ROBONET Controller
Slider
Type
ROBONET
Controller
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
■ Model :RGW-†/RACON/RPCON/RABU/REXT
For RCA2/RCA/RCL/RCP3/RCP2
Network Controller
Controllers
Integrated
Table/Arm
/Flat Type
ROBONET is a new type of control unit that freely operates ROBO Cylinders via a field network. They have less wiring and are
more compact than past controllers, and by DIN rail mounting make it possible to vastly reduce wiring and installation labor.
Mini
Standard
Features
Press fit B
Gripper/
Rotary Type
Part conveyance C
Ejection
Press fit A
Linear Servo
Type
Part conveyance B
Cleanroom
Type
Part conveyance A
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
3
ROBO
NET
ERC2
Part conveyance C
2
PLC
Part conveyance B
PCON
ACON
SCON
PSEL
ASEL
SSEL
Field network
DeviceNet / CC-Link / ProfiBus
1
Press fit A
Press fit B
Ejection
Operation
Operation
Part conveyance A
Operation
1
XSEL
Pulse Motor
PLC
Reduced Wiring
By connecting each line of the I/O cables
to lines wired to the PLC terminals with the
field network, wiring processing is
completed with one dedicated cable.
Also, since the unit can be coupled by just
connecting with the unit connection board,
the controller wiring work is greatly
simplified.
Data like movement zone/speed/acceleration etc.
Part
Conveyance A
Part
Conveyancet B
Press
fit A
Field network
DeviceNet
CC-Link
ProfiBus
Part
Conveyance C
Press
fit B
Ejection
Servo Motor
(24V)
ROBONET communications connection
board (see P513)
Servo Motor
(200V)
Power supply connection
board (see P513)
Linear
Servo Motor
Terminal resistor board
(see P513)
(Connected part in ROBONET units)
503
ROBONET
ROBONET
2
Slider
Type
Mini
The robot can be moved by directly specifying numeric values
for the move position/velocity/acceleration and other data.
Besides the conventional method of moving the robot to
robot by sending information as a string of numeric data
Movement by specifying positions
○
that contains position, velocity, acceleration, etc. values.
Movement by specifying direct values
○
This is effective for cases such as when the move position
Specifying speed/acceleration
changes with each piece or when one wants to move the
○
Current value output
○
robot to an arbitrary position.
Standard
Controllers
Integrated
ROBONET Standard controller
(ACON/PCON)
controller
pre-taught positions it is also possible to operate the
3
Controller
○
△
(Not for PIO)
(Connectable with
serial communication)
*ROBONET operates through a field network,
and the standard controller operates with PIO.
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Ultra-compact
Mini
Each unit is an ultra-compact size of 34mm wide by
Standard
100mm high x 73mm deep. Also, since there is no base
unit and the main unit is coupled with connectors, the
Gripper/
Rotary Type
controller takes up little space for installation even if there
are many units.
4
Rod
Type
Linear Servo
Type
Cleanroom
Type
Can operate with a maximum of 16 axes.
Up to 16 controllers can be connected to one
Communication
unit
Splash-Proof
Up to 16 units can be connected
communication unit (Gateway R unit).
Controllers
RACON units (controllers for RCA) and RPCON
units (controllers for RCP2) can also be used
PMEC
/AMEC
together.
PSEP
/ASEP
5
ROBO
NET
PLC
Controllers can be multiplexed.
ERC2
Field Network
Controllers can be multiplexed using an optional extension
PCON
unit, so many axes can be connected even if there isn’t
Extension unit
[REXT]
much horizontal space.
FG
Unit link
cable (1m)
[CB-REXT-SIO010]
Also, non-ROBONET controllers (SCON, PCON-CF, ERC2)
can be connected to a ROBONET Gateway unit using the
same extension unit.
ACON
SCON
PSEL
FG
Extension unit
[REXT]
6
ASEL
SSEL
Simple absolute unit, when home return is not required
The
simple
absolute
R
unit
allows
operation
incremental specification axes without home return. Users
can back up actuator encoder data even if the power is
XSEL
Simple absolute R unit
for
RACON
RPCON
shut off, by installing a simple absolute R unit to a RACON
Pulse Motor
unit (controller for RCA) or RPCON unit (controller for
RCP2).
7
Servo Motor
(24V)
Servo Motor
(200V)
Mounting the DIN rail
The controller is installed with DIN rails, so it can be fastened and removed with one touch.
ROBONET
Linear
Servo Motor
504
Slider
Type
ROBONET
Controller
System configuration
Mini
Standard
PLC
Controllers
Integrated
Rod
Type
Mini
• DeviceNet
• CC-Link
• ProfiBus
Field Network
* When using the actuator with the simple absolute
Teaching Box
(Optional)
<Model: CON-PT/CON-T/RCM-E/RCM-P>
(See P512)
specification, install the simple absolute R unit, then
connect the encoder cable to the simple absolute R unit.
Standard
Actuator: RCP3 series
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
PC Software (optional)
RS232 version
<Model: RCM-101-MW>
Motor-encoder Integrated Cable (supplied with the actuator)
>
<Model: CB-PCS-MPA
(See P513)
USB version
<Model: RCM-101-USB>
Motor-encoder Integrated Cable (supplied with the actuator)
>
<Model: CB-ACS-MPA
(See P514)
(See P512)
Gateway ParameterSetting Tool (included)
Encoder Cable (supplied with the actuator)
>
<Model: CB-RCP2-PB
(See P513)
DC24V Power Supply
<Model: PS-241 (100V input)>
<Model: PS-242 (200V input)>
(See P471)
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
Actuator: RCA series
Motor Cable (supplied with the actuator)
<Model: CB-ACS-MA
> (see P514)
Splash-Proof
PMEC
/AMEC
Actuator: RCP2 series
Motor Cable (supplied with the actuator)
> (see P513)
<Model: CB-RCP2-MA
Encoder Cable (supplied with the actuator)
> (see P514)
<Model: CB-ACS-PA
Cleanroom
Type
Controllers
Actuator: RCA2 series
ROBONET Extension Unit
If multiple ROBONET extension units (optional) are linked together they can reduce the lateral width
needed. It is also possible to connect individual controllers, such as SCON, etc. via the ROBONET.
[Controller Connecting Set]
[Unit Multiplex Set]
Model: REXT-SIO
Model: REXT-CTL
(Set Contents)
ROBONET Extension Unit (Model: REXT) 2 pc
Unit Link Cable
1 pc
(Model: CB-REXT-SIO010)
(Set Contents)
ROBONET Extension Unit (Model: REXT) 1 pc
Controller Connection Cable
1 pc
(Model: CB-REXT-CTL010)
PLC
PLC
PSEL
ASEL
SSEL
Field Network
Field Network
XSEL
Extension unit
[REXT]
Extension unit
[REXT]
Pulse Motor
FG
FG
R
e-CON
Servo Motor
(24V)
Controller
connection cable (1m)
(Included)
[CB-REXT-CTL010]
Controller
link cable (0.2m)
[CB-RCB-CTL002]
e-CON
Unit Link
cable (1m)
[CB-REXT-SIO010]
EMG±
Servo Motor
(200V)
Linear
Servo Motor
EMG±
FG
Extension unit
[REXT]
505
ROBONET
EMG±
ROBONET
Controller
Slider
Type
Configuration unit
Mini
Required ROBONET units are ordered individually, and assembled as you see fit. If actuators are added
later, they can be easily added simply by adding a RACON/RPCON unit.
Unit Name
See Page
Description
Gateway
R unit
This unit is for connecting to a field network.
Users can select from 4 types: DeviceNet, CC-Link, ProfiBus, and SIO.
*This unit is required for using ROBONET.
RACON
unit
This controller operates the RCA actuator.
(One unit is necessary per actuator axis.)
The incremental specification is the standard, but the simple absolute
specification can also be used if the simple absolute R unit is used with it.
P510
RPCON
unit
This controller operates the RCP2 actuator.
(One unit is necessary per actuator axis.)
The incremental specification is the standard, but the simple absolute
specification can also be used if the simple absolute R unit is used with it.
P510
P508
P509
Standard
Controllers
Integrated
Rod
Type
Mini
Gateway
R unit
RACON
unit
RPCON
unit
Simple
absolute
R unit
Extension
unit
This is the back-up battery unit that retains actuator encoder data
Simple
absolute R unit when the power is turned off.
Extension
unit
This unit makes it possible to reverse ROBONET connections, connect unit
controllers (SCON/PCON-CF) to ROBONET, and conduct operation
from a network.
Standard
Controllers
Integrated
Table/Arm
/Flat Type
P511
Mini
P511
Standard
Gripper/
Rotary Type
Ordering Method/Precautions
Linear Servo
Type
Required ROBONET units are ordered individually and assembled by the customer. Consequently, they can
be added to or changed later.
<Ordering example> The following 2 actuator axes can be operated through CC-Link.
The models that would be best operated with the absolute specification are as follows.
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
Actuator 1
Model/
RCA-RA3D
onward
Actuator 2
Model/
RCP2-RA3C
onward
■ Gateway Parameter
Setting Tool
CC-Link
Gateway unit
Model/
RGW-CC
Controller unit
for actuator 1
Model/
RACON-20
Simple absolute
unit
Model/
RABU
For actuator 2
Controller unit
Model/
RPCON-28SP
Simple absolute
unit
Model/
RABU
ROBO
NET
ERC2
PCON
ACON
A gateway parameter setting tool is necessary to set up the network when
ROBONET is connected to a field network. This tool can be acquired at no cost.
(1) Download from the IAI website, or
(2) Acquire PC compatible software (included on CD).
A cable (cable included with PC software, model: CB-RCA-SIO050+RCB-CV-MW) is
required to connect the PC to the controller when using the gateway parameter
setting tool. If you do not have the PC software, please purchase a cable.
SCON
PSEL
ASEL
SSEL
XSEL
■ PC Compatible
Software Teaching
Pendant
Compatible PC software or a teaching pendant is required to enter position data, etc.
to a ROBONET controller unit. ROBONET compatible PC software (Model: RCM-101MW/USB) version is Ver. 6.00.04.00 or later. Teaching pendant compatible models and
versions include: RCM-T and Ver. 2.06 and later, model: RCM-E/RCM-P and Ver. 2.08
and later. Model: CON-T is compatible with all versions from the earliest version.
Consult with our Sales Division if the version your equipment has needs to be updated.
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
ROBONET
506
Slider
Type
ROBONET
Controller
Operation Mode
Mini
Standard
ROBONET operates upon receiving commands from the PLC via the field network.
The following four operating modes are available. Select the most suitable mode for the operation or the control method.
Controllers
Integrated
Name
Rod
Type
1
Positioner
mode (1,2)
In this mode, operation is done by specifying position numbers, whose position data,
speed, and acceleration have been entered to the position table in advance.
A maximum of 768 position points can be saved.
2
Simple direct
input mode
The position data is specified directly using a numerical value; the other settings, such
as speed, acceleration, deceleration, positioning band, and pushing current limit are
specified using a predefined position number.
A maximum of 768 position points can be saved.
3
Direct input
mode
The position data, speed, acceleration, deceleration, positioning band, and pushing current limit
are all specified directly using numerical values. Since the settings are specified by their
numerical values, there is no limit to the number of points that can be set.
4
Solenoid valve
mode (1,2)
The number of positioning points is limited for a simpler operation.
You can operate it using the same controls as a solenoid valve, just by sending a command with
the target position number (start signal not required).
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Description
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
List of functions for operation modes
Cleanroom
Type
Operation mode
Item
Splash-Proof
Positioner 1
Mode
Each axis field (both input and output)
Fixed field (both input and output)
Controllers
Number of set positions
Simple immediate Direct number
data Mode
designation mode
Positioner 2
Mode
Solenoid Valve
Mode 1
Solenoid Valve
Mode 2
4 words
8 words
2 words
2 words
8 words
(Command field usable)
8 words
(Command field
not usable)
8 words
(Command field
usable)
8 words
(Command field usable)
−
768 positions/axis
Position No. designation operation
○
○
×
○
○
Position data direct designation
×
○
○
×
×
Direct designation of speed and acceleration/deceleration speed
×
×
○
×
×
Direct designation of positioning band
×
×
○
×
×
Pushing operation
○
○
○
○
○
Completed position No. monitor
○
○
×
○
○
Zone output monitor
○
○
○
○
○
Position zone output monitor
○
○
×
○
○
Teaching function
○
×
×
○
×
Jog operation
○
○
○
○
×
Incremental operation
○
○
○
○
×
Status signal monitor (*1)
○
○
○
○
×
Current position monitor (*1)
○
○
○
○
×
Alarm code monitor (*1)
○
○
○
○
×
SSEL
Speed and current monitor (*1)
×
×
○
×
×
XSEL
Each axis monitoring function in
in AUTO mode (*2)
○
○
○
○
○
Hand shake
○
○
×
○
○
Position table
Reading/writing of data
○
○
×
○
○
Reading the current position
×
×
×
×
×
Broadcast
○
×
×
○
○
Max. value for position data designation
9999.99mm
(When command
is used)
9999.99mm
9999.99mm
9999.99mm
(When command
is used)
9999.99mm
(When command is used)
Number of axes that can be connected
16
16
8
16
16
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Command
768 positions/axis 768 positions/axis
7 positions/axis
3 positions/axis
*1:
Each status signal monitor, current position monitor, alarm code monitor, and speed/current monitor can be viewed by accessing to each
address of Gateway unit via PLC.
*2:
Traditionally, monitoring each axis in AUTO mode is unavailable. However, monitoring each axis with Mode switch at "AUTO" is available with
ROBONET by connecting the special touch panel to the TP connector.
*3:
Independent acceleration and deceleration settings are not available. The setting applies to both accelerating and decelerating speeds.
507
ROBONET
ROBONET
Controller
Slider
Type
Configuration unit (Gateway R unit)
Mini
Gateway R Unit for DeviceNet
Standard
Controllers
Integrated
A communications unit to operate ROBONET via DeviceNet.
Rod
Type
RGW-DV
Item
DC24V ±10%
Current
consumption
600mA max.
DeviceNet 2.0-certified interface module
DeviceNet Specifications
Item
Specifications
Power
Comm.
Standard
Group 2 only server
Insulated node operating on network power supply
Bit strobe
Comm.
Spec.
Master-slave
connection
Polling
Cyclic
Comm.
Speed
500k/250k/125kbps (switchable by software)
*1 If you wish to use T-junction communication, see the
instructions manual for your master unit or PLC.
Comm.
Speed
DeviceNet Specifications
Specifications
500kbps
Comm.
cable
250kbps
length (*1)
125kbps
Specifications
Max.
Max.
Total
network length branch length branch length
100m
6m
250m
500m
Standard
78m
Controllers
Integrated
156m
Note: When using a large cable for DeviceNet
95% RH or below (non-condensing)
Ambient op.
environment
No corrosive or flammable gasses, oil mist, or dust.
Standard
Gripper/
Rotary Type
Protection class IP20
140g
Weight
Network cable
Table/Arm
/Flat Type
Mini
Ambient op.
humidity
Accessories
Mini
39m
No. occupied 1 node
nodes
Ambient op.
temperature 0~40ºC
Environment
Requirements
Model
Terminal resistor board (model TN-1)
Network connector, Emergency stop connector
Linear Servo
Type
Cable connector-compatible wiring
Connector on Gateway
:
Side
MSTBA2.5/5-G-5.08 ABGY AU
(Made by: Phoenix Contact)
Connector on Cable Side
MSTB2.5/5-ST-5.08 ABGY AU
(Made by: Phoenix Contact)
= Standard accessory
Pin Color
Black
Power cable negative (-) side
Blue
Comm. data Low side
White Red
Item
Shield
−
Black Blue
Description
White
Red
Description
Wire diameter
Twisted wire:
AWG24-12 (0.2~2.5mm2)
Stripped wire length
7mm
Cleanroom
Type
Splash-Proof
Comm. data High side
Power cable plus (+) side
Controllers
PMEC
/AMEC
Gateway R Unit for CC-Link
PSEP
/ASEP
ROBO
NET
A communications unit to operate ROBONET via CC-Link.
ERC2
RGW-CC
PCON
Item
Specifications
Power Supply
DC24V ±10%
Current consumption
600mA max.
CC-Link Specifications
Comm. Standard
Comm. Speed
CC-Link Ver2.0 (*1)
10M/5M/2.5M/625k/156kbps
(switchable by software)
Comm. Method
Broadcast polling method
Sync. Method
Frame synchronization method
Encoding Method
NRZI
Transf. Type
Bus format (EIA RS485 compliant)
Transf. Format
HDLC compliant
*1 Certification acquired
*2 If you wish to use T-junction communication, see the
instruction manual for your master unit or PLC.
Item
CC-Link Specifications
Specifications
Environment
Requirements
Model
Specifications
Error Control
CRC (X16+X12+X5+1)
Method
Station
Remote device stations: ×1, 4 st.; ×4, 2 st.; ×8, 2 st
occupancy
Comm.
10M
5M 2.5M 625k 156k
Comm. Cable Speed (bps)
Length (*2)
Total Cable
100
160
400
900 1200
Length (m)
Comm.
Dedicated
CC-Link
cable
Cable
Ambient op. 0~40ºC
temperature
Ambient op.
95% RH or below (non-condensing)
humidity
Ambient op. No corrosive or flammable gasses, oil mist, or dust.
environment
DG
PSEL
ASEL
SSEL
XSEL
Weight
140g
Accessories
Terminal resistor board (model TN-1)
Network connector, Emergency stop connector
Terminal resistor cable (110Ω/130Ω)
Pulse Motor
Connector on Gateway Side: Connector on Cable Side:
MSTBA2.5/5-G-5.08AU
MSTB2.5/5-ST-5.08 ABGY AU
(Made by Phoenix Contact) (Made by Phoenix Contact) =
Standard accessory
DB
SCON
Protection class IP20
Network cable
DA
ACON
SLD
FG
Signal Name
Description
DA
Communication line A
DB
Communication line B
DG
Ground
SLD
The shield and cable's shield are connected, then
they are connected to "FG"and the chassis.
FG
Frame ground Connected to "SLD" and the chassis.
Cable connector-compatible wiring
Item
Description
Servo Motor
(24V)
Twisted wire:
Wire diameter
AWG24-12 (0.2~2.5mm2)
Stripped wire length
7mm
Servo Motor
(200V)
Linear
Servo Motor
ROBONET
508
Slider
Type
ROBONET
Controller
Configuration unit (Gateway R unit)
Mini
Gateway R Unit for ProfiBus
A communications unit to operate ROBONET via ProfiBus.
Rod
Type
Model RGW-PR
Specifications
Mini
Item
Specifications
DC24V ±10%
Power Supply
Current
Consumption
Standard
ProfiBus Specifications
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Item
Environment
Requirements
Standard
Controllers
Integrated
600mA max.
Comm. Standard
DP slave
Comm. Speed
9.6kbps~12Mbps
Comm.
Cable Length
Specifications
Ambient op.
temperature
0~40ºC
Ambient op. humidity
Ambient op.
environment
95% RH or below (non-condensing)
No corrosive or flammable gases, oil mist, or dust.
Protection class
IP20
9.6kbps
1500m
Weight
140g
500kbps
400m
Accessories
Terminal resistor board (model TN-1)
Emergency stop connector
1.5Mbps
200m
3Mbps
200m
12Mbps
100m
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Network cable
Connector on Gateway Side:
D-Sub connector, 9-pin
socket side
Splash-Proof
5
1
9
6
Pin No.
Signal Name
3
B-Line
Description
Pin No.
Signal Name
6
+5V
8
A-Line
Communication line A (RS485)
Housing
Shield
Connected to the cable's shield and the chassis.
Communication line B (RS485)
4
RTS
Request send
5
GND
Signal ground (insulated)
Description
+5V output (insulated)
* The matching connector (D-Sub 9-pin connector) is not included. * Pins 1, 2, 7, and 9 are not connected
Controllers
PMEC
/AMEC
Gateway R Unit for SIO
ROBO
NET
A communications unit for operating ROBONET from an XSEL controller or a Modbuscompatible communications unit, via serial communication.
ERC2
PCON
Model RGW-SIO
ACON
Specifications
Item
SIO Specifications
SCON
PSEL
ASEL
SSEL
Servo Motor
(24V)
Servo Motor
(200V)
DC24V ±10%
Current consumption 600mA max.
Item
Specifications
Ambient op.
temperature
0~40ºC
Ambient op. humidity 95% RH or below (non-condensing)
Ambient op.
No corrosive or flammable gases, oil mist, or dust.
environment
Comm. Type
RS485-compliant (Modbus protocol) 1: 1
communication connection
Comm. Method
Asynchronous method, half-duplex
Comm. Speed
230.4kbps max.
Weight
140g
Cable Length
100m or less
Accessories
Terminal resistor board (model TN-1)
Network connector, Emergency stop connector
IP20
Protection class
Recommended cable 2 pairs of twisted pair cables (shielded)
XSEL
Pulse Motor
Specifications
Power Supply
Environment
Requirements
PSEP
/ASEP
Network cable
Cable connector-compatible wiring
Connector on Gateway Side
MC1.5/4-G-3.5
(Made by Phoenix Contact)
Connector on Cable Side:
MC1.5/4-ST-3.5
(Made by Phoenix Contact)
= Standard accessory
Signal Name
SG
Linear
Servo Motor
509
ROBONET
SB
SA
Item
Description
SB
Communication line A (+positive side) Built-in RS485-compliant
terminal resistor (220Ω)
Communication line B (-negative side)
Wire diameter
Twisted wire:
AWG28-16 (0.14~1.5mm2)
SG
Signal ground
Stripped wire length
7mm
FG
Frame ground connected to the chassis.
SA
FG
Description
ROBONET
Controller
Configuration unit (Controller unit)
Slider
Type
Mini
RACON unit
Controller for RCA2/RCA series
Standard
Controller unit that is used for RCA2/RCA actuator operation with ROBONET.
Model
Rod
Type
* In Model 1, input a motor power output. (See the following table.)
will need the code "HA" or "LA" specified when a high acceleration/deceleration or power saving
actuator is to be used. (Otherwise, leave it blank.)
input “ABU” only when a simple absolute unit is used. (Otherwise, leave it blank.)
Model
Compatible actuators
Mini
Standard
Controllers
Integrated
RACON-22-3
RCL-SA1L / SA4L / SM4L / RA1L
RACON-52-3
RCL-SA2L / SA5L / SM5L / RA2L
RACON-102-3
RCA2-SA3C / RN3N / RP3N / GS3N / GD3N / SD3N / TC3N / TW3N /
TF3N / TA4 RCL-SA3L / SA6L / SM6L / RA3L
RACON-202-3
RCA-SA4 / SS4 / SA5 / SS5
RCACR-SA4C / SA5 RCAW-RA4
/ RA4 -20 / RG 4 -20 / A4R / A5R
-20 RCA2-SA4 / SA5 / TA6
Mini
RACON-20S2-3
RCA-RA3
RCA2-SA4
Standard
RACON-302-3
RCA-SA6 / SS6 / RA4 -30 / RG 4 -30 / A6R
RCACR-SA6
RCAW-RA4 -30 RCA2-SA6C / TA7C
/ RG
General Specifications
Item
3
RCAW-RA3
DC24V ±10%
Table/Arm
/Flat Type
/ TA5
Gripper/
Rotary Type
Item
Specifications
Power Supply
Environment
Requirements
Specifications
RPCON unit
Controllers
Integrated
Specifications
Ambient op.
temperature
0~50ºC
Ambient op. humidity
95% RH or below (non-condensing)
Ambient op.
environment
No corrosive or flammable gases,
oil mist, or dust.
Protection class
IP20
Power Supply Capacity
5.1A max. (depends on the actuator)
Operable Actuators
RCA series
Positioning Points
768 points
Backup memory
EEPROM
Weight
200g
Position Detection Method
Incremental encoder
Accessories
ROBONET connection board (model JB-1),
Power connection board (model PP-1)
Solenoid brake force-release Brake release switch
Motor Cable
Model: CB-ACS-MA
Encoder Cable
Model: CB-ACS-PA
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
Controller for RCP3/RCP2 series
ROBO
NET
Controller unit that is used for RCP3/RCP2 actuator operation with ROBONET.
Model
ERC2
PCON
* In Model 1, input a motor type. (See the following table.)
input “ABU” only when a simple absolute unit is used. (Otherwise, leave it blank.)
should have the code "H" when an RCP3-SA4, SA5, SA6, or an RCP2(RCP2CR)-SA5 or SA6 is to be connected.
Model
Compatible actuators
ACON
SCON
PSEL
RPCON-20P-2
RCP2-RA2C / GRSS / GRLS / GRS
RCP3-SA2A / SA2B / RA2A / RA2B
RPCON-28P-2
RCP2-GRM / GR3LS / GR3SS / RTB / RTC / RTBL / RTCL RCP3-SA3C
RPCON-28SP-2
RCP2-RA3C / RGD3C
RPCON-35P-2-3
RCP3-SA4
RPCON-42P-23
RCP2-SA5
/ SA6
/ SS7
/ BA6
/ BA7
RG 4C /GR3LM / GR3SM RCP3-SA5
/ SA6
RCP2CR-SA5C / SA6C / SS7C RCP2W-RA4C
RPCON-56P-2
RCP2-SA7 / SS8 / RA6C / RG 6C /
RCP2CR-SA7C / SS8C RCP2W-RA6C
ASEL
SSEL
/ TA5
XSEL
/ RA4C /
/ TA6
/ TA7
Pulse Motor
General Specifications
Item
Specifications
Item
Ambient op.
temperature
Ambient op.
humidity
Ambient op.
environment
Specifications
0~50ºC
Power Supply
DC24V ±10%
Power Supply Capacity
2A max.
Operable Actuators
RCP2 series
Positioning Points
768 points
Backup memory
EEPROM
Weight
200g
Position Detection Method
Incremental encoder
Accessories
ROBONET connection board (model JB-1),
Solenoid brake force-release Brake release switch
Motor Cable
Model: CB-RCP2-MA
Encoder Cable
Model: CB-RCP2-PB
Environment
Requirements
Specifications
Protection class
95% RH or below (non-condensing)
Servo Motor
(24V)
No corrosive or flammable gases,
oil mist, or dust.
Servo Motor
(200V)
IP20
Power connection board (model PP-1)
ROBONET
510
Linear
Servo Motor
Slider
Type
ROBONET
Controller
Configuration unit (Simple absolute R unit/Extension unit)
Mini
Simple absolute R unit
A data backup battery unit that can be attached to an RACON or RPCON controller to
use an incremental actuator as an absolute type.
*1 One unit of the simple absolute R unit is required per RACON/RPCON unit.
Rod
Type
Mini
Model
Standard
RABU (for RACON and RPCON)
* When preparing a simple absolute R unit together with a controller unit (RACON/RPCON),
write down “-ABU” to the end of the controller model, of which the simple absolute unit is
installed.
Controllers
Integrated
Specifications
Item
General Specifications
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Specifications
Item
Power Supply DC24V ±10%
Current
consumption 300mA max.
Battery used
Ni-MH battery, nickel-hydrogen cell battery
Charging time Approx. 78 hours
Battery life
Environment
Requirements
Standard
Controllers
Integrated
Maximum rpm
for absolute
data retention
Absolute Data
Retention
Duration (h)
95% RH or below (non-condensing)
Protection class
IP20
Weight
3 yrs
800
400
200
100
120
240
360
480
Specifications
Ambient op.
temperature
Ambient op.
humidity
Ambient op.
environment
Accessories
0~40ºC
No corrosive or flammable gases,
oil mist, or dust.
330g
ROBONET connection board
(model JB-1)
simple absolute connection board
(model JB-1)
power connection board (model PP-1)
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
Extension Unit
PSEP
/ASEP
When too many ROBONET units are connected horizontally to fit into the controller board,
use this unit to split them in the middle with a cable to create another row.
In addition, by attaching the extension unit to the end of the linked ROBONET units and
using an external controller cable, you can operate a standalone controller SCON like any
other ROBONET controller, over the network.
ROBO
NET
ERC2
PCON
ACON
Model
REXT (for RPCON and RACON)
SCON
Specifications
Item
General
Specifications
PSEL
ASEL
Environment
Requirements
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Specifications
Power Supply
DC24V ±10%
Current consumption
100mA max.
Ambient op. temperature
0~40ºC
Ambient op. humidity
95% RH or below (non-condensing)
No corrosive or flammable gases,
oil mist, or dust.
Ambient op. environment
Protection class
IP20
Weight
140g
Accessories
ROBONET connection board (model JB-1),
Power connection board (model PP-1)
(Note) The cable used is different depending on whether you are creating a new row of linked units, or connecting
a standalone controller.
For more information, see the ROBONET extension unit on P505.
Servo Motor
(200V)
Linear
Servo Motor
511
ROBONET
ROBONET
Controller
Slider
Type
External dimensional drawing
Mini
External dimensions of Gateway R unit, RACON unit, RPCON unit, Simple Absolute R unit, and Extension unit are same.
Standard
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
35.4
100
(50 from center of DIN rail)
(160)
(0.5)
Table/Arm
/Flat Type
(10)
5
* Mountable to
DIN rail (35mm)
Mini
34
Standard
Note:
Secure enough workspace, as the motor/encoder cable
will be connected under the main unit.
(69.3 from DIN rail surface)
73.3
Gripper/
Rotary Type
Option
Linear Servo
Type
CON-T
RCM-E
Controllers
(Simple teaching pendant)
Configuration
89.6
The version of RCM-E that can
be used with ROBONET is 2.08
or later.
7
72.5
PMEC
/AMEC
(34)
Item
CON-PT-M
CON-T
RCM-E
Data Input
Actuator motion
Ambient Operating
Temp./Humidity
Ambient Operating
Atmosphere
Protection class
5m
Model HK-1
39.0
46.9
Specifications
Note:
CON-T Options
• Wall-mounting hook
21
Splash-Proof
218.3
( Touch panel teaching
pendant)
(Standard type)
Cleanroom
Type
15.1 26.2 6.3
43
CON-PT-M
(113.5)
148.5
Model
RCM-E
66.6
110.0
180
Features
A teaching device with functions for
inputting positions, performing test runs,
and monitoring.
CON-T
92.1
132
23.5
CON-PT-M
Teaching Pendant
Weight
Cable Length
• Strap
Model STR-1
Display
ROBO
NET
Temp: 0~40ºC; Humidity: 85% RH or below
PCON
IP40
IP54
Approx. 750g
Approx. 400g
Approx. 400g
3-color LED touch
panel with backlight
20 char. × 4 lines
LCD display
16 char. × 2 lines
LCD display
SCON
PSEL
ASEL
A startup support software for inputting positions, performing test runs, and monitoring.
With enhancements for adjustment functions, the startup time is shortened.
RCM-101-MW
ACON
5m
PC Software (Windows Only)
Model
ERC2
No corrosive gases. Especially no dust.
Standard Price
Features
PSEP
/ASEP
SSEL
XSEL
(with external device communications cable + RS232 conversion unit)
Note:
Only version 6.00.04.00 or later can be used with ROBONET.
Configuration
RS232 adapter
RCB-CV-MW
Pulse Motor
5m
PC Software (CD)
Model
0.3m
RCM-101-USB
External device
communications cable
CB-RCA-SIO050
(with external device communications cable + USB adapter + USB cable)
Servo Motor
(24V)
Note:
Servo Motor
(200V)
Only version 6.00.04.00 or later can be used with ROBONET.
Configuration
USB adapter
RCB-CV-USB
3m
PC Software (CD)
USB cable
CB-SEL-USB030
5m
Linear
Servo Motor
External device
communications cable
CB-RCA-SIO050
ROBONET
512
Slider
Type
ROBONET
Controller
Option
Mini
DC24V Power Supply
Standard
Actuator vs. Power Supply Current
Features
Controllers
Integrated
No. of connectible units for each unit of PS-24
A 24V power supply for ROBO Cylinder
that can output 17A of momentary
current. Power supply units can be
operated in parallel, and up to 5 units
can be added if a unit runs out of
capacity.
Rod
Type
Controller type
RPCON
PCON
RCP2, all models
(note)
SA4, SA5 (20W)
Mini
SA6 (30W)
Model
Standard
RACON
ACON
PS-241
Controllers
Integrated
RA3 (20W)
RA4 (20W)
(100V input model)
PS-242
Table/Arm
/Flat Type
RA4 (30W)
(200V input model)
Power Supply
Current [A]
Rated
(= Maximum)
2
Rated
Maximum
Rated
Maximum
Rated
Maximum
Rated
Maximum
Rated
Maximum
1.3
4.4
1.3
4
1.7
5.1
1.3
4.4
1.3
4
Simultaneous
No simultaneous
servo ON for all axes* servo ON for all axes*
8
8
3
6
4
6
3
5
3
6
4
6
* Refers to the first servo ON after power-up.
(Note) Excluding HS8C, HS8R, and RA10C
* For PSEL/ASEL, this is different depending on the number of axes and model.
Please inquire for details.
Mini
Spare parts
Standard
Gripper/
Rotary Type
Actuator type
When spare parts are necessary after purchasing the product, such as when replacing a cable, refer to a list of the models below.
Terminal resistor
board
Model TN-1
ROBONET
connection board
(simple absolute
connection board)
Model JB-1
Linear Servo
Type
Power
connection
board
Model PP-1
Cleanroom
Type
Motor cable for RCP2
CB-RCP2-MA □□□
(8)
(15)
PSEP
/ASEP
ERC2
Min. bend radius r = 50 mm or larger (when movable type is used)
(ø8)
PMEC
/AMEC
(20)
(20)
(14)
C
N
1
CN3
(Front view)
(Front view)
L
Controller side
M cable
CN3
(14)
Controllers
ROBO
NET
* The standard cable for the motor cable is the robot cable. Selection is available.
* Enter the cable length (L) into □□□ . Compatible to maximum of 20 meters. Ex.: 080 = 8m
Model (28)
Splash-Proof
Mechanical side
Orange
A
Gray
VMM
B
White
I-1318119-3
Yellow
A
(AMP)
Pink
VMM
Yellow (Green)
B
A1
A2
A3
B1
B2
B3
CN1
1
2
3
4
5
6
A
Yellow
VMM
Gray
A
Orange
B
Yellow (Green)
VMM
Pink
White
B
SLP-06V
(JST)
Encoder Cable/Encoder Robot Cable for RCP2
Model CB-RCP2-PB□□□/CB-RCP2-PB□□□-RB
*The standard encoder cable is the normal cable. The robot cable is selectable as an option.
* Enter the cable length (L) into □□□ . Compatible to maximum of 20 meters. Ex.: 080 = 8m
PCON
(5)
(Front view)
(Front view)
ASEL
L
Controller side
SSEL
Mechanical side
Min. bend radius r = 50 mm or larger (when movable type is used)
* Only the robot cable is to be used in a cable track.
XSEL
PHDR-16VS
(JST)
C
N
2
CN4
(25)
(ø9)
(18)
PSEL
CN4
(15)
(35)
SCON
(13)
(8)
Cable colors
Signal Pin
Standard
No.
Cable Robot Cable No.
Orange
Blue (Red 1) (Black
L S + 16
2)
Orange
White
L S − 15
(Red 2)
Orange
Red
B K + 14
(Black 1)
Orange
Gray
B K − 13
(Red 1)
Light Gray
Brown
E N A 12
(Black 1)
Light Gray
Green
E N A 11
(Red 1)
White
Purple
E N B 10
(Black 1)
Pink White (Red 1) E N B 9
8
Yellow
VPS 7
Yellow
(Black 1)
Orange Pink (Red 1) V B B 6
Blue Pink (Black 1) GND
5
(N.C)
4
(N.C)
3
(N.C)
2
Ground
1
Ground F.G
Pin Signal
No.
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Shield wire
Ground wire
Cable color
Standard
Cable
Robot Cable
NA
NA
NB
NB
Brown
Green
Purple
Pink
Light Gray
(Black 1)
Light Gray
(Red 1)
White
(Black 1)
White
(Red 1)
GND
VBB
VPS
Blue
Orange
Yellow
Pink (Black 1)
E
E
E
E
Pink (Red 1)
Yellow
(Black 1)
L S + Blue (Red 1)
LS−
White
Orange
(Black 2)
Orange
(Red 2)
BK+
BK−
F .G
Orange
(Black 1)
Orange
(Red 1)
Red
Gray
Ground
CN2
XMP-18V
(JST)
ACON
Ground
Motor-encoder integrated type cable for RCP3/RCP2 (Limited to RCP2-GRSS/GRLS/GRST/SRA4R/SRGS4R/SRGD4R types)
Pulse Motor
CB-PCS-MPA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
Model Servo Motor
(24V)
Signal Pin Number
A
B1
VMM
A2
/A
A1
B
B3
VMM
B2
/B
A3
L
(15)
(18)
(20)
(30)
(5)
(18)
Linear
Servo Motor
(ø12)
(8)
Servo Motor
(200V)
(23)
(Front view) (8)
Controller side
513
(Front view)
Min. bend radius r = 84 mm or larger (when
movable type is used)
ROBONET
(Wire color)
Black
White
Red
Green
Yellow
Brown
Mechanical side
BK+
BK−
LS+
LS−
A+
A−
B+
B−
NC
VPS
VCC
GND
NC
FG
14
13
16
15
12
11
10
9
8
7
6
5
4
1
Pink (Red )
Pink (Blue )
White (Red )
White (Blue )
Orange (Red )
Orange (Blue )
Gray (Red )
Gray (Blue )
Orange (Blue Consecutive)
Gray (Red Consecutive)
Gray (Blue Consecutive)
Shield
Pin Number Signal
A1
A
B1
VMM
A2
/A
B2
B
A3
VMM
B3
/B
A4
NC
B4
NC
A5
BK+
B5
BK−
A6
LS+
B6
LS−
A7
A+
B7
A−
A8
B+
B8
B−
A9
NC
B9
VPS
A10
VCC
B10
GND
A11
NC
B11
FG
ROBONET
Controller
Slider
Type
Spare parts
Mini
Motor Cable for RCA
Model CB-ACS-MA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
Standard
Controllers
Integrated
(ø9)
L
1
3
Controller side
1
3
Mechanical side
Min. bend radius r = 50 mm or larger (when movable type is used)
Wire
No. Signal Color
1
U
Red
2
V
White AWG22
(crimped)
3
W
Black
Wire
Color Signal No.
Red
U
1
AWG22
V
2
White
(crimped)
Black
W
3
Encoder Cable/Encoder Robot Cable for RCA
Model *The standard encoder cable is the normal cable. The robot cable is selectable as an option.
* Enter the cable length (L) into □□□ . Compatible to maximum of 20 meters. Ex.: 080 = 8m
CN1
CN2
Pin No.
Cable color
Signal Pin No.
Robot Cable
Standard Cable
L
2
(ø10)
1
1
Controller side
10
9
18
Mechanical side
Min. bend radius r = 50 mm or larger (when movable type is used)
* Only the robot cable is to be used in a cable track.
White/Purple
White/Gray
Yellow
Blue
White/Blue
White/Yellow
White/Red
White/Black
Orange
Blue
Orange
Green
Brown
Gray
Red
Black
Yellow
Pink
LS+
LS−
BK+
BK−
ENA
ENA
ENB
ENB
ENZ
18
17
16
15
14
13
12
11
10
Green
Purple
Gray
Red
Black
−
−
−
Purple
White
Blue/red
Orange/White
Green/White
−
−
−
ENZ
−
VPS
5V
GND
−
−
−
Ground
Ground
F.G
9
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Signal
Cable color
Standard Cable Robot Cable
ENA
ENA
ENB
ENB
−
−
LS+
−
FG
ENZ
ENZ
−
Gray
Red
Black
Yellow
−
−
White/Blue
White/Yellow
White/Red
White/Black
−
−
Blue
−
White/Purple
−
Ground
Ground
Orange
Pink
Green
Purple
Purple
White
Blue/red
Gray
VPS
Red
5V Orange/White
Black
GND Green/White
White/Gray
Orange
LS−
Blue
Brown
BK−
Yellow
Green
BK+
Plug housing : XMP-18V (JST)
Socket contact : BXA-001T-P0.6 (JST)
Retainer
: XMS-09V (JST)
Housing: PHDR-18VR (JST)
Contact : SPHD-001T-P0.5 (JST)
Motor-Encoder Integrated Cable for RCA2
Model CB-ACS-MPA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
L
(10)
(ø12)
(8)
(18)
(30)
(12)
(18)
(5)
(23)
(Front view) (8)
Min. bend radius r = 84 mm or larger (when movable type is used)
Controller side
(Front view)
Mechanical side
Signal
U
V
W
Pin No.
1
2
3
(Wire color)
Red
Yellow
Black
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
−
/PS
VCC
GND
NC
FG
16
15
18
17
14
13
12
11
10
9
8
7
6
5
Yellow (Red )
Yellow (Blue )
Pink (Red )
Pink (Blue )
White (Red )
White (Blue )
Orange (Red )
Orange (Blue )
Gray (Red )
Gray (Blue )
Orange (Red Consecutive)
Orange (Blue Consecutive)
Gray (Red Consecutive)
Gray (Blue Consecutive)
1
Shield
Pin No.
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
Signal
U
V
W
NC
NC
NC
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
−
/PS
VCC
GND
NC
FG
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
Unit Link Cable for Extension Unit
Model Mini
Standard
CB-ACS-PA□□□/CB-ACS-PA□□□-RB
18 17
Rod
Type
CB-REXT-SIO010
PCON
Shield braiding
DF11-16DS-2C
1
16 15
2
15 16
2 1
50
Signal
/RSV1
RSV1
/ROUT
ROUT
/RSV0
RSV0
/ENA
ENA
COM2
COM1
SDSD+
RDRD+
EMGEMG+
Pin No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Black 2/White
Red 2/White
Black 2/Gray
Red 2/Gray
Black 2/Orange
Red 2/Orange
Black 1/Pink
Red 1/Pink
Black 1/Yellow
Red 1/Yellow
Black 1/White
Red 1/White
Black 1/Gray
Red 1/Gray
Black 1/Orange
Red 1/Orange
DF11-16DS-2C
Black 2/White
Red 2/White
Black 2/Gray
Red 2/Gray
Black 2/Orange
Red 2/Orange
Black 1/Pink
Red 1/Pink
Black 1/Yellow
Red 1/Yellow
Black 1/White
Red 1/White
Black 1/Gray
Red 1/Gray
Black 1/Orange
Red 1/Orange
Pin No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Signal
/RSV1
RSV1
/ROUT
ROUT
/RSV0
RSV0
/ENA
ENA
COM2
COM1
SDSD+
RDRD+
EMGEMG+
RAV1.25-3
FG
−
Wire color legend: <Color of dot> <Number>/<Color of insulation>
Ground
1m
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Controller Connection Cable for Extension Unit
CB-REXT-CTL010
Pulse Motor
DF11-16DS-2C
1
2
37104-3122-000FL
432 1
Model 15 16
50
Pin No.
4
3
2
1
Signal
N.C.
GND
SDSD+
Shield braiding
White
Gray
Orange
White
Gray
Orange
Gray
Orange
Gray
Orange
1m
Ground
ROBONET
Pin No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Signal
/RSV1
RSV1
/ROUT
ROUT
/RSV0
RSV0
/ENA
ENA
COM2
COM1
SDSD+
RDRD+
EMGEMG+
RAV1.25-3
−
FG
514
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
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