Controller. Controller P S E R C 2 P C O N S C O N. 285 Controller

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1 P S E R C P C O N ACON PSEL ASEL SSEL XSEL S C O N

2 DeviceNet/CCLink RCMGWDV/CC Integrated PS ERC PCON ACON VDC power supply for ROBO Cylinder PS/ module of ERC ERC Position controller for RCP series PCONC / CG / CY / PL / PO / SE 0 Position controller for RCA series ACONC / CG / CY / PL / PO / SE Rotary Proof SCON Position controller for RCS series SCONC PSEL ASEL Program controller for RCP series PSELC Program controller for RCA series ASELC PS SSEL Program controller for RCS series SSELC ERC XSEL Multiais program controller for RCS series XSELJ / K / P / Q PCON ACON SCON PSEL ASEL SSEL XSEL

3 Integrated List of by Function Series Features Applicable actuator Page ERC ERC P PCON RCP P0 Rotary Positioner type T h e a c t u a t o r i s m ove d by specifying a target position number. Suitable for controlling simple movements to many positions. Eternal view code Maimum number of connectable aes Maimum number of positioning points power supply PN/NP () points DCV C ais points DCV Proof Solenoid valve type The actuator is moved only by ON/OFF of signals, just like an air cylinder with solenoid valve. Ideal for positioning operation involving two to three points. Eternal view code Maimum number of connectable aes Maimum number of positioning points power supply PN/NP () points DCV CY ais points DCV PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Pulsetrain input type Serial communication type Program type 7 The user can control actuator operation (via pulses) without using position data. Use this type if you wish to control everything with pulses. Connectable to a field network, such as DeviceNet or CCLink, using a gateway. Programs input to the controller are used to perform various tasks such as operating the actuator and communicating with eternal equipment. Ideal for small systems where a PLC is not required. Eternal view code Maimum number of connectable aes Maimum number of positioning points power supply Eternal view code Maimum number of connectable aes Maimum number of positioning points power supply Eternal view code Maimum number of connectable aes Maimum number of positioning points power supply (Not supported) SE () points DCV (Not supported) PL/PO ais () DCV SE ais points DCV (Not supported)

4 ACON SCON PSEL ASEL SSEL XSEL RCA RCS RCP RCA RCS RCS P P P P P P Integrated (Not supported) C ais points DCV C ais points AC00/00V C aes 00 points DCV C aes 00 points DCV C aes 00 points AC00/00V Rotary Proof (Not supported) (Not supported) (Not supported) (Not supported) CY ais points DCV C ais 7 points AC00/00V (Not supported) (Not supported) (Not supported) (Not supported) PL/PO ais () DCV C ais () AC00/00V PS ERC (Not supported) (Not supported) (Not supported) PCON SE ais points DCV * not required. Directly connectable to a network. C ais points AC00/00V * not required. Directly connectable to a network. J/K/P/Q aes 000 points AC00/00V ACON SCON (Not supported) (Not supported) PSEL ASEL C aes 00 points DCV C aes 00 points DCV C aes 00 points AC00/00V J/K/P/Q aes 000 points AC00/00V SSEL XSEL

5 Integrated Rotary Unit The gateway is a conversion for connecting a ROBO Cylinder controller to a field network such as DeviceNet or CCLink. Connect a gateway to your field network, and link the gateway and each controller via serial communication (RS). Numerical data such as coordinates, speeds, accelerations and current values can be sent and received between the network master (PLC) and controller by means of I/Olevel communication. Features. Move the actuator by specifying positions from a PLC via network. PLC Proof. Perform pushmotion operation via network.. Operate the actuator by directly sending the target position, speed, acceleration/deceleration and positioning band as numerical values from a PLC.. Read the current actuator position and various signals using a PLC. Position number Target position Speed Acceleration/deceleration Positioning band Push band Currentlimiting value Others RUN G.ER C.ER T.ER I A I Current position Completed position number Position complete Home return complete Zone signal Position zone signal Alarm Others. Connectable to a maimum of aes. TD RD DR NA SW MS NS PORT IN PORT N SDA SDB GND FG OFF PORT ON T.P. S S N V PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Functions One of the following three operation modes can be selected. () Positionnumber specification mode target positions, speeds, accelerations/decelerations, positioning bands and other settings to the controller in advance as position data, and specify a desired position number via network, just like you do with PIO signals, to move the actuator. A maimum of positioning points can be set. Various status signals can be read using a PLC. () Positioningdata specification mode Specify a desired target position, speed, acceleration/deceleration, positioning band, push band, currentlimiting value, etc., directly as numerical values to move the actuator or cause it to perform pushmotion operation. Various status signals can be input/output and current position data read using a PLC. () Simple direct/positionnumber specification mode Call desired position data ecept for a target position (by specifying an applicable position number), and specify only a target position as a numerical value, to move the actuator. A maimum of positioning points can be set.

6 System Configuration Diagram PLC Integrated Field network DeviceNet specification <Model RCMGWDV> CCLink specification <Model RCMGWCC> RUN G.ER C.ER T.ER I A I Teaching pendant Rotary TD RD DR NA Proof SW OFF MS NS PORT IN PORT N SDA SDB GND FG PORT ON T.P. Data stored in all controllers connected to the gateway can be rewritten. * The customer must provide the wiring between the gateway and controller. S S N V DCV * Each controller link cable comes with an econ connector, a junction and a terminal resistor. econ connector (AMP 7) Junction (AMP 77) R=0Ω PS 0.m 0.m 0.m link cable Model CBRCBCTL00 * The customer must provide the wiring between the gateway and controller. ERC PCON Connectable s ERC / PCON / ACON / SCON (*) (*) SCON will communicate at the I/O level when connected to the field network even if the gateway is not used. It is necessary to use the gateway when communicating positional data. ACON SCON n link cable PSEL (Comes with econ connector, junction and terminal resistor) Model CBRCBCTL00 econ connector 0.m Color Signal Yellow SGA Orange SGB Blue GND No. No. 7 Signal SGA SGB +V ENBL EMGA +V GND EMGB Color Yellow Orange Blue 0 ASEL SSEL XSEL

7 Integrated DeviceNet Unit n Model RCMGWDV Rotary Operation Modes and Key Functions Key functions Movement by position data specification Direct speed & acceleration/deceleration specification Pushmotion operation Current position read Position number specification Completed position number read Positionnumber specification mode Positioningdata specification mode Simple direct/ positionnumber specification mode Proof Various status signal read Number of connectable aes Maimum specifiable position data Set as position data.. Eternal Dimensions ø (installed dimension) PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Specifications Item Specifications Power supply DCV ±0% Current consumption 00mA ma. Communication Interface module certified under DeviceNet.0 standard Group only server Insulated node operating on network power supply DeviceNet specifications Communication specifications Baud rate Communication cable length (*) Master slave connection Bit strobe Polling Cyclic 00k/0k/kbps (switched using DIP switches) Baud rate Maimum network length Maimum branch length Total branch length 00kbps 0kbps kbps Number of occupied nodes node 00m 0m 00m * If you wish to use Tjunction communication, refer to the operation manual for your master or PLC used. * CRC: Cyclic Redundancy Check. A data error detection method widely used in synchronous transmission. m Note) When a largesize DeviceNet cable is used. m 7m m SIO communication specifications Environmental conditions Item Specifications Transmission path configuration IAI s original multidrop differential communication Communication method Halfduple Synchronization method Asynchronous Transmission path type EIA RS, wires Baud rate 0.kbps Error control method No parity bit, CRC (*) Communication cable length Total cable length 00m ma. Number of connected s Up to aes Communication cable pair twisted pair shield cable (Recommended: Taiyo Electric Wire & Cable HKSB/07L PAWG) Ambient operating temperature 0~0 C Ambient operating humidity % RH or below (noncondensing) Operating ambience Free from corrosive dust, flammable gases, oil mist or powder dust Storage temperature 0~ C Storage humidity 0% RH or below (noncondensing) Vibration resistance.m/s (0.G) Protection class IP0 Weight 0g or less

8 CCLink Unit n Model RCMGWCC Operation Modes and Key Functions Integrated Key functions Positionnumber specification mode Positiondata only specification mode Positioningdata specification mode Normal positioning mode Pushmotion operation mode Simple direct/ positionnumber specification mode Movement by position data specification Direct speed & acceleration/deceleration specification Pushmotion operation Rotary Current position read Position number specification Completed position number read Various status signal read Number of connectable aes Maimum specifiable position data Set as position data Proof Eternal Dimensions ø (installed dimension) PS Specifications ERC Item Specifications Power supply DCV ±0% Current consumption 00mA ma. Communication standard CCLink Ver.0 (*) Baud rate 0M/M/.M/k/kbps (switched using a rotary switch) Communication method Broadcast polling method Synchronization method Frame synchronization method Encoding method NRZI Transmission path type Bus type (conforming to EIA RS) Transmission format Conforming to HDLC Error control method CRC(X +X +X +) Number of occupied stations Total cable length CCLink specifications Communication cable length (*) Communication cable Baud rate (bps) 0M M.M k k Total cable length(m) CCLink cable * Already certified. * If you wish to use Tjunction communication, refer to the operation manual for your master or PLC used. * CRC: Cyclic Redundancy Check. A data error detection method widely used in synchronous transmission. SIO communication specifications Environmental conditions Item Specifications Transmission path configuration IAI s original multidrop differential communication Communication method Halfduple Synchronization method Asynchronous Transmission path type EIA RS, wires Baud rate 0.kbps Error control method No parity bit, CRC (*) Communication cable length Total cable length 00m ma. Number of connected s Up to /7// aes (The eact number varies depending on the operation mode) Communication cable pair twisted pair shield cable (Recommended: Taiyo Electric Wire & Cable HKSB/07L PAWG) Ambient operating temperature 0~0 C Ambient operating humidity % RH or below (noncondensing) Operating ambience Free from corrosive dust, flammable gases, oil mist or powder dust Storage temperature 0~ C Storage humidity 0% RH or below (noncondensing) Vibration resistance.m/s (0.G) Protection class IP0 Weight 0g or less PCON ACON SCON PSEL ASEL SSEL XSEL

9 Integrated PS PS Rated output current.a Maimum momentary output current 7A Rotary Features Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Maimum Momentary of 7 A While the rated output current is. A, maimum momentary output current of up to 7 A is supported. This lets you select an appropriate powersupply capacity based on the total rated current of actuators, without having to consider the maimum momentary current that may be generated by the actuators during acceleration. Because you no longer need to use an epensive highcapacity power supply, cost can be reduced substantially. * The maimum momentary output current must be considered if the actuator operating conditions are tight. For details, refer to Selection Guide on the right. Supporting Parallel Operation Up to five s can be operated in parallel. Even if any one is found short of powersupply capacity, all you need is to simply add one more without replacing the in question with a largercapacity model. Load Detection Function The load factor can be detected using the RDY (ready) indicator lamp and RDY output signal. Name of Each Part 7 0 PS + + Power supply Power supply RDY indicator RDY output + Power supply Load Selection Guide: Number of Actuators Connected When selecting a powersupply for operating multiple actuators, normally a with a capacity equal to or eceeding the total maimum current of all actuators is chosen. However, actuators generate their maimum current only momentarily during acceleration, etc., and in many cases the powersupply is overspecified. On the other hand, the PS power supply provides the following advantages:. Supporting maimum momentary current of up to twice the rated current.. If you need more powersupply capacity, you can simply add an etra or s. The above features let you select an optimal powersupply capacity. Number of PowerSupply Units Basically, how many powersupply s 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 PS. If the load condition is tight, however, the powersupply capacity may still become inadequate. In such cases, add an etra power supply or supplies. Eamples of Tight Load Condition Large load (close to the rated load capacity of the actuator) High acceleration/deceleration High speed Simultaneous operation of multiple aes Use of the RB7 series (Structurally these actuators allow maimum current to flow for a longer period.) Table. Rated Current of PS and Allowable Maimum Momentary Current Number of connected s Rated current [A] Maimum momentary current [A] Note) Consider a safety factor (loss) of 0% for the second and subsequent s. Table. Relationship of Actuator and PowerSupply Current type Actuator type Powersupply current [A] Number of connected aes per PS (reference) * ERC PCON PSEL ACON ASEL Ready indicator (RDY) Overloaddetection level setting dial (LF.DET) * This dial has been set to an appropriate value prior to the shipment. Ready output signal (RDYOUT) +V output terminals (+V) * [] and [] are connected internally. 7 0V output terminals (0V) * [] and [7] are connected internally. ERC All RCP models SA, SA (0W) SA (0W) RA (0W) RA (0W) RA (0W) Rating (= Ma.) A Rating Ma. Rating Ma. Rating Ma. Rating Ma. Rating.A.7A.A.A.7A A.A.7A.A Ma..A * The figures under Number of connected aes per PS (reference) are calculated based on the assumption of Rated current of ais Number of aes < Rated current of PS (. A) [or Rated current of ais Number of aes < Maimum momentary current of PS (7 A) for ERC and RCP]. Frame ground terminal (FG) A grounding terminal. AC input terminal (AC(N)) 0 AC (00VAC) input terminal (AC00(L)) AC (00VAC) input terminal (AC00(L)) * Connect the power source between [] and [0] for a 00VAC input specification, or between [] and [] for a 00VAC specification. The terminals are not common between the two power input specifications.

10 Specification Table Item Rated DC output voltage Rated DC output current Maimum momentary DC output current Rated output capacity Efficiency Rated input voltage (frequency) voltage range current retention time Protective circuit Parallel operation Ambient operating temperature Ambient operating humidity Cooling method Breakdown voltage Insulation resistance Circuit method Weight For enquiries, call (tollfree). PS V±0% (Varies depending on the load).a 7A 0W PS PS 0% 0% AC00~V (0/0Hz) AC~V AC00~0V (0/0Hz) AC70~0V.A (00VAC, full load).a (00VAC, full load) 0 [msec] (at ambient temperature of C and rated input/output conditions) Overcurrent protection, overvoltage protection, overheat protection, overload protection Supported 0~0 C (subject to derating) 0~% RH (noncondensing) Natural air cooling Between input and output.0kva, minute (0mA) Between input and enclosure.0kva, minute (0mA) Between output and enclosure 00MΩ min. at 00VDC Eternally ecited flyback converter Appro. 0.kg Integrated Rotary Proof Eternal Dimensions VDC Power Supply PS.. ø (for mounting) 0.7 PS M. terminal screw ERC PCON 0 ±0. R. (for mounting) 0. ACON SCON Note The PS is not a constantvoltage power supply. Its output voltage changes in accordance with the load (the voltage will drop in accordance with the load factor). Therefore, do not connect the PS to equipment other than IAI s actuators. Keep the maimum number of actuators operated in parallel to five. Do not use PS and other power supplies together for parallel operation. Take note that the PS does not support series operation. If multiple s are used side by side, provide a minimum clearance of appro. 0 mm between the adjacent s. The PS is naturally cooled by air. Accordingly, when installing the PS give full consideration to ensuring natural convection in order to prevent heat from collecting around the power supply. The enclosure of this product also serves as heat sink. Since the surface may be heated to very high temperatures, once the has been installed do not touch the enclosure to prevent burns. PSEL ASEL SSEL PS XSEL

11 Integrated ERC Rotary List ~ ~ ERC n Model NP / PN / SE module of controllerintegrated actuator I/O type Name NP PIO type (NPN specification) PN PIO type (PNP specification) SE Serial communication type Proof Eternal view Description Move the actuator by specifying position numbers from PLC via PIO PNP specification of the NP type (overseas specification) Connected to a field network via a gateway Number of position points points points points PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model ERC I PM Series Encoder type Motor type Lead Stroke I/O type Cable length Options SAC SA7C RAC RA7C RGSC RGS7C RGDC RGD7C ERC type (width mm) type (width mm) type (width mm) type (width mm) type with single guide (width mm) type with single guide (width mm) type with double guides (width mm) type with double guides (width mm) PM I Incremental Pulse motor mm mm mm mm mm mm 0 0mm (Set in 0mm steps) 00 00mm NP PN SE PIO type (NPN specification) PIO type (PNP specification) SIO type N P S M B NM FT Brake Reversedhome specification Foot bracket No cable m m m X Specified length R Robot cable W Cable with connectors on both ends RW Robot cable with connectors on both ends

12 System Configuration ERC Integrated PLC Field network Power & I/O cable for PIO type <Model CBERCPWBIOccc> Standard length m / m / m Refer to p. 0 for a replacement cable. (Refer to p. ) DeviceNet specification <Model RCMGWDV> CCLink specification <Model RCMGWCC> Rotary PIO type ( code NP/PN) Teaching pendant/ PC cable SIO type ( code SE) * The SIO type has no teaching port. * You can connect a teachingpendant or PC cable to the gateway to rewrite data for all connected aes. Network cable (Supplied with the power & I/O cable for SIO type) <Model CBERCCTL00> Refer to p. 0 Power & I/O cable for SIO type <Model CBERCPWBIOccc> Standard length m / m / m Refer to p. 0 for a replacement cable. Proof VDC power supply (Refer to p. ) <Model PS (00V input)> <Model PS (00V input)> PC software (Refer to p. 0) (RS version) <Model RCM0MW> (USB version) <Model RCM0USB> Teaching pendant (Refer to p. 0) <Model RCMT / TD> <Model RCME> <Model RCMP> PS ERC * The PC software comes with a cable. m PCON ACON PC Connection Diagram Use the following cables to connect the SIO type directly to a PC. PC communication cable <Model CBERCSIO00> SCON PSEL SIO type ( code SE) Power & I/O cable for SIO type <Model CBERCPWBIO > m Conversion adapter <Model RCBCVMW> ASEL SSEL ERC XSEL

13 Integrated Rotary Proof ERC I/O Specifications (PIO ) n Part Eternal input specifications Item Number of input points voltage current Leak current Operating voltage NPN specification Eternal power supply DCV PNP specification Eternal power supply DCV Specification points VDC ± 0% ma/circuit ma ma./point ON voltage: V min. (.ma) OFF voltage: V ma. (ma) CN A FUSE +.KΩ GND Each input B, B CN B, B A Each input + GND GND Each input Each input GND FUSE.KΩ GND ERC Power supply (VP) ERC GND Internal circuit Power supply (VP) GND Internal circuit n Part Eternal output specifications Item Number of input points Rated load voltage Maimum current Residual voltage Shortcircuit, reversevoltage protection NPN specification ERC FUSE Power supply (VP) + output points Internal circuit PNP specification ERC FUSE Power supply (VP) + GND output points Internal circuit GND Specification points DCV 0mA/point V ma. Fuse resistance (7Ω0.W) GND Fuse resistance 7Ω 0.W CN A Each output Power MOS FET Each output GND Power MOS FET Fuse resistance 7Ω 0.W GND B, B CN A Each output Each output B, B Load Load Load Load Eternal power supply DCV Eternal power supply DCV I/O Signal Table (PIO ) PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Parameter (PIO pattern selection) 0 A B A B A B A B A B A B 7A 7B A B A B 0A 0B PIO pattern point type point type (solenoid valve type) point type (zone signal type) point type (position zone signal type) Pin number Category Wire color SIO V 0V V 0V V 0V V 0V 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 ) Light blue (red ) Light blue (black ) White (red ) White (black ) Yellow (red ) Yellow (black ) Pink (red ) Pink (black ) (Note) The signals denoted by an asterisk (*) (ALM/STP) are negativelogic signals that always remain ON. 7 ERC Pin number 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.) Up to positioning points can be set. (Same as the point type, ecept that this pattern provides no home return signal.) A point pattern with a position zone signal instead of a zone signal. Parameter (PIO pattern selection) 0 point type point type Conventional type (solenoid valve type) (zone signal type) SGA SGB EMS EMS V BLK MPI GND MPI GND PC PC PC HOME CSTR *STP PEND HEND ZONE ST0 ST ST RES *STP PE0 PE PE *ALM PC PC PC PC CSTR *STP PEND HEND ZONE point type (position zone signal type) PC PC PC PC CSTR *STP PEND HEND PZONE

14 System Configuration ERC Integrated Category SIO V 0V Signal name Serial communication Emergency stop Brake release Command position number Position movement Home return Start Pause Position complete Completed position number Home return complete Zone Position zone Alarm Abbreviation SGA SGB EMS EMS BKR PC PC PC PC ST0 ST ST HOME CSTR *STP PEND PE0 PE PE HEND ZONE PZONE *ALM Function overview Used in serial communication. These signals are wired to enable the emergency stop switch on the teaching pendant. (Refer to p. 0) Connection to 0 V forcibly releases the brake. (0 ma is required) Specify a target position number using bit binary signals (or bit binary signals if the point PIO pattern is selected). (Eample) Position PC and PC. Position 7 PC, 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.) Homereturn operation starts at the leading edge of this signal. a command position number signal and turn this signal ON, and the actuator will start moving to the specified position. This signal is always ON while the actuator is operating normally (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.)) This signal turns ON upon completion of home return. This signal turns ON upon entry into the zone signal range set by parameters. This signal turns ON upon entry into the zone signal range set by position data. This signal remain ON in normal conditions and turns OFF upon generation of an alarm (negative logic). Synchronized with the LED at the top of the motor cover. (A green light stays on in normal conditions, and a red light comes on upon generation of an alarm.) Rotary Proof (Note) The signals denoted by an asterisk (*) (ALM/STP) are negativelogic signals that always remain ON. Specification Table Specification item Control method Positioning command Position numbers Backup memory PIO Electromagnetic brake color LED indicator I/F power supply (Note ) Serial communication Absolute function Forced release of electromagnetic brake Environment Cable length Dielectric strength voltage EMC Powersupply voltage Powersupply current Ambient operating temperature Ambient operating humidity Operating ambience Protection class Description PIO specification (NP/PN) SIO specification (SE) Fieldweakening vector control (patent pending) Position number specification Position number specification/direct numerical specification Maimum points Maimum points Position number data and parameters are stored in nonvolatile memory. Serial EEPROM with a rewrite life of 00,000 times. dedicated input points / dedicated output points None Builtin circuit, VDC ± 0%, 0.A ma. Servo ON (green), alarm/motor drivepower cutoff (red) Same as the control power supply (not insulated) RS, channel (terminated eternally) None Forcibly released upon connection to 0V (NP) or V (PN) Forcibly released upon connection to V I/F cable: 0m ma. SIO connector communication cable: m ma. DC00V 0MΩ EN0 Class A Group (m) V±0% A ma. 0~0 C % RH or below (noncondensing) Free from corrosive gases IP0 (Note ) Use an insulated PIO terminal block (optional, refer to p. 0) to insulate the I/F power supply. PS ERC PCON ACON SCON PSEL ASEL SSEL ERC XSEL

15 Integrated ERC I/O Wiring Diagram PIO NP (NPN Specification) ERC PIO type EMG signal CN Rotary power supply (A min.) V 0V FG MC Brake forcedrelease switch (Note) * Light blue (red ) 0mA Ma * Light blue (black ) Yellow (red ) Yellow (black ) Pink (red ) Pink (black ) White (red ) White (black ) A B A B A B A B EMS EMS MPI GND MPI GND V BKR for teachingpendant EMG switch contacts Motor drive power Control power Normally OFF, ON when released (models with brake) Proof * With a robot cable, the colors change as follows. Wire color Grey (red ) Grey (black ) Grey (red ) Grey (black ) Pin No. A B 7A 7B Host system < PLC > (Note) To forcibly release the brake, connect a switch between BKR and 0V and turn on the switch. side 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 ) CN FG Orange (red ) Orange (black ) A B 7A 7B A B A B 0A 0B A B I/O interface (Refer to I/O connections under each PIO pattern) SGA SGB Serial communication Drain wire PIO NP (PNP Specification) ERC PIO type PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL * With a robot cable, the colors change as follows. Wire color Grey (red ) Grey (black ) Grey (red ) Grey (black ) power supply (A min.) V Pin No. A B 7A 7B (Note) To forcibly release the brake, connect a switch between BKR and V and turn on the switch. 0V FG EMG signal Host system < PLC > MC 0mA Ma * Light blue (black ) Brake forcedrelease switch (Note) side side (Not used) CN FG * Light blue (red ) Yellow (red ) Yellow (black ) Pink (red ) Pink (black ) White (red ) White (black ) 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 A B A B A B A B A B 7A 7B A B A B 0A 0B A B EMS EMS MPI GND MPI GND V BKR SGA SGB for teachingpendant EMG switch contacts Motor drive power Control power Normally OFF, ON when released (models with brake) I/O interface (Refer to I/O connections under each PIO pattern) Serial communication Drain wire ERC

16 ERC Integrated SIO SE ERC SIO type Connected to a junction power supply (A min.) V econ connector 0V FG Network cable (CBERCCTL00) EMG signal Orange (blue) Blue (yellow) Brown (red) Green (black) Red (purple) Grey (grey) Brake forcedrelease switch (Note) SGA SGB V GND V BKR Serial communication Control power Normally OFF, ON when released (models with brake) Rotary Proof MC * The colors in ( ) apply to a robot cable. Yellow (green) Yellow (orange) 7 MPI GND Motor drive power (Note) To forcibly release the brake, connect a switch between BKR and V and turn on the switch. FG Drain wire Detailed connection diagram PORT IN PORT N SDA pair shield cable Recommended: Taiyo Electric Wire & Cable HKSB/07XL PXAWG way junction (AMP : 77) PS ERC SDB GND FG econ connector (AMP: 7) Housing color: Green PCON ACON Network cable CBERCCTL00 (0.m) SCON SGA Orange Orange SGA PSEL To power & I/O cable SGB Blue Blue SGB Green Green ASEL GND GND econ connector (AMP : 7) Housing color: Green SSEL ERC 00 XSEL

17 Integrated ERC Emergency Stop Circuit The ERC series has no builtin emergency stop circuit, so the customer must provide an emergency stop circuit based on the logic eplained below. (The circuit below is simplified for eplanation purpose. Provide a ready circuit, etc., according to your specification.) Single Ais To provide an emergency stop circuit for a singleais configuration, operate a relay using the EMS and EMS contacts of the power & I/O cable to cut off MPI (motor power). Rotary Proof Eternal EMG reset switch Eternal EMG switch Motor drive source Connection detection relay Motor power power Teaching pendant EMG switch Power supply * The circuit shown to the left applies to the PIO specification. With the SIO specification, c u t o f f t h e m o t o r drive source using an eternal emergency stop circuit because a teaching pendant cannot be connected. Multiple Aes To provide an emergency stop circuit for a multipleais configuration, operate a relay using the EMG and EMG contacts of the SIO converter to cut off MPI (motor power) for each ais. (Emergency stop signal) SIO converter Model: RCBTUSIOA (B) Teaching pendant PSEL SCON ACON PCON ERC PS V (Main power) MPI (Motor power) V (Main power) MPI (Motor power) XSEL SSEL ASEL 0 ERC V (Main power) MPI (Motor power)

18 Options ERC Integrated Insulated PIO Terminal Block This terminal block is used to insulate 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/output ports are nonpolar, so the I/O specification of the PLC can be either NPN or PNP. An input/outputsignal monitor LED is equipped to check the ON/OFF status of signals. Specifications Item Powersupply voltage Ambient operating temperature, humidity part Number of input points voltage current Allowable leak current Operating voltage (with respect to ground) Number of output points Rated load voltage Maimum current Specification DCV±0% 0~ C, % RH or below (noncondensing) points DCV±0% 7mA/circuit (bipolar) ma/point (appro. ma at normal temperature) ON: MinV (.ma) OFF: MaV (.ma) points DCV 0mA/point Note If you are using the E R C P N ( P N P specification), use the RCBTUPIOAP/ BP (compatible with PNP specification). Vertical Specification Model: RCBTUPIOA/AP Horizontal Specification Model: RCBTUPIOB/BP Rotary Proof part Residual voltage Shortcircuit, overcurrent protection V ma./0ma Fuse resistance (7Ω, 0.W) Wiring Diagram Teaching pendant or PC software (PIO type) Emergency stop circuit Power & I/O cable (connectors on both ends) (optional) <Model: CBERCPWBIO *** H> Standard m / m / m PIO terminal block (optional) Model: RCBTUPIOA (B) (Parallel communication) SIO Converter This converter permits RS communication by connecting the serial communication line (SGA, SGB) of the power & I/O cable and using a Dsub, pin crossing cable for PC connection. Features The connection port for teachingpendant or PC cable can be installed at any position away from the actuator. Multiple aes can be connected and operated from a PC via serial communication. Vertical Specification Model: RCBTUSIOA PS ERC Specifications Item Specification Horizontal Specification Model: RCBTUSIOB PCON Powersupply voltage DCV±0% Ambient operating temperature, humidity Terminal resistor 0~ C, % RH or below (noncondensing) 0Ω(builtin) ACON Wiring Diagram Emergency stop circuit Teaching pendant SCON PSEL Power & I/O cable (No connector at end) (required option) <Model: CBERCPWBIO ***> <Model: CBERCPWBIO ***>* Standard m / m / m SIO converter (optional) Model: RCBTUSIOA (B) * With the SIO specification, a network cable is used to connect to a SIO converter. Dsub, pin crossing cable (provided by the customer) * The PC software cable cannot be used. PC ASEL SSEL ERC 0 XSEL

19 Integrated ERC Options n Teaching Pendant An input device that provides all functions you need for trial operation and adjustment, such as position data input, test operation, as well as monitoring of current ais positions and input/output signals. Name Teaching Pendant Simple teaching pendant Data setting Model RCMT (standard specification) RCMTD (with deadman switch *) RCME RCMP Standard price Rotary Eternal view Proof Features Display A standard, userfriendly teaching pendant equipped with a large LCD screen. A deadman switch type ensuring added safety is also available. characters lines on LCD An economical type offering the same functions as the RCAT at a substantially lower price. characters lines on LCD An affordable data setting that provides all editing functions other than those relating to ais operation. * This does not support operations relating to ais movement. characters lines on LCD Weight Cable length Appro. 0g m Appro. 00g m Appro. 0g m Ambient operating temperature, humidity Temperature: 0~0 C, Humidity: % RH or below (.)... Eternal dimensions.. 0 ø. * The deadman switch is a safety switch that cuts off the drive source when released to disable operation. PSEL SCON ACON PCON ERC PS n PC Software n RS Communication Model RCM0MW <Content> PC software (CDROM), PC cable (communication cable + RS conversion ) A software program that helps input position data and perform test operation. It significantly facilitates debugging operation by offering wideranging functions including jogging, inching, step operation and continuous operation. n USB Communication Model RCM0USB <Content> PC software (CDROM), PC cable (communication cable + USB conversion + USB cable) XSEL SSEL ASEL () 0 ERC

20 Cables and Spare Parts ERC Integrated Power & I/O Cable / Power & I/O Robot Cable for PIO Model CBERCPWBIO c c c /CBERCPWBIO c c c RB * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m * Round terminal at end (V0. by JST) (Unit: mm) Color Orange (red ) Orange (black ) Signal Twisted pair cable Wire color Signal Standard cable Robot cable Orange (red ) Orange (black ) Light blue (red ) Grey (red ) Light blue (black ) Grey (black ) White (red ) White (black ) Yellow (red ) Yellow (black ) Pink (red ) Pink (black ) Orange (red ) Orange (black ) Light blue (red ) Grey (red ) Light blue (black ) Grey (black ) White (red ) White (black ) Yellow (red ) Yellow (black ) Pink (red ) Pink (black ) Rotary Power & I/O Cable / Power & I/O Robot Cable (Connectors on Both Ends) Model CBERCPWBIO c c c H/CBERCPWBIO c c c RBH Drain wire Signal Shield wire * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Signal Proof (Unit: mm) Receptacle housing: (AMP) Receptacle contact: 0 (AMP) IN IN IN IN IN IN OUT OUT OUT OUT IN IN IN IN IN IN OUT OUT OUT OUT Power & I/O Cable / Power & I/O Robot Cable for SIO Model CBERCPWBIO c c c /CBERCPWBIO c c c RB CN Manufacturer : JST Housing : PAP0VS Contact : SPHD00TP0. No connector Manufacturer: JST Model: V0. Network Cable Model CBERCCTL00 L Twisted pair cable Drain wire Wire Color Signal Orange SGA AWG Blue SGB Brown V Green GND No. Twisted CN pair cable Manufacturer : JST Drain wire Plug housing : YLP0V Plug contact : SYF0TP0.A No. Shield wire * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Signal SGA SGB V GND Control power Brake 7 MPI GND Shield Wire color Standard cable Robot cable Orange Blue Blue Yellow Brown Red Green Black Red Purple Grey Grey Yellow Green Black Orange Shield Shielded PS ERC PCON ACON CN Manufacturer: AMP econ connector plug type (green) Model : 7 PC Communication Cable Model CBERCSIO00 CN Japan Chain Terminal Modular plug : NTCR Wire : UL007 #AWG 00mm m T/07SP AWG Wire Color Signal No. No. Signal Color Wire CN AWG Orange Blue Green SGA SGB GND NC SGA SGB V GND Orange Blue Green CN AWG CN Manufacturer: JST Housing : PALR0VF Contact : SPAL00TP0. CN Manufacturer : JST Housing : PALR0VFX Contact : SPAL00TP0.X Wire Color Brown Signal V No. No. Signal SGA Color Yellow Wire Yellow SGA SGB Orange AWG Red GND V Brown AWG Orange SGB GND Red NC GND NC V ERC 0 SCON PSEL ASEL SSEL XSEL

21 Integrated PCON Rotary n Model C / CG / CY / PL / PO / SE Position controller for RCP series C/CG CY PL/PO SE Proof List Position controller capable of operating RCP series actuator. Select from five types each supporting a different control mode. C CG CY PL / PO SE Name Positioner type Safety category type Solenoid valve type Pulsetrain control type Serial communication type Eternal view Description Number of position points Positioner supporting up to positioning points points C type conforming to safety category points Same control actions as those used on air cylinders points for pulsetrain control Network controller points PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model PCON I 0 C CG CY SE PL PO Positioner type Safety category type Solenoid valve type 0 PCON Series Motor type Encoder type Standard I/O I/O cable length Powersupply voltage Serial communication type Pulsetrain control type (differential receiver type) Pulsetrain control type (open collector type) 0P P P P I Incremental 0 square pulse motor type square pulse motor type square pulse motor type square pulse motor type NP PN NPN specification(standard) PNP specification 0 No cable m m m 0 DCV * If SE (serial communication type) is specified, 0 is automatically specified for the I/O cable option (no cable).

22 System Configuration Integrated P LC Field network I/O cable for positioner type C B PAC P IO00 C able length S tandard m (S upplied with the controller) R efer to p. for a replacement cable. I/O cable for solenoid valve type C B PAC YP IO00 C able length S tandard m (S upplied with the controller) R efer to p. for a replacement cable. I/O cable for pulsetrain control type C B PAC P UP IO00 C able length S tandard m (S upplied with the controller) R efer to p. for a replacement cable. (R efer to p. ) DeviceNet type <Model: R C MGWDV> C C Link type <Model: R C MG WC C > Rotary Proof S erial communication C ontroller link cable (R efer to p. 0) <Model: C B R C B C TL00> P C ONC / C G Positioner type Peripherals are common to all controllers. P C ONC Y S afety category type P C ONP L / P O Pulsetrain control type P C ONS E S erial communication type PS VDC power supply (R efer to p. ) <Model: PS (00V input)> <Model: PS (00V input)> PC software (R efer to p. ) R S version <Model: R C M0MW> US B version <Model: R C M0US B > * The P C software comes with a cable. Teaching pendant (R efer to p. ) <Model: R C MT / TD> <Model: R C ME > <Model: R C MP > ERC PCON ACON SCON Motor cable <Model CBRCPMA > S tandard m / m / m R efer to p. for a replacement cable. PSEL ASEL Actuator R C P series Encoder cable <Model CBRCPPA > S tandard m / m / m R efer to p. for a replacement cable. SSEL PCON 0 XSEL

23 Integrated PCON I/O Specifications Rotary Proof n Part Eternal input specifications Item voltage current Leak current Insulation method NPN specification Eternal power supply +V PV Each input Specification VDC ± 0% ma/circuit ma ma./point Photocoupler terminal R=0Ω R=.kΩ Internal circuit n Part Eternal output specifications Item Load voltage Maimum load current Residual voltage Insulation method NPN specification Internal circuit Specification DCV 0mA/point V ma. Photocoupler P Each output R=Ω N Load Eternal power supply +V PNP specification PNP specification Eternal power supply +V N R=0Ω terminal Each input R=.kΩ Internal circuit Internal circuit PV R=Ω Each output Load Eternal power supply +V N PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL I/O Specifications The four controller types (C/CG, CY, PL/PO and SE) are differentiated by their I/O specifications. Since the positioner type and solenoid valve type allow the I/O signal settings to be changed through the controller, multiple functions can be provided for selection as needed. n Functions by Name Positioner mode 07 PCON C / CG Positioner type CY Solenoid valve type PL / PO Pulsetrain control type SE Serial communication type Teaching mode Solenoid valve mode Pulse train mode Network support Features A basic operation mode in which the actuator is operated by specifying a position number and then inputting a start signal. In this mode, the slider (rod) can be moved by means of an eternal signal to store the achieved position as position data. The actuator can be moved simply by ON/OFF of position signals. This mode supports the same control actions 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 CCLink network using a gateway.

24 Eplanation of I/O Signal Functions PCON The table below eplains the functions assigned to the respective I/O signals of the controller. 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. Integrated n Functions by Category Abbreviation CSTR Signal name PTP strobe signal (start signal) this signal to cause the actuator to start moving to the position set by the command position number signal. PC~PC Command position number signal This signal is used to input a target position number (binary input). BKRL Brake forcedrelease signal This signal forcibly releases the brake. RMOD Running mode switching signal * STP Pause signal RES MODE Reset signal Teaching mode signal Function description 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 OFF 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 Servo 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 homereturn operation. JISL Jog/inching switching 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). The actuator can be jogged with JOG+ and JOG while this signal is OFF. The actuator performs inching operation with JOG+ and JOG while this signal is ON. Rotary Proof JOG+ JOG PWRT ST0~ST TL Start position command Torque limit selection signal 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. DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. PEND/INP PM~PM Teaching signal Position complete signal Completed position number signal In the teaching mode, specify a desired position number and then turn this signal ON for at least 0 ms to write the current position under the specified position number. This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has eceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped using a parameter. This signal is used to output the position number achieved at completion of positioning (binary output). HEND Home return complete signal This signal turns ON upon completion of home return. ZONE PZONE Zone signal Position zone signal This signal turns ON when the current actuator position has entered the range specified by parameters. This signal turns ON when the current actuator position has entered the range specified by position data during position movement. PZONE can be used together with ZONE, but PZONE is valid only during movement to a specified position. PS ERC RMDS Running mode status signal This signal is used to output the running mode status. * ALM alarm status signal MOVE SV Servo ON status signal * EMGS Emergency stop status signal MODES WEND PE0~PE TLR LSO~LS TRQS Moving signal Mode status signal Write complete signal Current position number signal Torque limiting signal Limit switch output signal Torque level status signal This signal remains ON while the controller is normal, and turns OFF if an alarm has generated. This signal remains ON while the actuator is moving (including the periods during home return and pushmotion operation). This signal remains ON while the servo is on. This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. This signal turns ON when the controller has switched to the teaching mode via MODE signal input. It turns OFF upon returning to the 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. This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. 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. 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. This signal outputs when the current value of the motor reaches the limitation value, before the JOG operation returns to the starting point and the slider (rod) collides to the mechanical end or an obstacle. PCON 0 PCON ACON SCON PSEL ASEL SSEL XSEL

25 Integrated Rotary Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL PCON I/O Signal Table n Positioner type (PCONC / CG) Pin number A A A A A A 7A A A 0A A A A A A A 7A A A 0A B B B B B B 7B B B 0B B B B B B B 7B B B 0B n Solenoid valve type (PCONCY) Pin number 7 0 Category V V 0 PCON 0V 0V Category V 0V Number of positioning points Zone signal P zone signal IN0 IN IN IN IN IN IN IN7 IN IN IN0 IN IN IN IN IN OUT0 OUT OUT OUT OUT OUT OUT OUT7 OUT OUT OUT0 OUT OUT OUT OUT Number of positioning points Zone signal P zone signal IN0 IN IN IN OUT0 OUT OUT OUT OUT OUT 0 Positioning mode points PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM MOVE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM Parameter (PIO pattern) selection 0 Solenoid valve mode 0 points ST0 ST(JOG) ST() SON LS0 LS(TRQS) LS() SV HEND * ALM Teaching mode points PC PC PC PC PC PC MODE JISL JOG+ JOG RMOD HOME * STP CSTR/PWRT RES SON PM PM PM PM PM PM MOVE MODES PZONE RMDS HEND PEND/WEND SV * EMGS * ALM (Note) The signal names inside the parenthesis become the function before returning to the starting point. Solenoid valve mode points ST0 ST(JOG) ST() SON PE0 PE(TRQS) PE() PZONE HEND * ALM (Note) The signal names inside the parenthesis become the function before returning to the starting point. Parameter (PIO pattern) selection point mode points PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PZONE RMDS HEND PEND SV * EMGS * ALM n Pulsetrain type (PCONPL/PO) Pin number 7 0 P P NC NC NC NC N N Category V 0V point mode points PC PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PM RMDS HEND PEND SV * EMGS * ALM Number of positioning points Zone signal P zone signal IN0 IN IN IN OUT0 OUT OUT OUT Solenoid valve mode Solenoid valve mode 7 points points ST0 ST ST ST ST ST ST BKRL RMOD HOME * STP RES SON PE0 PE PE PE PE PE PE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM Parameter (PIO pattern) selection 0 Standard mode Push mode SON TL HOME RES SV INP HEND * ALM * PP PP * NP NP ST0 ST (JOG+) ST ( ) BKRL RMOD RES SON LSO LS (TRQS) LS( ) ZONE PZONE RMDS HEND SV * EMGS * ALM SON TL HOME RES/DCLR SV INP/TLR HEND * ALM * PP PP * NP NP

26 Wiring Diagram for PulseTrain PCON Integrated n Differential Receiver Method (PCONPL) Maimum input pulse frequency : MAX 00kpps Cable length : MAX 0m PIO connector Pin number Category Signal name 7 0 Eternal V Eternal 0 V V 0V SON TL HOME RES SV INP HEND * ALM /PP PP Differential input /NP NP Shield Rotary Proof Mounting plate FG * The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate. n Open Collector Method (PCONPO) Maimum input pulse frequency : MAX 0kpps Cable length : MAX m PIO connector Pin number Category Signal name 7 0 Eternal V Eternal 0 V N.C Open collector input N.C Open collector input V 0V SON TL HOME RES SV INP HEND * ALM /PP PP /NP NP Shield DCV±0% PS ERC PCON ACON SCON PSEL Mounting plate FG ASEL * The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate. * Connect the eternal 0V pin (common) to the ground for controller power. SSEL PCON 0 XSEL

27 Integrated PCON Command Pulse Patterns Command pulse train pattern terminal Forward Reverse Forward pulse train PP /PP Reverse pulse train NP /NP Rotary Negative logic Forward pulse trains and reverse pulse trains indicate the motor revolutions in forward direction and reverse direction, respectively. Pulse train PP /PP Sign NP /NP Low High Command pulses indicate the motor revolutions, while the sign of the command indicates the rotating direction. PhaseA/B pulse train PP /PP NP /NP Proof Forward pulse train PhaseA/B () pulses with a 0 phase difference specify both the revolutions and rotating direction. PP /PP Reverse pulse train NP /NP Positive logic Pulse train Sign PP /PP NP /NP High Low PhaseA/B pulse train PP /PP NP /NP PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Specification Table Item type Connectable actuators Number of controlled aes Operation method Number of positioning points Backup memory I/O connector Number of I/O points I/O power supply Serial communication Peripheral communication cable Command pulsetrain input method Maimum input pulse frequency (Note ) Position detection method Drivesource cutoff relay at emergency stop Forced release of electromagnetic brake Motor cable Encoder cable power supply Powersupply capacity Dielectric strength voltage Vibration resistance Ambient operating temperature Ambient operating humidity Operating ambience Protection class Weight PCON Specification C CG CY PL PO SE RCP series actuator (Note ) ais Positioner type Solenoid valve type Pulsetrain control type Serial communication type points points points EEPROM 0pin connector pin connector pin connector None input points / output points input points / output points input points / output points None Eternally supplied VDC ± 0% RS ch CBPACPIO ccc CBPACYPIO ccc CBPACPUPIO ccc CBRCBCTL00 Differential line driver Open collector Ma 00kpps Ma 0kpps Incremental encoder Builtin Eternal Brake release switch ON/OFF BKrelease terminal signal ON/OFF on power connector CBRCPMA ccc (0m ma.) CBRCPPA ccc (0m ma.) DCV±0% A ma. DC00V MΩ XYZ directions 0~7Hz Oneside amplitude 0.0mm (continuous), 0.07mm (intermittent) ~0Hz.m/s (continuous),.m/s (intermittent) 0~0 C 0~% (noncondensing) Free from corrosive gases IP0 Appro. 00g Appro. 0g (Note ) The highthrust type (RFA), highspeed type (HSC/HSR) and waterproof type (RCPWSA) cannot be operated. (Note ) With the open collector specification, keep the maimum input frequency to 0 kpps or below to prevent malfunction.

28 Eternal Dimensions PCON Integrated PCONC / CG ø. PCONCY / PL / PO / SE ø Rotary Proof Name of Each Part Blinking (green) LED indicators These LED indicate the condition of the controller. Unlit Servo on Lit (red) Alarm present Lit (green) Servo off Automatic servooff mode 7 C / CG type PIO connector Connect a cable for communicating with a PLC or other eternal equipment. Addresssetting rotary switch This switch is used to set the address of each controller when multiple controllers are linked. Mode switch This switch is used to switch between teaching operation (MANU) and automatic operation (AUTO). Operation details MANU AUTO I/O commands are not accepted. Data can be written from a teaching pendant. I/O commands are valid, while operations from a teaching pendant are not accepted. Monitoring is possible. Encoder/brake connector Connect the encoder/brake cables of the actuator. 7 Brake release switc A switch to forcibly release the brake Motor connector Connect the motor cable of the actuator. Power terminal block Supplies the main controller power and actuates an emergency stop. C/CG types Pin number Signal Name Name PS ERC PCON CY / PL / PO type * PIO connector pins CY: pins PL/PO: pins SE type SIO connector Connect a teachingpendant or PC cable, or a controller to connect to a gateway. Operation details Pin number Signal Pin Remarks SGA RS differential signal+ 7 SGB V ENBL EMGA V 0V EMGB 0V RS differential signal +V output Enable signal EMG line connection to eternal equipment V power for T/P Ground EMG line connection to eternal equipment Ground for EMG line connection to eternal equipment For RS/ conversion For T/P 7 S TP_EMG eternal drivesource S cutoff terminal Pin number MPI MPO V 0V EMG CY / PL / PO / SE types Signal Name BK MPI MPO V 0V EMG Motor drivesource cutoff terminal Motor drivesource cutoff terminal Positive side of the V power supply Negative side of the V power supply EMG signal (application of V) Brake release Name Motor drivesource cutoff terminal Motor drivesource cutoff terminal Positive side of the V power supply Negative side of the V power supply EMG signal (application of V) PCON ACON SCON PSEL ASEL SSEL XSEL

29 Integrated PCON Options n Teaching Pendant An input device that provides all functions you need for trial operation and adjustment, such as position data input, test operation, as well as monitoring of current ais positions and input/output signals. Name Model Teaching Pendant RCMT (standard specification) RCMTD (with deadman switch *) Simple teaching pendant RCME Data setting RCMP Standard price Rotary Eternal view Proof Features Display A standard, userfriendly teaching pendant equipped with a large LCD screen. A deadman switch type ensuring added safety is also available. characters lines on LCD An economical type offering the same functions as the RCAT at a substantially lower price. characters lines on LCD An affordable data setting that provides all editing functions other than those relating to ais operation. * This does not support operations relating to ais movement. characters lines on LCD Weight Cable length Appro. 0g m Appro. 00g m Appro. 0g m Ambient operating temperature, humidity Temperature: 0~0 C, Humidity: % RH or below (.).... Eternal dimensions ø () * The deadman switch is a safety switch that cuts off the drive source when released to disable operation. PSEL SCON ACON PCON ERC PS n PC Software n RS Communication Model RCM0MW <Content> PC software (CDROM), PC cable (communication cable + RS conversion ) A software program that helps input position data and perform test operation. It significantly facilitates debugging operation by offering wideranging functions including jogging, inching, step operation and continuous operation. n USB Communication Model RCM0USB <Content> PC software (CDROM), PC cable (communication cable + USB conversion + USB cable) XSEL SSEL ASEL PCON

30 () Spare Parts Motor C able CBRCPMA () (Front view) end (0) CN E nc oder C able / E nc oder R obot C able CBRCPPA /CBRCPPA RB () CN (ø) * The standard motor c able is a robot cable. L L () C N (0) () () (Front view) () () () () (Front view) end I/O C able for S olenoid Valve (P C ONCY ) CBPACYPIO No connector (ø) L L () Actuator end C N (Front view) () Actuator end Housing: 00 (MOLEX) Contact: 000 (MOLEX) I (AMP) CN PHDRVS (JST) Orange Grey White Yellow Pink Orange (black ) A VMM B A VMM B Cable Signal Pin color name number (BAT) (BAT) Red BK+ Grey BK Brown ENA Green ENA Purple ENB Pink ENB Black Yellow VPS Orange Blue Drain CN A A A B B B PCON Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. I/O C able for Pos itioner (P C ONC /C G ) CBPACPIO No connector No connector No connector Flat cable (0 cores) I/O C able for P uls etrain C ontrol (P C ONP L /P O) CBPACPUPIO L B A * The standard enc oder cable is a normal cable. A robot c able c an be spec ified as an option. 0A A 0B B Halfpitch MIL socket: HIF 0D.7R (Hirose) Single wire (UL007, AWG, green) 0 Round terminal: 0. (JST) Housing: 00 (MOLEX) Contact: 000 (MOLEX) No connector end * indic ates the c able length (L). Lengths up to 0 m c an be spec ified. E ample) 00 = m VBB GND (N.C) (N.C) (N.C) F.G 0 7 M cable Shield wire Drain wire HIF 0D.7R Signal No. name Cable color Wire A A A A A A 7A A A 0A V V IN0 IN IN IN IN IN Brown Red Orange Yellow Green Blue Purple Grey White Black Flat cable A A IN Brown (pressurewelded) A IN7 Red AWG A IN Orange A IN Yellow A IN0 Green A IN Blue 7A IN Purple A A 0A IN IN IN Grey White Black CN A VMM A B VMM B Yellow Grey Orange Orange (black ) Pink White SLP0V (JST) * indic ates the c able length (L). Lengths up to 0 m c an be spec ified. E ample) 00 = m Pin Signal Cable number name color CN ENA Brown ENA Green ENB Purple ENB Pink 7 Blue 0 7 GND VBB VPS BK+ BK F.G Orange Yellow Red Grey Drain XMPV (JST) * indic ates the c able length (L). Lengths up to 0 m c an be spec ified. E ample) 00 = m * indic ates the c able length (L). Lengths up to 0 m c an be spec ified. E ample) 00 = m Black White / Black Red White / Red Green White / Green Yellow White / Yellow Brown White / Brown Blue White / Blue Grey White / Grey Signal No. name OUT0 OUT OUT OUT OUT OUT OUT OUT7 OUT OUT B B B B B B 7B B B 0B B B B B B B 7B B B 0B Cable color Brown Red Orange Yellow Green Blue Purple Grey White Black OUT0 Brown OUT Red OUT Orange OUT Yellow OUT Green Blue OUT 0V 0V Purple Grey White Black 00 (MOLEX) No. Signal name Cable color Wire V 0V IN0 IN Brown Red Orange Yellow IN Green IN Blue Flat cable OUT0 Purple (pressurewelded) 7 AWG OUT Grey 0 OUT OUT White Black OUT Brown OUT Red * indic ates the c able length (L). Lengths up to 0 m c an be spec ified. E ample) 00 = m 00 (MOLEX) Signal No. name Cable color Wire IO_V Black IO_G White / Black IN0 IN IN Red White / Red Green IN 0.sq 7 0 OUT0 OUT OUT OUT PP PG NP NG White / Green Yellow White / Yellow Brown White / Brown Blue White / Blue Grey White / Grey 0. (JST) Wire Flat cable B (pressurewelded) AWG FG White / Grey AWG PCON Integrated Rotary Proof PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

31 Integrated ACON Rotary n Model C / CG / CY / PL / PO / SE Position controller for RCA series C/CG CY PL/PO SE Proof List Position controller capable of operating RCA series actuator. Select from five types each supporting a different control mode. C CG CY PL / PO SE Name Positioner type Safety category type Solenoid valve type Pulsetrain control type Serial communication type Eternal view Description Positioner supporting up to positioning points C type conforming to safety category Same control actions as those used on air cylinders for pulsetrain control Network controller Number of position points points points points (Unlimited) points PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model ACO N I 0 C CG CY SE PL PO Positioner type Safety category type Solenoid valve type Serial communication type Pulsetrain control type (differential receiver type) Pulsetrain control type (open collector type) ACON Series Motor type Encoder type Standard I/O I/O cable length Powersupply voltage 0S 0W motor (RA only) 0 0W motor (other than RA) 0 0W motor I Incremental NP PN N NPN specification (standard) PNP specification No I/O (SE type) 0 0 No cable m m m DCV * If SE (serial communication type) is specified, 0 is automatically specified for the I/O cable option (no cable).

32 System Configuration ACON Integrated PLC Field network I/O cable for positioner type CBPACPIO00 Cable length Standard m (Supplied with the controller) Refer to p. for a replacement cable. I/O cable for solenoid valve type CBPACYPIO00 Cable length Standard m (Supplied with the controller) Refer to p. for a replacement cable. I/O cable for pulsetrain control type CBPACPUPIO00 Cable length Standard m (Supplied with the controller) Refer to p. for a replacement cable. (Refer to p. ) DeviceNet type <Model: RCMGWDV> CCLink type <Model: RCMGWCC> Rotary Proof link cable (Refer to p. 0) <Model: CBRCBCTL00> ACONC / CG Positioner type Peripherals are common to all controllers. ACONCY Safety category type ACONPL / PO Pulsetrain control type ACONSE Serial communication type VDC power supply (Refer to p. ) <Model: PS (00V input)> <Model: PS (00V input)> PC software (Refer to p. ) RS version <Model: RCM0MW> USB version <Model: RCM0USB> * The PC software comes with a cable. Teaching pendant (Refer to p. ) <Model: RCMT / TD> <Model: RCME> <Model: RCMP> PS ERC PCON m ACON Motor cable <Model CBACSMA > Standard m / m / m Refer to p. for a replacement cable. SCON PSEL Actuator RCA series Encoder cable <Model CBACSPA > Standard m / m / m Refer to p. for a replacement cable. ASEL SSEL ACON XSEL

33 Integrated ACON I/O Rotary Proof n Part Eternal input specifications Item voltage current Leak current Insulation method NPN specification Eternal power supply +V PV terminal Each input Specification VDC ± 0% ma/circuit ma ma./point Photocoupler R=0Ω R=.kΩ Internal circuit n Part Eternal output specifications Item Load voltage Maimum load current Residual voltage Insulation method NPN specification Internal circuit Specification DCV 0mA/point V ma. Photocoupler PV Each output R=Ω N Load Eternal power supply +V PNP specification PNP specification Eternal power supply +V N R=0Ω terminal Each input R=.kΩ Internal circuit Internal circuit PV R=Ω Each output Load Eternal power supply +V N PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL I/O Specifications The four controller types (C/CG, CY, PL/PO and SE) are differentiated by their I/O specifications. Since the positioner type and solenoid valve type allow the I/O signal settings to be changed through the controller, multiple functions can be provided for selection as needed. n Functions by Name Positioner mode 7 ACON C / CG Positioner type CY Solenoid valve type PL / PO Pulsetrain control type SE Serial communication type Teaching mode Solenoid valve mode Pulse train mode Network support Features A basic operation mode in which the actuator is operated by specifying a position number and then inputting a start signal. In this mode, the slider (rod) can be moved by means of an eternal signal to store the achieved position as position data. The actuator can be moved simply by ON/OFF of position number signals. This mode makes it easy to conver t applications previously using air cylinders with solenoid valves. Yo u c an o p e rate th e a c tu ato r fre e ly according to your control needs, without inputting position data. The controller can be connected to a network via a gateway and serial communication function.

34 Eplanation of I/O Signal Functions ACON Integrated The table below eplains the functions assigned to the respective I/O signals of the controller. 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. n Functions by Category Abbreviation CSTR Signal name PTP strobe signal (start signal) this signal to cause the actuator to start moving to the position set by the command position number signal. PC~PC Command position number signal This signal is used to input a target position number (binary input). BKRL Brake forcedrelease signal This signal forcibly releases the brake. RMOD Running mode switching signal * STP Pause signal RES MODE Reset signal Teaching mode signal Function description 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 OFF 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 Servo 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 homereturn operation. JISL Jog/inching switching 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). The actuator can be jogged with JOG+ and JOG while this signal is OFF. The actuator performs inching operation with JOG+ and JOG while this signal is ON. Rotary Proof JOG+ JOG PWRT ST0~ST TL Start position command Torque limit selection signal 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. DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. PEND/INP PM~PM Teaching signal Position complete signal Completed position number signal In the teaching mode, specify a desired position number and then turn this signal ON for at least 0 ms to write the current position under the specified position number. This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has eceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped using a parameter. This signal is used to output the position number achieved at completion of positioning (binary output). HEND Home return complete signal This signal turns ON upon completion of home return. ZONE PZONE Zone signal Position zone signal This signal turns ON when the current actuator position has entered the range specified by parameters. This signal turns ON when the current actuator position has entered the range specified by position data during position movement. PZONE can be used together with ZONE, but PZONE is valid only during movement to a specified position. PS ERC RMDS Running mode status signal This signal is used to output the running mode status. * ALM alarm status signal MOVE SV Servo ON status signal * EMGS Emergency stop status signal MODES WEND PE0~PE TLR LSO~LS TRQS Moving signal Mode status signal Write complete signal Current position number signal Torque limiting signal Limit switch output signal Torque level status signal This signal remains ON while the controller is normal, and turns OFF if an alarm has generated. This signal remains ON while the actuator is moving (including the periods during home return and pushmotion operation). This signal remains ON while the servo is on. This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. This signal turns ON when the controller has switched to the teaching mode via MODE signal input. It turns OFF upon returning to the 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. This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. 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. 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. This signal outputs when the current value of the motor reaches the limitation value, before the JOG operation returns to the starting point and the slider (rod) collides to the mechanical end or an obstacle. ACON PCON ACON SCON PSEL ASEL SSEL XSEL

35 Integrated Rotary Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL ACON I/O Signal Table n Positioner type (ACONC / CG) Pin number A A A A A A 7A A A 0A A A A A A A 7A A A 0A B B B B B B 7B B B 0B B B B B B B 7B B B 0B ( 注 ) 上記信号名の ( ) の中は 原点復帰前の機能となります n Solenoid valve type (ACONCY) Pin number 7 0 Category V V ACON 0V 0V Category V 0V Number of positioning points Zone signal P zone signal IN0 IN IN IN IN IN IN IN7 IN IN IN0 IN IN IN IN IN OUT0 OUT OUT OUT OUT OUT OUT OUT7 OUT OUT OUT0 OUT OUT OUT OUT Number of positioning points Zone signal P zone signal IN0 IN IN IN OUT0 OUT OUT OUT OUT OUT 0 Positioning mode points PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM MOVE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM Parameter (PIO pattern) selection 0 Solenoid valve mode 0 points ST0 ST(JOG) ST() SON LS0 LS(TRQS) LS() SV HEND * ALM Teaching mode points PC PC PC PC PC PC MODE JISL JOG+ JOG RMOD HOME * STP CSTR/PWRT RES SON PM PM PM PM PM PM MOVE MODES PZONE RMDS HEND PEND/WEND SV * EMGS * ALM Solenoid valve mode points ST0 ST(JOG) ST() SON PE0 PE(TRQS) PE() PZONE HEND * ALM ( 注 ) 上記信号名の ( ) の中は 原点復帰前の機能となります Parameter (PIO pattern) selection point mode points PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PZONE RMDS HEND PEND SV * EMGS * ALM n Pulsetrain type (ACONPL/PO) Pin number 7 0 P P NC NC NC NC N N Category V 0V point mode points PC PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PM RMDS HEND PEND SV * EMGS * ALM Number of positioning points Zone signal P zone signal IN0 IN IN IN OUT0 OUT OUT OUT Solenoid valve mode Solenoid valve mode 7 points points ST0 ST ST ST ST ST ST BKRL RMOD HOME * STP RES SON PE0 PE PE PE PE PE PE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM Parameter (PIO pattern) selection 0 Standard mode Push mode SON TL HOME RES SV INP HEND * ALM * PP PP * NP NP ST0 ST (JOG+) ST ( ) BKRL RMOD RES SON LSO LS (TRQS) LS( ) ZONE PZONE RMDS HEND SV * EMGS * ALM SON TL HOME RES/DCLR SV INP/TLR HEND * ALM * PP PP * NP NP

36 Wiring Diagram for PulseTrain ACON Integrated n Differential Receiver Method (ACONPL) Maimum input pulse frequency : MAX 00kpps Cable length : MAX 0m PIO connector Pin number Category Signal name 7 0 Eternal V Eternal 0 V V 0V SON TL HOME RES SV INP HEND * ALM /PP PP Differential input /NP NP Shield Rotary Proof Mounting plate FG * The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate. n Open Collector Method (ACONPO) Maimum input pulse frequency : MAX 0kpps Cable length : MAX m PS PIO connector Pin number Category Signal name 7 0 Eternal V Eternal 0 V N.C Open collector input N.C Open collector input V 0V SON TL HOME RES SV INP HEND * ALM /PP PP /NP NP Shield DCV±0% ERC PCON ACON SCON PSEL ASEL Mounting plate FG * The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate. * Connect the eternal 0V pin (common) to the ground for controller power. SSEL ACON 0 XSEL

37 Integrated ACON Command Pulse Patterns Command pulse train pattern terminal Forward Reverse Forward pulse train PP /PP Reverse pulse train NP /NP Rotary Proof Negative logic Positive logic Forward pulse trains and reverse pulse trains indicate the motor revolutions in forward direction and reverse direction, respectively. Pulse train PP /PP Sign NP /NP Low High Command pulses indicate the motor revolutions, while the sign of the command indicates the rotating direction. PP /PP PhaseA/B pulse train NP /NP PhaseA/B () pulses with a 0 phase difference specify both the revolutions and rotating direction. Forward pulse train PP /PP Reverse pulse train NP /NP Pulse train PP /PP Sign NP /NP High Low PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL PhaseA/B pulse train Specification Table PP /PP NP /NP Item Specification type C CG CY PL PO SE Connectable actuators RCA series actuator Number of controlled aes ais Operation method Positioner type Solenoid valve type Pulsetrain control type Serial communication type Number of positioning points points points points Backup memory EEPROM I/O connector 0pin connector pin connector pin connector None Number of I/O points input points / output points input points / output points input points / output points None I/O power supply Eternally supplied VDC ± 0% Serial communication RS ch Peripheral communication cable CBPACPIO ccc CBPACYPIO ccc CBPACPUPIO ccc CBRCBCTL00 Command pulsetrain input method Differential line driver Open collector Maimum input pulse frequency (Note ) Ma 00kpps Ma 0kpps Position detection method Incremental encoder Drivesource cutoff relay at emergency stop Builtin Eternal Forced release of electromagnetic brake Brake release switch ON/OFF BKrelease terminal signal ON/OFF on power connector Motor cable CBACSMA ccc (0m ma.) Encoder cable CBACSPA ccc (0m ma.) power supply DCV±0% SA SA 0W (Rating.A / Peak.A) SA 0W (Rating.A / Peak.A) Powersupply capacity RA 0W (Rating.7A / Peak.A) RA 0W (Rating.A / Peak.A) RA 0W (Rating.A / Peak.A) Dielectric strength voltage DC00V MΩ Vibration resistance XYZ directions 0~7Hz Oneside amplitude 0.0mm (continuous), 0.07mm (intermittent) ~0Hz.m/s (continuous),.m/s (intermittent) Ambient operating temperature 0~0 C Ambient operating humidity 0~% (noncondensing) Operating ambience Free from corrosive gases Protection class IP0 Weight Appro. 00g Appro. 0g (Note ) With the open collector specification, keep the maimum input frequency to 0 kpps or below to prevent malfunction. Use a differential line driver if 0 kpps is eceeded. ACON

38 Eternal Dimensions ACON Integrated ACONC / CG ø. ACONCY / PL / PO / SE ø Rotary Proof Name of Each Part Blinking (green) LED indicators These LED indicate the condition of the controller. Unlit Servo on Lit (red) Alarm present Lit (green) Servo off Automatic servooff mode 7 C / CG type PIO connector Connect a cable for communicating with a PLC or other eternal equipment. Addresssetting rotary switch This switch is used to set the address of each controller when multiple controllers are linked. Mode switch This switch is used to switch between teaching operation (MANU) and automatic operation (AUTO). Operation details MANU AUTO I/O commands are not accepted. Data can be written from a teaching pendant. I/O commands are valid, while operations from a teaching pendant are not accepted. Monitoring is possible. Encoder/brake connector Connect the encoder/brake cables of the actuator. 7 Brake release switch A switch to forcibly release the brake Motor connector Connect the motor cable of the actuator. Power terminal block Supplies the main controller power and actuates an emergency stop. C/CG types Pin number Signal Name Name PS ERC PCON CY / PL / PO type * PIO connector pins CY: pins PL/PO: pins SE type SIO connector Connect a teachingpendant or PC cable, or a controller to connect to a gateway. Operation details Pin number Signal Pin Remarks SGA RS differential signal+ 7 SGB V ENBL EMGA V 0V EMGB 0V RS differential signal +V output Enable signal EMG line connection to eternal equipment V power for Teach pendant Ground EMG line connection to eternal equipment Ground for EMG line connection to eternal equipment For RS/ conversion For Teach pendant 7 S TP_EMG eternal drivesource S cutoff terminal Pin number MPI MPO V 0V EMG CY / PL / PO / SE types Signal Name BK MPI MPO V 0V EMG Motor drivesource cutoff terminal Motor drivesource cutoff terminal Positive side of the V power supply Negative side of the V power supply EMG signal (application of V) Brake release Name Motor drivesource cutoff terminal Motor drivesource cutoff terminal Positive side of the V power supply Negative side of the V power supply EMG signal (application of V) ACON ACON SCON PSEL ASEL SSEL XSEL

39 Integrated ACON Options n Teaching Pendant An input device that provides all functions you need for trial operation and adjustment, such as position data input, test operation, as well as monitoring of current ais positions and input/output signals. Name Teaching Pendant Simple teaching pendant Data setting Model RCMT (standard specification) RCMTD (with deadman switch *) RCME RCMP Standard price Rotary Eternal view Proof Features Display A standard, userfriendly teaching pendant equipped with a large LCD screen. A deadman switch type ensuring added safety is also available. characters lines on LCD An economical type offering the same functions as the RCAT at a substantially lower price. characters lines on LCD An affordable data setting that provides all editing functions other than those relating to ais operation. * This does not support operations relating to ais movement. characters lines on LCD Weight Cable length Appro. 0g m Appro. 00g m Appro. 0g m Ambient operating temperature, humidity Temperature: 0~0 C, Humidity: % RH or below (.)... Eternal dimensions.. 0 ø. * The deadman switch is a safety switch that cuts off the drive source when released to disable operation. PSEL SCON ACON PCON ERC PS n PC Software n RS Communication Model RCM0MW <Content> PC software (CDROM), PC cable (communication cable + RS conversion ) A software program that helps input position data and perform test operation. It significantly facilitates debugging operation by offering wideranging functions including jogging, inching, step operation and continuous operation. n USB Communication Model RCM0USB <Content> PC software (CDROM), PC cable (communication cable + USB conversion + USB cable) XSEL SSEL ASEL () ACON

40 Spare Parts Motor Cable Model CBACSMA c c c L ACON Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Integrated Wire Color Signal No. No. Signal Color Wire AWG Red U U Red AWG (crimped) White V V White end Actuator end (crimped) Black W W Black Encoder Cable / Encoder Robot Cable Model CBACSPA c c c /CBACSPA c c c RB 7 end I/O Cable for Positioner (ACONC/CG) Model CBPACPIO c c c No connector No connector I/O Cable for Solenoid Valve (ACONCY) Model CBPACYPIO c c c No connector Flat cable (0 cores) L L L B A * The standard encoder cable is a normal cable. A robot cable can be specified as an option. 0A A Wire Color Signal No. 0 White / Purple LS+ White / Grey LS 7 Yellow BK+ Blue BK White / Blue A+ White / Yellow A AWG White / Red B+ (crimped) White / Black B Actuator end Orange SD/Z+ 0 Green SD/Z Purple BAT+ Grey BAT 7 Red VCC Black GND Drain FG 0B B Halfpitch MIL socket: HIF 0D.7R (Hirose) Housing: 00 (MOLEX) Contact: 000 (MOLEX) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m No. Signal Color ABZ Serial Wire A+ White / Blue A White / Yellow B+ White / Red B White / Black 7 LS+ LS+ White / Purple AWG FG FG Drain (crimped) 0 Z+ SD+ Orange Z SD Green BAT+ Purple /PS BAT Grey VCC VCC Red GND GND Black LS LS White / Grey 7 BK BK Blue BK+ BK+ Yellow ( White/blue and other designations under Wire color indicate the band color/insulator color.) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m HIF 0D.7R Signal No. name Cable color Wire A A A A A A 7A A A 0A V V IN0 IN IN IN IN IN Brown Red Orange Yellow Green Blue Purple Grey White Black Flat cable A A A IN IN7 Brown (pressurewelded) Red A IN Orange A IN Yellow A IN0 Green A IN Blue 7A IN Purple A A 0A IN IN IN Grey White Black Signal No. name OUT0 OUT OUT OUT OUT OUT OUT OUT7 OUT OUT B B B B B B 7B B B 0B B B B B B B 7B B B 0B Cable color Brown Red Orange Yellow Green Blue Purple Grey White Black OUT0 Brown OUT Red OUT Orange OUT Yellow OUT Green Blue OUT 0V 0V Purple Grey White Black Wire Flat cable B (pressurewelded) AWG * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m 00 (MOLEX) No. Signal name Cable color Wire V 0V IN0 IN Brown Red Orange Yellow IN Green IN Blue Flat cable OUT0 Purple (pressurewelded) 7 AWG OUT Grey 0 OUT OUT White Black OUT Brown OUT Red Rotary Proof PS ERC PCON ACON I/O Cable for PulseTrain Control (ACONPL/PO) Model CBPACPUPIO c c c * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m SCON No connector L Single wire (UL007, AWG, green) 0 Round terminal: 0. (JST) Housing: 00 (MOLEX) Contact: 000 (MOLEX) No connector end Black White / Black Red White / Red Green White / Green Yellow White / Yellow Brown White / Brown Blue White / Blue Grey White / Grey 00 (MOLEX) No. Signal Cable name color IO_V Black IO_G White / Black IN0 Red IN White / Red IN Green IN 7 0 OUT0 OUT OUT OUT PP PG NP NG White / Green Yellow White / Yellow Brown White / Brown Blue White / Blue Grey White / Grey Wire 0.sq 0. (JST) FG White / Grey AWG ACON PSEL ASEL SSEL XSEL

41 Integrated SCON Rotary Position controller for RCS series Proof List Position controller capable of operating RCP series actuator. Various control functions are combined into a single. Name Positioner mode Solenoid valve mode C Pulsetrain control mode Network specification (DeviceNet) Network specification (CCLink) Eternal view Description Number of position points of I/O Positioner supporting up to positioning points points Same control actions as those used on air cylinders 7 points NP/PN for pulsetrain control ( ) DeviceNet connection specification (optional) points DV CCLink connection specification (optional) points CC Model PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL S CO N C Standard type C Series Motor type Encoder type I/O type I/O cable length Powersupply voltage 0 0W motor 0D 0W motor (RCS) 0R 0W motor (RS) 0 0W motor 00 00W motor 0 0W motor 00 00W motor 00 00W motor 00 00W motor 00 00W motor 70 70W motor I A Incremental Absolute NP PN DV CC PIO NPN specification (standard) PIO PNP specification DeviceNet connection specification CCLink connection specification 0 No cable m m m Singlephase 00VAC Singlephase 00VAC * When selecting DV or CC as the I/O type, please select 0 for the cable length. SCON

42 System Configuration SCON Integrated PLC I/O cable for pulsetrain control type CBPACPUPIO00 Cable length Standard m (Supplied with the controller) Field network * If command pulse trains are of open collector specification, always use the pulse converter AK0 (optional). I/O flat cable <Model CBPACPIO00> Cable length Standard m (Supplied with the controller) Refer to p. for details on a replacement cable. Rotary Plug + shell for pulsetrain control (Supplied with the controller) Pulsetrain control cable <Model CBSCPIOS > (optional) * of the network specification (optional) can be connected directly to a network. * Always use a noise filter when connecting a power supply. Main power Singlephase 00VAC supply Singlephase 00VAC Recommended model: MC0 (Manufacturer: DenseiLambda) (You can purchase this through IAI. Contact us for details.) Proof PC software (Refer to p. ) RS version <Model: RCM0MW> USB version <Model: RCM0USB> * The PC software comes with a cable. Teaching pendant (Refer to p. ) <Model: RCMT / TD> <Model: RCME> <Model: RCMP> PS Actuator RCP series RCS series / Singleais robot / Linear servo actuator Motor cable <Model CBRCCMA > Standard m / m / m Refer to p. for a replacement cable. Encoder cable <Model CBRCSPA > Standard m / m / m Refer to p. for a replacement cable. ERC PCON ACON Pulse Converter AK0 (Optional) Content: Pulse converter (AK0) + econ input/output connector Use this converter if pulses output from the host controller are of open collector specification. This converter is used to convert the opencollector command pulses output from the host controller to differential pulses. Converting open collector pulses to differential pulses improves noise resistance. Two phases of differential pulses equivalent to those from the line driver C are output. The econ connector is used as an input/output connector to simplify the field wiring. Basic specifications power supply: DCV±0% (Ma 0mA) pulses: Open collector (collector current ma ma.) frequency: 00kHz ma. pulses: Cequivalent differential output (Ma 0mA) ( Applicable wire: AWG ~, 0.~0. mm (ma.) Outer diameter of finished wire ø.0~.mm ) 0 0 SCON SCON PSEL ASEL SSEL XSEL

43 Integrated SCON I/O Specifications Rotary n Part Eternal input specifications Item voltage current ON/OFF voltage Insulation method NPN specification +V Specification VDC ± 0% ma/point ON voltage... Min DC.0V (.ma) OFF voltage... Ma DC.0V (ma) Photocoupler n Part Eternal output specifications Item Load voltage Maimum load current Residual voltage Insulation method NPN specification Specification DCV 00mA/point 00mA/ points Ma 0.mA/point Photocoupler Proof 0V Each input Each input.kω Logic circuit Internal circuit Internal circuit Logic circuit 0Ω Load Each output Load Each output PNP specification PNP specification +V Each input Each input 0V.kΩ Logic circuit Internal circuit Internal circuit Logic circuit 0Ω Load Each output Load Each output PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL I/O Specifications The SCONC supports all of the control methods shown below. It supports a maimum of positioning points in the positioner mode and up to seven points in the solenoid valve mode. n Functions by SCONC Features Positioner mode Teaching mode Solenoid valve mode Pulse train mode Network support 7 SCON A basic operation mode in which the actuator is operated by specifying a position number and then inputting a start signal. In this mode, the slider (rod) can be moved by means of an eternal signal to store the achieved position as position data. The actuator can be moved simply by ON/OFF of position signals. This mode supports the same control actions 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 directly to a field network by selecting an applicable network option.

44 Eplanation of I/O Signal Functions SCON The table below eplains the functions assigned to the respective I/O signals of the controller. 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. Integrated n Functions by Category Abbreviation CSTR Signal name PTP strobe signal (start signal) this signal to cause the actuator to start moving to the position set by the command position number signal. PC~PC Command position number signal This signal is used to input a target position number (binary input). BKRL Brake forcedrelease signal This signal forcibly releases the brake. RMOD Running mode switching signal * STP Pause signal RES MODE Reset signal Teaching mode signal Function description 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 OFF 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 Servo 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 homereturn operation. JISL Jog/inching switching 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). The actuator can be jogged with JOG+ and JOG while this signal is OFF. The actuator performs inching operation with JOG+ and JOG while this signal is ON. Rotary Proof JOG+ JOG PWRT ST0~ST TL Start position command Torque limit selection signal 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. DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. PEND/INP PM~PM Teaching signal Position complete signal Completed position number signal In the teaching mode, specify a desired position number and then turn this signal ON for at least 0 ms to write the current position under the specified position number. This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has eceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped using a parameter. This signal is used to output the position number achieved at completion of positioning (binary output). HEND Home return complete signal This signal turns ON upon completion of home return. ZONE PZONE Zone signal Position zone signal This signal turns ON when the current actuator position has entered the range specified by parameters. This signal turns ON when the current actuator position has entered the range specified by position data during position movement. PZONE can be used together with ZONE, but PZONE is valid only during movement to a specified position. PS ERC RMDS Running mode status signal This signal is used to output the running mode status. * ALM alarm status signal MOVE SV Servo ON status signal * EMGS Emergency stop status signal MODES WEND PE0~PE TLR LSO~LS TRQS Moving signal Mode status signal Write complete signal Current position number signal Torque limiting signal Limit switch output signal This signal remains ON while the controller is normal, and turns OFF if an alarm has generated. This signal remains ON while the actuator is moving (including the periods during home return and pushmotion operation). This signal remains ON while the servo is on. This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. This signal turns ON when the controller has switched to the teaching mode via MODE signal input. It turns OFF upon returning to the 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. This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. 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. 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. SCON PCON ACON SCON PSEL ASEL SSEL XSEL

45 Integrated SCON I/O Signal Table Rotary Proof PSEL SCON ACON PCON ERC PS Pin number Category A A A A A A 7A A A 0A A A A A A A 7A A A 0A B B B B B B 7B B B 0B B B B B B B 7B B B 0B V V 0V 0V Number of positioning points Zone signal P zone signal IN0 IN IN IN IN IN IN IN7 IN IN IN0 IN IN IN IN IN OUT0 OUT OUT OUT OUT OUT OUT OUT7 OUT OUT OUT0 OUT OUT OUT OUT OUT 0 Positioning mode points PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM MOVE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM * BLM Teaching mode points PC PC PC PC PC PC MODE JISL JOG+ JOG RMOD HOME * STP CSTR/PWRT RES SON PM PM PM PM PM PM MOVE MODES PZONE RMDS HEND PEND/WEND SV * EMGS * ALM * BLM Parameter (PIO pattern) selection point mode points PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PZONE RMDS HEND PEND SV * EMGS * ALM * BLM point mode P P NC NC N N points PC PC PC PC PC PC PC PC PC BKRL RMOD HOME * STP CSTR RES SON PM PM PM PM PM PM PM PM PM RMDS HEND PEND SV * EMGS * ALM * BLM Solenoid valve mode 7 points ST0 ST ST ST ST ST ST BKRL RMOD HOME * STP RES SON PE0 PE PE PE PE PE PE ZONE PZONE RMDS HEND PEND SV * EMGS * ALM * BLM Solenoid valve mode points ST0 ST (JOG+) ST ( ) BKRL RMOD RES SON LSO LS (TRQS) LS( ) ZONE PZONE RMDS HEND SV * EMGS * ALM * BLM Pulse train mode 0 Pulse train mode P P NC NC SON RES HOME TL CSTP DCLR BKRL RMOD PWR SV INP HEND TLR * ALM * EMGS RMDS ALM ALM ALM ALM N N XSEL SSEL ASEL SCON

46 Wiring Diagram SCON Integrated n Connection Diagram for Positioner Mode PIO connector (NPN) Pin number Category Signal name A Power V A supply V A A A A 7A A A 0A A Not used Not used IN0 IN IN IN IN IN IN A IN7 A IN A A A 7A A A 0A B B B B B B 7B IN IN0 IN IN IN IN IN OUT0 OUT OUT OUT OUT OUT OUT B OUT7 B OUT 0B B B B B B B 7B OUT OUT0 OUT OUT OUT OUT OUT Not used B Not used DCV±0% B Power 0V 0B supply 0V * Connect V between pins A and A, and 0V between pins B and 0B. n Connection Diagram for PulseTrain Control Mode (Differential ) PULSE connector (NPN) Pin number Category Signal name 7 0 Shell Ground Shield Not used Not used PP /PP NP /NP AFB /AFB BFB /BFB ZFB /ZFB GND GND Shield PIO connector (NPN) Pin number Category Signal name A Power V A supply V A Not used A Not used A SON A RES 7A HOME A TL A CSTP 0A DCLR A BKRL A RMOD A~0A Not used B PWR B SV B INP B HEND B TLR B *ALM 7B *EMGS B RMDS B ALM 0B ALM B ALM B ALM B~B Not used B Power 0V 0B supply 0V Twisted pair Shield DCV±0% * The shield of the twisted pair cable connected to the PULSE connector must be connected to the shell. Keep the cable length to 0 m or less. * Connect V between pins A and A, and 0V between pins B and 0B. Rotary Proof / Specifications of PulseTrain Control (Differential Line Driver Specifications) PS n Part Maimum input pulses: Line driver interface 00kpps Open collector interface 00kpps (AK0 is needed) Insulation method: Photocoupler insulation n Part method: Line driver output Insulated/not insulated: Not insulated ERC PCON C or equivalent.pp./pp.np./np SCON 0Ω 0Ω Internal circuit Internal circuit C or equivalent GND SCON 7.AFB./AFB.BFB 0./BFB.ZFB./ZFB.GND.GND GND Internal circuit Internal circuit Internal circuit ACON SCON PSEL ASEL SSEL SCON 0 XSEL

47 Integrated SCON / Specifications of PulseTrain Control (Open Collector Specifications) SCON N (0V) P (+DCV) Pulse converter AK0 Proof Rotary Host controller V GND PP PP /PP NP PP /PP NP NP /NP /NP N (0V) * Use the PIO interface power supply as the VDC power supply to be connected to the AK0. * Minimize the cable length between the pulse output (PLC) and AK0. Also keep the cable length between the AK0 and PULSE connector to m or less. PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Specification Table Item Motor capacity Connectable actuators Number of controlled aes Operation method Number of positioning points Backup memory I/O connector Number of I/O points I/O power supply Serial communication Peripheral communication cable Command pulsetrain input method Maimum input pulse frequency Position detection method Emergency stop function Forced release of electromagnetic brake Motor cable Encoder cable power supply Powersupply capacity Dielectric strength voltage Vibration resistance Ambient operating temperature Ambient operating humidity Operating ambience Protection class Weight Eternal dimensions Specification Less than 00W 00W or more RCS series actuator / Singleais robot / Linear servo actuator ais Positioner type / Pulsetrain control type points EEPROM 0pin connector input points / output points Eternally supplied VDC ± 0% RS ch CBPACPIO ccc Differential line driver method / Open collector method (Conversion of open collector pulses to differential pulses using a pulse converter (Note )) Differentia line driver method: 00kpps ma. / Open collector method (with a pulse converter): 00kpps ma. Incremental encoder / Absolute encoder Available (builtin relay) Brake release switch ON/OFF CBRCCMA ccc (0m ma.) CBRCSPA ccc (0m ma.) Singlephase 00~VAC±0% Singlephase 00~0VAC±0% Singlephase 00~0VAC±0% 0W / 7VA 0W / VA 0W / 7VA 0W / VA 00W / VA 00W / VA 00W / VA 00W / VA 70W / VA DC00V 00MΩ or more XYZ directions 0~7Hz Oneside amplitude 0.0mm (continuous), 0.07mm (intermittent) ~0Hz.m/s (continuous),.m/s (intermittent) 0~0 C 0~% (noncondensing) Free from corrosive gases IP0 Appro. 00g (+g for absolute specification) Appro..kg mm (W) ) mm(h) mm (D) 7mm (W) ) mm(h) mm (D) (Note ) For the commandpulse input method, use the differential line driver method offering higher noise resistance. If the open collector method must be used, use an optional pulse converter (AK0) to convert open collector pulses to differential pulses. SCON

48 Eternal Dimensions SCON Integrated Less than 00W ø. 00W or more 7 ø. Rotary. (00.) Name of Each Part When the absolutedata backup battery is installed. (00.) LED indicators These LED indicate the condition of the controller. Name Color Description PWR SV ALM EMG 緑 緑 橙 赤 This LED comes on when the system becomes ready (= the CPU is functioning properly after the power has been turned on). This LED comes on when the servo turns on. This LED remains lit while an alarm is present. This LED remains lit while an emergency stop is actuated. Rotary switch This switch sets an address to identify each controller when multiple controllers are linked. Piano switches system switches. Name Description Operation mode selector switch OFF: Positioner mode, ON: Pulsetrain control mode * The setting will become effective after the power is reconnected. Remote update switch (normally set to OFF) OFF: Normal operation mode, ON: Update mode * The setting will become effective after the power is reconnected or following a software reset. System I/O connector A connector for the emergency stop switch, etc. Regenerative connector A connector for the resistor that absorbs regenerative current produced when the actuator decelerates to a stop. Motor connector (compatible with XSEL, ECON and RCS) A connector for the actuator s motor cable. 7 Powersupply connector An AC powersupply connector. Divided into the control power input and motor power input. Grounding screw A screw for protective grounding. Always connect this screw to ground. When the absolutedata backup battery is installed Dedicated pulsetrain control connector A connector used to operate the controller in the pulsetrain control mode. It remains unconnected if the controller is operated in the positioner mode. 0 PIO connector A connector for a cable used to perform parallel communication with a PLC and other peripherals. Running mode selector switch Name MANU AUTO Description Do not accept PI commands. Accept PI 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 teachingpendant or SIO communication cable is disconnected. This is a normal phenomenon and does not indicate an error. SIO connector A c o nne c to r fo r a te a c hingpendant o r P C communication cable. Brake release switch A switch to forcibly release the electromagnetic brake equipped on the actuator. * A VDC power supply for driving the brake must be connected. Brake powersupply connector A connector for supplying VDC brake power. (Required only when an actuator with brake is connected.) En c o d e r / s e n s o r c o n n e c to r (compatible with XSELP/Q) A connector for the encoder/sensor cables. Absolutedata backup battery connector A connector for the absolutedata backup battery. (Required only when an absoluteencoder actuator is used.) 7 Absolutedata backup battery holder A battery holder into which the absolutedata backup battery is set. Proof SCON PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

49 Integrated SCON Options n Teaching Pendant An input device that provides all functions you need for trial operation and adjustment, such as position data input, test operation, as well as monitoring of current ais positions and input/output signals. Name Model Teaching Pendant RCMT (standard specification) RCMTD (with deadman switch *) Simple teaching pendant RCME Data setting Standard price RCMP Rotary Eternal view Features A standard, userfriendly teaching pendant equipped with a large LCD screen. A deadman switch type ensuring added safety is also available. An economical type offering the same functions as the RCAT at a substantially lower price. An affordable data setting that provides all editing functions other than those relating to ais operation. * This does not support operations relating to ais movement. Proof Display Weight characters lines on LCD Appro. 0g characters lines on LCD Appro. 00g characters lines on LCD Appro. 0g Cable length Ambient operating temperature, humidity m m Temperature: 0~0 C, Humidity: % RH or below m (.).... Eternal dimensions.. 0 PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL n PC Software n RS Communication Model RCM0MW <Content> PC software (CDROM), PC cable (communication cable + RS conversion ) SCON 0 ø () * The deadman switch is a safety switch that cuts off the drive source when released to disable operation. n Regenerative Resistance Unit * Please arrange one each of REU and REU (page 7), when two regenerative s are necessary. A software program that helps input position data and perform test operation. It significantly facilitates debugging operation by offering wideranging functions including jogging, inching, step operation and continuous operation. Features This returns regenerative electric current when the motor builds heat as it decelerates. Please verify the total W of the actuator from the chart at the right, as it is necessary to make preparations to the regenerative resistance. Model REU (SCON/SSEL) Specifications Weight Builtin regenerative resistor Unitcontroller connection cable (supplied) 0.kg 0 0W CBSCREU00 (SSEL) n USB Communication Model RCM0USB <Content> PC software (CDROM), PC cable (communication cable + USB conversion + USB cable) Guide for Determining Necessary Number of Units 0 s Horizontal ~00W ~70W Vertical ~00W ~00W ~70W * There may be times when more regenerative resistance is needed than listed above depending on operating conditions. Eternal Dimensions ø 7. n Battery for Absolute Data Storage Features Model This battery is for storing absolute data for the operating actuator. AB

50 Spare Parts SCON Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. Motor Cable / Motor Robot Cable Model CBRCCMA c c c /CBRCCMA c c c RB () () (Front view) end Encoder Cable / Encoder Robot Cable (ø) Model CBRCSPA c c c /CBXPA c c c L () (0) (0) () (Front view) Actuator end Wire Color Signal No. Green PE Red U 0.7sq White V Black W * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m No. Signal Color Wire U Red V White 0.7sq W Black (crimped) PE Green * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Integrated Rotary (7) () (Front view) () L () end Actuator end () 0 () (Front view) Encoder Cable / Encoder Robot Cable for RCSRT/RTR/RT7 Model CBRCSPLA c c c /CBXPLA c c c Wire Color Signal No. 0 EV Grey / White 0V Brown / White LS CLEEP OT RSV AWG (soldered) Pink A+ Purple A White B+ Blue / Red B Orange / White Z+ Green / White Z Blue SRD+ 7 Orange SRD Black BAT+ Yellow BAT Green VCC Brown GND 7 Grey BKR 0 Red BKR+ Connect the shield to the hood via a clamp. Note Note Note Drain wire and braided shield wire Note No Signal A A B B Z Z LS+ FG SD SD BAT+ BAT VCC GND LS BK BK+ Color Pink Green White Blue / Red Orange / White Green / White Brown / White Drain Blue Orange Black Yellow Green Brown Grey / White Grey Red Wire AWG (crimped) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Proof (7) () (Front view) end I/O Flat Cable SCON PulseTrain Control Cable Model CBSCPIOS c c c No connector () L () Model CBPACPIO c c c No connector No connector Flat cable (0 cores) L L B A LS end Actuator end () () 0 () () 0A A Halfpitch MIL socket: HIF 0D.7R (Hirose) Wire Color Signal No. 0 White / Orange EV White / Green 0V Brown / Blue LS Brown / Yellow CLEEP Brown / Red OT Brown / Black RSV White / Blue A+ AWG White / Yellow A (soldered) White / Red B+ White / Black B White / Purple Z+ White / Grey Z Orange SRD+ 7 Green SRD Purple BAT+ Grey BAT Red VCC Black GND 7 Blue BKR 0 Yellow BKR+ Connect the shield to the hood via a clamp. Drain wire and braided shield wire ( White/blue and other designations under Wire color indicate the band color/insulator color.) 0B B Black White / Black Red White / Red Green White / Green Yellow White / Yellow Brown White / Brown Blue White / Blue Plug: 000PE (Sumitomo M) Grey White / Grey Shell: 0F000 (Sumitomo M) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Shield No. No Signal EV 0V LS CLEEP OT RSV Signal A A B B Z Z FG SD SD BAT+ BAT VCC GND BK BK+ Wire Color Signal No. Black Unused White / Black Unused 0.sq Red White / Red Green White / Green Yellow PP /PP NP /NP AFB 7 (soldered) White / Yellow Brown White / Brown Blue White / Blue Grey /AFB BFB /BFB ZFB /ZFB GND 0 White / Grey GND Connect the shield to a cable clamp. Color White / Blue White / Yellow White / Red White / Black White / Purple White / Grey Color White / Blue White / Yellow White / Red White / Black White / Purple White / Grey Drain Orange Green Purple Grey Red Black Blue Yellow Wire AWG (crimped) Wire AWG (crimped) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m HIF 0D.7R Signal No. name Cable color Wire Signal No. name Cable color Wire A V Brown B OUT0 Brown A V Red B OUT Red A A A IN0 Orange Yellow Green B B B OUT Orange OUT Yellow OUT Green A IN Blue B OUT Blue 7A IN Purple 7B OUT Purple A A 0A IN IN IN Grey White Black Flat cable A B B 0B OUT7 OUT OUT Grey White Black Flat cable B A IN Brown (pressurewelded) B OUT0 Brown (pressurewelded) A IN7 Red AWG B OUT Red AWG A IN Orange B OUT Orange A IN Yellow B OUT Yellow A IN0 Green B OUT Green A IN Blue B OUT Blue 7A IN Purple 7B Purple A A 0A IN IN IN Grey White Black B B 0B 0V 0V Grey White Black SCON PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

51 Integrated PSEL Rotary Program controller for RCP series Proof List Program controller capable of operating RCP series actuator. Various control functions are combined into a single. Name Program mode C Positioner mode Eternal view Description Number of position points Both actuator operation and communication with eternal equipment can be handled by a single controller. When two aes are connected, arc interpolation and path operation can be performed. 00 points Up to,00 positioning points are supported. Pushmotion operation and teaching operation are also possible. PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model P S E L C I ( I ) C PSEL 0P P P P I Incremental 0 square pulse motor type square pulse motor type square pulse motor type B Brake 0P P P P I * With a ais specification, the section denoted by (Ais ) need not be specified. Series Number of I/O cable length Powersupply connected aes (Ais ) (Ais ) I/O type voltage Motor type Encoder type Options Motor type Encoder type Options Standard type ais specification ais specification square pulse motor type Incremental 0 square pulse motor type square pulse motor type square pulse motor type square pulse motor type B NP PN Brake 0 0 No cable m m m DCV 0 PIO NPN specification (standard) PIO PNP specification

52 System Configuration PSEL Integrated Teaching pendant (Refer to p. ) Model: IATX / XD / XA (optional) PLC RSC cable Model: CBST EMW00EB (Supplied with the PC software IA0XMW) m m I/O flat cable Model: CBDSPIO00 (Supplied with the controller) Refer to p. for details on a replacement cable. 0.m Conversion cable (Refer to p. ) Model: CBSELSJ00 (optional) m USB cable (Refer to p. ) Model: CBSELUSB00 (Supplied with the PC software IA0XUSB) PC software (Refer to p. ) Model: IA0XMW (Comes with a RSC cable) IA0XUSB (Comes with a USB cable) m m Systemmemory backup battery (Refer to p. ) Model: ABCS (with case) AB (battery only) (optional) * * The systemmemory backup battery is an option required if you wish to retain flags and other data used in the programs even after the power is turned off. Panel (Refer to p. ) Model: PU (optional) Rotary Proof VDC power supply (Refer to p. ) <Model: PS (00V input)> <Model: PS (00V input)> (optional) PS ERC Actuator RCP series Motor cable <Model CBRCPMAccc> Standard m / m / m Refer to p. for a replacement cable. Encoder cable <Model CBRCPPAccc> Standard m / m / m Refer to p. for a replacement cable. PCON ACON SCON PSEL ASEL SSEL PSEL XSEL

53 Integrated PSEL I/O Specifications Rotary Proof n Part Eternal input specifications Item voltage current ON/OFF voltage Insulation method NPN specification Eternal power supply +V PV Specification VDC ± 0% 7mA/circuit ON voltage (Min) NPN : DCV / PNP : DCV OFF voltage (Ma) NPN : DCV / PNP : DCV Photocoupler terminal Each input R=0Ω R=.kΩ Internal circuit n Part Eternal output specifications Item Load voltage Maimum load current Residual voltage Insulation method NPN specification Internal circuit Specification DCV 00mA/point 00mA/ points Ma 0.mA/point Photocoupler P Each output N Load Eternal power supply +V NPN specification NPN specification Eternal power supply +V N R=0Ω terminal Each input R=.kΩ Internal circuit Internal circuit P Each output Load Eternal power supply +V N PSEL SCON ACON PCON ERC PS Eplanation of I/O Functions The PSEL controller lets you select either the program mode in which the actuator is operated by programs input to the controller, or the positioner mode in which the actuator moves to the positions specified by PLC signals received from the host. The positioner mode provides the following five input patterns each supporting different applications. n Functions by Operation mode Program mode Standard mode Producttype switchover mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., archmotion operation and palletizing operation can be performed using the Super SEL language that lets you program comple control actions using simple commands. A basic operation mode in which a position number is specified and then a start signal is input to start operation. Pushmotion operation and ais linear interpolation operation are also supported. Multiple works 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. XSEL SSEL ASEL Positioner mode 7 PSEL ais independent mode Teaching mode DSSC compatible mode With a ais controller, each ais can be commanded and operated separately. The slider (rod) can be moved via an eternal signal to store the achieved position as position data. If you were using a DSSC controller before, you can replace it with a PSEL controller without having to change the host programs. * This mode does not ensure actuator compatibility.

54 Eplanation of I/O Functions PSEL Integrated Program Mode Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N Port number Program Mode V input Program No. selection Program No. selection Program No. selection Program No. selection Program No. 0 selection Program No. 0 selection Program No. 0 selection CPU reset Start Alarm Ready Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output 0V input Connect V. Function These signals are used to select the program to be started. (BCD input using ports 0 to 0) This signal is used to reset the system to create the same condition after power reconnection. This signal is used to start the program selected by port Nos. 0 to 0. These signals are used with a program command to wait for eternal input. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. These signals can be turned ON/OFF freely using program commands. Connect 0V. Wiring diagram OV Rotary Proof Positioner, Standard Mode Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N Port number Positioner, Standard Mode V input Position input 0 Position input Position input Position input Error reset Start Home return Servo ON Push Pause Cancellation Interpolation setting Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Alarm Ready Position complete Home return complete Servo ON output Push motion complete Systemmemory backup battery error Absolutedata backup battery error 0V input Function Connect V. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. This signal is used to perform pushmotion operation. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. Wiring diagram OV PSEL PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

55 Integrated PSEL Eplanation of I/O Functions Positioner, Product Switchover Mode Rotary Proof Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N Port number Positioner, Product Switchover Mode V input 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 Error reset Start Home return Servo ON Push Pause Cancellation 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 Position/product type input 7 Position/product type input Position/product type input Alarm Ready Position complete Home return complete Servo ON output Push motion complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. Function Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. This signal is used to perform pushmotion operation. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. Wiring diagram OV PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Positioner, ais Independent Mode Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N PSEL Port number Positioner, Product Switchover Mode V input Position input 7 Position input Position input Position input 0 Position input Position input Position input Error reset Start Home return Servo ON Pause Cancellation Start Home return Servo ON Pause Cancellation Position input Position input Position input Position input Position input Position input Alarm Ready Position complete Home return complete Servo ON output Position complete Home return complete Servo ON output 0V input Connect V. Function Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais are assigned by parameter settings. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause ais to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. This signal is used to cause ais to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais parameter settings. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. Connect 0V. Wiring diagram OV

56 Eplanation of I/O Functions PSEL Integrated Positioner, Teach Mode Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N Port number Positioner, Product Switchover Mode V input Ais JOG Ais JOG+ Ais JOG Inching specification (0.0mm) Inching specification (0.mm) Inching specification (0.mm) Inching specification (mm) Error reset Start Servo ON Pause Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Position input 0 Position input Teaching mode specification Ais JOG+ Alarm Ready Position complete Home return complete Servo ON output Systemmemory backup battery error Absolutedata backup battery error 0V input Function Connect V. While this signal is input, ais moves in the negative direction. While this signal is input, ais moves in the positive direction. While this signal is input, ais moves in the negative direction. These signals are used to specify an inching travel distance. (The travel distance is the sum of values specified by port Nos. 0 to 0.) This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to switch the servo on/off. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. Port Nos. 00 to 0 are used to specify a target position number and a position number under which to input the current position. When the teaching mode specification signal at port No. 0 is ON, the current value will be written under the specified position number upon turning ON of the start signal at port No While this signal is input, ais moves in the positive direction. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. Wiring diagram OV Rotary Proof Positioner, DSSC Interchangeable Mode Pin number A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B Category P N Port number Positioner, Standard Mode V input Position No. 000 CPU reset Start Hold (pause) Cancellation Interpolation setting Position No. Position No. Position No. Position No. Position No. 0 Position No. 0 Position No. 0 Position No. 0 Position No. 00 Position No. 00 Position No. 00 Position No. 00 Alarm Ready Position complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. (Same as port Nos. 00 to 0) Function This signal is used to reset the system to create the same condition after power reconnection. This signal is used to cause the actuator to start moving to the selected position. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 00 to 0 are used to specify a target position number. Numbers can be specified as BCD. This signal is output upon an alarm. (Contact A) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. Wiring diagram OV PSEL 0 PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

57 Integrated PSEL Specification Table Rotary Proof Basic specifications Control specifications Program Communication General specifications Item Connectable actuators power supply Powersupply capacity Dielectric strength voltage Breakdown resistance Rush current Vibration resistance Number of controlled aes Maimum total output of connected aes Position detection method Speed setting Acceleration setting Operation method Programming language Number of programs Number of program steps Number of multitasking programs Number of positioning points Data storage device Data input method Number of I/O points I/O power supply PIO cable Serial communication function Field network Motor cable Encoder cable Protective functions Ambient operating temperature, humidity Operating ambience Protection class Weight Eternal dimensions Specification RCP series actuator (Note ) DCV ±0%.A ma..a 00VDC, 0MΩ or above 00VAC, minute 0A ma. XYZ directions 0~7Hz Oneside amplitude 0.0mm (continuous), 0.07mm (intermittent) ~0Hz.m/s (continuous),.m/s (intermittent) ais/ aes Incremental encoder From mm/s. The maimum limit varies depending on the actuator. From 0.0G. The maimum limit varies depending on the actuator. Program operation / Positioner operation (switchable) Super SEL language programs,000 steps programs,00 points Flash ROM (A systemmemory backup battery can be added as an option) Teaching pendant or PC software input points / output points (NPN or PNP selectable) Eternally supplied VDC ± 0% CBDSPIO (supplied with the controller) RSC (Dsub, halfpitch connector) / USB connector (To be supported in the future) CBRCPMA (0m ma.) MoCBRCPPA (0m ma.) Motor overcurrent, motor driver temperature check, overload check, encoder opencircuit check, soft limit over, system error, battery error, etc. 0~0 C, 0~% (noncondensing) Free from corrosive gases. In particular, there shall be no significant powder dust. IP0 Appro. 0g mm W mm H 0mm D (Note ) The highthrust type (RA0C), highspeed type (HSC/HSR) and waterproof type (RCPWSA) cannot be operated. PSEL SCON ACON PCON ERC PS Eternal Dimensions PSEL ais controller 7 ø (0) 0 PSEL ais controller 7 (0) 0 ø XSEL SSEL ASEL PSEL

58 Name of Each Part PSEL Integrated 0 7 Motor connector for ais Connect the motor cable of the ais actuator. Motor connector for ais Connect the motor cable of the ais actuator. Brake switch for ais This switch is used to release the ais 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 ais Connect the encoder cable of the ais actuator. Brake switch for ais This switch is used to release the ais 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 ais Connect the encoder cable of the ais actuator. 7 Status indicator LEDs These LEDs are used to indicate the operating condition of the controller. Indication details are as follows: PWR: This LED indicates that the controller is receiving power. RDY: This LED indicates that the controller is ready to perform program operation. ALM: This LED indicates that the controller is abnormal. EMG: This LED indicates that an emergency stop is actuated and the drive source is cut off. SV: This LED indicates that the ais actuator servo is on. SV: This LED indicates that the ais actuator servo is on. Panel connector A connector for the panel (optional) that displays the controller status and error numbers. I/O connector A connector for interface I/Os. A pin flat connector is used for the DIO ( IN/ OUT) interface. The I/O power is also supplied to the controller through this connector (pins and ). 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 eternal I/Os is not possible in the MANU mode. 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 (TP) connector A halfpitch I/O 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. Systemmemory 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 eternally to the. The controller does not come standard with the battery (it must be specified as an option). Motor power input connector This connector is used to input the motor power. It consists of a pin, piece connector by Phoeni Contact. 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 pin, piece connector by Phoeni Contact. Rotary Proof PS ERC PCON ACON SCON PSEL ASEL SSEL PSEL XSEL

59 Integrated PSEL Options Teaching pendant Rotary Features A teaching device providing program/ position input function, test operation function, monitoring function, and more. Model Model IATXJ IATX IATXDJ IATXD IATXAJ IATXA Description Standard type with connector conversion cable Standard type Deadman switch type with connector conversion cable Deadman switch type ANSI type with connector conversion cable ANSI type IATX/XD 0 0 IATXA 0..7 Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Configuration PC Software (Windows Only) Model IA0XMWJ (with RSC Cable + Connector Conversion Cable) Configuration PC software (CD) PSEL IATX/XD:m IATXA:m Note The PSEL controller is supported by version.0 or later (or.0 or later with the ANSI type). Conversion cable: CBSELSJ00 m 0.m RSC cable CBSTEMW00EB IA0XUSB (with USB Cable) PC software (CD) m Dummy plug DP USB cable CBSELUSB00 0.m Connector conversion cable: CBSELSJ00 Specifications 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. Model Configuration Item IATX/XD IATXA Ambient operating temperature, humidity Operating ambience Weight Cable length Display Temperature 0~0 C, Humidity % RH or below Free from corrosive gases. In particular, there shall be no significant powder dust. Protective structure conforming to IP Appro. 0g Appro. 00g (ecluding cable) m LCD with 0 characters lines m LCD with characters lines Note The PSEL controller is supported by version or later.

60 Options PSEL Integrated Panel Unit Features A display for checking controller error codes and active program numbers. Model PU (Cable Length m) ø. 7 SystemMemory Backup Battery Features Model If your programs use global flags, etc., you need this battery to retain data even after the power is turned off. ABCS (with Case) AB (Battery Only) Dummy plug Features Model DP When connecting your PSEL controller to a PC using a USB cable, install this plug on the teaching port to cut off the enable circuit. (This plug comes with the PC software IA0XUSB.) USB Cable Features Use this cable to connect your controller with USB port to a PC. If your controller has no USB port (XSEL), connect a RSC cable to a USB cable via a USB conversion adapter and connect the USB cable to the USB port on the PC. (Refer to the PC software IA0XUSBMW.) Model CBSELUSB00 (Cable Length m) Connector Conversion Cable This conversion cable is used to connect Features a Dsub, pin connector for teaching pendant or PC software to the teaching connector (halfpitch) on the PSEL controller. Model CBSELSJ00 (Cable Length 0.m) Rotary Proof () Spare Parts Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. Motor Cable Model CBRCPMA c c c () () (Front view) end (0) CN Encoder Cable / Encoder Robot Cable Model CBRCPPA c c c /CBRCPPA c c c RB CN (ø) L L * The standard motor cable is a robot cable. () C N (0) () () (Front view) Actuator end () () () () (Front view) end I/O Flat Cable Model CBDSPIO c c c B 7B A 7A (ø) m Flat cable, AWG ( cores) () No connector C N (Front view) () Actuator end I (AMP) CN PHDRVS (JST) Orange Grey White Yellow Pink Orange (black ) * The standard encoder cable is a normal cable. A robot cable can be specified as an option. Cable color Orange (black ) Grey Brown Green Purple Pink Black Yellow Orange Blue Drain No. Color Wire No. Color Wire A Brown B Grey B Red 0A White A Orange 0B Black B Yellow A Brown A Green B Red B A Blue Purple A Orange B Yellow B Grey Flat A Green Flat A White cable B Blue cable B (pressure Black A (pressure Purple welded) welded) A Brown B Grey B Red A White 7A Orange B Black 7B Yellow A Brown A Green B Red B A Blue Purple 7A Orange 7B Yellow * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m A VMM B A VMM B Signal name number Pin (BAT) (BAT) BK+ BK ENA ENA ENB ENB VPS VBB GND (N.C) (N.C) (N.C) F.G 0 7 CN A A A B B B M cable Shield wire Drain wire CN A VMM A B VMM B number Yellow Grey Orange Orange (black ) Pink White name ENA ENA ENB ENB GND VBB VPS BK+ BK F.G SLP0V (JST) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Pin Signal Cable color Brown Green Purple Pink Blue Orange Yellow Red Grey Drain CN XMPV (JST) * c c c indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m PSEL PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

61 Integrated ASEL Rotary Position controller for RCA series Program controller Proof List Program controller capable of operating RCA series actuator. Various control functions are combined into a single. Name Program mode C Positioner mode Eternal view PSEL SCON ACON PCON ERC PS Model A S E L C ( ) C Description Series Standard type ais specification aes specification Both actuator operation and communication with eternal equipment can be handled by a single controller. When two aes are connected, arc interpolation and path operation can be performed. Number of position points 00 0S 0 0W motor (RA only) 0W motor (other than RA) 0 0W motor I A Incremental Absolute 0S 0 I A 0W motor (RA only) 0W motor (other than RA) 0 0W motor Up to,00 positioning points are supported. Pushmotion operation and teaching operation are also possible. Incremental Absolute * With a ais specification, the section denoted by (Ais ) need not be specified. Number of connected aes (ais ) (Aes ) I/O type I/O cable length Powersupply voltage Motor type Encoder type Option Motor type Encoder type Option NP 0 DCV 0 No cable m m m PIO NPN specification (standard) 0 B Brake PN PIO PNP specification XSEL SSEL ASEL H Home sensor type B H Brake Home sensor type ASEL

62 System Configuration ASEL Integrated Teaching pendant (Refer to p. ) Model: IATX / XD / XA (Option) PLC I/O flat cable Model CBPACPIO00 (Supplied with the controller) Refer to p. for details on a replacement cable. m Panel (Refer to p. ) Model: PU (Option) Rotary m 0.m RSC cable Model: CBSTEMW00EB (Supplied with the PC software IA0XMW) m Conversion cable (Refer to p. ) Model: CBSELSJ00 (Option) m USB cable (Refer to p. ) Model: CBSELUSB00 (Supplied with the PC software IA0XUSB) PC software (Refer to p. ) Model: IA0XMW (with RS cable) Model: IA0XUSB (with USB cable) m Systemmemory backup battery (Refer to p. ) Model: ABCS (with case) AB (battery only) (Option) * * The systemmemory backup battery is an option required if you wish to retain flags and other data used in the programs even after the power is turned off. Absolutedata backup battery (Refer to p. ) Model: AB (Supplied with an absolutetype controller) Proof VDC power supply (Refer to p. ) <Model: PS (00V input)> <Model: PS (00V input)> PS ERC Motor cable <Model CBACSMA > Standard m / m / m Refer to p. for a replacement cable. PCON ACON Actuator RCA series Encoder cable <Model CBACSPA > Standard m / m / m Refer to p. for a replacement cable. SCON PSEL ASEL SSEL ASEL XSEL

63 Integrated ASEL I/O Specifications Part Eternal input specifications Part Eternal output specifications. Item voltage current ON/OFF voltage Insulation method NPN specification Specification DCV 0% 7mA/circuit ON voltage (Min.) NPN:DCV/PNP:DCV OFF voltage (Ma.) NPN:DCV/PNP:DCV Photocoupler Item Load voltage Ma. load current Leak current Insulation method NPN specification Specification DCV ma/point 00mA/point total Ma. 0.mA/point Photocoupler Rotary Proof Eternal power supply +V PV R=0Ω terminal Each input R=.kΩ I n t e r n a l c i r c u i t I n t e r n a l c i r c u i t P Each output N L o a d Eternal power supply +V PNP specification PNP specification Eternal power supply +V R=0 terminal Each input R=.k I n t e r n a l c i r c u i t I n t e r n a l c i r c u i t PV Each output L o a d Eternal power supply + v PSEL SCON ACON PCON ERC PS Eplanation of I/O Functions The ASEL controller lets you select either the program mode in which the actuator is operated by programs input to the controller, or the positioner mode in which the actuator moves to the positions specified by PLC signals received from the host. The positioner mode provides the following five input patterns each supporting different applications. Functions by Positioner mode Operation mode Program mode Standard mode Producttype switchover mode ais independent mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., archmotion operation and palletizing operation can be performed using the Super SEL language that lets you program comple control actions using simple commands. A basic operation mode in which a position number is specified and then a start signal is input to start operation. Pushmotion operation and ais linear interpolation operation are also supported. Multiple works 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. With a ais controller, each ais can be commanded and operated separately. XSEL SSEL ASEL Teaching mode DSSC compatible mode The slider (rod) can be moved via an eternal signal to store the achieved position as position data. If you were using a DSSC controller before, you can replace it with a ASEL controller without having to change the host programs. * This mode does not ensure actuator compatibility. 7 ASEL

64 Eplanation of I/O Functions ASEL Integrated Program mode Pin number Category Port number Program mode Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Program No. selection Program No. selection Program No. selection Program No. selection Program No. 0 selection Program No. 0 selection Program No. 0 selection CPU reset Start Alarm Ready Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output 0V input Connect V. These signals are used to select the program to be started. (BCD input using ports 0 to 0) This signal is used to reset the system to create the same condition after power reconnection. This signal is used to start the program selected by port Nos. 0 to 0. These signals are used with a program command to wait for eternal input. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. These signals can be turned ON/OFF freely using program commands. Connect 0V. OV Rotary Proof Positioner, Standard Mode Pin number Category Port number Positioner, standard mode Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Position input 0 Position input Position input Position input Error reset Start Home return Servo ON Push Pause Cancellation Interpolation setting Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Alarm Ready Position complete Home return complete Servo ON output Push motion complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. This signal is used to perform pushmotion operation. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. PS ERC PCON ACON SCON PSEL ASEL SSEL OV ASEL XSEL

65 Integrated ASEL Eplanation of I/O Functions Positioner, Product Switchover Mode Pin number Category Port number Positioner, producttype switchover mode Function Wiring diagram Rotary Proof A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input 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 Error reset Start Home return Servo ON Push Pause Cancellation 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 Position/product type input 7 Position/product type input Position/product type input Alarm Ready Position complete Home return complete Servo ON output Push motion complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. This signal is used to perform pushmotion operation. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV Positioner, ais Independent Mode Pin number Category Port number Positioner Function Wiring diagram PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N ASEL V input Position input 0 Position input Position input Position input Position input Position input Position input Error reset Start Home return Servo ON Pause Cancellation Start Home return Servo ON Pause Cancellation Position input Position input Position input Position input Position input Position input Alarm Ready Position complete Home return complete Servo ON output Position complete Home return complete Servo ON output 0V input Connect V. Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. This signal is used to cause ais to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. Connect 0V. OV

66 Eplanation of I/O Functions ASEL Integrated Positioner, Teaching Mode Pin number Category Port number Positioner Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Ais JOG Ais JOG+ Ais JOG Inching specification (0.0mm) Inching specification (0.mm) Inching specification (0.mm) Inching specification (mm) Error reset Start Servo ON Pause Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Position input 0 Position input Teaching mode specification Ais JOG+ Alarm Ready Position complete Home return complete Servo ON output Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. While this signal is input, ais moves in the negative direction. While this signal is input, ais moves in the positive direction. While this signal is input, ais moves in the negative direction. These signals are used to specify an inching travel distance. (The travel distance is the sum of values specified by port Nos. 0 to 0.) This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to switch the servo on/off. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. Port Nos. 00 to 0 are used to specify a target position number and a position number under which to input the current position. When the teaching mode specification signal at port No. 0 is ON, the current value will be written under the specified position number upon turning ON of the start signal at port No While this signal is input, ais moves in the positive direction. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV Rotary Proof Positioner, DSSC Compatible Mode Pin number Category Port number Positioner Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Position No.000 CPU reset Start Hold (pause) Cancellation Interpolation setting Position No. Position No. Position No. Position No. Position No.0 Position No.0 Position No.0 Position No.0 Position No.00 Position No.00 Position No.00 Position No.00 Alarm Ready Position complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. (Same as port Nos. 00 to 0) This signal is used to reset the system to create the same condition after power reconnection. This signal is used to cause the actuator to start moving to the selected position.t When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 00 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact A) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV ASEL 0 PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

67 Integrated ASEL Specification Table Rotary Proof Control Communication Program Basic specifications specifications General specifications Item Connectable actuators power supply Powersupply capacity Dielectric strength voltage Breakdown resistance Rush current Vibration resistance Number of controlled aes Maimum total output of connected aes Position detection method Speed setting Acceleration setting Operation method Programming language Number of programs Number of program steps Number of multitasking programs Number of positioning points Data storage device Data input method Number of I/O points I/O power supply PIO cable Serial communication function Field network Motor cable Encoder cable Protective functions Ambient operating temperature, humidity Operating ambience Protection class Weight Eternal dimensions XYZ directions Specification RCA series actuator DCV ±0% Control power:.a ma. Motor power: Rating.7A / Peak A (per ais) 00VDC, 0MΩ or above 00VAC, minute 0A ma. Oneside amplitude 0.0 mm (continuous), 0.07 ç.m/s (continuous), 0.m/s (continuous) ais/ aes 0W (0W+0W) Incremental encoder / Absolute encoder From mm/s. The maimum limit varies depending on the actuator. From 0.0G. The maimum limit varies depending on the actuator. Program operation / Positioner operation (switchable) Super SEL language programs,000 steps programs,00 points Flash ROM (A systemmemory backup battery can be added as an option) Teaching pendant or PC software input points / output points (NPN or PNP selectable) Eternally supplied VDC ± 0% CBDSPIO (supplied with the controller) RSC (Dsub, halfpitch connector) / USB connector (To be supported in the future) CBACSMA (0m ma.) CBACSPA (0m ma.) Motor overcurrent, motor driver temperature check, overload check, encoder opencircuit check, soft limit over, system error, battery error, etc. 0~0ºC 0~% (noncondensing) Free from corrosive gases. In particular, there shall be no significant powder dust. IP0 Appro. 0g mm (W) mm (H) 0mm (D) PSEL SCON ACON PCON ERC PS Eternal Dimensions ASEL ais controller 7 ø (0) 0 ASEL ais controller 7 ø (0) 0 XSEL SSEL ASEL ASEL

68 Name of Each Part ASEL Integrated 0 7 Motor connector for ais Connect the motor cable of the ais actuator. Motor connector for ais Connect the motor cable of the ais actuator. Brake switch for ais This switch is used to release the ais 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 ais Connect the encoder cable of the ais 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 as manual operation, and automatic operation using eternal I/Os is not possible in the MANU mode. 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 (TP) connector A halfpitch I/O pin connector that connects a Rotary Brake switch for ais This switch is used to release the ais brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to teaching pendant when the running mode is MANU. A special conversion cable is needed to connect a conventional Dsub, pin connector. Proof the right position (NOM side) causes the controller to automatically control the brake. Encoder connector for ais Systemmemory 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 Connect the encoder cable of the ais actuator. battery to this connector. This battery is installed eternally to the. The controller does not 7 Status indicator LEDs These LEDs are used to indicate the operating condition of the controller. Indication details are as follows: PWR: This LED indicates that the controller is receiving power. RDY: This LED indicates that the controller is ready to perform come standard with the battery (it must be specified as an option). Motor power input connector This connector is used to input the motor power. It consists of a pin, piece connector by Phoeni Contact. program operation. ALM: This LED indicates that the controller is abnormal. EMG: This LED indicates that an emergency stop is actuated and the drive source is cut off. SV: This LED indicates that the ais actuator servo is on. SV: This LED indicates that the ais actuator servo is on. Eternal regenerative resistor connector A connector for the regenerative resistor that must be connected when the builtin regenerative resistor alone does not offer sufficient capacity in highacceleration/highload operation, etc. Whether or not an eternal regenerative resistor is necessary depends on the conditions of your specific application such as the ais configuration. PS Control power/system input connector This connector is used to connect the control power input, emergency stop switch, and enable switch. ERC Panel connector It consists of a pin, piece connector by Phoeni Contact. A connector for the panel (optional) that displays the controller status and error numbers. 7 Absolutedata backup battery connector for ais A connector for the battery that backs up absolute PCON data when the actuator uses an absolute encoder. Secure 7 I/O connector installation of the battery is the customer s responsibility. ACON A connector for interface I/Os. A pin flat connector is used for the DIO ( IN/ OUT) interface. The I/O power is also supplied to the controller through this Absolutedata backup battery connector for ais A connector for the battery that backs up absolute data when the actuator uses an absolute encoder. Secure SCON connector (pins and ). installation of the battery is the customer s responsibility. PSEL ASEL SSEL ASEL XSEL

69 Integrated ASEL Options Teaching pendant Rotary Features Model Model IATXJ IATX IATXDJ A teaching device providing program/position input function, test operation function, monitoring function, and more. Description Standard type with connector conversion cable Standard type Deadman switch type with connector conversion cable IATX/XD 0 IATXA..7 IATXD IATXAJ IATXA Deadman switch type ANSI type with connector conversion cable ANSI type 0 0 Proof Configuration Specifications Item IATX/XD IATXA PSEL SCON ACON PCON ERC PS IATX/XD:m IATXA:m NOTE The PSEL controller is supported by version.0 or later (or.0 or later with the ANSI type). Conversion cable:cbselsj00 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. IA0XMWJ (with RSC Cable + Connector Conversion Cable) m 0.m PC Software (Windows Only) Features Model Configuration Model PC software RSC cable CBSTEMW00EB IA0XUSB (with USB Cable) 0.m Connector Conversion Cable: CBSELSJ00 Ambient operating temperature, humidity Operating ambience Weight Cable length Display Temperature 0~0 C, Humidity % RH or below Free from corrosive gases. In particular, there shall be no significant powder dust. Appro. 0g m LCD with 0 characters lines Protective structure conforming to IP Appro. 00g (ecluding cable) m LCD with characters lines NOTE The PSEL controller is supported by version or later. XSEL SSEL ASEL Configuration PC software ASEL m USB cable CBSELUSB00 Dummy plug DP

70 Options ASEL Integrated Panel Unit AbsoluteData Backup Battery SystemMemory Backup Battery Features Model A display for checking controller error codes and active program numbers. PU(Cable Length m) ø. 7 Features Model This battery backs up absolute data when an absolutetype actuator is operated. Same as the systemmemory backup battery. AB Features Model If your programs use global flags, etc., you need this battery to retain data even after the power is turned off. ABCS (with Case) AB (Battery Only) Dummy plug USB cable Connector conversion cable Rotary Features Model When connecting your SSEL controller to a PC using a USB cable, install this plug on the teaching port to cut off the enable circuit. (This plug comes with the PC software IA0XUSB.) DP Features Model Use this cable to connect your controller with USB port to a PC. If your controller has no USB port (XSEL), connect a RSC cable to a USB cable via a USB conversion adapter and connect the USB cable to the USB port on the PC. (Refer to the PC software IA0XUSBMW.) CBSELUSB00 (Cable Length m) Features Model This conversion cable is used to connect a Dsub, pin connector for teaching pendant or PC software to the teaching connector (halfpitch) on the ASEL controller. CBSELSJ00 (Cable Length 0.m) Proof Spare Parts Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. Motor Cable Model CBACSMA L * indicates the cable length (L). Lengths up to 0 m can be specified. * The standard motor cable is a robot cable. Eample) 00 = m DFES.C SLP0V Wire Color Signal No. No. Signal Color Wire AWG Red U U Red AWG (crimped) White V V White End Actuator end (crimped) Black W W Black Encoder Cable/ Encoder Robot Cable Model CBACSPA / CBACSPA RB 7 End L * The standard encoder cable is a normal cable * indicates the cable length (L). Lengths up to 0 m can be specified. A robot cable can be specified as an option. Eample) 00 = m 0 0 Actuator end PHDRVR Wire Color Signal N0. AWG (crimped) White/purple LS+ White/gray LS Yellow BK+ Blue BK White/blue A+ White/yellow A White/red B+ White/black B OrangeSD/Z+ Green SD/Z Purple BAT+ Gray BAT Red VCC Black GND Drain FG XMPV No. 7 0 Signal ABZ Serial A+ A B+ B LS+ LS+ FG FG Z+ Z /PS VCC Color White/blue White/yellow White/red White/black White/purple Wire AWG (crimped) Drain SD+ Orange SD Green BAT+ Purple BAT Gray VCC Red GND GND Black LS LS White/gray 7 BK BK Blue BK+ BK+ Yellow ( White/blue and other designations under Wire color indicate the band color/insulator color.) Drain wire and braided shield wire PS ERC PCON ACON I/O Flat Cable Model CBDSPIO * indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m SCON B 7B A 7A m Flat cable AWG ( cores) No connector No. Color Wire No. Color Wire A Brown B Gray B Red 0A White A Orange 0B Black B Yellow A Brown A Green B Red B A B Blue Purple Gray A Orange B Yellow Flat cable A Green Flat cable A White pressure B Blue pressure B Black welded A Purple welded A Brown B Gray B Red A White 7A Orange B Black 7B Yellow A Brown A Green B Red B A Blue Purple 7A Orange 7B Yellow ASEL PSEL ASEL SSEL XSEL

71 Integrated SSEL Rotary RCS series Program controller Proof List Program controller capable of operating RCS series actuator. Various control functions are combined into a single. C Name Program mode Positioner mode Eternal view Description Number of position points Both actuator operation and communication with eternal equipment can be handled by a single controller. When two aes are connected, arc interpolation and path operation can be performed.,00 positions Up to,00 positioning points are supported. Pushmotion operation and teaching operation are also possible. PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model S S E L Series C Standard type SSEL 0 0W servo motor 00 00W servo motor 0D RCS 0W servo motor 00 00W servo motor 0R RS 0W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 70 70W servo motor 0 0W servo motor C ( ) Number of connected aes ais specification aes specification (ais ) (Aes to ) Motor type Encoder type Option Motor type Encoder type Option I A B C Creep sensor L Brake Home sensor/ls type M Master ais specification Incremental Absolute 0 0W servo motor 00 00W servo motor 0D RCS 0W servo motor 00 00W servo motor 0R RS 0W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 70 70W servo motor 0 0W servo motor I A Incremental Absolute * With a ais specification, the section denoted by (Ais ) need not be specified. B C Creep sensor L Brake Home sensor/ls type S Slave ais specification I/O type I/O cable length 0 m m m NP PIO NPN specification (standard) PN PIO PNP specification Powersupply voltage Singlephase 00VAC Singlephase 00VAC No cable

72 System Configuration SSEL Integrated Teaching pendant (Refer to p. ) Model: IATX / XD / XA (Option) PLC I/O flat cable Model CBPACPIO00 (Supplied with the controller) Refer to p. for details on a replacement cable. m Regenerative resistor (Refer to p. ) Panel Model: REU (Refer to p. ) (Option) Model: PU Rotary RSC cable Model: CBSTEMW00EB (Supplied with the PC software IA0XMW) m m 0.m Conversion cable (Refer to p. ) Model: CBSELSJ00 (Option) m USB cable (Refer to p. ) Model: CBSELUSB00 (Supplied with the PC software IA0XUSB) PC software (Refer to p. ) Model: IA0XMW (with RS cable) Model: IA0XUSB (with USB cable) Absolutedata backup battery (Refer to p. ) Model: AB (Supplied with an absolutetype controller) m Regenerative resistor cable <Model: CBSCREU00> (Supplied with the regenerative resistor ) m Systemmemory backup battery (Refer to p. ) Model: ABCS (with case) AB (battery only) (Option) * * The systemmemory backup battery is an option required if you wish to retain flags and other data used in the programs even after the power is turned off. Proof PS ERC PCON Actuator RCS series / Singleais robot / Linear servo actuator Motor cable <Model CBRCCMA > Standard m / m / m Refer to p. for a replacement cable. Encoder cable <Model CBRCSPA > Standard m / m / m Refer to p. for a replacement cable. ACON SCON PSEL ASEL SSEL SSEL XSEL

73 Integrated SSEL I/O Specifications Part Eternal input specifications Item voltage current ON/OFF voltage Insulation method NPN specification Specification DCV 0% 7mA/circuit ON voltage (Min.) NPN:DCV/PNP:DCV OFF voltage (Ma.) NPN:DCV/PNP:DCV Photocoupler Part Eternal output specifications. Item Load voltage Ma. load current Leak current Insulation method NPN specification Specification DCV ma/point 00mA/point total Ma. 0.mA/point Photocoupler Rotary Proof Eternal power supply +V PV terminal Each input R=0Ω R=.kΩ I n t e r n a l c i r c u i t Internal circuit P Each output N L o a d Eternal power supply +V PNP specification PNP specification N I n t e r n a l c i r c u i t Internal circuit PV Eternal power supply +V terminal R=0Ω L o a d Eternal power supply +V Each input R=.kΩ Each output N PSEL SCON ACON PCON ERC PS Eplanation of I/O Functions The SSEL controller lets you select either the program mode in which the actuator is operated by programs input to the controller, or the positioner mode in which the actuator moves to the positions specified by PLC signals received from the host. The positioner mode provides the following five input patterns each supporting different applications. Functions by Positioner mode Operation mode Program mode Standard mode Producttype switchover mode ais independent mode Features Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., archmotion operation and palletizing operation can be performed using the Super SEL language that lets you program comple control actions using simple commands. A basic operation mode in which a position number is specified and then a start signal is input to start operation. Pushmotion operation and ais linear interpolation operation are also supported. Multiple works 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. With a ais controller, each ais can be commanded and operated separately. XSEL SSEL ASEL Teaching mode DSSC compatible mode The slider (rod) can be moved via an eternal signal to store the achieved position as position data. If you were using a DSSC controller before, you can replace it with a PSEL controller without having to change the host programs. * This mode does not ensure actuator compatibility. 7 SSEL

74 Eplanation of I/O Functions SSEL Integrated Program mode Pin number Category Port number Program mode Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Program No. selection Program No. selection Program No. selection Program No. selection Program No. 0 selection Program No. 0 selection Program No. 0 selection CPU reset Start Alarm Ready Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output 0V input Connect V. These signals are used to select the program to be started. (BCD input using ports 0 to 0) This signal is used to reset the system to create the same condition after power reconnection. This signal is used to start the program selected by port Nos. 0 to 0. These signals are used with a program command to wait for eternal input. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. These signals can be turned ON/OFF freely using program commands. Connect 0V. OV Rotary Proof Positioner, Standard Mode Pin number Category Port number Positioner, standard mode Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Position input 0 Position input Position input Position input Error reset Start Home return Servo ON Push Pause Cancellation Interpolation setting Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Alarm Ready Position complete Home return complete Servo ON output Push motion complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. This signal is used to perform pushmotion operation. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV SSEL PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

75 Integrated SSEL Eplanation of I/O Functions Positioner, Product Switchover Mode Pin number Category Port number Positioner Function Wiring diagram Rotary Proof A P V input Connect V. B A B A B A B A B A B 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 Error reset Start Home return Servo ON Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors This signal is used to cause the actuator to start moving to the selected position. This signal is used to perform home return. This signal is used to switch the servo on/off. 7A 00 Push This signal is used to perform pushmotion operation. 7B 00 Pause When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. A B A B 0A 0B A B A B A B A B Cancellation 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 Position/product type input 7 Position/product type input Position/product type input Alarm Ready Position complete When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 007 to 0 are used to specify a target position number and a product type number. Position numbers and product type numbers are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. A 0 Home return complete This signal is output upon completion of home return. B 0 Servo ON output This signal is output while the servo is on. A B 7A Push motion complete Systemmemory backup battery error Absolutedata backup battery error This signal is output upon completion of pushmotion operation. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). 7B N 0V input Connect 0V. Positioner, ais Independent Mode Pin number Category Port number Positioner Function Wiring diagram OV PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N SSEL V input Position input 0 Position input Position input Position input Position input Position input Position input Error reset Start Home return Servo ON Pause Cancellation Start Home return Servo ON Pause Cancellation Position input Position input Position input Position input Position input Position input Alarm Ready Position complete Home return complete Servo ON output Position complete Home return complete Servo ON output 0V input Connect V. Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. This signal is used to cause ais to start moving to the selected position. This signal is used to move ais to the home. This signal is used to switch on/off the servo for ais. When this signal is turned OFF while ais is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. This signal is used to cancel the movement of ais. Port Nos. 00 to 0 are used to specify a target position number. Position numbers for ais and those for ais are assigned by parameter settings. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. This signal is output upon completion of movement of ais to the specified position. This signal is output upon completion of home return of ais. This signal is output while the servo for ais is on. Connect 0V. OV

76 Eplanation of I/O Functions SSEL Integrated Positioner, Teaching Mode Pin number Category Port number Positioner Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Ais JOG Ais JOG+ Ais JOG Inching specification (0.0mm) Inching specification (0.mm) Inching specification (0.mm) Inching specification (mm) Error reset Start Servo ON Pause Position input Position input Position input Position input Position input Position input Position input 7 Position input Position input Position input 0 Position input Teaching mode specification Ais JOG+ Alarm Ready Position complete Home return complete Servo ON output Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. While this signal is input, ais moves in the negative direction. While this signal is input, ais moves in the positive direction. While this signal is input, ais moves in the negative direction. These signals are used to specify an inching travel distance. (The travel distance is the sum of values specified by port Nos. 0 to 0.) This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) This signal is used to cause the actuator to start moving to the selected position. This signal is used to switch the servo on/off. When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. Port Nos. 00 to 0 are used to specify a target position number and a position number under which to input the current position. When the teaching mode specification signal at port No. 0 is ON, the current value will be written under the specified position number upon turning ON of the start signal at port No While this signal is input, ais moves in the positive direction. This signal is output upon an alarm. (Contact B) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output upon completion of home return. This signal is output while the servo is on. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV Rotary Proof Positioner, DSSC Compatible Mode Pin number Category Port number Positioner Function Wiring diagram A B A B A B A B A B A B 7A 7B A B A B 0A 0B A B A B A B A B A B A B 7A 7B P N V input Position No.000 CPU reset Start Hold (pause) Cancellation Interpolation setting Position No. Position No. Position No. Position No. Position No.0 Position No.0 Position No.0 Position No.0 Position No.00 Position No.00 Position No.00 Position No.00 Alarm Ready Position complete Systemmemory backup battery error Absolutedata backup battery error 0V input Connect V. (Same as port Nos. 00 to 0) This signal is used to reset the system to create the same condition after power reconnection. This signal is used to cause the actuator to start moving to the selected position.t When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. With a ais specification, turning ON this signal causes the actuator to move via linear interpolation. Port Nos. 00 to 0 are used to specify a target position number. Numbers can be specified either as BCD or binary codes. This signal is output upon an alarm. (Contact A) This signal is output once the controller has started properly and entered a ready state. This signal is output upon completion of movement to the specified position. This signal is output when the systemmemory backup battery voltage has dropped (to the warning level). This signal is output when the absolutedata backup battery voltage has dropped (to the warning level). Connect 0V. OV SSEL 0 PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

77 Integrated Rotary Proof SSEL Control General Basic specifications Program Communication Specification Table specifications specifications Item Connectable actuators power supply Powersupply capacity Dielectric strength voltage Breakdown resistance Rush current Vibration resistance Number of controlled aes Maimum total output of connected aes Position detection method Speed setting Acceleration setting Operation method Programming language Number of programs Number of program steps Number of multitasking programs Number of positioning points Data storage device Data input method Number of I/O points I/O power supply PIO cable Serial communication function Field network Motor cable Encoder cable Protective functions Ambient operating temperature, humidity Operating ambience Protection class Weight Eternal dimensions Specification RCS series actuator / Singleais robot / Linear servo actuator Singlephase 00VAC ± 0% Singlephase 00VAC ± 0%,0VA ma. (00W, aes operated) 00VDC, 0MΩ or above 00VAC, minute 0A ma. XYZ directions Oneside amplitude 0.0 mm (continuous), 0.07 (intermittent).m/s (continuous),.m/s (intermittent) ais/ aes 00W 00W Incremental encoder / Absolute encoder From mm/s. The maimum limit varies depending on the actuator. From 0.0G. The maimum limit varies depending on the actuator. Program operation / Positioner operation (switchable) Super SEL language programs,000 steps programs,00 points Flash ROM (A systemmemory backup battery can be added as an option) Teaching pendant or PC software input points / output points (NPN or PNP selectable) Eternally supplied VDC ± 0% CBDSPIO (supplied with the controller) RSC (Dsub, halfpitch connector) / USB connector (To be supported in the future) CBRCCMA (0m ma.) CBRCSPA (0m ma.) Motor overcurrent, motor driver temperature check, overload check, encoder opencircuit check, soft limit over, system error, battery error, etc. 0~0ºC 0~% (noncondensing) Free from corrosive gases. In particular, there shall be no significant powder dust. IP0.kg 00mm (W) 0.mm (H) mm (D) PSEL SCON ACON PCON ERC PS Eternal Dimensions SSEL ais controller (Note ) (Note ) Absolutedata backup battery. This battery is not installed on an incrementaltype controller. ASEL ais controller (Note ) (Note ) Absolutedata backup battery. This battery is not installed on an incrementaltype controller. XSEL SSEL ASEL SSEL

78 Name of Each Part SSEL Integrated Status indicator LEDs 0 Powersupply connector 0 These LEDs are used to indicate the operating condition of the controller. Indication details are as follows: An AC powersupply connector. Divided into the control power input and motor power input. 7 0 BAT BAT 7 PWR: This LED indicates that the controller is receiving power. RDY: This LED indicates that the controller is ready to perform program operation. ALM: This LED indicates that the controller is abnormal. EMG: This LED indicates that an emergency stop is actuated and the drive source is cut off. SV: This LED indicates that the ais actuator servo is on. SV: This LED indicates that the ais actuator servo is on. System I/O connector A connector for the emergency stop input, enable input, brake power input, etc. Teaching pendant (TP) connector A halfpitch I/O 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. 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 eternal I/Os is not possible in the MANU mode. 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. Grounding screw A screw for protective grounding. Always connect this screw to ground. Eternal regenerative resistor connector A connector for the regenerative resistor that must be connected when the builtin regenerative resistor alone does not offer sufficient capacity in highacceleration/highload operation, etc. Whether or not an eternal regenerative resistor is necessary depends on the conditions of your specific application such as the ais configuration. Motor connector for ais Connect the motor cable of the ais actuator. Motor connector for ais Connect the motor cable of the ais actuator. Brake switch for ais This switch is used to release the ais 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. Brake switch for ais This switch is used to release the ais 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. 7 Encoder connector for ais Rotary Proof PS I/O connector Connect the encoder cable of the ais actuator. ERC SBAT A connector for interface I/Os. A pin flat connector is used for the DIO ( IN/ OUT) interface. The I/O power is also supplied to the controller through this connector (pins and ). 7 Panel connector A connector for the panel (optional) that displays the controller status and error numbers. Encoder connector for ais Connect the encoder cable of the ais actuator. Absolutedata backup battery connector for ais 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. 0 Absolutedata backup battery connector for ais PCON ACON SCON Absolutedata backup battery When an absolutetype ais is operated, this battery retains position data even after the power is cut off. 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. PSEL Systemmemory backup battery (optional) Systemmemory backup battery connector ASEL 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. A connector for the systemmemory backup battery. SSEL SSEL XSEL

79 Integrated Rotary Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL SSEL Option Features Teaching pendant Model IATXJ IATX Model IATXDJ IATXD IATXAJ IATXA Configuration A teaching device providing program/position input function, test operation function, monitoring function, and more. PC Software (Windows Only) 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. Model Configuration Model Configuration Standard type with connector conversion cable Standard type Deadman switch type ANSI type IATX/XD:m IATXA:m Conversion cable:cbselsj00 IATX/XD Specifications Ambient operating temperature, humidity Operating ambience Weight Cable length Display IA0XMWJ (with RSC Cable + Connector Conversion Cable) IA0XMW (with RSC Cable) PC software m 0.m RSC cable CBSTEMW00EB IA0XUSB (with USB Cable) PC software Description Deadman switch type with connector conversion cable ANSI type with connector conversion cable m USB cable CBSELUSB00 Regenerative Resistor Unit NOTE The SSEL controller is supported by version.0 or later (or.0 or later with the ANSI type). Dummy plug DP 0.m Connector Conversion Cable: CBSELSJ00 Features This converts to heat the regenerative current produced when the motor decelerates. Use the table shown to the right to check the total wattage of actuators operated by the controller, and purchase one or more regenerative resistor s if required. Model REU (SCON/SSEL) Specifications Weight Builtin regenerative resistor Unitcontroller connection cable (supplied) Panel Unit Features Model A display for checking controller error codes and active program numbers. ø. 7 PU(Cable Length m) SSEL 0.kg 0Ω 0W CBSCREU00 (SSEL) Applicable controller SSELC 0 AbsoluteData Backup Battery Features Model 0 This battery backs up absolute data when an absolutetype actuator is operated. Same as the systemmemory backup battery. AB IATXA Item IATX/XD IATXA Temperature 0~0 C, Humidity % RH or below Free from corrosive gases. In particular, there shall be no significant powder dust. Appro. 0g m Guide for Determining Necessary Number of Units 0 s Horizontal ~00W 0 LCD with 0 characters lines Vertical ~00W ~00W ~00W * More regenerative resistor s than the numbers specified above may be required depending on the operating conditions. Protective structure conforming to IP Appro. 00g (ecluding cable) m..7 LCD with characters lines NOTE The SSEL controller is supported by version or later. SystemMemory Backup Battery Features Model Eternal Dimensions ø 7. If your programs use global flags, etc., you need this battery to retain data even after the power is turned off. ABCS (with Case) AB (Battery Only)

80 Options SSEL Integrated Dummy plug USB cable Connector conversion cable Features Model When connecting your SSEL controller to a PC using a USB cable, install this plug on the teaching port to cut off the enable circuit. (This plug comes with the PC software IA0XUSB.) DP Features Model Use this cable to connect your controller with USB port to a PC. If your controller has no USB port (XSEL), connect a RSC cable to a USB cable via a USB conversion adapter and connect the USB cable to the USB port on the PC. (Refer to the PC software IA0XUSBMW.) CBSELUSB00 (Cable Length m) Features Model This conversion cable is used to connect a Dsub, pin connector for teaching pendant or PC software to the teaching connector (halfpitch) on the ASEL controller. CBSELSJ00 (Cable Length 0.m) Rotary Spare Parts Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. Motor Cable/ Motor Robot Cable Model CBRCCMA / CBRCCMA RB () () (Front view) End I/O Flat Cable (SSEL s) Model CBDSPIO B 7B (ø) Encoder Cable/ Encoder Robot Cable Model CBRCSPA / CBXPA (7) () (Front view) () L () End A 7A L () Actuator end m (0) Actuator end () 0 () (Front view) Flat cable AWG ( cores) (0) () (Front view) Encoder Cable/ Encoder Robot Cable for RCSRT/RTR/RT7R Model CBRCSPLA / CBXPLA (7) () (Front view) End () L () LS end Actuator end () 0 () () () No connector * indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Wire Color Signal No. Green PE Red U 0.7sq White V Black W * indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m No. Color Wire No. Color Wire A Brown B Gray B Red 0A White A Orange 0B Black B Yellow A Brown A Green B Red B A B Blue Purple Gray A Orange B Yellow Flat cable A Green Flat cable A White pressure B Blue pressure B Black welded A Purple welded A Brown B Gray B Red A White 7A Orange B Black 7B Yellow A Brown A Green B Red B A Blue Purple 7A Orange 7B Yellow No. Signal Color Wire U V W PE Red White 0.7sq Black(crimped) Green * indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m Note Note Note Drain wire and braided shield wire Note No * indicates the cable length (L). Lengths up to 0 m can be specified. Eample) 00 = m No. No Signal EV 0V LS CLEEP OT RSV Signal Signal Color Wire A Pink A Purple B White B Blue/red Z Orange/white Z Green/white AWG LS+ Brown/white (crimped) FG Drain 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 CLEEP OT RSV AWG (soldered) Pink A+ Purple A White B+ Blue/red B Orange/white Z+ Green/white Z Blue SRD+ 7 Orange SRD Black BAT+ Yellow BAT Green VCC Brown GND 7 Gray BKR 0 Red BKR+ Connect the shield to the hood via a clamp. Wire Color Signal N0. 0 White/orange EV White/green 0V Brown/blue LS Brown/yellow CLEEP Brown/red OT Brown/black RSV White/blue A+ AWG White/yellow A (soldered) White/red B+ White/back B White/purple Z+ White/gray Z Orange SRD+ 7 Green SRD Purple BAT+ Gray BAT Red VCC Black GND 7 Blue BKR 0 Yellow BKR+ Connect the shield to the hood via a clamp. Drain wire and braided shield wire ( White/blue and other designations under Wire color indicate the band color/insulator color.) A A B B Z Z FG SD SD BAT+ BAT VCC GND BK BK+ Color Wire White/blue White/yellow White/red AWG White/black (crimped) White/purple White/gray Color White/blue White/yellow White/red White/black White/purple White/gray Drain Orange Green Purple Gray Red Black Blue Yellow Wire AWG (crimped) SSEL Proof PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

81 Integrated XSEL Rotary RCS Series Program controller Proof List Multiais program controller for RCS series actuator. Up to si aes can be controlled simultaneously. J K P Q Name Compact type Generalpurpose type Largecapacity type Largecapacity type (meeting safety category) Eternal view Description Maimum number of controlled aes Number of position points Total connectable wattage Power supply Safety category Safety standard Compact, lowcost type ideal for operating lowoutput actuators 00W aes,000 positions B Standard type offering ecellent epandability 00W Singlephase 00VAC / Singlephase 00VAC Largecapacity type capable of controlling up to si aes or,00 W CE B aes,000 positions 00W Threephase 00VAC Largecapacity type conforming to safety category Conforming to safety category CE, ANSI PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Model X S E L ( ) Series J K Compact type Generalpurpose type P Largecapacity type Q Largecapacity type (meeting safety category) ais specification aes specification aes specification XSEL * To specify multiple options, enter them in alphabetical order. (Eample: Brake + Home sensor BL) Number of connected aes (ais ) (Aes to ) (Slot ) (Slot ) (Slot ) (Slot ) I/O cable length Powersupply voltage Motor type Encoder type Option Motor type Encoder type Option Standard I/O Epansion I/O 0 0W servo motor 00 00W servo motor 0D RCS 0W servo motor 00 00W servo motor 0R RS 0W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 70 70W servo motor 0 0W servo motor aes specification aes specification aes specification B C L M S I A Brake Creep sensor Home sensor/ls type Master ais specification Slave ais specification Incremental Absolute 0 0W servo motor 00 00W servo motor 0D RCS 0W servo motor 00 00W servo motor 0R RS 0W servo motor 00 00W servo motor 0 0W servo motor 00 00W servo motor 00 00W servo motor 70 70W servo motor 0 0W servo motor I A B C L M S * Specification of the section denoted by (Aes to ) varies depending on the number of aes used. Incremental Absolute Brake Creep sensor Home sensor/ls type Master ais specification Slave ais specification E Not used N / (NPN) N / (NPN) N / (NPN) P P P / (PNP) / (PNP) / (PNP) DV DeviceNet connection board CC CCLink connection board PR ProfiBus connection board ET Ethernet connection board SA Epansion SIO A type SB Epansion SIO B type SC Epansion SIO C type Singlephase 00VAC Singlephase 00VAC Threephase 00VAC * The XSELJ/K types supports both singlephase 00 VAC and singlephase 00 VAC, so you can select whichever powersupply voltage is appropriate. However, the XSELP/Q types only support threephase 00 VAC. 0 No cable m m m * When selecting standard I/O, epansion I/O by DV, CC, PR, or ET, please select 0 for the I/O cable length.

82 RB IN RB RB RB+ RB RB+ RB OUT RB IN RB RB+ RB+ RB OUT System Configuration XSEL Integrated J (Compact) / K (GeneralPurpose) / KE (CE) s Connectable Actuators Highspeed, highaccuracy type ISPA series Standard type ISA series Dustproof type ISDA series specification ISDACR series Antistatic specification ISDACR ESD Highrigidity belt type IF series Slim belt type FS series Rotating ais RS series ROBO Cylinder RCS series Eternal Equipment Parts feeder Solenoid valve PLC I/O flat cable m (Supplied with the controller) (Refer to P7) Teaching pendant Refer to P7 PC software Rotary Motor cable, standard m / m (Refer to P7) Encoder cable, standard m / m (Refer to P7) (Supplied with the actuator) Regenerative Regenerative cable m (Supplied with the regenerative ) (Refer to P7) Main Power Supply I/O Power Supply System I/O Singlephase 00VAC Singlephase 00VAC DCV Emergency stop Enable System ready m RS cable m (Refer to P7) (Supplied with the PC software) Various Field Networks Device Net (Refer to P7) CCLink (Refer to P7) Profi Bus Ethernet Serial Communication Unit Epansion SIO board (Refer to P7) Compatible with RSC/RS/RS Proof P (LargeCapacity) / Q (LargeCapacity Global) s Connectable Actuators Eternal Equipment Teaching pendant PC software Highspeed, highaccuracy type ISPA series PLC, etc Various Field Networks Standard type ISA series Device Net Dustproof type ISDA series Serial Communication Port CCLink specification ISDACR series Standard/RS, channels Profi Bus Antistatic specification ISDACR ESD Highrigidity belt type IF series Ethernet I/O flat cable m Slim belt type FS series Rotating ais RS series (Supplied with Refer to P7 Linear servo LSA series the controller) ROBO Cylinder RCS series (Refer to P7) PS ERC PCON Motor cable, standard m / m (Refer to P7) Encoder cable, standard m / m (Refer to P7) (Supplied with the actuator) Regenerative (Refer to P7) Regenerative cable m (Supplied with the regenerative ) Control Power Supply Singlephase 00VAC Motor Drive Power Supply Threephase 00VAC (Q type) System I/O Emergency stop Enable System ready Drive cutoff circuit (Provided by the customer) Required only for the Q type (not required for the P type). m RS cable m (Refer to P7) (Supplied with the PC software) Epansion I/O PIO board * The enclosure of the P/Q controller will change if an epansion I/O board is installed. (Refer to P) XSEL ACON SCON PSEL ASEL SSEL XSEL

83 Integrated Rotary Proof XSEL I/O Wiring Diagram Part Eternal input specifications (NPN specifications) Item voltage current ON/OF voltage Insulation method Eternally connected equipment [ circuit] P* Eternal power supply VDC ±0% + Specification VDC ±0% 7mA / circuit ON voltage Min DC.0V OFF voltage Ma DC.0V Photocoupler insulation Novoltage contacts (minimum load of appro. VDC, ma) Photoelectric/proimity sensor (NPN type) Sequencer transistor output (open collector type) Sequencer contact output (minimum load of appro. VDC, ma) terminal 0øΩ.kΩ Internal circuit * P K type IO V connector VIN J/P/Q type I/O interface pin No. Part Eternal input specifications (PNP specifications) Item voltage current ON/OF voltage Insulation method Eternally connected equipment [ circuit] terminal Specification VDC ±0% 7mA / circuit ON voltage Min DCV OFF voltage Ma DCV Photocoupler insulation Novoltage contacts (minimum load of appro. VDC, ma) Photoelectric/proimity sensor (PNP type) Sequencer transistor output (open collector type) Sequencer contact output (minimum load of appro. VDC, ma) Part Eternal output specifications (NPN specifications) Item Load voltage Maimum load current Leak current Insulation method Eternally connected equipment [ circuit] Internal circuit Specification VDC 00mA / circuit 00mA TD0 (or equivalent) Peak (full current) Ma 0.mA / point Photocoupler insulation Miniature relay Sequencer input D 0Ω P* Surge absorber Load terminal N* + Eternal power supply VDC ±0% * P N K type IO V connector VIN IO V connector 0VIN J/P/Q type I/O interface pin No. I/O interface pin No. 0 Part Eternal output specifications (PNP specifications) Item Load voltage Maimum load current Leak current Insulation method Eternally connected equipment [ circuit] Specification VDC 00mA / circuit TD7 (or equivalent) 00mA/ ports (Note) Ma 0.mA / point Photocoupler insulation Miniature relay Sequencer input (Note) 00 ma represents the maimum total load current for each set of eight ports from output port No. 00. (The maimum total current output for output port Nos. 00+n to No. 00+n+7 must be 00 ma, where n = 0 or a multiple of eight.) P* Eternal power supply VDC ±0% + N * I/O Signal Table 0øΩ.kΩ Internal circuit * P K type IO V connector VIN J/P/Q type I/O interface pin No. Internal circuit 0Ω Surge absorber terminal Load N* + Eternal power supply VDC ±0% * K type IO V P connector VIN IO V N connector 0VIN J/P/Q type I/O interface pin No. I/O interface pin No. 0 PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL Standard I/O Signal Table (N or P Selected) Pin number Category Port number XSEL Standard setting (J/P/Q types: Connected to V / K type: NC) Program start Program specification (PRG No. ) Program specification (PRG No. ) Program specification (PRG No. ) Program specification (PRG No. ) Program specification (PRG No. 0) Program specification (PRG No. 0) Program specification (PRG No. 0) Alarm output Ready output Emergency stop output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output (J/P/Q types: Connected to 0V / K type: NC) Epansion I/O Signal Table (N or P Selected) Pin number Category Standard setting (J/P/Q types: Connected to V / K type: NC) Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output (J/P/Q types: Connected to 0V / K type: NC) Epansion I/O Signal Table (N or P Selected) Pin number Category Standard setting (J/P/Q types: Connected to V / K type: NC) Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output Generalpurpose output (J/P/Q types: Connected to 0V / K type: NC)

84 Specification Table J (Compact) / K (GeneralPurpose) s Item series, type Connectable actuators Motor output (W) Number of controlled aes Maimum output of connected aes (W) power supply Operating powersupply voltage range Powersupply frequency Powersupply capacity Position detection method Speed setting Acceleration setting Programming language Number of programs Number of program steps Number of multitasking programs Number of positioning points Data storage device Data input method Standard inputs/outputs Epansion inputs/outputs Serial communication function Other inputs/outputs Protective functions Ambient operating temperature, humidity Operating ambience Weight Accessory ais.kg Ma 70VA J (compact) type Description RCS / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS 0 / 0 / 0 / 00 / 0 / 00 / 00 / 00 / 00 / 70 00V specification: Singlephase 00~VAC 00V specification: Singlephase 00~0VAC ±0% 0Hz/0Hz Incremental encoder (wiresaving type) Absolute encoder with rotation data backup (wiresaving type) From mm/s. The maimum limit varies depending on the actuator. From 0.0G. The maimum limit varies depending on the actuator. Super SEL language programs,000 steps (total) programs,000 positions Flash ROM + SRAM battery backup Teaching pendant or PC software XSEL points (total of dedicated inputs + generalpurpose inputs) / points (total of dedicated outputs + generalpurpose outputs) None aes aes aes ais aes Ma00(at powersupply voltage of 00V) Ma00(at powersupply voltage of 00V) RS port (Dsub, pin) Standard accessory points per ( can be added) points per (Up to s can be added) System I/Os (emergency stop input, enable input, system ready output) Motor overcurrent, overload, motor driver temperature check, overload check, encoder opencircuit check, soft limit over, system error, battery error, etc. Temperature 0~0 C, humidity 0~% (noncondensing) Free from corrosive gases. In particular, there shall be no significant powder dust..kg.0kg.0kg 7.0kg I/O flat cable P (LargeCapacity) / Q (LargeCapacity Meeting Safety Category) s Item series, type Connectable actuators Motor output (W) Number of controlled aes Maimum output of connected aes (W) Control power input Motor power input Powersupply frequency Dielectric strength voltage Breakdown voltage Powersupply capacity Position detection method Safety circuit configuration Drivesource cutoff method Enable input Speed setting Acceleration/deceleration setting Programming language Number of programs Number of program steps Number of multitasking programs Number of positioning points Data storage device Data input method Standard inputs/outputs Epansion inputs/outputs Serial communication function Protective functions Ambient operating temperature, humidity Weight Accessory P (standard) type Ma 00 K (generalpurpose) type / KE (CE) type aes aes Ma00(at powersupply voltage of 00V) Ma00(at powersupply voltage of 00V) Standard RS port + Epansion SIO board (optional) Ma 70VA Ma 0VA Ma 70VA Ma 0VA Ma 0VA Ma 0VA RCS / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS / LSA 0 / 0 / 0 / 00 / 0 / 00 / 00 / 00 / 00 / 70 ais aes aes aes aes aes ais aes aes aes aes aes AC00 / 0 Singlephase %, +0% AC00 / 0 Threephase 0%, +0% Ma00W 0 / 0Hz 0MΩ or more (between the powersupply terminal and I/O terminals, and between all eternal terminals and case, at 00VDC),00VAC ( minute) Ma 7VA Ma VA Ma 77VA Ma 7VA Ma VA Ma VA Ma 7VA Ma VA Ma 77VA Ma 7VA Ma VA Ma VA Incremental encoder (wiresaving type) Redundancy not supported Internal cutoff relay ContactB input (powered internally).kg * When the connected aes represent the maimum wattage. * Including the absolutedata backup battery, brake mechanism and epansion I/O bo. Description Absolute encoder with rotation data backup (wiresaving type) From mm/s. The maimum limit varies depending on the actuator. From 0.0G. The maimum limit varies depending on the actuator. Super SEL language programs,000 steps (total) programs,000 steps (total) Flash ROM + SRAM battery backup Teaching pendant or PC software.7kg.kg kg I/O flat cable Q (global) type AC00 / 0 Singlephase %, +0% AC00 / 0 Threephase 0%, +0%,00VAC ( minute) Redundancy supported Eternal safety circuit ContactB input (powered eternally, redundant) PIO board with input/output points (NPN/PNP) or PIO board with input/output points (NPN/PNP) board can be installed PIO board with input/output points (NPN/PNP) or PIO board with input/output points (NPN/PNP) Up to boards can be installed Teaching port (Dsub, pin) + channel RSC port (Dsub, pin ) Standard accessory Motor overcurrent, overload, motor driver temperature check, overload check, encoder opencircuit check, soft limit over, system error, battery error, etc. 0~0 C, 0~% (noncondensing). Free from corrosive gases. In particular, there shall be no significant powder dust. XSEL Integrated Rotary Proof PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

85 Eternal Dimensions J (Compact) / K (GeneralPurpose) s ais specification /ais specification ø..... ø Side view (0).7 0. ø ø Battery bo (absolute specification) () K type (GeneralPurpose) 77. /ais specification 0 /ais specification.. Proof ais specification ø J type (Compact) Rotary.. 0 Integrated XSEL P (LargeCapacity Standard) / Q (LargeCapacity Global) s The XSELP/Q types have different shapes and dimensions in accordance with the controller specifications (encoder type, with/without brake, and with/without I/O epansion). The four possible shapes are shown below. Check the dimensions of the controller type and number of aes you desire. Basic shape (incremental specification) With brake/absolute With I/O epansion base With brake/absolute + I/O epansion base Encoder Incremental Absolute Incremental Absolute Brake Without With Without With I/O Standard only Standard only 0 ø 0 0. ø 0 0 ø ø 7. 0 (0) ACON ø 0 7 XSEL 7 ø ø 0. Battery bo (absolute specification) ø ø ø ø to ais specification ø Q (LargeCapacity Meeting Safety Category) to ais specification 0 ø ø PCON 00 SCON PSEL ASEL SSEL. 0 ERC P (LargeCapacity) 0 XSEL Standard + Epansion Standard + Epansion 0 ø 7. to ais specification ø PS to ais specification 7 Side view 0. XSELQ 0 specifications XSELP ()

86 Name of Each Part XSEL Integrated J (Compact) K (GeneralPurpose) FG connection terminal A terminal for connecting to the FG terminal on the enclosure. The PE at the AC input part is connected to the enclosure inside the controller. Fuse holder (K type only) A halfcut fuse holder provided for overcurrent protection of the AC input part. Main power input connector A connector for 00/00VAC singlephase input. (The cable comes with a matching plug. Refer to the facing page.) Regenerative resistor connector A connector for the regenerative resistor (optional/reu) that must be connected when the builtin regenerative resistor alone does not offer sufficient capacity in highacceleration/highload operation, etc. Motor cable connector A connector for the motor powersupply cable of the actuator. Actuator sensor input connector A connector for ais sensors such as LS, CREEP and OT. 7 Absolutedata backup battery A battery for backing up the encoder when an absolute encoder is used. This battery is not connected for a nonabsolute ais. Brake release switch (brake specification only) An alternate switch with lock for releasing the ais 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. Ais driver status LEDs These LEDs are used to monitor the operating status of the driver CPU that controls the motor drive. The following three LEDs are available. Name ALM SVON BATT ALM Color Orange Green Orange Meaning when the LED is lit The driver has detected an error. The servo is on and the motor is driven. The absolutedata backup battery voltage is low. 0 Encoder cable connector A pin, Dsub connector for the actuator s encoder cable. System I/O connector A connector for three input/output points including two inputs used to control controller operation, and one system status output. (The cable comes with a matching plug. Refer to the facing page.) Name EMG ENB RDY Emergency stop input Safety gate input System ready relay output I/O V powersupply connector (K type only) If DIs and DOs are installed in the I/O boards ( and 7 ), this connector is used to eternally supply the I/O power for the insulated part. Panel window This window has a digit, 7segment LED and five LED lamps showing the system status. Mode switch This alternate switch with lock is used to specify the running mode of the controller. 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 as manual operation, and automatic operation using eternal I/Os is not possible in the MANU mode. Teaching connector A Dsub, pin connector for connecting a teaching pendant or PC to input program positions. Standard I/O slot (slot ) The controller comes standard with a PIO board offering input points and output points. 7 Epansion I/O slots (slot, slot, slot ) Install an epansion I/O board in each of these slots. (Optional) ON: The controller is ready. OFF: An emergency stop is actuated. ON: The controller is ready. OFF: The servo is off. This signal outputs the status of this controller. Cascade connection is supported. Shorted: Ready. Open: Not ready. XSEL 70 Rotary Proof PS ERC PCON ACON SCON PSEL ASEL SSEL XSEL

87 Integrated XSEL P type (Standard, aes) Q type (Absolute brake + Epansion base, aes) Rotary Proof PSEL SCON ACON PCON ERC PS XSEL SSEL ASEL 7 FG connection terminal A terminal for connecting to the FG terminal on the enclosure. The PE at the AC input part is connected to the enclosure inside the controller. Eternal regenerative connector A connector for the regenerative resistor that must be connected when the builtin regenerative resistor alone does not offer sufficient capacity in highacceleration/highload operation, etc. Whether or not an eternal regenerative resistor is necessary depends on the conditions of your specific application such as the ais configuration. AC power input connector A threephase 00VAC input connector. It consists of si terminals including motor powersupply, control powersupply and PE terminals. The controller only comes standard with a terminal block. Note Do not touch the connector while the power is supplied, as it may cause electric shock. Panel window This window consists of a digit, 7segment LED and five LED lamps showing the system status. Control powersupply monitor LED A green light illuminates while the control power supply is properly generating internal controller power. Enable/disable switch for absolutedata backup battery This switch is used to enable or disable encoder backup using the absolutedata backup battery. Encoder backup has been disabled prior to the shipment. After connecting the encoder/aissensor cables, turn on the power, and then set this switch to the top position. Encoder/aissensor connector A connector for ais sensors such as LS, CREEP and OT. * LS, CREEP and OT sensors are optional. 7 Motor connector A connector for driving the motor in the actuator. Teachingpendant type selector switch This switch is used to select the type of the teaching pendant to be connected to the teaching connector ( ). Specifically, you can switch between IAI s standard teaching pendant and the ANSI teaching pendant. Operate the switch on the front face of the board in accordance with the teaching pendant used. Teaching connector This teaching interface is used to connect IAI s teaching pendant or a PC (PC software) to operate/set the system, etc. 0 System I/O connector An I/O connector that governs the safety operation functions of the controller. s of the global specification let you configure a safety circuit conforming to safety categories of up to using this connector and an eternal safety circuit. 7 XSEL Description of LEDs Name RDY ALM EMG PSE CLK Mode switch 7 This alternate switch with lock is used to specify the running mode of the controller. 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 as manual operation, and automatic operation using eternal I/Os is not possible in the MANU mode. Status when the LED is lit The CPU is ready (program operation can be performed). A CPU alarm (systemshutdown level error) or CPU hardware error is present. An emergency stop is actuated or CPU hardware error or powersupply hardware error is present. A powersupply hardware error is present. A system clock error is present. Standard I/O connector A 0pin flat connector constituting input/output DIOs. Overview of standard I/O interface specifications Items Connector name Applicable connector Power supply s s Connected to Description I/O Flat connector, 0 pins Power is supplied from connector pin Nos. and 0. points (including generalpurpose and dedicated inputs) points (including generalpurpose and dedicated outputs) Eternal PLC, sensors, etc. Generalpurpose RSC port connector A port for connecting generalpurpose RS equipment. (Two channels are available.) Field network board slot A slot that accepts a fieldbus interface module. Epansion I/O board slots (optional) Slots that accept optional epansion I/O boards. 7 Brake power input connector A power input connector for driving the actuator brake. VDC must be supplied eternally. If the specified power is not supplied, the actuator brake cannot be released. Always supply VDC for an ais with brake. Use a shield cable as the brake powersupply cable and connect the shield on the V power supply side. Brake release switch connector A connector for the switch that releases the actuator brake eternally 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 eperienced a power failure or malfunction. Brake switch An alternate switch with lock for releasing the ais 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.

88 RB IN RB RB + RB RB + RB OUT Option Regenerative Resistor Unit Model REU Description This converts to heat the regenerative current produced when the motor decelerates. Although the controller has a builtin regenerative resistor, its capacity may not be enough if the ais is positioned vertically and the load is large. In this case, one or more regenerative s will be required. (Refer to the table shown to the right.) Specifications Item Dimensions Weight Builtin regenerative resistor Accessory Specification Wmm Hmm Dmm 0.kg 0Ω 0W cable (model CBSTREU00) m AbsoluteData Retention Battery (XSELJ/K/KE/KT/KET) Model Features Packaging IAXABBT A battery that retains the data stored in an absolutetype controller. Replace the battery promptly once the controller generated a battery alarm. Sold individually. (One battery is needed for each ais. Specify a quantity corresponding to the number of aes used.) AbsoluteData Backup Battery Model Features AB A battery that backs up absolute data when an absolutetype actuator is operated. Epansion PIO Board Description An optional board for adding I/O (input/output) points. With the generalpurpose and largecapacity types, up to three epansion PIO boards can be installed in the epansion slots. (With the compact types, only one epansion PIO board can be installed in the epansion slot provided that the controller is of or ais specification.) Installation Standard Determined by the total motor capacity of vertical aes connected. Horizontal application Motor wattage ~00W ~00W ~000W ~00W ~000W ~00W Vertical application Motor wattage ~00W ~00W ~00W ~00W ~00W ~00W ~00W ~000W ~00W P/Q type Not required P/Q type Not required J type Not required Not required J type Not required Not required K type Not required Not required Not required Not required K type Not required Not required Not required To be discussed separately ø XSEL 7. Epansion SIO Board (GeneralPurpose Only) Model/ Specification Description Joint cable Model:CBSTJ00 end Wiring Diagram IA0XMWA (Board + joint cables) IA0XMWB (Board + joint cables) IA0XMWC (Board + joint cables) A board for serial communication with eternal equipment. This board has two port channels and implements three communication modes using the supplied joint cable(s). 00mm Cable connection end XMD0 XMA00 Wire Color Signal No. No. Signal Color Wire Orange with black dot SD SD Orange with black dot Orange with black dot RD RD Orange with black dot Light grey with black dot RS 7 RS Light grey with black dot Light grey with red dot CS CS Light grey with red dot AWG White with black dot ER ER White with black dot 7 cores AWG White with red dot DR DR White with red dot 7 cores Yellow with black dot SG 7 SG Yellow with black dot 0 The customer must provide * the connection cable with the eternal equipment. Joint cable Model : CBSTJ00 end m (000mm) 0mm No connector XMD0 Wire Color AWG 7 cores Wiring Diagram Orange Black Dot Orange Red Dot White Black Dot Gray Black Dot Gray Red Dot Signal No. RD+ TRM RD SD SD+ 7 0 Orange Black Dot Orange Red Dot White Black Dot Gray Black Dot Gray Red Dot * Connect to a terminal block, etc. Integrated Rotary Proof PS ERC DeviceNet Connection Board A board for connecting the XSEL controller to DeviceNet. Item Specification Number of input/output points board, input points / output points * Only board can be installed. Communication Interface module certified under DeviceNet.0 (certification to be obtained) standard Group only server Insulated node operating on network power supply Master slave connection Bit strobe Communication specifications Polling Cyclic Baud rate 00k/0k/kbps (switched using DIP switches) Communication Baud rate Maimum network length Maimum branch length Total branch length cable length 00kbps 00m m 0kbps 0m m 7m kbps 00m m Note) When a largesize DeviceNet cable is used. Communication power supply VDC (supplied from DeviceNet) Communication power consumption 0mA min. Number of occupied nodes node Connector MSTBA./G.0AUM by Phoeni Contact (*) (*) The connector on the cable (SMSTB./ST.0AU by Phoeni Contact) is a standard accessory. CCLINK Connection Board A board for connecting the XSEL controller to CCLink. Item Number of Remote device input/output points Remote I/Os Communication standard Baud rate Communication method Synchronization method Encoding method Transmission path type Transmission format Error control method Number of occupied stations Communication cable length Connector (controller end) board, input points / output points * Only board can be installed. board, input points / output points * Up to boards can be installed (in epansion slots). CCLink Version.0 (already certified) (switched using a rotary switch) Broadcast polling method Frame synchronization method NRZI Bus type (conforming to EIA RS) Conforming to HDLC CRC(X +X +X +X) to stations (remote device stations) Baud rate (bps) Cable length (m) 0M 00 Specification M 0.M 00 MSTBA./G.0AUM by Phoeni Contact (*) k 00 (*) The connector on the cable (SMSTB./ST.0AU by Phoeni Contact) is a standard accessory. k 00 XSEL 7 PCON ACON SCON PSEL ASEL SSEL XSEL