±1

120±

2

100±2

70±

1

70±

1

22.5±1

37

120±

2

100±2

37

70±

1

22.5±1

120±

2

100±2

11

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CATALOG No.S0842B007 ‘15.4

trademarks of such respective companies.*Remarks : Specifications Are SubjectTo Change Without Notice.The names of companies and/or their products specified in this catalog are the trade names, and/or trademarks and/or registered