RCP2-Controler

RCP2-Controler
Controller Integrated Type
Controller
Controller
Splash
Proof Type
Cleanroom
Type
Gripper /
Rotary Type
Arm / Flat
Type
Rod
Type
Slider
Type
PCON
n Model C / CG / CY / PL / PO / SE
Position controller
for RCP2 series
C/CG
CY
SE
PL/PO
Type List
Position controller capable of operating RCP2 series actuator. Select from five types each supporting a different
control mode.
PL / PO
Type
C
CG
CY
SE
Name
Positioner type
Safety category type
Solenoid valve type
Description
Positioner supporting up
to 512 positioning points
C type conforming to
safety category
Number of
position points
512 points
512 points
3 points
—
64 points
—
—
—
—
—
Pulse-train control type Serial communication type
Same control actions as Controller for pulse-train
those used on air cylinders
control
Network controller
Model
PCON
Series
0
I
Type
Motor type Encoder type
Standard I/O
I/O cable length Power-supply voltage
ACON
PCON
ERC2
PS-24
Gateway
unit
Controller
Models
External
view
Incremental
0
SCON
I
* If SE (serial communication type) is
specified, “0” is automatically specified
for the I/O cable option (no cable).
SSEL
ASEL
PSEL
20P 20 square pulse motor type
XSEL
DC24V
Positioner type
28P 28 square pulse motor type
CG Safety category type
42P 42 square pulse motor type
CY Solenoid valve type
56P 56 square pulse motor type
C
SE
Serial communication type
PL
Pulse-train controltype
(differential receiver type)
PO Pulse-train controltype
(opencollector type)
305
PCON
NP NPN specification(standard)
0
No cable
PN PNP specification
2
2m
3
3m
5
5m
Controller
System Configuration
Controller Integrated Type
PCON
Slider
Type
P LC
Rod
Type
Arm / Flat
Type
Field network
(S upplied with the controller)
(S upplied with the controller)
(S upplied with the controller)
R efer to p. 314 for a
replacement cable.
R efer to p. 314 for a
replacement cable.
R efer to p. 314 for a
replacement cable.
Splash
Proof Type
I/O cable for
pulse-train control type
C B -PAC P U-P IO020
C able length
S tandard 2m
P C ON-P L / P O
P uls e-train control type
Gateway
unit
P C ON-C Y
S afety category type
P C ON-S E
S erial communication type
PS-24
P eripherals are common to all controllers .
P C s oftware
(R efer to p. 313)
R S 232 vers ion
<Model: R C M-101-MW>
US B vers ion
<Model: R C M-101-US B >
Teaching pendant
(R efer to p. 313)
<Model: R C M-T / TD>
<Model: R C M-E >
<Model: R C M-P >
ERC2
PCON
24-VDC power s upply
(R efer to p. 293)
<Model: P S -241 (100-V input)>
<Model: P S -242 (200-V input)>
Controller
Models
C ontroller link cable
(R efer to p. 290)
<Model: C B -R C B -C TL002>
Controller
S erial communication
P C ON-C / C G
P os itioner type
Cleanroom
Type
I/O cable for
s olenoid valve type
C B -PAC Y-P IO020
C able length
S tandard 2m
Gripper /
Rotary Type
I/O cable for
pos itioner type
C B -PAC -P IO020
C able length
S tandard 2m
G ateway unit
(R efer to p. 289)
DeviceNet type
<Model: R C M-G W-DV>
C C -Link type
<Model: R C M-G W-C C >
* The P C s oftware comes with a cable.
ACON
SCON
PSEL
Motor cable
<Model CB-RCP2-MA
>
S tandard 1m / 3m / 5m
R efer to p. 314 for a replacement cable.
ASEL
Actuator R C P 2 s eries
306
XSEL
PCON
SSEL
E ncoder cable
<Model CB-RCP2-PA
>
S tandard 1m / 3m / 5m
R efer to p. 314 for a replacement cable.
Controller Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
PCON
Controller
I/O Specifications
n Input Part External input specifications
Item
Input voltage
Input current
Leak current
Insulation method
n Output Part External output specifications
Item
Load voltage
Maximum load current
Residual voltage
Insulation method
Specification
24VDC ± 10%
4mA/circuit
1mA max./point
Photocoupler
NPN specification
Specification
DC24V
50mA/point
2V max.
Photocoupler
NPN specification
P24
P24V
External
power
supply
+24V
R=22Ω Each output
Internal
circuit
R=680Ω
Input terminal
R=5.6kΩ
Each input
Load
External
power
supply
+24V
N
Controller
Splash
Proof Type
Cleanroom
Type
Internal circuit
PNP specification
PNP specification
N
Internal
circuit
R=680Ω
P24V
Each output
R=5.6kΩ
Each input
Load
R=22Ω
Input terminal
External
power
supply
+24V
N
PS-24
The four controller types (C/CG, CY, PL/PO and SE) are differentiated by their I/O specifications. Since the positioner
type and solenoid valve type allow the I/O signal settings to be changed through the controller, multiple functions can
be provided for selection as needed.
SCON
ACON
PCON
I/O Specifications
ERC2
Gateway
unit
Controller
Models
Internal circuit
External
power
supply
+24V
n Controller Functions by Type
C / CG
Type
Name
Positioner type
PSEL
ASEL
SSEL
PL / PO
SE
Solenoid valve type
Pulse-train
control type
Serial
communication type
x
x
A ba s i c o p e rati o n m o de in whi c h th e
actuator is operated by specifying a position
number and then inputting a start signal.
x
x
In this mode, the slider (rod) can be moved
by means of an external signal to store the
achieved position as position data.
x
x
The actuator can be moved simply by ON/OFF of position
signals. This mode supports the same control actions you
are already familiar with on solenoid valves of air cylinders.
x
In this mode, you can operate the actuator
freely using pulse trains without inputting
position data.
Positioner mode
x
Teaching mode
XSEL
CY
Solenoid valve
mode
Pulse train
mode
Network support
307
PCON
x
x
x
Features
The controlle r can be conne cte d to a
DeviceNet or CC-Link network using a
gateway unit.
Controller
Explanation of I/O Signal Functions
Rod
Type
n Controller Functions by Type
Abbreviation
CSTR
This signal is used to input a target position number (binary input).
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 OFF 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
The actuator can be jogged with JOG+ and JOG- while this signal is OFF. The
actuator performs inching operation with JOG+ and JOG- while this signal is ON.
------
----
Teaching signal
In the teaching mode, specify a desired position number and then turn this signal ON
for at least 20 ms to write the current position under 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.
Position complete signal
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 using a parameter.
Completed position number signal
This signal is used to output the position number achieved at completion of
positioning (binary output).
HEND
Home return complete signal
This signal turns ON upon completion of home return.
ZONE1
Zone signal
This signal turns ON when the current actuator position has entered the range
specified by parameters.
PZONE
Position zone signal
This signal turns ON when the current actuator position has entered the range
specified by position data during position movement. PZONE can be used together
with ZONE1, but PZONE is valid only during movement to a specified position.
RMDS
Running mode status signal
This signal is used to output the running mode status.
* ALM
Controller alarm status signal
This signal remains ON while the controller is normal, and turns OFF if an alarm has
generated.
MOVE
Moving signal
This signal remains ON while the actuator is moving (including the periods during
home return and push-motion operation).
JOG+ JOG–
PWRT
ST0~ST6
TL
DCLR
PEND/INP
PM1~PM256
SV
MODES
Mode status signal
This signal turns ON when the controller has switched to the teaching mode via
MODE signal input. It turns OFF upon returning to the normal mode.
Write complete 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.
Current position number signal
This signal turns ON after the controller has completed moving to the target position
in the solenoid valve mode.
Torque limiting signal
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.
LSO~LS2
Limit switch output 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.
TRQS
Torque level status signal
This signal outputs when the current value of the motor reaches the limitation value,
before the JOG operation returns to the starting point and the slider (rod) collides to
the mechanical end or an obstacle.
WEND
PE0~PE6
TLR
308
XSEL
PCON
SSEL
Emergency stop status signal
ASEL
* EMGS
PSEL
This signal remains ON while the servo is on.
This signal remains ON while the controller is not in the emergency stop mode, and
turns OFF once an emergency stop has been actuated.
SCON
Servo ON status signal
ACON
Jog/inching switching signal
PCON
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).
ERC2
Teaching mode signal
PS-24
MODE
Gateway
unit
Turning this signal ON performs home-return operation.
Controller
Models
The servo remains on while this signal is ON, or off while the signal is OFF.
Home return signal
Controller
Servo ON signal
HOME
Splash
Proof Type
Command position number signal
BKRL
JISL
Output
PTP strobe signal (start signal)
Cleanroom
Type
Input
Function description
Input this signal to cause the actuator to start moving to the position set by the
command position number signal.
Gripper /
Rotary Type
PC1~PC256
Signal name
Arm / Flat
Type
Category
Slider
Type
The table below explains the functions assigned to the respective I/O signals of the controller.
Since the signals that can be used vary depending on the controller type and settings, check the signal table for each
controller to confirm the available functions.
Controller Integrated Type
PCON
Controller Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
Controller
Models
Gateway
unit
PS-24
ERC2
PCON
PCON
Controller
I/O Signal Table
n Positioner type (PCON-C / CG)
0
Positioning mode
Pin
Category
number
Number of positioning points
64 points
Zone signal
P zone signal
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
1
Teaching mode
64 points
x
24V
P24
24V
P24
−
NC
−
Input
Output
ACON
SCON
PSEL
ASEL
SSEL
4
5
Solenoid valve mode 1 Solenoid valve mode 2
7 points
3 points
NC
IN0
PC1
PC1
PC1
PC1
ST0
ST0
IN1
PC2
PC2
PC2
PC2
ST1
ST1 (JOG+)
IN2
PC4
PC4
PC4
PC4
ST2
ST2 (–)
IN3
PC8
PC8
PC8
PC8
ST3
−
IN4
PC16
PC16
PC16
PC16
ST4
−
IN5
PC32
PC32
PC32
PC32
ST5
−
IN6
−
MODE
PC64
PC64
ST6
−
IN7
−
JISL
PC128
PC128
−
−
IN8
−
JOG+
−
PC256
−
−
IN9
BKRL
JOG-
BKRL
BKRL
BKRL
BKRL
IN10
RMOD
RMOD
RMOD
RMOD
RMOD
RMOD
IN11
HOME
* STP
HOME
* STP
HOME
* STP
HOME
* STP
−
IN12
HOME
* STP
IN13
CSTR
CSTR/PWRT
CSTR
CSTR
−
−
IN14
RES
RES
RES
RES
RES
RES
SON
−
IN15
SON
SON
SON
SON
SON
OUT0
PM1
PM1
PM1
PM1
PE0
LSO
OUT1
PM2
PM2
PM2
PM2
PE1
LS1 (TRQS)
OUT2
PM4
PM4
PM4
PM4
PE2
LS2(–)
OUT3
PM8
PM8
PM8
PM8
PE3
−
OUT4
PM16
PM16
PM16
PM16
PE4
−
OUT5
PM32
PM32
PM32
PM32
PE5
−
OUT6
MOVE
MOVE
PM64
PM64
PE6
−
OUT7
ZONE1
MODES
PM128
PM128
ZONE1
ZONE1
OUT8
PZONE
PZONE
PZONE
PM256
PZONE
PZONE
OUT9
RMDS
RMDS
RMDS
RMDS
RMDS
RMDS
OUT10
HEND
HEND
HEND
HEND
HEND
HEND
OUT11
PEND
PEND/WEND
PEND
PEND
PEND
−
OUT12
SV
* EMGS
SV
* EMGS
SV
* EMGS
SV
* EMGS
SV
OUT13
SV
* EMGS
* EMGS
OUT14
* ALM
* ALM
* ALM
* ALM
* ALM
* ALM
−
−
−
−
−
−
−
NC
−
NC
0V
N
0V
N
(Note) The signal names inside the parenthesis become the function before returning to the starting point.
n Solenoid valve type (PCON-CY)
XSEL
Parameter (PIO pattern) selection
2
3
256-point mode
512-point mode
256 points
512 points
x
x
x
n Pulse-train type (PCON-PL/PO)
Parameter (PIO pattern) selection
0
1
Solenoid valve mode 0 Solenoid valve mode 1
Pin
Category
number
Number of positioning points
3 points
3 points
Zone signal
x
x
P zone signal
x
1
2
3
4
5
6
7
8
9
10
11
12
309
24V
0V
Input
Output
IN0
ST0
ST0
IN1
ST1(JOG)
ST1(JOG)
IN2
ST2(−)
ST2(−)
IN3
SON
SON
OUT0
LS0
PE0
OUT1
LS1(TRQS)
PE1(TRQS)
OUT2
LS2(−)
PE2(−)
OUT3
SV
PZONE
OUT4
HEND
* ALM
HEND
* ALM
OUT5
(Note) The signal names inside the parenthesis become
the function before returning to the starting point.
PCON
Pin
Category
number
Number of positioning points
Zone signal
P zone signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Parameter (PIO pattern) selection
0
1
Standard mode
Push mode
−
−
x
x
x
x
IN0
SON
SON
IN1
TL
TL
IN2
HOME
HOME
RES/DCLR
24V
0V
Input
Output
IN3
RES
OUT0
SV
SV
OUT1
INP
INP/TLR
OUT2
HEND
* ALM
HEND
* ALM
* PP
* PP
OUT3
Input
PP
PP
* NP
* NP
NP
NP
Controller
Wiring Diagram for Pulse-Train Input Type
Slider
Type
n Differential Receiver Method (PCON-PL)
24V
External 0 V
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
Controller
External 24 V
2
Splash
Proof Type
1
Cleanroom
Type
Signal name
Gripper /
Rotary Type
Category
13
Arm / Flat
Type
Shield
Pin number
12
Rod
Type
Maximum input pulse frequency : MAX 200kpps
Cable length
: MAX 10m
PIO connector
/PP
PP
Differential input
Controller Integrated Type
PCON
/NP
14
NP
FG
Mounting plate
Controller
Models
* The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate.
Gateway
unit
n Open Collector Method (PCON-PO)
Maximum input pulse frequency : MAX 60kpps
Cable length
: MAX 2m
PS-24
PIO connector
Shield
1
External 24 V
24V
2
External 0 V
0V
3
Input
SON
4
Input
TL
5
Input
HOME
6
Input
RES
7
Output
SV
8
Output
INP
HEND
Output
* ALM
11
N.C
/PP
12
Open collector input
PP
13
N.C
/NP
14
Open collector input
NP
DC24V±10%
ASEL
Mounting plate
PSEL
Output
SCON
9
10
ACON
Signal name
PCON
Category
ERC2
Pin number
FG
SSEL
* The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate.
* Connect the external 0-V pin (common) to the ground for controller power.
310
XSEL
PCON
Input terminal
Forward pulse train
PP • /PP
Reverse pulse train
NP • /NP
Forward
Reverse
Negative logic
Forward pulse trains and reverse pulse trains indicate the motor revolutions in forward direction and reverse direction, respectively.
Cleanroom
Type
Gripper /
Rotary Type
Arm / Flat
Type
Rod
Type
Command pulse train pattern
Pulse train
PP • /PP
Sign
NP • /NP
Low
High
Command pulses indicate the motor revolutions, while the sign of the command indicates the rotating direction.
PP • /PP
Phase-A/B pulse train
NP • /NP
Splash
Proof Type
Phase-A/B (x4) pulses with a 90° phase difference specify both the revolutions and rotating direction.
Forward pulse train
PP • /PP
Reverse pulse train
NP • /NP
Pulse train
PP • /PP
Sign
NP • /NP
Positive logic
Controller
Controller
Command Pulse Input Patterns
Slider
Type
Controller Integrated Type
PCON
High
Low
PSEL
SCON
ACON
PCON
ERC2
PS-24
Gateway
unit
Controller
Models
PP • /PP
Phase-A/B pulse train
NP • /NP
Specification Table
Item
Controller type
Connectable actuators
Number of controlled axes
Operation method
Number of positioning points
Backup memory
I/O connector
Number of I/O points
I/O power supply
Serial communication
Peripheral communication cable
Command pulse-train input method
Maximum input pulse frequency (Note 2)
Position detection method
Drive-source cutoff relay at emergency stop
Forced release of electromagnetic brake
Motor cable
Encoder cable
Input power supply
Power-supply capacity
Dielectric strength voltage
XSEL
SSEL
ASEL
Vibration resistance
Ambient operating temperature
Ambient operating humidity
Operating ambience
Protection class
Weight
Specification
C
CG
Positioner type
512 points
CY
PL
PCON
SE
Serial communication type
64 points
EEPROM
40-pin connector
12-pin connector
14-pin connector
16 input points / 16 output points
4 input points / 6 output points
4 input points / 4 output points
Externally supplied 24VDC ± 10%
None
None
—
RS485 1ch
CB-PAC-PIO ccc
—
—
Built-in
Brake release switch ON/OFF
XYZ directions
CB-PACY-PIO ccc
CB-PACPU-PIO ccc
Differential line driver
Open collector
Max 200kpps
Max 60kpps
CB-RCB-CTL002
—
—
Incremental encoder
External
BK-release terminal signal ON/OFF on power connector
CB-RCP2-MA ccc (20m max.)
CB-RCP2-PA ccc (20m max.)
DC24V±10%
2A max.
DC500V 1MΩ
10~57Hz One-side amplitude 0.035mm (continuous), 0.075mm (intermittent)
58~150Hz 4.9m/s2 (continuous), 9.8m/s2 (intermittent)
0~40˚C
10~95% (non-condensing)
Free from corrosive gases
IP20
Approx. 300g
(Note 1) The high-thrust type (RFA), 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.
311
PO
RCP2 series actuator (Note 1)
1 axis
Solenoid valve type
Pulse-train control type
3 points
—
Approx. 130g
Controller
External Dimensions
PCON-CY / PL / PO / SE
84
68.1
ø5
35
Slider
Type
PCON-C / CG
35
Controller Integrated Type
PCON
68.1
ø5
68.1
Rod
Type
ø5
120
112
178.5
Gripper /
Rotary Type
170.5
Arm / Flat
Type
Cleanroom
Type
Splash
Proof Type
5
5
1
35
LED indicators
These LED indicate the condition of the controller.
84
ø5
68.1
Unlit
68.1
Servo on Lit (red)
4
Connect a cable for communicating with a PLC or
2 PIO connector
178.5
170.5
other external equipment.
112
120
6 Encoder/brake connector
3 Address-setting rotary switch
T his switch is used to set the address of each
controller when multiple controllers are linked.
8 Motor connector
4 Mode switch
Connect the motor cable of the actuator.
This switch is used to switch between teaching
operation (MANU) and automatic operation (AUTO).
9
C / CG type
I/O commands are not accepted. Data
can be written from a teaching pendant.
AUTO
I/O commands are valid, while operations
from a teaching pendant are not accepted.
Monitoring is possible.
1
S1
Name
MPO
Motor drive-source cutoff terminal
Operation details
3
24V
Positive side of the 24-V power supply
2
0V
Negative side of the 24-V power supply
1
EMG
Signal
Pin
RS485 differential signal+
6
RS485 differential signal-
3
5V
8
4
ENBL
6
9
0V
Ground
line connection to
EMGB EMG
external equipment
Ground for EMG line connection
0V
to external equipment
For T/P
CY / PL / PO / SE types
Pin
number
Signal
Name
6
BK
Brake 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
Name
EMG signal (application of 24 V)
PCON
312
XSEL
* PIO connector pins
CY: 12 pins
PL/PO: 14 pins
SSEL
8
Enable signal
line connection to
EMGA EMG
external equipment
24V 24-V power for T/P
For RS232/485
conversion
ASEL
5
+5-V output
EMG signal (application of 24 V)
PSEL
SGA
SGB
Remarks
SCON
Motor drive-source cutoff terminal
4
ACON
S2
MPI
1
SE
type
7
5
7
CY / PL / PO
type
Signal
Name
6
2
9
Pin
number
onnect a teaching-pendant or PC cable, or a
C
controller to connect to a gateway unit.
Pin
number
5
C/CG types
TP_EMG external drive-source
cutoff terminal
5 SIO connector
2
upplies the main controller power and actuates an
S
emergency stop.
PCON
MANU
5
9 Power terminal block
ERC2
Operation details
5
7 Brake release switc
A switch to forcibly release the brake
PS-24
8
Connect the encoder/brake cables of the actuator.
Gateway
unit
6
Automatic servo-off mode
Controller
Models
5
1
Alarm present Lit (green) Servo off
2
3
7
Blinking (green)
Controller
Name of Each Part
Options
n Teaching Pendant
Name
Teaching Pendant
Simple teaching pendant
Data setting unit
Model
RCM-T (standard specification)
RCM-TD (with deadman switch *1)
RCM-E
RCM-P
Standard price
—
—
—
A standard, user-friendly teaching pendant
equipped with a large LCD screen.
A deadman switch type ensuring added safety
is also available.
An economical type offering the same
functions as the RCA-T at a substantially lower
price.
An affordable data setting unit that provides all
editing functions other than those relating to
axis operation.
Display
21 characters x 16 lines on LCD
16 characters x 2 lines on LCD
16 characters x 2 lines on LCD
Weight
Approx. 550g
Approx. 400g
Approx. 360g
Cable length
5m
5m
5m
External view
Features
Ambient operating
temperature, humidity
Temperature: 0~40°C, Humidity: 85% RH or below
32.5
(113.5)
7.5
15.1 26.2
Gateway
unit
ø4.8
80
86
23
140
249.5
External
dimensions
6.3
148.5
43
105
Controller
Models
* This unit does not support operations relating to axis movement.
21
Splash
Proof Type
Controller
An input device that provides all functions you need for trial operation and adjustment, such as position data input,
test operation, as well as monitoring of current axis positions and input/output signals.
23.5
Controller Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Controller
Cleanroom
Type
Gripper /
Rotary Type
PCON
7
72.5
(34)
PS-24
n RS232
Communication Type
Model RCM-101-MW
n USB
Communication Type
Model RCM-101-USB
<Content>PC software (CD-ROM),
PC cable
(communication cable +
RS232 conversion unit)
<Content>PC software (CD-ROM),
PC cable
(communication cable + USB
conversion unit + USB cable)
XSEL
SSEL
ASEL
PSEL
SCON
ACON
PCON
n PC Software
ERC2
*1 The deadman switch is a safety switch that cuts off the drive source when released to disable operation.
313
PCON
A software program that helps input position data and perform test operation.
It significantly facilitates debugging operation by offering wide-ranging functions including jogging, inching, step
operation and continuous operation.
Controller
Spare Parts
Slider
Type
Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below.
Controller Integrated Type
PCON
Motor C able
CB-RCP2-MA c c c
(Front view)
(Front view)
L
Controller end
CN3
(14)
C
N
1
CN3
(14)
Actuator end
M cable
CN1
Orange
A
A1
Grey VMM A2
B
A3
I-1318119-3 White
Yellow
A
B1
(AMP)
Pink VMM B2
Orange (black 1) B
B3
1
A
Yellow
2 VMM Grey
3
A
Orange SLP-06V
4
B Orange (black 1)
(JST)
5 VMM Pink
6
B
White
* The standard encoder cable is a normal cable. * c c c indic ates the c able length (L). Lengths up
to 20 m c an be spec ified. E xample) 080 = 8 m
A robot cable can be specified as an option.
CN4
(13) (15)
(Front view)
L
Actuator end
PHDR-16VS
(JST)
CN4
(Front view)
Signal Pin
name number
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
Pin Signal Cable
number name color CN2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Shield wire
Drain wire
ENA
ENA
ENB
ENB
–
–
–
–
GND
VBB
VPS
–
–
–
–
BK+
BK–
F.G
Brown
Green
Purple
Pink
-
Blue
Orange
Yellow
-
Red
Grey
Drain
Controller
(BAT2)
(BAT1)
BK+
Grey BK–
Brown ENA
Green ENA
Purple ENB
Pink ENB
Black
–
Yellow VPS
Orange VBB
Blue GND
(N.C)
(N.C)
(N.C)
Drain F.G
Splash
Proof Type
C
N
2
Controller end
Cable
color
Red
(25)
(18)
(ø9)
(35)
(8)
Cleanroom
Type
(5)
XMP-18V
(JST)
CB-RCP2-PA c c c /CB-RCP2-PA c c c -RB
Gripper /
Rotary Type
E nc oder C able / E nc oder R obot C able
Arm / Flat
Type
(15)
(20)
(28)
(20)
(ø8)
(8)
* c c c indic ates the c able length (L). Lengths up to
20 m c an be s pec ified. E xample) 080 = 8 m
* The s tandard motor c able is
a robot c able.
Rod
Type
Model
I/O C able for Pos itioner Type (P C ON- C /C G )
Model
* c c c indic ates the c able length (L). Lengths up to
20 m c an be s pec ified. E xample) 080 = 8 m
CB-PAC-PIO c c c
L
A
20B
1A
1B
Half-pitch MIL socket:
HIF6 – 40D – 1.27R (Hirose)
Flat cable (20 cores) x 2
* c c c indic ates the c able length (L). Lengths up to
20 m c an be s pec ified. E xample) 080 = 8 m
CB-PACY-PIO c c c
51353-1200 (MOLEX)
L
11
2
1
No connector
Housing: 51353–1200 (MOLEX)
Contact: 56134–9000 (MOLEX)
24V
0V
IN0
IN1
IN2
IN3
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
Cable
Wire
color
Brown
Red-1
Orange-1
Yellow-1
Green-1
Flat cable
Blue-1
Purple-1 (pressure-welded)
AWG28
Grey-1
White-1
Black-1
Brown-2
Red-2
SCON
I/O C able for P uls e- Train C ontrol Type (P C ON- P L /P O)
* c c c indic ates the c able length (L). Lengths up to
20 m c an be s pec ified. E xample) 080 = 8 m
CB-PACPU-PIO c c c
Single wire (UL1007, AWG24, green)
110
0.5-5 (JST)
FG White / Grey AWG24
314
XSEL
PCON
SSEL
1
ASEL
Black
White / Black
Red
White / Red
Green
White / Green
Housing: 51353–1400 (MOLEX)
Yellow
Contact: 56134–9000 (MOLEX) No
connector White / Yellow
Brown
end
White / Brown
Blue
White / Blue
Grey
White / Grey
Round terminal: 0.5-5 (JST)
51353-1400 (MOLEX)
Signal Cable
No. name
Wire
color
1 IO_24V Black
2 IO_24G White / Black
Red
3
IN0
4
IN1 White / Red
Green
5
IN2
6
IN3 White / Green 0.2sq
7 OUT0 Yellow
8 OUT1 White / Yellow
9 OUT2 Brown
10 OUT3 White / Brown
Blue
11
PP
12
PG White / Blue
Grey
13
NP
14
NG White / Grey
PSEL
L
No connector
ACON
12
1
2
3
4
5
6
7
8
9
10
11
12
PCON
No. Signal
name
Model
ERC2
I/O C able for S olenoid Valve Type (P C ON- C Y )
Model
PS-24
No connector
20A
Cable
Gateway
unit
B
Signal
No. name
Wire
color
1B OUT0 Brown-3
2B OUT1 Red-3
3B OUT2 Orange-3
4B OUT3 Yellow-3
5B OUT4 Green-3
6B OUT5 Blue-3
7B OUT6 Purple-3
8B OUT7 Grey-3
9B OUT8 White-3
10B OUT9 Black-3
Flat cable B
11B OUT10 Brown-4 (pressure-welded)
AWG28
12B OUT11 Red-4
13B OUT12 Orange-4
14B OUT13 Yellow-4
15B OUT14 Green-4
16B OUT15 Blue-4
Purple-4
—
17B
Grey-4
—
18B
19B 0V White-4
Black-4
20B 0V
Controller
Models
No connector
HIF6 – 40D – 1.27R
Signal Cable
No. name
Wire
color
1A 24V Brown-1
Red-1
2A 24V
— Orange-1
3A
Yellow-1
—
4A
IN0 Green-1
5A
Blue-1
IN1
6A
IN2 Purple-1
7A
Grey-1
IN3
8A
IN4 White-1
9A
10A IN5 Black-1
Flat cable A
11A IN6 Brown-2 (pressure-welded)
AWG28
Red-2
12A IN7
13A IN8 Orange-2
14A IN9 Yellow-2
15A IN10 Green-2
16A IN11 Blue-2
17A IN12 Purple-2
18A IN13 Grey-2
19A IN14 White-2
20A IN15 Black-2
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