User manual | PSEP ASEP Controller

PSEP / ASEP Controller
Slider
Type
Mini
Model C/CW
3-position controller for RCP2/RCP3
Position Controller
Standard
Controllers
Integrated
Rod
Type
Model C/CW
Mini
3-position controller for RCA/RCA2/RCL
Position Controller
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Feature
1 Can operate with same signal as a solenoid valve.
The signal that operates the actuator is the same as the signal that operates
the air cylinder. Therefore, the PLC program currently in use can be used without
modification even if the air cylinder is replaced by an electric-powered cylinder.
Either a single solenoid or a double solenoid may be used.
Extended
Signal ON
Retracted
Signal OFF
Linear Servo
Type
Cleanroom
Type
Splash-Proof
2 Establishes a dustproof type that supports IP53.
We provide dustproof type controllers with an IP53 equivalent (*1) protection structure, so
that the controller can be mounted outside the control panel.
(1) Bottom surface excluded.
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
3 Provides the simple absolute type that can be operated
immediately upon power-ON without homing.
Since the simple absolute type can store the current position with the assistance of the
absolute battery unit during power-up or after the emergency stop is deactivated; it can
start the next operation at that position.
(Note 1) When the actuator is connected to the
simple absolute type controller, the model is
considered an incremental model.
(Note 2) It can not be used for the linear servo type.
When mounting the absolute battery unit,
mount it below the SEP controller.
SEP controller
Absolute battery unit
4 Pushing and intermediate stop operation is available.
Like air cylinders, the pushing operation is available. In this operation, you can stop with a
rod being pushed to a workpiece.
Since the force for the push operation is adjustable within a range between 20 to 70 % of
the maximum pushing force and a signal is generated when it reaches the specified
pushing force, it can be used to determine clamping or size of workpieces.
5 Easy data entry with the dedicated touch panel teaching unit.
Data, such as setting target positions or pushing force, are easily entered with the optional
touch panel teaching model: CON-PT.
Since the touch panel teaching unit provides an interactive menu and can be controlled
directly on the screen, you can operate intuitively with no assistance from operation
manuals.
Linear
Servo Motor
487
PSEP / ASEP
Push force is adjustable within the range
of 20 to 70% of the maximum pushing force
PSEP / ASEP Controller
Slider
Type
Model List
Mini
PSEP
Series name
ASEP
Standard
Type
C
CW
C
CW
Name
Standard
Dustproof
Standard
Dust proof
Positioning
Simple
absolute
type
Incremental
encoder
method
Simple
absolute
type
Incremental
encoder
Incremental
encoder
Simple
absolute
type
Controllers
Integrated
Simple
absolute
type
Incremental
encoder
Rod
Type
Mini
Standard
External View
Controllers
Integrated
Table/Arm
/Flat Type
Description
Position controller, for pulse motors,
specialized to 2 positions / 3 positions
positioning and easier control
PSEP-C dustproof type with an
IP53 equivalent protection
structure
Number of
positions
Standard price
Position controller, for servo motors,
specialized to 2 positions / 3 positions
positioning and easier control
ASEP-C dustproof type with an
IP53 equivalent protection
structure
Mini
Standard
2 positions / 3 positions
−
−
−
−
−
−
−
−
Linear Servo
Type
Model
PSEP
Series
Gripper/
Rotary Type
I
Type
Motor
Cleanroom
Type
0
Encoder
type
I/O type
I/O cable length
Power
Simple absolute
supply voltage compatible
High acceleration
compatible model
Splash-Proof
Controllers
C
Blank Standard
Standard type
CW Dustproof type
I
Incremental type
NP
NPN type
PN
PNP type
20 pulse
20P motor compatible
28 pulse
28P motor-compatible
28SP 28 pulse motor
compatible (RA3C only)
35 pulse
35P motor-compatible
42 pulse
42P motor-compatible
56 pulse
56P motor-compatible
H
High acceleration
compatible model
* If connecting to RCP3-SA4/SA5/SA6
RCP2(RCP2CR)-SA5/SA6,
specify "H", for high-acceleration
compatible model.
0
No cable
2
2m
3
3m
5
5m
ABU Simple absolute type
(with absolute battery unit)
ABUN Simple absolute type
(without absolute battery unit)
(Blank) Incremental type
0
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
DC24V
SCON
PSEL
ASEP
Series
I
Type
Motor
Encoder
type
0
Option
I/O type
I/O cable length
ASEL
Power
Simple absolute
supply voltage compatible
SSEL
XSEL
LA
C
Standard type
CW
Dustproof type
I
Power-saving
ABU Simple absolute type
(with absolute battery unit)
ABUN Simple absolute type (without
absolute battery unit)
Incremental type
(Blank) Incremental type
2
2W motor-compatible
NP
NPN type
5
5W motor-compatible
PN
PNP type
0
DC24V
10
10W motor-compatible
0
No cable
20
20W motor-compatible
2
2m
3
3m
5
5m
20W motor-compatible
20S (RCA2-SA4 /TA5 , RCA-RA3
30
30W motor-compatible
only)
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
488
PSEP / ASEP Controller
Slider
Type
Mini
System structure
[PSEP]
Standard
PLC
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
PC Software
See P499
RS232 version:
<Model: RCM-101-MW>
USB version:
<Model: RCM-101-USB>
* Cable supplied with the PC
software.
* Version older than 7.00.01.00
cannot be used with the SEP
controller.
Teaching Pendant for
CON/R CON/ SEP
See P497
<Model: CON-PT/CON-PD/CON-PG>
Teaching Pendant for SEP
<Model: SEP-PT>
Table/Arm
/Flat Type
Mini
Field network
DeviceNet/CC-Link/ProfiBus
PIO Cable
<Model: CB-APSEP-PIO020> (standard)
<Model: CB-APSEPW-PIO020> (for dustproof)
Standard 2m
(Supplied with the controller)
See P502
DC24V Power Supply
<Model: PS-241 (100V input)>
<Model: PS-242 (200V input)>
Standard
Gripper/
Rotary Type
5m
Linear Servo
Type
Cleanroom
Type
Standard 0.5m
Splash-Proof
Absolute Battery Unit for SEP Controller
(Supplied with simple absolute type)
<Model: SEP-ABU> (standard)
<Model: SEP-ABU-W> (for dustproof)
See P500
Controllers
PMEC
/AMEC
<PCON/RPCON/PSEL>
Motor-encoder Integrated Cable
>
<Model: CB-PSEP-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P501
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Actuator: RCP2 series
Rotary type‫ޓ‬RCP2-RT
(See below for small rotary)
Gripper type‫ޓ‬RCP2-GRS/GRM/GR3
SCON
Motor-encoder Integrated Cable
>
<Model: CB-RPSEP-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P502
PSEL
ASEL
SSEL
XSEL
RCP2 Small Rotary
(RCP2-RTBS/RTBSL/
RTCS/RTCSL)
* The above models use a
dedicated cable.
Motor-encoder Integrated Cable
>
<Model: CB-PCS-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P501
Motor-encoder Integrated Cable
>
<Model: CB-APSEP-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P501
Pulse Motor
Actuator: RCP3 series
RCP2-GRSS/GRLS/GRST
RCP2-SRA4R/SRGS4R/SRGD4R
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
489
PSEP / ASEP
PSEP / ASEP Controller
Slider
Type
System structure
[ASEP]
Mini
Standard
PLC
PC Software
See P499
RS232 version:
<Model: RCM-101-MW>
USB version:
<Model: RCM-101-USB>
* Cable supplied with the PC
software.
* Version older than 7.00.01.00
cannot be used with the SEP
controller.
Controllers
Integrated
Rod
Type
Teaching Pendant for
CON/R CON/ SEP
See P497
<Model: CON-PT/CON-PD/CON-PG>
Teaching Pendant for SEP
<Model: SEP-PT>
Mini
Field network
DeviceNet/CC-Link/ProfiBus
Standard
Controllers
Integrated
PIO Cable
<Model: CB-APSEP-PIO020> (standard)
<Model: CB-APSEPW-PIO020> (for dustproof)
Standard 2m
(Supplied with the controller)
See P502
Table/Arm
/Flat Type
DC24V Power Supply
<Model: PS-241 (100V input)>
<Model: PS-242 (200V input)>
Mini
Standard
Gripper/
Rotary Type
5m
Linear Servo
Type
Cleanroom
Type
Standard 0.5m
Splash-Proof
<ACON/RACON/ASEL>
Absolute Battery Unit for SEP Controller
(Supplied with simple absolute type)
<Model: SEP-ABU> (standard)
<Model: SEP-ABU-W> (for dustproof)
See P500
Controllers
PMEC
/AMEC
PSEP
/ASEP
Motor-encoder Integrated Cable
>
<Model: CB-ASEP-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P501
ROBO
NET
ERC2
PCON
ACON
Actuator: RCA series
SCON
Motor-encoder Integrated Cable
>
<Model: CB-APSEP-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P501
PSEL
Motor-encoder Integrated Cable
>
<Model: CB-ACS-MPA
Standard 1m / 3m / 5m
(Supplied with the actuator)
See P502
ASEL
SSEL
XSEL
Actuator: RCA2/RCL series
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
490
PSEP / ASEP Controller
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
PIO Pattern Description
The SEP controller provides the following six PIO patterns from which you can choose for operation.
Also, PIO patterns 0 to 2 support both the single solenoid and double solenoid signal configurations.
PIO
Pattern Number
0
1
2
PIO
Pattern Name
Standard 2-position
movement
Moving speed change
Position Data
Change
Continuous cycle
operation
2-position motion
2-position motion
3-position motion
3-position motion
Continuous motion
between 2 positions
Push
Push
Push
Push
Push
Push
−
Changing speed
during motion
Motion position
data change
−
−
−
Mini
Standard
Feature
Controllers
Integrated
Table/Arm
/Flat Type
Supported solenoid
configurations
Mini
Cleanroom
Type
Splash-Proof
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
Continuous cycle
operation
Single
Double
Single
Double
−
−
−
0
Motion
signal
Motion
signal 1
Motion
signal
Motion
signal 1
Motion
signal
Motion
signal 1
Motion signal 1
Retract motion signal
Continuous operation
signal
1
Pause
signal
Motion
signal 2
Pause
signal
Motion
signal 2
Pause
signal
Motion
signal 2
Motion signal 2
Extend
motion signal
Pause signal
2
−
(Reset signal)
Moving speed change
signal (reset signal)
Target position change
signal (reset signal)
−
(Reset signal)
Intermediate motion
signal (reset signal)
−
(Reset signal)
3
−
/Servo-ON signal
−
/Servo-ON signal
−
/Servo-ON signal
−
/Servo-ON signal
−
/Servo-ON signal
−
/Servo-ON signal
0
Retract motion
output signal
Retract motion
output signal
Retract motion
output signal
Retract motion
output signal
Retract motion
output signal
Retract motion
output signal
1
Extend motion
output signal
Extend motion
output signal
Extend motion
output signal
Extend motion
output signal
Extend motion
output signal
Extend motion
output signal
Midpoint position
output signal
Midpoint position
output signal
Homing completion signal
/Servo-ON output signal
Alarm output signal
/Servo-ON output signal
Alarm output signal
/Servo-ON output signal
Alarm output signal
/Servo-ON output signal
Output
Controllers
2-input 3-position travel 3-input 3-position travel
5
Double
Input
Linear Servo
Type
4
Single
Standard
Gripper/
Rotary Type
3
2
Homing completion signal / Homing completion signal Homing completion signal
Servo-ON output signal
/Servo-ON output signal /Servo-ON output signal
3
Alarm output signal
/ Servo-ON output signal
Alarm output signal
/Servo-ON output signal
Alarm output signal
/Servo-ON output signal
* For the signals above, see the controller manuals (downloadable from our website).
PIO Pattern 0 (Standard 2-Position travel)
This PIO pattern involves movements between two positions—the end position and the home position.
The positions can be set numerically to any position (by inputting to the controller using the optional touch panel
teaching pendant).
Two motions are possible: A “positioning motion” moves the rod or the slider to the specified position, and a
"pushing motion" pushes the rod against a workpiece.
Positioning Motion (Single Solenoid)
Input Signals
Speed: 100mm/s
SCON
(End
position)
PSEL
ON
When Input 0 is turned ON, the slider/rod
moves to the end position (30mm
coordinate) at a speed of 100mm/s.
OFF
When input 0 is turned OFF, the slider/rod
returns to the home position (0mm
coordinate) at a speed of 50mm/s.
Input 0
Input 1
Input 2
ASEL
(30)
Input 3
End Position Data
SSEL
XSEL
Position
30
Speed
100
Pushing force
Width
(Home position)
Speed: 50mm/s
Input Signals
Input 0
Pulse Motor
Input 1
Input 2
Servo Motor
(24V)
(0)
Home Position Data
Servo Motor
(200V)
Position
0
Speed
50
Pushing force
Linear
Servo Motor
Width
491
PSEP / ASEP
Input 3
PSEP / ASEP Controller
Slider
Type
Mini
Standard
Controllers
Integrated
Positioning Motion (Double Solenoid)
Input Signals
(End position)
Input 0
OFF
Input 1
ON
Input 2
(30)
When Input 1 is turned ON and Input 0 is turned OFF,
the slider/rod moves to the end position (30mm
coordinate) at a speed of 100mm/s.
Input 3
30
Speed
100
Pushing force
−
Width
−
Mini
Standard
End Position Data
Position
Rod
Type
Controllers
Integrated
Table/Arm
/Flat Type
Mini
(Home position)
Input Signals
Input 0
ON
Input 1
OFF
Input 2
When Input 0 is turned ON and Input 1 is turned OFF,
the slider/rod returns to the home position (0mm
coordinate) at a speed of 50mm/s.
Input 3
(0)
Home Position Data
Position
0
Speed
50
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Pushing force
Width
Splash-Proof
Controllers
Push motion (single solenoid)
PMEC
/AMEC
(End position)
Input Signals
Input 0
ON
Input 1
Input 2
(20)
(30)
Input 3
When Input 0 is turned ON, the rod moves to
the 20mm position at 100mm/s, and then starts
pushing from the 20mm position to the
30mm position at slow speed.
30
Speed
100
Pushing force
50
Width
10
ROBO
NET
ERC2
PCON
End Position Data
Position
PSEP
/ASEP
* The pushing motion is performed only if there is a numerical value
for the pushing force in the controller's position data. (If there is
no numerical value for the pushing force, a positioning motion
will be performed instead.)
ACON
SCON
PSEL
ASEL
SSEL
Push motion (double solenoid)
XSEL
(End position)
Input Signals
Input 0
OFF
Input 1
ON
Input 2
(20)
(30)
Input 3
When Input 1 is turned ON and Input 0 is turned OFF,
the rod moves to the 20mm position at 100mm/s,
and then starts pushing from the 20mm position
to the 30mm position at slow speed.
End Position Data
Position
30
Speed
100
Pushing force
50
Width
10
* The pushing motion is performed only if there is a numerical
value for the pushing force in the controller's position data.
(If there is no numerical value for the pushing force, a
positioning motion will be performed instead.)
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
492
PSEP / ASEP Controller
Slider
Type
Mini
Standard
Controllers
Integrated
Rod
Type
PIO Pattern 1 (Speed Change During Movement)
This PIO pattern involves movements between two positions—the end position and the home position.
The speed can be changed in 2 stages. (The speed can be either increased or decreased.)
The speed change occurs when the rod/slider passes the speed change position, specified in the position values.
(Single Solenoid)
Mini
Standard
Controllers
Integrated
If the speed change
signal is OFF:
100
Speed
(mm/s)
If the speed change
signal is ON:
50
Table/Arm
/Flat Type
Mini
Home position
(0)
Standard
End position
(30)
Speed change position
(12)
(End position 1)
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
(12)
Input Signals
Input 0
Controllers
ON
Input 3
End Position Data
Position
0
Position
30
Speed
50
Speed
100
12
Trigger point
12
100
Trigger speed
50
When Input 0 is turned ON while Input 2 is turned
Trigger point
ON, the rod moves at the initial speed up to the
Trigger speed
trigger point.
After it passes the trigger point, the speed changes. Pushing force
If Input 2 is not turned ON, the speed will not change.
Width
ON
Input 1
Input 2
Home Position Data
(30)
Pushing force
Width
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
ERC2
PCON
ACON
PIO Pattern 2 (Position Change)
This PIO pattern involves movements between two positions—the end position and the home position.
You can set 2 sets of data for the end / home positions, speed, pushing force, and pushing width.
Switching between the 2 sets of data can be done by turning ON/OFF Input 2, which is the signal for switching the target
position.
(Single Solenoid)
SCON
PSEL
If the position change
signal is OFF:
100
Speed
(mm/s)
ASEL
If the position change
signal is ON:
50
SSEL
XSEL
Home position
(0)
(Position change signal: ON)
(End position 1)
Input Signals
Input 0
Pulse Motor
ON
Input 1
Input 2
Servo Motor
(24V)
(30)
(End position 2)
Servo Motor
(200V)
Linear
Servo Motor
(20)
493
PSEP / ASEP
Input 3
ON
End position 2
(20)
End position 1
(30)
If Input 2 (position change signal) is OFF when Input 0 is turned ON, the rod moves
according to the position and speed set in "End Position Data 1" (position: 30 / speed:
100).
If Input 2 is ON when Input 0 is turned ON, the rod's movement changes to the
position and speed set in “End Position Data 2" (position: 20 / speed: 50).
If Input 2 is OFF when the movement starts, but is turned ON in transit, the target
position and speed is changed from that position.
End Position Data 1
End Position Data 2
Position
30
Position
20
Speed
100
Speed
50
Pushing force
Pushing force
Width
Width
PSEP / ASEP Controller
Slider
Type
Mini
PIO Pattern 3 (2-Input 3-Position Travel)
Standard
This PIO pattern involves movements between 3 positions—the end position, the home position, and an
intermediate position.
Changing between the positions is done by a combination of 2 signals, Input 0 and Input 1.
Positioning Motion
(Home position)
Rod
Type
Input Signals
Input 0
ON
Input 1
OFF
Input 2
When only Input 0 is turned ON,
the rod moves to the home
position at the specified speed.
Input 3
(0)
(Intermediate position)
Controllers
Integrated
Mini
Standard
Controllers
Integrated
Input Signals
Input 0
ON
Input 1
ON
Input 2
When Input 0 and Input 1 are both turned
ON, the rod moves to the intermediate
position at the specified speed.
Table/Arm
/Flat Type
Mini
Input 3
(10)
Standard
Input Signals
(End position)
Input 0
OFF
Input 1
ON
Input 2
(30)
When only Input 1 is turned ON,
the rod moves to the end position
at the specified speed.
Gripper/
Rotary Type
Linear Servo
Type
Input 3
Cleanroom
Type
PIO Pattern 4 (3-Input 3-Position Travel)
Splash-Proof
This PIO pattern involves movements between 3 positions—the end position, the home position, and an intermediate
position.
Changing between positions is done by three signals—Input 0, Input 1 and Input 2, which are commanded to move
to the home, end and intermediate positions, respectively.
Positioning Motion
(Home position)
Input Signals
Input 0
ON
Input 1
OFF
Input 2
OFF
When Input 0 is turned ON, the rod
moves to the home position at the
specified speed.
Input 3
(0)
(Intermediate position)
Input Signals
(30)
PSEP
/ASEP
ROBO
NET
PCON
Input 0
OFF
Input 1
OFF
Input 2
ON
When Input 2 is turned ON, the rod
moves to the intermediate position at
the specified speed.
ACON
SCON
PSEL
Input Signals
(End position)
PMEC
/AMEC
ERC2
Input 3
(10)
Controllers
Input 0
OFF
Input 1
ON
Input 2
OFF
When Input 1 is turned ON, the rod
moves to the end position at the
specified speed.
ASEL
SSEL
Input 3
XSEL
PIO Pattern 5 (Continuous Cycle Operation)
This PIO pattern involves continuous cycling between 2 positions—the end and home positions.
When Input 0 (continuous operation signal) is turned ON, the rod continuously moves between the specified 2
positions.
If Input 0 is turned OFF while in motion, it stops after reaching the current destination.
Positioning Motion
(Home position)
Input Signals
Input 0
Input 1
Input 2
(0)
(20)
Input 3
ON
When Input 0 is turned ON,the rod
moves continuously between the end
and home positions at the specified
speed.
PSEP / ASEP
494
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP Controller
Slider
Type
I/O Signal
Mini
Standard
Controllers
Integrated
Rod
Type
Mini
PIO pattern
0
1
2
3
4
5
PIO pattern name
Standard
2-position motion
Speed change
Position change
2-input
3-position travel
3-input
3-position travel
Continuous cycle
operation
Pin
No.
Cable
color
1
Brown
COM
2
Red
COM
3
Orange
4
Yellow
Solenoid type
Input
Single
Double
Single
24V
Double
0V
0
ST0
1
*STP
Single
24V
−
−
−
24V
24V
24V
Double
24V
0V
0V
ST0
ST0
ST0
ST0
ST0
ST1(−)
*STP
ST1 (−)
*STP
ST1 (−)
0V
0V
0V
ST0
ST0
ASTR
ST1
ST1(−)
−/*STP
2
− (RES)
SPDC(RES)
CN1(RES)
− (RES)
ST2(RES)
− (RES)
5
Green
Standard
6
Blue
3
−/SON
−/SON
−/SON
−/SON
−/SON
−/SON
Controllers
Integrated
7
Purple
0
LS0/PE0
LS0/PE0
LS0/PE0
LS0/PE0
LS0/PE0
LS0/PE0
Table/Arm
/Flat Type
Mini
Standard
8
Grey
9
White
10
Black
Output
1
LS1/PE1
LS1/PE1
LS1/PE1
LS1/PE1
LS1/PE1
LS1/PE1
2
HEND/SV
HEND/SV
HEND/SV
LS2/PE2
LS2/PE2
HEND/SV
3
*ALM/SV
*ALM/SV
*ALM/SV
*ALM/SV
*ALM/SV
*ALM/SV
Note: The above signals marked with * are normally ON and turn OFF when active.
Specification Table
PSEP
Controller type
Linear Servo
Type
Type
Item
Gripper/
Rotary Type
ASEP
C
Connected actuators
CW
C
RCP2/RCP3 series actuator
Number of control axes
Cleanroom
Type
1
Operating method
Positioner Type
Number of positions
2 positions/3 positions (4 positions*2)
Backup memory
Splash-Proof
EEPROM
I/O connector
10 pin connector
Number of I/O points
Controllers
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
4 input points / 4 output points
I/O power supply
External power supply DC24V±10%
Dedicated type for serial communication
Communication cable for peripheral equipment
Position detection method
RS485 1ch
PCON
CB−ASEP−MPA□□□
CB-APSEP-MPA□□□
(Connection not possible)
CB−RPSEP−MPA□□□
Input voltage
DC24V±10%
Controlled power supply capacity
SCON
Motor power capacity
ASEL
SSEL
XSEL
0.5A (0.8A for the simple absolute specification)
Rated
value
2.0A
2W
0.8A
Not specified
4.6A
2.0A
5W
1.0A
Not specified
6.4A
2.0A
10W (for RCL)
1.3A
Not specified
6.4A
2.0A
10W (for RCA/RCA2)
1.3A
2.5A
4.4A
1.2A
2.0A
20W
1.3A
2.5A
4.4A
−
−
−
20W (for 20S motor)
1.7A
3.4A
5.1A
−
−
−
30W
1.3A
2.2A
4.4A
Rated value
Max.(*4)
20P
0.4A
28P
0.4A
35P
1.2A
42P
1.2A
56P
Inrush current (*1)
Max. 10A
Amount of heat generated
8.4W
9.6W
DC500V 1MΩ
XYZ directions
Resistance to vibration
58~150Hz 4.9m/s2 (continuous), 9.8m/s 2 (intermittent)
0~40°C
Linear
Servo Motor
10~85%RH (non-condensing)
Ambient operating environment
Protection level
Weight
Servo Motor
(200V)
10~57Hz One-side width 0.035mm (continuous), 0.075mm (intermittent)
Ambient operating temperature
Ambient operating humidity
Servo Motor
(24V)
Maximum
Power- Standard (*6) highacceleration /
saving (*5) deceleration
Motor power output
Motor size
Dielectric strength voltage
Pulse Motor
CB-APSEPW-PIO□□□
(Connection not possible)
CB-PSEP-MPA□□□
(Connection not possible)
For RCP3/RCA2 connection
ACON
PSEL
CB-APSEP-PIO□□□
Incremental encoder (Attaching an absolute battery unit makes the simple absolute specification possible *3)
For RCP2 mini rotary connection
ERC2
CB-APSEPW-PIO□□□
CB-APSEP-PIO□□□
For RCP2 connection
Motor-encoder For RCA connection
cable
CW
RCA/RCA2/RCL series actuator
No corrosive gases
IP20
IP53 (*7)
IP20
IP53 (*7)
About 130g
About 160g
About 130g
About 160g
(*1) Upon power-ON, an electrical current of 5 to 12 times as much as the rated current, called "in rush current" flows for 1 to 2 ms. Note that the amount of inrush current
varies based on the impedance of power source lines.
(*2) This applies to the case where two position data points are set at each of the end and home positions during a "position change" motion pattern process.
(*3) The simple absolute type controllers cannot be used for the linear servo type.
(*4) The current reaches its maximum level during the servo motor excitation phase detection performed during the initial servo ON process after the power has been turned
on. (Usually: Approx. 1 to 2 seconds, max. 10 seconds.)
(*5) When power to the motor is turned ON after shutting it OFF, current of about 6.0 A flows (for aprox.1~2ms).
(*6) The max. value of current can be detected in the magnetic pole detection process or during collision or constraint. The condition continues for up to 10 seconds in the
magnetic pole detection process. In this process the above current is required.
(*7) The bottom surface is excluded.
495
PSEP / ASEP
PSEP / ASEP Controller
Slider
Type
Names
Mini
ASEP, PSEP, Incremental type
ASEP, PSEP, Simple absolute type
Standard
LED for ABS
Status LED
(for SV, ALM, EMG)
Status LED
(for SV, ALM, EMG)
SIO connector
PIO connector
SIO connector
Motor-encoder
cable connector
PIO connector
Motor-encoder
cable connector
Power connector
Battery connector
FG connector
Power connector
Actuator model
number sticker
FG connector
Controllers
Integrated
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
ASEP
Incremental type
PSEP
Incremental type
ASEP
PSEP
Simple absolute type Simple absolute type
Actuator model
number sticker
Linear Servo
Type
Outer dimensions
Cleanroom
Type
35.4
(35mm DIN rail width)
50mm from the center
of DIN rail
Standard type
Gripper/
Rotary Type
Splash-Proof
72.2
66.2
(6)
Controllers
110
100
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
5
(10)
ERC2
30
PCON
Movable width of DIN securing tab: 5mm
ACON
SCON
50mm from the center
of DIN rail
(6)
105.7
99.7
SSEL
XSEL
107
112
100
ASEL
Pulse Motor
Servo Motor
(24V)
34
(10)
5
Dustproof type
35.4
(35mm DIN rail width)
PSEL
Movable width of DIN securing tab: 5mm
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
496
PSEP / ASEP Controller
Slider
Type
Option
Mini
Standard
Controllers
Integrated
Rod
Type
Touch Panel Teaching Pendant for Position Controller
Feature 1
A data input device with an intuitive touch panel menu
screen that is easy to operate, even for first-time users.
You can use it to configure settings such as home / end
positions, intermediate position, speed, and pushing force,
or to run an adjustment operation such as jogging, inching,
and moving to a specified position.
Feature 2
Intuitive and interactive touch panel menus allow for easy
configuration, even for first-time users.
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Axis No. 00
Menu1
Monitor
Test Run
Position Edit
Alarm List
Parameter Edit
Information
Data Back-up
Menu 2
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Target Position (mm)
Controllers
Large, easy to read display
Speed (mm/s)
Acceleration (G)
Deceleration (G)
Message
Axis No. 00
Message No. 112
Input data error
No. Designation
Menu 1
Splash-Proof
Axis No. 00
Position Edit
Return
Clear All
Inquiry
* Touch a position No. to individual edit screen
Easy configuration
with the touch panel
Backlight color changes
when an error occurs
Model & Specifications
PMEC
/AMEC
Description
Item
PSEP
/ASEP
Model
ROBO
NET
Type
CON-PT-M-ENG
CON-PD-M-ENG
CON-PG-M-S-ENG
SEP-PT-ENG
Standard type
Enable switch type
Safety compliant type
SEP controller
dedicated type
ERC2
PCON
ACON
PSEP/PCON/RPCON
ASEP/ACON/RACON
SCON/ERC2 (*)
Connectible controllers
3-position enable switch
SCON
PSEL
PSEP
ASEP
Input and edit position data
Movement functions (move to specified position, jog, inch)
Test input and output signals
Edit parameters
Functions
ASEL
3-color LED with backlight
Display
SSEL
XSEL
Operating ambient temp./Humidity
0~50ºC 20~85% RH (non-condensing)
Environmental resistance
Weight (incl. 5m cable)
IP40
Approx. 750g
• Touch pen
Pulse Motor
Servo Motor
(24V)
Accessories
Approx. 780g
Approx. 780g
Approx. 550g
• Touch pen
• TP Adapter
(Model: RCB-LB-TG)
• Dummy Plug
(Model: DP-4)
• Controller connection
cable
(Model: CB-CON-LB005)
• Touch pen
• Touch pen
Standard Price
(*) If an ERC2 type controller does not have "4904" on the serial number label, it cannot be connected.
Servo Motor
(200V)
Caution:
If you have a "CON" type controller (i.e. PCON, RPCON, ACON, RACON, SCON, ERC2) and an "SEP"
type controller (PSEP or ASEP) linked together, you cannot connect the teaching pendant to it.
Linear
Servo Motor
497
PSEP / ASEP
PSEP / ASEP Controller
Slider
Type
Absolute battery unit for SEP controllers
Mini
Names of Parts/
Exterior
Dimensions
Standard
Option
• Strap
Rod
Type
Emergency
stop button
Touch pen
14
10
Controllers
Integrated
Model STR-1
24
4
92.1
132
Mini
Standard
Controllers
Integrated
Control panel
Table/Arm
/Flat Type
180
98
Wall mount hook
Enable switch
Mini
CON-PT label
Standard
Model number /
Serial number label
(50)
Gripper/
Rotary Type
5m
Linear Servo
Type
Cleanroom
Type
Strap anchor
Controller insertion connector
CON-PT-M
CON-PD-M
SEP-PT
CON-PG-M-S
* Please note that the CON-PG-M-S
has a controller insertion connector
that is different from the other models.
Splash-Proof
Controllers
CON-PG-M-S Wiring Drawing
PMEC
/AMEC
PSEP
/ASEP
TP adaptor
RCB-LB-TG
ROBO
NET
Safety
circuit
PCON
ACON
SCON
0.5m
ERC2
PCON
Controller connection cable
CB-CON-LB005
ACON
SCON
5m
PSEL
PSEP
ASEP
ROBONET
CON-PG
ASEL
SSEL
XSEL
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
498
PSEP / ASEP Controller
Slider
Type
Mini
Standard
Controllers
Integrated
Option
PC Software (Windows Only)
Features A startup support software for inputting positions, performing test runs, and monitoring.
With enhancements for adjustment functions, the startup time is shortened.
Rod
Type
Mini
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Model RCM-101-MW
Controllers
PMEC
/AMEC
(External device communication cable +
RS232 conversion unit)
Configuration
PSEP
/ASEP
RS232 adapter
RCB-CV-MW
5m
ROBO
NET
ERC2
0.3m
External device
communication cable
CB-RCA-SIO050
PC Software (CD)
PCON
ACON
SCON
PSEL
ASEL
SSEL
XSEL
Model RCM-101-USB
( External device communication cable +
USB adapter + USB cable)
Configuration
USB adapter
RCB-CV-USB
Pulse Motor
3m
Servo Motor
(24V)
PC Software (CD)
Servo Motor
(200V)
Linear
Servo Motor
499
PSEP / ASEP
USB cable
CB-SEL-USB030
5m
External device
communication cable
CB-RCA-SIO050
PSEP / ASEP Controller
Slider
Type
Absolute battery unit for SEP controllers
Mini
Description
Supplied with the PSEP and ASEP simple absolute controllers.
This is a battery unit used for backing up the current position data.
Model
SEP-ABU (standard type)
SEP-ABU-W (dustproof type)
Standard
Controllers
Integrated
Rod
Type
Specifications
Mini
Specifications
Item
Ambient operating temp./Humidity
0~40ºC (around 20ºC preferred), 95% RH or below (non-condensing)
Standard
Ambient operating environment
No corrosive gases
Controllers
Integrated
Absolute battery (*1)
Model: AB-7 (Ni-MH battery/Approx. 3-year life)
Controller-absolute battery unit cable (*1)
Model: CB-APSEP-AB005 (0.5m long)
Weight
Standard type: Approx. 230g; Dustproof type: Approx. 260g
Allowable encoder RPM during data retention (*2)
Position data retention duration (*2)
800rpm
400rpm
120h
Table/Arm
/Flat Type
200rpm
240h
100rpm
360h
(6)
72.2
66.2
35.4 (35mm DIN)
50mm from the
center of DIN rail
35.4 (35mm DIN)
50mm from the
center of DIN rail
Dustproof type
(6)
Standard
480h
(*1) The absolute battery unit comes with a cable to connect the controller and the absolute battery unit.
(*2) Position data retention time changes with the allowable encoder RPMs during data retention.
（800rpm120h, 400rpm240h, 200rpm360h, 100rpm480h）
Standard Type
Mini
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
105.7
99.7
Splash-Proof
30
107
112
100
(10)
5
(10)
5
110
100
Controllers
PMEC
/AMEC
34
Movable width of DIN securing tab: 5mm
Movable width of DIN securing tab: 5mm
PSEP
/ASEP
ROBO
NET
ERC2
Cautions on Controllers and Options
PCON
• When mounting the controller to a DIN rail, use the supplied spacer between the controllers to prevent
them from contacting each other, to deal with heat dissipation. (See Fig. 1)
• When mounting the absolute battery units and controllers, place the absolute battery units below the
controllers. (See Fig. 2)
If there is not enough space below the controllers, mount the absolute battery units in such a way that the
temperature around the controllers stays at 40ºC or below.
(PSEP/ASEP)
(Figure 1)
ACON
SCON
PSEL
ASEL
(Figure 2)
SSEL
XSEL
(Absolute
battery unit)
Pulse Motor
Spacer (included in controller)
Servo Motor
(24V)
Controller-Absolute Battery Unit Cable
(supplied with the absolute battery unit)
Model: CB-APSEP-AB005 (0.5m long)
• Teaching pendants for PCON, ACON, and SCON (e.g. CON-T, RCM) cannot be used with PSEP or ASEP.
For PSEP and ASEP, use the SEP-PT.
• The SEP-PT cannot communicate to the linked controllers. (Please connect them directly to the
controller.)
PSEP / ASEP
500
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP Controller
Slider
Type
Mini
Standard
Controllers
Integrated
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-encoder integrated cable for connecting [RCP3/RCA2/RCL] and [PSEP/ASEP]
CB-APSEP-MPA□□□
Model
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
Rod
Type
Mechanical side
Pin number
Mini
A1
B1
A2
B2
A3
B3
A4
B4
A6
B6
A7
B7
A8
B8
A5
B5
A9
B9
A10
B10
A11
B11
L
Standard
Controllers
Integrated
Table/Arm
/Flat Type
Mini
Standard
Gripper/
Rotary Type
Mechanical side
Controller side
Min. bend radius r = 68 mm or larger (when movable type is used)
CB-PSEP-MPA□□□
Model
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
Mechanical side
Pin number
1
2
4
5
3
6
16
17
5
6
13
14
1
2
3
4
10
11
9
12
15
7
8
18
L
Cleanroom
Type
Splash-Proof
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
Mechanical side
Controller side
Min. bend radius r = 68 mm or larger (when movable type is used)
CB-PCS-MPA□□□
Model
L
SSEL
XSEL
(15)
(ø12)
(8)
(18)
(20)
(5)
(18)
(30)
ACON
ASEL
(23)
(Front view)
(8) (Front view)
Mechanical side
Controller side
Min. bend radius r = 84 mm or larger (when movable type is used)
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
(Wire color)
Black
White
Red
Green
Yellow
Brown
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
Signal Pin Number
A
B1
VMM
A2
/A
A1
B
B3
VMM
B2
/B
A3
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
Motor-encoder integrated cable for connecting [RCA] and [ASEP]
Model
CB-ASEP-MPA□□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
Mechanical side
Pin number
1
2
Pulse Motor
L
3
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
Gray [ BK- ]
NC
NC
Black [ LS+ ]
Brown [ LS- ]
White [ A+ ]
Yellow [ A- ]
Red [ B+ ]
Green [ B- ]
White ( label) [VCC]
Yellow ( label) [VPS]
Red ( label) [GND]
Green ( label) [(spare)]
NC
NC
NC
Shield [ FG ]
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
PCON
PSEL
Controller side
Pin number
1
2
3
4
5
6
9
10
11
12
7
8
13
14
15
16
17
18
19
20
21
22
23
24
Black [ ǞA ]
White [ VMM ]
Red [ ǞB ]
Green [ VMM ]
Brown [ Ǟ/A ]
Yellow [ Ǟ/B ]
Orange [ BK+ ]
Motor-encoder integrated type cable for RCP3/RCP2 (Limited to RCP2-GRSS/GRLS/GRST/SRA4R/SRGS4R/SRGD4R types)
ERC2
SCON
1
2
5
3
4
6
7
8
11
12
13
14
15
16
9
10
20
18
17
19
21
24
22
23
Motor-encoder integrated cable for connecting [RCP2] and [PSEP]
Linear Servo
Type
Controllers
Controller side
Pin number
[PCON] (ACON)
Black [ ǞA ](U)
White [VMM](V)
Brown [ Ǟ/A ](W)
Green [ ǞB ]( - )
Yellow [VMM]( - )
Red [ Ǟ/B ]( - )
Orange [LS+](BK+)
Gray [LS-](BK-)
White [ - ](A+)
Yellow [ - ](A-)
Red [ A+ ](B+)
Green [ A- ](B-)
Black [ B+ ](Z+)
Brown [ B- ](Z-)
Black ( label) [BK+](LS+)
Brown ( label) [BK-](LS-)
Green ( label) [GNDLS](GNDLS)
Red ( label) [VPS](VPS)
White ( label) [VCC](VCC)
Yellow ( label) [GND](GND)
NC
Shield [FG](FG)
NC
NC
Mechanical side
Controller side
Min. bend radius r = 68 mm or larger (when movable type is used)
501
PSEP / ASEP
18
17
7
16
1
2
3
4
10
11
14
13
15
6
5
8
12
9
Red [ U ]
Yellow [ V ]
NC
NC
Black [ W ]
NC
Orange [ BK+ ]
Gray [ BK- ]
Black [ LS+ ]
Brown [ LS- ]
White [ A+ ]
Yellow [ A- ]
Red [ B+ ]
Green [ B- ]
Black ( label) [Z+]
Brown ( label) [Z-]
White ( label) [VCC]
Yellow ( label) [VPS]
Red ( label) [GND]
Green ( label) [(spare)]
NC
NC
NC
Shield [ FG ]
Controller side
Pin number
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
PSEP / ASEP Controller
Slider
Type
Motor-encoder integrated cable for connecting [RCA2/RCL] and [ACON/RACON/ASEL]
CB-ACS-MPA□□□
Model
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
Pin Number
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
L
(10)
(ø12)
(8)
(18)
(18)
(30)
(12)
(5)
(23)
(Front view)
)8( (Front view)
Mechanical side
Controller side
Min. bend radius r = 84 mm or larger (when movable type is used)
Signal
U
V
W
NC
NC
NC
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
−
/PS
VCC
GND
NC
FG
(Wire color)
Red
Yellow
Black
Signal
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)
BK+
BK−
LS+
LS−
A+
A−
B+
B−
Z+
Z−
−
/PS
VCC
GND
NC
FG
U
V
W
Shield
Pin Number
1
2
3
CB-RPSEP-MPA□□□
L
Mechanical side
Controller side
Min. bend radius r = 68 mm or larger (when movable type is used)
Black [ ØA ]
White [ VMM ]
Brown [ Ø/A ]
Green [ ØB ]
Yellow [ VMM ]
Red [ Ø/B ]
Orange [ LS+ ]
Gray [ LS- ]
Red [ A+ ]
Green [ A- ]
Black [ B+ ]
Brown [ B- ]
NC
NC
Black ( label) [BK+]
Brown ( label) [BK-]
Green ( label) [GNDLS]
Red ( label) [VPS]
White ( label) [VCC]
Yellow ( label) [GND]
NC
Shield [ FG ] (FG)
NC
NC
A1
B1
A2
B2
A3
B3
A6
B6
A7
B7
A8
B8
A4
B4
A5
B5
A9
B9
A10
B10
A11
B11
Standard
Controllers
Integrated
1
Table/Arm
/Flat Type
Controller side
Pin number
1
2
5
3
4
6
7
8
13
14
15
16
7
8
9
10
20
18
17
19
21
24
22
23
Mini
Standard
Gripper/
Rotary Type
Linear Servo
Type
Cleanroom
Type
Splash-Proof
Controllers
I/O cable for PSEP-C/ASEP-C
Model
Controllers
Integrated
Mini
* Enter the cable length (L) into □□□ . Compatible to a maximum of 20 meters.
Ex. 080 = 8m
Mechanical side
Pin number
Standard
Rod
Type
16
15
18
17
14
13
12
11
10
9
8
7
6
5
Motor-encoder integrated cable for connecting [RCP2 mini rotary] and [PSEP]
Model
Mini
CB-APSEP-PIO□□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex. 080 = 8m
PMEC
/AMEC
PSEP
/ASEP
ROBO
NET
L
10
2
9
1
51353-1000 (MOLEX)
No. Signal Color Wire
1
24V Brown
0V
Red
2
IN0 Orange
3
IN1 Yellow Flat
4
IN2 Green cable
5
IN3
6
Blue
7
OUT0 Purple (crimped)
OUT1 Gray
8
OUT2 White
9
10 OUT3 Black
PCON
ACON
SCON
PSEL
ASEL
I/O cable for PSEP-CW/ASEP-CW
Model
ERC2
CB-APSEPW-PIO□□□
* Enter the cable length (L) into □□□ . Compatible to a maximum of 10 meters.
Ex. 080 = 8m
SSEL
XSEL
L
10
9
2
1
51353-1000 (MOLEX)
No. Signal Color Wire
24V Brown
1
Brown0V
2
White
IN0
Red
3
RedIN1
4
White
IN2 Yellow Cable
5
IN3 Yellow6
White
7
OUT0 Green (crimped)
OUT1 Green8
White
OUT2 Black
9
10 OUT3 BlackWhite
Pulse Motor
Servo Motor
(24V)
Servo Motor
(200V)
Linear
Servo Motor
PSEP / ASEP
502

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