PCON Controller

Slider
Type
PCON
Controller
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
■ Models C / CG / CF / CY / PL / PO / SE
Position Controllers
For RCP3/RCP2 Series
C/CG
Standard
CF
CY
PL/PO
SE
Controllers
Integrated
Table/Arm
/FlatType
List of models
Mini
Standard
Gripper/
Rotary Type
These are the position controllers that can be used with the RCP3/RCP2 Series actuators. Our line-up has 6 types,
which are compatible with various control systems.
C
Type
Name
CG
CF
Conforming to safety category High-thrust motor compatible
compatible type
type
Positioner type
Linear Servo
Type
CY
PL/PO
SE
Solenoid valve type
Pulse train control type
Serial communication type
Cleanroom
Type
External View
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
Description
Positioner capable of
a maximum of 512 points
Positioning
Conforming to type C
safety category specifications
Dedicated controller for RCP2
high-speed type/high-thrust
type / waterproof type
Can be operated using the
same control
as the air cylinder type
For pulse train control
Position points
512 points
512 points
512 points
3 points
−
For Serial communication
64 points
(*1) Network connection specifications are designated by the I/O type symbols for the model.
ROBO
NET
ERC2
Model
PCON
ACON
PCON
SCON
Series
0
I
Type
Motor
Encoder
I/O Type
I/O cable length
Power/
Voltage
Simple
absolute unit
High acceleration
transporting model
PSEL
I
ASEL
Blank Standard
Incremental
Blank Not used
SSEL
XSEL
20P 20 frame pulse motor
28 frame pulse
28P motor-compatible
C
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Positioner Type
CF
Safety-compliant
type
High thrust motor
compatible type
CY
Solenoid Valve Type
SE
Serial Communication Type
PL
Pulse Train Control Type
PO
Pulse Train Control Type
CG
(differential line driver model)
(open collector model)
Linear
Servo Motor
525
PCON
28 frame pulse motor
28SP (RCP2-RA3C only)
35 frame pulse
35P motor-compatible
42 frame pulse
42P motor-compatible
56 frame pulse
56P motor-compatible
86 frame pulse
86P motor-compatible
* If connecting to RCP2-RA3C/
RGD3C, the motor type is 28SP.
NP
NPN (standard)
PN
PNP
DeviceNet
connection model
CompoNet
CN connection model
CC-Link
CC connection model
MECHATROLINK
ML connection model
PR ProfiBus
connection model
N
ABU Used
0
DV
No I/O (SE type only)
* The network models (DV/CN/CC/ML/
PR) support C/CG types only.
* When selecting type SE (serial
communication), the standard I/O is "N"
(no I/O).
DC24V
0
No cable
2
2m (standard)
3
3m
5
5m
H
High acceleration
type model
* If connecting to RCP3-SA4/SA5/SA6
RCP2(RCP2CR)-SA5/SA6, specify
"H", for high-acceleration type
model.
* If SE (serial communication type), or the network model
(I/O type DV, CC or PR) is selected, specify "0" (no cable)
for the I/O cable.
PCON
Controller
System configuration
Slider
Type
Mini
PLC
Standard
Controllers
Integrated
Rod
Type
Field Network
I/O Cable for
Positioner
CB-PAC-PIO020
Cable length
Standard 2m
(Supplied with the
controller)
For a replacement
cable, see P534.
I/O cable for
solenoid valve type
CB-PACY-PIO020
Cable length
Standard 2m
(Supplied with the
controller)
For a replacement
cable, see P534.
ROBONET Gateway Unit
+ extension unit
(See P505 - 506)
For DeviceNet:
<Model: RGW-DV>
+ <Model: REXT-CTL>
For CC-Link:
<Model: RGW-CC>
+ <Model: REXT-CTL>
For ProfiBus:
<Model: RGW-PR>
+ <Model: REXT-CTL>
I/O Cable for
pulse train control
CB-PACPU-PIO020
Cable length
Standard 2m
(Supplied with the
controller)
For a replacement
cable, see P534.
Serial Communication
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Controller link cable
<Model: CB-RCB-CTL002>
(sold separately)
Cleanroom
Type
Splash-Proof
PCON-CF
High thrust motor
compatible type
PCON-C / CG
PCON-CY
Positioner type Solenoid valve type
Peripheral devices are common for all controllers.
<Model: PS-241 (100V input)>
<Model: PS-242 (200V input)>
Encoder Cable
>
<Model: CB-RFA-PA
Standard 1m / 3m / 5m
(Supplied with the actuator)
For a replacement cable, see P534.
PCON-C / CG
Network
connection model
Simple Absolute Unit
(Optional)
Controllers
PCON-SE
Serial
communication type
* For network-compatible models, the I/O connector varies with the type of network.
PC Software
(See P533)
RS232 version
<Model: RCM-101-MW>
USB version
<Model: RCM-101-USB>
DC24V Power Supply
(See P471)
Motor Cable
>
<Model: CB-RCP2-MA
Standard 1m / 3m / 5m
(Supplied with the actuator)
For a replacement cable, see P533.
PCON-PL / PO
Pulse train
control type
Teaching Pendant
(See P533)
<Model: CON-PT-M>
<Model: CON-T>
<Model: RCM-E>
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
* The cable is supplied
with the PC software
PCON
ACON
<Model: PCON-ABU>
(See P545)
SCON
* Cannot be used for
PCON-PL/PO/CF types.
PSEL
Motor Cable
>
<Model: CB-RCP2-MA
Standard 1m / 3m / 5m
(Supplied with the actuator)
For a replacement cable, see P533.
* Please note that the encoder cable for
PCON-CF is different from the other
PCON models.
ASEL
SSEL
XSEL
Actuator: RCP2 series
Rotary type RCP2-RT
Gripper type: RCP2-GRS/GRM/GR3
Actuator: RCP3 series
Small gripper type RCP2-GRSS/GRLS/GRST
Small rotary type RCP2-RTBS/RTBSL/RTCS/RTCSL
Encoder Cable
>
<Model: CB-RCP2-PB
Standard 1m / 3m / 5m
(Supplied with the actuator)
For a replacement cable, see P533.
Pulse Motor
Motor-encoder Integrated Cable
>
<Model: CB-PCS-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
For a replacement cable, see P534.
Servo Motor
(24V)
Servo Motor
(200V)
<Connectible actuators>
Linear
Servo Motor
ROBO Cylinder,
high thrust type
RCP2-RA10C
ROBO Cylinder,
high speed type
RCP2-HS8C / HS8R
ROBO Cylinder,
waterproof type
RCP2W-SA16C
PCON
526
Slider
Type
PCON
Controller
I/O Specifications
Mini
Standard
Controllers
Integrated
Rod
Type
■ Input section External input specifications
Item
Input voltage
Input current
Leak current
Isolation method
■ Output section External output specifications
Specifications
DC24V +/-10%
4mA/circuit
1mA max./point
Photocoupler
Item
Load Voltage
Max. load current
Remaining voltage
Isolation method
Specifications
DC24V
50mA/point
2V or less
Photocoupler
Mini
NPN Specifications
NPN Specifications
Standard
Controllers
Integrated
Table/Arm
/FlatType
P24
P24V
External
power
supply
Internal circuit
Internal circuit
R=680Ω
+24V
R=22Ω
Outputs
Load
External
power
supply
+24V
Input terminal
R=5.6kΩ
Inputs
Mini
N
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
PNP Specifications
PNP Specifications
N
External
power
supply
+24V
Internal circuit
Internal circuit
P24V
R=680Ω
+24V
Outputs
R=5.6kΩ
Inputs
Load
R=22Ω
Input terminal
External
power
supply
Controllers
N
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
I/O Specifications
The 4 types of controllers (C/CG, CY, PL/PO, and SE) are classified by their respective I/O specifications. In addition, with the
positioner type and solenoid valve type, the I/O signal details can be changed via the controller settings. As a result, a
number of functions can be used.
ACON
SCON
PSEL
ASEL
SSEL
■ Control Function by Type
Type
C/CG
CY
PL/PO
SE
Name
Positioner type
Solenoid valve type
Pulse in-line control type
Serial communication type
Positioner mode
○
×
×
○
(*1)
This is the basic operating mode, in which the user
designates position numbers and inputs start signals.
Teaching mode
○
×
×
○
(*1)
In this mode, the slider (rod) moves based on an
external signal, and the stopped positions can be
registered as position data.
Solenoid valve mode
○
○
×
○
(*1)
The actuator can be moved simply by ON/OFF of position
signals. This mode supports the same control signals you
are already familiar with on solenoid valves of air cylinders.
Pulse train mode
×
×
○
×
Network compatible
○
×
×
○
XSEL
Features
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
(*2)
*1 Operates using network communications or serial communications.
*2 Can make a direct connection to a field network with the network specifications.
*3 Can be connected to a field network using a gateway unit.
Linear
Servo Motor
527
PCON
In this mode, you can operate the actuator freely
using pulse trains without inputting position data.
(*3)
The controller can be connected to a DeviceNet or
CC-Link network.
PCON
Controller
Explanation of I/O Signal Functions
Slider
Type
Mini
The table below explains the functions allocated to the controller’s I/O signal.
Since the signals that can be used vary depending on the controller type and settings, check the signal table for each
controller to confirm the available functions.
Signal abbreviations
Mini
Function description
PTP strobe signal (start signal)
Command position number signal
This signal is used to input a target position number (binary input).
BKRL
Brake forced release signal
This signal forcibly releases the brake.
RMOD
Running mode switching signal
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)
*STP
Pause signal
Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator will
resume the remaining movement if the signal is turned ON during the pause.
RES
Reset signal
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
CSTR
Input
Signal
Input this signal to cause the actuator to start moving to the position set by the command
position number signal.
PC1 to PC256
The servo remains on while this signal is ON, or off while the signal is OFF.
Home return signal
Turning this signal ON performs home-return operation.
MODE
Teaching mode signal
Turning this signal ON switches the controller to the teaching mode. (provided that CSTR, JOG+
and JOG- are all OFF and the actuator is not moving).
JOG/INCHING switching signal
When the main signal is off, the JOG operation will be conducted for JOG+ and JOG-.
When the signal is on, the unit will do the inching operation for JOG+ and JOG-.
JOG signal
When the JISL signal is off and the JOG +/- signal turns on, the unit will jog in the + (positive)
direction when the JOG + turns on and the - (negative) direction when the JOG - turns on.
During the JOG operation, the unit slows to a stop when the JOG +/- signal turns off.
PWRT
ST0 to ST6
TL
DCLR
PEND/INP
PM1 to PM256
Teaching signal
In the teaching mode, specify a desired position number and then turn this signal ON for at least
20ms to write the current position to the specified position number.
Start position command
Turning this signal ON in the solenoid valve mode causes the actuator to move to the specified
position. (Start signal is not required)
Torque limit selection signal
While this signal is ON, torque is limited by the value set by a parameter. The TLR signal turns on
if torque has reached the specified value.
Deviation counter clear signal
The position deviation counter is continuously cleared while this signal is ON.
In position signal
Positioning complete signal
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
Servo ON signal
JOG+, JOG−
Standard
Controllers
Integrated
HOME
JISL
Controllers
Integrated
Rod
Type
■ Signal Function Description
Classification
Standard
This signal turns ON when the actuator has entered the positioning band after movement. If the
actuator has exceeded the positioning band, PEND does not turn OFF, but INP does. PEND and
INP can be swapped within parameters.
This signal is used to output the position number achieved at the completion of positioning
(binary output)
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
HEND
Home return completion signal
This signal turns ON upon completion of home return.
ZONE1
Zone signal
This signal turns ON when the current actuator position has entered the range specified by the
parameters.
ACON
PZONE
Position zone signal
Turns ON when the actuator moves into a position within the range of the target position data
that was set. PZONE can be used together with ZONE1, but PZONE is valid only during
movement to a specified position.
SCON
RMDS
Running mode status signal
This outputs the operation mode status.
*ALM
Controller alarm status signal
This signal remains ON while the controller is not in the alarm condition, and turns OFF when an
alarm has occurred.
MOVE
Moving signal
Turns ON while the actuator is moving (home return), including when there is push force.
Servo ON status signal
This signal turns ON when servo is ON.
*EMGS
Emergency stop status signal
This signal remains ON while the controller is not in the emergency stop mode, and turns OFF
once an emergency stop has been actuated.
MODES
Mode status signal
The mode signal input turns it ON when it goes into teaching mode. It turns OFF when it goes
into normal mode.
PSEL
ASEL
SSEL
SV
Output
WEND
PE0 to PE6
TLR
LSO to LS2
Writing complete signal
Current position number signal
Torque limiting signal
Limit switch output signal
This signal remains OFF after the controller has switched to the teaching mode. It turns ON upon
completion of data write using the PWRT signal. If the PWRT signal is turned Off, this signal also
turns OFF.
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.
LOAD
Load output determination status signal
This signal turns ON once the motor torque has reached the specified value. (*PCON-CF
dedicated signal)
TRQS
Torque level status signal
Turns ON when the motor current reaches the threshold. (*PCON-CF dedicated signal)
(Note) Signals with asterisks (*) are normally ON and OFF during operation.
PCON
528
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Slider
Type
PCON
Controller
I/O Signal table
Mini
Standard
■ Positioner types (PCON-C / CG / CF)
Rod
Type
Pin
No.
Classification
Parameters (select PIO pattern)
Controllers
Integrated
0
1
2
3
4
5
Positioning mode
Teaching mode
256-point mode
512-point mode
Solenoid Valve Mode 1
Solenoid Valve Mode 2
Positioning Points
64 points
64 points
256 points
512 points
7 points
3 points
Zone signal
○
○
×
×
×
○
○
×
○
○
○
○
P-zone signal
Mini
Standard
1A
24V
P24
2A
24V
P24
3A
−
−
NC
4A
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
IN0
PC1
PC1
PC1
PC1
ST0
ST0
6A
IN1
PC2
PC2
PC2
PC2
ST1
ST1 (JOG+)
7A
IN2
PC4
PC4
PC4
PC4
ST2
ST2 (-)
8A
IN3
PC8
PC8
PC8
PC8
ST3
9A
IN4
PC16
PC16
PC16
PC16
ST4
10A
IN5
PC32
PC32
PC32
PC32
ST5
11A
IN6
−
−
−
MODE
PC64
PC64
ST6
JISL
PC128
PC128
JOG+
−
PC256
−
−
−
−
−
−
−
−
12A
13A
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
NC
5A
IN7
Input
IN8
14A
IN9
BKRL
JOG-
BKRL
BKRL
BKRL
BKRL
15A
IN10
RMOD
RMOD
RMOD
RMOD
RMOD
RMOD
16A
IN11
HOME
HOME
HOME
HOME
HOME
17A
IN12
*STP
*STP
*STP
*STP
*STP
18A
IN13
CSTR
CSTR/PWRT
CSTR
CSTR
−
−
−
−
19A
IN14
RES
RES
RES
RES
RES
RES
20A
IN15
SON
SON
SON
SON
SON
SON
1B
OUT0
PM1
PM1
PM1
PM1
PE0
LSO
2B
OUT1
PM2
PM2
PM2
PM2
PE1
LS1 (TRQS)
3B
OUT2
PM4
PM4
PM4
PM4
PE2
LS2 (−)
4B
OUT3
PM8
PM8
PM8
PM8
PE3
5B
OUT4
PM16
PM16
PM16
PM16
PE4
6B
OUT5
PM32
PM32
PM32
PM32
PE5
7B
OUT6
MOVE
MOVE
PM64
PM64
PE6
−
−
−
−
OUT7
ZONE1
MODES
PM128
PM128
ZONE1
ZONE1
OUT8
PZONE
PZONE
PZONE
PM256
PZONE
PZONE
PMEC
/AMEC
8B
PSEP
/ASEP
10B
OUT9
RMDS
RMDS
RMDS
RMDS
RMDS
RMDS
11B
OUT10
HEND
HEND
HEND
HEND
HEND
HEND
ROBO
NET
12B
OUT11
PEND
PEND/WEND
PEND
PEND
PEND
−
13B
OUT12
SV
SV
SV
SV
SV
SV
ERC2
14B
OUT13
* EMGS
* EMGS
* EMGS
* EMGS
* EMGS
* EMGS
15B
OUT14
* ALM
* ALM
* ALM
*ALM
* ALM
* ALM
16B
OUT15
LOAD/TRQS
−
LOAD/TRQS
LOAD/TRQS
LOAD/TRQS
−
PCON
9B
17B
ACON
SCON
PSEL
ASEL
Output
NC
18B
−
−
19B
0V
N
20B
0V
N
NC
(Note) The names of signals above inside ( ) are functions before the unit returns home.
(Note) Signals with asterisks (*) are normally ON, and OFF during operation.
■ Solenoid valve type (PCON-CY)
■ Pulse Train Type (PCON-PL/PO)
Pulse Motor
Servo Motor
(200V)
Linear
Servo Motor
1
Solenoid valve mode 0
Solenoid valve mode 1
Positioning Points
3 points
3 points
Zone signal
×
×
P-zone signal
×
○
Parameters (select PIO pattern)
Pin
No.
1
24V
1
24V
2
0V
2
0V
0
1
Standard mode
Push mode
Positioning Points
−
−
Zone signal
×
×
P-zone signal
×
×
SON
3
IN0
ST0
ST0
3
IN0
SON
4
IN1
ST1 (JOG+)
ST1 (JOG+)
4
IN1
TL
TL
IN2
ST2 (RES)
ST2 (RES)
5
IN2
HOME
HOME
6
IN3
SON
SON
6
IN3
RES
RES ／ DCLR
7
OUT0
LS0
PE0
7
OUT0
SV
SV
8
OUT1
LS1 (TRQS)
PE1 (TRQS)
8
OUT1
INP
INP ／ TLR
OUT2
LS2 (−)
PE2 (−)
9
OUT2
HEND
HEND
OUT3
SV
PZONE
10
OUT3
* ALM
* ALM
11
OUT4
HEND
HEND
11
* PP
* PP
12
OUT5
* ALM
* ALM
12
5
Servo Motor
(24V)
0
Classification
XSEL
Pin
No.
Classification
Parameters (select PIO pattern)
SSEL
9
10
Input
Output
(Note) The names of signals above inside ( ) are functions before the unit returns home.
(Note) Signals with asterisks (*) are normally ON, and OFF during operation.
13
14
Input
Output
Input
PP
PP
* NP
* NP
NP
NP
(Note) Signals with asterisks (*) are normally ON, and OFF during operation.
529
PCON
PCON
Controller
Pulse train input type wiring diagram
Slider
Type
Mini
■ Differential Receiver Method (PCON-PL)
Standard
Max. input pulse frequency ： Max. 200 kpps
Cable Length
： Max. 10m
Controllers
Integrated
Rod
Type
PIO connector
Shield
Pin Number
Classification
Signal
1
External 24V
24V
2
External 0V
0V
3
Input
SON
4
Input
TL
5
Input
HOME
6
Input
RES
7
Output
SV
8
Output
INP
9
Output
HEND
10
Output
* ALM
11
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
/PP
12
PP
Differential input
13
Linear Servo
Type
/NP
14
NP
Cleanroom
Type
Mounting plate
FG
Splash-Proof
* The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate.
Controllers
PMEC
/AMEC
■ Open Collector Method (PCON-PO)
PSEP
/ASEP
Max. input pulse frequency ： Max. 60 kpps
Cable Length
： Max. 2m
ROBO
NET
ERC2
PIO connector
PCON
Shield
Pin Number
Classification
Signal
1
External 24V
24V
2
External 0V
0V
3
Input
SON
4
Input
TL
5
Input
HOME
6
Input
RES
7
Output
SV
8
Output
INP
9
Output
HEND
10
Output
* ALM
11
Open collector input
/PP
12
N.C
PP
13
Open collector input
/NP
14
N.C
NP
ACON
SCON
PSEL
ASEL
SSEL
XSEL
DC24V±10%
Pulse Motor
Servo Motor
(24V)
Mounting plate
FG
Servo Motor
(200V)
* The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate.
* Connect the external 0V to the COMMON of the command pulse.
Linear
Servo Motor
PCON
530
Slider
Type
PCON
Controller
Command Pulse Input State
Mini
Command pulse train state
Standard
Input terminal
Forward pulse train
PP･/PP
Reversed pulse train
NP･/NP
During forward operation
During reversed operation
Controllers
Integrated
Rod
Type
Standard
Controllers
Integrated
Negative logic
Mini
The forward pulse train causes the motor to rotate forward, and the reverse pulse train causes the motor to rotate in reverse.
Pulse train
PP･/PP
Symbols
NP･/NP
PP･/PP
A/B phase pulse train
Mini
NP･/NP
An A/B phase pulse with a 90° phase difference (multiplier is 4) is used to generate commands for the amount of rotation and rotational direction.
Standard
Forward pulse train
PP･/PP
Reversed pulse train
NP･/NP
Pulse train
PP･/PP
Symbols
NP･/NP
Positive logic
Gripper/
Rotary Type
Cleanroom
Type
High
The command pulse is used for the amount of motor rotation, and the command symbol is used for rotational direction.
Table/Arm
/FlatType
Linear Servo
Type
Low
High
Low
Splash-Proof
PP･/PP
A/B phase pulse train
Controllers
NP･/NP
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Table of specifications
Item
Specifications
Controller type
CF
C
CG
RCP2-RA10C
RCP2-HS8C (R)
RCP2W-SA16C
Connected actuator (*1)
1-axis
Solenoid valve type
Pulse train input type
Serial communication type
Positioning Points
512 points
3 points
—
64 points
Backup memory
EEPROM
I/O connector
40-pin connector
12-pin connector
14-pin connector
None
Number of I/O
16 input points/16 output points
4 input points/6 output points
4 input points/4 output points
None
I/O power
External supply DC24V±10%
—
RS485 1ch
Serial Communication
CB-PAC-PIO □□□
Peripheral device communication cable
CB-PACY-PIO □□□
CB-PACPU-PIO □□□
CB-RCB-CTL002
Command pulse train input method
—
Differential line driver
Open collector
—
Max. input pulse frequency (Note 2)
—
Max. 200 kpps
Max. 60 kpps
—
Position detection method
Incremental encoder
Drive-source cutoff relay at emergency stop
External
Integrated
ON/OFF terminal signal inside the power terminal for brake release
Brake release switch ON/OFF
DC 24 V ± 10%
Max. 6A (*2)
2A max.
DC500V 1MΩ
Dielectric strength voltage
XYZ directions
Vibration resistance
10 to 57Hz, One side amplitude: 0.035mm (continuous), 0.075mm (intermittent)
58 to 150Hz, 4.9m/s2 (continuous), 9.8m/s2 (intermittent)
0 ∼ 40℃
Ambient operating temperature
10 - 95% (non-condensing)
Ambient operating humidity
Without corrosion gases
Ambient operating atmosphere
Linear
Servo Motor
SE
Positioner type
Power Supply Capacity
Servo Motor
(200V)
PO
Operating method
Input Supply Voltage
Servo Motor
(24V)
PL
RCP3 ／ RCP2 series actuator (Note 1)
Number of control axes
Forced release of electromagnetic brake
Pulse Motor
CY
IP20
Protection class
Approx. 320g
Weight
Approx. 300g
Approx. 130g
(Note 1) The high-thrust type (RA10C), high-speed type (HS8C/HS8R) and waterproof type (RCP2W-SA16) cannot be operated.
(Note 2) With the open collector specification, keep the maximum input frequency to 60 kpps or below to prevent malfunction. For applications exceeding 60kpps, use the differential line driver.
(*1)
RCP2-RA10C/HS8C/HS8R and RCP2W-SA16C can only operate with PCON-CF.
Other RCP2 ／ RCP3 Series actuators can be operated with C ／ CG ／ CY ／ PL ／ PO ／ SE.
(*2)
Inrush current peak: 10A
531
PCON
PCON
Controller
External Dimensions
PCON-C / CG / CF
ø5
(80)
35
Mini
PCON-CY / PL / PO / SE
84
68.1
(80)
35
ø5
Slider
Type
68.1
Standard
Controllers
Integrated
Rod
Type
112
120
170.5
178.5
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
5
5
Standard
Name of Each Part
Gripper/
Rotary Type
1 LED display
1
2
Lit (green) Servo ON Lit (red) Alarm activated Unlit
4
5
6
7
6 Encoder brake connector
Connects a cable for communicating with a PLC or
other external equipment.
3 Address-setting rotary switch
This switch sets the addresses for controllers used
when the unit is linked with other controllers.
This switch forces the brake to release.
Switches between manual teaching operations (MANU)
and automatic operations (AUTO).
C / CG / CF type
1
I/O commands are not accepted. Data can
be written from a teaching pendant or PC.
Main power for controller(s), emergency stop
I/O commands are valid, while operations
from a teaching pendant or PC are not
accepted. However, monitoring is possible.
C / CG type
AUTO
CY / PL / PO
Type
* PIO connectors are:
CY: 12 pin
PL/PO: 14 pin
S1
External drive-source cutoff for TP_
EMG terminal
PSEL
S2
MPI
Motor drive-source cutoff terminal
gateway unit to a controller.
4
MPO
Motor drive-source cutoff terminal
3
24V
Positive side of the 24-V power supply
2
0V
Negative side of the 24-V power supply
1
EMG
Name
1
SGA
2
SGB
8
Positive side, RS485 differential
signal
Negative side, RS485
differential signal
3
5V
9
4
ENBL
Enable signal
5
EMGA
EMG line connection to
external equipment
6
24V
7
0V
SE
Type
7
Name
5
Signal
6
Signal
6
Pin No.
8
EMGB
9
0V
+5V output
24-V power for T/P
GND
EMG line connection to
external equipment
EMG line connection to
external equipment ground
Remarks
ACON
SCON
Terminal
number
Connects a teaching pendant, PC cable, controller, or
Operation details
5
PCON
MANU
2
ROBO
NET
ERC2
9 Power terminal block
5 SIO connector
PMEC
/AMEC
PSEP
/ASEP
Connects the motor cable for the actuator.
Operation details
Splash-Proof
Controllers
8 Motor connector
4 Mode switch
Cleanroom
Type
Connects the encoder/brake cable for the actuator.
7 Brake release switch
8
9
Servo OFF Blinking (green) Automatic servo-off
Emergency stop
2 PIO connector
3
Linear Servo
Type
These LED colors indicate the condition of the controller.
ASEL
SSEL
XSEL
EMG signal (application of 24 V)
CY / PL / PO / SE type
For RS232/485
conversion
For T/P
Terminal
number
Signal
Name
6
BK
BK release
5
MPI
Motor drive-source cutoff terminal
4
MPO
Motor drive-source cutoff terminal
3
24V
Positive side of the 24-V power supply
2
0V
Negative side of the 24-V power supply
1
EMG
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
EMG signal (application of 24 V)
Linear
Servo Motor
PCON
532
(Touch panel teaching
pendant)
(Standard type)
CON-T-ENG
RCM-E-ENG (Simple teaching pendant)
Configuration
The version of RCM-E-ENG that
can be used with ROBONET is
2.08 or later.
Item
CON-PT-M-ENG
Ambient Operating
temp/humidity
Ambient Operating
atmosphere
5m
CON-T-ENG
CON-T-ENG Options
• Wall-mounting hook
IP40
IP54
Approx. 750g
Approx. 400g
Model STR-1
Display
3-color LED touch panel
with backlight
20 char. × 4 lines
LCD display
RCM-101-MW
0.3m
PC Software (CD)
Model
RCM-101-USB
(External device communications cable + USB adapter + USB
Configuration
USB adapter
RCB-CV-USB
3m
PC Software (CD)
SCON
5m
Spare Parts
When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below.
Motor Cable for RCP2
CB-RCP2-MA □□□
Model (20)
(Front view)
CN3
(14)
(14)
(15)
(20)
C
N
1
CN3
(Front view)
L
Controller side
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
* The standard cable for the motor cable is the robot cable.
(ø8)
(8)
XSEL
Pulse Motor
External device communications cable
CB-RCA-SIO050
USB cable
CB-SEL-USB030
Mechanical side
Min. bend radius r = 50 mm or larger (when movable type is used)
M cable
A1
A2
A3
B1
B2
B3
CN1
1
A
Yellow
2 VMM
Gray
3
A
Orange SLP-06V
4
B
Yellow (Green) (JST)
5 VMM
Pink
6
B
White
Encoder Cable/Encoder Robot Cable for RCP2
Model Servo Motor
(24V)
CB-RCP2-PB□□□/CB-RCP2-PB□□□-RB
* The standard cable for the encoder cable is the normal cable.
A robot cable can be specified as an option.
CN4
Min. bend radius r = 50 mm or larger (when movable type is used)
* Only robot cable is to be used in a cable track.
Servo Motor
(200V)
(8)
(13) (15)
C
N
2
CN4
(Front view)
(Front view)
L
Controller side
533
(25)
(ø9)
(35)
(5)
(18)
Linear
Servo Motor
Orange
A
Gray
VMM
White
B
I-1318119-3
Yellow
A
(AMP)
Pink
VMM
Yellow (Green) B
PHDR-16VS
(JST)
SSEL
External device communications
cable CB-RCA-SIO050
cable)
PCON
ASEL
21
5m
ROBO
NET
PSEL
(External device communications cable + RS232
conversion unit)
RS232 adapter
RCB-CV-MW
Controllers
ACON
16 char. × 2 lines
LCD display
Features A startup support software for inputting positions, performing test runs, and monitoring.
With enhancements for adjustment functions, the startup time is shortened.
Configuration
ERC2
Approx. 400g
5m
Cable length
PC Software (Windows Only)
Model
PSEP
/ASEP
23.5
No corrosive gases. Especially no dust.
Weight
• Strap
Model HK-1
Splash-Proof
PMEC
/AMEC
RCM-E-ENG
Temp: 0~40ºC; Humidity: 85% RH or below
Protection class
(28)
Cleanroom
Type
(34)
72.5
Data input
Gripper/
Rotary Type
Linear Servo
Type
7
Actuator motion
Table/Arm
/FlatType
Standard
15.1 26.2 6.3
Specifications
Controllers
Integrated
Mini
(113.5)
39.0
46.9
89.6
Note:
Standard
RCM-E-ENG
66.6
110.0
43
CON-PT-M-ENG
Model
CON-T-ENG
92.1
132
Features This is a teaching device that provides
information on functions such as the
position input, test runs, and monitoring.
Rod
Type
Mini
CON-PT-M-ENG
Teaching Pendant
PCON
Mechanical side
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
Cable color
Standard
Cable
Robot Cable
Signal
Blue (Red 1) Orange (Black 2) L S +
White Orange (Red 2) L S −
Red Orange (Black 1) B K +
Gray Orange (Red 1) B K −
Brown Light Gray (Black 1) E N A
Green Light Gray (Red 1) E N A
Purple White (Black 1) E N B
Pink
White (Red 1) E N B
−
−
−
Yellow Yellow (Black 1) V P S
Orange Pink (Red 1) V B B
Blue
Pink (Black 1) GND
(NC)
−
−
(NC)
−
−
(NC)
−
−
F.G
Ground
Ground
Pin
No.
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Pin
No.
Shielded wire
Ground wire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Cable color
Signal Standard Cable Robot Cable C N 2
Brown Light Gray (Black 1)
NA
Green Light Gray (Red 1)
NA
NB
Purple White (Black 1)
NB
Pink
White (Red 1)
E
E
E
E
GND
VBB
VPS
Blue
Orange
Yellow
Pink (Black 1)
Pink (Red 1)
Yellow (Black 1)
LS+
LS−
Blue (Red 1) Orange (Black 2)
White Orange (Red 2)
BK+
BK−
F .G
Red
Orange (Black 1)
Gray
Orange (Red 1)
Ground
Ground
XMP-18V
(JST)
Controllers
Integrated
Option
148.5
Standard
Controller
218.3
Mini
PCON
180
Slider
Type
PCON
Controller
Slider
Type
Encoder Cable / Encoder Robot Cable for the RCP2 High-speed Type / High-thrust Type / Waterproof Type
CB-RFA-PA□□□/CB-RFA-PA□□□-RB
Model * The standard cable for the encoder cable is the normal cable.
A robot cable can be specified as an option.
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
Mini
CN2
Min. bend radius r = 50 mm or larger (when movable type is used)
* Only robot cable is to be used in a cable track.
(8)
(13) (15)
C
N
2
(Front view)
(25)
(18)
(ø9)
(35)
(5)
CN4
(Front view)
L
Controller side
Cable color
Pin No.
Robot Cable Standard Cable Signal
(Spare)
16
(Spare)
15
BK+
14
Orange (Black 1)
Red
BK−
13
Orange (Red 1)
Gray
ENA
12
Light Gray (Black 1)
Brown
ENA
11
Light Gray (Red 1)
Green
ENB
10
White (Black 1)
Purple
ENB
9
White (Red 1)
Pink
(Spare)
8
Yellow (Black 1)
VPS
7
Yellow
6
Pink (Black 1)
GND
5
Blue
Pink (Red 1)
5V
4
Orange
3
2
Ground
F.G
1
Ground
CN1
Cable color
Pin No. Signal Standard Cable Robot Cable
1
ENA
Brown
Light Gray (Black 1)
2
ENA
Green
Light Gray (Red 1)
3
ENB
Purple
White (Black 1)
4
ENB
Pink
White (Red 1)
5
6
7
8
GND
9
Blue
Pink (Red 1)
10
VPS
11
Yellow Yellow (Black 1)
5V
12
Pink (Red 1)
Orange
13
14
15
BK+
16
Red
Orange (Black 1)
BK−
17
Orange (Red 1)
Gray
F.G
18
Ground
Ground
Housing: PHDR-16VS (JST)
Contact: SPHD-001T-P0.5
Mechanical side
Housing: XMP-18V (JST)
Contact : BXA-001T-P0.6
Retainer : MS-09V
Motor-Encoder Integrated Type Cable for RCP3/RCP2 (Limited to RCP2-GRSS/GRLS/GRST/SRA4R/SRGS4R/SRGD4R)
Model CB-PCS-MPA □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex.: 080 = 8 m
* The standard cable is robot cable.
L
(15)
(ø12)
(8)
(5)
(30)
(18)
(23)
(Front view)
(8)
Controller side
Min. bend radius r = 84 mm or larger (when
movable type is used)
Pin No.
B1
A2
A1
B3
B2
A3
(Wire color)
Black
White
Red
Green
Yellow
Brown
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 )
(18)
(20)
(Front view)
Signal
A
VMM
/A
B
VMM
/B
Mechanical side
Orange (Blue Continuous)
Gray (Red Continuous)
Gray (Blue Continuous)
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
A
VMM
/A
B
VMM
/B
NC
NC
BK+
BK−
LS+
LS−
A+
A−
B+
B−
NC
VPS
VCC
GND
NC
FG
CB-PAC-PIO □□□
* Enter the cable length (L) into □□□. Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
No. Signal
B
No
connector
A
20A
1A
20B
1B
Half-pitch MIL socket:
HIF6-40D-1. 27R (Hirose)
Flat cable (20-core) × 2
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
24V
24V
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
Cable
Color
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Wire
Flat cable A
(crimped)
No. Signal
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
0V
0V
Cable
Color
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
Purple-3
Gray-3
White-3
Black-3
Brown-4
Red-4
Orange-4
Yellow-4
Green-4
Blue-4
Purple-4
Gray-4
White-4
Black-4
Mini
Standard
Controllers
Integrated
Table/Arm
/FlatType
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Splash-Proof
Wire
Controllers
PMEC
/AMEC
Flat cable B
(crimped)
AWG28
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Solenoid Valve Type I/O Cable (for PCON-CY)
Model Rod
Type
HIF6-40D-1. 27R
L
No
connector
Controllers
Integrated
Cleanroom
Type
Positioner I/O Cable (for PCON-C/CG)
Model Standard
CB-PACY-PIO □□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
51353-1200 (MOLEX)
Cable
No. Signal
Color
Brown-1
1
24V
Red-1
2
0V
Orange-1
3
IN0
Yellow-1
4
IN1
Green-1
5
IN2
Blue-1
6
IN3
7
OUT0 Purple-1
Gray-1
8
OUT1
White-1
9
OUT2
Black-1
10
OUT3
11
OUT4 Brown-2
Red-2
12
OUT5
L
12
No
connector
2
11
1
Housing: 51353-1200 (MOLEX)
Contact: 56134-9000 (MOLEX)
Wire
SCON
PSEL
ASEL
Flat cable
(crimped)
AWG28
SSEL
XSEL
Pulse Train Control I/O Cable (for PCON-PL/PO)
Model CB-PACPU-PIO □□□
* Enter the cable length (L) into □□□. Compatible to a maximum of 10 meters.
Ex.: 080 = 8 m
L
Single wire
(UL1007 AWG24 Green)
(ø9)
110
No
connector
Round
terminal: 0.5-5
(JST)
Housing: 51353-1400
(MOLEX)
Contact: 56134-9000
(MOLEX)
Black
White/Black
Red
White/Red
Green
White/Green
Yellow
Side with
White/Yellow
no connector
Brown
White/Brown
Blue
White/Blue
Gray
White/Gray
51353-1400 (MOLEX)
Cable
No. Signal
Wire
Color
Black
1
IO_24V
IO_24G
White/Black
2
IN0
Red
3
IN1 White/Red
4
IN2
Green
5
IN3
White/Green 0.2sq
6
OUT0
Yellow
7
OUT1 White/Yellow
8
OUT2
Brown
9
OUT3 White/Brown
10
PP
Blue
11
PG White/Blue
12
NP
Gray
13
NG White/Gray
14
0.5-5 (JST)
1
FG White/Gray AWG24
PCON
534
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor