Controller PMEC/AMEC PSEP/ASEP/DSEP MSEP PCON/ACON-ABU SCON-CA MSCON PSEL ASEL SSEL XSEL ERC3 ERC2 PCON-CA/CFA PCON ACON PS-24.

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1 / // /CFA /-ABU M / // -ABU -ABU M PS/PS

2 Position for RCP/RCP -C Position for RCA/RCA/RCL -C Position for RCP/RCP -C / CW Position for RCA/RCA/RCL -C / CW 7 Position for RCD -C / CW Position for RCP/RCP/RCP/RCA/ RCA/RCL, 8-axis type 7 -C /CFA Position for RCP (with high output driver) /RCP/RCP / CFA 607 M Position for RCP/RCP -CY / PL / PO / SE 6 Position for RCA/RCA/RCL -C / CG / CY / PL / PO / SE 6 -ABU Simple Absolute Unit for / / -ABU 6 -ABU Position for RCS/RCS 6 M Position for RCS/RCS, 6-axis type M-C 6 Program for RCP/RCP -CS 66 Program for RCA/RCA/RCL -CS 67 Program for RCS/RCS -CS 68 Multi-axis Program for RCS/RCS X-SEL-J / K / P / Q / R / S 69 -VDC Power Supply for ROBO Cylinder / 77

3 M /Actuator Correspondence Table Classification model -C -C Appearance -C /W -C /W Positioner Type -C /W -C -CFA -CY/ PL/PO/SE Input voltage AC00V AC00V AC00V DCV Number of controllable axes axis only to 8 axes axis only 0P, 0SP,,, S, 0P, 0SP,,, S, 0P, 0SP, type (*) 8P, 8SP, 0, 0, 8P, 8SP, 0, 0,. 8P, 8SP, 60P, 0P, 0SP, P, P, 6P 0S, 0 P, P, 6P 0S, 0 P, P, 6P 86P 8P, 8SP, P, P, 6P RCP RCP/RCP RCP-HS8 Slider type RCA/RCA RCA-SAA RCS/RCS RCP RCP RCP-RA8 /RA0 RCP RCA/RCA Rod type RCA-RAA RCS RCS- N RCS-RAR RCS-RAR with Load cell RCD RCP RCA/RCA Table type RCA- NA/ NA RCS RCS- N Gripper type RCP RCS RCP (*) (*) Rotary type RCS type RCL RCPCR RCPCR Cleanroom type RCPCR-HS8 RCACR RCSCR/RCSCR RCPW Dustproof/ RCPW splash-proof type RCAW RCSW Position detection method Incremental Incremental Simple Absolute Incremental Incremental Incremental Simple Absolute Incremental (Simple absolute unit can be connected) Supported actuators Supported absolute batteries SEP-ABUM AB-7 SEP-ABUM-W -ABB SEP-ABU SEP-ABUS -ABU Number of programs Number of program steps No program is required. Number of multi-tasking programs Number of positions Max. points Max. points Max. points Teaching pendant CON-PTA-C CON-PTA-C CON-T/TGS CON-PTA-C CON-PDA-C CON-PDA-C CON-T/TGS CON-PDA-C CON-PGA-C-S CON-PGAS-C-S CON-PGA-C-S Data input tool PC software Standard I/Os (PIOs) Expansion I/Os (PIOs) SEP-PT/CON-PTA-C/ CON-PDA-C/CON-PGAS-C-S MEC PC software (Free) input points/ output points (Not expandable) RCM-0-MW RCM-0-USB input points output points 6 input points 6 output points Varies depending on ( the controller type ) DeviceNet CC-Link PROFIBUS-DP MECHATROLINK-I/II CompoNet Ethernet EtherNet/IP EtherCAT (*) Regenerative resistor unit Supported field networks (*) The type field indicates the motor size for a pulse motor ( P) and motor wattage for a servo motor. (*) RCS-RA7/SRA7/ N actuators cannot be connected to -P/Q controllers of /6-axis type, -R/S controllers or M controllers.

4 Positioner Type -C/ CG/CY/PL/ M-C -CS -CS -CS PO/SE J type Program Type K type P type Q type R type S type DCV AC00V AC00V DCV AC00V Single-phase AC00V Single-phase AC00V AC00V Single-phase AC00V -phase AC00V -phase AC00V axis only to 6 axes and axes and axes and axes to axes to 6 axes to 8 axes,, S,, 0, 0, 60,, 0, 0, 0P, 0SP,,, S,, 0, 0, 60, 0, 0, 60, 00,, 0, 0, 60, 00, 0, 0, 00, 0, 00, 00, 60, 00, 8P, 8SP, 0, 0, 00, 0, 00, 00 0, 00, 00, 0, 00, 00, 0S, 0 00, 600, 70 0, 00 P, P, 6P 0S, 0 00, 600, 70 00, 600, 70 00, 600, 70 (*) (*) (*) (*) (*) (*) (*) (*) (*) (*) (*) M Incremental (Simple absolute unit can be connected) Incremental Incremental Incremental Incremental Absolute Simple absolute Absolute Absolute -ABU AB- -ABU AB- IA-XAB-BT AB No program is required Max. points Max. 6 points,00 points 0,000 points,000 points 0,000 points 6,000 to, points CON-PTA-C CON-T/TGS CON-PDA-C CON-PGAS-C-S RCM-0-MW RCM-0-USB Varies 6 input points depending on ( the controller type ) 6 output points CON-PTA-C CON-PDA-C CON-PGAS-C-S SEL-T-JS/SEL-TD-JS IA-0-X-MW-JS IA-0-X-USBS Exclusive ( network type ) input points/8 output points (Not expandable) IA-T-X(XD) IA-0-X-MW IA-0-X-USBMW input points/ 6 output points IA-T-X/XD SEL-T/TD IA-0-X-MW IA-0-X-USBMW SEL-TD SEL-T/TD SEL-TD IA-0-XA- MW IA-0-X-MW IA-0-X-USBMW IA-0-XA- MW input points/6 output points, 6 input points/ output points or 8 input points/8 output points (selectable) Total 96 input/output points x units expandable (when multi-point I/O board is used) Not Total 8 input/ Total 96 input/output points x units expandable output points expandable unit expandable (when multi-point I/O board is used) (*) REU-/RESUD- RESU/RESUD- REU-/RESUD- REU-/RESUD- (*) / controllers do not support infinite rotational movement of rotary actuators. (*) RCS-RTC8L/RTC8HL/RTC0L/RTCL actuators are not supported. (*) To be released soon. 6

5 Overview The ROBO Cylinder model can be selected from an ultra-simple type, which is operable with the same controls as a solenoid valve, to a high functionality type compatible with networks; A variety of models are available according to the customer's usage. types can be categorized according to the groups below based on their operations. Operable simply with an ON/OFF signal; easyto-operate type. Positioner Type Operable with the same signal as a solenoid valve. train input type is available as well which is operable freely based on the customer's control. M ROBO Cylinder s Program Type Standalone operation available without master devices such as a PLC. Interpolated motion for -6 axes is possible; available for application and transferring movements. Network Type Connection to a main field network such as DeviceNet, CC-link, or EtherNet/IP is available; applicable for large scale equipment. Position can be specified directly using a numeric value; there will be no limit of positioning points. Only one dedicated cable is needed; The number of operational steps will be significantly reduced. 7

6 -Position AC00V/AC00V Type / -Position DCV Type // Position DCV/AC00V/AC00V Type // See page 9. M See page. Program DCV Type / Program AC00V/AC00V Type / Network DCV Type Network Dedicated DCV Type M Network Compatible DCV/AC00V/AC00V Type ////// See page. 8

7 Positioner Type The positioner type controller stores positions to which the actuator is moved by specifying a target position number. If you are considering motorizing your air-cylinder system, the positioner type is an ideal choice because this controller can directly use the signals you have been using to operate your air cylinder. This means that you can motorize your system with minimum changes to significantly improve the productivity of your system. No programming needed The positioner type controller operates by selecting the target position number externally using I/O after teaching the position data. Therefore, no operation programming is needed, allowing for immediate operation directly after mounting to the equipment. Position number (select points) start signal PLC I/O Output signals such as position complete and alarm signal Position data M Operation using the same signal as solenoid valve possible (/, // controllers) Same as single solenoid-type valve, traveling between front/back ends is Move to front end possible only by the single ON/OFF. Signal ON Furthermore, if the double solenoid-type valve signal (two signals) are used, positioning at points including an intermediate position is possible. Signal OFF Move to back end Reasonable price A reasonable price range is offered for the pulse motor type controllers which maintain the effective functionality of a servo motor. The controller, including the power supply, PC software and communication cable, is sold as a set at a reasonable price. Wide Variations and Functions Positioner controllers are available in many different types, from the -point positioning type that accepts the same operation signals used for air cylinders, to the enhanced positioning type accommodating up to points and the space-saving type that can connect up to 8 axes per controller. Choose the type that best meets your specific application. Each controller also comes with various functions including smart tuning and maintenance, all designed to fully demonstrate the performance of your actuator. 9

8 / Every element needed for operation such as the controller, power supply, PC software and communication cable, etc. are supplied in the set so that direct operation right after the purchase is possible. Intuitive operation is possible without the need for instruction. Acceleration/deceleration and speed can be programmed from the front panel of the controller. Operable with the same signals as a solenoid valve. See page 7. Power supply of the controller is single-phase AC00V/AC00V (Only AC00V for ) / Operable with the same signals as a solenoid valve. M Splash-proof type having good resistance to water splashes. Simple absolute type setting which eliminates the need for home return upon power-on. power supply: DCV See page 7. /// Positioning is possible for up to points. Compatible for pulse train input control. ( is excluded) When combined with the RCP, the achieves significantly higher performance of up to. times the maximum speed and twice the payload of an existing model of comparable size. With the offboard tuning function you can increase the maximum acceleration/deceleration of the to G. Despite its compact body, the is able to connect and operate up to 8 actuator axes. You can choose the absolute specification(*) that makes home return no longer necessary, for all controllers in the,, and series. See page 607. See page 6. (*), and series are simple absolute specifications. See page 6. See page 6. 0

9 Program Type The program type controller executes programs that are input to it. Programs input to the controller are used to perform various tasks such as operating the actuator and communicating with external equipment. Ideal for small systems where a PLC is not required which leads to cost savings. High-level control available using simple language. A program is generated for the program type controller using the simple and easy Super SEL Language to execute operation of the actuator and communication between peripheral equipment. Expert knowledge is not needed to use the Super SEL Language, so it's easy to create programs even for beginners. M Interpolation possible up to /8 axes Simultaneous movement of the actuators is possible up to axes for / / controllers and 8 axes for the controller. Depending on the program, interpolation is available to easily perform arc or path movements needed for dispensing jobs. Controlling external equipment is possible Multi-purpose I/O signals are available for the controller which makes communication with peripheral equipment possible. Therefore, receiving signals from sensors and such through the controller or outputting signals from the controller to lamps or moving equipment, etc. to operate them is possible. Output conveyor stop signal Input sensor signal No home return needed for absolute type and simple absolute type A direct operation without home return is possible upon power-on if an absolute type actuator and controller are applied for // s. The controller is also operable without home return just like an absolute type actuator by installing the simple absolute unit between the actuator and the controller.

10 // Program controller with reasonable price and compact body. Interpolation of up to axes is possible which is applicable for dispensing jobs. By selecting the positioner mode, can be used in the same manner as the position controller. Communication via PC USB port and direct USB cable is possible with integrated USB port. Can store up to 00 points for / and 0,000 points for. Absolute type available for / controllers. controller is available for the same operation if a simple absolute unit is connected. power supply is DCV for / and single-phase AC00V/00V for. See page 66. See page 67. M See page 68. High-function controller with up to 8 axes that can be simultaneously controlled. Precise dispensing jobs are possible through high velocity uniformity and tracking accuracy. Absolute type available for selection. A maximum of, points can be stored for positioning. Expansion I/O is available up to a maximum of 76 points. Up to 6 /// controller axes can be connected via serial communication or field network to operate ROBO Cylinders using programs stored in the controller. See page 69.

11 M Network Type The network type controller is available for field networks or serial communication. Compatible with the majority of main field networks widely used over the world. There is a large variety available for use with various kinds of FA equipment such as a PLC or touch panel, etc. Compatible with main field networks Direct connection is possible with main field networks such as DeviceNet or CC-Link, etc. A position controller is available for an operation defined by movement specified with position number and direct coordinate value using the network. (When defining coordinate values directly, there is no restriction for the number of positioning points.) Compatible Networks and Functions Positioner Type Program Type series M Appearance DeviceNet CC-Link Field network types PROFIBUS-DP MECHATROLINK -I/II CompoNet Ethernet EtherNet/IP Applicable ROBO Cylinder EtherCAT (*) (*) RCP RCP RCP RCA RCA RCL RCS RCS RCP RCP RCP RCA RCA RCL Maximum number of positioning points (*) 768 points 6 points,00 points 0,000 points, points Movement by Operating specifying positions method Movement by specifying direct values X X X X (*) When it is operated by movement by specifying direct values, the number of positioning points is unlimited. (*) To be released soon. RCS RCS RCP RCP RCA RCA RCL RCS RCS RCS RCS

12 Operating Up to 6 ROBO Cylinder Axes from One The RC gateway function of the controller lets you connect multiple ROBO Cylinder controllers via serial communication or DeviceNet communication to operate up to 6 axes using programs stored in the controller. Combined with up to 8 axes that can be operated directly by the controller, you can effortlessly operate a maximum of axes from one controller. Another advantage is that wiring is much easier compared to when ROBO Cylinder controllers are PIO-controlled. P/Q/R/S (Note) DeviceNet connection only supports IAI controllers. Serial (RS8) communication or DeviceNet communication Up to 6 axes can be operated. M M Directly operated by the controller Up to 8 axes can be operated. Single-axis/Cartesian robots Specification Serial Communication Type DeviceNet Communication Type Supported controllers -P/Q/R/S type -P/Q/R/S type (*) Connectable controllers Maximum number of connectable ROBO Cylinder axes -SE -SE/-SE ROBONET -DV/-DV -DV/-DV M-DV * All controllers must be of the DeviceNet specification. 6 6 Baud rate 0.kbps 00kbps Communication cable length Total cable length of no more than 00m Total cable length of no more than 00m Required connection equipment RCB-CV-GW CB-RCB-SIO00 CB-RCB-CTL00 DeviceNet gateway master board (*) (*) -P/Q controllers of DeviceNet communication type must be custom-ordered. (-R/S controllers of this type are available as standard models.) (*) Your controller will come with this board if an applicable code is specified in the model name of the controller.

13 Network Type Vision System With the controller, you can directly connect a vision system of any leading brand to take advantage of the convenience of vision system functions, such as reading coordinate values into the controller and using these coordinates to move actuators. () Any leading vision system can be connected directly High-functional vision systems from leading brands, such as Omron, Keyence and Cognex, can be used with ease. Omron Keyence Cognex M Examples of vision system models Brand Model Interface Cognex In-Sight 000 series Ethernet Omron F0-C0 FZ RSC Keyence CV000 CV000 CV000 XG-7000 Ethernet RSC () No need for complex communication programs Coordinates read by the camera are sent to the robot controller via a dedicated command and stored as part of position data in the controller. There is no need for complex communication programs, etc. Coordinate values Camera controller Position data () Able to communicate with other networks while communicating with the vision system via Ethernet -R/S controllers can communicate with DeviceNet, CC-Link or PROFIBUS-DP while communicating with the vision system via EtherNet/IP or EtherCAT. This means that, for example, you can use Ethernet for communication between the controller and vision system, while allowing the controller to send and receive I/Os to/from peripherals via a CC-Link network. * -P/Q controllers can be set up to support one network selected from the types mentioned above. CC-Link Ethernet PLC I/Os communications R/S Vision system data

14 Up to 8 axes of pulse/servo motor actuators can be connected to this compact controller of just mm (W) x mm (H) in size. The compact body, which is 60% slimmer than a comparable model, saves space in the control panel. You can specify the target position numerically. Significantly shorter communication time within the controller. (Supported actuators) RCP/RCP/RCP/RCA/RCA/RCL series See page 6. M Dedicated low-cost network controller of space-saving design that connects up to 6 axes. M You can specify the target position numerically. Significantly shorter communication time within the controller. (Supported actuators) RCS/RCS series. See page 6. M compatible with field network *Network type set for each controller See page 607. See page 6. See page 6. See page 66. See page 67. See page 68. Able to connect to major networks directly. The position controllers let you operate your actuator by directly sending the values of target position, speed, acceleration, etc., via network. See page 69. 6

15 / -position, AC00/00V controller for RCP/RCP Series -position, AC00V controller for RCA/RCA/RCL Series ROBO Cylinder -position controller MEC (Mechanical Engineer Control) Feature M Low Cost The MEC package, which combines a controller, power supply, acceleration/speed change function and PC connection cable, among others, is at an affordable price. The MEC PC software can be downloaded free of charge from IAI s website. Power supply PC connection cable Easy Operation Even a beginner can set up the controller without reading the operation manual. The acceleration and speed can be adjusted using the knobs on the controller. * The setting range for acceleration/speed varies depending on the actuator. Please refer to the instruction manual for further detail. Easy Replacement from your Air-cylinder System Operation signals are exactly the same as those used to operate air cylinders. This means that you can use the program of your current PLC directly. Manual setting Trial operation Adjustment PLC Air cylinder Replacement ROBO cylinder Push-motion Operation/Intermediate Stopping Push-motion operation can be performed in the same manner as you would with any air-cylinder system. Also, you can cause the actuator to stop at any desired intermediate point between the home position and stroke end by changing the setting of the intermediate point using the MEC PC software. 7 /

16 Model List / Series External View Applicable actuators RCP / RCP RCA / RCA / RCL Power supply voltage 00V 00V-0V 00V Accessories AC power supply cable (m) USB cable (m) I/O cable (m) I/O connector EMG connector Standard mounting bracket Model C I ENG Series Type type Encoder type I/O type I/O cable length Power supply voltage Display panel M C Standard I Incremental NP PN NPN type PNP type Single phase AC00V Single phase AC00~0V 0P For 0 pulse motor 0SP For 0 pulse motor (dedicated for RCP-RA ) 8P 8SP P For 8 pulse motor For 8 pulse motor (dedicated for RAC) For pulse motor m P 6P For pulse motor For 6 pulse motor C I ENG Series Type type Encoder type I/O type I/O cable length Power supply voltage Display panel C Standard I Incremental NP PN NPN type PNP type Single phase AC00V For W motor For W motor S For W motor (dedicated for RCA-SAA ) m 0 For 0W motor 0 For 0W motor 0S For 0W motor (dedicated for RCA-SA /TA /RCA-RA ) 0 For 0W motor / 8

17 / System Configuration PLC M Option Teaching Pendant for ROBO Cylinder (See P) <Model CON-PTA-C> <Model CON-PDA-C> <Model CON-PGAS-C-S> * When using I/O, external V supply is required. PC software download I/O connector Supplied with the controller PIO Unit I/O cable (m) Supplied with the controller See page P6 for maintenance cables. -Encoder Integrated Cable Supplied with the actuator See page P for maintenance cables. Emergency stop switch (At the time of shipment, the EMG connector is short-circuited.) Actuator Compatible s Actuator s RCP series series RCP series RCA series RCA series series RCL series USB cable (m) Supplied with the controller Power cable (m) Supplied with the controller Single-phase AC00V or Single-phase AC00~0V Single-phase AC00V I/O Signal Table (Note) External power supply is needed. Motion Pattern -Position Travel -Position Travel Pin No. Wire Color Signal Type Signal Name Signal Name Brown V (Note) V (Note) PIO power Red 0V (Note) 0V (Note) Orange ST0 (Solenoid A: ON moves to end position, OFF moves to home position) ST0 (Solenoid A: Move signal ) Yellow ST (Solenoid B: Move signal ) Input Green RES (Alarm reset) RES (Alarm reset) 6 Blue 7 Purple LS0 (home position detection)/pe0 (home positioning complete)* LS0 (home position detection)/pe0 (home positioning complete)* 8 Gray LS (end position detection)/pe (end positioning complete)* LS (end position detection)/pe (end positioning complete)* Output 9 White HEND (Homing complete) LS (intermediate point detection)/pe (intermediate positioning complete)* 0 Black *ALM (alarm)* *ALM (alarm)* *: Signals PE0 through PE will be output if the pushing motion was enabled in the initial setting. Otherwise, LS0 through LS will be output. *: * ALM is ON when normal, and OFF when it is activated. MEC PC software By using the MEC PC software you can change the stop position data or run a test operation. In addition, you can change the setting on the intermediate stop function, pushing function or change the coordinates. The MEC PC software can be downloaded from the IAI website. IAI Website: 9 /

18 Explanation of PIO Patterns / PIO Pattern (-position travel) This motion pattern is between two positions, the home position and the end position. The home and end positions can be configured numerically (using the MEC PC software or the optional touch panel teaching pendant). Two motions are possible: A positioning motion moves the rod or the slider to the specified position, and a pushing motion presses the rod against a workpiece. Positioning Speed 0mm/s Input Signal ST0 Solenoid A ON (End position) When ST0 is turned ON, the slider/rod moves at 0mm/s to the end position (0mm position). (0mm) End Position Data Position 0mm Speed 0mm/s Pushing Force Width (Home Position) Speed 0mm/s (0mm) Input Signal ST0 Solenoid A OFF When ST0 is turned OFF, the slider/rod returns to the home position (0mm position) at 0mm/s. Home Position Data Position 0mm Speed 0mm/s Pushing Force Width M PIO Pattern (-position travel) This motion pattern is between two positions, the home position and the end position, which enables a pushing motion of the rod against a workpiece. Push (End position) (0mm) (0mm) Input Signal End Position Data ST0 Solenoid A ON Position 0mm When ST0 is turned ON, the actuator moves Speed 80mm/s the rod to the 0mm position at 80mm/s, and from there, pushes it at slower speed to the 0mm position. Pushing Force 0% Width0mm * The pushing motion is performed when there is a numerical value in the controller's push force data. (If there is no numerical value, a positioning motion is performed instead.) PIO Pattern (-position travel) This motion pattern enables moves between three positions: the end position and the home position, as well as an intermediate position. The positions are switched by combining two signals, ST0 and ST. Positioning (Home position) (0mm) (0mm) (Intermediate position) Input Signal ST0 Solenoid A ON ST Solenoid B OFF When only ST0 is turned ON, the actuator moves to the starting position at a set acceleration and speed. Input Signal ST0 Solenoid A ON* ST Solenoid B ON* When both ST0 and ST are turned ON, it will move to the intermediate position at the set acceleration and speed. When both are turned OFF, it stops at the current position. * You can also configure the initial settings so that the rod will move to the intermediate position with both signals turned OFF, and stop at the current position with both signals turned ON. (0mm) Input Signal (End position) ST0 Solenoid A OFF ST Solenoid B ON When only ST is turned ON, the actuator moves to the end position at a set acceleration and speed. / 0

19 Complete Accel & Speed Setting Accel Middle Manual Continuous Normal Release Brake Speed Manual Auto Green :Normal Red: Alarm Ext. Start Complete Normal Accel Accel & Speed Setting Middle Manual Continuous Brake Release Speed Manual Auto Green :Normal Red: Alarm Ext. Start M / Specifications Table Item Type Type Connectible Actuators RCP/RCP Series Actuators RCA/RCA/RCL Series Actuators Number of Controllable Axes Single axis Operation Method Positioner Type Number of Positions positions / positions Backup Memory EEPROM I/O Connector 0-pin terminal block I/O Points input points / output points Power for I/O Externally supplied DCV±0% Serial Communication RS8: ch/usb: ch Position Detection Method Incremental encoder Power Supply Voltage AC00~V±0% AC00V-0V±0% AC00V~V±0% Rated Current.A 0.67A (AC00V)/0.6A (AC00V).A Rush Current 0A A (AC00V)/0A (AC00V) A Leak Current 0.0mA max 0.0mA max (AC00V) 0.7mA max (AC00V) 0.0mA max Dielectric Strength Voltage DC00V MΩ Vibration Resistance XYZ directions 0~7Hz One-side amplitude 0.0mm (continuous), 0.07mm (intermittent) 7~0Hz.9m/s (continuous), 9.8m/s (intermittent) Ambient Operating Temperature 0~0 0 C Ambient Operating Humidity 0~8% RH (non-condensing) Ambient Operating Atmosphere Free from corrosive gases Protection Class IP0 Weight 00g 08g 6g Note: The minimum/maximum speeds vary depending on the actuator model. For more information, see the instruction manual, or contact IAI. Outer Dimensions [With standard mounting bracket] ø through HOME FWD BACK POS POS SAVE Test run FWD BACK RUN STOP Power Teaching Port M tapped hole HOME FWD BACK POS POS SAVE Test run FWD BACK RUN STOP Power Teaching Port. The standard mounting bracket is supplied with the controller. /

20 Complete Normal Accel & Speed Setting Accel Manual Continuous Brake Middle Release Speed Manual Auto Ext. Start Names of Parts and Functions / HOME FWD BACK POS POS SAVE Test run FWD BACK RUN STOP Green :Normal Power Red: Alarm Teaching Port PIO connector... Connects with a PLC or other external controllers to communicate inputs and outputs (I/O). Power LED... When the power is ON, it illuminates in green. Control panel... See below Brake switch Release Used to release the brake of the actuator Normal The controller automatically controls the brake of the actuator USB connector... When using MEC PC software, connect to the computer via USB. 6 AC inlet... Insert the power supply cable. 7 EMG connector... Connect the emergency stop button. Short-circuit it if you will not be using an emergency stop button. 8 M/PG connector... Insert the motor/encoder cable that connects with the actuator. 9 Status LED Indicates the servo status. RUN On = ON, Off= OFF (Energy-saving) status (Green) Flashing (Hz)=Auto servo OFF ALM (Red) EMG (Red) The LED illuminates if an alarm is turned ON or if the controller has come to an emergency stop. 0 SIO Connector... Connects with the teaching pendant (CON-PTA, SEP-PT). M Explanation of the Control Panel HOME button When starting, homing is performed first to confirm the 0mm coordinate. Manual button Press this button to set the acceleration and/or speed, or to run a test operation. (Press for at least second) AUTO button Press this button when operating from the MEC PC software or the PLC commands. (Press for at least second) Acceleration/Speed Settings Configure the actuator's motion. FWD POS BACK POS buttons Switch the motion you want to configure (see types below). FWD POS: Motion toward the end position BACK POS: Motion toward the home position Middle: Motion toward the middle position (Enabled from the MEC PC software and switched on by simultaneously pressing "FWD POS" and "BACK POS" buttons to switch. During a -position stop, simultaneous pressing is disabled.) Acceleration Speed knobs By turning the knob, you can change the speed between %~00% of the actuator's maximum speed or rated acceleration / deceleration. * The minimum speed may be less than % in some cases. SAVE button Saves the speed and acceleration adjusted above. Complete Normal FWD POS Accel FWD RUN HOME Accel & Speed Setting Middle SAVE Test run Manual Continuous Brake Release BACK POS Speed BACK STOP Manual Power Auto Green :Normal Red: Alarm Ext. Start Teaching Port Explanation of Terms (End position) FWD POS Middle Test Operation Confirm the saved motion by physically running the actuator. FWD button In a -position travel, the actuator moves from the BACK position to the FWD position. In a -position travel, the actuator moves from the BACK position to the middle position, then to the FWD position. BACK button The actuator returns to the home position. RUN button In a -position travel, the actuator moves back and forth between the FWD and BACK positions. In a -position travel, the actuator repeats its movement from the BACK position, middle position, FWD position, then BACK position. STOP button Stops the above operation. BACK POS Names of movements (Middle position) Middle (Home position) FWD Actual movement BACK /

21 / Options Touch-panel Teaching Pendant for Position CON-PTA/PDA/PGAS Adopting an easy-to-use interactive touch-panel menu screen, these simple data devices can be operated without consulting to the manuals.. Color screen for greater ease of view. Supporting the takt time minimization function and maintenance information checking/input functions.. Position, parameters and other data can be saved in a SD card. Built-in clock function records the date & time of each event; data can then be saved in a SD card. M Model Numbers/Specifications Item Description Model number CON-PTA-C-ENG CON-PDA-C-ENG CON-PGAS-C-S-ENG (set) Type Standard type Enable switch type Safety-category compliant type Connectable controllers ///R/R/M////// / (*) / -position enable switch Position data input/editing Moving function (moving to set positions, jogging/inching) Parameter editing Functions Monitoring (current position, current speed, I/O signals, alarm code, alarm generation time) Saving/reading data to/from external SD cards (position data parameters, alarm list) Takt time minimization function Maintenance information (total number of movements, total distance travelled, etc.) Display 6,6 colors (6-bit colors), white LED backlight Ambient operating temperature/humidity 0 to 0 0 C, 8% RH or less (Non-condensing) Environmental resistance IP0 or equivalent Mass Approx. 70g Approx. 600g Cable length m Stylus, TP adapter (Model number: RCB-LB-TGS) Accessories Stylus Stylus Dummy plug (Model number: DP-S) cable (Model number: CB-CON-LB00) Standard price * Among the series, only the actuators bearing 90 or greater number stamped on the serial number label can be connected. Name of Each Part Name of Each Part/External Dimensions Stylus 0 Emergency stop button 9. Wall-mounting hook 98 Enable switch Operation screen 80 (0) Option Strap (Model number: STR-) / m

22 / DIN Rail Mounting Bracket MEC-AT-D Dimensions Green :Normal Power Red: Alarm Manual Auto Complete HOME Accel & Speed Setting FWD BACK POS POS Middle Accel Speed SAVE Test run Manual FWD BACK Continuous RUN STOP Ext. Start M Normal Release Brake Teaching Port Maintenance cable List of maintenance cable models Type Cable length Cable length Model Standard price Integrated motor-encoder cable I/O cable RCP RCP-GRSS/GRLS/ GRST/ SRAR/SRGSR/ SRGDR RCA/RCL RCP RCP-RTBS/RTBSL -RTCS/RTCSL RCA m CB-A-MPA00 m CB-A-MPA00 m CB-A-MPA00 m CB--MPA00 m CB--MPA00 m CB--MPA00 m CB-R-MPA00 m CB-R-MPA00 m CB-R-MPA00 m CB--MPA00 m CB--MPA00 m CB--MPA00 m CB-A-PIO00- m CB-A-PIO00- m CB-A-PIO00- USB cable m CB-SEL-USB00 /

23 M / Components for maintenance Please refer to the models listed below when arrangements such as cable replacement are needed after purchasing the product. [RCP/RCA/RCL]-[/] Integrated motor-encoder robot cable for indirect connection/ Integrated motor-encoder cable Model CB-A-MPA /CB-A-MPA -LC (0) [RCP/RCPCR/RCPW]-[] Integrated motor-encoder robot cable for indirect connection Model CB--MPA L (8) (0) (Front view) Actuator side *Refer to page A-9 for connectable actuators. () Minimum bend radius r = 68mm or larger (when movable unit is used) (ø8.) * Robot cable is the standard specification. side (6) Actuator side Pin number A B A B A B A B A6 B6 A7 B7 A8 B8 A B A9 B9 A0 B0 A B * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m []() Black [ øa ](U) White [VMM](V) Brown [ ø/a ](W) Green [ øb ]( - ) Yellow [VMM]( - ) Red [ ø/b ]( - ) Orange [LS+](BK+) Gray [LS-](BK-) White [ - ](A+) Yellow [ - ](A-) Red [ A+ ](B+) Green [ A- ](B-) Black [ B+ ](Z+) Brown [ B- ](Z-) Black (label)[bk+](ls+) Brown (label)[bk-](ls-) Green (label)[gndls](gndls) Red (label)[vps](vps) White (label)[vcc](vcc) Yellow (label)[gnd](gnd) Shield [FG](FG) side Pin number * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m () () () () () *Refer to page A-9 for connectable actuators. (0) L (Front view) Actuator side Minimum bend radius r = 68mm or larger (when movable unit is used) (ø8.) (0) side (6) st Connector nd Connector Actuator side Pin number Black [ ØA ] White [ VMM ] Red [ ØB ] Green [ VMM ] Brown [ Ø/A ] Yellow [ Ø/B ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number [RCA/RCACR/RCAW]-[] Integrated motor-encoder robot cable for indirect connection Model CB--MPA * Robot cable is the standard specification. * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m () () *Refer to page A-9 for connectable actuators. (0) L (0) () () (Front view) Actuator side Minimum bend radius r = 68mm or larger (when movable unit is used) / (ø8.) (0) side (6) st Connector nd Connector Actuator side Pin number Red [ U ] Yellow [ V ] Black [ W ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] Black (label)[z+] Brown (label)[z-] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number

24 / [RCP-RTBS/RTBSL/RTCS/RTCSL]-[] Integrated motor-encoder robot cable for indirect connection Model (0) (Front view) CB-R-MPA Actuator side L (8) (0) () Minimum bend radius r = 68mm or larger (when movable unit is used) I/O cable for -C/-C Model CB-A-PIO - (ø8.) * Robot cable is the standard specification. side (6) * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m Actuator side Pin number A B A B A B A6 B6 A7 B7 A8 B8 A B A B A9 B9 A0 B0 A B Black [ øa ] White [ VMM ] Brown [ ø/a ] Green [ øb ] Yellow [ VMM ] Red [ ø/b ] Orange [ LS+ ] Gray [ LS- ] Red [ A+ ] Green [ A- ] Black [ B+ ] Brown [ B- ] Black (label)[bk+] Brown (label)[bk-] Green (label)[gndls] Red (label)[vps] White (label)[vcc] Yellow (label)[gnd] Shield [ FG ](FG) side Pin number * The types differ in cable length: 00=m, 00=m, 00=m M L Flat cable (0 pin) Pin NO. Electric wire color Signal Brown PIO Power Red supply Orange Yellow Input Green 6 Blue 7 Purple 8 Gray Output 9 White 0 Black / 6

25 // Model C/CW -position controller for RCP/RCP Model C/CW -position controller for RCA/RCA/RCL Model C/CW -position controller for RCD Feature M Can operate with the same signal as a solenoid valve. The signal that operates the actuator is the same as the signal that operates the air cylinder. Therefore, the PLC program currently in use can be used without modification even if the air cylinder is replaced by an electric-powered cylinder. Either a single solenoid or a double solenoid may be used. Signal ON Signal OFF Extended Retracted Establishes a dustproof type that supports IP. We provide dustproof type controllers with an IP equivalent (*) protection structure, so that the controller can be mounted outside the control panel. (*) The bottom surface is excluded. Provides the simple absolute type that can be operated immediately upon power-on without homing. Since the simple absolute type can store the current position with the assistance of the absolute battery unit during power-up or after the emergency stop is deactivated; it can start the next operation at that position. (Note ) When the actuator is connected to the simple absolute type controller, the model is considered an incremental model. (Note ) It can not be used for the linear servo type. (Note ) Not applicable for the. When mounting the absolute battery unit, mount it below the SEP controller to prevent heat damage. SEP controller Absolute battery unit Pushing and intermediate stop operation is available. Like air cylinders, the pushing operation is available. In this operation, you can stop with the rod being pushed to a workpiece. Since the force for the push operation is adjustable within a range between 0 to 70 % of the maximum pushing force and a signal is generated when it reaches the specified pushing force, it can be used to perform such tasks as clamping the workpiece or determine its size. Easy data entry with the dedicated touch panel teaching unit. Data, such as setting target positions or pushing force, are easily entered with the optional touch panel teaching unit model: CON-PTA-C-ENG. Since the touch panel teaching unit provides an interactive menu and can be controlled directly on the screen, you can operate intuitively with no assistance from operation manuals. 7 / / Push force can be adjusted from 0 to 70% of the maximum push force.

26 Model List // Series Type C CW C CW C CW Name Standard type Dustproof type Standard type Dustproof type Standard type Dustproof type Positioning method Incremental encoder Simple Incremental absolute type encoder Simple Incremental absolute type encoder Simple Incremental absolute type encoder Simple absolute type Incremental encoder Incremental encoder External View Description Position controller, for pulse motors, specialized to positions / positions positioning and easier control -C dustproof type with an IP equivalent protection structure Position controller, for servo motors, specialized to positions / positions positioning and easier control -C dustproof type with an IP equivalent protection structure Position controller, for the RCD actuator, specialized to positions / positions positioning and easier control -C dustproof type with an IP equivalent protection structure Number of positions positions / positions Standard price Model I 0 Series Type type Encoder I/O type I/O cable length Power supply type voltage Simple absolute compatible High acceleration compatible model M C CW Standard Dustproof Type 0P 0SP 8P 8SP P P 6P I Incremental 0 DCV 0 pulse motor compatible NP NPN type 0 pulse motor compatible RCP-RA high-thrust type only) PN PNP type 8 pulse motor compatible 8 pulse motor compatible (RAC only) pulse motor compatible pulse motor compatible 6 pulse motor compatible 0 No cable m m m ABUM Blank Standard High acceleration H compatible model * Enter "H" when connecting with the RCP-SAC/SAC/SA6C or RCP (RCPCR)-SAC/SA6C that are high acceleration compatible models. Simple absolute type (with absolute battery unit) Simple absolute type ABUMN (without absolute battery unit) (Blank) Incremental type Series I 0 Type type Encoder Option I/O type I/O cable length Power supply type voltage Simple absolute compatible C CW Standard Dustproof Type Series Type C Standard type CW Dustproof type I Incremental W motor compatible W motor compatible S W motor compatible (SAA,RAA only) 0 0W motor compatible 0 0W motor compatible 0S 0W motor compatible (RCA- SA /TA, RCA-RA only) 0 0W motor compatible type DC brushless.w s I HA High-acceleration specification LA Power-saving specification NP PN I Encoder type Incremental Type NPN type PNP type I/O type NP PN 0 No cable m m m NPN type PNP type I/O cable length 0 DCV Simple absolute type ABUM (with absolute battery unit) Simple absolute type ABUMN (without absolute battery unit) (Blank) Incremental type 0 Without cable m m m 0 Power supply voltage 0 DCV / / 8

27 // System Configuration <> Option PC software (See P9) RS connection version <Model: RCM-0-MW> USB connection version <Model: RCM-0-USB> * The cable comes with the PC software. * Versions older than cannot be used with controller. PLC Option Teaching Pendant (See P7) <Model: CON-PTA/CON-PDA/CON-PGAS> Dedicated teaching pendant for SEP <Model: SEP-PT> m Field Network DeviceNet/CC-Link/PROFIBUS Supplied with PIO cable (See P6) <Model: CB-A-PIO00> (standard) <Model: CB-AW-PIO00> (for dustproof) Standard m Option DCV power supply <Model: (00V input)> <Model: (00V input)> M Standard cable m Supplied with the PC software Connection cable standard 0.m Supplied with the absolute battery unit Supplied with the simple absolute type Absolute battery unit for SEP controller (See P60) <Model: SEP-ABUM> (standard) <Model: SEP-ABUM-W> (for dustproof) Supplied with the actuator Moter-encoder integrated robot cable (See P6) <Model CB--MPA > Standard m / m / m </R/> Actuator RCP series Rotary type RCP-RT (See below for small rotary) Gripper type RCP-GRS/GRM/GR Supplied with the actuator Moter-encoder integrated robot cable (See P6) <Model CB-R-MPA > Standard m / m / m Supplied with the actuator Moter-encoder integrated robot cable (See P60) <Model CB-PCS-MPA > Standard m / m / m RCP small rotary (RCP-RTBS/RTCS) * The above models use a dedicated cable. Supplied with the actuator Moter-encoder integrated robot cable (See P6) <Model CB-A-MPA > Standard m / m /m 9 / / Actuator RCP series RCP-GRSS/GRLS/GRST RCP-SRAR/SRGSR/SRGDR

28 System configuration <> Option PC software (See P9) RS connection version <Model: RCM-0-MW> USB connection version <Model: RCM-0-USB> * The cable comes with the PC software. * Versions older than cannot be used with controller. PLC Option Teaching Pendant (See P7) <Model: CON-PTA/CON-PDA/CON-PGAS> Dedicated teaching pendant for SEP <Model: SEP-PT> // Field Network DeviceNet/CC-Link/PROFIBUS Supplied with PIO cable (See P6) <Model: CB-A-PIO00> (standard) <Model: CB-AW-PIO00> (for dustproof) Standard m Option DCV power supply <Model: (00V input)> <Model: (00V input)> m Standard cable m Supplied with the PC software Connection cable standard 0.m Supplied with the absolute battery unit </R/> M Supplied with the simple absolute type Absolute battery unit for SEP controller (Refer to P. 60) <Model: SEP-ABUM> (standard) <Model: SEP-ABUM-W> (for dustproof) Supplied with the actuator Moter-encoder integrated robot cable (See P6) <Model CB--MPA > Standard m / m / m Supplied with the actuator Moter-encoder integrated robot cable (See P6) <Model CB--MPA > Standard m / m / m Supplied with the actuator Moter-encoder integrated robot cable (See P60) <Model CB-ACS-MPA > Standard m / m / m <> Actuator RCA Series PLC Actuator RCA/RCL Series Option PC software (Refer to P. 9) RS connection version <Model: RCM-0-MW> USB connection version <Model: RCM-0-USB> * The cable comes with the PC software. * Versions older than cannot be used with controller. Option Teaching Pendant (See P7) <Model: CON-PTA/CON-PDA/CON-PGAS> Dedicated teaching pendant for SEP <Model: SEP-PT> Supplied with PIO cable (See P6) <Model: CB-A-PIO00> (standard) <Model: CB-AW-PIO00> (for dustproof) Standard m Option DCV power supply <Model: (00V input)> <Model: (00V input)> m Standard cable m Supplied with the PC software Actuator RCD Series Supplied with the actuator Moter-encoder integrated cable (See P7) <Model CB-MPA > Standard m / m / m / / 0

29 M // PIO Pattern Description The SEP controller provides the following six PIO patterns from which you can choose for operation. Also, PIO patterns 0 to support both the single solenoid and double solenoid signal configurations. PIO pattern number 0 PIO pattern name Standard -position movement Moving speed change Position data change -input -position travel -input -position travel Continuous cycle operation Feature Supported solenoid configurations Input Output 0 0 -position motion -position motion -position motion -position motion -position motion Continuous motion between positions Push Push Push Push Push Push Changing speed during motion Motion position data change Single Double Single Double Single Double Motion signal Pause signal Motion signal Motion signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing completion signal /-ON output signal Alarm output signal /-ON output signal Motion signal Pause signal Motion signal Motion signal Moving speed change signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing completion signal /-ON output signal Alarm output signal /-ON output signal Motion signal Pause signal Motion signal Motion signal Target position change signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing completion signal /-ON output signal Alarm output signal /-ON output signal Motion signal Retract motion signall Continuous operation signal Motion signal Extend motion signal Pause signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Intermediate position output signal Alarm output signal /-ON output signal *For details of the signals listed above, see the User s Manual. (Can be downloaded from our corporate website.) PIO pattern 0 (Standard -position travel) Intermediate motion signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Intermediate position output signal Alarm output signal /-ON output signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing completion signal /-ON output signal Alarm output signal /-ON output signal This PIO pattern involves movements between two positionsthe end position and the home position. The positions can be set numerically to any position (by inputting to the controller using the PC software or the optional touch panel teaching pendant). Two motions are possible: A positioning motion moves the rod or the slider to the specified position, and a "pushing motion" pushes the rod against a workpiece. Positioning motion (single solenoid) End position data Position 0 Speed 00 Push force Width Speed 00mm/s (0) (End position) Input signal Input 0 ON Input Input Input When Input 0 is turned ON, the slider/rod moves to the end position (0mm coordinate) at a speed of 00mm/s. (Home position) (0) Speed 0mm/s Input signal Input 0 OFF Input Input Input When input 0 is turned OFF, the slider/rod returns to the home position (0mm coordinate) at a speed of 0mm/s. Home position data Position 0 Speed 0 Push force Width / /

30 // Positioning motion (double solenoid) End position data Position 0 (0) (End position) Input signal Input 0 OFF Input ON Input Input When Input is turned ON and Input 0 is turned OFF, the slider/rod moves to the end position (0mm coordinate) at a speed of 00mm/s. Speed 00 Push force Width (Home position) Input signal (0) Home position data Position 0 Input 0 ON Input OFF Input Input When Input 0 is turned ON and Input is turned OFF, the slider/rod returns to the home position (0mm coordinate) at a speed of 0mm/s. Speed 0 Push force M Width Push motion (single solenoid) (0) (0) (End position) Input signal Input 0 ON Input Input Input When Input 0 is turned ON, the rod moves to the 0mm position at 00mm/s, and then starts pushing from the 0mm position to the 0mm position at slow speed. End position data Position 0 Speed 00 Push force 0 Width 0 * The pushing motion is performed only if there is a numerical value for the pushing force in the controller's position data. (If there is no numerical value for the pushing force, a positioning motion will be performed instead.) Push motion (double solenoid) End position data Position 0 Speed 00 Push force 0 Width 0 (0) (0) (End position) Input signal Input 0 OFF Input ON Input Input When Input is turned ON and Input 0 is turned OFF, the rod moves to the 0mm position at 00mm/s, and then starts pushing from the 0mm position to the 0mm position at slow speed. * The pushing motion is performed only if there is a numerical value for the pushing force in the controller's position data. (If there is no numerical value for the pushing force, a positioning motion will be performed instead.) / /

31 // PIO pattern (Speed Change during movement) This PIO pattern involves movements between two positionsthe end position and the home position. The speed can be changed in stages. (The speed can be either increased or decreased.) The speed change occurs when the rod/slider passes the speed change position, specified in the position values. (Single solenoid) 00 If the speed change signal is OFF Speed (mm/s) 0 If the speed change signal is ON Home position (0) Speed change position () End position (0) (End position ) Home position data End position data M Input signal Input 0 ON Input Input ON Input () (0) When Input 0 is turned ON while Input is turned ON, the rod moves at the initial speed up to the speed change position. After it passes the speed change position, the speed changes. If Input is not turned ON, the speed will not change. Position 0 Speed 0 Speed change position Changed speed 00 Push force Width Position 0 Speed 00 Speed change position Changed speed 0 Push force Width PIO pattern (position change) This PIO pattern involves movements between two positionsthe end position and the home position. You can set sets of data for the end / home positions, speed, pushing force, and pushing width. Switching between the sets of data can be done by turning ON/OFF Input, which is the signal for switching the target position. (Single solenoid) 00 If the position change signal is OFF Speed (mm/s) 0 If the position change signal is ON Home position (0) (Position change signal is ON) End position (0) End position (0) (End position ) Input signal Input 0 ON Input Input ON (0) Input (End position ) If Input (position change signal) is OFF when Input 0 is turned ON, the rod moves according to the position and speed set in "End Position Data " (position: 0 / speed: 00). If Input is ON when Input 0 is turned ON, the rod's movement changes to the position and speed set in End Position Data " (position: 0 / speed: 0). If Input is OFF when the movement starts, but is turned ON in transit, the target position and speed is changed from that position. End position data Position 0 End position data Position 0 (0) / / Speed 00 Push force Width Speed 0 Push force Width

32 PIO pattern (-input -position travel) // This PIO pattern involves movements between positionsthe end position, the home position, and an intermediate position. Changing between the positions is done by a combination of signals, Input 0 and Input. Positioning motion (Home position) (0) (0) (Intermediate position) Input signal Input 0 ON Input OFF Input Input Input signal Input 0 ON Input ON Input Input When only Input 0 is turned ON, the rod moves to the home position at the specified speed. When Input 0 and Input are both turned ON, the rod moves to the intermediate position at the specified speed. Input signal (0) (End position) Input 0 OFF Input ON Input Input When only Input is turned ON, the rod moves to the end position at the specified speed. M PIO pattern (-input -position travel) This PIO pattern involves movements between positionsthe end position, the home position, and an intermediate position. Changing between positions is done by three signalsinput 0, Input and Input, which are commanded to move to the home, end and intermediate positions, respectively. Positioning motion (Home position) (0) Input signal Input 0 ON Input OFF Input OFF Input When Input 0 is turned ON, the rod moves to the home position at the specified speed. (Intermediate position) (0) (End position) (0) Input signal Input 0 OFF Input OFF Input ON Input Input signal Input 0 OFF Input ON Input OFF Input When Input is turned ON, the rod moves to the intermediate position at the specified speed. When Input is turned ON, the rod moves to the end position at the specified speed. PIO pattern (continuous cycle operation) This PIO pattern involves continuous cycling between positionsthe end and home positions. When Input 0 (continuous operation signal) is turned ON, the rod continuously moves between the specified positions. If Input 0 is turned OFF while in motion, it stops after reaching the current destination. Positioning motion (Home position) (0) (0) Input signal Input 0 ON Input Input Input When Input 0 is turned ON,the rod moves continuously between the end and home positions at the specified speed. / /

33 M // Pin No. I/O signal table Cable color PIO pattern number 0 PIO pattern name Standard -position travel Speed change Position change -input -position travel -input -position travel Continuous cycle operation Solenoid type Single Double Single Double Single Double Brown COM V V V V V V Red COM 0V 0V 0V 0V 0V 0V Orange 0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR Yellow *STP ST() *STP ST() *STP ST() ST ST() /*STP Input Green (RES) SPDC (RES) CN (RES) (RES) ST (RES) (RES) 6 Blue /SON /SON /SON /SON /SON /SON 7 Purple 0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 8 Gray LS/PE LS/PE LS/PE LS/PE LS/PE LS/PE Output 9 White HEND/SV HEND/SV HEND/SV LS/PE LS/PE HEND/SV 0 Black *ALM/SV *ALM/SV *ALM/SV *ALM/SV *ALM/SV *ALM/SV Note: The above signals marked with * are normally ON and turn OFF when active. Specification table Item Specifications type C CW C CW C CW Connectable actuators CP/RCP series actuators RCA/RCA/RCL series actuators RCD series actuators Number of control axes Axis Operating method Positioner type Number of positions -positions/ -positions (-positions *) Backup memory EEPROM I/O connector 0-pin connector Number of I/O points input points/ output points II/O power supply External supply DCV±0% Dedicated type for serial communication RS8 ch Peripheral device communication cable CB-A-PIO CB-AW-PIO CB-A-PIO CB-AW-PIO CB-A-PIO CB-AW-PIO Position detection method Incremental encoder (Attaching an absolute battery unit makes the simple absolute specification possible. *) Incremental encoder RCP connection-use CB--MPA (Connection not possible) (Connection not possible) encoder RCA connection-use (Connection not possible) CB MPA (Connection not possible) RCP/RCA connection-use CB-A-MPA (Connection not possible) cable RCP small rotary connection-use CB R MPA (Connection not possible) (Connection not possible) RCD connection (Connection not possible) CB-MPA Input voltage DCV±0% Control power supply capacity 0.A (0.8A for the simple absolute specification) Max size Rated Max. (*) power output Rated Power-saving Standard (*6), power output Rated Max. high acceleration/ (*) deceleration 0P 0.7A.0A W 0.8A Not specified.6a W.0A Not specified 6.A 8P 0.7A.0A W RCA-SA.0A Not specified.0a power supply capacity P 0.9A.0A 0W RCL.A Not specified 6.A P 0.9A.0A 0W RCA RCA.A.A.A W 0.7A.A 6P 0.9A.0A 0W.A.A.A 0W 0S.7A.A.A 0W.A.A.A Inrush current (*) Max.0A Amount of heat generated 8.W 9.6W W Dielectric strength voltage DC00V MΩ Vibration resistance XYZ direction 0~7Hz One-side width 0.0mm (continuous), 0.07mm (intermittent) 8~0Hz.9m/s (continuous), 9.8m/s (intermittent) Ambient operating temperature 0 to 0 C Ambient operating humidity 0~8% RH (non-condensing) Ambient operating atmosphere Free from corrosive gases Protection Class IP0 IP (*7) IP0 IP (*7) IP0 IP (*7) Weight Approx. 0g Approx. 60g Approx. 0g Approx. 60g Approx. 0g Approx. 60g (*) Upon power-on, an electrical current of to times as much as the rated current, called "in rush current" flows for to ms. Note that the amount of inrush current varies based on the impedance of power source lines. (*) This applies to the case where two position data points are set at each of the end and home positions during a "position change" motion pattern process. (*) The simple absolute type controllers cannot be used for the linear servo type. (*) After the motor power has been turned on, the motor is excited and it performs a phase detection operation. During this time, the current will maximized. (Generally for about 00ms) However, if after the motor power is off, it is turned on again, approximately 6.0A current will flow. (For approximately ~ ms) (*) The current will be maximized when the motor is excited and it performs a phase detection operation or during a collision or a motion constraint. The phase detection operation can take up to 0 seconds during which it is necessary to require the listed current. (*6) The current will be maximized during acceleration, deceleration, a collision, or a motion constraint. The longest time will be during a collision or a motion constraint. The listed current is required until an overload is detected. (*7) The bottom surface is excluded. / /

34 Names,, Incremental type Status LED (for SV, ALM, EMG) SIO connector PIO connector -encoder cable connector Power supply connector FG connector Actuator model number sticker //, Simple absolute type LED for ABS Status LED (for SV, ALM, EMG) SIO connector PIO connector -encoder cable connector Battery connector Power supply connector FG connector Actuator model number sticker M External dimensions Standard type. (mm DIN rail width) (0mm from the center of the DIN rail) 7. (6) (0) 0 DIN can be narrowed by mm Dustproof type. (mm DIN rail width) (0mm from the center of the DIN rail) 0.7 (6) (0) DIN can be narrowed by mm / / 6

35 // Options Touch-panel Teaching Pendant for Position CON-PTA/PDA/PGAS Adopting an easy-to-use interactive touch-panel menu screen, these simple data devices can be operated without consulting to the manuals.. Color screen for greater ease of view. Supporting the takt time minimization function and maintenance information checking/input functions.. Position, parameters and other data can be saved in a SD card. Built-in clock function records the date & time of each event; data can then be saved in a SD card. M Model Numbers/Specifications Item Description Model number CON-PTA-C-ENG CON-PDA-C-ENG CON-PGAS-C-S-ENG (set) Type Standard type Enable switch type Safety-category compliant type Connectable controllers ///R/R/M////// / (*) / -position enable switch Position data input/editing Moving function (moving to set positions, jogging/inching) Parameter editing Functions Monitoring (current position, current speed, I/O signals, alarm code, alarm generation time) Saving/reading data to/from external SD cards (position data parameters, alarm list) Takt time minimization function Maintenance information (total number of movements, total distance travelled, etc.) Display 6,6 colors (6-bit colors), white LED backlight Ambient operating temperature/humidity 0 to 0 0 C, 8% RH or less (Non-condensing) Environmental resistance IP0 or equivalent Mass Approx. 70g Approx. 600g Cable length m Stylus, TP adapter (Model number: RCB-LB-TGS) Accessories Stylus Stylus Dummy plug (Model number: DP-S) cable (Model number: CB-CON-LB00) Standard price * Among the series, only the actuators bearing 90 or greater number stamped on the serial number label can be connected. 7 / /

36 // Name of each part/outer dimensions Option Strap MODEL STR- 0 Stylus Emergency stop button 9. Wall mount hook 98 Control panel 80 Enable switch CON-PT label Model number / Serial number label (0) M m Strap anchor insertion connector CON-PTA-C CON-PDA-C CON-PGAS-C * Please note that the CON-PGAS-C has a controller insertion connector that is different from the other models. Wiring Diagram of CON-PGAS-C-S TP adapter RCB-LB-TG Safety circuit 0.m connection cable CB-CON-LB00 ROBONET CON-PGAS -C m / / 8

37 // Option PC software (Windows only) Features This startup support software provides functions to input positions, perform test operations and monitor data, among others. Incorporating all functions needed to make adjustments, this software helps shorten the initial startup time. Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 M Model Configuration RCM-0-MW (With external equipment communication cable + RS conversion unit) RS conversion adapter RCB-CV-MW m PC software (CD) 0.m External equipment communication cable CB-RCA-SIO00 Model Configuration RCM-0-USB (With external equipment communication cable + USB conversion adapter + USB cable) m USB conversion adapter RCB-CV-USB m 9 PC software (CD) / / USB cable CB-SEL-USB00 External equipment communication cable CB-RCA-SIO00

38 // Absolute battery unit for SEP controllers Description Supplied with the and simple absolute controllers. This is a battery unit used for backing up the current position data. Model Specifications SEP-ABUM (standard type) SEP-ABUM-W (dustproof type) Note: There is no simple absolute type. Item Specifications Ambient operating temperature and humidity 0 to 0 C (about 0 C preferred), 9% RH or below (non-condensing) Ambient operating environment Free from corrosive gases Absolute battery (*) Model: AB-7(Ni-MH battery/approx. -year life) -absolute battery unit cable (*) Model: CB-A-ABM00 (length 0.m) Weight Standard type: approx. 0g / Dustproof type: approx. 60g Allowable encoder RPM during data retention (*) 800rpm 00rpm 00rpm 00rpm Position data retention time (*) 0h 0h 60h 80h (*) The absolute battery unit comes with a cable to connect the controller and the absolute battery unit. (*) Position data retention time changes with the allowable encoder RPMs during data retention. (800rpm 0h, 00rpm 0h, 00rpm 60h,00rpm 80h) Standard type. (mm DIN) (0mm from the center of the DIN rail) (6) Dustproof type. (mm DIN) (0mm from the center of the DIN rail) (6) M (0) DIN can be narrowed by mm Precautions related to controllers and options: 0 (0) DIN can be narrowed by mm When mounting the controller to a DIN rail, use the supplied spacer between the controllers to prevent them from contacting each other, to deal with heat dissipation. (See Fig. ) When mounting the absolute battery units and controllers, place the absolute battery units below the controllers. (See Fig. ) If there is not enough space below the controllers, mount the absolute battery units in such a way that the temperature around the controllers stays at 0ºC or below. (Figure ) (Figure ) (/) (absolute battery unit) Spacer (comes with the controller) -Absolute Battery Unit Cable (Comes with the absolute battery unit) Model: CB-A-ABM00 (length 0.m) / / 60

39 // Components for Maintenance Please refer to the models listed below when arrangements such as cable replacement are needed after purchasing the product. [RCP/RCA/RCL]-[/] / Integrated motor-encoder robot cable for indirect connection /Integrated motor-encoder robot cable Model CB-A-MPA /CB-A-MPA -LC * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m M [RCP]-[] Integrated motor-encoder robot cable for indirect connection Model *Refer to page A-9 for connectable actuators. L (8) (0) (0) (6) (Front view) () Actuator side side Minimum bend radius r = 68mm or larger (when movable unit is used) CB--MPA (ø8.) * Robot cable is the standard specification. Actuator side Pin number A B A B A B A B A6 B6 A7 B7 A8 B8 A B A9 B9 A0 B0 A B []() Black [ øa ](U) White [VMM](V) Brown [ ø/a ](W) Green [ øb ]( - ) Yellow [VMM]( - ) Red [ ø/b ]( - ) Orange [LS+](BK+) Gray [LS-](BK-) White [ - ](A+) Yellow [ - ](A-) Red [ A+ ](B+) Green [ A- ](B-) Black [ B+ ](Z+) Brown [ B- ](Z-) Black (label)[bk+](ls+) Brown (label)[bk-](ls-) Green (label)[gndls](gndls) Red (label)[vps](vps) White (label)[vcc](vcc) Yellow (label)[gnd](gnd) Shield [FG](FG) side Pin number * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m () () () () () *Refer to page A-9 for connectable actuators. (0) L (Front view) Actuator side Minimum bend radius r = 68mm or larger (when movable unit is used) (ø8.) (0) side (6) st Connector nd Connector Actuator side Pin number Black [ ØA ] White [ VMM ] Red [ ØB ] Green [ VMM ] Brown [ Ø/A ] Yellow [ Ø/B ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number [RCA]-[] Integrated motor-encoder robot cable for indirect connection Model CB--MPA * Robot cable is the standard specification. * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m () () (0) L (0) () () (Front view) Actuator side *Refer to page A-9 for connectable actuators. Minimum bend radius r = 68mm or larger (when movable unit is used) 6 / / (ø8.) (0) side (6) st Connector nd Connector Actuator side Pin number Red [ U ] Yellow [ V ] Black [ W ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] Black (label)[z+] Brown (label)[z-] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number

40 [RCP small rotary]-[] Integrated motor-encoder robot cable for indirect connection Model (0) (Front view) () (0) (Front view) Actuator side CB-R-MPA *Refer to page A-9 for connectable actuators. Actuator side I/O cable for -C/-C/-C Model CB-A-PIO L // [RCD]-[] Integrated motor-encoder cable for indirect connection/ Integrated motor-encoder robot cable * ccc indicated the cable length (L) Model CB-MPA /CB-MPA -RB Lengths up to 0m can be specified Example) 080=8m *Refer to page A-9 for connectable actuators. (0) * Robot cables are cables resistant to flexing forces. If the cable must be guided in a cable track, use a robot cable. Minimum bend radius r = 68mm or larger (when movable unit is used) L (ø8.) (Note) L (8) (0) () Minimum bend radius r = 68mm or larger (when movable unit is used) (ø8.) * Robot cable is the standard specification. (Note ) If cable length is m or more,non-robotic cable is ø9. and robot cable is ø0. (0) (6) side side (6) Actuator end (AMP) Pin No. Signal name Color A Blue(Black) B A VMM/V _A/W Orange (White) Green (Brown) B Brown (Green) A B VMM/- _B/- Gray (Yellow) Red (Red) A LS+/BK+ Black (Orange) B LS-/BK- Yellow (Gray) A6 -/A+ Blue (White) B6 -/A- Orange (Yellow) A7 A+/B+ Green (Red) B7 A-/B- Brown (Green) A8 B+/Z+ Gray (Black) B8 B-/Z- Red (Brown) A BK+/LS+ Blue (Black) B A9 BK-/LS- LS_GND Orange (Brown) Green (Green) B9 VPS Brown (Red) A0 VCC Gray (White) B0 GND Red (Yellow) A B FG Black () * Colors of robot cables are shown in ( ). * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m Actuator side Pin number A B A B A B A6 B6 A7 B7 A8 B8 A B A B A9 B9 A0 B0 A B Black [ øa ] White [ VMM ] Brown [ ø/a ] Green [ øb ] Yellow [ VMM ] Red [ ø/b ] Orange [ LS+ ] Gray [ LS- ] Red [ A+ ] Green [ A- ] Black [ B+ ] Brown [ B- ] Black (label)[bk+] Brown (label)[bk-] Green (label)[gndls] Red (label)[vps] White (label)[vcc] Yellow (label)[gnd] Shield [ FG ](FG) side Pin number end PADP-V--S (JST) Pin No. Signal name Color Blue (Black) VMM/V _A/W Orange (White) Green (Brown) Brown (Green) 6 VMM/- _B/- Gray (Yellow) Red (Red) 7 LS+/BK+ Black (Orange) 8 LS-/BK- Yellow (Gray) -/A+ Blue (White) -/A- Orange (Yellow) A+/B+ Green (Red) A-/B- Brown (Green) B+/Z+ Gray (Black) 6 B-/Z- Red (Brown) 9 BK+/LS+ Blue (Black) 0 0 BK-/LS- LS_GND Orange (Brown) Green (Green) 8 VPS Brown (Red) 7 VCC Gray (White) 9 GND Red (Yellow) FG Black () * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m M I/O cable for -CW/-CW /-CW Model CB-AW-PIO L -000 (MOLEX) No. Signal Color Wiring V 0V Brown Red 0 9 IN0 IN IN Orange Yellow Flat Cable Green 6 IN Blue (crimped) 7 OUT0 Purple 8 OUT Gray 9 0 OUT White OUT Black * ccc indicated the cable length (L) Lengths up to 0m can be specified Example) 080=8m (MOLEX) No. Signal Color Wiring Brown Brown-White Red Red-White / / 6 6 V 0V IN0 IN IN IN OUT0 OUT OUT OUT Cable Yellow Yellow-White (crimped) Green Green-White Black Black-White

41 Position controller SEP series 8-axis type Features Compact Design mm M A successfully designed 8-axis compact controller with a mm width x mm height unit. A 60% reduction in width from the predecessor controller which contributes to space savings within the controller cabinet. ROBONET Approximately 60 % smaller 06mm Supports major field networks Allows direct connection with the major field networks including DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, and EtherNet/IP. Network Specification Features 6 positioning points per each axis Allows designation of position and speed navigation numerically. Ability to verify current position in real-time. Significant communication time reduction within the controller (Approximately by /0 compared to the predecessor model). Coming soon Supports major field networks A single controller can operate both the pulse motor and the servo motor type actuators, reducing set-up efforts significantly such as wiring even when different types of actuators have to be used at the same time. Simple absolute option An absolute position encoder is available, which saves the position data by battery, providing prompt operation without returning to the home position after power off. Even in an emergency shut-off or momentary power-loss, it allows continuous operation from its last position. 6

42 Model List Type C I/O category NP PN DV CC PR CN EC EP Item name PIO specification (NPN type) PIO specification (PNP type) DeviceNet Specification CC-Link Specification PROFIBUS-DP Specification CompoNet Specification EtherCAT Specification EtherNet/IP Specification Exterior view Item description Operates via digital signals from the PLC * The picture shown is of the PIO specification. Depending on the I/O category, the PIO connector and field network joint connector changes. Operates with any of the above field network connections. A choice of method either a serial communication with PIO specification control, or transmitting traveling position, velocity and acceleration by data is available. No. of positions positions per axis 6 positions per axis (There is no limit if operated directly by transferring data) Standard price Model M * Representation of the nd to the 8th axis is depending on the total number of axes applied. (i.e. after the nd axis) (Description of the st axis) C 0 Series Type Total Encoder number type type of axes Option type Encoder type Option I/O type Type of I/O cable (Description of the nd to 8th axis) Powersupply voltage Absolute position encoder option -axis specification -axis specification -axis specification -axis specification -axis specification 6 6-axis specification 7 7-axis specification 8 8-axis specification High acceleration/ HA deceleration capability LA Power-saving * The above options are only available with the actuator. 0 No cable m (standard) m m I Incremental specification 0 DCV 0P 0-frame pulse motor type W servo motor type 0SP 0-frame pulse motor type (RAAC, RABC) W servo motor type 8P 8-frame pulse motor type S W servo motor type (SAA, RAA exclusive) 8SP 8-frame pulse motor type (RAC exclusive) 0 0 W servo motor type 0 0 W servo motor type P -frame pulse motor type 0 W servo motor type P -frame pulse motor type 0S (RCS-SA /TA, 6P 6-frame pulse motor type RCA-RA exclusive) P Unused pulse motor axis (*) 0 0 W servo motor type N Code for no connected axis (*) A Unused servo motor axis (*) (*) Please refer to the instruction for completing selected model description on the following page. ABB Absolute position encoder type (with absolute data backup battery) ABBN Absolute position encoder type (without absolute data backup battery) (Blank) Incremental Type NP PIO specification (NPN type) PN PIO specification (PNP type) DV DeviceNet connection specification CC CC-Link connection specification PR PROFIBUS-DP connection specification CN CompoNet connection specification ML MECHATROLINK connection specification EC EtherCAT connection specification EP EtherNet/IP connection specification Note) EC specifications will be available soon. 6

43 Guide for the description of the selected configuration The description of the controller configuration varies depending on the type of actuator connected to the controller, and the total number of axes installed. Please see the following conditions to configure a desired controller. Connect the SAME TYPE of actuators (either pulse motor type or servo motor type) Connect a MIXTURE OF TYPES of actuators (both pulse motor type and servo motor type) M Please indicate the motor type code of the actuator starting from the st axis respectively. e.g.) C PI 6PI PI 6PI NP 0 Total number of axes st axis motor nd axis rd axis th axis motor Each board is designed to connect to a pair of axes, and two different types of motors cannot be connected to the same board. Please indicate the same types of motors for each pair of axes. e.g.) C PI 6PI 0I 0I NP 0 Total number of axes st axis motor nd axis rd axis th axis motor st axis RCP st axis RCP nd axis RCP nd axis RCP rd axis RCP rd axis RCA th axis RCP th axis RCA If the total number of axes is an odd count, please indicate an [N] following the last axis description (as shown after the rd axis below for example). e.g.) C PI 6PI PI N NP 0 Total number of axes st axis motor nd axis rd axis No connected axis If either motor type is an odd count, please indicate an [N] following the last axis description per the corresponding board. e.g.) C PI N 0SI 0I NP 0 Total number of axes st axis nd axis rd axis motor motor No connected axis <If you choose to operate the controller with fewer axes connections now but may add more in the future> If there s a possibility to increase connections, for example, to 6 or 8 axes in the future but would like to start with only axes to operate the controller now, it is possible to keep the base board installed as is and leave room for the potential axes by indicating an [UNUSED AXIS]. When configuring unused axis/axes for the pulse motor, please indicate a [P] in the rd axis th axis box for the motor type. st axis When configuring unused axis/axes for the servo motor, please indicate an [A] in the box for the motor type. nd axis When configuring unused axis/axes, please include number of unused axis/axes in the total number of axes. e.g.) C 8 PI 6PI 0I 0I PI PI AI AI NP 0 Total number of axes st axis nd axis rd axis th axis motor motor th axis 6th axis Unused axis ( motor) 7th axis 8th axis Unused axis ( motor) th axis 6th axis 7th axis 8th axis 6

44 Actuator combination patterns for the There are 0 combination patterns of the pulse motor type or the servo motor type actuator that can be connected to the controller as shown in the table below. (all * are an incremental specification) (The boxes in the configuration lines are to indicate the type of motor code number) <Connectable actuators> motor type actuator RCP series (*) RCP series RCP series (*) High-output motion is not available -axis to -axis specification motor type actuator RCA series (*) RCA series RCL series Total number of axes -axis specification -axis specification -axis specification Driver slot 0 Driver slot Driver slot Driver slot AX0 AX AX AX AX AX AX6 AX7 Configuration Pattern No Unit price Incremental specification PIO specification N -C-- PI-N-(*) N -C-- I-N-(*) -C-- PI- PI-(*) N N -C-- PI-N- I-N-(*) -C-- I- I-(*) N -C-- PI- PI- PI-N-(*) 6 N -C-- PI- PI- I-N-(*) 7 N -C-- PI-N- I- I-(*) 8 M N -C-- I- I- I-N-(*) 9 -C-- PI- PI- PI- PI-(*) 0 -axis specification N N -C-- PI- PI- PI-N- I-N-(*) -C-- PI- PI- I- I-(*) N N -C-- PI-N- I- I- I-N-(*) -C-- I- I- I- I-(*) N -C-- PI- PI- PI- PI- PI-N-(*) -axis specification N -C-- PI- PI- PI- PI- I-N-(*) 6 N -C-- PI- PI- PI-N- I- I-(*) 7 N -C-- PI- PI- I- I- I-N-(*) 8 N -C-- PI-N- I- I- I- I-(*) 9 N -C-- I- I- I- I- I-N-(*) 0 66

45 <Actuator connector and driver slot description> 6-axis to 8-axis specification M Total number of axes 6-axis specification Driver slot 0 Driver slot Driver slot Driver slot AX0 AX AX AX AX AX AX6 AX7 Configuration Pattern No Unit price Incremental specification PIO specification -C-6- PI- PI- PI- PI- PI- PI-(*) N N -C-6- PI- PI- PI- PI- PI-N- I-N-(*) -C-6- PI- PI- PI- PI- I- I-(*) N N -C-6- PI- PI- PI-N- I- I- I-N-(*) -C-6- PI- PI- I- I- I- I-(*) N N -C-6- PI-N- I- I- I- I- I-N-(*) 6 -C-6- I- I- I- I- I- I-(*) 7 N -C-7- PI- PI- PI- PI- PI- PI- PI-N-(*) 8 N -C-7- PI- PI- PI- PI- PI- PI- I-N-(*) 9 N -C-7- PI- PI- PI- PI- PI-N- I- I-(*) 0 7-axis specification N -C-7- PI- PI- PI- PI- I- I- I-N-(*) N -C-7- PI- PI- PI-N- I- I- I- I-(*) N -C-7- PI- PI- I- I- I- I- I-N-(*) N -C-7- PI-N- I- I- I- I- I- I-(*) N -C-7- I- I- I- I- I- I- I-N-(*) 8-axis specification -C-8- PI- PI- PI- PI- PI- PI- PI- PI-(*) 6 -C-8- PI- PI- PI- PI- PI- PI- I- I-(*) 7 -C-8- PI- PI- PI- PI- I- I- I- I-(*) 8 -C-8- PI- PI- I- I- I- I- I- I-(*) 9 -C-8- I- I- I- I- I- I- I- I-(*) 0 (*) include codes for (I/O type)-(i/o cable length)-(power supply)-(absolute position encoder option) 67

46 Standard price chart The standard price of the controller can be calculated by adding the I/O type price, plus additional prices for the absolute position encoder specification, and the absolute data backup battery (Absolute-battery) option to the basic unit prices as listed in below. Basic unit price (Incremental specification + PIO specification) Additional price by I/O type Additional price for the absolute position encoder specification Additional battery price for the absolute position encoder specification The prices of combination patterns from page (all incremental axes). For field network specification, please add the price. For the absolute position encoder specification, please add the price for the total number of axes in the controller. Please add the battery price for the absolute position encoder specification. If the battery is not necessary such as it is an extra module to the controller, (if configuration code ABBN for absolute position encoder specification is selected), please omit the price for. Pattern No Unit price (Incremental specification/ PIO specification) Additional I/O type price DeviceNet specification CC-Link specification PROFIBUS-DP CompoNet specification MECHATROLINK specification EtherCAT specification EtherNet/IP specification Additional absolute position encoder specification price st axis nd axis rd axis th axis th axis 6th axis 7th axis 8th axis Additional battery price for the absolute position encoder specification st axis nd axis rd axis th axis th axis 6th axis 7th axis 8th axis Standard price Specification specific standard price 68 M

47 M System configuration Option PC Software (See P7) RS connection version Model RCM-0-MW USB connection version Model RCM-0-USB * is supported by Ver or later Option Teaching pendant (See P7) Model CON-PTA-C * is supported by Ver..0 or later m The cable is supplied with the PC Software The cable is supplied with the absolute data backup battery 0.m PLC PIO flat cable (See P70) Model CB--PI000 Standard length: m Supplied with the PIO specification controller * There are choices of either the PIO specification or the field network specification Field Network DeviceNet/CC-Link/PROFIBUS-DP CompoNet/EtherCAT/EtherNet/IP * EtherCAT will be available soon. * In order to connect to the field network, the compatible PC software is necessary to provide the gateway parameter configuration tool to configure the communication with the controller. If you don t have the software, please add it to your order. (See P7) * Field network connection cable is not included. Option Absolute data backup battery (See P7) Model -ABB Replacement battery (See P7) Model AB-7 <Connectable actuators> * If the absolute position encoder specification is selected as a controller unit, the absolute data backup battery is included. (See P7 for the dimensions) -encoder integrated cable (See P7) Model CB--MPA Standard m / m / m Supplied with the actuator Option DCV Power supply Model (00 V input) Model (00 V input) Actuators in green are according to the pulse motor specification Actuators in blue are according to the servo motor specification -encoder integrated cable Model CB--MPA Standard m / m / m Supplied with the actuator Actuator RCP series Excluding RCP-RTBS/ RTCS -encoder integrated cable (See P76) Model CB-R-MPA Standard m / m / m Supplied with the actuator -encoder integrated cable (See P7) Model CB-A-MPA Standard m / m / m Supplied with the actuator Actuator RCA series Actuator RCP compact rotary (RCP-RTBS/ RTCS) Actuator RCP series * The rotary cannot operate with the 60-degree specifications (RCP-RT SL/RT L/RT BL) * When operating the RCP, the actuator specification differs from those when operating with the. Please ask for details. Actuator Supplied with the actuator RCP series RCP-GRSS/GRLS/GRST RCP-SRAR/SRGSR/SRGDR RCA series RCL series -encoder integrated cable (See P7) Model CB -MPA -encoder integrated ROBOT cable (See P7) Model CB -MPA -RB Standard m / m / m (Note ) (Note ) RCL series are not compatible with the absolute position encoder specification. * The /Encoder cable type varies depending on the actuator type. When ordering a replacement cable, please see page A-9. 69

48 PIO Controlled Motion Mode The controller with the PIO control specification offers the following six-motion modes. In addition, Mode No. 0 through support both the single and double solenoid valves for signal configuration. Motion Mode No. 0 Motion Mode Type Standard -position motion Speed change during movement Position data change -input/ -position motion -input/ -position motion Continuous cycle operation -position motion -position motion -position motion -position motion -position motion -position continuous motion Feature Push Push Push Push Push Push PIO Plug Chart Speed change during movement Travel position data change Solenoid configurations Single Double Single Double Single Double B Input Output B 0 Motion signal Pause signal Reset signal 0 A A Motion signal Motion signal /-ON signal Retract motion output signal Extend motion output signal Homing complete signal/ -ON output signal Alarm output signal/ -ON output signal Motion signal Pause signal Motion signal Motion signal Speed change signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing complete signal/ -ON output signal Alarm output signal/ -ON output signal Motion signal Pause signal Motion signal Motion signal Target position change signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Homing complete signal/ -ON output signal Alarm output signal/ -ON output signal Connector name: HIF6-68PA-.7DS(Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID A V For I/O A8 OUT0 A IN0 A9 Output OUT A Input IN A0 (Axis No. 0) OUT A (Axis No. 0) IN A OUT A IN A OUT A6 IN A Output OUT A7 Input IN A (Axis No. ) OUT6 A8 (Axis No. ) IN6 A OUT7 A9 IN7 A6 OUT8 A0 IN8 A7 Output OUT9 A Input IN9 A8 (Axis No. ) OUT0 A (Axis No. ) IN0 A9 OUT A IN A0 OUT A IN A Output OUT A Input IN A (Axis No. ) OUT A6 (Axis No. ) IN A OUT A7 IN A 0V For I/O Motion signal Motion signal Reset signal /-ON signal Retract motion output signal Extend motion output signal Intermediate point position output signal Alarm output signal/ -ON output signal Retract motion signal Extend motion signal Intermediate point motion command signal (Reset signal) /-ON signal Retract motion output signal Extend motion output signal Intermediate point position output signal Alarm output signal/ -ON output signal Continuous motion signal Pause signal Reset signal /-ON signal Retract motion output signal Extend motion output signal Homing complete signal/ -ON output signal Alarm output signal/ -ON output signal * Please refer to the controller operation instruction for the above signal information. (Download is available from our website) Connector name: HIF6-68PA-.7DS(Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID B V For I/O B8 OUT6 B IN6 B9 Output OUT7 B Input IN7 B0 (Axis No. ) OUT8 B (Axis No. ) IN8 B OUT9 B IN9 B OUT0 B6 IN0 B Output OUT B7 Input IN B (Axis No. ) OUT B8 (Axis No. ) IN B OUT B9 IN B6 OUT B0 IN B7 Output OUT B Input IN B8 (Axis No. 6) OUT6 B (Axis No. 6) IN6 B9 OUT7 B IN7 B0 OUT8 B IN8 B Output OUT9 B Input IN9 B (Axis No. 7) OUT0 B6 (Axis No. 7) IN0 B OUT B7 IN B 0V For I/O M PIO Flat Cable Mode CB--PIO Connector: HIF6-068D-.7R Flat Cable Flat Cable Cut edge Cut edge * Please indicate cable length (L) in, maximum 0m. e.g.) 00=m Connection Chart Pin No. Signal name A For I/O +V A IN0 A IN A IN A IN A6 IN A7 IN A8 IN6 A9 IN7 A0 IN8 A IN9 A IN0 A IN A IN A IN A6 IN A7 IN A8 OUT0 A9 OUT A0 OUT A OUT A OUT A OUT A OUT6 A OUT7 A6 OUT8 A7 OUT9 A8 OUT0 A9 OUT A0 OUT A OUT A OUT A OUT A GND for I/O Flat cable A Connector: HIF6-068D-.7R Pin No. Signal name B For I/O +V B IN6 B IN7 B IN8 B IN9 B6 IN0 B7 IN B8 IN B9 IN B0 IN B IN B IN6 B IN7 B IN8 B IN9 Flat cable B6 IN0 B7 IN B B8 OUT6 B9 OUT7 B0 OUT8 B OUT9 B OUT0 B OUT B OUT B OUT B6 OUT B7 OUT B8 OUT6 B9 OUT7 B0 OUT8 B OUT9 B OUT0 B OUT B GND for I/O 70

49 PIO Input/Output Interface Input External Input Specification Output External Output Specification Item Specification Item Specification Input voltage DCV ±0% Load voltage DCV ±0% Input current ma, circuit Maximum load current 0mA, circuit ON/OFF voltage ON voltage MIN.DC8V OFF voltage MAX.DC6V Leakage current MAX ma/one point NPN specification External power supply DCV P PNP specification External power supply DCV Input terminal Input terminal N Internal circuit Internal circuit NPN specification PNP specification Internal circuit Internal circuit P Output terminal N P Output terminal N Load External power supply DCV External power supply DCV Load M Field Network Control Motion Mode There are five motion modes to choose from in the field network control mode with the controller as follows. Motion pattern (*) Description Outline Positioner / Simple numerical mode Direct numerical control mode Positioner mode is programmable up to 6 positions of data to designate the stop position. The simple numerical control allows designating the target position numerically. They both have the capability of monitoring the current position. This mode allows designating the target position, velocity, acceleration, and current parameters for pushing. Also, it is capable of monitoring the current position, real-time velocity, and the electric current command value. PLC Target position Target position number Control signal Current position End position number Status signal PLC Target position, Positioning width, Velocity, Acceleration, Pushing percentage, Control signal Current position Current value (Designated value) Current velocity (Designated value) Alarm code, Status signal Communication via field network Communication via field network Actuator Actuator Positioner mode Positioner mode Positioner mode is programmable up to 6 positions of data to designate stop positions, and this mode does not allow monitoring of the current position. This mode has less in/out data transfer volume than the positioner mode. Positioner mode is programmable up to 6 positions of data to designate stop positions, and this mode does not allow monitoring of the current position. This mode has less in/out data transfer volume from the positioner mode, and operates under minimum number of signals. PLC PLC Target position number Control signal End position number Status signal Target position number Control signal End position number Status signal Communication via field network Communication via field network Actuator Actuator SEP I/O This mode allows the same functions with the field network as the PIO controlled motion mode 0 to as described in the previous page. Please refer to the PIO controlled motion mode. 7 (*) Only the positioner mode and the SEP I/O mode are available with CompoNet.

50 Table of General Specification Specification item Description Number of axes in the controller 8 axes MAX / input power DCV ±0% Brake power supply 0.A x Number of axis power supply 0.8A inrush current A MAX, under 0ms Maximum motor type Rated ampere motor type Rated ampere Maximum Energy saver Standard/ Hi-accel./decel. W 0.8A.6A 0P.0A.0A W.0A 6.A consumption current W (RCA-SA).0A.0A 8P.0A.0A 0W(RCA/RCA).A.A 0W(RCL).A 6.A P.0A.0A 0W.A.A.A 0W(0S type).7a.a.a P.0A.0A 0W.A.A.A 6P.0A.0A inrush current Slot numbers x 0A MAX, under ms -encoder cable length Maximum length 0m (note) for absolute position Serial communication (SIO port: dedicated teaching) RS8 ch (Modbus protocol compatible) Velocity 9.6~0.kbps PIO specification : DC V dedicated signal in/output; Maximum input of points/axis; Maximum output of points/axis; PIO specification External Maximum cable length 0m interface Field network specification DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, EtherNet/IP(*) Data configuration and input method PC software application, touch panel teaching pendant, gateway parameter configuration tool Data retention memory Restore the position data and parameter in non-volatile memory (no limited input) PIO specification: or points Positioning points Field network specification: 6 points (no limited input for the simple numerical control and the direct numerical control) (Note) The number of designated positions vary depending on the parameter configuration with motion mode selection. LED display (On the front panel) LED for driver status, 8 LEDs (for each driver board) Status LED, LEDs (PIO specification), 7 LEDs (Fieldbus specification) Electromagnetic brake force release Enable to force-release by transmitting a deactivation signal to each axis (DC V input). Surge protection Overcurrent protection (An interception semiconductor circuit is furnished on each slot) Electric shock protection Class I basic insulation Insulation resistance DC00V 0MΩ Weight 60g, 690g with the absolute position encoder specification plus 90 g absolute data backup battery (8-axis specification) Cooling method Forced- air cooling Required ambient temperature/ humidity for operation 0~0 C, under 8% RH (non-condensing) Vibration resistance Frequency 0~7Hz/Amplitude 0.07mm Frequency 7~0Hz/Acceleration 9.8m/s² Each XYZ direction, sweep time 0 minutes, sweep count 0 times Shock resistance 0mm/s², ms half sine wave pulse, each XYZ direction times International Protection code IP0 (*) EtherCAT will be available soon. M Exterior Dimensions φ φ () 0.. (mm DIN rail width) 9 from the center of DIN rail Absolute data backup battery box φ φ () 0.. (mm DIN rail width) 9 from the center of DIN rail 7

51 Names of the components -encoder connectors for the actuator connection AX0 AX AX AX6 7 Fan unit M 6 Connector for the absolute data backup battery (Note ) Connector for the external brake input Connector for the emergency stop input for power source shut-off Information card for the connecting axes configuration + V power source input connector AX AX AX AX7 8 AUTO/MANUAL switch 9 SIO connector 0 System I/O connector PIO connector/ field network connection connector Note) All the connectors are represented as AX0 through AX7. Please be aware that the motor-encoder cable for the first axis is to be connected to AX0 and the second axis to AX respectively. Descriptions of the components encoder connectors for the actuator connection Connect motor-encoder cable to the actuator. Connector for the absolute data backup battery (Note ) Connector is not used for the incremental specification. Connect the absolute data backup battery if the controller has the absolute position encoder specification. Connector for the external brake input The connector to input a signal to release the brake for the actuator externally. Connector for the emergency stop input for power source shut-off The emergency stop input connector to connect in/output terminal of the external relay of the motor drive shut off and each driver slot (*). Information card for configuration of the connecting axes The information card contains information regarding the configuration of the controller axes which is removable to examine the contents. + V power source input connector The main power source connector for the controller: drive source shut-down is possible while restoring the power source for the controller unit in case of an emergency shut-down; This is because the terminals for the power source of the motor and the controller are separate. Fan unit Easily replaceable fan unit. (Replacement fan unit: Model -FU). AUTO/MANUAL switch To switch automatic operation to/from manual operation. SIO connector To connect teaching box and the connecting cable for PC software. System I/O connector The connector for remote AUTO/MANU switch input and emergency stop input for the entire controller with functions including an external regeneration-resistance expansion terminal. PIO connector/ field network connection connector The PIO specification connects to a 68-pin ribbon I/O cable. The field network specification connects to a field network type specified on the controller. (*) The shut-off feature is available on a single slot basis which is for two axes per slot. Please note that a single axis basis cannot be accommodated. 7

52 Options Teaching pendant Summary Model Setting Teaching device for positioning input, test operation, and monitoring. CON-PTA-C (Touch panel teaching pendant) PC software (Windows only) Summary A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. Model Setting Model Setting φ m RCM-0-MW PC software (CD) RCM-0-USB PC software (CD) * For the field network specification, the PC software is required. (External device communication cable + RS conversion unit) is supported by Ver or later 0.m 80 RS converter adaptor RCB-CV-MW 9. m External device communication cable CB-RCA-SIO00 (External device communication cable + USB converter adaptor + USB cable) is supported by Ver or later m USB cable CB-SEL-USB00 External regeneration resistor Summary Model 00 Square shape helix resistor:bgr0tharj(koa) USB converter adaptor RCB-CV-USB The regeneration resistor converts regenerated current dissipated during deceleration of the motor load into heat. The controller has an internal regeneration resistor for ordinary operations, however, depending on the operational condition, please install an external regeneration resistor if the internal regeneration resistor capacity is insufficient. Note: When or more servo actuators with the HA option are used then a regeneration resistor is recommended to convert the excess motor current into heat. RER- Exterior dimensions Box for the absolute data backup battery Summary Model If the absolute position encoder specification is selected with code ABB, the absolute data backup battery box is included with the controller. However, if the battery box is ordered as a separate unit, it does not include the battery but just the box itself. If the battery is needed, please purchase it separately. (Model: AB-7). -ABB (Battery not included) Exterior dimensions See P. 7 * A cable (Model CB--AB00) that connects the absolute data backup battery box to the is included with the box. m External device communication cable CB-RCA-SIO00 Driver board Summary Model For the pulse motor For the servo motor Specification Item CON-PTA-C-ENG Data input Actuator motion Operating ambient temperature/humidity Temperature 0 to 0 C, humidity 8%RH or less Operating environment Free from corrosive gas and especially, considerably dusty condition Protection degree IP0 Weight Approximately 70g Cable length m Display 6,6 color White LED back light Standard price A supplement or modification to the driver board is feasible with the controller. When the actuator that control motions needs to be modified, just replacing the driver board would serve the purpose without changing the entire controller. (The parameters need to be adjusted when changing the driver board) Type Model Standard price Incremental -axis -PD-I -axis -PD-I Absolute position -axis -PD-A encoder -axis -PD-A Incremental -axis -AD-I -axis -AD-I Absolute position -axis -AD-A encoder -axis -AD-A Replacement battery Summary Model The replacement battery for the absolute data backup battery box. AB-7 Replacement fan unit Model -FU Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 7 M

53 M () (0) Service Parts Integrated -Encoder Cable/ -Encoder Robot Cable for RCP Model CB-MPA /CB-MPA -RB (0) (Front view) Actuator side *Refer to page A-9 for connectable actuators. L (ø8.) (Note ) Minimum bend radius R: r = 68mm or larger (for movable use) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through the cable track. (0) (6) side (Note ) If cable length is m or more, non-robotic cable is ø9. and robot cable is ø0. Actuator side (AMP) Pin No. Signal name Color A ØA/U Blue(Black) B VMM/V Orange (White) A Ø_A/W Green (Brown) B ØB/- Brown (Green) A VMM/- Gray (Yellow) B Ø_B/- Red (Red) A LS+/BK+ Black (Orange) B LS-/BK- Yellow (Gray) A6 -/A+ Blue (White) B6 -/A- Orange (Yellow) A7 A+/B+ Green (Red) B7 A-/B- Brown (Green) A8 B+/Z+ Gray (Black) B8 B-/Z- Red (Brown) A BK+/LS+ Blue (Black) B BK-/LS- Orange (Brown) A9 LS_GND Green (Green) B9 VPS Brown (Red) A0 VCC Gray (White) B0 GND Red (Yellow) A B FG Black () * Color in ( ) indicates color of robot cable Integrated -Encoder Robot Cable/ -Encoder Cable for RCP/RCA and others Model CB-A-MPA /CB-A-MPA -LC *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m side PADP-V--S (JST) Pin No. Signal name Color ØA/U Blue (Black) VMM/V Orange (White) Ø_A/W Green (Brown) ØB/- Brown (Green) VMM/- Gray (Yellow) 6 Ø_B/- Red (Red) 7 LS+/BK+ Black (Orange) 8 LS-/BK- Yellow (Gray) -/A+ Blue (White) -/A- Orange (Yellow) A+/B+ Green (Red) A-/B- Brown (Green) B+/Z+ Gray (Black) 6 B-/Z- Red (Brown) 9 BK+/LS+ Blue (Black) 0 BK-/LS- Orange (Brown) 0 LS_GND Green (Green) 8 VPS Brown (Red) 7 VCC Gray (White) 9 GND Red (Yellow) FG Black () *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m (0) (8) (Front view) Actuator side () *Refer to page A-9 for connectable actuators. L (ø8.) Minimum bend radius R: r = 68mm or larger (for movable use) (0) (6) side Actuator side Pin number A B A B A B A B A6 B6 A7 B7 A8 B8 A B A9 B9 A0 B0 A B []() Black [ ØA ](U) White [VMM](V) Brown [ Ø/A ](W) Green [ ØB ]( - ) Yellow [VMM]( - ) Red [ Ø/B ]( - ) Orange [LS+](BK+) Gray [LS-](BK-) White [ - ](A+) Yellow [ - ](A-) Red [ A+ ](B+) Green [ A- ](B-) Black [ B+ ](Z+) Brown [ B- ](Z-) Black (label)[bk+](ls+) Brown (label)[bk-](ls-) Green (label)[gndls](gndls) Red (label)[vps](vps) White (label)[vcc](vcc) Yellow (label)[gnd](gnd) Shield [FG](FG) side Pin number Integrated -Encoder Robot Cable for RCP Model CB--MPA * Robot cable is the standard specification. * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m st connector (0) () () () () () (Front view) Actuator side *Refer to page A-9 for connectable actuators. L Minimum bend radius R: r = 68mm or larger (for movable use) (ø8.) (0) side (6) st Connector nd Connector Actuator side Pin number Black [ ØA ] White [ VMM ] Red [ ØB ] Green [ VMM ] Brown [ Ø/A ] Yellow [ Ø/B ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number

54 Integrated -Encoder Robot Cable for RCP-RTBS/RTBSL/RTCS/RTCSL Model (8) CB-R-MPA *Refer to page A-9 for connectable actuators. L * Robot cable is the standard specification. (0) (ø8.) (6) (Front view) () Actuator side Minimum bend radius R: r = 68 mm or larger (for movable use) side (0) *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Actuator side Pin number A B A B A B A6 B6 A7 B7 A8 B8 A B A B A9 B9 A0 B0 A B Black [ ØA ] White [ VMM ] Brown [ Ø/A ] Green [ ØB ] Yellow [ VMM ] Red [ Ø/B ] Orange [ LS+ ] Gray [ LS- ] Red [ A+ ] Green [ A- ] Black [ B+ ] Brown [ B- ] Black (label)[bk+] Brown (label)[bk-] Green (label)[gndls] Red (label)[vps] White (label)[vcc] Yellow (label)[gnd] Shield [ FG ](FG) side Pin number Integrated -Encoder Robot Cable for RCA Model CB--MPA * Robot cable is the standard specification. *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m () () (0) (0) () () (Front view) Actuator side *Refer to page A-9 for connectable actuators. L Minimum bend radius R: r = 68 mm or larger (for movable use) (ø8.) (0) (6) side st Connector nd Connector Actuator side Pin number Red [ U ] Yellow [ V ] Black [ W ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] Black (label)[z+] Brown (label)[z-] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number M 76

55 controller specification Model number NP/PN/SE/PLN/PLP part of actuator with built-in controller M List of Models type CON type MEC type Operation mode Positioner mode -train control mode Positioner mode PIO PIO I/O type SIO NPN PNP NPN PNP NPN PNP Type (I/O type) Position points NP PN SE PLN PLP NP PN SE 6 points Description Basic type Basic type points (When the PIO converter or gateway unit is used) The PIO converter or gateway unit can be used. (Note) points When pulse trains are used When pulse trains are used -point movement -point movement SIO points/ points The Quick Teach and PIO converter or gateway unit can be used. (Note) External view Standard price (Note) The PIO converter and gateway unit cannot be used at the same time. Model number ➆ & ➈ refers to the I/O type and controller type shown in the above table. ➀ ➁ ➂ ➃ ➄ ➅ ➆ ➇ ➈ ➉ I Series Type Encoder type type Lead Stroke I/OType Cable length type Option Standard type CR Cleanroom type D Simple, dustproof type SAC Actuator width 0mm SA7C Actuator width 7mm RAC Actuator width mm RA6C Actuator width 6mm I 0 for SAC/RAC 0mm for SAC/RAC mm 6 for SAC/RAC 6mm for SAC/RAC mm for SA7C/RA6C mm 6 for SA7C/RA6C 6mm 8 for SA7C/RA6C 8mm for SA7C/RA6C mm P motor size 6P motor 6 size Incremental type 0 0mm CN CON type Slider type MC MEC type mm * If the I/O type is PLN or PLP, "CN" is selected automatically. 0 0mm Rod type 00 00mm B Brake (Can be set in 0mm increments) Non-motor end NM specification Simple absolute ABU NP PIO (NPN) type N None specification PN PIO (PNP) type P m FL Flange FT Foot bracket SE SIO type S m Vacuum joint on PLN -train (NPN) type M m VR opposite side PLP -train (PNP) type X Custom * The simple absolute specification length can be selected only when the I/O type is "SIO communication." * The standard cable is a * The flange and foot bracket robot cable. option can be selected only for rod types. 77

56 System Configuration PIO Type/-train type SIO Type Option Teaching pendant (See P60) <Model number: CON-PTA > <Model number: SEP-PT> for MEC type <Model number: CON-T> for CON type PLC Supplied with PIO converter I/O flat cable <Model number: CB-PAC-PIO > Standard lengths: m / m / m Refer to P. 89 for the maintenance cable. Option Teaching pendant (See P60.) <Model number: CON-PTA > <Model number: SEP-PT> for MEC type <Model number: CON-T> for CON type Supplied with Actuator Power & I/O cable for PIO type (See P86) <Model number: CB-P-PWBIO > Standard lengths: m / m / m PC software Option (See P96) PC software for ROBO Cylinder * The cable is supplied with the PC software. (RS connection version) <Model number: RCM-0-MW> (USB connection version) <Model number: RCM-0-USB> MEC PC software * A separate cable is required. Download * If the pulse-train type is used with a PLC of open collector output, the AK-0 is required. PLC Option PIO Converter Simple absolute battery (absolute specification) Supplied with PIO converter PC software Option (See P96) PC software for ROBO Cylinder * The cable is supplied with the PC software. (RS connection version) <Model number: RCM-0-MW> (USB connection version) <Model number: RCM-0-USB> MEC PC software * A separate cable is required. M -VDC power supply Option <Model number: (00-V input)> <Model number: (00-V input)> Supplied with Actuator Power & I/O cable for SIO type (See P86) <Model CB-S-PWBIO > Standard lengths: m / m / m -VDC power supply Option <Model number: (00-V input)> <Model number: (00-V input)> PC Wiring Diagram The SIO connector is used to connect a teaching tool. SIO connector (Only one can be connected) PC Teaching pendant 78

57 M Power supply voltage Item VDC±0% Description Load current (including current consumed for control) High-output setting enabled:. A rated/. A max. High-output setting disabled:.a Heat output High-output setting enabled: 8 W High-output setting disabled: W Rush current (Note ) 8.A Momentary power failure resistance control method Supported encoder Actuator cable length Serial communication interface (SIO port) External interface PIO specification Data setting/input method Data retention memory Operation mode Number of positions in positioner mode -train interface Input pulse Command pulse magnification (electronic gear ratio: A/B) Feedback pulse output MAX. 00μs Field-weakening vector control Incremental encoder of 800 pulses/rev in resolution 0 m max. LED indicators (installed on the motor unit) Isolation resistance Electric shock protection mechanism Cooling method Ambient operating temperature 0 to 0 C Ambient operating humidity 8%RH or less (non-condensing) Ambient storage temperature -0 to 70 C (excluding batteries) Operating altitude Altitude 000m or less Environment Protection degree IP0 Cooling method Natural air cooling Note List of Base Specifications Vibration resistance Impact RS8: channel (conforming to Modbus protocol RTU/ASCII) / Speed: 9.6 to 0. kbps Actuators can be controlled via serial communication in a mode other than pulse-train Dedicated -VDC signal input/output (NPN or PNP selected)up to 6 input points, up to output points Cable length: 0m max. PC software, touch-panel teaching pendant, quick teach Position data and parameters are saved in the non-volatile memory (There is no limit to the number of times the memory can be written.) Positioner mode/-train control mode Standard 8 points, maximum 6 points Note) Positioning points vary depending on the selected PIO pattern. Differential method (line driver method): 00 kpps max. / Cable length: 0m max. Open collector method: Not supported * If the host is of open collector output type, use the optional AK-0 (sold separately) to convert open collector pulses to differential pulses. /0 < A/B < 0/ Setting range of A and B (set by parameters): to 096 None ON (green), servo OFF (unlit), emergency stop (red), alarm (red), resetting (orange) 00 VDC, 0 MΩ or more Class I basic isolation Natural air cooling Rush current will flow for approx. msec after the power is turned on (at 0 C). Take note that the value of rush current varies depending on the impedance of the power line. Number of vibrations: 0 to 7 Hz/Amplitude: 0.07 mm (Test conditions) Number of vibrations: 7 to 0 Hz/Acceleration: 9.8 m/s Sweep time in X/Y/Z directions: 0 minutes/number of sweeps: 0 times (Test conditions) 0mm/sec, mm/sec, sinusoidal half pulse, times each in X, Y and Z directions Emergency Stop Circuit The series has no built-in emergency stop circuit, so the customer must provide an emergency stop circuit. Refer to the operation manual for details on the emergency stop circuit. 79

58 Positioner mode I/O specification (PIO type) Input Part Item Specification Input points 6 points Input voltage VDC ±0% Input current ma/ circuit Leak current ma/point max. * The input circuit is not isolated from signals input from external equipment. NPN specification Internal power supply: V Output Part NPN specification Item Specification Output points points Load voltage VDC ±0% Maximum load current ma/ circuit Residual voltage V or less * The output circuit is not isolated from signals output to external equipment. External power supply: V Input terminal.6kω 00KΩ 0KΩ Internal circuit Internal circuit Ω Load Output terminal PNP specification PNP specification External power supply: V Internal power supply: V M Input terminal.6kω 00KΩ 0KΩ Internal circuit Internal circuit Ω Load Output terminal Pin number I/O Signal Table (PIO Type) [ and PLC Connected Directly] Category Input Output type CN (CON type) MC (MEC type) PIO function Parameter No. (PIO pattern) selection Selected on teaching pendant 0 or in PC software 8-point type Solenoid type 6-point type Standard/Movement between inputs/movement points (single solenoid) among points Number of positioning points 8 points points 6 points points points Home return signal Jog signal Teaching signal (writing of current position) Brake release Moving signal Zone signal Position zone signal A Frame ground FG B +V for control power supply CP A B 0 V for control power supply GND A External brake release input BK B +V for motor power supply MP A Emergency stop input EMG B 0 V for motor power supply GND A B A6 B6 A7 B7 A8 B8 A9 IN0 PC ST0 PC ST0 ST0 B9 IN PC ST PC ST A0 IN PC ST PC RES RES Input B0 IN HOME PC8 A IN CSTR RES CSTR B IN *STP *STP *STP A OUT0 PEND PE0 PEND LS0/PE0 LS0/PE0 B OUT HEND PE HEND LS/PE LS/PE Output A OUT ZONE PE PZONE/ZONE HEND LS/PE B OUT *ALM *ALM *ALM *ALM *ALM (Note) Signals marked with an asterisk (*) (ALM/STP) are negative logic signals so they are nomally on. 80

59 M Pin number PIO converter I/O Signal Table (SIO Type) [ and PLC Connected via PIO Converter] Category Input type CN (CON type) MC (MEC type) Parameter No. (PIO pattern) selection Selected on teaching pendant or in PC software PIO function 0 Positioning Teaching 6-point -point Solenoid Solenoid valve Standard/Movement between inputs/movement mode mode mode mode valve mode mode points (single solenoid) among points Number of positioning points 6 points 6 points 6 points points 7 points points points points Home return signal Jog signal Teaching signal (writing of current position) Brake release Moving signal Output Zone signal Position zone signal A A A A A IN0 PC PC PC PC ST0 ST0 ST0 ST0 6A IN PC PC PC PC ST ST(JOG+) ST 7A IN PC PC PC PC ST ST * RES RES 8A IN PC8 PC8 PC8 PC8 ST 9A IN PC6 PC6 PC6 PC6 ST 0A IN PC PC PC PC ST A IN6 MODE PC6 PC6 ST6 A IN7 JISL PC8 P8 Input A IN8 JOG+ PC6 A IN9 BKRL JOG- BKRL BKRL BKRL BKRL A IN0 6A IN HOME HOME HOME HOME HOME 7A IN *STP *STP *STP *STP *STP 8A IN CSTR CSTR/PWRT CSTR CSTR 9A IN RES RES RES RES RES RES 0A IN SON SON SON SON SON SON B OUT0 PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE0 LSO LS0/PE0 LS0/PE0 B OUT PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE LS(TRQS) LS/PE LS/PE B OUT PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE LS * HEND LS/PE B OUT PM8(ALM8) PM8(ALM8) PM8(ALM8) PM8(ALM8) PE *ALM *ALM B OUT PM6 PM6 PM6 PM6 PE 6B OUT PM PM PM PM PE 7B OUT6 MOVE MOVE PM6 PM6 PE6 8B OUT7 ZONE MODES PM8 PM8 ZONE ZONE 9B Output OUT8 PZONE/ZONE PZONE/ZONE PZONE/ZONE PM6 PZONE/ZONE PZONE/ZONE 0B OUT9 B OUT0 HEND HEND HEND HEND HEND HEND B OUT PEND PEND/WEND PEND PEND PEND B OUT SV SV SV SV SV SV B OUT *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS B OUT *ALM *LM *ALM *ALM *ALM *ALM 6B OUT LOAD/TRQS *ALML * ALML LOAD/TRQS *ALML LOAD/TRQS *ALML 7B 8B 9B 0B LOAD/TRQS *ALML (Note) In the table above, codes in ( ) indicate functions effective before the home return. * indicates a negative logic signal. PM to PM8 serve as alarm binary code output signals when an alarm occurs. * These signals are invalid before the home return. *ALML 8

60 Explanation of Signal Names Category Input Output Signal name Signal abbreviation Function overview PTP strobe (start signal) CSTR The actuator starts moving to the position set by the command position number. Command position number PC~PC6 This signal is used to input the position number of the position to move the actuator to (binary input). Forced brake release BKRL The brake is forcibly released. Pause Reset *STP RES When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. The remaining travel is put on hold while the actuator is stopped and will resume when the signal turns ON. Present alarms are reset when this signal turns ON. By turning ON this signal while the actuator is paused (*STP signal is OFF), the remaining travel can be cancelled. ON SON The servo is ON while this signal is ON, and OFF while the signal is OFF. Home return HOME Home return operation is performed when this signal is turned ON. Teaching mode Jog/inching switching Jog Current position write MODE JISL JOG + JOG PWRT The actuator switches to the teaching mode when this signal turns ON. The mode will not change unless the CSTR, JOG+ and JOG- signals are all OFF and the actuator is not operating. The actuator can be jogged with a JOG+ or JOG- command while this signal is OFF. The actuator operates by inching with a JOG+ or JOG- command while this signal is ON. When the JISL signal is OFF, the actuator jogs in the positive direction upon detection of the ON edge of the JOG+ signal, or in the negative direction upon detection of the ON edge of the JOG- signal. The actuator decelerates to a stop if the OFF edge is detected while jogging in each direction. The actuator operates by inching when the JISL signal is ON. When a position number is specified and this signal is turned ON for 0 ms or more in the teaching mode, the current position is written to the specified position number. Start signal ST0~ST6 In the solenoid mode, the actuator moves to the specified position when this signal turns ON. Positioning complete PEND/INP This signal turns ON when the actuator reaches the positioning band after moving. The PEND signal does not turn OFF even when the actuator moves beyond the positioning band, but the INP signal turns OFF. A parameter is used to switch between PEND and INP. Completed position number PM~PM6 The position number of the position reached upon completion of positioning is output (by a binary signal). Home return complete HEND This signal turns ON upon completion of home return. It will remain ON until the home position is lost. Zone signal Zone signal Position zone ZONE ZONE PZONE This signal turns ON when the current position of the actuator falls within the parameter-set range. This signal turns ON when the current position of the actuator enters the range set in the position data table while moving to a position. This signal can be used with ZONE, but the PZONE signal is effective only when moving to a set position. Alarm *ALM This signal remains ON while the controller is normal, and turns OFF when an alarm occurs. Moving MOVE This signal is ON while the actuator is moving (also during home return and push-motion operation). ON SV This signal is ON when the servo is ON. Emergency stop output *EMGS This signal is ON when the controller is not in the emergency stop mode, and turns OFF when an emergency stop is actuated. Teaching mode output MODES This signal turns ON when the actuator enters the teaching mode due to an input of the MODE signal. It turns OFF when the actuator returns to the normal mode. M Write complete WEND This signal is OFF immediately after switching to the teaching mode, and turns ON the moment the writing per the PWRT signal is completed. This signal also turns OFF when the PWRT signal turns OFF. Current position number PE0~PE6 This signal turns ON when the actuator completes moving to the target position in the solenoid mode. Limit switch output LS0~LS This signal turns ON when the current position of the actuator enters the positioning band (±) around the target position. If the home return has been completed, this signal is output even before a move command is issued or the servo is OFF. Load output judgment status LOAD This signal turns ON when the in-certification-range command torque exceeds the threshold. Torque level status signal TRQS This signal turns ON when the motor current reaches the threshold. Minor failure alarm *ALML This signal is output when a message-level alarm generates. (Note) In the table above, * indicates a negative logic signal. 8

61 I/O Wiring Diagram PIO 8-point Type ( and PLC Connected Directly) 0V (NPN specification) -VDC (PNP specification) -VDC (NPN specification) 0V (PNP specification) Output from host system (PLC) A9 B9 A0 B0 A PIO connecter I/O interface (Refer to the I/O connection for each PIO pattern on P. 8.) A B A B Input to host system (PLC) B *The wire colors change as follows if a robot cable is used. M Line color Gray (red ) Gray (black ) Gray (red ) Gray (black ) Pin number A B 7A 7B (Note) To forcibly release the brake, provide a switch between BKR and 0V and turn it ON. Orange (red ) (Not used) Orange (black ) CN FG A SGA B SGB Serial communication Ground PIO Positioning Mode (Standard Type) ( and PLC Connected via PIO Converter) 0V (NPN specification) -VDC (PNP specification) Output from host system (PLC) Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- A A A A A 6A 7A 8A 9A 0A A A A A A 6A 7A 8A 9A 0A PIO converter PIO connecter I/O interface (Refer to the I/O connection for each PIO pattern on P. 9.) B B B B B 6B 7B 8B 9B 0B B B B B B 6B 7B 8B 9B 0B Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- -VDC (NPN specification) 0V (PNP specification) Input to host system (PLC) 8

62 -train control mode I/O specification (-train type) Input Part Code Differential input voltage range Maximum cable length Maximum number of input pulses Remarks 6C or equivalent Differential line driver method: 0m max. Open collector method (AK-0 used): m max. Differential line driver method: 00 kpps max. Open collector method (AK-0 used): 60kpps max. * If the user-side I/O is of open collector type, use the AK-0. PP 6C or equivalent line driver 8KΩ KΩ Internal circuit /PP NP 6C or equivalent line driver 80Ω KΩ Internal circuit M /NP -train Control Circuit Host Unit = Differential Type Host unit Positioning unit -train control command (corresponding to line driver 6C) B7 A7 B8 A8 PP / PP NP / NP CB-P-PWBIO Host Unit = Open Collector Type Host unit Positioning unit 0V 0V +V converter AK-0 (Optional) V GND PP / PP B7 A7 -train control PP / PP signal PP NP NP / NP B8 A8 NP / NP 0V CB-P-PWBIO * * Please keep the distance between the above units and the AK-0 as short as possible. * The AK-0 (optional) is needed to input pulses. * Use the same power supply for open collector input/output to/from the host and for the AK-0. 8

63 M The table below lists the signal assignments for the flat cable for the pulse-train control mode. Connect an external device (such as PLC) according to this table. [] Positioning Operation - PIO Pattern: 0 Pin number Category I/O number Signal abbreviation Signal name Description of function A Frame ground FG Frame ground. B + V for control power supply CP + V of the control power supply is input. A B 0 V for control power supply GND 0 V of the control power supply. A External brake release input BK This signal is used to release the brake externally. The brake is released when + V is input. B + V for motor power supply MP + V of the motor power supply is input. A Emergency stop input EMG Input signal for emergency stop. B 0 V for motor power supply GND + V of the motor power supply is input. A B A6 B6 A7 /PP Command pulse B7 PP Command pulse A8 /NP Command pulse B8 NP Command pulse A9 IN0 SON ON The servo is ON while this signal is ON, and OFF while the signal is OFF. B9 IN TL Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by a parameter. A0 IN HOME Home return Home return operation is performed when this signal is turned ON. Input B0 IN RES Reset Present alarms are reset when this signal is turned ON. A IN B IN A OUT0 SV ON status This signal turns ON when the servo is ON. B OUT INP Positioning complete This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the positioning band. Output A OUT HEND Home return complete This signal turns ON upon completion of home return. B OUT *ALM alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates. * indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output. Pin number Category I/O number Signal abbreviation Signal name Description of function A Frame ground FG Frame ground. B + V for control power supply CP + V of the control power supply is input. A B 0 V for control power supply GND 0 V of the control power supply. A External brake release input BK This signal is used to release the brake externally. The brake is released when + V is input. B + V for motor power supply MP + V of the motor power supply is input. A Emergency stop input EMG Input signal for emergency stop. B 0 V for motor power supply GND + V of the motor power supply is input. A B A6 B6 A7 /PP Command pulse B7 PP Command pulse A8 /NP Command pulse B8 NP Command pulse A9 IN0 SON ON The servo is ON while this signal is ON, and OFF while the signal is OFF. B9 IN TL Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by a parameter. A0 IN HOME Home return Home return operation is performed when this signal is turned ON. RES Reset This signal serves as a reset signal when the torque is not limited (torque TL signal is OFF). Input When this signal turns ON, present alarms are reset. B0 I/O Signals for the -train Control Mode [] Push-motion Operation - PIO Pattern: IN DCLR Deviation counter clear This signal serves as a deviation counter signal when the torque is limited (torque TL signal is ON). This signal clears the deviation counter. A IN B IN A OUT0 SV ON status This signal turns ON when the servo is ON. B INP Positioning This signal serves as a positioning complete signal when the torque is not limited (torque TL signal is OFF). It complete turns ON when the remaining travel pulses in the deviation counter are within the range of positioning band. OUT Output TLR Torque limited This signal serves as a torque limited signal when the torque is limited (torque TL signal is ON). If the torque is limited, this signal turns ON when the torque limit is reached. A OUT HEND Home return complete This signal turns ON upon completion of home return. B OUT *ALM alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates. *indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output. 8

64 Cable/Maintenance Parts Power & I/O Cable for PIO Type Model number CB-P-PWBIO * The standard cable is a robot cable. 0. V0.- (JST) No connector side Minimum bending R: r = mm or more (when movable type is used) L 7. Wiring Color Signal No. AWG Ground FG (Unit/mm) B A * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m No. Signal Color Wiring A FG Ground AWG A A BK Red A EMG Orange AWG8 A A6 A7 Blue A8 Gray A9 IN0 Brown A0 IN Orange AWG8 A IN Green A OUT0 Purple A OUT White B B CP CP_GND Brown Red AWG B MP Orange B MP_GND Yellow AWG9 B Green B6 Brown B7 Purple B8 White B9 IN Red AWG8 B0 IN Yellow B IN Blue B OUT Gray B OUT Black Power & I/O Cable for SIO Type Model number 6 0 CB-S-PWBIO * The standard cable is a robot cable. 60 L 6 Wiring Signal No. SB SA AWG8 EMG BK BAT BGND 6 AWG CP 7 CP_GND 8 AWG9 MP 9 (AWG) MP_GND 0 N.C N.C N.C AWG FG (Unit/mm) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Twisted pair cable Shield No. Signal Wiring A FG AWG A A BK A EMG AWG8 A BGND AWG A6 BAT AWG8 B B CP CP_GND AWG B B MP MP_GND AWG9 B SA B6 SB AWG8 A7 N.C B7 N.C A8 N.C B8 N.C A9 N.C B9 N.C A0 N.C B0 N.C A N.C B N.C A N.C B N.C A N.C B N.C M side Minimum bending R: r = 6 mm or more (when movable type is used) SIO Communication Cable (for Quick Teach) Model number CB-PST-SIO00 Wiring Color Signal No. Black SGB AWG6 Brown SGA White EMG N.C N.C AWG6 Red TGND 6 N.C 7 AWG6 Green GND 8 N.C 9 AWG6 Gray GND 0 Blue V N.C N.C N.C Single wire (UL06 AWG 6, gray) 0Ω /W No. Signal Color Wiring SGA Brown SGB Black AWG6 V Red N.C N.C 6 V Yellow 7 GND Green AWG6 8 EMGB White GND Shield UL990 AWG6 6C (K) Black L (Unit/mm) (Panduit label) () 0 side 86

65 Options PIO Converter <RCB-CV> Realizing controller functions of the next higher class with the series When connected to the PIO converter, the series can demonstrate functions equivalent to the RCP controller "." Use the PIO converter if you want to configure a high-function system using the series, use the absolute function or monitor the status of the actuator. M Features Increased maximum number of positioning points While the maximum number of positioning points supported by the series built-in controller is 6, it increases to when the PIO converter is connected. Connecting the PIO converter also increases the numbers of I/O signals, allowing for complex controls and connection with peripheral equipment. Supporting the simple absolute mode The standard encoder of the series is of incremental type. Once the power is turned off, therefore, the actuator s current position is lost and home return operation will be required next time the actuator is started. When the PIO converter is connected, the lets you select the simple absolute mode. Home return operation is not required while the encoder is in the simple absolute mode, because the current position is retained. * To use the simple absolute function, the PIO converter must be of the simple absolute type (equipped with the simple absolute battery) and the actuator must also be of the simple absolute specification. * Among the diffrent I/O types, only the serial communication type supports the simple absolute function. Status LEDs indicating the operating status of the actuator The PIO converter lets you check the following status using the status LEDs provided on the front panel (optional). In the simple absolute mode Home return operation is no longer required Home return The actuator can be operated immediately after reconnecting the power. Status LEDs Command current ratio level Alarm code PIO input terminal status PIO output terminal status 6 LEDs indicate the operating status of the actuator. 87

66 Calendar function for checking when errors occurred The PIO converter has a calendar function that lets you check the details of past alarms, such as when each alarm occurred, by connecting the teaching pendant and PC software to the PIO converter. This function is useful when analyzing alarms. Brake release switch for at-will release of the brake If your actuator comes with a brake, the brake can be turned on/ off freely using the brake release switch on the front panel of the PIO converter. To release the brake, turn the switch to the "RLS" position. * If the actuator is used vertically, hold the actuator in place before releasing the brake. RLS NOM Brake release switch Release the brake: RLS Normal: NOM Model Configuration RCB Series Type I/O type I/O cable length Simple absolute function supported M CV CVG Built-in power cutoff relay type (standard) External power cutoff relay type NP PN NPM PNM NPN specification (without monitoring LEDs) PNP specification (without monitoring LEDs) NPN specification (with monitoring LEDs) PNP specification (with monitoring LEDs) 0 No cable With m cable With m cable With m cable (No entry) AB ABUN Simple absolute function not supported (for incremental specification only) Simple absolute function supported (with simple absolute battery) Simple absolute function supported (without simple absolute battery * Select "NPM/PNM" if you want to use the functions of monitoring LEDs on the front panel. Base Specifications Item Description Number of connected axes axis Power supply voltage VDC±0% Control power capacity 0.8A max. Heat output.w Momentary power failure resistance 00μs max. Serial communication interface RS8: channel (conforming to Modbus protocol RTU/ASCII) / Speed: 9.6 to 0. kbps (SIO port) Actuators can be controlled via serial communication. External interface Dedicated -VDC signal input/output (NPN or PNP selected)up to 6 input points, up to 6 output points / Cable length: 0 m max. Data setting/input method PC software, touch-panel teaching pendant Operation Mode Positioner mode Number of positions in positioner mode Standard 6 points, maximum points Note) Positioning points vary depending on the selected PIO pattern. Status indicator LED - Steady green light: ON / Blinking green light: Auto servo OFF / Steady red light: Alarm present Absolute battery status indicator LED - Green: Fully charged / Orange: Charging / Red: Not connected LED display (installed on the front panel) Absolute reset status LED - Green: Absolute reset complete / Red: Absolute reset not yet complete LED0 to LED (optional): different statuses can be indicated by changing the switch setting. Command current ratio, alarm code, PIO input status, PIO output status Electromagnetic brake forced release switch (installed on the front panel) Switched between NOM (standard) and BK RLS (forced releases) Isolation resistance 00VDC, 0MΩ or more Electric shock protection mechanism Class I basic isolation Cooling method Natural air cooling Ambient operating temperature 0 to 0 Ambient operating humidity 8%RH or less (non-condensing) Ambient storage temperature 0 to 70 (excluding batteries) Operating altitude Altitude 000m or less Environment Protection degree IP0 Number of vibrations: 0 to 7 Hz / Amplitude: 0.07 mm Vibration resistance Number of vibrations: 7 to 0 Hz / Acceleration: 9.8 m/s Sweep time in X/Y/Z directions: 0 minutes / Number of sweeps: 0 times Weight 0g or less, or 87g (including 90g for the battery) or less for the simple absolute specification External Dimensions W 90H 98D RTC backup capacitor: Approx. years* Consumable parts Drive-source cutoff relay: Approx. 00,000 actuations Absolute battery: Approx. years *When the power is supplied hours a day at an ambient temperature of 0 C and the actuator is stopped (power turned off) hours a day in an ambient temperature of 0 C. 88

67 Connection Example PIO converter (Note ) Available only MEC type (Note ) Available only CON type Option Teaching pendant (See P60) <Model number: CON-PTA > <Model number: SEP-PT> (Note ) <Model number: CON-T> (Note ) M Simple absolute battery (absolute specification) Supplied with PIO converter External Dimensions. (Width of DIN rail: mm) 0 from center of DIN rail I/O flat cable Supplied with PIO converter <Model number: CB-PAC-PIO > Standard lengths: m / m / m Power & I/O cable Supplied with Actuator for SIO type (See P86) <Model number: CB-S-PWBIO > Standard lengths: m / m / m -VDC power supply Option <Model number: (00-V input)> <Model number: (00-V input)> PC software PLC Option (See P96) PC software for ROBO Cylinder * The cable is supplied with the PC software. (RS connection version) <Model number: RCM-0-MW> (USB connection version) <Model number: RCM-0-USB> MEC PC software * A separate cable is required. The PIO converter is installed on a DIN rail. The absolute battery is attached on the side face of the PIO converter using Velcro tape. (0) () Moving band of DIN lock tab: mm Standard Prices *➀ in the model numbers below represents the number indicating I/O cable length. Power cut-off relay Monitoring LEDs Positoning method Model Numbers Standard Prices Incremental specification RCB-CV-(NP/PN)-➀ N/A Simple absolute specification (with battery) RCB-CV-(NP/PN)-➀ -AB Built-in type Simple absolute specification (without battery) RCB-CV-(NP/PN)-➀ -ABUN Incremental specification RCB-CV-(NPM/PNM)-➀ Available Simple absolute specification (with battery) RCB-CV-(NPM/PNM)-➀ -AB Simple absolute specification (without battery) RCB-CV-(NPM/PNM)-➀ -ABUN Incremental specification RCB-CVG-(NP/PN)-➀ N/A Simple absolute specification (with battery) RCB-CVG-(NP/PN)-➀ -AB External type Simple absolute specification (without battery) RCB-CVG-(NP/PN)-➀ -ABUN Incremental specification RCB-CVG-(NPM/PNM)-➀ Available Simple absolute specification (with battery) RCB-CVG-(NPM/PNM)-➀ -AB Simple absolute specification (without battery) RCB-CVG-(NPM/PNM)-➀ -ABUN I/O Flat Cable Model number No connector No connector CB-PAC-PIO 89 Flat cable (0 cores) x L B A 0A 0B A B Half-pitch MIL socket: HIF6-0D-.7R (Hirose) * indicates the cable length (L). A desired length can be specified up to 0m. Example: 080=8m HIF6-0D-.7R No. Signal name Cable color A - Brown - A - Red - A - Orange - A - Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - A IN6 Brown - A IN7 Red - A IN8 Orange - A IN9 Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - Wiring Flat cable A (crimped) No. Signal name Cable color B OUT0 Brown - B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B OUT6 Purple - 8B OUT7 Gray - 9B OUT8 White - 0B OUT9 Black - B OUT0 Brown - B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B Purple - 8B Gray - 9B White - 0B Black - Wiring Flat cable B (crimped) AWG 8

68 Options Gateway Unit <RCM-EGW> The gateway unit lets you connect up to four actuators to implement the gateway function. The gateway unit connects to a PLC or other host control system via a field network. It supports seven network protocols (CC-Link, DeviceNet, PROFIBUS-DP, MECHATROLINK-II, CompoNet, EtherCAT, EtherNet/IP). Features Use the position adjustment switches on the front panel to jog the actuator The brake release switch for each axis is provided on the front panel Model Configuration RCM Series type I/O signal pattern Common LED indicators Axis-specific LED indicators Position adjustment switches EGW Built-in power cutoff relay type CC CC-Link Brake release switch EGWG External power cutoff relay type DV PR DeviceNet ProfiBus M ML CN EC EP MECHATROLINK-II (To be released soon) CompoNet EtherCAT (To be released soon) EtherNet/IP Base Specifications Item Number of controlled axes Up to axes Control/motor power-supply voltage VDC ±0% Control power capacity A max. Load current (per axis) High-output setting enabled High-output setting disabled Brake release power capacity (per axis) Rush current (Note) Note) Approx. 0 μs of rush current flows after the power is turned on.. A rated/. A max.. A rated/. A max. 0. A max. 60 A max. Description Cable length between actuator and gateway unit 0 m max. (A dedicated cable is used) Up to points (Unlimited in the simple direct mode or direct numerical specification mode) Number of positioning points (Note) The number of positioning points varies depending on the operation pattern selected by the parameter. Electromagnetic brake forced release The electromagnetic brake for each axis can be released using the applicable brake forced release switch provided on the front panel. Ambient operating temperature 0~0o Environment Ambient operating humidity Protection class 8% RH max. (Non-condensing) IP0 90

69 Operation Mode Operation pattern Positioner /simple direct mode (*) Direct numerical specification mode (*) Positioner mode (*) Positioner mode (*) Remote I/O Description In the positioner mode, position data of up to points can be registered to stop the actuator at any of the registered positions. The current position can also be monitored. In the simple direct mode, the target position can be specified directly by entering a value. The current position can also be monitored. The target position, speed, acceleration/deceleration and push-current limiting value can be each specified by entering a value. In addition to the current position, the current speed and command current value can also be monitored. In this mode, the actuator is operated using the position data of up to points set in the position table. The current position cannot be monitored. The functions available in this mode are the same as those provided in the positioner mode, except that less amount of data can be sent/received. In this mode, the actuator is operated using the position data of up to 6 points set in the position table. The current position cannot be monitored. The amount of data sent/received in this mode is further less than that in the positioner mode, and the actuator is controlled using the minimum signals required for positioning. The same six functions (Note ) available with the PIO specification (CON type) can be controlled. The same two functions (Note ) available with the PIO specification (MEC type) can be controlled. M Note ) Switched using the s PIO pattern parameter. Note ) Switched using the s operation pattern parameter. (*) For the CON type only. (Cannot work with the MEC type.) Control Signals in the Remote I/O Mode The table below lists the functions that can be controlled in each type. CON Type Specifications O: Supported X: Not supported ROBO Cylinder function Operation pattern (PIO pattern) 0 Positioning mode Teaching mode 6-point mode -point mode Solenoid valve mode Solenoid valve mode Home return operation (Note ) Positioning operation Speed & acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change while moving Operation at different acceleration/speed Pause (Note ) Zone signal output PIO pattern selection Note ) Home return is performed with the first move command. Note ) Supported if Parameter No. 7, Move command type is set to 0. MEC Type Specifications ROBO Cylinder function -input, -point move Operation pattern -input, -point move Home return operation (Note ) (Note ) Positioning operation Speed & acceleration/deceleration setting Pitch feed (inching) Push-motion operation Speed change while moving Operation at different acceleration/speed Pause Zone signal output Note ) Home return is performed with the first move command. 9

70 Example of Connection Field network Option Teaching pendant (See P60) <Model number: CON-PTA > <Model number: SEP-PT> (Note ) <Model number: CON-T> (Note ) Network cable (Provided by the customer) (Note ) Available only MEC type (Note ) Available only CON type Gateway Unit SIO type power I/O cable Supplied with Actuator (See P86) <Model number CB-S-PWBIO > Standard length: m / m / m M PC software Option (See P96) ROBO Cylinder PC software * The PC software comes with a cable. (RS connection version) <Model number RCA-0-MW> (USB connection version) <Model number RCA-0-USB> MEC PC software * A separate cable is required. EMG switch -VDC power supply Option <Model number: (00-V input)> <Model number: (00-V input)> -SE Up to units can be connected. External Dimensions 0 () (-mm DIN rail width) 6 from DIN rail center 9

71 M Notes on Selecting the Teaching Pendant and PC Software With the series, usable teaching pendant and PC software vary depending on the controller type (CON type/mec type). Refer to P. for controller types. Teaching pendant type CON-PTA RCM-PST SEP-PT CON type MEC type RCM Series Unit name Input power supply Panel language PC software type RCM-0-MW RCM-0-USB MEC PC software CON type MEC type : All functions are supported / : Limited functions are supported (home return, servo ON/OFF, JOG+, JOG-, stop (press and hold to reset alarms)) Options Quick Teach <RCM-PST> A teaching pendant equipped with intuitive operation buttons and acceleration/speed knobs that can be used easily even by mechanical engineers and those who never operated a robot before. Features User-friendly panel sheet switches and knobs let you complete the settings in no time. The small pendant can be held in a hand. Separate power-supply unit Model configuration PST PS Product unit Power-supply unit 0 VDC (-V power-supply specification, without power-supply unit) Single-phase 00 to VAC (00-V power-supply specification) Single-phase 00 to 0 VAC (00-V power-supply specification) (No entry) ENG Japanese version English version Base Specifications Item Description Product name -VDC specification 00-VDC specification 00-VDC specification Product model RCM-PST-0 RCM-PST- RCM-PST- Teaching pendant RCM-PST-0 Product configuration Power-supply unit (Teaching pendant only) RCM-PS- RCM-PS- Power supply voltage Load capacity (motor power capacity) of connected (Note ) Number of controlled axes Environment conditions VDC±0% (DC.6V to DC 6.V) Single-phase 00 to VAC±0% (AC 90V to AC 6.V) Single-phase 00 to 0 VAC±0% (AC 90V to AC V) Rated Rated P.A.A 6P.A.A axis Operating temperature range: 0 to 0 C Operating humidity range: 8% RH or less (non-condensing) Storage temperature range: -0 C to 70 C IP0 0Hz/60Hz Protection degree Power-supply frequency Pollution degree Pollution degree Leak current 0.mA max 0.7mA max Cooling method Natural air cooling Actuator cable: 0m or less Cable length AC cable: m SIO communication cable (optional): m Product size 6 (W) x 7 (H) x.6 (D) 6 (W) x 7 (H) x 6. (D) Weight *Excluding connection cables 0g 0g g Standard price Note ) If an actuator whose high-output setting is enabled is used to perform test run using the Quick Teach connected to the above power-supply unit, the may not operate as specified. (Position data can be edited without problems.) If test run is performed with the actuator s high-output setting enabled, connect a -VDC power supply to the Quick Teach. In this case, disconnect the power-supply unit. 9

72 Nom pnt pnt Complete Nom pnt pnt Complete Connection Example Supplying power from the Quick Teach to the <Using a -VDC power supply> -VDC power supply Option Model number: < (00-V input) > Model number: < (00-V input) > Quick Teach RCM-PST-0 <Using a 00/00-VAC power supply> Supplied with Actuator Power & I/O cable for SIO type (See P86) <Model number: CB-S-PWBIO > Standard lengths: m/m/m Power & I/O cable Supplied with Actuator for SIO type (See P86) <Model number: CB-S-PWBIO > Standard lengths: m/m/m Quick Teach RCM-PST-, RCM-PST- AC power supply Connecting the Quick Teach to the supplied with power Quick Teach RCM-PST-0 SIO communication cable Option (See P86) <Model number: CB-PST-SIO00> Supplied with Actuator Power & I/O cable for PIO type (See P86) <Model CB-P-PWBIO > Standard lengths: m / m / m -VDC power supply Option <Model number: (00-V input)> <Model number: (00-V input)> M Name and Function of Each Part/External Dimensions <Quick Teach and Model Numbers> Brake EMG V input to Brake EMG V input to Power-supply unit 6 Manual mode Ext.start Alart Power STOP POS NUM HOME MANUAL Auto Setting TEACH Accel & Speed MODE Position Manual mode Ext.start Alart Power STOP POS NUM HOME MANUAL Auto Setting TEACH Accel & Speed MODE Position Brake Nom EMG V input to EWD POS MIDDLE POS Stop pos. BACK POS EWD POS MIDDLE POS Stop pos. BACK POS 6 Manual mode Alart Power pnt pnt Complete STOP POS NUM HOME MANUAL Setting TEACH Ext.start Auto Accel & Speed Accel Speed Pos.adj SERVO JOG ON/OFF _ JOG + SAVE Accel Speed Pos.adj SERVO JOG ON/OFF _ JOG + SAVE MODE Position Test run Test run EWD POS MIDDLE POS Stop pos. BACK POS FWD BACK Manu Cont FWD BACK Manu Cont 7 SERVO ON/OFF Accel Pos.adj JOG _ SAVE Speed JOG + 7 RUN STOP RUN STOP Test run FWD BACK Manu Cont RUN STOP Model number: RCM-PST-0 (-VDC specification) Model number: RCM-PST- RCM-PST- (Power-supply unit specifications) 6..6 Shown above are the external dimensions of the Quick Teach with power-supply unit (model number: RCM-PST-/). The -V power-supply specification (model number: RCM-PST-0) has no power-supply unit. 6 7 connector... For cable connection with the. External -V connector... VDC±0%. * Supplied with a plug connector. Emergency stop connector... Connect an emergency stop switch. * Supplied with a plug connector. Brake switch... Forced release switch for an actuator with brake. AC input cable... Single-phase 00 or 0-V input. * Varies depending on the product. Wall-mounting hook... The hook can be secured with M or equivalent screws or bolts (screw head size: ø6 or less). Operation switches... Panel sheet switches 9

73 Options Touch-panel Teaching Pendant for Position CON-PTA/PDA/PGAS Adopting an easy-to-use interactive touch-panel menu screen, these simple data devices can be operated without consulting to the manuals.. Color screen for greater ease of view. Supporting the takt time minimization function and maintenance information checking/input functions.. Position, parameters and other data can be saved in a SD card. Built-in clock function records the date & time of each event; data can then be saved in a SD card. M Model Numbers/Specifications Item Description Model number CON-PTA-C-ENG CON-PDA-C-ENG CON-PGAS-C-S-ENG (set) Type Standard type Enable switch type Safety-category compliant type Connectable controllers ///R/R/M////// / (*) / -position enable switch Position data input/editing Moving function (moving to set positions, jogging/inching) Parameter editing Functions Monitoring (current position, current speed, I/O signals, alarm code, alarm generation time) Saving/reading data to/from external SD cards (position data parameters, alarm list) Takt time minimization function Maintenance information (total number of movements, total distance travelled, etc.) Display 6,6 colors (6-bit colors), white LED backlight Ambient operating temperature/humidity 0 to 0 0 C, 8% RH or less (Non-condensing) Environmental resistance IP0 or equivalent Mass Approx. 70g Approx. 600g Cable length m Stylus, TP adapter (Model number: RCB-LB-TGS) Accessories Stylus Stylus Dummy plug (Model number: DP-S) cable (Model number: CB-CON-LB00) Standard price * Among the series, only the actuators bearing 90 or greater number stamped on the serial number label can be connected. Name of Each Part Name of Each Part/External Dimensions Stylus 0 Emergency stop button 9. Wall-mounting hook 98 Enable switch Operation screen 80 (0) Option Strap (Model number: STR-) m 9

74 Options Touch-panel Teaching Pendant for Position SEP-PT Features Configuration Features This startup support software provides functions to input positions, perform test runs and monitor data, among others. Incorporating all functions needed to make adjustments, this software helps shorten the initial startup time. * This software can be used when the s controller type is set to "CON type." Model number RCM-0-MW (With external device communication cable + RS conversion unit) Configuration PC software (CD) Teaching device offering position input, test run, monitoring and other functions. * This teaching pendant can be used when the s controller type is set to "MEC type." m PC Software (Windows Only) RS conversion adapter RCB-CV-MW 0.m SEP-PT m External device communication cable CB-RCA-SIO00 Specifications Item Data input Actuator operation Model number RCM-0-USB (With external equipment communication cable + USB conversion adapter + USB cable) Configuration USB conversion adapter RCB-CV-USB m m 9. SEP-PT version.00 or later is supported. SEP-PT Ambient operating temperature/humidity Temperature 0 to 0oC, humidity 8%RH or less Operating ambience Free from corrosive gases or significant powder dust. Protection degree IP0 Mass Approx. 0g Cable length m Display -color LED touch panel with backlight Standard price PC software version or later is supported. Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 M PC software (CD) USB cable CB-SEL-USB00 External device communication cable CB-RCA-SIO00 MEC PC Software You can change the stop position data, perform test run and do many other things on a PC using the MEC PC software. This software also lets you use the middle stop function, perform push-motion operation, change the coordinates, etc., with ease. The MEC PC software can be downloaded on the IAI s website. IAI s website: * This software can be used when the s controller type is set to "MEC type." PC connection method Model Name Price RS CB-RCA-SIO00 External device communication cable RCB-CV-MW RS conversion adapter CB-RCA-SIO00 External device communication cable USB RCB-CV-USB USB conversion adapter CB-SEL-USB00 USB cable The MEC PC software can be used with the version or later. The cable supplied with the above "PC software (RCM-0-MW/RCM-0-USB)" can be used to connect the PC and series. To purchase a cable separately, select an appropriate cable/adapter by referring to the table below. 96

75 Model: NP / PN / SE module of controller-integrated actuator List of Models I/O type NP PN SE Name PIO type (NPN Specification) PIO type (PNP Specification) Serial Communication Type M External View Standard Price Description that moves by designating position numbers with NPN PIO via PLC. that moves by designating position numbers with PNP PIO via PLC. that is used by connecting to the field network via the gateway unit. Position points 6 points 6 points 6 points SA6C SA7C RA6C RA7C RGS6C RGS7C RGD6C RGD7C Model I PM Series Type Encoder Lead Stroke I/O Type Cable length Option I Incremental type PM 0 ~ 600 0mm ~ 600mm (0mm increments) NP PIO Type (NPN) B NM FT Brake Non-motor end Foot bracket SA6C SA7C RA6C RA7C RGS6C RGS7C RGD6C RGD7C 97 Slider type (mm width) Slider type (8mm width) Rod type (mm width) Rod type (8mm width) Rod type with single guide (mm width) Rod type with single guide (8mm width) Rod type with double guide (mm width) Rod type with double guide (8mm width) 6 6mm mm 8 8mm 6 6mm mm mm PN SE PIO Type (PNP) SIO type N P S M X R W RW No cable m m m Custom length Robot Cable Cable with connectors at both ends Robot cable with cnnectors at both ends

76 System configuration PLC (Parallel communication) Field Network Option PIO Terminal Block (See P60) <Model: RCB-TU-PIO-A/AP/B/BP> Supplied with Actuator Power I/O cable Double-ended (See P60) <Model: CB-ERC-PWBIO -H6> Standard lengths: m / m / m For a replacement cable, see P606. Supplied with Actuator Power I/O Cable for PIO type (See P606) <Model: CB-ERC-PWBIO > Standard lengths: m / m / m For a replacement cable, see P606. Option ROBONET Gateway Unit + extension unit For DeviceNet: <Model: RGW-DV> + <Model: REXT-CTL> For CC-Link: <Model: RGW-CC> + <Model: REXT-CTL> For ProfiBus: <Model: RGW-PR> + <Model: REXT-CTL> Teaching Pendant PC Connection Cable PIO type (Type code: NP / PN) SIO type (Type code: SE) * The SIO type does not have a teaching port * The network connection cable comes with a junction, an e-con connector, and a terminal resistor. Network connection cable (See P606) (supplied with power I/O cable for SIO type) <Model: CB--CTL00> Supplied with Actuator Power I/O cable for SIO type (See P606) <Model: CB--PWBIO > Standard lengths: m / m / m For a replacement cable, see P606 M Option DCV Power Supply (See P77) <Model: (00V input)> <Model: (00V input)> Option PC Software (See P60) (RS version) <Model: RCM-0-MW> (USB version) <Model: RCM-0-USB> * The cable is supplied with the PC software Option Teaching Pendant (See P60) <Model: CON-PT-M> <Model: CON-T> Option SIO Converter (See P60) <Model: RCB-TU-SIO-A(B)> m Use to connect multiple axes to operate them via serial communication. Wiring Diagram to Connect to a PC When connecting the SIO type to the PC directly, use the following cable. (See P606) SIO type (type code "SE") Power I/O cable for SIO type <Model: CB--PWBIO > PC connection cable <Model: CB--SIO00> m Conversion cable <Model: RCB-CV-MW> 98

77 I/O Specification (PIO type) Input section External input specifications Item Input points 6 points Input voltage DCV +/-0% Input current ma/circuit Leak current Max. ma/point Operating voltage NPN Specifications External power supply DCV CN FUSE A +.6KΩ Inputs GND B, B Inputs GND Specifications ON voltage: Min. 8V (.ma) OFF voltage: Max. 6V (ma) Power supply (VP) Internal circuit GND Output section External input specifications Item Input points Nominal load voltage Max. current Remaining voltage Short-circuit, reverse voltage, protection NPN Specifications Power supply (VP) output points Internal circuit FUSE GND + GND Fuse resistance 7Ω 0.W Power MOS FET Specifications points DCV 60mA/point V or less Fuse resistance (7Ω0.W) CN A Outputs Outputs B, B Load Load External power supply DCV GND M PNP Specifications External power supply DCV CN A B, B FUSE Inputs GND Inputs.6KΩ GND GND Power supply (VP) Internal circuit GND PNP Specifications FUSE Power supply (VP) + GND output points Internal circuit Power MOS FET Fuse resistance 7Ω 0.W CN A Outputs Outputs B, B Load Load External power supply DCV GND Table of I/O Signals (PIO type) Parameter (PIO pattern select) PIO pattern 0 8-point type -point type (Solenoid valve type) 6-point type (Zone signal type) 6-point type (Position zone signal type) Pin No. A standard specification providing eight positioning points, plus a home return signal, zone signal,etc. (The parameter has been set to this pattern prior to the shipment.) Simply turn ON three signals of ST0 to ST to move the actuator to the corresponding positions (0 to ), just like you do with solenoid valves (This allows for easy conversion from air cylinders). Can be positioned for up to 6 points. (Same as the 8-point type, except that this pattern provides no home return signal.) A 6-point pattern with a position zone signal instead of a zone signal. Parameters (select PIO pattern) Pin No. Classification Wire color 0 Conventional type -point type 6-point type 6-point type (Solenoid valve type) (Zone signal type) (Position zone signal type) A Orange (Red ) SGA PIO B Orange (Black ) SGB A Signal Light Blue (Red ) EMS B Signal Light Blue (Black ) EMS A V White (Red ) V B 0V White (Black ) BLK A V Yellow (Red ) MPI B 0V Yellow (Black ) GND A V Pink (Red ) MPI B 0V Pink (Black ) GND 6A Orange (Red ) PC ST0 PC PC 6B Orange (Black ) PC ST PC PC 7A Light Blue (Red ) PC ST PC PC Input 7B Light Blue (Black ) HOME PC8 PC8 8A White (Red ) CSTR RES CSTR CSTR 8B White (Black ) * STP * STP * STP * STP 9A Yellow (Red ) PEND PE0 PEND PEND 9B Yellow (Black ) HEND PE HEND HEND Output 0A Pink (Red ) ZONE PE ZONE ZONE 0B Pink (Black ) *ALM Signals marked with an asterisk (*) (ALM/STP) are negative logic signals so they are normally on. 99

78 Signal Names Classification Signal Name Signal Abbreviation Function Overview SIO V 0V Input Output Serial communication Emergency stop Specification Table SGA SGB EMS EMS Used for serial communication. These signals are wired to enable the emergency stop switch on the teaching pendant (see P). Brake release BKR By connecting to 0V (0mA needed) the brake is forcibly released. Command position No. Position movement PC PC PC PC8 ST0 ST ST Designates the position number using -bit binary signals (or -bit binary signals if the 8-point PIO pattern is selected). (Example) Position Input PC and PC Position 7 Input PC and PC and PC Turn the ST0 signal on to move the actuator to position 0. Same for ST and ST (Operation can be started with these signals alone. No need to input a start signal). Home return HOME Home-return operation starts at the leading edge of this signal. Start Reset Pause Positioning complete Complete position No. CSTR RES * STP PEND PE0 PE PE Input a command position number signal and turn this signal ON, and the actuator will start moving to the specified position Turning this signal ON resets the alarms that are present. When it is paused (*STP is off), it is possible to cancel the residual movement. Normal operation is allowed while this signal is ON (negative logic) The actuator starts to decelerate to a stop at the ON OFF leading edge of this signal. This signal turns ON once the actuator has moved to the target position and completed the positioning by entering the specified positioning band. Used to determine if positioning has completed. PE0 is output upon completion of movement to position 0. Same for PE and PE. (These signals are valid only when the -point PIO pattern is selected.) Home return complete HEND This signal turns ON upon completion of home return. Zone ZONE This signal turns ON upon entry into the zone signal range set by parameters. Position zone PZONE This signal turns ON upon entry into the zone signal range set in the position table. Alarm * ALM Signals marked with an asterisk (*) (ALM/STP) are negative logic signals so they are normally on. The signal remains ON in normal conditions and turns OFF upon generation of the alarm (negative logic). Synchronized with the LED at the top of the motor cover (green: normal state, red: alarm on). Specification Details Type PIO specification (NP / PN) SIO specification (SE) Control method Low field vector control (patent pending) Positioning command Position No. designation Position No. designation / Direct value designation Position No. Max. 6 points Max. 6 points Backup memory Position number data and parameters are stored in nonvolatile memory. Serial EEPROM with a rewrite life of 00,000 times PIO 6 dedicated input points/ dedicated output points None Electromagnetic brake -color LED display I/O power (Note ) Serial Communication Absolute function Built-in circuit DCV±0 0.A max. ON (green), Alarm/motor drive power supply shut-down (red) common to control power (non-isolated) RS8 ch (External termination) None Forced release of electromagnetic brake Forced release when connected to 0V (NP), or V (PN) Forced release when connected to V I/O cable: 0m max. Cable Length SIO connector communication cable: m or shorter Dielectric strength voltage DC00V 0MΩ EMC EN0 Class A Group (m) Power supply voltage DCV ± 0% Power supply current A max. Ambient operating temperature 0~0 C Ambient operating humidity 8% RH or lower (non-condensing) Ambient operating atmosphere Free from corrosive gases Protection class IP0 (Note ) Use the isolated PIO terminal block (option P60) to isolate the I/O power supply. Environment 600 M

79 M I/O Wiring Drawing PIO Type NP (NPN Specification) * For robot cables, the wire colors as as follows. Wire color Gray (Red ) Gray (Black ) Gray (Red ) Gray (Black ) Input Voltage (A or more) V Pin Number A B 7A 7B (Note) To forcibly release the brake, turn the switch to ON between BKR and 0V. 0V FG EMG signal Upper level system < PLC > CN * Light Blue (Red ) 60mA Max A MC * Light Blue (Black ) B Yellow (Red ) A Yellow (Black ) B Pink (Red ) A Pink (Black ) B White (Red ) A White (Black ) B Forced brake release switch (Note) Out-put side In-put side (Not used) Orange (Red ) Orange (Black ) * Light Blue (Red ) * Light Blue (Black ) White (Red ) White (Black ) Yellow (Red ) Yellow (Black ) Pink (Red ) Pink (Black ) Orange (Red ) Orange (Black ) CN FG 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B EMS EMS MPI GND drive power supply MPI GND Control power supply V BKR Normally: OFF. When released: ON (for brake specification) I/O interface (See I/O connection for each PIO pattern.) SGA SGB PIO type Teaching Pendant EMG switch contact output (See P for information on emergency stop circuit.) Serial Communication Ground wire PIO Type PN (PNP Specification) PIO type EMG signal CN Input Voltage (A or more) V 0V FG * Light Blue (Red ) 60mA Max * Light Blue (Black ) MC Yellow (Red ) Yellow (Black ) Pink (Red ) Pink (Black ) White (Red ) White (Black ) Forced brake (Note) release switch A B A B A B A B EMS EMS MPI Teaching Pendant EMG switch contact output (See P for information on emergency stop circuit.) GND drive power supply MPI GND Control power V BKR Normally: OFF. When released: ON (for brake specification) * For robot cables, the wire colors as as follows. Wire color Gray (Red ) Gray (Black ) Gray (Red ) Gray (Black ) Pin Number A B 7A 7B Upper level system < PLC > (Note) To forcibly release the brake, turn the switch to ON between BKR and V. Out-put side In-put side Orange (Red ) Orange (Black ) * Light Blue (Red ) * Light Blue (Black ) White (Red ) White (Black ) Yellow (Red ) Yellow (Black ) Pink (Red ) Pink (Black ) Orange (Red ) (Not used) Orange (Black ) CN FG 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B I/O interface (See I/O connection for each PIO pattern.) SGA SGB Serial Communication Ground wire 60

80 SIO Type SE SIO Type connected to a junction e-con connector Network connection cable <CB--CTL00> Orange (Blue) Blue (Yellow) Brown (Red) Green (Black) SGA SGB V GND Serial Communication Input Voltage (A or more) V 0V FG Forced brake release switch EMG signal Red (Purple) Gray (Gray) (Note) 6 V Control power supply BKR Normally: OFF. When released: ON (for brake specification) MC M * The wire color in "( )" is for robot cable. Yellow (Green) Yellow (Orange) 7 8 MPI GND drive power supply FG Ground wire (Note) To forcibly release the brake, turn the switch to ON between BKR and V. Detailed Connection Diagram Gateway Unit PORT IN PORT N SDA SDB GND FG Shielded cable ( pairs) Recommended: Taiyo Cabletec HK-SB/076 L P AWG -way junction (Made by AMP: -77-) e-con connector (Made by AMP: -76-) Housing color: Green To power I/O cable SGA SGB Network connection cable CB--CTL00(0.m) Orange Blue Orange Blue SGA SGB GND Green Green GND e-con connector (Made by AMP: -76-) Housing color: Green 60

81 Emergency Stop Circuit The series has no built-in emergency stop circuit, so the customer must provide an emergency stop circuit based on the logic explained below. (The circuit below is simplified for explanation purposes. Provide a ready circuit, etc., according to your specification.) Single Axis: To provide an emergency stop circuit for a single-axis configuration, operate a relay using the EMS and EMS contacts of the power & I/O cable to cut off MPI (motor power). External EMO reset switch External EMG switch Teaching pendant EMG switch Power supply * The circuit on the left is for the PIO specification. A teaching pendant cannot be connected with the SIO specification, so shut off the motor drive power supply at the external emergency stop circuit. Connection detection relay M drive power supply power supply power supply Multiple Axis: To provide an emergency stop circuit for a multiple-axes configuration, operate a relay using the EMG and EMG contacts of the SIO converter to cut off MPI (motor power) for each axis. SIO converter Model: RCB-TU-SIO-A (B) Teaching pendant (Emergency stop signal) V (main power supply) MPI (motor power supply) V (main power supply) MPI (motor power supply) V (main power supply) MPI (motor power supply) 60

82 Options Isolated PIO Terminal Block This terminal block is used to isolate the I/O power or simplify the wiring with a PLC. *When a terminal block is used, the optional power & I/O cable with connectors on both ends must be used. Features The input and output ports are non-polar, so both NPN and PNP are compatible with the I/O specifications on the PLC side. An input/output-signal monitor LED is equipped to check the ON/OFF status of signals. Specifications Item Specifications Power supply voltage DCV±0% Vertical Model: RCB-TU-PIO-A/AP Input area Output area Wiring Diagram Ambient Operating Temp./Humidity Input points Teaching pendant PC software (For PIO type) 0 to C, 8%RH or below (non-condensing) 6 points Input voltage DCV±0% Input current 7mA/circuit (bipolar) Allowable leaked current ma/point (at room temperature, about ma) Operating voltage (with respect to ground) Input ON: Min. 6V (.ma) OFF : Max. V (. ma) Output points points Rated load voltage DCV Max. current 60mA/point Residual voltage V or less/60ma Short circuit Overcurrent protection Fuse resistance (7Ω0.W) Power source I/O cable (Connectors on both ends) (Option) <Model: CB-ERC-PWBIO***-H6> Standard m/m/m DCV Note: If you are using the -PN (PNP specification), use RCB-TU-PIO-AP/BP (compatible with PNP specification). PIO terminal block (Option) Model: RCB-TU-PIO-A/AP/B/BP Horizontal Model: RCB-TU-PIO-B/BP Emergency stop circuit (Parallel communication) M SIO Converter This converter can be used for RS communication by connecting a serial communication wire (SGA, SGB) for the power-i/o cable, and using a D-sub 9-pin cross cable to connect a computer. Vertical specification Model: RCB-TU-SIO-A Features The connection port for teaching-pendant or a PC cable can be installed at any position away from the actuator. Specifications Multiple axes can be connected and operated from a PC via serial communication. Item Specifications Power supply voltage DCV ±0% Ambient Operating Temp./Humidity Terminal resistor 0 to C, 8%RH or below (non-condensing) 0Ω (built-in) Horizontal specification Model: RCB-TU-SIO-B Wiring Diagram DCV Emergency stop circuit Teaching pendant Power source I/O cable (Flying leads) (Required option) <Model: CB-ERC-PWBIO***> <Model: CB--PWBIO***> * Standard m / m / m SIO Converter (Option) <Model: RCB-TU-SIO-A(B)> * For the SIO model, connect to the SIO converter using the network connection cable. D-sub 9-pin cross cable (Customer-provided item) PC 60

83 M Options Teaching Pendant Features Model Configuration This is a teaching device that provides information on functions such as position input, test runs, and monitoring. CON-PTA-C-ENG (Touch panel teaching pendant) CON-T-ENG (Standard type) CON-T-ENG Options Wall-mounting hook Model HK- m Strap Model STR- PC Software (Windows Only) Specification CON-PTA-C-ENG CON-T-ENG Item Content Model number CON-PTA-C-ENG CON-T-ENG Data Input Actuator Motion Ambient Operating Temp./Humidity Ambient Operating Atmosphere Temp 0~0 C; 8% RH or below No corrosive gases. Especially no dust. Protective class IP0 IP Weight Approx. 70g Approx. 00g Cable Length Display 6,6 color (6 bit color) White LED back light m 0 char. x lines LCD display Standard Price Features A startup support software for teaching positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 Model RCM-0-MW (External device communications cable + RS conversion unit) Configuration RS adapter RCB-CV-MW m PC Software (CD) 0.m External device communications cable CB-RCA-SIO00 Model RCM-0-USB (External device communications cable + USB adapter + USB cable) Configuration m USB adapter RCB-CV-USB m PC Software (CD) USB cable CB-SEL-USB00 External device communications cable CB-RCA-SIO00 60

84 Cables & Spare Parts Power & I/O Cable, Power & I/O Robot Cable For PIO Model CB-ERC-PWBIO /CB-ERC-PWBIO -RB PLC side (ø9) Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. * Round terminal process at end (JST VO.-) Power & I/O Cable, Power-I/O Robot Cable (Connectors on Both Ends) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Model CB-ERC-PWBIO -H6/CB-ERC-PWBIO -RB-H6 Ex.: 080 = 8m (Unit / mm) Actuator side Color Signal Orange (Red ) Orange (Black) Twisted pair cable Ground wire * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal No. Wire color Signal Standard Cable Robot Cable Orange (Red ) Orange (Black) Light Blue (Red ) Gray (Red ) Light Blue (Black ) Gray (Black ) White (Red ) White (Black ) Yellow (Red ) Yellow (Black ) Pink (Red ) Pink (Black ) Orange (Red ) Orange (Black) Light Blue (Red ) Gray (Red ) Light Blue (Black ) Gray (Black ) White (Red ) White (Black ) Yellow (Red ) Yellow (Black ) Pink (Red ) Pink (Black ) Shielded wire Signal M (Unit / mm) (ø9) Receptacle housing: (AMP) Receptacle contact: 808-(AMP) PIO terminal block side Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. Power & I/O Cable, Power & I/O Robot Cable For SIO Type Model CB--PWBIO /CB--PWBIO -RB CN Manufacturer: JST Housing: PAP-0V-S Contact: SPHD-00T-P0. No connector Manufacturer: JST Model: V0.- Network side Network Connection Cable Model CB--CTL00 CN Manufacturer: AMP e-con connector plugs - types (green) Model: -76- CN Japan Chain Terminal (JCT) Modular plug: NTC-66R Wire: UL007 #AWG 00mm Communication Cable to Connect to PC Model CB--SIO00 (ø8) Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. L m Wire CN AWG CN JST Housing: PALR-0VF Contact: SPAL-00T-P0. CN JST Housing: PALR-0VF Contact: SPAL-00T-P0. Actuator side Color Orange Blue Green Wire AWG6 Actuator side Signal SGA SGB GND Color Orange Blue Brown Green Wire AWG6 No. * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal SGA SGB V GND Twisted pair cable Signal V SGA GND SGB GND V Twisted pair cable Ground wire No. Ground wire No. 6 No. Wire color No. Signal Name Standard Cable Robot Cable SGA Orange Blue SGB V GND Blue Brown Green Yellow Red Black Control power Red Purple 6 Brake Gray Gray 7 MPI Yellow Green 8 GND Black Orange 9 Shield Shield Shield Signal SGA SGB V GND No. Color Orange Blue Green Signal SGA SGB V GND Shielded wire Wire CN AWG Wire AWG6 606

85 /CFA For RCP <Power CON 0> For RCP/RCP Position s M Features Built-in high-output driver designed exclusively for RCP generates greater torque at high speed The newly developed high-output driver (patent pending) achieves significantly improved specifications compared to conventional models (RCP series), with the acceleration/deceleration higher by. times, maximum speed by. times, and payload twice as large. (*) The rates of improvement vary depending on the type. (*) RCP/RCP also can be operated. Acceleration/ deceleration Maximum speed Payload DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINK (I, II), EtherCAT, EtherNet/IP are supported Features include wire-saving design, as well as the abilities to support direct numerical specification, position number specification, current position read, etc. RCP 0.7G RCP.0G RCP 000mm/s RCP 0mm/s RCP RCP 6kg. times. times kg times Incremental specification and simple absolute specification to choose from You can choose one of the two types: the incremental specification and the simple absolute specification. The simple absolute specification is available in three types, including the specification having only the absolute battery attached on the side face of the actuator, specification equipped with the absolute battery unit where screw stopper/din rail mounting is possible, and controller-only specification without absolute battery. (Note) All pulse-train Power CON controllers are of the incremental specification. 607 /CFA Incremental specification Absolute battery Smart tuning function, maintenance information, calendar function The takt time minimization function sets an optimal acceleration/deceleration rate according to the load that is available (*). You can also record the number of times the actuator has moved and the distance that it has travelled, for use in maintenance. (*) You need PC software Ver or later or a CON-PTA (teaching pendant) to use the takt time minimization function. Simple absolute specification

86 List of Models /CFA ROBO Cylinder Position PowerCON 0 <> External view Standard price I/O type Positioner type -train type DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification Field network type CompoNet connection specification MECHATROLINK connection specification EtherCAT connection specification EtherNet/IP connection specification I/O type model code NP/PN PLN/PLP DV CC PR CN ML EC EP Incremental specification With absolute battery With Simple absolute absolute battery specification unit No absolute battery M ROBO Cylinder Position High-thrust Type <-CFA> External view Field network type I/O type Positioner type -train type DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification CompoNet connection specification MECHATROLINK connection specification EtherCAT connection specification EtherNet/IP connection specification I/O type model code NP/PN PLN/PLP DV CC PR CN ML EC EP Standard price Incremental specification /CFA 608

87 /CFA Model Number <> CA I 0 Series Type type Encode type I/O type I/O cable Power supply length voltage Simple absolute specification Actuator mounting specification CA Standard type M 0P 0SP 8P 8SP P P 6P 0 frame pulse motor 0 frame pulse motor (RCP-RA high-thrust type dedicated) 8 frame pulse motor 8 frame pulse motor (RCP-RAC dedicated) frame pulse motor frame pulse motor 6 frame pulse motor NP PIO (NPN) specification PLN -train (NPN) specification PN PIO (PNP) specification PLP -train (PNP) specification DV I Incremental 0 DCV DeviceNet connection specification CC CC-Link connection specification PR PROFIBUS-DP connection specification CN CompoNet connection specification ML MECHATROLINK connection specification EC EtherCAT connection specification EP EtherNet/IP connection specification 0 No cable m m m * If a network connection specification (I/O type = DV, CC, PR, CN, ML, EC or EP) is selected, the I/O cable length becomes 0 (no cable). (Blank) AB ABU ABUN Incremental specification Simple absolute specification (With absolute battery) Simple absolute specification (With absolute battery unit) Simple absolute specification (No absolute battery) (Blank) Screw fastening specification DN DIN rail mounting specification * The mounting specification for the absolute battery unit (screws mounting or DIN rail mounting) conforms to the mounting specification for the controller. <> * The -CFA does not support the simple absolute specification. CFA I 0 Series Type type Encode type I/O type I/O cable length Power supply voltage Actuator mounting specification CFA High-thrust motor type I Incremental 0 DCV 60P 86P 60 frame pulse motor 86 frame pulse motor NP PIO (NPN) specification PLN -train (NPN) specification PN PIO (PNP) specification PLP -train (PNP) specification DV DeviceNet connection specification CC CC-Link connection specification PR PROFIBUS-DP connection specification CN CompoNet connection specification ML MECHATROLINK connection specification EC EtherCAT connection specification EP EtherNet/IP connection specification 0 No cable m m m * If a network connection specification (I/O type = DV, CC, PR, CN, ML, EC or EP) is selected, the I/O cable length becomes 0 (no cable). (Blank) DN Screw fastening specification DIN rail mounting specification 609 /CFA

88 System Configuration /CFA Power CON 0 <> PLC Option PC software (See P69) RS connection type <Model number: RCM-0-MW> USB connection type <Model number: RCM-0-USB> Option Touch-panel teaching pendant (See P69) <Model number: CON-PTA/CON-PDA/CON-PGAS> <Model number: CON-T> Comes with any PIO specification controller PIO cable (See P6) <Model number: CB-PAC-PIO00> Standard length: m Field network DeviceNet/CC-Link/PROFIBUS-DP/MECHATROLINK (I, II) CompoNet/EtherCAT/EtherNet/IP Standard cable: m Comes with the PC software m Connection cable standard: 0.m Comes with the absolute battery unit Comes with the simple absolute type Absolute battery unit for (See P69) <Model number: SEP-ABU> (DIN rail mount) <Model number: SEP-ABUS> (Screw mount) Model Option -VDC power supply (See P77) <Model number: (00-V input)> <Model number: (00-V input)> M Simple Absolute battery (See P69) <Model number: AB-7> < Connectable actuators > Comes with the actuator Integrated motor-encoder robot cable (See P6) <Model number: CB--MPA > Standard lengths: m / m / m Comes with the actuator Integrated motor-encoder robot cable Integrated motor-encoder cable (See P60) <Model number: CB-A-MPA / Model number: CB-A-MPA -LC> Standard lengths: m / m / m Actuator RCP series * Excluding RCP-RTBS/RTCS Comes with the actuator Integrated motor-encoder robot cable (See P6) <Model number: CB-R-MPA > Standard lengths: m / m / m Actuator Comes with the actuator Integrated motor-encoder cable (See P60) <Model number: CB-MPA > Integrated motor-encoder robot cable (See P60) <Model number: CB-MPA -RB> Standard lengths: m / m / m RCP series RCP-GRSS/GRLS/GRST RCP-SRAR/SRGSR/SRGDR * The -Encoder cable type varies depending onthe actuator type. When ordering a replacement cable, please see pages A-9, 60. Actuator RCP small rotary (RCP-RTBS/RTCS) * The cable for other than RCP-RTBS/RTCS rotary actutuators is CB--MPA. Actuator RCP series /CFA 60

89 /CFA System Configuration High-thrust Type <-CFA> PLC Option PC software (See P69) RS connection type <Model number: RCM-0-MW> USB connection type <Model number: RCM-0-USB> Option Touch-panel teaching pendant (See P69) <Model number: CON-PTA/CON-PDA/CON-PGAS> <Model number: CON-T> Comes with any PIO specification controller PIO cable (See P6) <Model number: CB-PAC-PIO00> Standard length: m Field network DeviceNet/CC-Link/PROFIBUS-DP/MECHATROLINK (I, II) CompoNet/EtherCAT/EtherNet/IP M m Option -VDC power supply (See P77) <Model number: (00-V input)> <Model number: (00-V input)> The cable comes with the PC software Model -CFA < Connectable actuators > Comes with the actuator Integrated motor-encoder cable (See P60) <Model number: CB-CFA-MPA > Integrated motor-encoder robot cable (See P60) <Model number: CB-CFA-MPA -RB> Standard lengths: m/m/m ROBO Cylinder High-thrust type RCP-RA8C/RA8R ROBO Cylinder High-thrust type RCP-RA0C ROBO Cylinder High-speed type RCP-HS8C/HS8R ROBO Cylinder Water-proof RCPW-SA6C 6 /CFA

90 PIO I/O Interface Input Part External Input Specifications Item Specification Input voltage VDC ± 0% Input current ma, circuit ON/OFF voltage ON voltage: 8 VDC min. OFF voltage: 6 VDC max. /CFA Output Part External Output Specifications Item Specification Load voltage VDC Maximum load current 0mA, circuit Leak current ma max. per point NPN specification NPN specification External power supply DCV P 680.6k Input terminal Internal circuit Internal circuit P Output terminal N Load External power supply DCV PNP specification PNP specification External power supply DCV Input terminal N.6k Internal 680 circuit Internal circuit Output terminal P N External power supply DCV Load M Types of PIO Patterns (Control Patterns) This controller supports seven types of control methods. Select in Parameter No., PIO pattern selection the PIO pattern that best suits your purpose of use. Type Set value of Parameter No. Mode Overview PIO pattern 0 0 (factory setting) PIO pattern Positioning mode (standard type) Teaching mode (teaching type) Number of positioning points: 6 points Position number command: Binary Coded Decimal (BCD) Zone signal output* : point Position zone signal output* : point Number of positioning points: 6 points Position number command: Binary Coded Decimal (BCD) Position zone signal output* : point Jog (inching) operation using PIO signals is supported. Current position data can be written to the position table using PIO signals. PIO pattern PIO pattern 6-point mode (6 positioning points) -point mode ( positioning points) Number of positioning points: 6 points Position number command: Binary Coded Decimal (BCD) Position zone signal output* : point Number of positioning points: points Position number command: Binary Coded Decimal (BCD) No zone signal output PIO pattern PIO pattern PIO pattern 6 (Note) Solenoid valve mode (7-point type) Solenoid valve mode (-point type) 6 -train control mode Number of positioning points: 7 points Position number command: Individual number signal ON Zone signal output* : point Position zone signal output* : point Number of positioning points: points Position number command: Individual number signal ON Completion signal: A signal equivalent to a LS (limit switch) signal can be output. Zone signal output* : point Position zone signal output* : point Differential pulse input (00 kpps max.) Home return function Zone signal output* : points No feedback pulse output * Zone signal output: A desired zone is set by Parameter Nos. and or and, and the set zone always remains effective once home return has completed. * Position zone signal output: This function is available as part of a position number. A desired zone is set in the position table and becomes effective only when the corresponding position is specified, but not with commands specifying other positions. (Note) Train Control Model is available only if the pulse train control type is indicated (-PLN or PLP) at the time of purchase. /CFA 6

91 /CFA PIO Patterns and Signal Assignments The table below lists the signal assignments for the I/O flat cable under different PIO patterns. Connect an external device (such as a PLC) according to this table. Category PIO function Number of positioning points Parameter No., PIO pattern selection 0 Positioning mode Teaching mode 6-point mode -point mode Solenoid valve mode Solenoid valve mode 6 points 6 points 6 points points 7 points points Home return signal Pin number Input Jog signal Teaching signal (writing of current position) Brake release M Output Moving signal (Note ) (Note ) Zone signal Position zone signal A V P A V P A A input A IN0 PC PC PC PC ST0 ST0 6A IN PC PC PC PC ST ST(JOG+) 7A IN PC PC PC PC ST ST(-) 8A IN PC8 PC8 PC8 PC8 ST 9A IN PC6 PC6 PC6 PC6 ST 0A IN PC PC PC PC ST A IN6 MODE PC6 PC6 ST6 A IN7 JISL PC8 PC8 Input A IN8 JOG+ PC6 A IN9 BKRL JOG- BKRL BKRL BKRL BKRL A IN0 RMOD RMOD RMOD RMOD RMOD RMOD 6A IN HOME HOME HOME HOME HOME 7A IN *STP *STP *STP *STP *STP 8A IN CSTR CSTR/PWRT CSTR CSTR 9A IN RES RES RES RES RES RES 0A IN SON SON SON SON SON SON B OUT0 PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE0 LSO B OUT PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE LS(TRQS) B OUT PM(ALM) PM(ALM) PM(ALM) PM(ALM) PE LS B OUT PM8(ALM8) PM8(ALM8) PM8(ALM8) PM8(ALM8) PE B OUT PM6 PM6 PM6 PM6 PE 6B OUT PM PM PM PM PE 7B OUT6 MOVE MOVE PM6 PM6 PE6 8B OUT7 ZONE MODES PM8 PM8 ZONE ZONE Output 9B OUT8 PZONE/ZONE PZONE/ZONE PZONE/ZONE PM6 PZONE/ZONE PZONE/ZONE 0B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS B OUT0 HEND HEND HEND HEND HEND HEND B OUT PEND PEND/WEND PEND PEND PEND B OUT SV SV SV SV SV SV B OUT *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS B OUT *ALM *ALM *ALM *ALM *ALM *ALM 6B OUT LOAD/TRQS *ALML *ALML LOAD/TRQS *ALML LOAD/TRQS *ALML LOAD/TRQS *ALML *ALML 7B input 8B 9B 0V N 0B 0V N (Note) In the table above, asterisk * symbol accompanying each code indicates a negative logic signal. PM to PM8 are alarm binary code output signals that are used when an alarm generates. (Note ) In all PIO patterns other than, this signal can be switched with PZONE by setting Parameter No. 9 accordingly. (Note ) The setting will not become effective until the origin return is completed. Reference) Negative logic signal Signals denoted by * are negative logic signals. Negative logic input signals are processed when turned OFF. Negative logic output signals normally remain ON while the power is supplied, and turn OFF when the signal is output. Note: The names of the signals above inside () are functions before the unit returns home. 6 /CFA

92 -train Control Circuit /CFA Host Unit = Differential Type Host unit Positioning unit command (corresponding to line driver 6C) A A 7B 8B PIO connector PP /PP NP /NP 0V 0V 9B 0B 0V 0V Host Unit = Open Collector Type Host unit Positioning unit command The AK-0 (optional) is needed to input pulses. DC V 0V converter AK-0 (sold separately) V PP 0V *PP PP NP NP *NP A A 7B 8B PIO connector PP /PP NP /NP 0V 0V 9B 0B 0V 0V M Caution: Use the same power supply for open collector input/output to/from the host and for the AK-0. Command Input Patterns Command pulse-train pattern Input terminal Forward Reverse Forward pulse-train PP /PP Reverse pulse-train NP /NP A forward pulse-train indicates the amount of motor rotation in the forward direction, while a reverse pulse-train indicates the amount of motor rotation in the reverse direction. -train PP /PP Negative logic Sign NP /NP Low High The command pulses indicate the amount of motor rotation, while the sign indicates the rotating direction. Phase A/B pulse-train PP /PP NP /NP Command phases A and B having a 90 phase difference (multiplier is ) indicate the amount of rotation and the rotating direction. Forward pulse train PP /PP Positive logic Reverse pulse-train -train Sign Phase A/B pulse-train NP /NP PP /PP NP /NP PP /PP NP /NP High Low /CFA 6

93 M /CFA I/O Signals in -train Control Mode The table below lists the signal assignments for the flat cable in the pulse-train control mode. Connect an external device (such as PLC) according to this table. Pin number Category I/O number Signal abbreviation Signal name Parameter No., PIO pattern 6 A V P Power supply I/O power supply + V A V P Power supply I/O power supply + V A PP Differential pulse-train input (+) Differential pulses are input from the host. input A /PP Differential pulse-train input (-) Up to 00 kpps can be input. A IN0 SON ON The servo is ON while this signal is ON, and OFF while the signal is OFF. 6A IN RES Reset Present alarms are reset when this signal is turned ON. 7A IN HOME Home return Home return operation is performed when this signal is turned ON. 8A IN TL Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by the parameter. 9A IN CSTP Forced stop The actuator is forcibly stopped when this signal has remained ON for 6 ms or more. The actuator decelerates to a stop at the torque set in the controller and the servo turns OFF. 0A IN DCLR Deviation counter clear This signal clears the deviation counter. A Input IN6 BKRL Forced brake release The brake is forcibly released. A IN7 RMOD Operation mode switching The operation mode can be switched when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, and to MANU when the signal is ON.) A IN8 Not used A IN9 Not used A IN0 Not used 6A IN Not used 7A IN Not used 8A IN Not used 9A IN Not used 0A IN Not used B OUT0 PWR System ready This signal turns ON when the controller becomes ready after the main power has been turned on. B OUT SV ON status This signal turns ON when the servo is ON. B OUT INP Positioning complete This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the in-position band. B OUT HEND Home return complete This signal turns ON upon completion of home return. B OUT TLR Torque limited This signal turns ON upon reaching the torque limit while the torque is limited. 6B OUT *ALM alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates. This signal turns ON when the emergency stop of the 7B Output OUT6 *EMGS Emergency stop status controller is cancelled, and turns OFF when an emergency stop is actuated. 8B OUT7 RMDS Operation mode status The operation mode status is output. This signal turns ON when the controller is in the manual mode. 9B OUT8 ALM 0B OUT9 ALM An alarm code is output when an alarm generates. Alarm code output signal B OUT0 ALM For details, refer to the operation manual. B OUT ALM8 B OUT *ALML Minor failure alarm This signal is output when a message-level alarm generates. B OUT Not used B OUT ZONE Zone signal This signal turns ON when the current position of the 6B OUT ZONE Zone signal actuator falls within the parameter-set range. 7B NP Differential pulse-train input (+) Differential pulses are input from the host. input 8B /NP Differential pulse-train input (-) Up to 00 kpps can be input. 9B 0V N Power supply I/O power supply 0 V 0B 0V N Power supply I/O power supply 0 V Note) * indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output. (Note) The number of encoder pulses is 800 with all RCP, RCP, RCP series models. For details, refer to the operation manual. 6 /CFA

94 Field Network Specification: Explanation of Operation Modes /CFA If the is controlled via a field network, you can select one of the following five modes to operate the actuator. Take note that the required data areas on the PLC side vary depending on the mode. Explanation of Modes 0 Mode Remote I/O mode Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode Remote I/O mode Description In this mode, the actuator is operated by controlling the ON/OFF of bits via the network, just like with the PIO specification. The number of positioning points and functions vary with each of the operation patterns (PIO patterns) that can be set by the controller s parameter. The target position is specified by directly entering a value, while other operating conditions (speed, acceleration, etc.) are set by specifying the desired position number corresponding to the desired operating conditions already input to the position data table. The actuator is operated by specifying the speed, acceleration/deceleration and push current, in addition to the target position, by directly entering values. The actuator is operated by specifying the target position, speed, acceleration/deceleration, push current control value, etc., by directly entering values. The current position, current speed, command current, etc., can also be read. Same as the above remote I/O mode, plus the current position read function and command current read function. Required Data Size for Each Network DiviceNet CC-Link PROFIBUS-DP CompoNet MECHATROLINK I, II EtherCAT EtherNet/IP M 0 Remote I/O mode CH station bytes bytes * bytes bytes Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode CH station 8 bytes 8 bytes * 8 bytes 8 bytes 8CH stations 6 bytes 6 bytes * 6 bytes 6 bytes 6CH stations bytes bytes * bytes bytes Remote I/O mode 6CH station bytes bytes * bytes bytes * No required data size is set for MECHATROLINK I and II. List of Functions by Operation Mode Remote I/O mode Position/simple direct numerical mode Half direct numerical mode Full direct numerical mode (Note ) Remote I/O mode Number of positioning points points 768 points Unlimited Unlimited points Operation by direct position data specification X X Direct speed/acceleration specification X X X Push-motion operation Current position read X Current speed read X X X Operation by position number specification X X Completed position number read X X * O indicates that the operation is supported, and X indicates that it is not supported. (Note ) Take note that the MECHATROLINK specification does not support the full direct numerical mode. /CFA 66

95 /CFA External Dimensions <> Incremental specification Screw fastening specification Incremental specification DIN rail mounting specification φ from DIN rail center. (DIN rail width: mm) () Simple absolute specification With absolute battery Screw fastening specification Simple absolute specification With absolute battery DIN rail mounting specification M Absolute battery φ Absolute battery from DIN rail center. (DIN rail width: mm) * The absolute battery is installed on the left side when the controller is viewed from the front side. (8) * The absolute battery is installed on the left side when the controller is viewed from the front side. () Simple absolute specification With absolute battery unit φ φ 0 0 Screw fastening specification (7.) * The above absolute battery unit comes with the controller. Simple absolute specification With absolute battery unit 78. () from DIN rail center. (DIN rail width: mm) 0 DIN rail mounting specification * The below absolute battery unit comes with the controller. Absolute battery 0 from DIN rail center (6) DIN securing tab moving width: mm (DIN rail width: mm) (0) 00 0 <-CFA> Incremental specification (7) Screw fastening specification Incremental specification (7) DIN rail mounting specification 0 from DIN rail center. (DIN rail width: mm) () 67 /CFA

96 Specification table /CFA Number of controlled axes Item axis Power supply voltage VDC ± 0% RCP Load capacity RCP (Current consumption of controlled axes included) (Note ) RCP type type Power supply for electromagnetic brake (for actuators with brake) 0P, 8P, 8SP A max. P, 6P.A max. Description 60P, 86P 6A max. 8P, P P, 6P High-output setting disabled:. A max. High-output setting enabled:. A rated /. A max. 60P, 86P 6A max. DC VDC ± 0%, 0. A (max.) Rush current (Note ) 8. A 0 A Momentary power failure resistance Applicable encoder Actuator cable length External interface Data setting/input method Data retention memory Operation modes PIO specification Field network specification Number of positions in positioner mode -train interface Isolation resistance Input pulse Command pulse magnification (electronic gear ratio: A/B) Feedback pulse output Electric shock protection mechanism Mass (Note ) Incremental specification Simple absolute specification (90 g of battery weight included) 00 μs max. Incremental encoder of 800 pulses/rev in resolution 0 m max. -CFA DC VDC ± 0%, 0. A (max.) Dedicated -VDC signal input/output (NPN or PNP selected) --- Up to 6 input points, up to 6 output points / Cable length: 0m max. DeviceNet, CC-Link, PROFIBUS, CompoNET, MECHATROLINK, EtherCAT, EtherNet/IP PC software, touch-panel teaching pendant Position data and parameters are saved in the non-volatile memory (The memory can be written any number of times.) Positioner mode / -train control mode (Selectable by parameter setting) Up to points for the positioner type, up to 768 points for the network type (Note) The number of positioning points varies depending on the PIO pattern selected. Differential method (line driver method): 00 kpps max. / Cable length: 0 m max. Open collector method: Not supported * If the host uses open-collector output, convert the open-collector pulses to differential pulses using the AK-0 (available as an option). /0 < A/B < 0/ Setting range of A and B (set by parameters): to 096 None 00-VDC 00 MΩ or more Class I basic isolation Screw fastening type: 0 g or less DIN rail securing type: 8 g or less Screw fastening type: 0 g or less DIN rail securing type: 8 g or less Screw fastening type: 70g or less DIN rail securing type: 0g or less Cooling method Natural air cooling Forced air cooling Environment Ambient operating temperature 0 to 0 C Ambient operating humidity Operating ambience Protection degree 8%RH or less (non-condensing) Not exposed to corrosive gases IP0 Note ) The value increases by 0. A for the field network specification. Note ) After the power is turned on, rush current will flow for approx. msec (at 0 C). Take note that the rush current varies depending on the impedance of the power-supply line. Note ) The value increases by 0 g for the field network specification. M /CFA 68

97 M /CFA Options Teaching pendant Summary Teaching device for positioning input, test operation, and monitoring. Model Setting PC software (Windows only) Summary Model Setting m CON-PTA-C (Touch panel teaching pendant) CON-T (Standard type) CON-PTA-C A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. RCM-0-MW (External device communication cable + RS conversion unit) RS conversion adapter RCB-CV-MW CON-T /CFA are supported by Ver or later m Specification Item Content Model English Version CON-PTA-C-ENG CON-T-ENG Data Input Actuator Motion Ambient Operating Temp./Humidity Temp 0~0 C; 8% RH or below Ambient Operating Atmosphere No corrosive gases. Especially no dust. Protective class IP0 IP Weight Approx. 70g Approx. 00g Cable Length m Display 6,6 color (6 bit color) White LED back light 0 char. x lines LCD display Standard Price Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 PC software (CD) 0.m External device communication cable CB-RCA-SIO00 Model Setting RCM-0-USB (External device communication cable + USB converter adaptor + USB cable) m /CFA are supported by Ver or later USB conversion adapter RCB-CV-USB m PC software (CD) USB cable CB-SEL-USB00 External device communication cable CB-RCA-SIO00 Absolute Battery Unit Summary Battery unit that comes with a simple absolute controller, used to back up the current controller position. Model SEP-ABU (DIN rail mount specification) SEP-ABUS (screw fixing specification) Specifications Replacement battery Summary The replacement battery for the absolute data backup battery box. Model AB-7 Item Ambient operating temperature, humidity Operating ambience Absolute battery /absolute battery unit link cable Mass Specification 0 to 0 C (desirably around 0 C), 9% RH or below (non-condensing) Free from corrosive gases Model number: AB-7 (Ni-MH battery / Life: Approx. years) Model number: CB-A-AB00 (Length: 0.m) Standard type: Approx. 0g / Dust-proof type: Approx. 60g DIN rail mount specification 0 from center of DIN rail. (DIN rail mm wide) Absolute 7. battery unit 66. (6) Screw fixing specification ø (7.) 0 0 Moving range of DIN fixing tabs: mm 69 /CFA (0)

98 () (0) Service parts Integrated -Encoder Cable/ -Encoder Robot Cable for RCP Model CB-MPA /CB-MPA -RB (0) (Front view) Actuator side *Refer to page A-9 for connectable actuators. L (ø8.) (Note ) Minimum bend radius R: r = 80mm or larger (for movable use) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through the cable track. (0) (6) side (Note ) If cable length is m or more, non-robotic cable is ø9. and robot cable is ø0. /CFA Actuator side (AMP) Pin No. Signal name Color A ØA/U Blue(Black) B VMM/V Orange (White) A Ø_A/W Green (Brown) B ØB/- Brown (Green) A VMM/- Gray (Yellow) B Ø_B/- Red (Red) A LS+/BK+ Black (Orange) B LS-/BK- Yellow (Gray) A6 -/A+ Blue (White) B6 -/A- Orange (Yellow) A7 A+/B+ Green (Red) B7 A-/B- Brown (Green) A8 B+/Z+ Gray (Black) B8 B-/Z- Red (Brown) A BK+/LS+ Blue (Black) B BK-/LS- Orange (Brown) A9 LS_GND Green (Green) B9 VPS Brown (Red) A0 VCC Gray (White) B0 GND Red (Yellow) A B FG Black () * Color in ( ) indicates color of robot cable * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m side PADP-V--S (JST) Pin No. Signal name Color ØA/U Blue (Black) VMM/V Orange (White) Ø_A/W Green (Brown) ØB/- Brown (Green) VMM/- Gray (Yellow) 6 Ø_B/- Red (Red) 7 LS+/BK+ Black (Orange) 8 LS-/BK- Yellow (Gray) -/A+ Blue (White) -/A- Orange (Yellow) A+/B+ Green (Red) A-/B- Brown (Green) B+/Z+ Gray (Black) 6 B-/Z- Red (Brown) 9 BK+/LS+ Blue (Black) 0 BK-/LS- Orange (Brown) 0 LS_GND Green (Green) 8 VPS Brown (Red) 7 VCC Gray (White) 9 GND Red (Yellow) FG Black () Integrated -Encoder Robot Cable/ -Encoder Cable for RCP-RA0C/HS8 /SA6C Model CB-CFA-MPA /CB-CFA-MPA -RB * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m M () () (0) () () () (Front view) Actuator side *Refer to page A-9 for connectable actuators. L (ø8.) Minimum bend radius R: r = 68mm or larger (for movable use) (0) (6) side Actuator side side SLP -06V (JST) PADP-V--S (JST) Pin No. Signal name Pin No. Signal name øa VMM øb VMM ø/a ø/b LS+ LS- A+ A- B+ B- BK+ BK- VCC GND VPS FG øa VMM øb VMM ø/a ø/b LS+ LS- A+ A- B+ B- BK+ BK- VCC GND VPS FG Integrated -Encoder Robot Cable/ -Encoder Cable for RCP/RCA and others Model CB-A-MPA /CB-A-MPA -LC * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m (0) (8) (Front view) Actuator side () *Refer to page A-9 for connectable actuators. L (ø8.) Minimum bend radius R: r = 68mm or larger (for movable use) (0) (6) side Actuator side Pin number A B A B A B A B A6 B6 A7 B7 A8 B8 A B A9 B9 A0 B0 A B []() Black [ ØA ](U) White [VMM](V) Brown [ Ø/A ](W) Green [ ØB ]( - ) Yellow [VMM]( - ) Red [ Ø/B ]( - ) Orange [LS+](BK+) Gray [LS-](BK-) White [ - ](A+) Yellow [ - ](A-) Red [ A+ ](B+) Green [ A- ](B-) Black [ B+ ](Z+) Brown [ B- ](Z-) Black (label)[bk+](ls+) Brown (label)[bk-](ls-) Green (label)[gndls](gndls) Red (label)[vps](vps) White (label)[vcc](vcc) Yellow (label)[gnd](gnd) Shield [FG](FG) side Pin number /CFA 60

99 M /CFA Service parts Integrated -Encoder Robot Cable for RCP Model st connector (0) () CB--MPA *Refer to page A-9 for connectable actuators. L () (ø8.) * Robot cable is the standard specification. () (6) () () (Front view) Actuator side Minimum bend radius R: r = 68mm or larger (for movable use) side Integrated -Encoder Robot Cable for RCA Model () () CB--MPA *Refer to page A-9 for connectable actuators. (0) L (0) (0) * Robot cable is the standard specification. (0) (ø8.) (6) () () (Front view) Actuator side Minimum bend radius R: r = 68 mm or larger (for movable use) side * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m st Connector nd Connector Actuator side Pin number Black [ ØA ] White [ VMM ] Red [ ØB ] Green [ VMM ] Brown [ Ø/A ] Yellow [ Ø/B ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Actuator side Pin number st Connector nd Connector Red [ U ] Yellow [ V ] Black [ W ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] Black (label)[z+] Brown (label)[z-] White (label)[vcc] Yellow (label)[vps] Red (label)[gnd] Green (label)[(spare)] Shield [ FG ] side Pin number Integrated -Encoder Robot Cable for RCP small rotary Model (8) CB-R-MPA *Refer to page A-9 for connectable actuators. L * Robot cable is the standard specification. (0) (ø8.) (6) (Front view) () Actuator side Minimum bend radius R: r = 68 mm or larger (for movable use) side (0) *Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Actuator side Pin number A B A B A B A6 B6 A7 B7 A8 B8 A B A B A9 B9 A0 B0 A B Black [ ØA ] White [ VMM ] Brown [ Ø/A ] Green [ ØB ] Yellow [ VMM ] Red [ Ø/B ] Orange [ LS+ ] Gray [ LS- ] Red [ A+ ] Green [ A- ] Black [ B+ ] Brown [ B- ] Black (label)[bk+] Brown (label)[bk-] Green (label)[gndls] Red (label)[vps] White (label)[vcc] Yellow (label)[gnd] Shield [ FG ](FG) side Pin number I/O Flat Cable Model CB-PAC-PIO * indicates the cable length (L). A desired length can be specified up to 0m. Example: 080=8m No connector No connector 6 Flat cable (0 cores) x /CFA L B A 0A A 0B B HIF6-0D-.7R No. Signal name Cable color A V Brown - A V Red - A Orange - A Input Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - A IN6 Brown - A IN7 Red - A IN8 Orange - A IN9 Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - Wiring Flat cable A (crimped) No. Signal name Cable color B OUT0 Brown - B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B OUT6 Purple - 8B OUT7 Gray - 9B OUT8 White - 0B OUT9 Black - B OUT0 Brown - B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B Purple - 8B Input Gray - 9B 0V White - 0B 0V Black - Wiring Flat cable B (crimped) AWG 8

100 MEMO /CFA M /CFA 6

101 Models CY / PL / PO / SE Position s For RCP/RCP Series CY PL/PO SE M List of models These are the position controllers that can be used with the RCP/RCP Series actuators. Our line-up has types, which are compatible with various control systems. Type CY PL/PO SE Name Solenoid type train control type Serial communication type External view Description Can be operated using the same control as the air cylinder type For pulse train control For serial communication Position Points points 6 points Standard Price Model I 0 Series Type Encoder I/O Type I/O cable length Power/ Voltage Simple absolute unit High acceleration type model CY SE PL PO I Incremental Solenoid Valve Type 0P 0 frame pulse motor * When selecting type SE (serial communication), the Serial Communication Type 0SP 0 frame pulse motor support standard I/O is "N" (no I/O). (RCP-RA high thrust type only) 0 DCV Train Control Type (differential line driver model) 8P 8 frame pulse motor-compatible Train Control Type (open collector model) 8SP 8 frame pulse motor (RCP-RAC only) 0 No cable P frame pulse motor-compatible m (standard) P frame pulse motor-compatible m 6P 6 frame pulse motor-compatible m * If connecting to RCP-RAC/ RGDC, the motor type is 8SP. NP PN N NPN (standard) PNP No I/O (SE type only) Blank Not used ABU Used * If SE (serial communication type) is selected, specify "0" (no cable) for the I/O cable. Blank Standard H High Acceleration Type Model * If connecting to an RCP- SAC/SAC/SA6C, or an RCP(RCPCR)-SAC/ SA6C, specify an "H", for the high-acceleration type model. (The side-mounted motor type is exempted.) An "H" is not required with the high-lead (lead 0). 6

102 System Configuration PLC Field Network Option Supplied with I/O cable for solenoid valve type CB-PACY-PIO00 Cable length Standard m For a replacement cable, see P60. Supplied with I/O Cable for pulse train control CB-PACPU-PIO00 Cable length Standard: m For a replacement cable, see P60. ROBONET Gateway Unit + extension unit For DeviceNet: <Model: RGW-DV> + <Model: REXT-CTL> For CC-Link: <Model: RGW-CC> + <Model: REXT-CTL> For ProfiBus: <Model: RGW-PR> + <Model: REXT-CTL> Serial Communication M link cable <Model: CB-RCB-CTL00> (sold separately) -CY Solenoid valve type Peripheral devices are common for all controllers. -PL / PO train control type -SE Serial communication type * For network-compatible models, the I/O connector varies with the type of network. Option DCV Power Supply (See P77) <Model: (00V input)> <Model: (00V input)> Option Simple Absolute Unit (See P6) <Model: -ABU> * Cannot be used for -PL/PO types. Actuator: RCP series Rotary type RCP-RT Gripper type: RCP-GRS/GRM/GR Actuator: RCP series Small gripper type RCP-GRSS/GRLS/GRST Small rotary type RCP-RTBS/RTBSL/RTCS/RTCSL Option PC Software (See P69) RS version <Model: RCM-0-MW> USB version <Model: RCM-0-USB> * The cable is supplied with the PC software Option Teaching Pendant (See P69) <Model: CON-PTA-C> <Model: CON-T> Supplied with Actuator Cable <Model: CB-RCP-MA > Standard: m / m / m (Supplied with the actuator) For a replacement cable, see P60. Supplied with Actuator Encoder Cable <Model: CB-RCP-PB > Standard: m / m / m For a replacement cable, see P60. Supplied with Actuator -encoder Integrated Cable <Model: CB-PCS-MPA > Standard: m / m / m For a replacement cable, see P60. 6

103 I/O Specification Input section External input specifications Item Specifications Input voltage DCV ±0% Input current ma/circuit Leak current ma max./point Isolation method Photocoupler NPN Specifications Output section External output specifications Item Specifications Load Voltage DCV Max. load current 0mA/point Remaining voltage V or less Isolation method Photocoupler NPN Specifications External power supply +V PV R=680Ω Input terminal Inputs R=.6kΩ Internal circuit Internal circuit P R=Ω Outputs N Load External power supply +V M PNP Specifications PNP Specifications External power supply +V N R=680Ω Input terminal Internal circuit Internal circuit PV R=Ω Load External power supply +V Inputs R=.6kΩ Outputs N I/O Specification The types of controllers (CY, PL/PO, and SE) are classified by their respective I/O specifications. In addition, with the positioner type and solenoid valve type, the I/O signal details can be changed via the controller settings. As a result, a number of functions can be used. Control Function by Type Type CY PL/PO SE Name Solenoid valve type in-line control type Serial communication type Positioner mode (*) Teaching mode (*) Solenoid valve mode (*) train mode Network compatible (*) * Operates using network communications or serial communications. * Can make a direct connection to a field network with the network specifications. Features This is the basic operating mode, in which the user designates position numbers and inputs start signals. In this mode, the slider (rod) moves based on an external signal, and the stopped positions can be registered as position data. The actuator can be moved simply by ON/OFF of position signals. This mode supports the same control signals you are already familiar with on solenoid valves of air cylinders. In this mode, you can operate the actuator freely using pulse trains without inputting position data. The controller can be connected to a DeviceNet or CC-Link network. 6

104 Explanation of I/O Signal Functions The table below explains the functions allocated to the controller s I/O signal. Since the signals that can be used vary depending on the controller type and settings, check the signal table for each controller to confirm the available functions. Signal Function Description Classification Signal abbreviations Signal Function description Input CSTR PTP strobe signal (start signal) Input this signal to cause the actuator to start moving to the position set by the command position number signal. PC to PC6 Command position number signal This signal is used to input a target position number (binary input). BKRL Brake forced release signal This signal forcibly releases the brake. RMOD *STP RES Running mode switching signal Pause signal Reset signal This signal can switch the running mode when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, or MANU when the signal is ON) Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator will resume the remaining movement if the signal is turned ON during the pause. Turning this signal ON resets the alarms that are present. If this signal is turned ON while the actuator is paused (*STP is OFF), the remaining movement can be cancelled. SON ON signal The servo remains on while this signal is ON, or off while the signal is OFF. HOME Home return signal Turning this signal ON performs home-return operation. MODE Teaching mode signal Turning this signal ON switches the controller to the teaching mode. (provided that CSTR, JOG+ and JOG- are all OFF and the actuator is not moving). JISL JOG/IHING switching signal When the main signal is off, the JOG operation will be conducted for JOG+ and JOG-. When the signal is on, the unit will do the inching operation for JOG+ and JOG-. M JOG+, JOG JOG signal When the JISL signal is off and the JOG +/- signal turns on, the unit will jog in the + (positive) direction when the JOG + turns on and the - (negative) direction when the JOG - turns on. During the JOG operation, the unit slows to a stop when the JOG +/- signal turns off. PWRT Teaching signal In the teaching mode, specify a desired position number and then turn this signal ON for at least 0ms to write the current position to the specified position number. ST0 to ST6 Start position command Turning this signal ON in the solenoid valve mode causes the actuator to move to the specified position. (Start signal is not required) Output TL Torque limit selection signal While this signal is ON, torque is limited by the value set by a parameter. The TLR signal turns on if torque has reached the specified value. DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. PEND/INP In position signal This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has exceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped within parameters. PM to PM6 Positioning complete signal This signal is used to output the position number achieved at the completion of positioning (binary output) HEND Home return completion signal This signal turns ON upon completion of home return. ZONE Zone signal This signal turns ON when the current actuator position has entered the range specified by the parameters. PZONE Position zone signal RMDS Running mode status signal This outputs the operation mode status. Turns ON when the actuator moves into a position within the range of the target position data that was set. PZONE can be used together with ZONE, but PZONE is valid only during movement to a specified position. *ALM alarm status signal This signal remains ON while the controller is not in the alarm condition, and turns OFF when an alarm has occurred. MOVE Moving signal Turns ON while the actuator is moving (home return), including when there is push force. SV ON status signal This signal turns ON when servo is ON. *EMGS Emergency stop status signal This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. MODES WEND Mode status signal Writing complete signal The mode signal input turns it ON when it goes into teaching mode. It turns OFF when it goes into normal mode. This signal remains OFF after the controller has switched to the teaching mode. It turns ON upon completion of data write using the PWRT signal. If the PWRT signal is turned Off, this signal also turns OFF. PE0 to PE6 Current position number signal This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. TLR Torque limiting signal This signal turns ON once the motor torque has reached the specified value in a condition where torque is being limited by the TL signal. LSO to LS Limit switch output signal Each signal turns ON when the current actuator position has entered the positioning band before or after the target position. If the actuator has already completed home return, these signals are output even before a movement command is issued or while the servo is OFF. LOAD Load output determination status signal This signal turns ON once the motor torque has reached the specified value. (*-CF dedicated signal) (Note) Signals with TRQS asterisks (*) are Torque normally level status ON and signal OFF during operation. Turns ON when the motor current reaches the threshold. (*-CF dedicated signal) 66

105 M I/O Signal Table Solenoid valve type (-CY) Pin No. Classification Parameters (select PIO pattern) 0 Solenoid valve mode 0 Solenoid valve mode Positioning Points points points Zone signal P-zone signal V 0V IN0 ST0 ST0 IN ST (JOG+) ST (JOG+) Input IN ST (RES) ST (RES) 6 IN SON SON 7 OUT0 LS0 PE0 8 OUT LS (TRQS) PE (TRQS) 9 OUT LS ( ) PE ( ) Output 0 OUT SV PZONE OUT HEND HEND OUT * ALM * ALM (Note) The names of signals above inside ( ) are functions before the unit returns home. (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Train Input Wiring Diagram Differential Receiver Method (-PL) Max. input pulse frequency Cable Length : Max. 00 kpps : Max. 0m Train Type (-PL/PO) Parameters (select PIO pattern) 0 Pin Standard mode Push mode No. Positioning Points Zone signal P-zone signal V 0V IN0 SON ON IN TL TL Input IN HOME HOME 6 IN RES RES / DCLR 7 OUT0 SV SV 8 OUT INP INP / TLR Output 9 OUT HEND HEND 0 OUT * ALM * ALM * PP * PP PP PP Input * NP * NP NP NP (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Classification Pin Number PIO connector Classification External V External 0V Input Input Input Input Output Output Output Output Differential Input Signal V 0V SON TL HOME RES SV INP HEND *ALM /PP PP /NP NP Shield Mounting plate FG *The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate. Open Collector Method (-PO) Max. input pulse frequency : Max. 60 kpps Cable Length : Max. m Pin Number Classification External V External 0V Input Input Input Input Output Output Output Output Open collector input N.C. Open collector input N.C Signal V 0V SON TL HOME RES SV INP HEND ALM /PP PP /NP NP Shield DCV±0 Mounting plate FG 67

106 Command Input State Negative logic Command pulse train state Input terminal During forward operation During reversed operation Forward pulse train PP /PP Reversed pulse train NP /NP The forward pulse train causes the motor to rotate forward, and the reverse pulse train causes the motor to rotate in reverse. train PP /PP Symbols NP /NP Low High The command pulse is used for the amount of motor rotation, and the command symbol is used for rotational direction. PP /PP A/B phase pulse train NP /NP An A/B phase pulse with a 90 phase difference (multiplier is ) is used to generate commands for the amount of rotation and rotational direction. Forward pulse train PP /PP Reversed pulse train NP /NP M Positive logic train Symbols PP /PP NP /NP High Low PP /PP A/B phase pulse train NP /NP * The number of encoder pulse for the RCP, RCP series operable with is 800 in all models. Table Of Specifications Item Specifications type CY PL PO SE Connected actuator (*) RCP/RCP series actuator (Note ) Number of control axes -axis Operating method Solenoid valve type train input type Serial communication type Positioning Points points 6 points Backup memory EEPROM I/O connector -pin connector -pin connector None Number of I/O input points/6 output points input points/ output points None I/O power External supply DCV±0% Serial Communication RS8 ch Peripheral device communication cable CB-PACY-PIO CB-PACPU-PIO CB-RCB-CTL00 Command pulse train input method Differential line driver Open collector Max. input pulse frequency (Note ) Max. 00 kpps Max. 60 kpps Position detection method Incremental encoder Drive-source cutoff relay at emergency stop External Forced release of electromagnetic brake ON/OFF terminal signal inside the power terminal for brake release Input Supply Voltage DC V ± 0% Power Supply Capacity A max. Dielectric strength voltage DC00V MΩ Vibration resistance XYZ directions 0 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 0Hz,.9m/s (continuous), 9.8m/s (intermittent) Ambient operating temperature 0~0 C Ambient operating humidity 0-9% (non-condensing) Ambient operating atmosphere Without corrosion gases Protection class IP0 Weight Approx. 0g (Note ) The high-thrust type (RA0C), high-speed type (HS8C/HS8R) and waterproof type (RCPW-SA6) cannot be operated. (Note ) With the open collector specification, keep the maximum input frequency to 60 kpps or below to prevent malfunction. For applications exceeding 60kpps, use the differential line driver. 68

107 Dimensions Name of each part -CY / PL / PO / SE (80) 0 ø 68. CY / PL / PO Type * PIO connectors are: CY: pin PL/PO: pin 6 SE Type LED display These LED colors indicate the condition of the controller. Lit (green) ON Lit (red) Alarm activated Unlit OFF Blinking (green) Automatic servo-off Emergency stop PIO connector Encoder brake connector Connects the encoder/brake cable for the actuator. Connects a cable for communicating with a PLC or other external equipment. SIO connector Connects a teaching pendant, PC cable, controller, or gateway unit to a controller. Operation details Pin No. Signal Name Note SGA Positive side, SGB RS8 differential signal Negative side, RS8 differential signal For RS/8 conversion V +V output ENBL Enable signal EMGA EMG line connection to external equipment 6 V -V power for T/P For T/P 7 0V GND 8 EMGB EMG line connection to external equipment 9 0V EMG line connection to external equipment ground connector Connects the motor cable for the actuator. 6 Power terminal block Main power for controller(s), emergency stop. CY / PL / PO / SE type Terminal number Signal Name 6 BK BK release MPI drive-source cutoff terminal MPO drive-source cutoff terminal V Positive side of the -V power supply 0V Negative side of the -V power supply EMG EMG signal (application of V) M Options Teaching pendant Summary Teaching device for positioning input, test operation, and monitoring. Model Setting PC software (Windows only) Summary CON-PTA-C (Touch panel teaching pendant) CON-T (Standard type) m CON-PTA-C A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. CON-T Specification Item Content Model English Version CON-PTA-C-ENG CON-T-ENG Data Input Actuator Motion Ambient Operating Temp./Humidity Temp 0~0 C; 8% RH or below Ambient Operating Atmosphere No corrosive gases. Especially no dust. Protective class IP0 IP Weight Approx. 70g Approx. 00g Cable Length m Display 6,6 color 0 char. x lines (6 bit color) LCD display White LED back light Standard Price Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 Model Setting RCM-0-MW (External device communication cable + RS conversion unit) RS conversion adapter RCB-CV-MW m PC software (CD) Model Setting PC software (CD) 0.m External device communication cable CB-RCA-SIO00 RCM-0-USB (External device communication cable + USB converter adaptor + USB cable) m USB cable CB-SEL-USB00 USB conversion adapter RCB-CV-USB m External device communication cable CB-RCA-SIO00 69

108 Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. (* See page A-9 for connectable actuators.) Robot Cable for RCP Model CB-RCP-MA () (8) (0) CN (Front view) side Encoder Cable/Encoder Robot Cable for RCP Model CB-RCP-PB /CB-RCP-PB -RB (ø8) Min. bend radius r = 0mm or larger (when movable type is used) L * The standard cable for the motor cable is the robot cable. (8) (0) () C N (Front view) Actuator side () I-89- (AMP) * The standard cable for the encoder cable is the normal cable. A robot cable can be specified as an option. * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Orange Gray White Yellow Pink Yellow (Green) CN M cable CN A A A VMM B A VMM B A A B B B SLP-06V (JST) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m 6 VMM A B VMM B Yellow Gray Orange Yellow (Green) Pink White (8) () (8) () () (Front view) side CN Min. bend radius r = mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. (ø9) L () C N (Front view) Actuator side () CN PHDR-6VS (JST) Cable color Standard Signal Cable Robot Cable Blue (Red ) Orange (Black ) LS+ White Orange (Red ) LS Red Orange (Black ) BK+ Gray Orange (Red ) BK Brown Light Gray (Black ) ENA Green Light Gray (Red ) ENA Purple White (Black ) ENB Pink White (Red ) ENB Yellow Yellow (Black ) VPS Orange Pink (Red ) VBB Blue Pink (Black ) GND () () () Ground Ground FG Pin No Shielded wire Ground wire Pin Cable color CN No. Signal Standard Cable Robot Cable ENA Brown Light Gray (Black ) ENA Green Light Gray (Red ) ENB Purple White (Black ) ENB Pink White (Red ) GND Blue Pink (Black ) 0 VBB Orange Pink (Red ) VPS Yellow Yellow (Black ) LS+ Blue (Red ) Orange (Black ) LS White Orange (Red ) 6 BK+ Red Orange (Black ) 7 BK Gray Orange (Red ) 8 FG Ground Ground XMP-8V (JST) M -Encoder Integrated Type Cable for RCP/RCP (Limited to RCP-GRSS/GRLS/GRST/SRAR/SRGSR/SRGDR) Model () (8) (8) () (Front view) CB-PCS-MPA (0) (8) side L (ø0.) * The standard cable is robot cable. Min. bend radius r = 8mm or larger (when movable type is used) () (8) (0) (Front view) Actuator side * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal Pin No. (Wire color) Pin No. Signal A B Black A A VMM VMM /AB /AB VMM /B A A B B A BK+ BK LS+ 6 LS A+ A B+ 0 B 9 8 VPS 7 VCC 6 GND FG White Red Green Yellow Brown Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Blue Continuous) Gray (Red Continuous) Gray (Blue Continuous) Shield B A B A B A B A B A6 B6 A7 B7 A8 B8 A9 B9 A0 B0 A B VMM /B BK+ BK LS+ LS A+ A B+ B VPS VCC GND FG Solenoid Valve Type I/O Cable (for -CY) Model CB-PACY-PIO * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m No connector Train Control I/O Cable (for -PL/PO) Model CB-PACPU-PIO No connector (ø9) L L Side with no connector -00 (MOLEX) No. Signal Cable Color V Brown- 0V Red- IN0 Orange- IN Yellow- IN Green- 6 IN Blue- 7 OUT0 Purple- 8 OUT Gray- 9 OUT White- 0 OUT Black- OUT Brown- OUT Red- Wire Flat cable (crimped) AWG8 * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m -00 (MOLEX) Cable No. Signal Wire Color Black IO_V Black White/Black Red White/Red Green White/Green Yellow White/Yellow Brown White/Brown Blue White/Blue Gray White/Gray IO_G IN0 IN IN IN OUT0 OUT OUT OUT PP PG NP NG White/Black Red White/Red Green White/Green Yellow White/Yellow Brown White/Brown Blue White/Blue Gray White/Gray 0.- (JST) 0.sq FG White/Gray AWG 60

109 Models C / CG / CY / PL / PO / SE Position s For RCA/RCA C/CG CY PL/PO SE M List of models This position controller enables movement of the RCA/RCA series actuators. A line-up of types to support various controlling methods. Type C CG CY PL/PO SE Name Positioner type Safety category compatible type Solenoid valve type train control type Serial Communication Type External view Description Positioner capable of a maximum of points of positioning Conforming to type C safety category specifications Can be operated using the same control as the air cylinder type For pulse train control For serial communication Position points points points points () 6 points Standard price Model I 0 Series Type Encoder Option I/O Type I/O Cable Length Power Voltage Simple absolute unit C CG CY SE PL PO Positioner Type Safety-compliant type Solenoid Valve Type Serial Communication Type Train Control Type (differential line driver model) Train Control Type (open collector model) 6 I Incremental HA High Accel./Decel. * The absolute-type RCA actuators cannot be operated with the controller To operate an absolute-type actuator, use the controller. LA Power-saving However, you can operate a simple absolute-type actuator, in which a simple absolute unit is attached to an incremental actuator. W motor-compatible W motor-compatible 0 0W motor-compatible 0S 0W motor-compatible (*) 0 0W motor-compatible 0 0W motor-compatible * When connecting an RCA-RA / RGS /RGD and RCA-SA /TA, the motor type is 0S. NP NPN (standard) PN PNP DV DeviceNet CN CompoNet connection model CC CC-Link ML MECHATROLINK connection model PR ProfiBus EC EtherCAT EP EtherNet/IP N No I/O (SE type only) * The network models (DV/CC/PR/ ML/CN/EC/EP) support C/CG types only. * When selecting type SE (serial communication), the standard I/O is "N" (no I/O). 0 No cable 0 DCV m (standard) m m Blank ABU Not used Used * If SE (serial communication type), and the network model (I/O type DV, CN, CC, ML, PR, EC, or EP) is selected, specify "0" (no cable) for the I/O cable.

110 System Configuration PLC Field Network Option Supplied with I/O cable for positioner type CB-PAC-PIO00 Cable length Standard m For a replacement cable, see P60. Supplied with I/O cable for solenoid valve type CB-PACY-PIO00 Cable length Standard m For a replacement cable, see P60. Supplied with I/O cable for pulse-train control type CB-PACPU-PIO00 Cable length Standard m For a replacement cable, see P60. ROBONET Gateway Unit + extension unit For DeviceNet: <Model: RGW-DV> + <Model: REXT-CTL> For CC-Link: <Model: RGW-CC> + <Model: REXT-CTL> For ProfiBus: <Model: RGW-PR> + <Model: REXT-CTL> M link cable <Model: CB-RCB-CTL00> (sold separately) -C / CG Positioner type Peripheral devices are common for all controllers. -CY Solenoid valve type -PL / PO train control type -C / CG Network connection model -SE Serial communication type * For network-compatible models, the I/O connector varies with the type of network. Option PC Software (See P69) RS version <Model: RCM-0-MW> USB version <Model: RCM-0-USB> * The cable is supplied with the PC software Option Teaching Pendant (See P69) <Model: CON-PTA-C> <Model: CON-T> Option DCV Power Supply (See P77) <Model: (00V input)> <Model: (00V input)> Option Simple Absolute Unit (See P6) <Model: -ABU> *Cannot be used for -PL/PO types. m Actuator: RCA series Actuator: RCA series Supplied with Actuator Cable <Model: CB-ACS-MA > Standard: m / m / m For a replacement cable, see P69. Supplied with Actuator Encoder Cable <Model: CB-ACS-PA > Standard: m / m / m For a replacement cable, see P60. Supplied with Actuator -encoder Integrated Cable <Model: CB-ACS-MPA > Standard m / m / m For a replacement cable, see P60. 6

111 I/O Specification Input section External input specifications Item Specifications Input voltage DCV +/-0% Input current ma/circuit Leak current ma max./point Isolation method Photocoupler Output section External output specifications Item Specifications Load Voltage DCV Max. load current 0mA/point Remaining voltage V or less Isolation method Photocoupler NPN Specifications NPN Specifications External power supply +V PV R=680Ω Input terminal Internal circuit Internal circuit P Outputs R=Ω Load External power supply +V Inputs R=.6kΩ N M PNP Specifications PNP Specifications External power supply +V N R=680Ω Input terminal Inputs R=.6kΩ Internal circuit Internal circuit PV R=Ω Outputs N Load External power supply +V I/O Specification The types of controllers (C/CG, CY, PL/PO, and SE) are classified by their respective I/O specifications. Also, for the positioner type and solenoid valve type, the I/O signal information can be changed in the controller settings, so multiple functions can be effectively used. Control Function by Type Type CY PL/PO SE Name Solenoid valve type in-line control type Serial communication type Positioner mode (*) Teaching mode (*) Solenoid valve mode (*) train mode Network compatible (*) * Operates using network communications or serial communications. * Can make a direct connection to a field network with the network specifications. * Can be connected to a field network using a gateway unit. Features This is the basic operating mode, in which the user designates position numbers and inputs start signals. In this mode, the slider (rod) moves based on an external signal, and the stopped positions can be registered as position data. The actuator can be moved simply by ON/OFF of position signals. This mode supports the same control signals you are already familiar with on solenoid valves of air cylinders. In this mode, you can operate the actuator freely using pulse trains without inputting position data. The controller can be connected to a DeviceNet or CC-Link network. 6

112 Explanation of I/O Signal Functions The table below explains the functions allocated to the controller s I/O signal. Since the signals that can be used vary depending on the controller type and settings, check the signal table for each controller to confirm the available functions. Signal Function Description Classification Input Output Signal Signal Function description abbreviations CSTR Start signal Input this signal to cause the actuator to start moving to the position set by the command position number signal. PC to PC6 Command position number signal This signal is used to input a target position number (binary input). BKRL Brake forced release signal This signal forcibly releases the brake. RMOD Running mode switching signal * STP Pause signal (Note ) RES Reset signal This signal can switch the running mode when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, or MANU when the signal is ON). Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator will resume the remaining movement if the signal is turned ON during the pause. Turning this signal ON resets the alarms that are present. If this signal is turned ON while the actuator is paused (*STP is OFF), the remaining movement can be cancelled. SON ON signal The servo remains on while this signal is ON, or off while the signal is OFF. HOME Home return signal Turning this signal ON performs home-return operation. MODE JISL JOG+, JOG PWRT ST0 to ST6 TL Teaching mode signal JOG/INJOG switching signal JOG signal Teaching signal Start position command Torque limit selection signal Turning this signal ON switches the controller to teaching mode (provided that CSTR, JOG+ and JOG- are all OFF and the actuator is not moving). When the main signal is off, the JOG operation will be conducted for JOG+ and JOG-. When the signal is on, the unit will do the inching operation for JOG+ and JOG-. When the JISL signal is off and the JOG +/- signal turns on, the unit will jog in the + (positive) direction when the JOG + turns on and the - (negative) direction when the JOG - turns on. During the JOG operation, the unit slows to a stop when the JOG +/- signal turns off. In the teaching mode, specify a desired position number and then turn this signal ON for at least 0ms to write the current position to the specified position number. Turning this signal ON in the solenoid valve mode causes the actuator to move to the specified position. (Start signal is not required) While this signal is ON, torque is limited by the value set by a parameter. The TLR signal turns on if torque has reached the specified value. (Dedicated pulse train type) DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. (Dedicated pulse train type) PEND/INP In position signal This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has exceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped within parameters. PM to PM6 Position complete signal This signal is used to output the position number achieved at the completion of positioning (binary output) HEND Home return completion signal This signal turns ON upon completion of home return. ZONE Zone signal This signal turns ON when the current actuator position has entered the range specified by the parameters. PZONE Positioning zone signal RMDS Running mode status signal This outputs the operation mode status. Turns ON when actuator moves into a position within the range of the target position data that was set. PZONE can be used together with ZONE, but PZONE is valid only during movement to a specified position. * ALM alarm status signal This signal remains ON while the controller is not in the alarm condition, and turns OFF when an alarm has occurred. MOVE Moving signal Turns ON while the actuator is moving (home return), including when there is push force. SV ON status signal This signal turns ON when servo is ON. * EMGS Emergency stop status signal This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. MODES Mode status signal The mode signal input turns it ON when it goes into teaching mode. It turns OFF when it goes into normal mode. M WEND Writing complete signal This signal remains OFF after the controller has switched to the teaching mode. It turns ON upon completion of data write using the PWRT signal. If the PWRT signal is turned Off, this signal also turns OFF. PE0 to PE6 Current position number signal This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. TLR Torque limiting signal This signal turns ON once the motor torque has reached the specified value in a condition where torque is being limited by the TL signal. (Dedicated pulse train type) Each signal turns ON when the current actuator position has entered the positioning band before or after the LSO to LS Limit switch output signal target position. If the actuator has already completed home return, these signals are output even before a movement command is issued or while the servo is OFF. (Dedicated Solenoid Valve Mode) (Note) Signals with asterisks (*) are normally ON and OFF during operation. (Note ) Please note that no pause can be made during an S-shaped acceleration/deceleration operation. 6

113 M I/O Signal Table Positioner type (-C / CG) Pin No. Classification Parameters (select PIO pattern) 0 Positioning mode Teaching mode 6-point mode -point mode Solenoid Valve Mode Solenoid Valve Mode Positioning Points 6 points 6 points 6 points points 7 points points Zone signal P-zone signal A V P A V P A A A IN0 PC PC PC PC ST0 ST0 6A IN PC PC PC PC ST ST (JOG+) 7A IN PC PC PC PC ST ST (-) 8A IN PC8 PC8 PC8 PC8 ST 9A IN PC6 PC6 PC6 PC6 ST 0A IN PC PC PC PC ST A IN6 MODE PC6 PC6 ST6 A IN7 JISL PC8 PC8 Input A IN8 JOG+ PC6 A IN9 BKRL JOG- BKRL BKRL BKRL BKRL A IN0 RMOD RMOD RMOD RMOD RMOD RMOD 6A IN HOME HOME HOME HOME HOME 7A IN * STP * STP * STP * STP * STP 8A IN CSTR CSTR/PWRT CSTR CSTR 9A IN RES RES RES RES RES RES 0A IN SON SON SON SON SON SON B OUT0 PM PM PM PM PE0 LSO B OUT PM PM PM PM PE LS B OUT PM PM PM PM PE LS ( ) B OUT PM8 PM8 PM8 PM8 PE B OUT PM6 PM6 PM6 PM6 PE 6B OUT PM PM PM PM PE 7B OUT6 MOVE MOVE PM6 PM6 PE6 8B OUT7 ZONE MODES PM8 PM8 ZONE ZONE Output 9B OUT8 PZONE PZONE PZONE PM6 PZONE PZONE 0B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS B OUT0 HEND HEND HEND HEND HEND HEND B OUT PEND PEND/WEND PEND PEND PEND B OUT SV SV SV SV SV SV B OUT *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS B OUT *ALM *ALM *ALM *ALM *ALM *ALM 6B OUT 7B 8B 9B 0V N 0B 0V N (Note) The names of signals above inside ( ) are functions before the unit returns home. (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Solenoid valve type (-CY) Pin No. Classification Parameters (select PIO pattern) 0 Solenoid valve mode 0 Solenoid valve mode Positioning Points points points Zone signal P-zone signal V 0V IN0 ST0 ST0 IN ST (JOG+) ST (JOG+) Input IN ST (RES) ST (RES) 6 IN SON SON 7 OUT0 LS0 PE0 8 OUT LS PE 9 OUT LS ( ) PE ( ) Output 0 OUT SV PZONE OUT HEND HEND OUT * ALM * ALM (Note) The names of signals above inside ( ) are functions before the unit returns home. (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Train Type (-PL/PO) Parameters (select PIO pattern) 0 Pin Standard mode Push mode No. Positioning Points Zone signal P-zone signal V 0V IN0 SON ON IN TL TL Input IN HOME HOME 6 IN RES RES / DCLR OUT0 SV SV 8 OUT INP INP / TLR Output OUT HEND HEND 0 OUT * ALM * ALM * PP * PP PP PP Input * NP * NP NP NP (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Classification 6

114 Wiring Diagram for the -Train Type Differential Line Driver Method (-PL) Max. input pulse frequency : Max. 00 kpps Cable Length : Max. 0m PIO connector Pin Number Classification Signal External V V Shield External 0V Input 0V SON Input Input TL HOME 6 7 Input Output RES SV 8 9 Output Output INP HEND 0 Output * ALM /PP Differential input PP /NP M NP Mounting plate FG * The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate. Open Collector Method (-PO) Max. input pulse frequency Cable Length : Max. 60 kpps : Max. m Pin Number PIO connector Classification Signal Shield External V V External 0V 0V Input SON Input TL Input HOME 6 Input RES 7 Output SV 8 Output INP 9 Output HEND 0 Output Open collector input * ALM /PP N.C Open collector input N.C PP /NP NP DCV±0% Mounting plate FG * The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate. * Connect the external 0V to the COMMON of the command pulse. 66

115 Command Input State Negative logic Command pulse train state Input terminal During forward operation During reversed operation Forward pulse train PP /PP Reversed pulse train NP /NP The forward pulse train causes the motor to rotate forward, and the reverse pulse train causes the motor to rotate in reverse. train PP /PP Symbols NP /NP Low High The command pulse is used for the amount of motor rotation, and the command symbol is used for rotational direction. PP /PP A/B phase pulse train NP /NP An A/B phase pulse with a 90 phase difference (multiplier is ) is used to generate commands for the amount of rotation and rotational direction. Forward pulse train PP /PP M Positive logic * For the number of encoder pulse for the actuators operable with, please refer to page Pre-. Table Of Specifications Item Specifications type C CG CY PL PO SE Connected actuator RCA Series Actuator Number of control axes -axis Operating method Positioner type Solenoid valve type train input type Serial communication type Positioning Points points points 6 points Backup memory EEPROM I/O connector 0-pin connector -pin connector -pin connector None Number of I/O 6 input points/6 output points input points / 6 output points input points/ output points None I/O power External supply DCV±0% Serial Communication RS8 ch Peripheral device communication cable CB-PAC-PIO CB-PACY-PIO CB-PACPU-PIO CB-RCB-CTL00 Command pulse train input method Differential line driver Open collector Max. input pulse frequency (Note ) Max. 00 kpps Max. 60 kpps Position detection method Incremental encoder Drive-source cutoff relay at emergency stop Integrated External Forced release of electromagnetic brake Brake release switch ON/OFF ON/OFF terminal signal inside the power terminal for brake release Input Voltage DCV ± 0% Dielectric strength voltage DC00V MΩ Vibration resistance XYZ directions 0 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 0 Hz.9 m/s (continuous), 9.8 m/s (intermittent) Ambient operating temperature 0~0 C Ambient operating humidity 0-9% (non-condensing) Ambient operating atmosphere Without corrosive gases Protection class IP0 Weight Approx. 00g Approx. 0g (Note ) With the open collector specification, keep the maximum input frequency to 60 kpps or below to prevent malfunction. For applications exceeding 60kpps, use the differential line driver. Power Supply Capacity (Note ) Reversed pulse train Actuator RCA RCA RCL train Symbols A/B phase pulse train NP /NP PP /PP NP /NP PP /PP NP /NP Standard specifications/high acceleration and deceleration model Power-saving model Rated [A] Max. [A] Rated [A] Max. [A] 0W.... 0W [Model symbol: 0].... 0W.... 0W [Model symbol: 0S] SA, RA, TA Type dedicated W W W. 6. (Note ) Other than motor power supply capacity, increase 0.A as control power supply. Inrush current of approx. to times the rated current occurs within to msec from turning the power on. The inrush current changes depending on the power supply line impedance. High Low 67

116 External Dimensions -C / CG ø (80) CY / PL / PO / SE ø (80) Name of each Part LED display These LED colors indicate the condition of the controller. Lit (green) ON Lit (red) Alarm activated Unlit OFF Blinking (green) Automatic servo-off Emergency stop M PIO connector Connects a cable for communicating with a PLC or other external equipment. Address-setting rotary switch This switch sets the addresses for controllers used when the unit is linked with controllers. Mode switch Switches between manual teaching pendant operations (MANU) and automatic operations (AUTO). 6 Encoder brake connector Connects the encoder/brake cable for the actuator. 7 Brake release switch This switch forces the brake to release. 8 connector Connects the motor cable for the actuator. C / CG type Operation details MANUAL AUTO I/O commands are not accepted. Data can be written from a teaching pendant or PC. I/O commands are valid, while operations from a teaching pendant or PC are not accepted. However, monitoring is possible. 9 C / CG type Terminal number Power terminal block Main power for controller(s), emergency stop Signal Name CY / PL / PO Type * PIO connectors are: CY: pin PL/PO: pin SE Type SIO connector Connects a teaching pendant, PC cable, controller, or gateway unit to a controller. Operation details Pin No. Signal Name Remarks SGA Positive side, RS8 differential signal SGB Negative side, RS8 differential signal V +V output For RS/8 conversion ENBL Enable signal EMGA EMG line connection to external equipment 6 V -V power for T/P For T/P 7 0V GND 8 EMGB EMG line connection to external equipment 9 0V EMG line connection to external equipment ground 7 S External drive-source cutoff for 6 S TP_EMG terminal MPI drive-source cutoff terminal MPO drive-source cutoff terminal V Positive side of the -V power supply 0V Negative side of the -V power supply EMG EMG signal (application of V) CY / PL / PO / SE type Terminal number Signal Name 6 BK BK release MPI drive-source cutoff terminal MPO drive-source cutoff terminal V Positive side of the -V power supply 0V Negative side of the -V power supply EMG EMG signal (application of V) 68

117 Teaching pendant Summary Teaching device for positioning input, test operation, and monitoring. Model Setting Options CON-PTA-C (Touch panel teaching pendant) CON-T (Standard type) CON-PTA-C CON-T M m Specification Item Content Model English Version CON-PTA-C-ENG CON-T-ENG Data Input Actuator Motion Ambient Operating Temp./Humidity Temp 0~0 C; 8% RH or below Ambient Operating Atmosphere No corrosive gases. Especially no dust. Protective class IP0 IP Weight Approx. 70g Approx. 00g Cable Length m Display 6,6 color 0 char. x lines (6 bit color) LCD display White LED back light Standard Price PC software (Windows only) Summary Model Setting PC software (CD) A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. RCM-0-MW (External device communication cable + RS conversion unit) RS conversion adapter RCB-CV-MW 0.m m External device communication cable CB-RCA-SIO00 Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 Model RCM-0-USB (External device communication cable + USB converter adaptor + USB cable) Setting PC software (CD) m USB cable CB-SEL-USB00 USB conversion adapter RCB-CV-USB m External device communication cable CB-RCA-SIO00 Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. Cable for RCA Model CB-ACS-MA (ø9) L Wire Color Signal No. No. Signal Color Wire AWG Red U U Red AWG (crimped) White V V White side Actuator side (crimped) Black W W Black Min. bend radius r = 0mm or larger (when movable type is used) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m 69

118 Encoder Cable / Encoder Robot Cable for RCA Model 8 7 side -Encoder Integrated Robot Cable for RCA Model CB-ACS-MPA (0) (8) (Front view) (8) I/O Flat Cable (for -C / CG) Model CB-PAC-PIO No connector No connector Solenoid Valve Type I/O Cable (for -CY) Model CB-PACY-PIO No connector Train Control I/O Cable (for -PL/PO) Model CB-PACPU-PIO No connector (8) () CB-ACS-PA /CB-ACS-PA -RB () side Min. bend radius r = 0 mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. (ø0) Min. bend radius r = 8 mm or larger (when movable type is used) Flat cable (0 cores) x (ø9) L L L L L (ø) B A 0 * The standard cable is a robot cable. () 0A A (8) Actuator side 9 8 Actuator side 0B B (0) (Front view) * The standard cable for the encoder cable is the normal cable. A robot cable can be specified as an option. 0 CN Signal Pin Cable color Robot Cable Standard Cable No. White/Purple Blue LS+ 8 White/Gray Orange LS 7 Yellow Green BK+ 6 Blue Brown BK White/Blue Gray ENA White/Yellow Red ENA White/Red Black ENB White/Black Yellow ENB Orange Pink ENZ 0 Green Purple ENZ 9 Purple White 8 Gray Blue/red VPS 7 Red Orange/White V 6 Black Green/White GND Ground Ground FG Housing : PHDR-8VR (JST) Contact : SPHD-00T-P0. (JST) Side with no connector * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal Pin No. (Wire color) Pin No. Signal U V W BK+ 6 BK LS+ LS A+ A B+ B Z+ Z /PS VCC GND FG * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m HIF6-0D-.7R No. Signal name Cable color Wiring No. Signal name Cable color Wiring A V Brown - B OUT0 Brown - A V Red - A Orange - A Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - A IN6 Brown - A IN7 Red - A IN8 Orange - A IN9 Yellow - A IN0 Green - 6A IN Blue - 7A IN Purple - 8A IN Gray - 9A IN White - 0A IN Black - * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m -00 (MOLEX) No. Signal Cable Color V Brown- 0V Red- IN0 Orange- IN Yellow- IN Green- 6 IN Blue- 7 OUT0 Purple- 8 OUT Gray- 9 OUT White- 0 OUT Black- OUT Brown- OUT Red- Wire Flat cable (crimped) AWG8 * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Black White/Black Red White/Red Green White/Green Yellow White/Yellow Brown White/Brown Blue White/Blue Gray White/Gray Red A U Yellow Black Yellow (Red ) Yellow (Blue ) Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Red Consecutive) Orange (Blue Consecutive) Gray (Red Consecutive) Gray (Blue Consecutive) Shield Flat cable A (crimped) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m CN Pin Signal Cable color No. Standard Cable Robot Cable Gray White/Blue ENA ENA Red White/Yellow ENB Black White/Red ENB Yellow White/Black 6 7 LS+ Blue White/Purple 8 9 FG Ground Ground 0 ENZ Pink Orange ENZ Purple Green White Purple VPS Blue/red Gray V Orange/White Red GND Green/White Black 6 LS Orange White/Gray 7 BK Brown Blue 8 BK+ Green Yellow Plug housing : XMP-8V (JST) Socket contact : BXA-00T-P0.6 (JST) Retainer : XMS-09V (JST) B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B OUT6 Purple - 8B OUT7 Gray - 9B OUT8 White - 0B OUT9 Black - B OUT0 Brown - B OUT Red - B OUT Orange - B OUT Yellow - B OUT Green - 6B OUT Blue - 7B Purple - 8B Gray - 9B 0V White - 0B 0V Black - B A B A B A B A B A6 B6 A7 B7 A8 B8 A9 B9 A0 B0 A B -00 (MOLEX) No. Signal Cable Color IO_V Black IO_G White/Black IN0 Red IN White/Red IN Green 6 IN White/Green 7 OUT0 Yellow 8 OUT White/Yellow 9 OUT Brown 0 OUT White/Brown PP Blue PG White/Blue NP Gray NG White/Gray 0.- (JST) V W BK+ BK LS+ LS A+ A B+ B Z+ Z /PS VCC GND FG Flat cable B (crimped) AWG 8 Wire 0.sq FG White/Gray AWG 60 M

119 -ABU/-ABU -ABU -ABU Simple absolute unit For / controller Features M When attached to a /-C, -CG, -CY, or -SE (incremental) controller, the data from the encoder is retained even after the controller's main power has been turned OFF, allowing you to use it as an absolute model, which does not require homing at power-up. * Cannot be used for /-PL or PO types, /CFA types. connection cable CBAC(PC)PJ00 0.m Caution The encoder type for the actuators and controllers with a simple absolute unit is "I" (incremental) and not "A" (absolute). -CY Encoder Cable Having the same size as the CY and SE compact controllers mm (W) 00mm (H) 7.mm (D), it can be installed in a small space. Encoder data can be retained up to 0 days. 00mm Caution An error will occur if the actuator's slider or rod is moved faster than the fixed speed, while the encoder data is retained. Check the specifications table on page 6 for the allowable speed (rotations). -CY mm Models controller controller Model -ABU -ABU Standard Price Connectable Actuators The simple absolute unit is available for the following actuators. (Models other than following models are not available.) Corresponding series Reference RCP series Corresponding to all models RCP series Corresponding to all models other than HS8C/HS8R/RA0C. RCPCR series Corresponding to all models other than HS8C. RCPW series Corresponding to all models other than SA6C/RA0C. RCA series Corresponding to all models RCA series Corresponding to all models RCACR series Corresponding to all models RCAW series Corresponding to all models 6 -ABU / -ABU

120 Specifications Item -ABU/-ABU Details Model -ABU -ABU Connecting controller Caution: C / CG / CY / SE C / CG / CY / SE When choosing a controller to connect with the simple absolute unit, add "-ABU" to the end of the controller model designation. Ex. C 0I NP 0 ABU Connecting actuator RCA / RCA series RCP/RCP series (* ) connection cable (included accessory) Model CB AC PJ00 (0.m) Model CB PC PJ00 (0.m) Simple absolute unit Backup battery (included accessory) Power supply voltage Power supply current Ambient operating temperature Ambient operating humidity Ambient operating atmosphere Weight Model ABU Model AB 7 (Ni MH battery / Life: approx. years) DCV±0% Max. 00mA 0 to 0ºC (approx. 0ºC is preferred) 9% RH or lower (non-condensing) Without corrosive gases, without dust 0g Allowable encoder RPM during data retention (*) 800rpm 00rpm 00rpm 00rpm Position data retaining time (*) 0h 0h 60h 80h (*) Cannot be used with RCP-RA0C/HS8C/HS8R/RCPW-SA6C. (*) Position data retention time changes with the allowable encoder RPMs during data retention. (800rpm 0h / 00rpm 0h / 00rpm 60h / 00rpm 80h) External Dimension M * The only difference between -ABU and -ABU is the controller cable; The specifications of the actuator units are identical. (actuator model: ABU) (60) ø 7. Note: 0 (0.) To use this unit, a DCV power supply is required. R. Secure at least 00 (incl. workspace) Encoder Cable -ABU / -ABU 6

121 RCS/RCS/Cartesian Robot/ Actuator Position M Feature Supporting major field networks <Optional function> Direct connection is now possible not only to DeviceNet, CC-Link (*) and PROFIBUS-DP, but also to MECHATROLINK, CompoNet, EtherCAT and EtherNet/IP. The actuator can also be operated by specifying coordinate values directly via a field network. (*) CC-Link was changed from remote I/O to remote device. Vibration control function <Standard function> A vibration control function has been added that suppresses vibration of the work part installed on the slider when the actuator's slider moves. This function shortens the time the actuator waits for vibration to settle, and consequently shortens the cycle time. Still shaking Stops Without vibration control The work part vibrates after stopping. Comes to a complete stop. Stops With vibration control The work part generates virtually no vibration after stopping. Increasing the actuator's load capacity with offboard tuning Offboard tuning is a function to increase the acceleration/deceleration when the load mass is small, or decrease the acceleration/deceleration when the load mass is large, so that the actuator is set to operate optimally for the given load mass. Also, servo tuning would be done at the same time. (See page A-98 for the details.) Checking when to maintain based on the total number of movements and total distance travelled The total number of actuator movements and the total distance travelled are calculated and recorded in the controller, and when the predetermined count or distance is exceeded, a signal is output to an external device. You can use this function to check when the actuator needs re-greasing or periodic inspection. <Standard function> Keeping the alarm generation times with the calendar function <Standard function> The clock function has been added to facilitate the analysis of the alarms because the time and date of each alarm that has occurred is now shown on the alarm history screen. (The time and date data is retained for 0 days.) 6

122 List of Models Model External view I/O type Standard specification Network connection specification (optional) (*) I/O type specification PIO connection specification (*) DeviceNet CC-Link PROFIBUS-DP CompoNet MECHATROLINK EtherCAT EtherNet/IP I/O type code NP/PN DV CC PR CN ML EC EP Applicable encoder type Incremental Absolute Incremental/Absolute 0~0W 00W Standard 00~00W price 600W 70W 70W (for force control) (*) If the controller is operated in the pulse-train mode, only an incremental encoder can be used. (*)The network connection specification type will not be able to operate with the PIO or train mode. M Model CA Series Type type Encoder type Option I/O type I/O cable length Power supply voltage CA High-function type HA High-acceleration/ deceleration specification * The high acceleration/deceleration specification can only be selected when the actuator is the high acceleration/deceleration type. <Actuators for high acceleration/deceleration> RCS-SAC/SAC/SA6C/SA7C/RAC/RAC/ RGSC/RGSC/RGDC/RGDC Single phase 00VAC Single phase 00VAC W motor 00 00W motor I Incremental NP PIO NPN specification (standard) 0 No cable 0 0W motor 0D 0R 0W motor (for RCS) 0W motor (for RS) 60 60W motor 00 00W motor 00S For LSA-N0 LSAS-N0 0 0W motor 00S For LSA-S0H/N LSAS-N 00S For LSA-N W motor W motor 70 70W motor 70S For 70W actuator with load cell A G Absolute Quasi-absolute * The quasi-absolute is for the LSAS series. PN DV CC PR CN ML EC EP PIO PNP specification DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification CompoNet connection specification MECHATROLINK connection specification EtherCAT connection specification EtherNet/IP connection specification m (Standard) m m * If DV, CC, PR, CN, ML, EC" or "EP" is selected for the I/O type, select 0 for the I/O cable length. 6

123 System Configuration PLC * If the host unit is of the open-collector type, use the optional AK-0/JM-08. (See below.) Supplied with I/O flat cable (See P6) <Model CB-PAC-PIO00> Cable length Standard m Field network DeviceNet CC-Link PROFIBUS-DP CompoNet MECHATROLINK-I/II EtherCAT EtherNet/IP M Supplied with for Absolute Specification Absolute data backup battery (See P6) <Model AB-> Supplied with -train control Option plug + shell -train control cable <Model CB-SC-PIOS > (See P6) Option Regenerative resistance unit (See P6) <Model RESU-> <Model RESUD-> <Model RESU-> <Model RESUD-> Option PC software (See P6) RC connection version <Model RCM-0-MW> USB connection version <Model RCM-0-USB> * The cable is supplied with the PC software. Caution Main power supply Single phase 00VAC Single phase 00VAC * Be sure to use a noise filter when connecting the power supply. Recommended model: NF00A-UP (Manufacturer: Soshin Electric) NAC-0-7 (Manufacturer: COSEL) (You can also purchase this noise filter through IAI. Contact us for details.) Option Teaching pendant (See P6) <Model CON-PTA-C-ENG> <Model CON-PDA-C-ENG> <Model CON-PGAS-C-S-ENG> <Model CON-T-ENG> PIO control or pulse-train control cannot be used with field networks. cable <Model CB-RCC-MA > robot cable <Model CB-RCC-MA -RB> Standard: m / m / m For a replalclement cable, see P6. Item Input power Input pulse Input frequency Output pulse Mass Accessories Actuator RCS Series/RCS Series/Single-Axis Robot/ Actuator Converter: AK-0 Open-collector command pulses are converted to differential command pulses. Use this converter if the host controller outputs open-collector pulses. Specification Specification VDC±0% (Max. 0mA) Open-collector (Collector current: ma max.) 00kHz or less Differential output (0mA max.) (6C or equivalent) 0g or less (excluding cable connectors) L (e-con connector) x Applicable wire: AWG Nos. to 6 Supplied with Actuator Encoder cable Standard <Model CB-RCS-PA > For rotary or RAR <Model CB-RCS-PLA > Encoder robot cable Standard <Model CB-X-PA > For rotary or RAR <Model CB-X-PLA > Standard: m / m / m For a replalclement cable, see P6. Converter: JM-08 Difference feedback pulses are converted to opencollector feedback pulses. Use this converter if the host controller inputs open-collector pulses. Specification Item Specification Input power VDC±0% (Max. 0mA) Input pulse Differential input (0 ma max.) (conforming to RS) Input frequency 00kHz or less Output pulse -VDC open-collector (Collector current: ma max.) Mass 0g or less (excluding cable connectors) Accessories FL (e-con connector) x Applicable wire: AWG Nos. to 6 Opencollector Input V GND PP NP 0 Differential Output PP /PP NP /NP Opencollector Input V GND PP NP 0 Differential Output PP /PP NP /NP 0 0 6

124 Operation Modes With this controller, you can select a desired control method from the two modes of positioner mode and pulse-train control mode. In the positioner mode, you can enter position data (target position, speed, acceleration, etc.) in the controller under the desired numbers and then specify each number externally via an I/O (input/output signal) to operate the actuator. Also, in the positioner mode, you can select the desired operation mode from the eight modes using the parameter. In the pulse-train control mode, you can control the travel, speed, acceleration, etc., by sending pulses from an external pulse generator. Positioner mode Mode Positioning mode Teaching mode 6-point mode -point mode Solenoid value mode Solenoid value mode Force mode Force mode Number of positioning points 6 points 6 points 6 points points 7 points points points points -train control mode I/O Signal Table * You can select one of nine types of I/O signal assignments. Features Standard factory-set mode. Specify externally a number corresponding to the position you want to move to, to operate the actuator. In this mode, you can move the slider (rod) via an external signal and register the stopped position in the position data table. In this mode, the number of positioning points available in the positioning mode has been increased to 6 points. In this mode, the number of positioning points available in the positioning mode has been increased to points. In this mode, the actuator can be moved only by turning signals ON/OFF, just like you do with an air cylinder of solenoid valve type. In this mode, the output signal is set to the same as the air cylinder auto switch in the solenoid valve mode. In this mode, you can move to positions under force control in the positioning mode. (Up to positioning points are available.) In this mode, you can move to positions under force control in the solenoid valve mode. (Up to five positioning points are available.) There is no need to enter position data in the controller, and the customer can operate the actuator freely based on custom control. Parameter (PIO pattern) selection -train mode Pin Category No. Positioning mode Teaching mode 6-point mode -point mode Solenoid valve mode Solenoid valve mode Force mode Force mode Standard mode Positioning point 6 points 6 points 6 points points 7 points points points points A V P P A V P P A A A IN0 PC PC PC PC ST0 ST0 PC ST0 SON 6A IN PC PC PC PC ST ST(JOG+) PC ST RES 7A IN PC PC PC PC ST ST( ) PC ST HOME 8A IN PC8 PC8 PC8 PC8 ST PC8 ST TL 9A IN PC6 PC6 PC6 PC6 ST PC6 ST CSTP 0A IN PC PC PC PC ST DCLR A IN6 MODE PC6 PC6 ST6 BKRL A Input IN7 JISL PC8 PC8 RMOD A IN8 JOG+ PC6 CLBR CLBR A IN9 BKRL JOG BKRL BKRL BKRL BKRL BKRL BKRL A IN0 RMOD RMOD RMOD RMOD RMOD RMOD RMOD RMOD 6A IN HOME HOME HOME HOME HOME HOME HOME 7A IN *STP *STP *STP *STP *STP *STP *STP 8A IN CSTR CSTR/PWRT CSTR CSTR CSTR 9A IN RES RES RES RES RES RES RES RES 0A IN SON SON SON SON SON SON SON SON B OUT0 PM PM PM PM PE0 LS0 PM PE0 PWR B OUT PM PM PM PM PE LS(TRQS) PM PE SV B OUT PM PM PM PM PE LS( ) PM PE INP B OUT PM8 PM8 PM8 PM8 PE PM8 PE HEND B OUT PM6 PM6 PM6 PM6 PE PM6 PE TLR 6B OUT PM PM PM PM PE TRQS TRQS *ALM 7B OUT6 MOVE MOVE PM6 PM6 PE6 LOAD LOAD *EMGS 8B Output OUT7 ZONE MODES PM8 PM8 ZONE ZONE CEND CEND RMDS 9B OUT8 PZONE/ZONE PZONE/ZONE PZONE/ZONE PM6 PZONE/ZONE PZONE/ZONE PZONE/ZONE PZONE/ZONE ALM 0B OUT9 RMDS RMDS RMDS RMDS RMDS RMDS RMDS RMDS ALM B OUT0 HEND HEND HEND HEND HEND HEND HEND HEND ALM B OUT PEND PEND/WEND PEND PEND PEND PEND PEND ALM8 B OUT SV SV SV SV SV SV SV SV *OVLW/*ALML B OUT *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS *EMGS B OUT *ALM *ALM *ALM *ALM *ALM *ALM *ALM *ALM ZONE 6B OUT *BALM *BALM *BALM *BALM *BALM *BALM *BALM *BALM ZONE 7B 8B 9B 0V N N 0B 0V N N * In the above table, signals in ( ) represent functions available before the home return. * In the above table, signals preceded by * are turned OFF while the actuator is operating. 66 M

125 M Explanation of the I/O Signal Functions The table below explains the functions assigned to the controller s I/O signals. The available signals vary depending on the controller type and settings, so use the signal table of each controller to check the functions available with that controller. Category Signal abbreviation Signal name Description of function CSTR PTP strobe (start signal) The actuator starts moving to the position set by the command position. PC~PC6 Command position number The position number of the target position is input (binary input). BKRL Forced brake release The brake is forcibly released. RMOD Operation mode switching The operation mode can be switched when the MODE switch on the controller is in the AUTO position. (The switch position is AUTO when this signal is OFF, or MANU when the signal is ON.) *STP Pause The actuator will decelerate to a stop when this signal turns OFF while the actuator is moving. The remaining movement will be suspended while the actuator is stopped and the movement will resume once the signal turns ON. RES Reset The alarm will be reset when the signal turns ON. The remaining travel can be cancelled by turning this signal ON while the actuator is paused (*STP is OFF). SON ON The servo is ON while this signal is ON, and remains OFF while this signal is OFF. HOME Home return When this signal turns ON, the actuator performs home return operation. When this signal turns ON, the actuator switches to the teaching mode. (Switching will not occur MODE Teaching mode Input if CSTR, JOG+ and JOG- are all OFF and the actuator is still moving.) JISL Jog/inch switching When this signal turns OFF, the actuator can be jogged with JOG+ and JOG-. When the signal is ON, the actuator can be inched with JOG+ and JOG-. JOG+, JOG Jog When the JISL signal is OFF, the actuator starts jogging in + or direction upon detection of the ON edge of this signal. If the OFF edge of this signal is detected during jogging, the actuator decelerates to a stop. PWRT Current position write In the teaching mode, specify a position and then turn this signal ON for at least 0ms, and the current position will be written to the specified position. ST0~ST6 Start signal In the solenoid valve mode, the actuator moves to the specified position when this signal turns ON. (The start signal is not required.) CLBR Load cell calibration command Load cell calibration starts when this signal has remained ON for at least 0ms. TL Torque limit selection signal While this signal is ON, torque is limited by the value set by a parameter. The TLR signal turns on if torque has reached the specified value. CSTP Compulsory stop Turning it ON continuously for more than 0ms compulsorily stops the actuator. The actuator decelerates then stops with the torque set in the controller and then turns the servo OFF. DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. PEND/INP Positioning complete This signal turns ON when the actuator enters the in-position band after movement. If the actuator exceeds the in-position band, the PEND signal does not turn OFF, but the INP signal turns OFF. PEND and INP can be switched using a parameter. PM~PM6 Complete position number The position number of the position reached at the end of positioning is output (binary output). HEND Home return completion This signal turns ON upon completion of home return. ZONE/ZONE Zone This signal turns ON if the current actuator position is within the range set by the parameter. PZONE Position zone This signal turns ON when the current actuator position enters the range set in the position data table after position movement. This signal can be used with ZONE, but PZONE becomes effective only when moving to a specified position. RMDS Operation mode status output The operation mode status is output. This signal turns ON when the controller is in the manual mode. *OVLW Overload warning This signal is ON in a normal condition, and turns OFF when the overload warning level is exceeded. (Operation will continue.) *ALML Minor failure alarm This signal is ON in a normal condition, and turns OFF when a message-level alarm occurs. (Operation will continue.) *ALM Alarm This signal is ON when the controller is in a normal condition, and turns OFF when an alarm occurs. MOVE Moving This signal is ON while the actuator is moving (also during home return and push-motion operation). SV ON This signal is ON while the servo is ON. *EMGS Emergency stop output This signal is ON when no emergency stop is actuated on the controller, and turns OFF when an emergency stop is actuated. Output Absolute battery voltage low If the controller is of the absolute specification, this signal turns OFF when the voltage of the absolute *BALM warning battery drops. (Operation will continue.) This signal turns ON when the actuator enters the teaching mode via MODE signal input. It turns OFF once MODES Teaching mode output the actuator returns to the normal mode. WEND Write complete This signal is OFF immediately after switching to the teaching mode, and turns ON once writing is completed according to the PWRT signal. When the PWRT signal turns OFF, this signal also turns OFF. PE0~PE6 Current position number This signal turns ON when the actuator has completed moving to the target position in the solenoid valve mode. CEND Load cell calibration complete This signal turns ON upon completion of load cell calibration. When the CLBR signal turns OFF, this signal also turns OFF. LOAD Load output judgment signal During push-motion operation, this signal is output when the current value set for the "threshold" is exceeded within the range of "Zone+" and Zone- set in the position data table. The signal is used to determine if press-fitting action has been performed correctly. TRQS Torque level output This signal is output when the motor current reaches the current value set for the "threshold" in the position data table after the slider (rod) has collided with an obstacle, etc., during movement in push-motion operation. LS0~LS Limit switch output This signal turns ON when the current actuator position enters the in-position band set before and after the target position. If the home return has already completed, this signal is output even before a movement command is issued or while the servo is OFF. ALM~ALM8 Alarm code output signal The alarm code is output together with the alarm sign output. Refer to Alarm List for details. (Dedicated pulse-train type) PWR System ready This signal turns ON if is controllable after main power ON. (Dedicated pulse-train type) TLR Torque limiting signal This signal turns ON once the motor torque has reached the specified value in a condition where torque is being limited by the TL signal. (Dedicated pulse-train type) * In the above table, signals preceded by * are normally ON and turn OFF while the actuator is operating. 67

126 I/O Wiring Diagram Positioning mode/teaching mode/solenoid valve mode PIO connector (NPN specification) Pin No. Category A Power V A supply V A Not used A Not used A IN0 6A IN 7A IN 8A IN 9A IN 0A IN A IN6 A IN7 Input A IN8 A IN9 A IN0 6A IN 7A IN 8A IN 9A IN 0A IN B OUT0 B OUT B OUT B OUT B OUT 6B OUT 7B OUT6 8B OUT7 Output 9B OUT8 0B OUT9 B OUT0 B OUT B OUT B OUT B OUT 6B OUT 7B Not used 8B Not used 9B Power 0V 0B supply 0V *Connect Pins A and A to V, and Pins 9B and 0B to 0 V. I/O Specification Input Part External Input Specification Item Input voltage Input current ON/OFF voltage Isolation method Specification VDC±0% ma/ circuit ON voltage: 8VDC min. OFF voltage: 6VDC max. Photocoupler DC±0% Train Mode (Differential Output) connector Pin No. Category Not used Not used PP /PP Input NP 6 /NP 7 AFB 8 /AFB 9 BFB Output 0 /BFB ZFB /ZFB Twist track Shield GND Ground GND Shell Shield Shield PIO connector (NPN specification) Pin No. Category A Power V A supply V A Not used A Not used A SON 6A RES 7A HOME 8A TL Input 9A CSTR 0A DCLR A BKRL A RMOD A-0A Not used B PWR B SV B INP B HEND B TLR 6B *ALM 7B *EMGS 8B RMDS Output 9B ALM 0B ALM B ALM B ALM8 B (*) B B ZONE 6B ZONE 7B~8B Not used 9B Power 0V 0B supply 0V * Be sure to connect to the shell the shield of the twist track cable connected to the PULSE connector. Also keep the cable length to 0m or less. * Connect Pins A and A to V, and Pins 9B and 0B to 0 V (*)-/*ALML/*OVLW/*BALM (switchable with parameters) DC±0% Output Part External Output Specifications Item Specification Load voltage VDC Maximum load current 00mA/ point, 00mA/8 points Leak current 0.mA max./ point Isolation method Photocoupler M NPN specification NPN specification External power supply DCV ±0% PNP specification Input terminal External power supply DCV ±0% N P Input terminal 680Ω.6kΩ 680Ω.6kΩ Internal circuit Internal circuit Internal circuit PNP specification Internal circuit 0Ω 0Ω P Output terminal P N N Output terminal Load Load External power supply DCV ±0% External power supply DCV ±0% 68

127 M -Train Type I/O Specification (Differential Line Driver Specification) Input Part Output Part Maximum number of input pulses : Line driver interface.mpps Maximum number of output pulses : Line driver interface.mpps Isolation method : Photocoupler isolation Isolation/non-isolation : Non-isolation 6C or equivalent.pp /.PP.NP 6./NP Internal circuit Internal circuit Host unit Positioning unit 0V command DCV DCV Counter unit 0V 0V 6C or equivalent 0V DCV GND 7.AFB 8./AFB 9.BFB 0./BFB.ZFB./ZFB.GND.GND -Train Type I/O Specification (Open-collector Specification) The AK-0 (Option) is needed to input pulses. The JM-08 (Option) is needed to output pulses. Maximum number of input pulses: 00kpps (The AK-0 is needed.) Maximum number of output pulses: 00kpps (The JM-08 is needed.) * The -VDC power supply connected to the AK- must be shared with the PIO interface. * Keep the length of the cable connecting the pulse output unit (PLC) and AK-0/JM-08 as short as possible. Also keep the cable between the AK-0/JM-08 and PULSE connector to m or less. Note Use the same power supply for open collector input/output to/from the host and for the AK-0, JM-08. converter AK-0 CB-SC (Options) -PIOS V PP 0V /PP PP NP NP /NP converter JM-08 (Options) V PP 0V /PP PP NP NP /NP V PP 0V /PP PP NP NP /NP GND PULSE pulse-train control connector PP /PP NP /NP AFB /AFB BFB /BFB ZFB /ZFB 0V 0V Internal circuit Internal circuit Internal circuit A-phase feedback pulse B-phase feedback pulse Z-phase feedback pulse Cable clamp Class D grounding (Former class grounding: Grounding resistance 00Ω or less) Command Input Patterns Command pulse train pattern Input terminal Forward Reverse Forward pulse-train PP /PP Reverse pulse-train NP /NP A forward pulse-train indicates the amount of motor rotation in the forward direction, while a reverse pulse-train indicates the amount of motor rotation in the reverse direction. -train PP /PP Negative Sign NP /NP Low logic The command pulse is used for the amount of motor rotation, while the sign indicates the rotating direction. High Phase A/B pulse-train PP /PP NP /NP Command phases A and B having a 90 phase difference (multiplier is ) indicate the amount of rotation and the rotating direction. Forward pulse train PP /PP Reverse pulse-train NP /NP Positive -train PP /PP logic Sign NP /NP High Low Phase A/B pulse-train PP /PP NP /NP 69

128 Specification Table Item Specification Applicable motor capacity Less than 00W 00W or more Connected actuator RCS/RCS series actuator/single-axis robot/linear servo actuator Number of controlled axes axis Operation method Positioner type/pulse-train type Number of positioning points points (PIO specification), 768 points (fieldbus specification) Backup memory Nonvolatile memory (FRAM) I/O connector 0-pin connector Number of I/O points 6 input points/6 output points I/O power supply Externally supplied VDC±0% Serial communication RS8 ch Peripherals communication cable CB-PAC-PIO Command pulse-train input method (Note ) Differential line driver output supported Maximum input pulse frequency Differential line driver method:.mpps max./open-collector method (pulse converter used): 00kpps max. Position detection method Incremental encoder/absolute encoder Emergency stop function Available (built-in relay) Forced electromagnetic brake release Brake release switch ON/OFF Input power supply Single-phase AC90V to AC6.V Single-phase AC80V to ACV Single-phase AC80V to ACV Power-supply capacity (Note ) 0W/7VA 0W (other than RS)/9VA 0W (RS)/86VA 60W/86VA 00W/8VA 0W/76VA 00W/69VA 00W (LSA-N0)(*)/VA 00W (LSA-S0H, NS)(*)/VA 00W (LSA-NH)(*)/8VA 00W (LSA-N9)(*)/70VA 00W/968VA 600W/VA 70W/69VA Vibration resistance XYZ directions 0 to 7Hz: Single amplitude 0.0mm (continuous), 0.07mm (intermittent) 8 to 0Hz:.9 m/s (continuous), 9.8 m/s (intermittent) Ambient operating temperature 0 ~ 0 C Ambient operating humidity 8%RH or less (non-condensing) Operating ambience Not exposed to corrosive gases Protection degree IP0 Mass Approx. 900g (+ g for the absolute specification) Approx..kg (+ g for the absolute specification) External dimensions 8mm (W) x 9mm (H) x mm (D) 7mm (W) x 9mm (H) x mm (D) (Note ) For the command pulse input method, use the differential line driver method resistant to noise. If the open-collector method must be used, use the optional pulse converter (AK-0/JM-08) to convert open-collector pulses to differential pulses. (Note ) s operating any of the actuator models denoted by (*) shall conform to the external dimensions of controllers for 00 W or more, even when the output is less than 00W. M * The number of encoder pulses for the ROBO Cylinders operable with are: RCS-SRA7BD/SRGS7BD/SRGD7BD 07 pulses RCS- N 600 pulses other models 68 pulses. 60

129 External dimensions Less than 00W 8 9 (80) ø. 00W or more 7 (80) ø. 8 9 (00.) 8 9 (00.). With the absolute battery installed. With the absolute battery installed Name of Each Part M LED display These LED colors indicate the condition of the controller. Name Color Rotary switch This is the address setting switch for identifying each controller when they are linked. Piano switch system switch. Explanation PWR Green Lit when the system is ready (after power is ON CPU normal functions) SV Green Lit when servo is ON ALM Orange Lit during an alarm EMG Red Lit during an emergency stop Name Explanation Operating mode switch OFF: positioner mode ON: pulse train control mode *Enabled at power ON. Remote update switch (normally set to OFF) OFF: normal operating mode ON: update mode *Enabled when power is ON or during soft reset. System I/O connector Connector for the emergency stop switch etc. 9 train control connector This connector is used during pulse train control mode operations. It is disconnected during operations in positioner mode. 0 PIO connector Connector for the cable for parallel communications with the PLC and other peripheral devices. Operating mode switch Name MANU AUTO Explanation Do not receive PIO commands Accept PIO commands *The emergency stop switch on the teaching pendant becomes effective when the line is connected, regardless of whether this switch is set to AUTO or MANU. Take note that an emergency stop will be actuated momentarily when the teaching-pendant or SIO communication cable is disconnected. This is a normal phenomenon and does not indicate an error. SIO connector Connector for the teaching pendant or PC communications cable. Brake release switch This is the electromagnetic brake forced release switch, integrated with the actuator. *It is necessary to connect the DC V power for the brake drive. Regeneration unit connector Connector for resistance unit that absorbs regeneration current produced when the actuator decelerates to a stop. 6 connector (X-SEL, ECON, RCS compatible) Actuator motor cable connector. Brake power connector Brake power DC V supply connector (only required when the brake equipped actuator is connected) Encoder sensor connector (X-SEL-P/Q compatible) Encoder sensor cable connector 6 7 Power supply connector AC power connector. Divided into the control power input and motor power input. 8 Grounding screw Protective grounding screw. Always ground this screw. 6 Absolute battery connector Connector for the absolute data backup battery. (Required only for absolute encoder specifications) 7 Absolute battery holder Battery holder for installing the absolute data backup battery

130 Options Teaching Pendant Features Model Configuration This teaching device offers position input, test operation, monitoring and other functions. CON-PTA-C (Standard type) CON-PDA-C (Deadman switch type) CON-PGAS-C-S (Safety-category compliant type) CON-T (Standard type) CON-TGS (Safety-category compliant type) m CON-T options Wall-mounting hook Model: HK- Strap Model: STR- CON-PTA-C-ENG CON-T-ENG Specification Item Touch panel teaching Teaching pendant Model CON-PTA-C-ENG CON-PDA-C-ENG CON-PGAS-C-S-ENG CON-T-ENG Type Standard Deadman switch Safety-category compliant Standard Display Ambient operating temperature/humidity 6,6 colors (6 bit color) White LED backlight Temperature 0 to 0ºC, humidity 8%RH or less (Non-condensing) 0 characters x lines LCD display Protection degree IP0 IP Mass Approx. 70g Approx. 600g Approx. 00g Cable length m Accessories Touch pen Touch pen Touch pen TP adapter (model: RCB-LB-TG) dummy plug (model: DP-) controller connector cable (model: CB-CON-LB00) M PC Software (Windows Only) Features This startup support software provides functions to input positions, perform test operations and monitor data, among others. Incorporating all functions needed to make adjustments, this software helps shorten the initial startup time. Model number RCM-0-MW (With external device communication cable + RS conversion unit) Configuration Offboard tuning is supported only in Ver or later. PC software (CD) RS conversion adapter RCB-CV-MW 0.m m External device communication cable CB-RCA-SIO00 Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 Model number RCM-0-USB (With external device communication cable + USB adapter + USB cable) Configuration Offboard tuning is supported only in Ver or later. USB conversion adapter RCB-CV-USB m m PC software (CD) USB cable CB-SEL-USB00 Regenerative Resistor Unit Features Model External device communication cable CB-RCA-SIO00 This unit converts regenerative current that generates when the motor decelerates, to heat. Check the total wattage of the actuators to be operated and provide a regenerative resistance unit or units if required. RESU- (Standard specification) RESUD- (DIN rail mount specification) RESU- (Standard specification, second or subsequent unit) RESUD- (DIN rail mount specification, second or subsequent unit) Guide for Required Quantity Horizontal Vertical 0 unit ~ 00W ~ 00W unit ~ 00W ~ 00W units ~ 70W ~ 70W * The required regenerative resistance may be more than as specified above depending on the operating conditions. Guide for Required Quantity (RCS-RAR only) Lead. Lead. Horizontal unit 0 unit Vertical unit unit * The required regenerative resistance may be more than as specified above depending on the operating conditions. To operate the linear servo actuator LSA/LSAS-N0S with controller, one regenerative resistance is required. * If two regenerative units are required, arrange one RESU-/ RESUD- (st) and one RESU-/ RESUD- (nd or after). Absolute Data Backup Battery Features Model number * Please see M section page 66 for specification information and drawings. Absolute data backup battery used when an actuator of absolute specification is operated. AB- 6

131 M Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. Cable/ Robot Cable Model CB-RCC-MA /CB-RCC-MA -RB () (6) (Front view) side Encoder Cable/Encoder Robot Cable (ø9) L () (0) Actuator side (0) (8) (Front view) Model CB-RCS-PA /CB-X-PA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. Wire Color Signal Pin No. Pin No. Signal Color Wire Green PE U Red 0.7sq Red U V White 0.7sq White V W Black (crimped) Black W PE Green * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Min. bend radius r = 0 mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. (7) () 6 (Front view) () L () () (ø0) side Actuator side (Front view) () Wire Color Signal Pin No. 0 EV Gray/White 0V Brown/White LS 6 CREEP OT RSV 9 AWG6 8 (soldered) 9 Pink A+ Purple A White B+ Blue/red Orange/White Z+ B Green/White Z 6 Blue SRD+ Orange SRD- Black BAT+ 87 Yellow BAT Green VCC 6 Brown GND 7 Gray BKR- 0 Red BKR+ The shield is connected to the hood by a clamp. Note Note Ground wire and braided shield Note Note Pin No Signal Color Wire A Pink A Purple B White Z B Blue/red Orange/White Z AWG6 LS+ Brown/White (crimped) FG SD SD BAT+ BAT VCC GND LS- BK BK+ Green/White Ground Blue Orange Black Yellow Green Brown Gray/White Gray Red Encoder Cable/Encoder Robot Cable for RCS-RT6/RT6R/RT7/RAR Model CB-RCS-PLA / CB-X-PLA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Min. bend radius r = 0 mm or larger (when movable type is used) *Only the robot cable is to be used in a cable track. (7) () 6 (Front view) () L () LS side (ø0) side Actuator side (8) () (8) () Wire Color Signal Pin No. 0 White/Orange EV White/Green 0V Brown/Blue LS 6 Brown/Yellow CREEP Brown/Red OT Brown/Black RSV White/Blue A+ AWG6 White/Yellow A (soldered) White/Red B+ White/Black B White/Purple Z+ White/Gray Z 6 Orange SRD+ 7 Green SRD 8 Purple BAT+ Gray BAT Red VCC 6 Black GND 7 Blue BKR 0 Yellow BKR+ The shield is connected to the hood by a clamp. Ground wire and braided shield (The wire color "White/Blue" indicates the colors of the band and insulation.) Pin No. 6 Pin No Signal EV 0V LS CREEP OT RSV Signal A A B B Z Z FG SD SD BAT+ BAT VCC GND BK BK+ Color Wire White/Orange White/Green Brown/Blue AWG6 Brown/Yellow (crimped) Brown/Red Brown/Black Color Wire White/Blue White/Yellow White/Red White/Black AWG6 White/Purple White/Gray (crimped) Ground Orange Green Purple Gray Red Black Blue Yellow 6

132 Encoder cable/ Encoder Robot Cable for RCS-RAR Load Cell Specification Model CB-RCS-PLLA / CB-RCS-PLLA -RB * Enter the cable length (L) into. Compatible to a maximum of 0meters. Ex.: 080 = 8m Wiring Signal No. No. Signal SGA SGB VIN GND FG Wiring AWG6 (crimped) 7 6 φ0 L AWG6 (soldered) EV 0V LS CREEP OT RSV LC SRD+ LC SRD- No. Signal Wiring A A B B Z Z AWG6 0 SD (crimped) SD BAT+ BAT- VCC GND 6 7 BK- 8 + LC VCC LC GND A+ A- B+ B- Z+ Z- SRD+ SRD- BAT+ BAT- VCC GND BKR- BKR+ The shield is connected to the hood by a clamp Ground wire and braided shield No. Signal Wiring EV 0V LS CREEP OT RSV AWG6 (crimped) M I/O Flat Cable Model CB-PAC-PIO * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m HIF6-0D-. 7R No connector No connector Flat cable (0-core) L Pin No. Signal Color Wire B A 0A A 0B B A A A A A 6A 7A 8A 9A 0A A A A A A 6A 7A 8A 9A 0A V V IN0 IN IN IN IN IN IN6 IN7 IN8 IN9 IN0 IN IN IN IN IN Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Brown- Red- Orange- Yellow- Green- Blue- Purple- Gray- White- Black- Flat cable A (crimped) Pin No. Signal B B B B B 6B 7B 8B 9B 0B B B B B B 6B 7B 8B 9B 0B Color OUT0 Brown- OUT Red- OUT Orange- OUT Yellow- OUT Green- OUT Blue- OUT6 Purple- OUT7 Gray- OUT8 White- OUT9 Black- OUT0 Brown- OUT Red- OUT Orange- OUT Yellow- OUT Green- OUT Blue- 0V 0V Purple- Gray- White- Black- Wire Flat cable B (crimped) AWG8 -Train Control Cable Model CB-SC-PIOS * Enter the cable length (L) into ccc. Compatible to a maximum of 0 meters. c Ex.: 080 = 8 m No connector (ø9) L Black White/Black Red White/Red Green White/Green Yellow White/Yellow Brown White/Brown Blue White/Blue Gray White/Gray Shield Shield Wire Color Signal Pin No. Black Not used White/Black Not used Red PP White/Red /PP Green NP White/Green /NP 6 0. sq Yellow AFB 7 soldered White/Yellow /AFB 8 Brown BFB 9 White/Brown /BFB 0 Blue ZFB White/Blue /ZFB Gray GND White/Gray GND The shield is connected to a cable clamp. 6

133 M ROBO Cylinder Position Series, 6-axis Type M Features Space-saving, low-cost, and easy to use Six RCS/RCS () controllers are combined into one unit to save the installation space and achieve significant reduction in total cost. Approx. 6% smaller Movement by numerical specification via Field network Substantially shorter transmission time M controllers can be connected directly to key field networks such as DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT(*) and EtherNet/IP. Features of Network Specification 6 positioning points per axis Moving the actuator after numerically specifying the position to move to, and the speed Checking the current position in real time Significantly shorter communication time within the controller (approx. one-sixth compared to conventional controllers) (Available soon) Offboard tuning function to enhance actuator payload capacity The offboard tuning function increases the acceleration/deceleration speed when the load is small and decreases the acceleration/deceleration when the load is large, to ensure optimal operation settings according to the load. Also, servo tuning would be done at the same time. (See page A-98 for the details.) Vibration control function for shorter cycle time The vibration control function has been added to prevent the work part from shaking (vibrating) on the actuator slider as the slider moves. The wait time for vibration to stabilize is shorter and the cycle time can also be shortened. 6 M

134 Model List/Standard Price M Model External view M-C I/O type DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification CompoNet connection specification EtherCAT connection specification (Note) EtherNet/IP connection specification I/O type model code DV CC PR CN EC EP Number of axes Encoder Standard price axis axes Incremental Absolute Incremental Absolute M Standard price axes axes Incremental Absolute Incremental Absolute axes Incremental Absolute 6 axes Incremental Absolute Available soon (Note) Model Description M series C Type Number of axes (Specs for st axis) (Specs for axis - 6) Encoder ( ) Option Encoder Option I/O type I/O cable Power/ length voltage 0 Single-axis model -axis model -axis model -axis model -axis model 6 6-axis model W servo motor 0 0W servo motor 0D 0W servo motor 0W servo motor 0R (RS series) 60 60W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor I A HA Incremental Absolute High acceleration/ deceleration type * Encoder types may be specified as either absolute or incremental on each axis. DV CC PR CN EC EP DeviceNet connection specification CC-Link connection specification PROFIBUS-DP connection specification CompoNet connection specification EtherCAT connection specification EtherNet/IP connection specification (Note) EC specifications will be available soon. AC00V AC00V 0 No cable * The M is available only in network specifications and does not come with I/O cables. M 66

135 M System Configuration PLC Option PC software RS version <Model: RCM-0- MW> USB version <Model: RCM -0- USB> (See P66) * The M is supported by Ver or later. Option Teaching pendant <Model: CON-PTA-C> (Ver..0 or later) <Model: CON-T>(Ver.. or later) (See P66) * The M is supported by Ver..0 or later. * To connect to a field network, the gateway parameter setting tool supplied with the PC software must be used to set up communication for the controller. Field network DeviceNet CC-Link PROFIBUS-DP CompoNet EtherCAT (*) EtherNet/IP (*) Available soon M Supplied with PC software Supplied with PC software RS connection adapter <Model: RCB-CV-MW> USB Conversion Adapter <Model: RCB-CV-USB> USB Cable <Model: CB-SEL-USB00> (See P66) m * Always use a noise filter when connecting power. drive power supply AC 00V AC 00V One of the above is supplied (selectable) Supplied with PC software Comm. cable <Model: CB-RCA-SIO00> (See P66) Control power supply Brake power supply DC V is supplied Option Regenerative resistor unit <Model RESU-> <Model RESUD-> <Model RESU-> <Model RESUD-> (See P66) Absolute data retention battery <Model: AB-> (See P66 ) cable <Model: CB-RCC-MA > robot cable <Model: CB-RCC-MA -RB> Standard m/m/m (See P66) Supplied with actuator Slider type/rod type Encoder cable <Model: CB-RCS-PA > Encoder robot cable <Model: CB-X-PA > Standard m/m/m (See P66) Supplied with actuator Rotary/Limit switch option type Encoder cable <Model: CB-RCS-PLA > Encoder robot cable <Model: CB-X-PLA > Standard m/m/m (See P66) Supplied with actuator DC -C power supply Option <Model: (00-V input)> <Model: (00-V input)> (See P77) Actuator RCS series/rcs series/single-axis robot Note Take note that the following models are not supported by the M: All linear servo actuator models, RCS-RNN/RPN/GSN/GDN/SDN/TCAN/TWAN/TFAN/SRA7BD/SRGS7BD/SRGD7BD, NS-SXM /SZM (both incremental specifications only) 67 M

136 Operation Mode M When the M is controlled via a field network, one of the following seven operation modes can be used. The necessary data areas on the PLC side vary depending on the mode, so please consult the M controller manual or contact IAI before use. Mode Simple direct input mode Positioner mode Direct input mode Direct input mode Description The target position is specified by directly entering a value, while other operating conditions (speed, acceleration, etc.) are set by specifying the desired position number corresponding to the desired operating conditions already input to the position data table. The target position, speed, acceleration/deceleration, etc., are input to the position data table of the controller and input position numbers are specified to operate the actuator (maximum 6 points). The current position can be read, as well. The actuator is operated by specifying the target position, speed, acceleration/deceleration, push current control value, etc., by directly entering values. The current position, current speed, command current, etc., can also be read. Same as the direct input mode, except that the jog operation is not supported and vibration control is added. Same as the positioner mode, except that the target position is not specified and reading of current position not supported, in order Positioner mode to reduce the amount of data to be transmitted/received. Same as the positioner mode, with the amount of data to be transmitted/received reduced further to allow for actuator operation Positioner mode with minimum input/output signals. In this mode, the actuator is operated by controlling the ON/OFF of bits via the network, just like with the PIO specification. The number Remote I/O mode (*) of positioning points and functions vary with each of the operation patterns (PIO patterns) that can be set by the controller s parameter. (*) Take note that if the remote I/O mode is selected, all axes will operate in the remote I/O mode. (*) With CompoNet, either positoner mode or remote I/O mode can be selected. List of Functions for Operation Mode Simple direct input mode Positioner mode Direct input mode Direct input mode Positioner mode Positioner mode Number of positions Unlimited 6 points Unlimited Unlimited 6 points 6 points Home return operation Positioning operation Speed & acceleration/ deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Pause Zone signal output Vibration control Reading of current value Selection of PIO pattern * indicates that direct setting is possible; indicates that position data or parameter must be input; and X indicates that the function is not supported. (Note ) PIO pattern is fixed to "8". M Remote I/O mode Positioning mode Teaching mode 6-point mode Solenoid valve mode Solenoid valve mode Number of positions 6 points 6 points 6 points 7 points points Home return operation Positioning operation Speed & acceleration/ deceleration setting Pitch feed (inching) Push-motion operation Speed change during movement Pause Zone signal output Vibration control Reading of current value Selection of PIO pattern * indicates that direct setting is possible; indicates that position data or parameter must be input; and X indicates that the function is not supported. M 68

137 M M Explanation of I/O Signal Functions The table below explains the functions assigned to the controller s I/O signals. The controller can be operated by setting the remote I/O mode, selecting one of modes 0 to, and then turning each port number ON/OFF via the network. Classification PLC output M input M output PLC input Port No. 0 PC Setting of M Parameter No. Positioning mode Teaching mode 6-point mode Solenoid valve mode Solenoid valve mode 0 Code Signal name Code Signal name Code Signal name Code Signal name Code Signal name PC PC ST0 Start position 0 ST0 Start position 0 PC PC PC ST Start position ST Start position PC Command PC Command PC ST Start position ST Start position position position PC8 number PC8 number PC8 Command ST Start position PC6 PC6 PC6 position ST Start position PC PC PC number ST Start position 6 MODE Cannot 7 JISL be used 8 JOG+ 9 BKRL Forced brake release JOG Teaching mode command Jog/inch switching Jogging in + direction Jogging in - direction PC6 ST6 Start position 6 PC8 Cannot Cannot be used be used BKRL Forced brake release BKRL Forced brake release 0 Cannot be used Cannot be used Cannot be used Cannot be used HOME Home return HOME Home return HOME Home return HOME Home return *STP Pause *STP Pause *STP Pause *STP Pause CSTR Positioning start CSTR/ PWRT Positioning start/ position data load command CSTR Positioning start BKRL Cannot be used Cannot be used Forced brake release Cannot be used RES Reset RES Reset RES Reset RES Reset RES Reset SON ON ON ON ON ON SON SON SON SON command command command command command 0 PM PM PM PE0 Position Rear end movement LS0 complete 0 command 0 PM PM PM PE Position Rear end movement LS complete command Position Rear end movement PM Complete PM Complete PM PE LS complete command position position number number Position PM8 PM8 PM8 Complete PE complete position number Position PM6 PM6 PM6 PE complete Cannot PM PM PM PE Position be used complete 6 MOVE Moving signal MOVE Moving signal PM6 PE6 Position complete 6 7 ZONE Zone MODES Teaching mode signal PM8 ZONE ZONE ZONE ZONE 8 PZONE/ ZONE Position zone/ Zone PZONE/ ZONE Position zone/ Zone PZONE/ ZONE Position zone PZONE/ ZONE Position zone/ Zone PZONE/ ZONE Position zone/ Zone 9 Cannot be used Cannot be used Cannot be used Cannot be used Cannot be used 0 HEND PEND Home return complete Positioning complete signal HEND PEND/ WEND Home return complete Positioning complete signal/position data load complete HEND PEND Home return complete Positioning complete signal HEND PEND Home return complete Positioning complete signal HEND Home return complete Cannot be used SV Ready SV Ready SV Ready SV Ready SV Ready *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop *EMGS Emergency stop *ALM Alarm *ALM Alarm *ALM Alarm *ALM Alarm *ALM Alarm *BALM Absolute battery voltage low warning *BALM Absolute battery voltage low warning *BALM In the table above, * accompanying each code indicates a negative logic signal. Absolute battery voltage low warning *BALM Absolute battery voltage low warning *BALM Absolute battery voltage low warning 69 M

138 List of Base Specifications M Item Specification Number of controlled axes to 6 axes Control power-supply voltage DC V ± 0% Control power-supply current consumption.a max. Control power-supply rush current (Note ) 7A max., msec or less Drive (motor) powersupply Drive power-supply voltage AC 00 V specification AC00 to V ± 0% voltage Drive power-supply voltage AC 00 V specification AC00 to 0V ± 0% Drive (motor) Drive power-supply voltage AC 00 V specification 0A, 0A max. within 80msec (Drive power-supply voltage 00V C ambience) A, 0A max. within 80msec (Drive power-supply voltage V x 0%, 0 C ambience) power-supply rush current (Note ) Drive power-supply voltage AC 00 V specification A, 0A max. within 0msec (Drive power-supply voltage 00V C ambience) 9A, 0A max. within 0msec (Drive power-supply voltage 0V x 0%, 0 C ambience) Connectable actuator Drive power-supply voltage AC 00 V specification 00W max. per axis (Total of 6 axes limited to 0W) motor capacity Drive power-supply voltage AC 00 V specification 00W max. per axis (Total of 6 axes limited to 900W) Electromagnetic brake power-supply voltage (when actuator with brake is connected) DC V ± 0% Brake power-supply current A max. per axis (0.A per axis in steady state) Brake power-supply rush current (Note ) 0A max., 0msec or less Leak current (Note ). ma (motor power supply) No leak current from the control power supply or brake power supply control method Sinusoidal PWM vector current control Applicable encoder Incremental serial encoder Absolute serial encoder Serial communication (SIO port: Teaching only) RS8: channel (conforming to Modbus protocol) / Speed: 9.6 to 0. kbps External interface DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, MECHATROLINKII (*), EtherNet/IP, EtherCAT (*) Specifications supporting the interfaces denoted by (*) will be available soon. Data setting/input method PC software, touch panel teaching, gateway parameter setting tool Data retention memory Saving of position data and parameters to nonvolatile memory (Memory can be rewritten an unlimited number of times) Number of positioning points Max. 6 points (Not limited in the simple direct input mode or direct input mode) Note: The number of positioning points varies depending on the operation mode selected by the parameter. LED display (installed on the front panel) Driver status LED x Fieldbus status LED x Gateway status LED x Power-supply status LED x Electromagnetic brake forced release switch (installed on the front panel) Switched between NOM (standard) and RLS (forced releases) Protective function Overload, overcurrent, overvoltage, etc. Electric shock protection mechanism Class I Isolation resistance DC 00V, 0 MΩ or more Withstand voltage AC 00V for minute External dimensions W H D Weight Incremental specification (When drivers for 6 axes are installed) Approx.,900g Absolute specification (When drivers for 6 axes are installed) Approx.,000g Cooling method Forced air cooling Ambient operating temperature 0 to 0 C Environment Ambient operating humidity 8% RH or less (non-condensing) Operating ambience [Refer to.7, "Installation and Storage Environment."] Protection degree IP0 Note : Take note that the rush current value varies depending on the impedance of the power supply line. Note : Leak current varies depending on the motor capacity to be connected, cable length, and ambient environment. To protect against leak current, measure leak current at locations where the earth leakage breaker is set. An earth leakage breaker must be selected that serves the specific purpose required, such as fire protection and injury protection. Use an earth leakage breaker of harmonic wave type (inverter type). M Power Supply Selection With the M controller, motor driver power (AC 00V/AC 00V) and control power (DC V) must be supplied separately. Check the necessary power-supply capacity according to the table below. Drive Power-supply Capacity Actuator motor power supply Momentary maximum motor Selecting the Circuit Breaker Select the circuit breaker as follows: Three times the rated current will flow through the controller during acceleration/deceleration. (Refer to "Momentary maximum motor power-supply capacity" above). Select a circuit breaker that will not trip when this current flows. If the selected circuit breaker trips under this current, select another breaker of the next higher rated current. (Confirm on the operation characteristic curve in the manufacturer s catalog to confirm that the circuit breaker will not trip.) Consider allowance when selecting the rated current of circuit breaker. RS: Rotational shaft Heat output [W] W number capacity [VA] power-supply capacity [VA] D (other than RS) 7.0 0R (RS) Select a circuit breaker that will not trip due to rush current. (Confirm on the operation characteristic curve in the manufacturer s catalog to confirm that the circuit breaker will not trip.) Select a rated break current that will break the circuit even when a short-circuit current flows. Rated break current > Short-circuit current = Primary powersupply capacity of circuit breaker / Power-supply voltage <Rated current of circuit breaker> Total sum of motor power-supply capacities of all actuators connected [VA] / AC input voltage x Safety factor (Rough guide:. to.) M 660

139 M Control Power-supply (DC -V) Capacity Calculate the DC -V power-supply capacity as follows: () Current consumption of control power supply: Select the applicable control power-supply current shown in the table below --- ➀ Number of controlled axes (Note ) axis axes axes axes axes 6 axes Heat generation from control power supply [W] Control power-supply current [A] (Note ): Check the maximum number of controlled axes that can be connected to the M. This information is available on the manufacturer s nameplate. M-C-*- : * represents the maximum number of axes that can be connected. () Current consumption of brake power supply: A or 0. A (Note ) x Number of actuators with brakes --- ➁ (Note ): When the brake is released, up to A of current will flow per actuator for a period of approx. 00 ms. If this maximum current can be accommodated by the DC -V power supply used which is capable of handling momentary load fluctuation at the time of peak load, etc., calculate at 0. A/unit. If not, calculate at A/unit. () Rush current of control power supply: 7 A/ --- ➂ [Selection of power supply] Normally a power supply whose rated current is approx.. times is selected by considering approx. 0% of allowance on top of the load current of ➀ + ➁ above. Since the current of ➂ will flow for a short period, select a power supply of the "peak load accommodation" specification or having enough allowance. If the selected power supply has no allowance, voltage may drop momentarily. In particular, pay attention to the power supply with remote sensing function. External Dimensions Incremental specification M ø (77 mm from the center of the DIN rail). (9) Absolute specification ø (9) 9 6 (.) 0. (77 mm from the center of the DIN rail) 66 M ()

140 Options Teaching Pendant Features Model Configuration PC Software (Windows dedicated) Features This startup support software provides functions to input positions, perform test operations and monitor data, among others. Incorporating all functions needed to make adjustments, this software helps shorten the initial startup time. Model RCM-0-MW (With external device communication cable + RS conversion unit) Configuration The M is supported by Ver or later. RS conversion adapter RCB-CV-MW 0.m m USB cable CB-SEL-USB00 m External device communication cable CB-RCA-SIO00 Model RCM-0-USB (With external device communication cable + USB conversion adapter + USB cable) Configuration The M is supported by Ver or later. Regenerative Resistor Unit Features Model Teaching device offering position input, test operation, monitoring and other functions. CON-PTA-C (Touch panel teaching) CON-T (Standard type) m USB conversion adapter RCB-CV-USB m External device communication cable CB-RCA-SIO00 This unit converts regenerative current that generates when the motor decelerates, to heat. Check the total wattage of the actuators to be operated and provide a regenerative resistance unit or units if required. RESU- (Standard specification) RESUD- (DIN rail mount specification) * If two regenerative units are required, arrange one RESU-/ RESUD- (st) and one RESU-/ RESUD- (nd or after). RESU- (Standard specification, second or subsequent unit) RESUD- (DIN rail mount specification, second or subsequent unit) Specification Model RESU- RESUD- RESU- RESUD- Connected to M controller RESU-/RESUD- Supplied cable CB-SC-REU00 CB-ST-REU00 Unit installation method Screw mount DIN rail mount Screw mount DIN rail mount Main unit weight Approx. 0.kg Built-in regenerative resistor 0 Ω, 80W * The first regenerative resistor unit connected to the M should be the RESU-/RESUD-. The regenerative resistor unit connected to this regenerative resistor unit should be the RESU-/RESUD-. (m) CB-SC-REU00 (m) CB-ST-REU00 (Standard specification) Model: RESU- Model: RESU- (DIN rail mount specification) Model: RESUD- Model: RESUD- CON-PTA-C CON-T M Absolute Data Backup Battery Features This is the battery to save the absolute data when the actuator with the absolute specification is operated. Model AB- (battery only) / AB--CS (with case) Reference Number of Units to Be Connected Total wattage of 6 motor axes Number of regenerative Actuators installed Actuators installed resistor units to be horizontally vertically connected ~0 ~00 0 ~900 ~600 ~800 ~900 Note: The numbers of units to be connected are reference values based on the following operating conditions: [Conditions] Specification Item Content Model CON-PTA-C-ENG CON-T-ENG Data input Actuator operation Ambient operating temperature/humidity Temperature 0 to 0ºC, humidity 8%RH or less (Non-condensing Operating ambience Free from corrosive gases or significant powder dust. Protection degree IP0 IP Weight Approx. 70g Approx. 00g Cable length m Display Operate the actuator to travel back and forth over,000mm at the maximum speed, acceleration/deceleration of 0.G, rated load, and operation duty of 0%. Depending on the operating conditions, an error may generate and regenerative resistance greater than the applicable value shown in the table above may be required. In this case, add a regenerative resistor unit or units. Note that only up to four regenerative resistor units can be connected. If five or more units are connected, a failure may occur. 6,6 colors White LED backlight External dimensional drawing <RESU- > ø R. 0.7 <RESUD- > ø characters x lines LCD display Standard price Supported Windows OS: 000 SP or later / XP SP or later / Vista / (9) (77 mm from the center of the DIN rail) M 66 M

141 M Maintenance Parts Please refer to the models listed below if a cable needs to be exchanged, etc., after your purchase. cable/ robot cable Model: CB-RCC-MA / CB-RCC-MA -RB * Enter the cable length (L) into. Compatible to a Maximum of 0 meters. Ex.: 080 = 8m () (6) (Front view) side (ø9) L (Front view) Actuator side Minimum bending R: r = 0 mm or more (when a robot cable is used) * If the cable must be guided in a cable track, use a robot cable. () (0) (0) (8) Wire Color Signal No. Green PE 0.7sq Red U White V Black W No. Signal Color Wire U Red V White 0.7sq W Black (crimped) PE Green M Encoder cable / Encoder robot cable Model: CB-RCS-PA / CB-X-PA * Enter the cable length (L) into. Compatible to a Maximum of 0 meters. Ex.: 080 = 8m (7) () 6 (Front view) side () L () (ø0) Actuator side () 0 () 98 (Front view) Minimum bending R: r = 0 mm or more (when a robot cable is used) * If the cable must be guided in a cable track, use a robot cable. Wire AWG6 (soldered) Color Gray/white Brown/white Pink Purple White Blue/red Orange/white Green/white Blue Orange Black Yellow Green Brown Gray Red Signal EV OV LS CREEP OT RSV A+ A- B+ B- Z+ Z- SRD+ SRD- BAT+ BAT- VCC GND BKR- BKR+ No The shield is connected to the hood by a clamp. Note Note Note Note Ground wire and braided shield No. Signal Color Wire 6 7 A Ā B B Z Z LS+ Pink Purple White Blue/red Orange/white Green/white Brown/white 8 AWG6 9 FG Ground (crimped) 0 SD Blue SD Orange BAT+ Black BAT- VCC GND LS- BK- BK+ Yellow Green Brown Gray/white Gray Red Encoder cable / Encoder robot cable for RCS-RT6/RT6R/RT7 Model: CB-RCS-PLA / CB-X-PLA * Enter the cable length (L) into. Compatible to a Maximum of 0 meters. Ex.: 080 = 8m (7) () 6 () (Front view) side (ø0) L LS side () Actuator side (8) 60 Minimum bending R: r = 0 mm or more (when a robot cable is used) * If the cable must be guided in a cable track, use a robot cable. 98 () (8) () Wire Color Signal No. White/orange White/green Brown/blue EV 0V LS 0 6 Brown/yellow CREEP Brown/red Brown/black White/blue White/yellow White/red White/black White/purple White/gray Orange Green Purple Gray Red Black Blue Yellow OT RSV A+ A B+ B Z+ Z SRD+ SRD BAT+ BAT VCC GND BKR BKR AWG6 (soldered) The shield is connected to the hood by a clamp. Ground wire and braided shield (The wire color "White/Blue" indicates the colors of the band and insulation.) No. 6 No Signal EV 0V LS CREEP OT RSV Signal A A B B Z Z FG SD SD BAT+ BAT VCC GND BK BK+ Color White/orange White/green Brown/blue Brown/yellow Brown/red Brown/black Color White/blue White/yellow White/red White/black White/purple White/gray Ground Orange Green Purple Gray Red Black Blue Yellow Wire AWG6 (crimped) Wire AWG6 (crimped) 66 M

142 MEMO M M M 66

143 Program controller For RCP/RCP Series List of models Program controller for operating RCP/RCP Series actuators. Various control functions are combined into a single unit. Type CS Name Program mode Positioner mode M External view Description Both the actuator operation and communication with external equipment can be handled by a single controller. When two axes are connected, arc interpolation, path operations, and synchronization can be performed. Up to,00 positioning points are supported. Push-motion operation and teaching operation are also possible. Position Points,00 points Standard Price axis axes Model Series CS I I Type Number (Specs for st axis) (Specs for nd axis) of Axes Encoder Option Encoder Option I/O Type * nd axis specs not applicable to the single-axis model. I/O Cable Length 0 Power Voltage Simple absolute unit High acceleration type model CS Standard Type 0 DCV I Incremental I Incremental 0 No cable Single-axis model -axis model B Brake B Brake m (standard) m 0P 0 pulse motor-compatible 0SP 0 pulse motor (RCP-RA high-thrust type only) 8 pulse 8P motor-compatible 8 pulse motor 8SP (RCP-RAC only) pulse P motor-compatible pulse P motor-compatible 6 pulse 6P motor-compatible * If connecting to RCP-RAC/ RGDC, the motor type is 8SP. 0 pulse 0P motor-compatible 0 pulse motor 0SP (RCP-RA high-thrust type only) 8 pulse 8P motor-compatible 8SP 8 pulse motor (RCP-RAC only) pulse P motor-compatible pulse P motor-compatible 6 pulse 6P motor-compatible * If connecting to RCP-RAC/ RGDC, the motor type is 8SP. NP PN DV CC PR m PIO NPN (standard) PIO PNP DeviceNet CC-Link ProfiBus Blank ABU Not used Used Blank H Standard High acceleration type model * If connecting to RCP-SA/ SA/SA6 or RCP-SA/SA6, specify "H", for highacceleration type model. 66

144 System Configuration Option Teaching Pendant (See P67) <Model: SEL-T/SEL-TD> PLC Supplied with I/O Flat Cable <Model: CB-DS-PIO00> Supplied with the controller For a replacement cable, see P67 m Field Network Option Panel Unit (See P67) <Model: PU-> m 0.m PC Software Supplied with IA-0-X-MW RSC Cable <Model: CB-ST- EMW00-EB> Option PC Software (See P67) <Model: IA-0-X-MW (with RSC cable)> m Option Adapter Cable (See P67) Model: CB-SEL-SJ00 m Option * System Memory Backup Battery (see P67) <Model: AB--CS (with case)> <AB- (stand-alone battery)> * The system memory backup battery is a required feature if you wish to retain data such as flags used in programs even after the power has been shut off. M Option DCV Power Supply (See P77) <Model: (00V input)> <Model: (00V input)> Option Simple Absolute Unit <Model: -ABU> (See P6) Cable <Model: CB-RCP-MA > Standard: m / m / m Supplied with For a replacement cable, see P67 Actuator: RCP series Actuator: RCP series Encoder Cable <Model: CB-RCP-PB > Encoder Robot Cable <Model: CB-RCP-PB -RB> Standard: m / m / m Supplied with For a replacement cable, see P67 -encoder Integrated Cable <Model: CB-PCS-MPA > Standard: m / m / m Supplied with For a replacement cable, see P67 666

145 I/O Specification Input section External input specifications Item Specifications Input voltage DCV ±0% Input current 7mA/circuit ON/OFF voltage ON voltage (min.) NPN : DC6V / PNP : DC8V OFF voltage (max.) NPN : DCV / PNP : DC9V Isolation method Photocoupler NPN Specifications Output section External output specifications Item Load Voltage Max. load current Residual voltage (Max.) Isolation method NPN Specifications Specifications DCV 00mA / point 00mA / 8 points in total Max 0.mA / point Photocoupler External power supply +V PV R=60Ω Input terminals Inputs R=.kΩ Internal circuit Internal circuit P Outputs N Load External power supply +V M PNP Specifications PNP Specifications External power supply +V N R=60Ω Input terminals Inputs R=.kΩ Internal circuit Internal circuit PV Outputs Load External power supply +V N Explanation of I/O Signal Functions Two modes can be selected for the controller: Program Mode, in which the actuator is operated by entering a program, and Positioner Mode, in which PLC signals are received and the actuator is moved to designated positions. The Positioner Mode has the five input patterns listed below to enable various applications. Control Function by Type Operation mode Program mode Standard mode Product Change mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you program complex control actions using simple commands. This is the basic mode from which operations can be conducted by designating position numbers and inputting the start signal. Push-motion operation and teaching operation are also possible. Multiple work parts of the same shape with slightly different hole positions can be handled using movement commands to the same position numbers by simply changing the product type number. Positioner mode -axis independent mode With a -axis controller, each axis can be commanded and operated separately. Teaching mode DS-S-C Compatible mode In this mode, the slider (rod) moves based on an external signal, when the actuator is stopped, the current location can be registered as position data. If you were using a DS-S-C controller, you can replace it with a controller without having to change the host programs. *This mode does not ensure actuator compatibility. 667

146 Explanation of I/O Signal Functions Program mode Pin Number Classification Port No. Program Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Select Program No. Select Program No. Select Program No. Selects the program number to start. Select Program No. 8 (Input as BCD values to ports 06 to 0) Select Program No. 0 Select Program No. 0 Select Program No. 0 CPU reset Resets the system to the same state as when the power is turned on. Start Starts the program selected by ports 06 to 0. General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input Waits for external input via program instructions. General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input Alarm Turns off when an alarm occurs. (Contact B) Ready Turns on when the controller starts up normally and is in an operable state. General-purpose output General-purpose output General-purpose output These outputs can be turned ON/OFF as desired via program instructions. General-purpose output General-purpose output General-purpose output 0V input Connect 0V. M Note: This is for NPN. PNP will be different. 0V Positioner mode Pin Number Classification Port No. Positioner Standard Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 0 Position input Specifies the position numbers to move to, using port number 007 to 09. Position input The number can be specified either as BCD or binary. Position input Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to selected position. Home return Performs home return. ON Switches between ON and OFF. Push Performs a push motion. Pause Pauses the motion when turned OFF, and resumes when turned ON. Cancel Stops the motion when turned OFF. The remaining motion is canceled. Interpolation settings When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Position input Position input Position input Specifies the position numbers to move to, using ports 007 to 09. Position input The number can be specified either as BCD or binary. Position input Position input 6 Position input 7 Position input 8 Position input 9 Alarm Turns off when an alarm occurs. (Contact B) Ready Turns on when the controller starts up normally and is in an operable state. Positioning complete Turns on when the movement to the destination is complete. Home return complete Turns on when the home return operation is complete. ON output Turns on when servo is ON. Pushing complete Turns on when a push motion is complete. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. Note: This is for NPN. PNP will be different. 0V 668

147 Explanation of I/O Signal Functions Positioner, Product-Type Change Mode Pin Number Classification Port No. Positioner Product Type Change Mode Functions Wiring Diagram M A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position/Product Type Input 0 Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input 6 Error reset Start Home return ON Push Pause Cancel Interpolation settings Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input 6 Position/Product Type Input 7 Position/Product Type Input 8 Position/Product Type Input 9 Alarm Ready Positioning complete Home return complete ON output Pushing complete Specifies the position numbers to move to, and the product type numbers, using ports 007 to 0. The position and product type numbers are assigned by parameter settings. The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts moving to selected position. Performs home return. Switches between ON and OFF. Performs a push motion. Pauses the motion when turned OFF, and resumes when turned ON. Stops the motion when turned OFF. The remaining motion is canceled. When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Specifies the position numbers to move to, and the product type numbers, using ports 007 to 0. The position and product type numbers are assigned by parameter settings. The number can be specified either as BCD or binary. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. Turns on when a push motion is complete. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. Note: This is for NPN. PNP will be different. 0V Positioner, -axis Independent Mode Pin Number Classification Port No. Positioner -axis Independent Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 7 Position input 8 Specifies the position numbers to move to, using ports 00 to 0. Position input 9 The position numbers on the st and nd axes are assigned by Position input 0 parameter settings. Position input The number can be specified either as BCD or binary. Position input Position input Error reset Resets minor errors. (Severe errors require a restart.) Start Starts the movement to the selected position number on the st axis. Home return Performs home return on the st axis. ON Switches between servo ON and OFF for the st axis. Pause Pauses the motion on st axis when turned OFF, and resumes when turned ON. Cancel Cancels the movement on the st axis. Start Starts the movement to the selected position number on the nd axis. Home return Performs home return on the nd axis. ON Switches between servo ON and OFF for the nd axis. Pause Pauses the motion on nd axis when turned OFF, and resumes when turned ON. Cancel Cancels the movement on the nd axis. Position input Specifies the position numbers to move to, using ports 00 to 0. Position input The position numbers on the st and nd axes are assigned by Position input parameter settings. Position input The number can be specified either as BCD or binary. Position input Position input 6 Alarm Turns off when an alarm occurs. (Contact B) Ready Turns on when the controller starts up normally and is in an operable state. Positioning complete Turns on when the movement to the specified position on the st axis is complete. Home return complete Turns on when home return on the st axis is complete. ON output Turns on when the st axis is in a servo ON state. Positioning complete Turns on when the movement to the specified position on the nd axis is complete. Home return complete Turns on when home return on the nd axis is complete. ON output Turns on when the nd axis is in a servo ON state. 0V input Connect 0V. Note: This is for NPN. PNP will be different. 0V

148 Explanation of I/O Signal Functions Positioner, Teaching Mode Pin Number Classification Port No. Positioner Teaching Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. JOG on st axis While the signal is on, the st axis is moved in the - (negative) direction. JOG+ on nd axis While the signal is on, the nd axis is moved in the + (positive) direction. JOG on nd axis While the signal is on, the nd axis is moved in the - (negative) direction. Specify inching (0.0mm) Specify inching (0.mm) Specifies how much to move during inching. Specify inching (0.mm) (Total of the values specified for ports 09 to 0) Specify inching (mm) Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to selected position. ON Switches between ON and OFF. Pause Pauses the motion when turned OFF, and resumes when turned ON. Position input Position input Position input Position input Ports 00 to 0 are used to specify the position number to move, and Position input the position number for inputting the current position. Position input 6 - When the teaching mode setting on port 0 is in the ON state, the Position input 7 current value is written to the specified position number. Position input 8 Position input 9 Position input 0 Position input Teaching mode setting JOG+ on st axis While the signal is on, the st axis is moved in the + (positive) direction. Alarm Turns off when an alarm occurs. (Contact B) Ready Turns on when the controller starts up normally and is in an operable state. Positioning complete Turns on when the movement to the destination is complete. Home return complete Turns on when the home return operation is complete. ON output Turns on when servo is ON. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. Note: This is for NPN. PNP will be different. 0V M Positioner, DS-S-C Compatible Mode Pin Number Classification Port No. Positioner DS-S-C Compatible Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Position No. 000 CPU reset Start Hold (Pause) Cancel Interpolation settings Position No. Position No. Position No. Position No. 8 Position No. 0 Position No. 0 Position No. 0 Position No. 80 Position No. 00 Position No. 00 Position No. 00 Position No. 800 Alarm Ready Positioning complete System battery error 0V input Connect V. (Same as ports 00 through 0) Resets the system to the same state as when the power is turned on. Starts moving to selected position. Pauses the motion when turned ON, and resumes when turned OFF. Stops the motion when turned ON. The remaining motion is canceled. When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Ports 00 through 06 are used to specify the position number to move. The numbers are specified as BCD. Turns off when an alarm occurs. (Contact A) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the system battery runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. 0V 670

149 M Table of Specifications Item Specifications Connected actuator RCP series actuator (Note ) Input voltage DCV ±0% Power Supply Capacity Control power (Max..A) + power (See the table below) Dielectric strength voltage DC00V 0MΩ or higher Withstand voltage AC00V min. Rush current Max. 0A Vibration resistance XYZ directions 0 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 0 Hz.9 m/s (continuous), 9.8 m/s (intermittent) Maximum total output of connected axis Position detection method Incremental encoder Speed setting From mm/s. The maximum limit varies depending on the actuator. Acceleration setting From 0.0G. The maximum limit varies depending on the actuator. Operating method Program operation / Positioner operation (switchable) Programming language Super SEL language Number of programs 6 programs Number of program steps,000 steps Number of multi-tasking programs 8 programs Positioning Points,00 points Data memory device FLASHROM (A system-memory backup battery can be added as an option) Data input method Teaching pendant or PC software Number of I/O input points / 8 output points (NPN or PNP selectable) I/O power Externally supplied VDC ± 0% PIO cable CB-DS-PIO (supplied with the controller) Serial communications function RSC (Half-pitch connector) / USB connector Field Network DeviceNet, CC-Link, ProfiBus Cable CB-RCP-MA (Max. 0m) Encoder cable CB-RCP-PA (Max. 0m) Protection function driver temperature check, Encoder open-circuit check Soft limit over, system error, battery error, etc. Ambient operating humidity and temperature 0 to 0ºC 0 to 9% (non-condensing) Ambient atmosphere Free from corrosive gases. In particular, there shall be no significant powder dust. Protection class IP0 Weight Approx. 0g External dimension mm (W) x 9 mm (H) x 0 mm (D) (Note ) Cannot operate High-Thrust type (RA0C), High-Speed type (HS8C/HS8R), or Waterproof type (RCPW-SA6). Basic Specifications Control specification Program Communication General specifications power supply Capacity (Note) -Axis specifications -Axis specifications type Rated Max.(Note ) Rated Max.(Note ) 0P, 8P, 8SP motor 0.A 0.8A.0A P, P, 6SP motor.a.a.0a (Note ) For both -axis and -axis specifications, approx. 0A inrush current flows for ms when the control power supply is turned on. (Note ) After ON, excitation detection is performed. In that case, the current is maximized. (Approx. 00 msec) However, if motor drive power supply is turned on after a shut-down, approx. 6.0A and approx..0a current flows to axis- and axis- respectively. (Approx. to msec) Exterior Dimensions -axis controller -axis controller ø (80) 0 ø (80)

150 Name of Each Part 9 connector for axis Connects the motor cable of the axis actuator. connector for axis Connects the motor cable of the axis actuator. 9 I/O Connector A connector for interface I/Os. -pin flat cable connector for DIO (IN/8OUT) interface. I/O power is also supplied to the controller via this connector (Pin No. and No. ) Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. Encoder connector for axis Connect the encoder cable of the axis actuator. 0 Mode switch This switch is used to specify the running mode of the controller. The left position indicates the MANU (manual operation) mode, while the right position indicates the AUTO (automatic operation) mode. Teaching can only be performed in manual operation, and automatic operation using external I/Os is not possible in the MANU mode. Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. USB connector A connector for PC connection via USB. If the USB connector is connected, the TP connector is disabled and all communication inputs to the TP connector are cut off. 6 Encoder connector for axis Connect the encoder cable of the axis actuator. 7 Status indicator LEDs These LEDs are used to indicate the operating condition of the controller. The LED status indicators are as follows: PWR : Power is input to controller. RDY : The controller is ready to perform program operation. ALM : The controller is abnormal. EMG : An emergency stop is actuated and the drive source is cut off. SV : The axis actuator servo is on. SV : The axis actuator servo is on. Teaching pendant connector A half-pitch I/O 6-pin connector that connects a teaching pendant when the running mode is MANU. A special conversion cable is needed to connect a conventional D-sub, -pin connector. System-memory backup battery connector If you wish to retain the various data recorded in the SRAM of the controller even after the power is cut off, connect the necessary battery to this connector. This battery is installed externally to the unit. The controller does not come standard with the battery (Option). power input connector This connector is used to input the motor power. It consists of a -pin, -piece connector by Phoenix Contact. M 8 Panel unit connector A connector for the panel unit (optional) that displays the controller status and error codes. Control power/system input connector This connector is used to connect the control power input, emergency stop switch, and enable switch. It consists of a Phoenix Contact 6-pin -piece connector. 67

151 Options Teaching Pendant Features This is a teaching device that provides information on functions such as position input, test runs, and monitoring. Model Model SEL-T-JS SEL-TD-JS Description Standard type with adapter cable Equipped with a deadman switch and adapter cable Configuration M SEL-T option Wall-mounting hook Model HK- m Strap Model STR- Adapter cable: CB-SEL-SJ00 0.m Specifications Item SEL-T-JS SEL-TD-JS -position Enable Switch No Yes ANSI/UL standards Non-compliant Compliant CE mark Compliant Display 0 char. lines Ambient Operating Temp./Humidity 0~0ºC 0~90% RH (non-condensing) Protective structure Weight IP Approx. 0.kg (not incl. cable) PC Software (Windows Only) Features A startup support software for inputting programs/positions, performing test runs, and monitoring. More functions have been added for debugging, and improvements have been made to shorten the start-up time. Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 Model IA-0-X-MW-JS Configuration (with RSC cable + adapter cable) PC Software (CD) m RSC Cable CB-ST-EMW00-EB 0.m Adapter cable: CB-SEL-SJ00 Model IA-0-X-USBS Configuration PC Software (CD) USB cable CB-SEL-USB00 (with USB cable) m Dummy plug DP-S Note: Only versions and later can be used with the controller. Panel Unit Features Display device that shows the error code from the controller or the currently running program number. Model PU- (Cable length: m) ø. 7 System Memory Backup Battery Features This battery is required when you are using global flags in the program and you want to retain your data even after the power has been turned OFF. Model AB CS (with case) AB (stand-alone battery) Dummy Plug Features When connecting the controller to a computer with a USB cable, this plug is inserted in the teaching port to shut off the enable circuit. (Supplied with the PC software IA-0-X-USB) Model DP-S 67

152 Options USB Cable Features A cable for connecting the controller to the USB port to a computer. A controller with no USB port (e.g. ) can be connected to the USB port of a computer by connecting an RSC cable to the USB cable via a USB adapter. (See PC software IA-0-X-USBMW) Model CB-SEL-USB00 (Cable length: ) Adapter Cable Features An adapter cable to connect the D-sub -pin connector from the teaching pendant or a PC to the teaching connector (half-pitch) of the controller. Model CB-SEL-SJ00 (Cable length: 0. ) Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. robot cable Model CB-RCP-MA (8) () Encoder cable/encoder robot cable Model CB-RCP-PB /CB-RCP-PB -RB I/O Flat Cable Model () (8) () () CN (Front view) side () (8) (8) (8) () (0) CN (Front view) side Min. bend radius r = 0mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. -Encoder Integrated Cable for RCP Model CB-PCS-MPA (0) (Front view) (8) side CB-DS-PIO B 7B A 7A (ø8) (ø9) Min. bend radius r = 8mm or larger (when movable type is used) L L L * * The standard cable for the motor cable is the robot cable. Min. bend radius r = 0 mm or larger (when movable type is used) (ø) m () (8) * The standard cable for the encoder cable is a normal cable. A robot cable can be specified as an option. Flat cable AWG8 (-core) (0) C N () C N (Front view) Actuator side () (Front view) Actuator side (8) No connector () (0) () (Front view) Actuator side I-89- (AMP) Cable color Signal CN Standard Cable Robot Cable Blue (Red ) Orange (Black ) LS + White Orange (Red ) LS Red Orange (Black ) BK+ Gray Orange (Red ) BK Brown Light Gray (Black ) ENA Green Light Gray (Red ) ENA Purple White (Black ) ENB Pink White (Red ) ENB PHDR-6VS (JST) Yellow Orange Blue Ground * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m CN M cable CN Orange Gray White Yellow Pink Orange (Black ) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Yellow (Black ) V PS Pink (Red ) VBB Pink (Black ) GND (N.C) (N.C) (N.C) Ground F.G A VMM B A VMM B Pin No A A A B B B Shield wire Ground wire * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Pin No. Color Wire Pin No. Color Wire A Brown 9B Gray B Red 0A White A Orange 0B Black B Yellow A Brown- A Green B Red B Blue A Orange A Purple B Yellow B A Gray White Flat cable A B Green Blue Flat cable B Black crimped A Purple crimped 6A Brown- B Gray 6B Red A White 7A Orange B Black 7B Yellow 6A Brown- 8A Green 6B Red 8B Blue 7A Orange 9A Purple 7B Yellow Pin No Signal ENA ENA ENB ENB GND VBB VPS LS + LS BK+ BK F.G Cable color Standard CN Cable Robot Cable Brown Light Gray (Black ) Green Light Gray (Red ) Purple White (Black ) Pink White (Red ) Blue Orange Yellow Blue (Red ) White Red Gray Ground Pink (Black ) Pink (Red ) Yellow (Black ) Orange (Black ) Orange (Red ) Orange (Black ) Orange (Red ) Ground XMP-8V (JST) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal Pin Number (Wire color) Pin Number Signal A B Black A A VMM A White /A A Red B B Green VMM B Yellow /B A Brown BK+ BK LS+ 6 LS A+ A B+ 0 B 9 8 VPS 7 VCC 6 GND FG 6 Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Blue Contiguous) Gray (Red Contiguous) Gray (Blue Contiguous) Shield A VMM A B VMM B Yellow Gray Orange Orange (Black ) Pink White B A B A B A B A B A6 B6 A7 B7 A8 B8 A9 B9 A0 B0 A B SLP-06V (JST) VMM /A B VMM /B BK+ BK LS+ LS A+ A B+ B VPS VCC GND FG 67 M

153 Program controller For RCA/RCA List of models Program controller for operating RCA/RCA Series actuators. One unit can handle various controls. Type CS Name Program mode Positioner mode M External view Standard Price Description Position Points axis axes Both the actuator operation and communication with external equipment can be handled by a single controller. When two axes are connected, arc interpolation, path operations, and synchronization can be performed.,00 points Incremental Absolute Incremental Absolute Up to,00 positioning points are supported. Push-motion operation and teaching operation are also possible. Model CS Series Type Number of Axes (Specs for st axis) (Specs for nd axis) Encoder Option Encoder Option * nd axis specs not applicable to the single-axis model. I/O Type I/O Cable Length 0 Power/ Voltage CS Standard Type Single-axis model -axis model W motor W motor 0 0W motor 0S 0 0W motor (*) 0W motor 0 0W motor * When connecting an RCA-RA /RGS /RGD and RCA-SA /TA, the motor type is 0S. I A B H HA LA Incremental Absolute W motor W motor 0 0W motor 0S 0W motor (*) 0 0W motor 0 0W motor Brake Home sensor compatible High Accel./Decel. Power-saving I A Incremental Absolute * When connecting an RCA-RA /RGS /RGD and RCA-SA /TA, the motor type is 0S. B H HA LA Brake Home sensor compatible High Accel./Decel. Power-saving NP PN DV CC PR 0 DCV 0 No cable m (standard) m m PIO NPN (standard) PIO PNP DeviceNet CC-Link ProfiBus 67

154 System Configuration Option Teaching Pendant (see P68) <Model: SEL-T/SEL-TD> PLC m Supplied with I/O Flat Cable <Model: CB-DS-PIO00> Supplied with the controller For a replacement cable, see P68 0.m m Field Network Option Panel Unit (See P68) <Model: PU-> PC Software Supplied with IA-0-X-MW RSC Cable <Model: CB-ST- EMW00-EB> m Option PC Software (See P68) <Model: IA-0-X-MW (with RSC cable)> Option Adapter Cable (see P68) Model: CB-SEL-SJ00 m Option * System Memory Backup Battery (see P68) <Model: AB--CS (with case)> <AB- (stand-alone battery)> * The system memory backup battery is a required feature if you wish to retain data such as flags used in programs even after the power has been shut off. M Absolute Data Backup Battery (See P68) <Model: AB-> Supplied with Absolute Option DCV Power Supply (See P77) <Model: (00V input)> <Model: (00V input)> Cable <Model: CB-ACS-MA > Standard: m / m / m Supplied with For a replacement cable, see P68 Actuator: RCA series Actuator: RCA series Encoder Cable <Model: CB-ACS-PA > Encoder Robot Cable <Model: CB-ACS-PA -RB> Standard: m / m / m Supplied with For a replacement cable, see P68 -encoder Integrated Cable <Model: CB-ACS-MPA > Standard: m / m / m Supplied with For a replacement cable, see P68 676

155 I/O Specification Input section External input specifications Item Specifications Input voltage DCV ±0% Input current 7mA/circuit ON/OFF voltage ON voltage (min.) NPN : DC6V / PNP : DC8V OFF voltage (max.) NPN : DCV / PNP : DC9V Isolation method Photocoupler NPN Specifications Output section External output specifications Item Specifications Load Voltage DCV Max. load current 00mA / point 00mA / 8 points in total Residual voltage (Max.) Max 0.mA / point Isolation method Photocoupler NPN Specifications External power supply +V PV R=60Ω Input terminal Internal circuit Internal circuit P Outputs Load External power supply +V Inputs R=.kΩ N M PNP Specifications PNP Specifications External power supply +V N R=60Ω Input terminal Inputs R=.kΩ Internal circuit Internal circuit PV Outputs Load External power supply +V N Explanation of I/O Signal Functions Two modes can be selected for the controller: Program Mode, in which the actuator is operated by entering a program, and Positioner Mode, in which PLC signals are received and the actuator is moved to designated positions. The Positioner Mode has the five input patterns listed below to enable various applications. Control Function by Type Operation mode Program mode Standard mode Product Change mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you program complex control actions using simple commands. This is the basic mode from which operations can be conducted by designating position numbers and inputting the start signal. Push-motion operation and teaching operation are also possible. Multiple work parts of the same shape with slightly different hole positions can be handled using movement commands to the same position numbers by simply changing the product type number. Positioner mode -axis independent mode With a -axis controller, each axis can be commanded and operated separately. Teaching mode DS-S-C Compatible mode In this mode, the slider (rod) moves based on an external signal, when the actuator is stopped, the current location can be registered as position data. If you were using a DS-S-C controller, you can replace it with a controller without having to change the host programs. *This mode does not ensure actuator compatibility. 677

156 Explanation of I/O Signal Functions Program mode Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No. Program Mode Functions V input Connect V. Select Program No. Select Program No. Select Program No. Select Program No. 8 Select Program No. 0 Select Program No. 0 Select Program No. 0 CPU reset Start General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input Alarm Ready General-purpose output General-purpose output General-purpose output General-purpose output General-purpose output General-purpose output 0V input Selects the program number to start. (Input as BCD values to ports 06 to 0) Resets the system to the same state as when the power is turned on. Starts the program selected by ports 06 to 0. Waits for external input via program instructions. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. These outputs can be turned ON/OFF as desired via program instructions. Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V M Positioner mode Pin Number Category Port No. Positioner Standard Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 0 Position input Position input Position input Error reset Start Home Return ON Push Pause Cancel Interpolation settings Position input Position input Position input Position input Position input Position input 6 Position input 7 Position input 8 Position input 9 Alarm Ready Positioning complete Home Return complete ON output Pushing complete System battery error Absolute encoder battery error 0V input Specifies the position numbers to move to, using port number 007 to 09 The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts moving to the selected position. Performs Home Return. Switches between ON and OFF. Performs a push motion. Pauses the motion when turned OFF, and resumes motion when turned ON. Stops the motion when turned OFF. The remaining motion is canceled. When this signal turned ON for a -axis model, the actuator moves by linear interpolation. Specifies the position numbers to move to, using ports 007 to 09. The number can be specified either as BCD or binary. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. Turns on when a push motion is complete. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. 0V 678

157 Explanation of I/O Signal Functions Positioner, Product-Type Change Mode M Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No Positioner Product Type Change Mode Functions V input Connect V. Position/Product Type Input 0 Position/Product Type Input Specifies the position numbers to move to, and the product type numbers, Position/Product Type Input using ports 007 to 0. Position/Product Type Input The position and product type numbers are assigned by parameter settings. Position/Product Type Input The number can be specified either as BCD or binary. Position/Product Type Input Position/Product Type Input 6 Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to the selected position. Home Return Performs Home Return. ON Switches between ON and OFF. Push Performs a push motion. Pause Pauses the motion when turned OFF, and resumes motion when turned ON. Cancel Stops the motion when turned OFF. The remaining motion is canceled. Interpolation settings When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Position/Product Type Input Position/Product Type Input Position/Product Type Input Specifies the position numbers to move to, and the product type numbers, Position/Product Type Input using ports 007 to 0. Position/Product Type Input The position and product type numbers are assigned by parameter settings. Position/Product Type Input 6 The number can be specified either as BCD or binary. Position/Product Type Input 7 Position/Product Type Input 8 Position/Product Type Input 9 Alarm Turns off when an alarm occurs (Contact B) Ready Turns on when the controller starts up normally and is in an operable state. Positioning complete Turns on when the movement to the destination is complete. Home Return complete Turns on when the home return operation is complete. ON output Turns on when servo is ON. Pushing complete Turns on when a push motion is complete. System battery error Turns on when the system battery runs low (warning level). Absolute encoder battery error Turns on when the battery for the absolute encoder runs low (warning level). 0V input Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V Positioner, -axis Independent Mode Pin Number Category Port No. Positioner -axis Independent Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 7 Position input 8 Position input 9 Position input 0 Position input Position input Position input Error reset Start Home Return ON Pause Cancel Start Home Return ON Pause Cancel Position input Position input Position input Position input Position input Position input 6 Alarm Ready Positioning complete Home Return complete ON output Positioning complete Home Return complete ON output 0V input Specifies the position numbers to move to, using ports 00 to 0. The position numbers on the st and nd axes are assigned by parameter settings. The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts movement to the selected position number on the st axis. Performs home return on the st axis. Switches between servo ON and OFF for the st axis. Pauses the motion on st axis when turned OFF, and resumes motion when turned ON. Cancels the movement on the st axis. Starts the movement to the selected position number on the nd axis. Performs home return on the nd axis. Switches between servo ON and OFF for the nd axis. Pauses the motion on nd axis when turned OFF, and resumes when turned ON. Cancels the movement on the nd axis. Specifies the position numbers to move to, using ports 00 to 0. The position numbers on the st and nd axes are assigned by parameter settings. The number can be specified either as BCD or binary. Turns off when an alarm occurs (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the specified position on the st axis is complete. Turns on when home return on the st axis is complete. Turns on when the st axis is in a servo ON state. Turns on when the movement to the specified position on the nd axis is complete. Turns on when home return on the nd axis is complete. Turns on when the nd axis is in a servo ON state. Connect 0V. Note: This is for NPN. PNP will be different. 0V

158 Explanation of I/O Signal Functions Positioner, Teaching Mode Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No Positioner Teaching Mode V input Connect V. JOG on st axis JOG+ on nd axis JOG on nd axis Specify inching (0.0mm) Specify inching (0.mm) Specify inching (0.mm) Specify inching (mm) Error reset Start ON Pause Position input Position input Position input Position input Position input Position input 6 Position input 7 Position input 8 Position input 9 Position input 0 Position input Teaching mode setting JOG+ on st axis Alarm Ready Positioning complete Home return complete ON output System battery error Absolute encoder battery error 0V input Functions While the signal is on, the st axis is moved in the - (negative) direction. While the signal is on, the nd axis is moved in the + (positive) direction. While the signal is on, the nd axis is moved in the - (negative) direction. Specifies how much to move during inching. (Total of the values specified for ports 09 to 0) Resets minor errors. (Severe errors require a restart.) Starts moving to selected position. Switches between ON and OFF. Pauses the motion when turned OFF, and resumes motion when turned ON. Ports 00 to 0 are used to specify the position number to move, and the position number for inputting the current position. - When the teaching mode setting on port 0 is in the ON state, the current value is written to the specified position number. While the signal is input, the st axis is moved in the + (positive) direction. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V M Positioner, DS-S-C Compatible Mode Pin Number Category Port No. Positioner DS-S-C Compatible Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position No. 000 (Same as ports 00 through 0) CPU reset Start Hold (Pause) Cancel Interpolation settings Position No. Position No. Position No. Position No. 8 Position No. 0 Position No. 0 Position No. 0 Position No. 80 Position No. 00 Position No. 00 Position No. 00 Position No. 800 Alarm Ready Positioning complete System battery error Absolute encoder battery error 0V input Resets the system to the same state as when the power is turned on. Starts moving to selected position. Pauses the motion when turned ON, and resumes when turned OFF. Stops the motion when turned ON. The remaining motion is canceled. When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Ports 00 through 06 are used to specify the position number to move. The numbers are specified as BCD. Turns off when an alarm occurs. (Contact A) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. 0V 680

159 Table of Specifications M General specifications Communication Program Control specification Basic Specifications Item Specifications Connected actuator RCA/RCA Series Actuator Input Voltage DCV ±0% Power Supply Capacity Control power supply (Max..A) + motor power supply (See the table below) Dielectric strength voltage DC00V 0MΩ or higher Withstand voltage AC00V min. Rush current Max. 0A Vibration resistance XYZ directions 0 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 0 Hz.9 m/s (continuous), 9.8 m/s (intermittent) Number of control axes axis / axis Maximum total output of connected axis 60W (0W + 0W) Position detection method Incremental encoder / Absolute encoder Speed setting mm/sec and up, the maximum depends on actuator specifications Acceleration setting 0.0G and up, the maximum depends on the actuator Operating method Program operation / Positioner operation (switchable) Programming language Super SEL language Number of programs 6 programs Number of program steps,000 steps Number of multi-tasking programs 8 points Positioning Points,00 points Data memory device FLASHROM (A system-memory backup battery can be added as an option) Data input method Teaching pendant or PC software Number of I/O input points / 8 output points (NPN or PNP selectable) I/O power Externally supplied VDC ± 0% PIO cable CB-DS-PIO (supplied with the controller) Serial communications function RSC (D-Sub Half-pitch connector) / USB connector Field Network DeviceNet, CC-Link, ProfiBus Cable CB-ACS-MA (Max. 0m) Encoder cable CB-ACS-PA (Max. 0m) Protection function overcurrent, driver temperature check, Overload check, Encoder open-circuit check Soft limit over, system error, battery error, etc. Ambient operating humidity and temperature Ambient atmosphere Protection class Weight External dimensions 0 to 0ºC 0 to 9% (non-condensing) Free from corrosive gases. In particular, there shall be no significant dust. IP0 Approx. 0g mm (W) x 9 mm (H) x 0 mm (D) power supply capacity (Note) Actuator type RCA RCA RCL -Axis specification -Axis specification Standard specifications/high acceleration and deceleration model Power-saving Standard specifications/high acceleration and deceleration model Power-saving Rated Max. (Note) Rated Max. (Note) Rated Max. (Note) Rated Max. (Note) 0W, 0W [Model symbol: 0].A.A.A.A.6A 8.8A.6A.0A 0W.A.A.A.A.6A 8.8A.6A.A 0W [Model symbol: 0S] SA, RA, TA type dedicated.7a.a.7a.a.a 0.A.A 6.8A W 0.8A.6A.6A 9.A W.0A 6.A.0A.8A 0W.A 6.A.6A.8A (Note ) For both -axis and -axis specifications, approx. 0.0A inrush current flows for ms when the control power supply is turned on. (Note ) Max. current at accelerating/decelerating (Note ) Current reaches the maximum when detecting the servo motor excitation phase at the first servo on after the power is on. (Normal: Approx. to sec., Max.: 0 sec) External Dimensions -axis controller ø (80) 0 -axis controller ø (80)

160 Name of Each Part 9 connector for axis Connect the motor cable of the axis actuator. connector for axis Connect the motor cable of the axis actuator. 0 Mode switch This switch is used to specify the running mode of the controller. The left position indicates the MANU (manual operation) mode, while the right position indicates the AUTO (automatic operation) mode. Teaching can only be performed in manual operation, and automatic operation using external I/Os is not possible in the MANU mode Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. Encoder connector for axis Connect the encoder cable of the axis actuator. Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. 6 Encoder connector for axis USB connector A connector for PC connection via USB. If the USB connector is connected, the TP connector is disabled and all communication inputs to the TP connector are cut off. Teaching pendant connector A half-pitch I/O 6-pin connector that connects a teaching pendant when the running mode is MANU. A special conversion cable is needed to connect a conventional Dsub, -pin connector. System-memory backup battery connector If you wish to retain the various data recorded in the SRAM of the controller even after the power is cut off, connect the necessary battery to this connector. This battery is installed externally to the unit. The controller does not come standard with the battery (Option). M Connect the encoder cable of the axis actuator. 7 Status indicator LEDs power input connector This connector is used to input the motor power. It consists of a -pin, -piece connector by Phoenix Contact. These LEDs are used to indicate the operating condition of the controller. The LED status indicators are as follows: PWR : Power is input to controller. RDY : The controller is ready to perform program operation. ALM : The controller is abnormal. EMG : An emergency stop is actuated and the drive source is cut off. SV : The axis actuator servo is on. SV : The axis actuator servo is on. External regenerative resistor connector A connector for the regenerative resistor that must be connected when the built-in regenerative resistor alone does not offer sufficient capacity in high-acceleration/ high-load operation, etc. Whether or not an external regenerative resistor is necessary depends on the conditions of your specific application such as the axis configuration. 6 Control power/system input connector 6 8 Panel unit connector This connector is used to connect the control power input, emergency stop switch, and enable switch. It consists of a Phoenix Contact 6-pin -piece connector. A connector for the panel unit (optional) that displays the controller status and error codes. 7 Absolute-data backup battery connector for axis I/O Connector A connector for interface I/Os. A connector for the battery that backs up absolute data when the actuator uses an absolute encoder. Secure installation of the battery is the customer s responsibility. -pin flat cable connector for DIO (IN/8OUT) interface. I/O power is also supplied to the controller via this connector (Pin No. and No. ). 8 Absolute-data backup battery connector for axis A connector for the battery that backs up absolute data when the actuator uses an absolute encoder. Secure installation of the battery is the customer s responsibility. 68

161 Options Teaching Pendant Features This is a teaching device that provides information on functions such as position input, test runs, and monitoring. Model Model Description Standard Price SEL-T-JS Standard type with adapter cable SEL-TD-JS Equipped with a deadman switch and adapter cable Configuration M m SEL-T dedicated options Wall-mounting hook Model HK- Strap Model STR- Adapter cable: CB-SEL-SJ00 0.m Specifications Item SEL-T-JS SEL-TD-JS -position Enable Switch No Yes ANSI/UL standards Non-compliant Compliant CE mark Compliant Display 0 char. lines Ambient OperatingTemp./Humidity 0~0ºC 0~90% RH (non-condensing) Protective structure IP Weight Approx. 0.kg (not incl. cable) PC Software (Windows Only) Features A startup support software for entering programs/positions, performing test runs, and monitoring. More functions have been added for debugging, and improvements have been made to shorten the start-up time. Model IA-0-X-MW-JS Configuration (with RSC cable + adapter cable) Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 PC Software (CD) m RSC Cable CB-ST-EMW00-EB 0.m Adapter cable: CB-SEL-SJ00 Model IA-0-X-USBS (with USB cable) Configuration PC Software (CD) USB cable CB-SEL-USB00 m Dummy plug DP-S Note: Only versions and later can be used with the controller. Panel Unit Features Model Display device that shows the error code from the controller or the currently running program number. PU- (Cable length: m) ø. 7 Absolute Data Backup Battery Features Model Battery for saving absolute data, when operating an actuator with an absolute encoder. Same as the battery used for system memory backup. AB- System Memory Backup Battery Features Model This battery is required when you are using global flags in the program and you want to retain your data even after the power has been turned OFF. AB--CS (with case) AB- (Standalone battery) 68

162 Options Dummy Plug USB Cable Adapter Cable Features Model When connecting the controller to a computer with a USB cable, this plug is inserted in the teaching port to shut off the enable circuit. (Supplied with the PC software IA-0-X-USB) DP-S Features Model A cable for connecting the controller to the USB port to a computer. A controller with no USB port (e.g. ) can be connected to the USB port of a computer by connecting an RSC cable to the USB cable via a USB adapter. (See PC software IA-0-X-USBMW) CB-SEL-USB00 (Cable length: m) Features Model An adapter cable to connect the D-sub -pin connector from the teaching pendant or a PC to the teaching connector (half-pitch) of the controller. CB-SEL-SJ00 (Cable length: 0.m) Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. robot cable Model CB-ACS-MA Encoder cable/encoder robot cable Model CB-ACS-PA / CB-ACS-PA -RB 8 7 side I/O Flat Cable Model CB-DS-PIO B 7B A 7A (ø0) Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. -Encoder Integrated Cable for RCA Model CB-ACS-MPA (0) (8) (8) () (Front view) () (8) side (ø9) L L L (ø) Min. bend radius r = 8 mm or larger (when movable type is used) m * The standard motor cable is a robot cable. * The standard cable for the encoder cable is a normal cable. A robot cable can be specified as an option. 0 Flat cable AWG8 (-core) CN Cable color Pin Signal Robot Cable Standard Cable No. White/Purple Blue LS+ 8 White/Gray Orange LS 7 Yellow Green BK+ 6 Blue Brown BK White/Blue Gray ENA White/Yellow Red ENA White/Red Black ENB White/Black Yellow ENB Orange Pink ENZ 0 0 Green Purple ENZ 9 Purple White 8 Gray Blue/red VPS 7 Red Orange/White V 6 Black Green/White GND 9 8 Ground Ground F.G Actuator side Housing : PHDR-8VR (JST) Contact : SPHD-00T-P0. (JST) (8) (0) () (Front view) Actuator side No connector * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m DFE-S-.C SLP-0V Wire Color Signal Pin No. Pin No. Signal Color Wire AWG Red U U Red AWG (crimped) White V V White side Actuator side (crimped) Black W W Black Min. bend radius r = 0 mm or larger (when movable type is used) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Pin No. Color Wire Pin No. Color Wire A Brown 9B Gray B Red 0A White A Orange 0B Black B Yellow A Brown- A Green B Red B Blue A Orange A Purple B Yellow B A Gray White Flat cable A B Green Blue Flat cable B Black crimped A Purple crimped 6A Brown- B Gray 6B Red A White 7A Orange B Black 7B Yellow 6A Brown- 8A Green 6B Red 8B Blue 7A Orange 9A Purple 7B Yellow CN Pin Cable color Signal No. Standard Cable Robot Cable ENA Gray White/Blue ENA Red White/Yellow ENB Black White/Red ENB Yellow White/Black 6 7 LS+ Blue White/Purple 8 9 FG Ground Ground 0 ENZ Pink Orange ENZ Purple Green White Purple VPS Blue/red Gray V Orange/White Red GND Green/White Black 6 LS Orange White/Gray 7 BK Brown Blue 8 BK+ Green Yellow Plug housing : XMP-8V (JST) Socket contact : BXA-00T-P0.6 (JST) Retainer : XMS-09V (JST) * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal Pin No. (Wire color) Pin No. Signal U V W Red Yellow Black A U BK+ 6 BK LS+ LS A+ A B+ B Z+ Z /PS VCC GND FG Yellow (Red ) Yellow (Blue ) Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Red Contiguous) Orange (Blue Contiguous) Gray (Red Contiguous) Gray (Blue Contiguous) Shield B A B A B A B A B A6 B6 A7 B7 A8 B8 A9 B9 A0 B0 A B V W BK+ BK LS+ LS A+ A B+ B Z+ Z /PS VCC GND FG 68 M

163 Program controller For RCS List of models Program controller for operating RCS Series actuators. One unit can handle various controls. Type CS Name Program mode Positioner mode M External view Description Position points Both the actuator operation and communication with external equipment can be handled by a single controller. When two axes are connected, arc interpolation, path operations, and synchronization can be performed. 0,000 points Up to 0,000 positioning points are supported. Push-motion operation and teaching operation are also possible. Standard Price axis axes 0~0W 00W 00~00W 600W 70W Incremental Absolute Incremental Absolute Models CS Series Type Number of Axes (Specs for st axis) (Specs for nd axis) Encoder Option Encoder Option * nd axis specs not applicable to the single-axis model. I/O Type I/O Cable Length Power Voltage CS Standard Type B C Brake Creep sensor I A Incremental Absolute Single-phase AC00V Single-phase AC00V HA High Accel./Decel. Home sensor/ L LS-compatible M Master axis spec B C Brake Creep sensor 0 No cable m Single-axis model HA High Accel./Decel. m -axis model I Incremental A Absolute L S Home sensor/ls-compatible Slave axis spec m W servo motor 0 0W servo motor 0D 0W servo motor for RCS 0R 0W servo motor for RS 60 60W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 00 00W servo motor W servo motor 70 70W servo motor W servo motor 0 0W servo motor 0D 0W servo motor for RCS 0R 0W servo motor for RS 60 60W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 00 00W servo motor W servo motor 70 70W servo motor NP PN DV CC PR PIO NPN (standard) PIO PNP DeviceNet CC-Link ProfiBus 68

164 System Configuration Option Teaching Pendant (see P69) <Model: SEL-T/SEL-TD> PLC PC Software Supplied with IA-0-X-MW RSC Cable <Model: CB-ST- EMW00-EB> m m Option PC Software (see P69) <Model: IA-0-X-MW> (with RSC cable) Option System Memory Backup Battery (see P69) <Model:AB--CS (with case)> <AB- (standard battery)> * The system memory backup battery is a required feature if you wish to retain data such as flags used in programs even after the power has been shut off. 0.m Option Adapter Cable (see P69) <Model: CB-SEL-SJ00> Supplied with I/O Flat Cable (see P69) <Model: CB-DS-PIO00> m Absolute Data Backup Battery (see P69) <Model: AB-> Included with Absolute Type m Field Network Option Regenerative Resistor Unit (See P69) <Model RESU->,<Model RESUD-> <Model RESU->,<Model RESUD-> m * Always use a noise filter when connecting power Required Number of Regenerative Resistor Units Horizontal 0 units ~00W unit units Main Power Supply Vertical ~00W ~800W ~600W ~800W * Depending on the operating conditions, more regenerative resistors may be needed. Cable for Regenerative Resistor Unit <Model: CB-SC-REU00> Supplied with the Regenerative Resistor unit Option Panel Unit (See P69) <Model: PU-> Single-phase AC00V Single-phase AC00V Recommended: NF00A-UP (Manufacturer: Soshin Electric) NAC-0-7 (Manufacturer: COSEL) (Available through IAI. Please inquire for details.) M Cable <Model: CB-RCC-MA > Robot Cable <Model: CB-RCC-MA -RB> Standard: m / m / m Supplied with Actuator For a replacement cable, see P69 Actuator RCS series/single-axis robot/linear servo actuator Encoder Cable <Model: CB-RCS-PA > Encoder Robot Cable <Model: CB-X-PA > Standard: m / m / m Supplied with Actuator For a replacement cable, see P69 686

165 I/O Specification Input section External input specifications Item Specifications Input voltage DCV ±0% Input current 7mA/circuit ON/OFF voltage ON voltage (min.) NPN : DC6V / PNP : DC8V OFF voltage (max.) NPN : DCV / PNP : DC9V Isolation method Photocoupler NPN Specifications Output section External output specifications Item Specifications Load Voltage DCV Max. load current 00mA / point 00mA / 8 points in total Residual voltage (Max.) Max 0.mA / point Isolation method Photocoupler NPN Specifications External power supply +V PV R=60Ω Input terminal Internal circuit Internal circuit P Outputs Load External power supply +V Inputs R=.kΩ N M PNP Specifications PNP Specifications External power supply +V N R=60Ω Input terminal Inputs R=.kΩ Internal circuit Internal circuit PV Outputs Load External power supply +V N Explanation of I/O Signal Functions Two modes can be selected for the controller: Program Mode, in which the actuator is operated by entering a program, and Positioner Mode, in which PLC signals are received and the actuator is moved to designated positions. The Positioner Mode has the five input patterns listed below to enable various applications. Control Function by Type Operation mode Program mode Standard mode Product Change mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you program complex control actions using simple commands. This is the basic mode from which operations can be conducted by designating position numbers and inputting the start signal. Push-motion operation and teaching operation are also possible. Multiple work parts of the same shape with slightly different hole positions can be handled using movement commands to the same position numbers by simply changing the product type number. Positioner mode -axis independent mode With a -axis controller, each axis can be commanded and operated separately. Teaching mode DS-S-C Compatible mode In this mode, the slider (rod) moves based on an external signal, when the actuator is stopped, the current location can be registered as position data. If you were using a DS-S-C controller, you can replace it with a controller without having to change the host programs. *This mode does not ensure actuator compatibility. 687

166 Explanation of I/O Signal Functions Program mode Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No. Program Mode Functions V input Connect V. Select Program No. Select Program No. Select Program No. Select Program No. 8 Select Program No. 0 Select Program No. 0 Select Program No. 0 CPU reset Start General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input General-purpose input Alarm Ready General-purpose output General-purpose output General-purpose output General-purpose output General-purpose output General-purpose output 0V input Selects the program number to start. (Input as BCD values to ports 06 to 0) Resets the system to the same state as when the power is turned on. Starts the programs selected by ports 06 to 0. Waits for external input via program instructions. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. These outputs can be turned ON/OFF as desired via program instructions. Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V M Positioner mode Pin Number Category Port No. Positioner Standard Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 0 Position input Position input Position input Position input Position input Position input 6 Error reset Start Home Return ON Push Pause Cancel Interpolation setting Position input Position input Position input Position input Position input Position input 6 Position input 7 Position input 8 Position input 9 Alarm Ready Positioning complete Home Return complete ON output Pushing complete System battery error Absolute encoder battery error 0V input Specifies the position numbers to move to, using port number 007 to 09 The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts moving to selected position. Performs home return. Switches between ON and OFF. Performs a push motion. Pauses the motion when turned OFF, and resumes motion when turned ON. Stops the motion when turned OFF. The remaining motion is canceled. When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Specifies the position numbers to move to, using ports 007 to 09. The number can be specified either as BCD or binary. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. Turns on when a push motion is complete. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. 0V 688

167 Explanation of I/O Signal Functions Positioner, Product-Type Change Mode M Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No Positioner Product Type Change Mode V input Connect V. Position/Product Type Input 0 Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input 6 Error reset Start Home Return ON Push Pause Cancel Interpolation setting Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input Position/Product Type Input 6 Position/Product Type Input 7 Position/Product Type Input 8 Position/Product Type Input 9 Alarm Ready Positioning complete Home Return complete ON output Pushing complete System battery error Absolute encoder battery error 0V input Functions Specifies the position numbers to move to, and the product type numbers, using ports 007 to 0. The position and product type numbers are assigned by parameter settings. The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts moving to selected position. Performs home return. Switches between ON and OFF. Performs a push motion. Pauses the motion when turned OFF, and resumes motion when turned ON. Stops the motion when turned OFF. The remaining motion is canceled. When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Specifies the position numbers to move to, and the product type numbers, using ports 007 to 0. The position and product type numbers are assigned by parameter settings. The number can be specified either as BCD or binary. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. Turns on when a push motion is complete. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V Positioner, -axis Independent Mode Pin Number Category Port No. Positioner Independent Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N V input Connect V. Position input 7 Position input 8 Position input 9 Position input 0 Position input Position input Position input Error reset Start Home Return ON Pause Cancel Start Home Return ON Pause Cancel Position input Position input Position input Position input Position input Position input 6 Alarm Ready Positioning complete Home Return complete ON output Positioning complete Home Return complete ON output 0V input Specifies the position numbers to move to, using ports 00 to 0. The position numbers on the st and nd axes are assigned by parameter settings. The number can be specified either as BCD or binary. Resets minor errors. (Severe errors require a restart.) Starts the movement to the selected position number on the st axis. Performs Home Return on the st axis. Switches between servo ON and OFF for the st axis. Pauses the motion on st axis when turned OFF, and resumes when turned ON. Cancels the movement on the st axis. Starts the movement to the selected position number on the nd axis. Performs Home Return on the nd axis. Switches between servo ON and OFF for the nd axis. Pauses the motion on nd axis when turned OFF, and resumes when turned ON. Cancels the movement on the nd axis. Specifies the position numbers to move to, using ports 00 to 0. The position numbers on the st and nd axes are assigned by parameter settings. The number can be specified either as BCD or binary. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the specified position on the st axis is complete. Turns on when home return on the st axis is complete. Turns on when the st axis is in a servo ON state. Turns on when the movement to the specified position on the nd axis is complete. Turns on when home return on the nd axis is complete. Turns on when the nd axis is in a servo ON state. Connect 0V. Note: This is for NPN. PNP will be different. 0V

168 Explanation of I/O Signal Functions Positioner, Teaching Mode Pin Number A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B Category P Input Output N Port No Positioner Teaching Mode V input Connect V. JOG on st axis JOG+ on nd axis JOG on nd axis Specify inching (0.0mm) Specify inching (0.mm) Specify inching (0.mm) Specify inching (mm) Error reset Start ON Pause Position input Position input Position input Position input Position input Position input 6 Position input 7 Position input 8 Position input 9 Position input 0 Position input Teaching mode setting JOG+ on st axis Alarm Ready Positioning complete Home Return complete ON output Functions While the signal is input, the st axis is moved in the - (negative) direction. While the signal is input, the nd axis is moved in the + (positive) direction. While the signal is input, the nd axis is moved in the - (negative) direction. Specifies how much to move during inching. (Total of the values specified for ports 09 to 0) Resets minor errors. (Severe errors require a restart.) Starts moving to selected position. Switches between ON and OFF. Pauses the motion when turned OFF, and resumes motion when turned ON. Ports 00 to 0 are used to specify the position number to move, and the position number for inputting the current position. When the teaching mode setting on port 0 is in the ON state, the current value is written to the specified position number. While the signal is input, the st axis is moved in the plus direction. Turns off when an alarm occurs. (Contact B) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the home return operation is complete. Turns on when servo is ON. System battery error Turns on when the system battery runs low (warning level). Absolute encoder battery error Turns on when the battery for the absolute encoder runs low (warning level). 0V input Connect 0V. Note: This is for NPN. PNP will be different. Wiring Diagram 0V M Positioner, DS-S-C Compatible Mode Pin Number Category Port No. Positioner DS-S-C Compatible Mode Functions Wiring Diagram A B A B A B A B A B 6A 6B 7A 7B 8A 8B 9A 9B 0A 0B A B A B A B A B A B 6A 6B 7A 7B P Input Output N (*) The input needs to be set to OFF. Be sure to leave this disconnected. V input Connect V. Position No. 000 (Same as ports 00 through 0) Position No. 000 Position No. 000 Position No Position No Position No (*) CPU reset Resets the system to the same state as when the power is turned on. Start Starts moving to selected position. Hold (Pause) Pauses the motion when turned ON, and resumes motion when turned OFF. Cancel Stops the motion when turned ON. The remaining motion is canceled. Interpolation setting When this signal is turned ON for a -axis model, the actuator moves by linear interpolation. Position No. Position No. Position No. Position No. 8 Position No. 0 Ports 00 through 06 are used to specify the position number to move. Position No. 0 The numbers are specified as BCD. Position No. 0 Position No. 80 Position No. 00 Position No. 00 Position No. 00 Position No. 800 Alarm Ready Positioning complete System battery error Absolute encoder battery error 0V input Turns off when an alarm occurs. (Contact A) Turns on when the controller starts up normally and is in an operable state. Turns on when the movement to the destination is complete. Turns on when the system battery runs low (warning level). Turns on when the battery for the absolute encoder runs low (warning level). Connect 0V. Note: This is for NPN. PNP will be different. 0V 690

169 Table of Specifications M General specifications Communication Program Control specification Basic Specifications Item Connected actuator Specifications RCS series actuator / single axis robot / linear servo actuator Input Voltage Single-phase AC90V to AC6.V Single-phase AC80V to ACV Power Supply Capacity Dielectric strength voltage Withstand voltage Max. 660VA (for 00W, -axis operation) DC00V 0MΩ or higher AC00V min. Rush current Control Power A / Power 7.A Control Power 0A / Power 7A Vibration resistance Number of control axes XYZ directions 0 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 0 Hz.9 m/s (continuous), 9.8 m/s (intermittent) axis / axes Maximum total output of connected axis 00W 800W Position detection method Speed setting Acceleration setting Operating method Programming language Number of programs Number of program steps Number of multi-tasking programs Positioning Points Data memory device Data input method Number of I/O Incremental encoder / Absolute encoder mm/sec and up, the maximum depends on actuator specifications 0.0G and up, the maximum depends on the actuator Program operation / Positioner operation (switchable) Super SEL language 8 programs 9,999 steps 8 programs 0,000 points FLASHROM (A system-memory backup battery can be added as an option) Teaching pendant or PC software input points / 8 output points (NPN or PNP selectable) I/O power Externally supplied VDC ± 0% PIO cable Serial communications function Field Network CB-DS-PIO (supplied with the controller) RSC (D-Sub Half-pitch connector) / USB connector DeviceNet, CC-Link, ProfiBus Cable CB-ACS-MA (Max. 0m) Encoder cable CB-RCP-PA (Max. 0m) Protection function Ambient operating humidity and temperature Ambient atmosphere Protection class Weight External dimensions overcurrent, driver temperature check, Overload check, Encoder open-circuit check Soft limit over, system error, battery error, etc. 0 to 0 C 0 to 9% (non-condensing) Free from corrosive gases. In particular, there shall be no significant dust. IP0.kg 00mm (W) x 0.6mm (H) x 6mm (D) External Dimensions -axis controller -axis controller (Note ) (Note ) Absolute data back-up battery. Not installed with incremental specification. (Note ) (Note ) Absolute data back-up battery. Not installed with incremental specification. 69

170 Name of Each Part 9 0 Status indicator LEDs These LEDs are used to indicate the operating condition of the controller. 0 Power supply connector AC power connector. Divided into the control power input and motor power input. 6 The LED status indicators are as follows: PWR : Power is input to controller. RDY : The controller is ready to perform program operation. ALM : The controller is abnormal. EMG : An emergency stop is actuated and the drive source is cut off. SV : The axis actuator servo is on. SV : The axis actuator servo is on. Grounding screw Protective grounding screw. Always ground this screw. External regenerative resistor connector A connector for the regenerative resistor that must be connected when the built-in regenerative resistor alone does not offer sufficient capacity in high-acceleration/ high-load operation, etc. 6 7 System I/O connector Whether or not an external regenerative resistor is necessary depends on the conditions of your specific application such as the axis configuration. 7 8 Connector for emergency stop / enable input / brake power input, etc. Teaching pendant connector connector for axis Connects the motor cable of the axis actuator. 8 A half-pitch I/O 6-pin connector that connects a teaching pendant when the running mode is MANU. A special conversion cable is needed to connect a conventional Dsub, -pin connector. connector for axis Connects the motor cable of the axis actuator. M 9 0 Mode switch This switch is used to specify the running mode of the controller. The left position indicates the MANU (manual operation) mode, while the right position indicates the AUTO (automatic operation) mode. Teaching can only be performed as manual operation, and automatic operation using external I/Os is not possible in the MANU mode. Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. 8 USB connector A connector for PC connection via USB. If the USB connector is connected, the TP connector is disabled and all communication inputs to the TP connector are cut off. 6 Brake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (NOM side) causes the controller to automatically control the brake. 6 I/O Connector 7 Encoder connector for axis A connector for interface I/Os. Connect the encoder cable of the axis actuator. 9 -pin flat cable connector for DIO (IN/8OUT) interface. I/O power is also supplied to the controller via this connector (Pin No. and No. ). 8 Encoder connector for axis 7 Panel unit connector Connect the encoder cable of the axis actuator. A connector for the panel unit (optional) that displays the controller status and error numbers. 9 Absolute-data backup battery connector for axis 8 Absolute data backup battery A connector for the battery that backs up absolute data for axis when the actuator uses an absolute encoder. When an absolute-type axis is operated, this battery retains position data even after the power is cut off. 9 System memory backup battery (Option) 0 Absolute-data backup battery connector for axis A connector for the battery that backs up absolute data for axis when the actuator uses an absolute encoder. This battery is needed if you wish to retain various data recorded in the SRAM of the controller even after the power is cut off. This battery is optional. Specify it if necessary. System-memory backup battery connector A connector for the system-memory backup battery. 69

171 M Options Teaching Pendant Features Model/Price Configuration PC software (Windows Only) Features A teaching device for entering programs and positions, test runs, and monitoring. Model SEL-T-J SEL-TD-J SEL-T options Wall-mounting hook Model HK- Description Standard type with adapter cable Deadman's switch type and adapter cable m 0.m Strap Model STR- A startup support software for entering programs/positions, performing test runs, and monitoring. More functions have been added for debugging, andimprovements have been made to shorten the start-up time. Model IA-0-X-MW-JS (with RSC cable + adapter cable) IA-0-X-MW (with RSC cable) Configuration m Adapter cable: CB-SEL-SJ00 0.m Specifications Item SEL-T-J SEL-TD-J -position Enable Switch No Yes ANSI/UL standards Non-compliant Compliant CE mark Compliant Display 0 char. lines Ambient Operating Temp./Humidity 0~0ºC 0~90% RH (non-condensing) Protective structure IP Weight Approx. 0.kg (not incl. cable) 8. Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7 PC Software (CD) RSC Cable CB-ST-EMW00-EB Adapter cable: CB-SEL-SJ00 Model IA-0-X-USBS (with USB cable) Configuration PC Software (CD) m USB cable CB-SEL-USB00 Dummy plug DP-S Compatible controller -C Note Only versions and later can be used with the controller. Regenerative Resistor Unit Features This unit converts regenerative current that generates when the motor decelerates, to heat. Check the total wattage of the actuators to be operated and provide a regenerative resistance unit or units if required. Model RESU- (Standard specification) RESUD- (DIN rail mount specification) * If two regenerative units are required, arrange one RESU-/ RESUD- (st) and one RESU-/ RESUD- (nd or after). RESU- (Standard specification, second or subsequent unit) RESUD- (DIN rail mount specification, second or subsequent unit) Required Number of Units Model Horizontal Vertical 0 units ~00W ~00W unit ~800W ~600W units ~800W * Depending on the operating conditions, more regenerative resistors may be needed. * Please see M section page 66 for specification information and drawings. Panel Unit Features Display device that shows the error code from the controller or the currently running program number. Model PU- (Cable length: m) ø. 7 Absolute Data Backup Battery Features Model Battery for saving absolute data, when operating an actuator with an absolute encoder. Same as the battery used for system memory backup. AB- System Memory Backup Battery Features This battery is required, for example, when you are using global flags in the program and you want to retain your data even after the power has been turned OFF. Model AB--CS (with case) AB- (Standalone battery) 69

172 Options Dummy Plug Features Model When connecting the controller to a computer with a USB cable, this plug is inserted in the teaching port to shut off the enable circuit. (Supplied with the PC software IA-0-X-USB) DP-S USB Cable Features Model A cable for connecting the controller to the USB port to a computer. A controller with no USB port (e.g. ) can be connected to the USB port of a computer by connecting an RSC cable to the USB cable via a USB adapter. (See PC software IA-0-X-USBMW) CB-SEL-USB00 (Cable length: m) Adapter Cable Features Model An adapter cable to connect the D-sub -pin connector from the teaching pendant or a PC to the teaching connector (half-pitch) of the controller. CB-SEL-SJ00 (Cable length: 0.m) Spare parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. cable/ robot cable Model CB-RCC-MA / CB-RCC-MA -RB () Encoder cable/encoder robot cable Model CB-RCS-PA / CB-X-PA (7) (6) () (Front view) 6 (Front view) side () L () side (ø9) Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. (ø0) L () Actuator side Actuator side Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. () 0 9 (0) 8 () (Front view) (0) (8) (Front view) Wire Color Signal Green PE 0.7sq Red U White V Black W Wire Color * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Signal EV 0V No. 0 Gray/White Brown/White LS 6 CREEP OT RSV 9 AWG6 8 (soldered) 9 Pink A+ Purple A White B+ Blue/red Orange/White Z+ B Green/White Z 6 Blue SRD+ Orange SRD- Black BAT+ 87 Yellow BAT Green VCC 6 Brown GND 7 Gray BKR- 0 Red BKR+ The shield is connected to the hood by a clamp. * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Ground wire and shield braiding Signal Color U Red No V W PE Signal Color Wire A Pink A Purple B White Z B Blue/red Orange/White Z Green/White AWG6 LS+ Brown/White (crimped) FG SD SD BAT+ BAT VCC GND LS- BK BK+ Ground Blue Orange Black Yellow Green Brown Gray/White Gray Red Wire White 0.7sq Black (crimped) Green M Encoder cable/encoder robot cable for RCS-RT6/RT6R/RT7R/RAR Model CB-RCS-PLA / CB-X-PLA Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track. Wire Color Signal No. 0 White/Orange White/Green Brown/Blue Brown/Yellow Brown/Red Brown/Black EV 0V LS CREEP OT RSV * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m No. 6 Signal EV 0V LS CREEP OT RSV Color White/Orange White/Green Brown/Blue Brown/Yellow Brown/Red Brown/Black Wire AWG6 (crimped) (7) () 6 (Front view) () L () LS side (ø0) Actuator side side (8) 6 9 () 0 8 (8) () AWG6 (soldered) White/Blue White/Yellow White/Red White/Black White/Purple White/Gray Orange Green Purple Gray Red Black Blue Yellow A+ A B+ B Z+ Z SRD+ SRD BAT+ BAT VCC GND BKR BKR The shield is connected to the hood by a clamp. Ground wire and shield braiding (The wire color "White/Blue" indicates the colors of the band and insulation.) No Signal A A BB Z Z FG SD SD BAT+ BAT VCC GND BK BK+ Color White/Blue White/Yellow White/Red White/Black White/Purple White/Gray Ground Orange Green Purple Gray Red Black Blue Yellow Wire AWG6 (crimped) I/O Flat Cable Model CB-DS-PIO B 7B A 7A m Flat cable AWG8 (-core) No connector * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m Pin No. Color Wire Pin No. Color Wire A Brown 9B Gray B Red 0A White A Orange 0B Black B Yellow A Brown- A Green B Red B Blue A Orange A Purple B Yellow B A Gray White Flat cable A B Green Blue Flat cable B Black crimped A Purple crimped 6A Brown- B Gray 6B Red A White 7A Orange B Black 7B Yellow 6A Brown- 8A Green 6B Red 8B Blue 7A Orange 9A Purple 7B Yellow 69

173 Program controller For RCS / RCS series List of Models Multi-axis program controller for operating RCS Series actuators. Up to 8 axes can be simultaneously controlled. M Type J K P Q R S Name Compact Type General Purpose Type Large-Capacity Type Large-Capacity Type (Global specification) High-function Type High-function Type (Global specification) External View Description Maximum number of control axes Number of positions Total Number of Connectable W Compact, low-cost type ideal for operating low-output actuators Standard type offering excellent expandability Large-capacity type capable of controlling up to six axes or,00w Large-capacity type conforming to safety category Up to eight axes can be operated, high-function type comes with many options -axis 6-axis 8-axis,000 positions 0,000 positions High-function type confirmed to safety-category Max., pisitions (The number vaires according to the number of controlled axes.) 800W (*) 600W 00W 00W Power Supply Single-phase AC00V/Single-phase AC00V Single-phase AC00V/-phase AC00V Single-phase AC00V/-phase AC00V Safety Category B B Category compatible B Category compatible Safety Rating CE CE (*) (*) Standard Price (*) The maximum output for shaft during vertical operation is limited to 600W. (*) Preparing for CE compliance 69 L

174 Model [-J/K type] Series Type Number of Axes (Specs for st axis) (Specs for axis - ) Encoder Option Encoder (Note) Option J Small type K General type KE CE-compatible type Safetycompliant type KT CE, Safetycompliant KET type 0 0W servo motor 0D 0W servo motor for RCS 0R 0W servo motor for RS 60 60W servo motor 00 00W servo motor 0 0W servo motor Single-axis model -axis model -axis model -axis model 00 00W servo motor 00 00W servo motor 00 00W servo motor W servo motor 70 70W servo motor B Brake C Creep sensor HA High Accel./Decel. L Home sensor/ LS-compatible M Master axis spec S Slave axis spec I A Incremental Absolute (Note) To specify multiple options, enter them in alphabetical order. (Example: Brake + Home sensor BL) *Notation for - axes depends on the number of axes to be used. I A Incremental Absolute B Brake C Creep sensor HA High Accel./Decel. L Home sensor/ LS-compatible M Master axis spec S Slave axis spec 0 0W servo motor 00 00W servo motor 0D 0W servo motor for RCS 0R 0W servo motor for RS 00 00W servo motor 00 00W servo motor W servo motor 00W servo motor 0W servo motor W servo motor 70 70W servo motor (Slot ) (Slot ) (Slot ) (Slot ) Standard I/O Expansion I/O * E (Not used) is for expansion I/O only. N Input / Output 6 (NPN) Input 8/ N Output 8 (NPN) P Input / Output 6 (PNP) P Input 8/ Output 8 (PNP) DV DeviceNet board CC CC-Link board PR ProfiBus board ET Ethernet board I/O Cable Length Power/ Voltage Single-phase AC00V Single-phase AC00V 0 No cable m (standard) m m * If you selected DV, CC, PR, or ET for standard and expansion I/O select 0 (no cable) for the I/O cable length. E Not used P Input /Output 6 (PNP) N Input /Output 6 (NPN) P Input 6/Output (PNP) N Input 6/Output (NPN) P Input 8/Output 8 (PNP) N Input 8/Output 8 (NPN) SA Expansion SIO type A * For type J, -axis and -axis models cannot be expanded. On -axis and -axis models, only SB Expansion SIO type B expansion slot can be used. SC Expansion SIO type C * The expansion SIO board is only for type K. (Cannot be used for type J.) * For N/P, standard I/O is dedicated to type J, expansion I/O is dedicated to type K. M [-P/Q type] (Note) To specify multiple options, enter them in alphabetical order. (Example: Brake + Home sensor BL) * Notation for - 6 axes depends on the number of axes to be used. Series Type Number (Specs for st axis) (Specs for axis - 6) Dedicated of Axes Encoder (Note) Option Encoder (Note) Option network slot (Slot ) (Slot ) (Slot ) (Slot ) Standard Expansion I/O I/O I/O Cable Length Power/ Voltage P Q High-capacity type Safety-compliant, high capacity type Single-axis model -axis model -axis model -axis model -axis model 6 6-axis model W servo motor 00 00W servo motor 0 0W servo motor 00S For LSA-S0/N 0D 0W servo motor for RCS 00 00W servo motor 0R 0W servo motor for RS 00S For LSA-N W servo motor 00W servo motor W servo motor 600W servo motor 00S For LSA-N W servo motor 0 0W servo motor W servo motor (linear only) B Brake I Incremental Single-phase AC00V C Creep sensor A Absolute Blank Not used Three-phase AC00V HA High Accel./Decel. DV DeviceNet board L Dedicated linear single-phase AC00V Home sensor/ L CC CC-Link board LS-compatible B Brake L Dedicated linear PR ProfiBus board -phase AC00V M Master axis spec C Creep sensor * Enter L or L when operating EP Ethernet/IP board a linear servo actuator. S Slave axis spec HA High Accel./Decel. Otherwise, enter or. ET Ethernet board L Home sensor/ LS-compatible I Incremental M Master axis spec * With the standard I/O and the expansion I/O, if you do not select 0 No cable A Absolute S Slave axis spec the input/output board (N / P ), input "0" (no cable) as the I/O cable m (standard) length symbol. m W servo motor 00 00W servo motor E Not used m N Input / 0 0W servo motor 00S For LSA-S0/N Output 6 (NPN) * If expansion I/O will not be used, enter Input 6/ 0D 0W servo 00 00W servo motor N Output (NPN) E (not used) for slots to. motor for RCS Input 8/ If you are using expansion I/O, enter 0R 0W servo 00S For LSA-N9 N motor for RS Output 8 (NPN) the expansion I/O code in the Input / desired slot W servo motor 00 00W servo motor P Output 6 (PNP) If an expansion I/O is specified, the 00 00W servo motor W servo motor P Input 6/ controller chassis will come with the Output (PNP) expansion I/O base. 00S For LSA-N W servo motor Input 8/ P (See P70-706) Output 8 (PNP) If you will not be using the expansion 0 0W servo motor W servo motor (linear only) MC input/ I/O initially but will be adding it later, output board (*) specify the chassis with I/O expansion S With expansion I/O base board, but specify S for slots to. *Maximum of MC cards can be used for the expansion I/O slots. e.g. Expansion I/O on slot, remaining slots unused -P--00A-00A-N-NEE-- Expansion I/O base attached, but not the expansion I/O -P--00A-00A-N-SSS-- Note: For axis and 6 of -P/Q type, the following actuators are unavailable: LSA series, RCS-RA7/SRA7/SRGS7/SRGD7 series, RCS- N (Mini ROBO) series, and NS-SXM /SZM (incremental specification only for both). 696

175 Model [-R/S type] (Specs for st axis) (Specs for axis 8) (Note) To specify multiple options, enter them in alphabetical order. (Example: Brake + Home sensor BL) ( ) series Type Number of Encoder Option Encoder Option connected axes Dedicated network slot (Slot ) (Slot ) (Slot ) I/O slot (Slot ) (Slot ) I/O cable length Power/ voltage R Standard specification S Global specification Single-axis model -axis model -axis model -axis model -axis model 6 6-axis model 7 7-axis model 8 8-axis model I A G B C HA L M S Incremental Absolute Quasi-absolute Brake-equipped specification Creep sensor specification High acceleration/ deceleration specification Home sensor/ls-compatible Master axis spec Slave axis spec E EP EC E DV CC PR Not used EtherNet/IP EtherCAT Not used DeviceNet CC-Link PROFIBUS-DP E IA Not used IA netcompatible 0 No cable m (standard) m m * With the I/O slots, if you do not select the input/output board (N / P ), input "0" (no cable) as the I/O cable length symbol. M W 0 0W 0 0W 00 00W 0D 0W for DS 00S 00W for linear 0R 0W for RS 00 00W 60 60W 00 00W 00 00W W 00S 00 W for linear 70 70W E Not used P Input /Output 6 (PNP) N Input /Output 6 (NPN) P Input 6/Output (PNP) N Input 6/Output (NPN) P Input 8/Output 8 (PNP) N Input 8/Output 8 (NPN) MC Electronic cam I/O board DG DeviceNet Gateway master board (*) Slots to are dedicated network slots where the selectable boards are fixed. Select one of the specified boards and enter the corresponding code. (*) The above I/O boards can be installed in both I/O slots and, but you can specify DG (DeviceNet Gateway board) only for slot. (*) The dedicated network slots and I/O slots can be used at the same time. Single-phase 00V L Dedicated linear single-phase 00V Three-phase 00V L Dedicated linear -phase 00V * Notes on selecting single-axis/cartesian robots The total wattage of single-axis/cartesian robots connectable to the -R/S type is 00 W in the case of the three-phase specification and 600 W in the case of the single-phase specification. The maximum wattage per axis is 70 W. Make sure the total wattage of each axis does not exceed the specified value. Note: For -R/S type, the following actuators are unavailable: LSA series, RCS-RA7/SRA7/SRGS7/SRGD7 series, RCS- N (Mini ROBO) series, and NS-SXM /SZM (incremental specification only for both). Model Description Examples by Types Below shows model description examples for each controller type. For more information about the I/O slots, please refer to the table "Possible I/O configuration by controller types" next page. [-J/K type] - J A - 00A - 60A - 0A - N - NEE - - Series Type Number of axes [-P/Q type] Connected actuator motor wattage, Encoder type Slot Slot I/O slot detail I/O cable length Power voltage - P A - 00A - 60A - 0A - CC - N - NNE - - Series Type Number of axes [-R/S type] Connected actuator motor wattage, Encoder type Dedicated network slot Slot Slot // I/O slot detail I/O slot detail I/O cable length - R A - 00A - 60A - 0A - EPDVE - NE - - Series Type Number of axes Connected actuator motor wattage, Encoder type Dedicated network slot // Slot / I/O cable length Power voltage Power voltage 697

176 Possible I/O Configuration by Types Possible I/O (input and output) configuration varies depending on the controller type. Please refer to the table below to find out possible I/O configuration for your desired controller type. * For explanation of the symbols given to each slot in the table below, please refer to each controller model page, P696 and 697. type External view Dedicated network slot Dedicated network slot Possible I/O configuration by I/O slot Dedicated network slot Slot Slot Slot Slot Extension I/O unit -axis/ -axis specification (n/a) (n/a) (n/a) (n/a) (n/a) (n/a) (n/a) J type -axis/ -axis specification (n/a) (n/a) (n/a) N N P P DV CC PR ET E N N N P P P S (n/a) (n/a) (n/a) M K type Standard specification (n/a) (n/a) (n/a) E N N N P P P S E N N N P P P S E N N N P P P S (n/a) Standard specification (n/a) (n/a) (n/a) (n/a) (n/a) (n/a) P type Q type With extension slot specification (n/a) DV CC PR EP ET (n/a) (n/a) E N N N P P P E N N N P P P S E N N N P P P S E N N N P P P S (n/a) R type S type Standard specification With extension I/O unit E EP EC E DV CC PR E IA E N N N P P P MC DG E N N N P P P MC (n/a) (n/a) (n/a) (n/a) (n/a) E N N N P P P E N N N P P P E N N N P P P E N N N P P P 698

177 RB RB+ RB IN RB RB+ RB OUT RB RB+ RB IN RB RB+ RB OUT M System Configuration -J (Compact) / K (General) / KE (CE type) Connectable Actuators (See P6) Supplied with actuator Cable <Model: CB-RCC-MA > Robot Cable <Model: CB-RCC-MA -RB> Encoder Cable <Model: CB-RCS-PA > Encoder Robot Cable <Model: CB-X-PA > (See P7) Supplied with regenerative unit Regenerative Unit Cable m Regenerative Unit 6 For the required number of regenerative units, see P7. Main Power Supply Single-phase AC00V Single-phase AC00V External equipment Parts feeder Solenoid valve PLC Supplied with controller I/O Flat Cable m (See P76) I/O Power DCV System I/O Emergency stop Enable System Ready Option Teaching pendant <Model: IA-T-X/XD> m Field network DeviceNet CC-Link PROFIBUS-DP Ethernet Option PC software RS version (See P7) <Model: IA-0-X-MW> USB version <Model: IA-0-X-USBMW> Emergency stop switch Supplied with PC software Communication Cable <Model: CB-ST-EMW00-EB> Serial Communications Unit Expansion SIO Board (See P7) for RSC/RS/RS8 -P (Large-capacity type) / Q (Large-capacity global specification) Connectable Actuators (See P6) * Please note that axes and 6 on the -P/Q type cannot operate the models below: LSA series, RCS-RA7/SRA7 series, RCS- N (Mini ROBO) series, NS-SXM /SZM (Incremental specifications only for both) Supplied with actuator Cable <Model: CB-RCC-MA > Robot Cable <Model: CB-RCC-MA -RB> Encoder Cable <Model: CB-RCS-PA > Encoder Robot Cable <Model: CB-X-PA > (See P7) External equipment PLC, etc. Supplied with controller I/O Flat Cable m (See P76) Field network DeviceNet CC-Link PROFIBUS-DP Ethernet Serial Communications Port Standard ch for RS Option ANSI-compatible Teaching pendant (See P7) <Model: SEL-TD> m Emergency stop switch Option PC software RS version (See P7) <Model: IA-0-XA-MW> Supplied with PC software Communication Cable <Model: CB-ST-AMW00-EB> Supplied with regenerative unit Regenerative Unit Cable m Regenerative Unit 6 For the required number of regenerative units, see P7. Control Power Single-phase AC00V Power for driving the motor -phase AC00V (type Q) Main Power Supply Single-phase AC00V/ -phase AC00V * When connecting power, be sure to attach the filter below or equivalent. Noise Filter Recommended Models -phase MC0 (Manufacturer: TDK-Lambda) Single-phase MXB-0 - (Manufacturer: TDK-Lambda) Ring Core Recommended Models ESD-R- (Manufacturer: NEC-TOKIN Clamp Filter Recommended Models ZCAT0-0 for control power (Manufacturer: TDK) RFC-H for motor power (Manufacturer: Kitagawa Kogyo Co., Ltd.) Surge Protector Recommended Models -phase R/A/V-78BXZ- Single-phase R/A/V-78BWZ-A (Manufacturer: Okaya Electric Industries) System I/O Emergency stop Enable System Ready Drive Power Shut-off Circuit (supplied by user) Required only for type Q (Not required for type P) Expansion I/O PIO Board * If an expansion I/O is attached to type P/Q, the controller's chassis must be changed. (See P7, 7) 699

178 RB RB RB RB RB RB+ IN RB RB+ OUT RB RB+ IN RB RB+ OUT System Configuration -R type (High-functionality specification) Option PC software RS version (See P7) <Model: IA-0-X-MW> USB version <Model: IA-0-X-USBMW> Ver or later Emergency stop switch m Option Teaching pendant <Model: IA-T-X/XD> Supplied with PC software Comm. Cable <Model: CB-ST-EMW00-EB> Supplied with actuator Cable <Model: CB-RCC-MA > Robot Cable <Model: CB-RCC-MA -RB> Encoder Cable <Model: CB-RCS-PA > Encoder Robot Cable <Model: CB-X-PA > (See P7) Connectable Actuators (See P6) -S type (High-functionality global specification) Option PC software RS version (See P7) <Model: IA-0-XA-MW> Ver or later Emergency stop switch m Connectable Actuators (See P6) Option ANSI-compatible Teaching pendant (See P7) <Model: SEL-TD> Ver.. or later Supplied with PC software Comm. Cable <Model: CB-ST-AMW00-EB> Supplied with actuator Cable <Model: CB-RCC-MA > Robot Cable <Model: CB-RCC-MA -RB> Encoder Cable <Model: CB-RCS-PA > Encoder Robot Cable <Model: CB-X-PA > (See P7) PLC Supplied with regenerative unit Regenerative Unit Cable m Regenerative Unit For the required number of regenerative units, see P7. PLC Supplied with regenerative unit Regenerative Unit Cable m Regenerative Unit For the required number of regenerative units, see P7. Supplied with controller PIO Cable (See P76) <Model: CB-X-PIO00> Standard m (Supplied with the PIO specification controller) 6 Supplied with controller PIO Cable (See P76) <Model: CB-X-PIO00> Standard m (Supplied with the PIO specification controller) 6 Field network DeviceNet CC-Link PROFIBUS-DP EtherCAT EtherNet/IP m DeviceNet Gateway (Cable is supplied by user) power supply -phase/single-phase AC00V/0V Control power Single-phase AC00V/0V Brake release power supply DCV Power for I/O DCV Field network DeviceNet CC-Link PROFIBUS-DP EtherCAT EtherNet/IP m DeviceNet Gateway (Cable is supplied by user) power supply -phase/single-phase AC00V/0V Control power Single-phase AC00V/0V Brake release power supply DCV Power for I/O DCV Option Expansion I/O unit (See P7) <Model: EIOU-- > Supplied with Expansion I/O unit Communication Cable <Model: CB-RS-IAN00> Drive Power Shut-off Circuit (supplied by user) // /M Option Expansion I/O unit (See P7) <Model: EIOU-- > Supplied with Expansion I/O unit Communication Cable <Model: CB-RS-IAN00> // /M * For the detail about Drive Power Shut-off Circut, please contact IAI. 700 M

179 I/O wiring drawing Input section External input specification (NPN specification) Item Specifications Input voltage DCV ±0% Input current 7mA / circuit ON/OFF voltage ON Voltage Min DC6.0V / OFF Voltage Max DC.0V Isolation method Photocoupler ➀ Non-Voltage Contact (Minimum load around DCV, ma) Externally Connected ➁ Photoelectric Proximity Sensor (NPN Type) Equipment ➂ PLC Transistor Output (Open Collector Type) ➃ PLC Contact Output (Minimum Load approx. DCV, ma) [Input Circuit] External power supply DCV ±0% + P* Input terminal 60Ω.kΩ Internal circuit * P K type IOV Connector VIN J/P/Q type I/O Interface Pin No. Output section External output specification (NPN specification) Item Load Voltage Max. load current Leak current Isolation method Externally Connected Equipment [Output Circuit] Internal circuit D Specifications DCV 00mA / point 00 ma TD608 (or equivalent) Peak (Total Current) Max 0.mA / point Photocoupler ➀ Miniature Relay, ➁ PLC Input Unit 0Ω P* Surge Absorber Load Output terminal N* External power supply DCV ±0% * P N K type IOV Connector VIN IOV Connector 0V J/P/Q type I/O Interface Pin No. I/O Interface Pin No.0 M Input section External input specification (PNP specification) Item Specifications Input voltage DCV ±0% Input current 7mA / circuit ON/OFF voltage ON Voltage Min DC8V / OFF Voltage Max DC9V Isolation method Photocoupler Externally Connected Equipment [Input Circuit] External power supply DCV ±0% Input terminal N* 60Ω.kΩ I/O Signal table () Non-Voltage Contact (Minimum load around DCV, ma) () Photoelectric Proximity Sensor (PNP Type) () PLC Transistor Output (Open Collector Type) () PLC Contact Output (Minimum Load approx. DCV, ma) Standard I/O Signal Table (when N or P is selected) Pin No. Classification Port No. Standard Settings (J/P/Q type: V connection / K type: ) 000 Program start 00 General Purpose Input 00 General Purpose Input 00 General Purpose Input 6 00 General Purpose Input 7 00 General Purpose Input General Purpose Input Program Specification (PRG No. ) Program Specification (PRG No. ) 009 Program Specification (PRG No. ) 00 Program Specification (PRG No. 8) 0 Program Specification (PRG No. 0) 0 Program Specification (PRG No. 0) 0 Program Specification (PRG No. 0) 6 0 General Purpose Input 7 Input 0 General Purpose Input 8 06 General Purpose Input 9 07 General Purpose Input 0 08 General Purpose Input 09 General Purpose Input 00 General Purpose Input 0 General Purpose Input 0 General Purpose Input 0 General Purpose Input 6 0 General Purpose Input 7 0 General Purpose Input 8 06 General Purpose Input 9 07 General Purpose Input 0 08 General Purpose Input 09 General Purpose Input 00 General Purpose Input 0 General Purpose Input 00 Alarm Output 0 Ready Output 6 0 Emergency Stop Output 7 0 General Purpose Output 8 0 General Purpose Output 9 0 General Purpose Output 0 06 General Purpose Output 07 General Purpose Output Output 08 General Purpose Output 09 General Purpose Output 0 General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 (J/P/Q type: 0V connection/k type: ) Internal circuit * N K type IOV Connector 0V J/P/Q type I/O Interface Pin No.0 Item Specifications Load Voltage DCV Max. load current 00mA / point 00mA / 8 ports (Note) TD678 (or equivalent) Leak current Max 0.mA / point Isolation method Photocoupler Externally Connected Equipment () Miniature Relay, () PLC Input Unit (Note) 00mA is the maximum total load current for each set of the eight ports from output port No. 00. (The maximum total current output for output port No. 00+n to No. 00+n+7 must be 00mA, where n = 0 or a multiple of eight.) [Output Circuit] P* Extension I/O Signal Table (when N or P is selected) Output section External input specification (PNP specification) Pin No. Classification Standard Settings (J/P/Q type: V connection / K type: ) General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 Input General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 General Purpose Output General Purpose Output Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 (J/P/Q type: 0V connection/k type: ) Internal circuit 0Ω Surge Absorber Output terminal Load N* + External power supply DCV ±0% * P N K type IOV Connector VIN IOV Connector 0V J/P/Q type I/O Interface Pin No. I/O Interface Pin No.0 Extension I/O Signal Table (when N or P is selected) Pin No. Classification Standard Settings (J/P/Q type: V connection / K type: ) General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 Input General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Output 9 General Purpose Output 0 General Purpose Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 General Purpose Output General Purpose Output General Purpose Output General Purpose Output Output General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 General Purpose Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 0 (J/P/Q type: 0V connection/k type: ) 70

180 Standard Multipoint I/O Signal Table Note: Dedicated to J (Compact) Type Pin No. Classification Port No. Standard Settings External Power Supply (DCV) for Pin No. -/ Program Start 00 General Purpose Input 00 General Purpose Input 00 General Purpose Input 6 00 General Purpose Input 7 00 General Purpose Input General Purpose Input Program Specification (PRG No.) Program Specification (PRG No.) 009 Program Specification (PRG No.) 00 Program Specification (PRG No.8) 0 Program Specification (PRG No.0) Input 0 Program Specification (PRG No.0) 0 Program Specification (PRG No.0) 6 0 General Purpose Input 7 0 General Purpose Input 8 06 General Purpose Input 9 07 General Purpose Input 0 08 General Purpose Input 09 General Purpose Input 00 General Purpose Input 0 General Purpose Input 0 General Purpose Input 0 General Purpose Input 6 External Power Supply (DCV) for Pin No. 7-0/ General Purpose Input 8 0 General Purpose Input 9 06 General Purpose Input 0 07 General Purpose Input 08 General Purpose Input 09 General Purpose Input 00 General Purpose Input 0 General Purpose Input 0 General Purpose Input 6 0 General Purpose Input 7 0 General Purpose Input 8 0 General Purpose Input Input 9 06 General Purpose Input 0 07 General Purpose Input 08 General Purpose Input 09 General Purpose Input 00 General Purpose Input 0 General Purpose Input 0 General Purpose Input 6 0 General Purpose Input 7 0 General Purpose Input 8 0 General Purpose Input 9 06 General Purpose Input 0 07 General Purpose Input 00 Alarm Output 0 Ready Output 0 Emergency Stop Output 0 General Purpose Output 0 General Purpose Output 6 0 General Purpose Output 7 06 General Purpose Output 8 07 General Purpose Output 9 08 General Purpose Output General Purpose Output 6 0 General Purpose Output 6 General Purpose Output Output 6 General Purpose Output 6 General Purpose Output 6 General Purpose Output 66 General Purpose Output 67 6 General Purpose Output 68 7 General Purpose Output 69 8 General Purpose Output 70 9 General Purpose Output 7 0 General Purpose Output 7 General Purpose Output 7 General Purpose Output 7 General Purpose Output 7 External Power Supply (0V) for Pin No. -/ General Purpose Output 77 General Purpose Output 78 6 General Purpose Output 79 7 General Purpose Output 80 8 General Purpose Output 8 9 General Purpose Output 8 0 General Purpose Output 8 General Purpose Output 8 General Purpose Output 8 General Purpose Output 86 General Purpose Output 87 General Purpose Output Output 88 6 General Purpose Output 89 7 General Purpose Output 90 8 General Purpose Output 9 9 General Purpose Output 9 0 General Purpose Output 9 General Purpose Output 9 General Purpose Output 9 General Purpose Output 96 General Purpose Output 97 General Purpose Output 98 6 General Purpose Output 99 7 General Purpose Output 00 External Power Supply (0V) for Pin No. 7-0/ Expansion Multipoint I/O Signal Table Note: Dedicated to J (General Purpose) Type Pin No. Classification Port No. Standard Settings External Power Supply (DCV) for Pin No. -/ -7 General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 External Power Supply (DCV) for Pin No. 7-0/ General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input Input 9 General Purpose Input 0 General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input General Purpose Input 6 General Purpose Input 7 General Purpose Input 8 General Purpose Input 9 General Purpose Input 0 General Purpose Input General Purpose Output General Purpose Output General Purpose Output General Purpose Output General Purpose Output 6 General Purpose Output 7 General Purpose Output 8 General Purpose Output 9 General Purpose Output 60 General Purpose Output 6 General Purpose Output 6 General Purpose Output Output 6 General Purpose Output 6 General Purpose Output 6 General Purpose Output 66 General Purpose Output 67 General Purpose Output 68 General Purpose Output 69 General Purpose Output 70 General Purpose Output 7 General Purpose Output 7 General Purpose Output 7 General Purpose Output 7 General Purpose Output 7 External Power Supply (0V) for Pin No. -/ General Purpose Output 77 General Purpose Output 78 General Purpose Output 79 General Purpose Output 80 General Purpose Output 8 General Purpose Output 8 General Purpose Output 8 General Purpose Output 8 General Purpose Output 8 General Purpose Output 86 General Purpose Output 87 General Purpose Output Output 88 General Purpose Output 89 General Purpose Output 90 General Purpose Output 9 General Purpose Output 9 General Purpose Output 9 General Purpose Output 9 General Purpose Output 9 General Purpose Output 96 General Purpose Output 97 General Purpose Output 98 General Purpose Output 99 General Purpose Output 00 External Power Supply (0V) for Pin No. 7-0/ M

181 M Table of Specifications J (Compact) / K (General Purpose) Item Description Series, Type J (Compact) Type K (General Purpose) Type / KE (CE Compatible) Type Connecting actuator RCS / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS Compatible Output (W) 0 / 0 / 60 / 00 / 0 / 00 / 00 / 00 / 600 / 70 Number of control axes -axis -axis -axis -axis -axis -axis -axis -axis Maximum Connected Axes Output (W) Max. 800 (When power supply voltage is 00V) Max. 00 (When power supply voltage is 00V) Input Voltage 00V Specification: Single-phase AC00 to V 00V Specification: Single-phase AC00 to 0V Power Input ±0% Power Supply Frequency 0Hz/60Hz Power Supply Capacity Max 670VA Max 70VA Max 80VA Max 800 Max 670VA Max. 600 (When power supply voltage is 00V) Max. 800 (When power supply voltage is 00V) Max 0VA Max 0VA Max 0VA Position detection method Incremental Encoder (Serial encoder) Absolute encoder with a rotational data backup (Serial encoder) Speed setting mm/sec and up, the maximum depends on actuator specifications Acceleration setting 0.0G and up, the maximum depends on the actuator Programming language Super SEL language Number of programs 6 Programs Number of program steps 6,000 Steps (total) Number of multi-tasking programs 6 Programs Number of Positions,000 positions Data memory device FLASH ROM+SRAM Battery Backup Data input method Teaching pendant or PC software Standard Input/Output points (total of dedicated inputs + general-purpose inputs) / 6 points (total of dedicated outputs + general-purpose outputs) Expansion Input/Output None 8 points per unit ( more unit can be installed) 8 points per unit ( more units can be installed) Serial communications function Teaching Port (-pin D-sub) Standard Equipment Teaching Pendant + Expansion SIO Board Installable (optional) Other Input/Output System I/O (Emergency Stop Input, Enable Input, System Ready Output) Protection function overcurrent, driver temperature check, Overload check, Encoder open-circuit check soft limit over, system error, battery error, etc. Ambient Operating Temp./Humidity Temperature 0 to 0 C, Humidity 0 to 8% Ambient atmosphere Free from corrosive gases. In particular, there shall be no significant dust. Weight.6kg.kg.0kg 6.0kg 7.0kg Accessory I/O Flat Cable P (Large-Capacity Standard Type) / Q (Large-Capacity Global Type) Item Description Series, Type P (Standard) Type Q (Global) Type Connecting actuator RCS / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS / LSA Compatible Output 0 / 0 / 60 / 00 / 0 / 00 / 00 / 00 / 600 / 70 Number of Controlled Axes -axis -axis -axis -axis -axis 6-axis -axis -axis -axis -axis -axis 6-axis Maximum Connected Axes Output (W) Max 00W (The single-phase AC00V specification is 600W) Control Power Input Single-phase AC70V to ACV Power Input Single-phase/-phase AC80V to ACV Single-phase/-phase AC80V to ACV Power Supply Frequency 0 / 60Hz Insulation Resistance 0MΩ or more (between the power-supply terminal and I/O terminals, and between all external terminals and case, at 00VDC) Withstand Voltage AC00V ( minute) Power Supply Capacity (*) Max 7VA Max 66VA Max 787VA Max 878VA * When the connected axes represent the maximum wattage. * Including the absolute-data backup battery, brake mechanism and expansion I/O box. Max 9VA Max 998VA Max 7VA Max 66VA Max 787VA Max 878VA Max 9VA Max 998VA Position detection method Incremental Encoder (Serial encoder) Absolute encoder with a rotational data backup (Serial encoder) Safety Circuit Configuration Redundancy not supported Double Redundant Enabled Drive Source Breaker System Internal cutoff relay Enable Input B Contact Input (Internal Power Supply Model) B Contact Input (External Power Supply Model, Double Redundant) Speed setting mm/sec and up, the maximum depends on actuator specifications Acceleration/Deceleration Setting 0.0G and up, the maximum depends on the actuator Programming language Super SEL language Number of programs 8 Programs Number of program steps 9,999 Steps (total) Number of multi-tasking programs 6 Programs Number of Positions 0,000 Positions (Total) Data memory device FLASH ROM+SRAM Battery Backup Data input method Teaching pendant or PC software Standard Input/Output 8-point I/O PIO Board (NPN/PNP), 96-point I/O PIO Board (NPN/PNP), board can be installed Expansion Input/Output 8-point I/O PIO Board (NPN/PNP), 96-point I/O PIO Board (NPN/PNP), Up to boards can be installed Serial communications function Teaching Pendant (-pin D-sub) Port + ch RSC Port (9-pin D-sub x ) Protection function overcurrent, overload, motor driver temperature check, overload check encoder open-circuit check, soft limit over, system error, battery error, etc. Ambient Operating Temp. Humidity, Atmosphere 0 to 0 C, 0 to 9% (non-condensing). Free from corrosive gases. In particular, there shall be no significant dust. Weight (*).kg.7kg.kg.0kg Accessory I/O Flat Cable 70

182 Table of Specifications R (High-functionality type) / S (Safety-category compliant, high-functionality type) Item Description Type R Type S Type Applicable motor output Number of control axes Maximum connected axes output [Three-phase specification] 00W max. [Single-phase specification] 600W max. W to 70W to 8 axes Control power-supply input Single-phase AC00/0V ± 0% Power supply frequency Insulation resistance Withstand voltage Power-supply capacity (max.) Position detection method 0/60 Hz [Three-phase specification] 00W max. [Single-phase specification] 600W max. 0 MΩ or more (00-VDC reading between the power-supply terminal and I/O terminal, and between all external terminals and the case) AC00 V ( minute) 09 VA (at the maximum output of connected axes) Only incremental/absolute encoders of serial communication type are supported (for all axes). Safety circuit configuration Redundancy not supported Double Redundant Enabled Drive source breaker system Internal cutoff relay External safety circuit Emergency stop input B Contact Input (Internal Power Supply Model) B Contact Input (External Power Supply Model, Double Redundant) Enable input B Contact Input (Internal Power Supply Model) B Contact Input (External Power Supply Model, Double Redundant) Speed setting mm/sec and up, the maximum depends on the actuator specifications Acceleration/ Deceleration setting 0.0 G and up, the maximum depends on the actuator specifications M Programming language Number of programs Number of program steps Number of multi-tasking programs Number of positions Data memory device Data input method Standard input/output Expansion input/output Serial communications function IA net RC Gateway function Fieldbus communication function Clock function Display unit Regenerative resistance Absolute battery Protection function Super SEL language 8 programs 9,999 steps (total) 6 programs Varies depending on the number of controlled axes. 6 axes: 0,000 positions, 8 axes: 6,000 positions (total) Flash ROM + non-volatile RAM (FRAM): System battery (button battery) not required Teaching pendant or PC boards can be installed, including a PIO board of 8 I/O points (NPN/PNP) and a PIO board of 96 I/O points (NPN/PNP) None (A separate expansion I/O unit can be used to add up to PIO boards.) Teaching port (D-sub pins), -channel RSC ports (D-sub 9 pins) Baud rate:. kbps max. Number of connected units: 6 controllers / Baud rate: Mbps, fixed Channel RS8 Port (D-sub 9 pins) or Channel RSC serial communication can be used. They cannot be used simultaneously. DeviceNet, CC-LINK, Profibus, EtherNet/IP, EtherCAT (One of EtherNet/IP and EtherCAT, and one of DeviceNet, CC-LINK and Profibus, can be supported at the same time.) Retention time: Approx. 0 days Charge time: Approx. 00 hours Optional panel unit (PU-) can be connected. Built-in regenerative resistor of kω/0 W (External regenerative resistor unit(s) can be connected.) AB- (built into the controller) overcurrent, overload, motor driver temperature check, overload check encoder open-circuit check, soft limit over, system error, battery error, etc. Ambient operating temp/humidity 0 to 0 C, 8% RH or less (non-condensing). Free from corrosive gases. In particular, there shall be no significant dust. * Refer to the operation manual or contact us for the power-supply capacity, etc. 70

183 External Dimensions J (Compact) Type / K (General Purpose) Type -axis specification -axis specification /-axis specification Side View ø ø ø J type (Compact Type) (80). /-axis specification /-axis specification 80 9 K type (General Purpose Type) 69. -ø ø Battery Box (Applies to ABS model) () M P (high-capacity standard type) / Q (high-capacity global type) The -P/Q types have different shapes and dimensions in accordance with the controller specifications (encoder type, with/without brake, and with/without I/O expansion). The layouts below are available. Confirm dimensions to match the desired type and number of axes. Caution The specifications of the single phase 00V in Q type is the exterior dimension of P type. [P Type] s Specifications Basic Layout (Incremental Specification) With brake/absolute unit Basic Layout + I/O expansion base With brake/absolute unit + I/O expansion base Encoder Incremental Absolute Incremental Absolute Brake None Yes None Yes I/O Standard only Standard only Standard + Expansion Side View -ø ø ø ø 0 to axis Specifications Single phase Specifications ø 0 0 -ø ø ø 78. to 6 axis Specifications (80) to axis Specifications ø ø ø ø 0 0 Battery Box (Applies to ABS model) () phases Specifications to 6 axis Specifications ø ø ø ø

184 External Dimensional Drawing [Q Type] s Specifications Basic Layout (Incremental Specification) With brake/absolute unit Basic Layout + I/O expansion base With brake/absolute unit + I/O expansion base Encoder Incremental Absolute Incremental Absolute Brake None Yes None Yes I/O Standard only Standard only Standard + Expansion Standard + Expansion Side View -ø ø ø ø 0 to axis Specifications Single phase Specifications ø 0 0 -ø ø ø 78. to 6 axis Specifications (80) M phases Specifications to axis Specifications ø ø ø ø 0 9. Battery Box (Applies to ABS model) () -ø ø ø ø 7 to 6 axis Specifications

185 External Dimensions R (High-functionality type) / S (Safety-category compliant, high-functionality type) Front view Incremental specification Absolute specification -ø ø (6) Side view R (Note ) -phase Singlephase ø ø 7. (6) (80) -phase M S (Note ) ø ø 9 (6). (Common) Singlephase (Note ) If any one of the connected axes is of absolute specification, the external dimensions for absolute specification shall apply

186 Part Names J type (Compact) K type (General) FG Connection Terminal A terminal for connecting to the FG terminal on the enclosure. The PE of the AC input are connected to the enclosure inside the controller. FG Connection Terminal This is the single-pole fuse holder for overcurrent protection in the AC input. Main Power Input Connector This connector is for the AC00/00V single-phase input. Regeneration Resistance Unit Connector This connector is for the regenerative resistance unit (optional/reu-) that is connected when there is insufficient capacity with the built-in regenerative resistor for high-acceleration/high-loads, etc. Cable Connector A connector for the motor power-supply cable of the actuator. 6 Actuator Sensor Input Connector A connector for axis sensors such as LS, CREEP and OT. 7 Absolute-data backup battery This is the encoder backup battery unit when an absolute encoder is used. This battery is not connected for a non-absolute axis. 8 Brake Release Switch (Brake-equipped specification only) Locking toggle switch for releasing the axis brake. Pull the switch forward and then tilt it up or down. Set the switch to the top position (RLS) to forcibly release the brake, or to the bottom position (NOM) to have the brake automatically controlled by the controller. 9 Axis Driver Status LED This LED is for monitoring the operating status of the driver CPU that controls the motor drive. Features the following three LEDs. Name Color Function description ALM Orange Indicates when an error has been detected by the driver. SVON Green Indicates that the servo is ON and the motor is driven. BATT ALM Orange Indicates low absolute battery charge. System I/O Connector A connector for three input/output points including two inputs used to for the controller operation, and one system status output. Name EMG Emergency stop input ON=operation enabled, OFF=emergency stop ENB Safety Gate Input ON=operation enabled, OFF=servo OFF RDY System Ready Relay Output This signal outputs the status of this controller. Cascade connection is supported. Short=ready, Open=not ready I/O V Power Connector (K Type only) 6, 7 This connector is for supplying external I/O power to the insulator when DIs and DOs are installed in the I/O boards. Panel Window This window has a -digit, 7-segment LED and five LED lamps showing the system status. Mode switch This is a locking toggle switch for designating the controller operating mode. Pull the switch forward and then tilt it up or down. The top position indicates the MANU (manual operation) mode, while the bottom position indicates the AUTO (automatic operation) mode. Teaching can only be performed in manual operation, and automatic operation using external I/Os is not possible in the MANU mode. Teaching Connector This is a -pin D-sub connector for connecting a teaching pendant or PC cable to enter programmed positions. 6 Standard I/O Slot (Slot ) A -point input / 6-point output PIO board is installed as standard equipment. 7 Expansion I/O Slots (Slot, Slot, Slot ) Install an expansion I/O board. (Option) M 0 Encoder sensor cable connector -pin D-sub connector for the actuator encoder cable. 708

187 Part Names Type P (Standard -axis) Type Q (Absolute brake unit + expansion base, 6-axis) M FG Connection Terminal A terminal for connecting to the FG terminal on the enclosure. The PE of the AC input are connected to the enclosure inside the controller. External regeneration unit connector A connector for the regenerative resistor that must be connected when the builtin regenerative resistor alone does not offer sufficient capacity in highacceleration/ high-load operation, etc. Whether or not an external regenerative resistor is necessary depends on the conditions of your specific application such as the axis configuration. AC Power Input Connector AC00V -phase input connector. It consists of six terminals including motor power-supply, control power-supply and PE terminals. Standard equipment only includes a terminal block. Due to risk of electrical shock, do not touch this connector while power is supplied. Control Power Monitor LED A green light illuminates while the control power supply is properly generating internal controller power. Enable/Disable Switch for Absolute Battery This switch is for enabling/disabling the encoder backup using the absolute data backup battery. The encoder backup has been disabled prior to shipment. After connecting the encoder/axis-sensor cables, turn on the power, and then set this switch to the top position. 6 Encoder/Axis Sensor Connector A connector for axis sensors such as LS, CREEP and OT. *: LS, CREEP, and OT are options. 7 connector A connector for driving the motor in the actuator. 8 Teaching Pendant Type Selection Switch This switch is for selecting the type of teaching pendant to connect to the teaching connector. Switch between an IAI standard teaching pendant and the ANSI-compatible teaching pendant. Operate the switch on the front face of the board in accordance with the teaching pendant used. 9 Teaching Connector The teaching interface is used for connecting the IAI teaching pendant or the software on a PC to operate and configure the system, etc. 0 System I/O connector A connector for managing the safety operation functions of the controllers. s of the global specification let you configure a safety circuit conforming to safety categories of up to using this connector and an external safety circuit. Panel Window This window consists of a -digit, 7-segment LED and five LED lamps showing the system status. Description of five LEDs Name Status when LED is lit RDY CPU Ready (programs can be run) ALM CPU Power (System Down Level Error) CPU Hardware Problem EMG Emergency stop status, CPU hardware problem, or power system hardware problem PSE Power supply hardware problem CLK System clock problem Mode switch This is a locking toggle switch for designating the controller operating mode. Pull the switch forward and then tilt it up or down. The top position indicates the MANU (manual operation) mode, while the bottom position indicates the AUTO (automatic operation) mode. Teaching can only be performed in manual operation, and automatic operation using external I/Os is not possible in the MANU mode. Standard I/O connector 0-pin flat connector structure, comprised of input / 6 output DIOs. Overview of Standard I/O Interface Specifications Item Details Connector Name I/O Applicable connector 0-Pins, Flat Connector Power Supply Power is supplied through connector pins No. and No. 0. Input Output Connected to General-purpose RSC Port Connector This port is for connecting general-purpose RSC equipment. (-channels are available) Field network board slot A slot that accepts a fieldbus interface module. 6 Expansion I/O Board (optional) Slots that accept optional expansion I/O boards. 7 Brake Power Input Connector A power input connector for driving the actuator brake. DC V must be supplied externally. If this power supply is not provided, the actuator brake cannot be released. Be certain that power is supplied to the brake-equipped axis. Use a shielded cable for the brake power cable, and connect the shielding on the V power supply side. 8 Brake Release Switch ConnectorThis switch is for A connector for the switch that releases the actuator brake externally to the controller. Shorting the COM terminal and BKMRL* terminal of this connector will release the brake. Use this method if you wish to manually operate the actuator after the controller has experienced a power failure or malfunction. 8 Brake Switch points (including general-purpose and dedicated inputs) 6 points (including general-purpose and dedicated inputs) External PLC, sensors, etc. Locking toggle switch for releasing the axis brake. Pull the switch forward and then tilt it up or down. Setting it to the top position (RLS side) forcibly releases the brake, while setting it to the bottom position (NOM side) causes the controller to automatically control the brake. 709

188 Part Names R type (High-functionality) S type (Safety-category compliant, high-functionality) AC Power Input Connector AC00V to 0V single or -phase input connector. It consists of six terminals including motor power-supply, control power-supply and PE terminals. Due to risk of electrical shock, do not touch this connector while power is supplied. External Regeneration Unit Connector This connector is used to connect a regenerative unit. Encoder Connector It is the connector to connect the actuator and encoder cable. Brake Release Switch Connector The signals of such as an external switch mounted externally to the controller are to be connected and the brake of the actuator equipped with a brake can compulsorily be released (Excitation release). Brake Power Input Connector It is a connector to connect the power supply for brake release for the actuator equipped with a brake. Supply V DC, 0.A (per axis). 6 System I/O Connector An I/O connector that controls the safety operations of the controller. With the S type (safety category compliant), a safety circuit complying with up to category can be configured by having this connector and an external safety circuit. 7 Panel Window This shows the controller status with four digits of seven-segment displays and six LED lamps. 8 Panel Unit Connector This is a connector to connect Panel Unit PU- (option) for controller status display and error number display. 9 Mode Switch This switch is used to specify an operation mode of the controller. It is a toggle switch with safety lever lock. Pull it towards you for operation. Switch Position MANU Upper (Manual Mode) AUTO (Automatic Mode) 0 I/O Slots Either of PIO board (option) or RC Gateway fieldbus board (option) is to be inserted. I/O Slots Bottom Side PIO board (Option) is inserted. Teaching tool is activated. Function Teaching tool is inactivated. (Note) For S/SX/SD types, put the enclosed dummy plug to the teaching connector of 9. Unless it is plugged, the emergency stop would not be released. General-purpose RSC Port Connectors This is a port for connections with external RSC devices. General-purpose RSC Port Connectors This is a port for connections with external RSC devices. This port is to be used when using RC Gateway SIO functions (standard). Field Network Board (option) Mounted Position The EtherNet/IP or EtherCAT Field Network Board (option) is to be mounted. Field Network Board (option) Mounted Position The CC-Link, DeviceNet or PROFIBUS-DP Field Network Board (option) is to be mounted. 6 IA Net Connector In the case that the IA net (option) function is to be added, the dedicated connector is attached. This connector is to be used for connections of IA-Net and expansion I/O units. 7 Teaching Connector This is a connector to connect a teaching pendant or PC (PC software) for teaching tools to have operation and setting of actuators. 8 Brake Release Switch This is a switch to compulsorily release (excitation release) the brake of the actuator equipped with a brake. The brake can be compulsorily released by putting the switch on RLS side when a manual operation of an actuator is required for the system startup, teaching or in an error occurrence. Unless otherwise necessary, set the switch on NOM side. Switch Position Function RLS (Brake Release) NOM (Automatic Mode) Left Side Right Side Warning After having a brake compulsory release, make sure to set back on NOM (Automatic Mode) so the automatic control of the brake by the controller can be executed. It is extremely risky to leave it on RLS (brake release) status because the brake would not work when in emergency stop or the servo is turned OFF. For a vertically mounted actuator, slider or rod may drop and cause a critical accident. 9 Cable Connector To release the brake compulsorily It is the connector to connect the actuator motor cable. Brake is controlled automatically by the controller. ON : Brake release OFF : Brake is activated 0 FG (Frame Ground) Connection Terminal This connection terminal is used to connect the FG point on the enclosure to ground. Make sure to ground properly for noise proof reasons. 70 M

189 Options Regenerative Resistance Unit Model Features RESU- (Standars specification, second or subsequent unit) RESUD- (DIN rail mount specification, second or subsequent unit) This unit converts regenerative current that generates when the motor decelerates, to heat. Check the total wattage of the actuators to be operated and provide a regenerative resistance unit or units if required. * Please see M section page 66 for specification information and drawings. Installation Standards Determined by the total motor capacity øof vertical axes connected. Horizontal Application Number of connecting units P/Q Type J Type K Type 0 pc ~ 00W ~ 00W ~ 800W pc ~ 600W ~ 800W ~ 00W pc ~ 00W ~ 600W 9 86 pc ~ 800W pc ~ 00W Vertical Application Number of connecting units P/Q Type J Type K Type pc ~ 00W ~ 00W ~ 00W pc ~ 600W ~ 600W ~ 800W pc ~ 000W ~ 800W ~ 00W pc ~ 00W When pc ~ 000W pc ~ 00W 7 exceeding 00W, please contact IAI. M Absolute Data Retention Battery (For -J/K/KE/KT/KET) Model Features Packaging Expansion PIO Board Details IA-XAB-BT A battery that retains the data stored in an absolute type controller. Replace when the controller battery alarm illuminates. Unit (One battery is required for each axis. Specify a quantity for the number of axes used.) Absolute Data Retention Battery (For -P/Q) Model Features AB- Absolute data retention battery for operating actuators under absolute specification. An optional board for adding I/O (input/output) points. With the general-purpose and large-capacity types, up to three expansion PIO boards can be installed in the expansion slots. (With the compact types, only one expansion PIO board can be installed in the expansion slot, provided that the controller is of or -axis specification.) Expansion SIO Board (General-Purpose Type) Model/Specifications Details Joint cable side AWG x 7 core ➀ Model: CB-ST-J00 00mm Cable connection side Wiring Diagram XMD-0 XMA-090 Wire Color Signal No. No. Signal Color Wire Orange/Black dot SD SD Orange/Black dot Light Gray/Black dot RD RD Orange/Black dot Light Gray/Red dot RS 7 RS Light Gray/Black dot White/Black dot CS 8 CS Light Gray/Red dot White/Black dot ER ER White/Black dot White/Red dot DR 6 6 DR White/Red dot Yellow/Black dot SG 7 SG Yellow/Black dot * Please provide your own cable to connect to the external equipment IA-0-X-MW-A (for RSC connection) (Board + joint cables (), included) IA-0-X-MW-B (for RS connection) (Board + joint cables (), included) IA-0-X-MW-C (for RS8 connection) (Board + joint cables (), included) Board for serial communications with external equipment. This board has two port channels and implements three communication modes using the supplied joint cable (s). AWG x 7 core Joint cable ➁ Model: CB-ST-J00 m (,000mm) side 0mm Orange/Black dot Orange/Red dot White/Black dot Light Gray/Black dot No connector Light Gray/Red dot Wiring Diagram XMD-0 Wire Color Signal No Orange/Black dot RD+ Orange/Red dot RD- White/Black dot TRM Light Gray/Black dot SD- Light Gray/Red dot SD+ * Use by connecting to a terminal block, etc. AWG x7 core Field Network Connection Board Model Details DV/CC/PR/EP/EC (* Specify in the controller model description) By selecting a field network option in the controller I/O type, the corresponding field network board will be installed to the I/O slot. < Network Correspondence Table > DeviceNet CC-Link PROFIBUS-DP Ethernet EtherNet/IP EtherCAT -J/K -P/Q -R/S 7

190 RC Gateway function (DeviceNet specification/ SIO specification) Features One of the following two methods can be selected for communication among the controllers. Type Comm. method Comm. speed How to use DeviceNet specification SIO specification ROBO Cylinder Gateway SIO Connection Unit Model Up to 6 actuator axes can be operated with a controller program, with the controller acting as the master and each ROBO Cylinder controller as a slave. DeviceNet RSC 00 kbps 0. kbps The DeviceNet Gateway master board must be installed in an I/O slot of the controller. Specify DG as the I/O slot type for the controller. Use the -channel communication port (standard equipment) of the controller. To connect slave controllers, the dedicated -channel connection port cable is needed. (Model: CB-RS-SIO00, length 0.m) * Contact us for the wiring and setting methods for the RC Gateway function. ROBO Cylinder Gateway (DeviceNet specification) Connection Board Model DG (* Specify in the controller model description) Details (*Dedicated to -R/S) The network board for using the ROBO Cylinder gateway function with the DeviceNet specification -R/S controllers. RCB-CV-GW (RS conversion unit) CB-RCB-SIO00 (Communication cable) CB-RCB-CTL ( link cable) Details The connection unit to be required for using the ROBO Cylinder gateway function with the -P/Q/R/S controllers. An RS conversion unit, and a communication cable are required for each controller. The required number of controller link cable corresponds to the number of ROBO Cylinder controller to be connected. (See the diagram to the right) IA Net Function Able to operate axes connected to M, and/or // controllers from an controller using its program. DeviceNet wirings M RS conversion unit [RCB-CV-GW] Communication cable (m) [CB-RCB-SIO00] 0.m link cable [CB-RCB-CTL00] Actuator [RCP/RCP] Each controller link cable comes with an e-con connector, a junction, and a termination resistor. e-con connector (Manufacturer: AMP -76-) Junction (Manufacturer: AMP -77-) Actuator [RCA/RCA] Up to 6 axes can be operated. 0.m 0.m Actuator [RCS/RCS Note Only IAI s controllers can be connected to DeviceNet wirings. Sensors, etc., cannot be connected Termination resistor Power I/O cable [CB--PWBIO ] Standard length m/m/m Features controllers can be interconnected via network to perform I/O communication between the controllers. I/Os can be added using the expansion I/O unit. Connection Board for IA Net Expansion I/O unit Model IA(* Specify in the controller model description) The expansion I/O unit can be accessed from any of the controllers Details connected to the IA net. (*Dedicated to -R/S) The network board for using the IA net or expansion I/O unit. Expansion I/O Unit Features Model ➀ Up to four expansion I/O boards can be added. (For the I/Os, up to 9 input points/9 output points can be added.) ➁ The expansion I/O unit can be shared by multiple controllers(*). Note: Input signals from one expansion I/O board can be shared by multiple controllers, but output signals from one expansion I/O board should be used by only one controller. (*Dedicated to -R/S) * If the expansion I/O unit is used, select IA net-compatible when specifying the controller model. EIOU--(Slot code) (Slot code) (Slot code) (Slot code) * Enter in each slot code field the code of the expansion I/Oboard to be added to the expansion I/O unit. <Expansion I/O board codes> E Not used N Input /Output 6 (NPN) P Input /Output 6 (PNP) N Input 6/Output (NPN) P Input 6/Output (PNP) N Input 8/Output 8 (NPN) P Input 8/Output 8 (PNP) Accessory Cable dedicated for IA net m (Model: CB-RS-IAN00) Terminating resistor Terminating resist Dedicated IA net cable Standard m (Model: CB-RS-IAN00) External dimensional drawing ø PWR ALM PSE C-ERR V LINK 0V IA-NET PNL ADRS SW 0 C 8 RDY RDY RDY RDY I/O I/O I/O I/O M

191 Options ANSI standard / CE mark compatible teaching pendant (dedicated to general purpose type) Model Features SEL-T SEL-TD ANSI compliant SEL-TD-6H Safety-category compliant, for // SEL-TD- Safety-category compliant, for Splash-proof type that corresponds to protection level IP. Improved operationability with separate keys for different functions. In addition, SEL-TD / SEL-TG has a -position enable switch and corresponds to ANSI standard. Specifications Item Specifications Ambient Operating Temp./Humidity Temperature: 0 to 0ºC Humidity: 0 to 8%RH or lower (non-condensing) Protection mechanism IP (Cable connector excluded) Weight 00g or lower (Cable connector excluded) Cable Length m Indication characters x 8 lines LCD display Safety Rating CE mark, ANSI standard (*) (*) only SEL-TD / SEL-TG corresponds to ANSI standard. Dimensions M Teaching pendant - controller correspondence table Program s // -J -K -P -Q -KT -KE SEL-T SEL-TD Splash-proof type ANSI compliant splash-proof type (Note ) (Note ) * corresponds to safety category B to. does not correspond to safety category, but connection is available. (Note ) To connect to //, a conversion cable is necessary. (Note ) To connect SEL-TG to the -J/JX controller, DCV needs to be applied to TP adaptor. SEL-TD-6H/SEL-TD- Safety-category compliant type (Note ) Wiring drawing <SEL-TD> m m Details * SEL-TD can be directly connected to the controller. SEL-TG connects to the controller via the TP adapter. Function of the teaching pendant bodies are the same. Conversion cable CB-SEL-SJS00 (Option) 0.m 0.m cable for / / CB-SEL6H-LBS00 The structures of following model options are as follows. <Model: SEL-TD-6H> Teaching pendant <Model: SEL-TD-JS> TP adapter for SEL <Model: IA-LB-TGS> connection cable <Model: CB-SEL6H-LBS00> Dummy plug <Model: DP-S> <Model: SEL-TD-> Teaching pendant <Model: SEL-TD-JS> TP adapter for SEL <Model: IA-LB-TGS> connection cable <Model: CB-SELH-LBS00> Dummy plug <Model: DP-S> <SEL-TD-6H> <SEL-TD-> 0.m cable for controller CB-SEL-LBS00 TP adapter for SEL-TG IA-LB-TGS Conversion cable CB-SEL-SJS00 (Accessory) DCV -J only Safety Circuit SEL-TD-JS 7 * The SEL-TG teaching pendant body is CE supported, however, IA-LB-TG is not.

192 PC software (Windows dedicated) Model 6 9 IA-0-X-MW (DOS/V ver.) Emergency stop box m Note * Versions older than.0.0 cannot be used with -P/Q. * Versions older than.0.0 cannot be used with SCARA. * Please use IA-0-XA-MW for safety category -compliant controller. * Cannot be used with -Q/QX types. Features A startup support software program offering program/position input function, test operation function, monitoring function, and more. The functions needed for debugging have been enhanced to help reduce the startup time. Details Software (CD-ROM) (Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7) PC connecting cable m + Emergency stop box (Model: CB-ST-EMW00-EB) PC connecting cable single unit (Model: CB-ST-EMW00) Note When ordering a separate replacement PC cable, the model number for cable only is CB-ST-EMW00, and for cable with emergency stop box is CB-ST-EMW00-EB. 8.. D-Sub/9-pin socket Connector hood FG Brown Brown/Black Orange Orange/Black ELP-0V Red Black Wiring Diagram (Shield) D-Sub/-pin plug Connector hood FG Brown Brown/Black Orange Orange/Black Red Red/Black Shield FG M Safety Category -compatible PC Software Model Features Details (Accessory) IA-0-XA-MW (DOS/V version) A startup support software program offering program/position input function, test operation function, monitoring function, and more. The functions needed for debugging have been enhanced to help reduce the startup time. PC connecting cable is compatible to safety category by duplicating the emergency stop circuits. Software (CD-ROM) (Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7) PC connecting cable m + Emergency stop box (Model: CB-ST-AMW00-EB) * The software is dedicated to the -KT/KET/Q/QX. It cannot be used with any other controllers. Note: When ordering a separate replacement PC cable, the model number for cable only is CB-ST-AMW00, and for cable with emergency stop box is CB-ST-AMW00-EB. Dimensions Emergency stop box PC connecting cable (Model: CB-ST-AMW00) EMG SW Box side PC side m Teaching pendant Relay box side No Signal RXD TXD SG DTR DSR RTS CTS Shield Color Wire Red/Blue Gray/Pink 0. sq Purple/Black (short circuit) 0. sq (short circuit) 0. sq Connect to case Connect shielding to pin and case short circuit Connect shielding to case Yellow Green Brown White Yellow Green Brown White Shield Red/Blue Gray/Pink Purple Black short circuit short circuit short circuit Shield Red/Blue Gray/Pink Purple Black Yellow Green Brown White No. Signal Color Wire FG (Shield) TXD Red/Blue 0. sq RXD Gray/Pink RTS (short 0. sq CTS circuit) 7 SG Black/Purple 0. sq 6 DSR (short 0. sq 0 DTR circuit) 7 SW. C(ENB) (short 0. sq 9 SW. C(ENB) circuit) SW. C(ENB) (short 0. sq SW. C(ENB) circuit) SW. (EMG) Yellow SW. (EMG) Green 0. sq 6 SW. (EMG) Brown SW. (EMG) White Shield Connect to case Junction shell Soldered inside short circuit No. Signal Color SW. (EMG) White SW. (EMG) Brown SW. (EMG) Green SW. (EMG) Yellow Wire 0. sq Yellow Green Brown White USB-compatible PC software Model IA-0-X-USBMW Features Software available by PC USB port by connecting a USB conversion adaptor to a RSC cable. Details Software (CD-ROM) (Supported Windows OS: 000 SP or later / XP SP or later / Vista / 7) PC connecting cable m + Emergency stop box + USB conversion adaptor + USB cable m USB Conversion Adapter IA CV USB m m PC Software (CD) USB cable CB-SEL-USB00 RSC Cable CB-ST-EMW00-EB 7

193 Spare Parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. cable/ robot cable Model CB-RCC-MA / CB-RCC-MA -RB * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m (6) (0) L (0) (0) () (Front view) side (ø9) () (8) (Front view) Actuator side Wire 0.7sq Signal No. PE U V W No. Signal U V W PE Wire 0.7sq (crimped) Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track M Encoder cable/encoder robot cable (for -J/K) Model CB-RCBC-PA / CB-RCBC-PA -RB * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m () (6) (7) (Front view) side (ø8) Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track L (6) () (),0 9,8 (Front view) Actuator side () Wire Signal No. A/U A/U B/V B/V Z/W Z/W 6 0.sq (crimped) SD SD 7 8 BAT+ 9 BAT 0 VCC GND BK BK+ The shield is connected to the hood by a clamp. Ground wire and shield braiding No Signal A/U A/U B/V B/V Z/W Z/W FG SD SD BAT+ BAT VCC GND BK BK+ Wire 0.sq (crimped) Encoder cable/encoder robot cable (for -P/Q) Model CB-RCS-PA / CB-X-PA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m (7) () 6 (Front view) () L () side (ø0) Actuator side Min. bend radius r = 0mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track () 0 () 9 8 (Front view) Signal Color Wire A Pink A Purple B White B Blue/red Z Orange/White Z Green/White AWG6 LS+ Brown/White (crimped) FG Ground SD Blue SD Orange BAT+ Black BAT Yellow VCC Green GND Brown LS- Gray/White BK Gray BK+ Red Wire Color Signal No. 0 EV Gray/White 0V Brown/White LS 6 CREEP OT RSV 9 AWG6 8 (soldered) 9 Pink A+ Purple A White B+ Blue/red B Orange/White Z+ Green/White Z 6 Blue SRD+ 7 Orange SRD- 8 Black BAT+ Yellow BAT Green VCC 6 Brown GND 7 Gray BKR- 0 Red BKR+ The shield is connected to the hood by a clamp. Ground wire and shield braiding No

194 Spare Parts Rotary Dedicated Encoder Cable / Encoder Robot Cable Model CB-RCS-PLA / CB-X-PLA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8m () () L () (ø0) LS side (8) 6 0 (8) Wire Color Signal No. 0 White/Orange EV White/Green 0V Brown/Blue LS 6 Brown/Yellow CREEP Brown/Red OT Brown/Black RSV No. 6 Signal EV 0V LS CREEP OT RSV Color Wire White/Blue White/Yellow White/Red AWG6 White/Black (crimped) White/Purple White/Gray (7) 6 (Front view) side Min. bend radius r = 0 mm or larger (when movable type is used) * Only the robot cable is to be used in a cable track Actuator side 9 8 () () White/Blue AWG6 White/Yellow (soldered) White/Red White/Black White/Purple White/Gray Orange Green Purple Gray Red A+ A B+ B Z+ Z SRD+ SRD BAT+ BAT VCC No Signal A A B B Z Z FG SD SD Color Wire White/Blue White/Yellow White/Red White/Black AWG6 White/Purple (crimped) White/Gray Ground Orange Green Black GND 7 BAT+ Purple Blue BKR 0 BAT Gray Yellow BKR+ The shield is connected to the hood by a clamp. Ground wire and shield braiding 6 7 VCC GND BK Red Black Blue (The wire color "White/Blue" indicates the colors of the band and insulation.) 8 BK+ Yellow M Encoder cable (when using a -J/K type a homing sensor is used) Model CB-RCBC-PLA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m 6 side (ø8) *This cable is a standard type. Actuator side () () MC./6-ST-. Wire Color Signal No. EV 6 Black 0V AWG Red LS (screwed CREEP on) OT RSV 7HE-0-C (DA) Wire Color Signal No. White/Blue A+ White/Yellow A White/Red B+ White/Black B White/Purple Z+ White/Gray Z 6 AWG6 Orange SRD+ 7 (crimped) Green SRD 8 Purple BAT+ 9 Gray BAT 0 Red VCC Black GND Blue BKR Yellow BKR+ The shield is connected to the hood by a clamp. White/Green White/Orange Brown/Blue Brown/Yellow Brown/Red Brown/Black Ground wire and shield braiding XMP-8V No. Signal Color Wire A White/Blue A White/Yellow B White/Red B White/Black Z White/Purple 6 Z White/Gray 7 LS+ White/Orange 8 AWG6 9 FG Ground (crimped) 0 SD Orange SD Green BAT+ Purple BAT Gray VCC Red GND Black 6 LS White/Green 7 BK Blue 8 BK+ Yellow I/O flat cable (for -J/K/P/Q) Model CB-X-PIO 0 9 L Flat cable (0-core) No connector * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Number Color Wire Number Color Wire Number Color Brown 8 Gray Green Red Orange Yellow Green Blue Purple Gray White Black Brown- Red Orange Yellow Green Blue Purple Flat cable crimped White Black Brown- Red Orange Yellow Green Blue Purple Gray White Black Brown- Red Orange Yellow Flat cable crimped Blue Purple Gray White Black Brown- Red Orange Yellow Green Blue Purple Gray White Black Wire Flat cable crimped 76

195 Model / DCV Power supply for ROBO Cylinder M Features Maximum Momentary Output of 7A Up to 7A of maximum momentary output current is possible at 8.A rated output current. This lets you select an appropriate power-supply capacity based on the total rated current of actuators, without having to consider the maximum momentary current that may be generated by the actuators during acceleration. Because you no longer need to use an expensive highcapacity power supply, cost can be reduced substantially. * The maximum momentary output current must be considered if the actuator operating conditions are tight. See the Selection Guide at right for details. Parallel Operation Enabled Up to units can be operated in parallel. Therefore, even if the power capacity is insufficient with one unit, this can be easily remedied by adding one unit, without the need to replace the unit with a larger capacity power supply. Load Detection Function Load percentage can be detected by the RDY (Ready) display lamp and the RDY output signal. Table. Rated Current and Allowable Maximum Momentary Electric Current No. of Connected units Rated current [A] Max. momentary current [A] Note: For the second and subsequent units, add a 0% safety buffer (loss). Model/Standard Price Power supply Power supply Power supply RDY display RDY output Model Standard Price 77 Load Selection target Number of actuators connected When selecting a power-supply unit for operating multiple actuators, normally a unit with a capacity equal to or exceeding the total maximum current of all actuators is chosen. However, actuators generate their maximum current only momentarily during acceleration, etc., and in many cases the power-supply is over-specified. On the other hand, the power supply provides the following advantages:. Supporting maximum momentary current of up to twice the rated current.. If you need more power-supply capacity, you can simply add an extra unit or units. The above features let you select an optimal power-supply capacity. Number of Power-Supply Units Basically, how many power-supply units you need should be determined in such a way that the total rated current of all actuators will remain within the rated current of the. If the load condition is tight, however, the power-supply capacity may still become inadequate. In such cases, add an extra power supply or supplies. Severe load conditions refers to: Large load (load is approaching the rated load capacity) High acceleration/deceleration High speed Simultaneous operation of multiple axes Use of the RCS-SRA7 series (Structurally these actuators allow maximum current to flow for a longer period). Table. Actuator vs. Power Supply Current type Actuator type type Power supply current [A} SA, SA, RA Rated. (0W) type Maximum. RCA SA6, RA Rated. (0W) type Maximum.0 RA Rated.7 (0W) type Maximum. SAA Rated.0 (W) type Maximum 6. SA Rated. (0W) type Maximum. SA, TA6 Rated. (0W) type Maximum. RNN, RPN, GSN, GDN, SDN Rated. RCA TCAN, TWAN, TFAN, TAC, TAR (0W) type Maximum. SA6, TA7 Rated. (0W) type Maximum. RA, TA Rated.7 (0W) type Maximum. RNN, RPN, GSN, GDN, SDN Rated.7 TCAN, TWAN, TFAN (0W) type Maximum. RAL, SAL Rated 0.8 (W) type Maximum.6 RCL RAL, SAL Rated.0 (W) type Maximum 6. RAL, SAL Rated. (0W) type Maximum 6. 0P Rated 0. Maximum.0 8P Rated Maximum 0..0 RCP Rated. P RCP Maximum.0 P Rated Maximum..0 6P Rated. Maximum.0 P, 6P Rated. High-output setting disabled RCP P, 6P Rated High-output setting enabled. Maximum Maximum. -CFA RCP 60P, 86P Maximum 6.0 RCD RCD Rated 0.7 (.W) Maximum. SA6, SA7, RA6, RA7 Maximum. SA, SA7, RA, RA6 Rated. High-output setting disabled Maximum. SA, SA7, RA, RA6 High-output setting enabled Maximum.

196 Names Ready indicating light (RDY) Level setting dial for over load detection (LF.DET) * Appropriate value settled at shipment. Operation not needed. Ready output signal (RDYOUT) +V Output terminal (+V) * connected internally V Output terminal (0V) *67 connected internally. 8 Frame ground terminal (FG) Terminal for ground. 9 AC input terminal (AC (N)) 0 AC input terminal (AC00V) (AC00 (L)) AC input terminal (AC00V) (AC00 (L)) * AC00V input type should be connected to 9 and 0 interval, AC00V to9 anda. Unavailable for combined use. Specification List Item Rated DC output voltage V±0% (varied depending on the load) Rated DC output current 8.A Instantaneous max. output current 7A Rated output capacity 0W Efficiency 80% 80% Rated input (frequency) AC00~V (0/60Hz) AC00~0V (0/60Hz) Input voltage range AC8~V AC70~0V Input current.0a (00VAC full load).80a (00VAC full load) Output holding time 0 [msec] (Ambient temperature ºC under rated input/output condition) Protection circuit Protection from overcurrent, overvoltage, overheating and overload. Parallel operation Possible Operating temperature 0~0ºC (derated) Operating humidity 0~8%RH (non-condensing) Cooling method Natural, air cooling Voltage resistance Between input/output.0kva per minute (0mA) Between cabinets.0kva per minute (0mA) Insulation resistance Output - 00MΩ or more between cabinets at 00 VDC Circuit method Separate excitation type flyback converter Weight Aprox. 0.9kg M Outer dimensions DCV Power Supply. 6. ø (for mounting) M. screw terminal 0 8 8± R. (for mounting) 0. Caution: The is not a constant voltage power supply. The output voltage changes with the load (voltage decreases according to the load percentage). Therefore, do not connect any equipment other than ROBO Cylinder actuators. Up to units can be operated in parallel. Do not use any power supplies other than the at the same time for parallel operation. Note that serial operations are not possible. As a rule, when operating multiple units in a row, allow at least 0mm space between each power supply. This is a natural air-cooled power supply. Please give due consideration to natural convection so that heat does not build up around the power supply. The case of this product also has heat a dissipating effect. Do not touch the case after installation as it may result in severe burns. 78