Part conveyance C. Press fit A. Operation. Part conveyance A. Operation PLC. Part Conveyance A. ROBONET communications connection.

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1 Slider Controller /Flat Model :RGW- /R/R/RABU/REXT For RCA/RCA/RCL/RCP/RCP Network Controller is a new type of control that freely operates Cylinders via a field network. They have less wiring and are more compact than past controllers, and by DIN rail mounting make it possible to vastly reduce wiring and installation labor. Features Rotary Part conveyance C Press fit B Ejection Servo Press fit A Part conveyance A Part conveyance B Part conveyance C PLC Press fit B Field network DeviceNet / CC-Link / ProfiBus Part conveyance A Part conveyance B Press fit A Operation Ejection Operation Operation Reduced Wiring By connecting each line of the I/O cables to lines wired to the PLC terminals with the field network, wiring processing is completed with one dedicated cable. Also, since the can be coupled by just connecting with the connection board, the controller wiring work is greatly simplified. PLC Data like movement zone/speed/acceleration etc. Part Conveyance A Part Conveyancet B Press fit A Part Conveyance C Field network DeviceNet CC-Link ProfiBus Press fit B Ejection communications connection board (see P) Power supply connection board (see P) (Connected part in s) Terminal resistor board (see P) 0

2 Controller Slider The robot can be moved by directly specifying numeric values for the move position/velocity/acceleration and other data. Besides the conventional method of moving the robot to pre-taught positions it is also possible to operate the robot by sending information as a string of numeric data that contains position, velocity, acceleration, etc. values. This is effective for cases such as when the move position changes with each piece or when one wants to move the robot to an arbitrary position. Ultra-compact Each is an ultra-compact size of mm wide by 00mm high x 7mm deep. Also, since there is no base and the main is coupled with connectors, the controller takes up little space for installation even if there are many s. Movement by specifying positions Movement by specifying direct values Specifying speed/acceleration Current value output controller * operates through a field network, and the standard controller operates with PIO. controller (/) (Not for PIO) (Connectable with serial communication) /Flat Rotary Servo Communication Up to controllers can be connected to one communication (Gateway R ). R s (controllers for RCA) and R s (controllers for RCP) can also be used together. Can operate with a maximum of axes. Up to s can be connected can be multiplexed. can be multiplexed using an optional extension, so many axes can be connected even if there isn t much horizontal space. Also, non- controllers (, -CF, ) can be connected to a Gateway using the same extension. Field Network PLC Extension [REXT] Unit link cable (m) [CB-REXT-SIO00] Extension [REXT] Simple absolute, when home return is not required The simple absolute R allows operation for incremental specification axes without home return. Users can back up actuator encoder data even if the power is shut off, by installing a simple absolute R to a R (controller for RCA) or R (controller for RCP). R R Simple absolute R 7 Mounting the DIN rail The controller is installed with DIN rails, so it can be fastened and removed with one touch. 0

3 Slider Controller System configuration /Flat Rotary Servo Teaching Box (Optional) <Model: CON-PT/CON-T/RCM-E/RCM-P> (See P) PC Software (optional) RS version <Model: RCM-0-MW> USB version <Model: RCM-0-USB> (See P) Gateway Parameter- Setting Tool (included) DCV Power Supply <Model: PS- (00V input)> <Model: PS- (00V input)> (See P7) PLC Field Network DeviceNet CC-Link ProfiBus Motor-encoder Cable (supplied with the actuator) <Model: CB-ACS-MPA > (See P) Encoder Cable (supplied with the actuator) <Model: CB-RCP-PB > (See P) Motor Cable (supplied with the actuator) <Model: CB-RCP-MA > (see P) Encoder Cable (supplied with the actuator) <Model: CB-ACS-PA > (see P) * When using the actuator with the simple absolute specification, install the simple absolute R, then connect the encoder cable to the simple absolute R. Actuator: RCP series Motor-encoder Cable (supplied with the actuator) <Model: CB-PCS-MPA > (See P) Actuator: RCA series Actuator: RCP series Motor Cable (supplied with the actuator) <Model: CB-ACS-MA > (see P) Actuator: RCA series Extension Unit If multiple extension s (optional) are linked together they can reduce the lateral width needed. It is also possible to connect individual controllers, such as, etc. via the. [Unit Multiplex Set] Model: REXT-SIO [Controller Connecting Set] Model: REXT-CTL (Set Contents) Extension Unit (Model: REXT) pc Unit Link Cable pc (Model: CB-REXT-SIO00) PLC (Set Contents) Extension Unit (Model: REXT) pc Controller Connection Cable pc (Model: CB-REXT-CTL00) PLC Field Network Field Network Extension [REXT] Extension [REXT] Unit Link cable (m) [CB-REXT-SIO00] R e-con Controller link cable (0.m) [CB-RCB-CTL00] e-con EMG± Controller connection cable (m) (Included) [CB-REXT-CTL00] Extension [REXT] EMG± EMG± 0

4 Configuration Required s are ordered individually, and assembled as you see fit. If actuators are added later, they can be easily added simply by adding a R/R. Gateway R R R Simple absolute R Ordering Method/Precautions Extension Unit Name Gateway R R R Simple absolute R Extension Controller This is for connecting to a field network. Users can select from types: DeviceNet, CC-Link, ProfiBus, and SIO. *This is required for using. This controller operates the RCA actuator. (One is necessary per actuator axis.) The incremental specification is the standard, but the simple absolute specification can also be used if the simple absolute R is used with it. This controller operates the RCP actuator. (One is necessary per actuator axis.) The incremental specification is the standard, but the simple absolute specification can also be used if the simple absolute R is used with it. This is the back-up battery that retains actuator encoder data when the power is turned off. This makes it possible to reverse connections, connect controllers (/-CF) to, and conduct operation from a network. See Page Required s are ordered individually and assembled by the customer. Consequently, they can be added to or changed later. P08 P09 P0 P0 P P Slider /Flat Rotary Servo <Ordering example> The following actuator axes can be operated through CC-Link. The models that would be best operated with the absolute specification are as follows. Actuator RCA-RAD onward Actuator RCP-RAC onward CC-Link Gateway RGW-CC Controller for actuator R-0 Simple absolute RABU For actuator Controller R-8SP Simple absolute RABU Gateway Parameter Setting Tool PC Compatible Software Teaching Pendant A gateway parameter setting tool is necessary to set up the network when is connected to a field network. This tool can be acquired at no cost. () Download from the IAI website, or () Acquire PC compatible software (included on CD). A cable (cable included with PC software, model: CB-RCA-SIO00+RCB-CV-MW) is required to connect the PC to the controller when using the gateway parameter setting tool. If you do not have the PC software, please purchase a cable. Compatible PC software or a teaching pendant is required to enter position data, etc. to a controller. compatible PC software (Model: RCM-0- MW/USB) version is Ver or later. Teaching pendant compatible models and versions include: RCM-T and Ver..0 and later, model: RCM-E/RCM-P and Ver..08 and later. Model: CON-T is compatible with all versions from the earliest version. Consult with our Sales Division if the version your equipment has needs to be updated. 0

5 Slider Controller Operation Mode operates upon receiving commands from the PLC via the field network. The following four operating modes are available. Select the most suitable mode for the operation or the control method. Name Positioner mode (,) In this mode, operation is done by specifying position numbers, whose position data, speed, and acceleration have been entered to the position table in advance. A maximum of 78 position points can be saved. Simple direct input mode The position data is specified directly using a numerical value; the other settings, such as speed, acceleration, deceleration, positioning band, and pushing current limit are specified using a predefined position number. A maximum of 78 position points can be saved. /Flat Direct input mode The position data, speed, acceleration, deceleration, positioning band, and pushing current limit are all specified directly using numerical values. Since the settings are specified by their numerical values, there is no limit to the number of points that can be set. Rotary Solenoid valve mode (,) The number of positioning points is limited for a simpler operation. You can operate it using the same controls as a solenoid valve, just by sending a command with the target position number (start signal not required). Servo List of functions for operation modes Item Operation mode Positioner Mode Simple immediate data Mode Direct number designation mode Positioner Mode Solenoid Valve Mode Solenoid Valve Mode Each axis field (both input and output) words 8 words words words Fixed field (both input and output) 8 words (Command field usable) 8 words (Command field not usable) 8 words (Command field usable) 8 words (Command field usable) Number of set positions 78 positions/axis 78 positions/axis 78 positions/axis 7 positions/axis positions/axis Position No. designation operation Position data direct designation Direct designation of speed and acceleration/deceleration speed Direct designation of positioning band Pushing operation Completed position No. monitor Zone output monitor Position zone output monitor Teaching function Jog operation Incremental operation Status signal monitor (*) Current position monitor (*) Alarm code monitor (*) Speed and current monitor (*) Each axis monitoring function in in AUTO mode (*) Hand shake Command Position table Reading/writing of data Reading the current position Broadcast Max. value for position data designation mm (When command is used) mm mm mm (When command is used) mm (When command is used) Number of axes that can be connected 8 *: Each status signal monitor, current position monitor, alarm code monitor, and speed/current monitor can be viewed by accessing to each address of Gateway via PLC. *: Traditionally, monitoring each axis in AUTO mode is unavailable. However, monitoring each axis with Mode switch at "AUTO" is available with by connecting the special touch panel to the TP connector. *: Independent acceleration and deceleration settings are not available. The setting applies to both accelerating and decelerating speeds. 07

6 Configuration (Gateway R ) Controller Slider Gateway R Unit for DeviceNet A communications to operate via DeviceNet. Model RGW-DV Network cable Connector on Gateway : Side MSTBA./-G-.08 ABGY AU (Made by: Phoenix Contact) Connector on Cable Side MSTB./-ST-.08 ABGY AU (Made by: Phoenix Contact) = accessory Black Blue Red Item Item Power DCV ±0% Speed Max. Max. Total network length branch length branch length Current consumption 00mA max. 00kbps 00m 9m DeviceNet.0-certified interface module cable 0kbps 0m m 78m length (*) Group only server kbps 00m m Insulated node operating on network power supply Note: When using a large cable for DeviceNet Bit strobe No. occupied nodes node Master-slave Spec. connection Polling 0~0ºC Cyclic humidity 9% RH or below (non-condensing) Speed 00k/0k/kbps (switchable by software) environment No corrosive or flammable gasses, oil mist, or dust. * If you wish to use T-junction communication, see the instructions manual for your master or PLC. DeviceNet Pin Color Black Blue Red Power cable negative (-) side data Low side Shield data High side Power cable plus (+) side DeviceNet Protection class IP0 0g Accessories Terminal resistor board (model TN-) Network connector, Emergency stop connector Cable connector-compatible wiring Item Wire diameter Stripped wire length Twisted wire: AWG- (0.~.mm ) 7mm /Flat Rotary Servo Gateway R Unit for CC-Link Network cable Connector on Gateway Side: MSTBA./-G-.08AU (Made by Phoenix Contact) Connector on Cable Side: MSTB./-ST-.08 ABGY AU (Made by Phoenix Contact) = accessory A communications to operate via CC-Link. Model RGW-CC Item Item Power Supply DCV ±0% Error Control Method CRC (X +X +X +) Current consumption 00mA max. Station occupancy Remote device stations:, st.;, st.; 8, st CC-Link Ver.0 (*) Cable Speed (bps) 0M M.M k k Speed 0M/M/.M/k/kbps Length (*) Total Cable (switchable by software) Length (m) Method Broadcast polling method Cable CC-Link cable Dedicated Sync. Method Frame synchronization method 0~0ºC Encoding Method NRZI humidity 9% RH or below (non-condensing) Transf. Bus format (EIA RS8 compliant) environment No corrosive or flammable gasses, oil mist, or dust. Transf. Format HDLC compliant Protection class IP0 * Certification acquired 0g * If you wish to use T-junction communication, see the Accessories Terminal resistor board (model TN-) instruction manual for your master or PLC. Network connector, Emergency stop connector Terminal resistor cable (0Ω/0Ω) CC-Link Signal Name DA DB DG SLD CC-Link Communication line A Communication line B Ground The shield and cable's shield are connected, then they are connected to ""and the chassis. Cable connector-compatible wiring Item Wire diameter Twisted wire: AWG- (0.~.mm ) Stripped wire length 7mm DA DB DG SLD Frame ground Connected to "SLD" and the chassis. 08

7 Slider Controller Configuration (Gateway R ) /Flat Gateway R Unit for ProfiBus A communications to operate via ProfiBus. Model RGW-PR Item Item Power Supply Current Consumption ProfiBus Speed Cable Length DCV ±0% 00mA max. DP slave 9.kbps~Mbps 9.kbps 00kbps.Mbps Mbps Mbps 00m 00m 00m 00m 00m humidity environment Protection class Accessories 0~0ºC 9% RH or below (non-condensing) No corrosive or flammable gases, oil mist, or dust. IP0 0g Terminal resistor board (model TN-) Emergency stop connector Rotary Servo Network cable Connector on Gateway Side: D-Sub connector, 9-pin socket side Pin No. Signal Name Pin No. Signal Name B-Line Communication line B (RS8) +V +V output (insulated) RTS Request send 8 A-Line Communication line A (RS8) GND Signal ground (insulated) Housing Shield Connected to the cable's shield and the chassis. 9 * The matching connector (D-Sub 9-pin connector) is not included. * Pins,, 7, and 9 are not connected Gateway R Unit for SIO A communications for operating from an controller or a Modbuscompatible communications, via serial communication. Model RGW-SIO SIO Item Item Power Supply DCV ±0% Current consumption 00mA max. RS8-compliant (Modbus protocol) : communication connection Method Asynchronous method, half-duplex Speed 0.kbps max. Cable Length 00m or less Recommended cable pairs of twisted pair cables (shielded) humidity environment Protection class Accessories 0~0ºC 9% RH or below (non-condensing) No corrosive or flammable gases, oil mist, or dust. IP0 0g Terminal resistor board (model TN-) Network connector, Emergency stop connector Network cable Connector on Gateway Side MC./-G-. (Made by Phoenix Contact) Connector on Cable Side: MC./-ST-. (Made by Phoenix Contact) = accessory SG SB SA Signal Name SA Communication line A (+positive side) Built-in RS8-compliant SB terminal resistor (0Ω) Communication line B (-negative side) SG Signal ground Frame ground connected to the chassis. Cable connector-compatible wiring Item Wire diameter Stripped wire length Twisted wire: AWG8- (0.~.mm ) 7mm 09

8 Configuration (Controller ) Controller Slider R Controller for RCA/RCA series Controller that is used for RCA/RCA actuator operation with. Model * In Model, input a motor power output. (See the following table.) will need the code "HA" or "LA" specified when a high acceleration/deceleration or power saving actuator is to be used. (Otherwise, leave it blank.) input ABU only when a simple absolute is used. (Otherwise, leave it blank.) Model R-- R-- R-0- R-0- R-0S- R-0- General Compatible actuators RCL-SAL / SAL / SML / RAL RCL-SAL / SAL / SML / RAL RCA-SAC / RNN / RPN / GSN / GDN / SDN / TCN / TWN / TFN / TA RCL-SAL / SAL / SML / RAL RCA-SA / SS / SA / SS / RA -0 / RG -0 / AR / AR RCACR-SAC / SA RCAW-RA -0 RCA-SA / SA / TA RCA-RA / RG RCAW-RA RCA-SA / TA RCA-SA / SS / RA -0 / RG -0 / AR RCACR-SA RCAW-RA -0 RCA-SAC / TA7C Item Item Power Supply DCV ±0% 0~0ºC Power Supply Capacity.A max. (depends on the actuator) humidity 9% RH or below (non-condensing) Operable Actuators RCA series environment No corrosive or flammable gases, oil mist, or dust. Positioning Points 78 points Protection class IP0 Backup memory EEPROM 00g Position Detection Method Incremental encoder Accessories connection board (model JB-), Power connection board (model PP-) Solenoid brake force-release Brake release switch Motor Cable Model: CB-ACS-MA Encoder Cable Model: CB-ACS-PA /Flat Rotary Servo R Controller for RCP/RCP series Controller that is used for RCP/RCP actuator operation with. Model * In Model, input a motor type. (See the following table.) input ABU only when a simple absolute is used. (Otherwise, leave it blank.) should have the code "H" when an RCP-SA, SA, SA, or an RCP(RCPCR)-SA or SA is to be connected. Model R-0P- R-8P- R-8SP- R-P-- R-P- R-P- Compatible actuators RCP-RAC / GRSS / GRLS / GRS RCP-SAA / SAB / RAA / RAB RCP-GRM / GRLS / GRSS / RTB / RTC / RTBL / RTCL RCP-SAC RCP-RAC / RGDC RCP-SA / TA RCP-SA / SA / SS7 / BA / BA7 / RAC / RG C /GRLM / GRSM RCP-SA / SA / TA / TA7 RCPCR-SAC / SAC / SS7C RCPW-RAC RCP-SA7 / SS8 / RAC / RG C / RCPCR-SA7C / SS8C RCPW-RAC General Item Item Power Supply DCV ±0% 0~0ºC Power Supply Capacity A max. humidity 9% RH or below (non-condensing) Operable Actuators RCP series No corrosive or flammable gases, environment oil mist, or dust. Positioning Points 78 points Protection class IP0 Backup memory EEPROM 00g Position Detection Method Incremental encoder Accessories connection board (model JB-), Solenoid brake force-release Brake release switch Power connection board (model PP-) Motor Cable Encoder Cable Model: CB-RCP-MA Model: CB-RCP-PB 0

9 Slider Controller Configuration (Simple absolute R /Extension ) /Flat Rotary Servo Simple absolute R A data backup battery that can be attached to an R or R controller to use an incremental actuator as an absolute type. * One of the simple absolute R is required per R/R. Model RABU (for R and R) * When preparing a simple absolute R together with a controller (R/R), write down -ABU to the end of the controller model, of which the simple absolute is installed. General Item Item Power Supply DCV ±0% 0~0ºC Current consumption 00mA max. humidity 9% RH or below (non-condensing) Battery used Ni-MH battery, nickel-hydrogen cell battery environment No corrosive or flammable gases, oil mist, or dust. Charging time Approx. 78 hours Protection class IP0 Battery life yrs 0g Maximum rpm connection board for absolute data retention (model JB-) Accessories Absolute Data simple absolute connection board Retention (model JB-) Duration (h) power connection board (model PP-) Extension Unit When too many s are connected horizontally to fit into the controller board, use this to split them in the middle with a cable to create another row. In addition, by attaching the extension to the end of the linked s and using an external controller cable, you can operate a standalone controller like any other controller, over the network. Model REXT (for R and R) Item General Power Supply Current consumption humidity environment Protection class DCV ±0% 00mA max. 0~0ºC 9% RH or below (non-condensing) No corrosive or flammable gases, oil mist, or dust. IP0 Accessories 0g connection board (model JB-), Power connection board (model PP-) (Note) The cable used is different depending on whether you are creating a new row of linked s, or connecting a standalone controller. For more information, see the extension on P0.

10 External dimensional drawing Controller Slider External dimensions of Gateway R, R, R, Simple Absolute R, and Extension are same. (0) (0.) 00 (0) (0 from center of DIN rail). * Mountable to DIN rail (mm) /Flat Note: Secure enough workspace, as the motor/encoder cable will be connected under the main. (9. from DIN rail surface) 7. Rotary Option Teaching Pendant Features A teaching device with functions for inputting positions, performing test runs, and monitoring. Model CON-PT-M ( Touch panel teaching pendant) CON-T ( type) RCM-E (Simple teaching pendant) Configuration Note: The version of RCM-E that can be used with is.08 or later. CON-T Options Wall-mounting hook Model HK- m Strap Model STR- CON-PT-M CON-T (.) RCM-E 7 7. () Item CON-PT-M CON-T RCM-E Data Input Actuator motion Ambient Operating Temp./Humidity Temp: 0~0ºC; Humidity: 8% RH or below Ambient Operating Atmosphere No corrosive gases. Especially no dust. Protection class IP0 IP Approx. 70g Approx. 00g Approx. 00g Cable Length m Display -color LED touch 0 char. lines char. lines panel with backlight LCD display LCD display Price.... Servo PC Software (Windows Only) Features A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. Model RCM-0-MW (with external device communications cable + RS conversion ) Note: Only version or later can be used with. Configuration RS adapter RCB-CV-MW m 0.m External device PC Software (CD) communications cable CB-RCA-SIO00 Model RCM-0-USB (with external device communications cable + USB adapter + USB cable) Configuration PC Software (CD) m USB cable CB-SEL-USB00 USB adapter RCB-CV-USB Note: Only version or later can be used with. m External device communications cable CB-RCA-SIO00

11 Slider /Flat Controller Option DCV Power Supply Features A V power supply for Cylinder that can output 7A of momentary current. Power supply s can be operated in parallel, and up to s can be added if a runs out of capacity. Model PS- (00V input model) PS- (00V input model) Spare parts Actuator vs. Power Supply Current No. of connectible s for each of PS- Controller type Actuator type Power Supply Simultaneous No simultaneous Current [A] servo ON for all axes* servo ON for all axes* R R RCP, all models (note) SA, SA (0W) SA (0W) RA (0W) RA (0W) RA (0W) Rated (= Maximum) Rated. Maximum Rated Maximum Rated Maximum Rated Maximum Rated Maximum * Refers to the first servo ON after power-up. (Note) Excluding HS8C, HS8R, and RA0C * For /, this is different depending on the number of axes and model. Please inquire for details. 8 8 Rotary Servo When spare parts are necessary after purchasing the product, such as when replacing a cable, refer to a list of the models below. connection board (simple absolute connection board) Model JB- Motor cable for RCP Model CB-RCP-MA Terminal resistor board Model TN- Power connection board Model PP- * The standard cable for the motor cable is the robot cable. Selection is available. * Enter the cable length (L) into. Compatible to maximum of 0 meters. Ex.: 080 = 8m () (8) Controller side (0) CN Min. bend radius r = 0 mm or larger (when movable type is used) (ø8) L (8) C N (0) () () Mechanical side Encoder Cable/Encoder Robot Cable for RCP Model CB-RCP-PB /CB-RCP-PB -RB I-89- (AMP) Pink (Green) CN M cable CN A A A VMM A VMM B A A A B B VMM B VMM B B B (Green) Pink SLP-0V (JST) *The standard encoder cable is the normal cable. The robot cable is selectable as an option. * Enter the cable length (L) into. Compatible to maximum of 0 meters. Ex.: 080 = 8m (8) () (8) CN Controller 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. L () () () C N () Mechanical side C N PHDR-VS (JST) Cable colors Signal Cable Robot Cable No. Blue (Red ) (Black ) L S + (Red ) L S Red (Black ) B K + (Red ) B K Light Brown (Black ) E N A Light Green (Red ) E N A Purple (Black ) E N B Pink (Red ) E N B Blue Ground (Black ) V P S Pink (Red ) V B B Pink (Black ) GND (N.C) (N.C) (N.C) Ground F.G Pin No Shield wire Ground wire Pin No Signal No. E N A E N A E N B E N B GND V B B V P S L S + L S B K + B K F.G Cable color C N Cable Robot Cable Light Brown (Black ) Light Green (Red ) Purple (Black ) Pink (Red ) Blue Blue (Red ) Red Ground Pink (Black ) Pink (Red ) (Black ) (Black ) (Red ) (Black ) (Red ) Ground XMP-8V (JST) Motor-encoder integrated type cable for RCP/RCP (Limited to RCP-GRSS/GRLS/GRST/SRAR/SRGSR/SRGDR types) Model CB-PCS-MPA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m (8) () (8) () (0) (8) Controller side Min. bend radius r = 8 mm or larger (when movable type is used) L (ø) (8) () (0) Mechanical side Signal Pin Number (Wire color) Pin Number Signal A B Black A A VMM A B VMM /A A Red A /A B VMM /B B B A BK+ BK LS+ LS A+ A B+ B VPS VCC GND Green Brown Pink (Red ) Pink (Blue ) (Red ) (Blue ) (Red ) (Blue ) (Red ) (Blue ) (Blue Consecutive) (Red Consecutive) (Blue Consecutive) Shield B A B A B A B A B A7 B7 A8 B8 A9 B9 A0 B0 A B B VMM /B BK+ BK LS+ LS A+ A B+ B VPS VCC GND

12 Spare parts Controller Slider Motor Cable for RCA Model CB-ACS-MA (ø9) L Controller side Mechanical side Min. bend radius r = 0 mm or larger (when movable type is used) Encoder Cable/Encoder Robot Cable for RCA Model CB-ACS-PA /CB-ACS-PA -RB * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Wire Color Signal No. No. Signal Color Wire Red U U Red AWG (crimped) V V AWG (crimped) Black W W Black *The standard encoder cable is the normal cable. The robot cable is selectable as an option. * Enter the cable length (L) into. Compatible to maximum of 0 meters. Ex.: 080 = 8m 8 7 Controller side (ø0) 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 CN Cable color Signal Robot Cable Cable Pin No. /Purple Blue LS+ 8 / LS 7 Green BK+ Blue Brown BK /Blue ENA / Red ENA /Red Black ENB 0 /Black ENB Pink ENZ 0 Green Purple ENZ 9 Purple 8 Blue/red VPS 7 Red / V Black Green/ GND 9 8 Mechanical side Ground Ground F.G Housing: PHDR-8VR (JST) Contact : SPHD-00T-P0. (JST) Pin No CN Signal Cable color Cable Robot Cable ENA /Blue ENA Red / ENB Black /Red ENB /Black LS+ Blue /Purple Ground Ground ENZ Pink ENZ Purple Green Purple VPS Blue/red V / Red GND Green/ Black LS / BK Brown Blue BK+ Green Plug housing : XMP-8V (JST) Socket contact : BXA-00T-P0. (JST) Retainer : XMS-09V (JST) /Flat Rotary Servo Motor-Encoder Cable for RCA Model CB-ACS-MPA * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m (0) (8) (8) () () (8) Controller side Min. bend radius r = 8 mm or larger (when movable type is used) Unit Link Cable for Extension Unit Model CB-REXT-SIO00 L (ø) (8) () (0) Mechanical side Signal Pin No. (Wire color) Pin No. Signal U Red A U V B V W Black A W B A B BK+ (Red ) A BK+ BK (Blue ) B BK LS+ 8 Pink (Red ) A LS+ LS 7 Pink (Blue ) B LS A+ (Red ) A A+ A (Blue ) B A B+ (Red ) A7 B+ B (Blue ) B7 B Z+ 0 (Red ) A8 Z+ Z 9 (Blue ) B8 Z 8 (Red Consecutive) A9 /PS 7 (Blue Consecutive) B9 /PS VCC (Red Consecutive) A0 VCC GND (Blue Consecutive) B0 GND A Shield B m 0 DF-DS-C Signal Pin No. Black / /RSV Red / RSV Black / /ROUT Red / ROUT Black / /RSV0 Red / RSV0 Black /Pink /ENA 0 Red /Pink ENA 9 Black / COM 8 Red / COM 7 Black / SD- Red / SD+ Black / RD- Red / RD+ Black / EMG- Red / EMG+ Shield braiding DF-DS-C Pin No. Signal Black / /RSV Red / RSV Black / /ROUT Red / ROUT Black / /RSV0 Red / RSV0 Black /Pink 0 /ENA Red /Pink 9 ENA Black / 8 COM Red / 7 COM Black / SD- Red / SD+ Black / RD- Red / RD+ Black / EMG- Red / EMG+ RAV.- Ground Wire color legend: <Color of dot> <Number>/<Color of insulation> Controller Connection Cable for Extension Unit Model CB-REXT-CTL00 m FL Pin No. Signal N.C. GND SD- SD+ Shield braiding Ground DF-DS-C Pin No. Signal /RSV RSV /ROUT ROUT /RSV0 RSV0 0 /ENA 9 ENA 8 COM 7 COM SD- SD+ RD- RD+ EMG- EMG+ RAV.-