PRODUCT CATALOG

GUIDANCE SYSTEM-D4/D6 SPECIFICATIONS:
General Specifications
Computational Hardware
CPU and Dynamic Memory
Nonvolatile Memory
Software
Motion control
Operator interface
Programming interface
Machine vision (optional)
Motion Control
Motor Drives
Position Sensor Interface
Auxiliary Position Sensor Interface
Communication Interfaces
General communications
Digital input channels
Digital output channels
Auxiliary Digital IO
Valve Control Output
Analog I/O Channels (Optional)
Input AC
Input Voltage
Frequency
Dimensions*
Range & Features
400 Mhz high performance, low-power CPU with a minimum of 8MB of dynamic RAM.
Flash disk with a minimum of 16MB of storage for OS, firmware and user program and data storage.
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), optional conveyor belt tracing, optional
kinematic models for various robot geometries, optional Advanced Control License enables enhanced motion control
modes including: high speed position latching, real-time trajectory modification, analog output controlled by robot speed
and support for EtherNet/IP.
Web based operator interface supports local or remote control via browser connected to embedded web server.
Three methods available: DIO MotionBlocks (PLC), embedded Guidance Programming Language (standalone), PC
controlled over Ethernet using TCP/IP
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.
Up to four (GS-D4) or six (GS-D6) motor drives (5th and 6th motor drives provided by Guidance 0200C Slave Amplifiers):
10A option: 10A peak per channel, 5.5A RMS, 3.5A stall per channel.
20A option: 20A peak per channel, 10A RMS, 6.5A stall per channel.
Motor bus voltage: 320 VDC
Total power for all drives: 600 watts RMS
DENSO 4-axis SCARA or Cartesian (GS-D4) or DENSO 6-axis Articulated mechanism (GS-D6) connects to system using
standard DENSO robot cable.
Built-in interface to special DENSO absolute encoders.
Two Auxiliary Encoder Interfaces (optional) that each contain: One differential incremental encoder input, one singleended
incremental encoder interface and optional support for selected absolute encoders.
Optional support for analog encoders with interpolation (GS-D4 only)
RS-232 port with hardware flow control. Remote front panel interface with second RS-232 port (no hardware flow control),
compliant with IEC Category 3 safety standards. Two 10/100 Mbps Ethernet ports.
12 general purpose optically isolated inputs, configurable in groups of four as sinking or sourcing. 5 VDC to 24 VDC for
logic high if sinking, 24 VDC supplied for logic high if sourcing. Additional remote I/O available via Precise RIO modules or
3 rd party MODBUS/TCP devices or EtherNet/IP.
8 general purpose optically isolated outputs, individually configurable as sinking or sourcing, signals turn on in 2 usec and
turn off in 40 usec. 24 VDC maximum pull up if sinking. 24 VDC supplied if sourcing. 100 mA maximum per channel for
channels 2-7, 500 mA maximum for channel 1. Additional remote I/O available via Precise RIO modules or 3 rd party
MODBUS/TCP devices or EtherNet/IP.
Additional DIO and power typically wired to robot to control gripper and/or end-of-arm tooling. 8 sinking isolated inputs, 4
msec scan time. 8 sourcing isolated outputs, 4 msec scan time. Power supply (optional) for powering 12VDC Ethernet
camera and 9VDC ring light, controllable via software.
Last two standard digital output channels converted as follows: 24VDC output for 0.5 msec. 3.9VDC output for duration of
“on” time.
2 or 4 analog +/- 10 VDC 12-bit inputs (GS-D4 only)
90 to 264 VAC single-phase. However, some mechanism may require 220 VAC single-phase to achieve maximum speed
and acceleration.
Frequency: 50-60 Hz
GS-D4 – 246.7 mm (W) x 320.1 mm (H) x 190 mm (D), 4.08 kg
GS-D6 – 294.7 mm (W) x 320.1 mm (H) x 215 mm (D)
*The depth includes approximately 40 mm for the protrusion of the DENSO motor plug. If rubber feet are attached, height
will increase by approximately 13 mm
CONTROLLERS
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