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Network Controller
Network
NetworkController
Controller
Network Controller
www.intelligentactuator.com
Greatly
reduces
time
effort
wiring
Greatly
reduces
time
andand
effort
of of
wiring
installation
andand
installation
RoboNet is a new type of controller unit that can freely operate
RoboNet is a new type of controller unit that can freely operate
robot cylinders via a field network. This makes it possible to greatly
robot cylinders via a field network. This makes it possible to greatly
reduce the time and effort of wiring installation compared to conventional
reduce the time and effort of wiring installation compared to conventional
controllers by reducing wiring, making the controller smaller, and using DIN rail installation.
controllers by reducing wiring, making the controller smaller, and using DIN rail installation.
Part conveyance C
Part conveyance C
N
2
Press fit B
Press fit B
Ejection
Ejection
Press fit A
Press fit A
Part conveyance B
Part conveyance B
Part conveyance A
Part conveyance A
3
3
PLC
PLC
Field network
Field network
DeviceNet/CC-Link/ProfiBus
DeviceNet/CC-Link/ProfiBus
11
Reduced
wiring
Reduced
wiring
3
Part conveyance C
Part conveyance C
2
Press fit B
2
Press fit B
Part conveyance B
Ejection
Part conveyance B
Ejection
Operation
Press fit A
1
Operation
Press fit A
1
Operation
Part conveyanceOperation
A
Part conveyance A
Operation
Operation
PLC
PLC
Field network
Field network
DeviceNet
DeviceNet CC-Link
CC-Link ProfiBus
Move position/velocity/acceleration and other data
ProfiBus
Move position/velocity/acceleration and other data
By connecting each line of the I/O cable to lines
By connecting each line of the I/O cable to lines
wired to the PLC terminals with the field network,
wired to the PLC terminals with the field network,
1
wiring processing is completed with one
1
2
wiring processing is completed with one
dedicated cable.
dedicated cable.
Also, since the unit can be coupled by just
Also, since the unit can be coupled by just
connecting with the unit connection board, the
connecting with the unit connection board, the
controller wiring work is greatly simplified.
Part conveyance A Part conveyance B
controller wiring work is greatly simplified.
Part conveyance A Part conveyance B Press fit A
Robonet communication
Robonet communication
connection board (See Page 10.)
connection board (See Page 10.)
Power supply
Power supply
connection board (See Page 10.)
connection board (See Page 10.)
2
3
3
Press fit A Part conveyance C Press fit B Ejection
Part conveyance C Press fit B Ejection
Terminal resistance board
Terminal resistance
board
(See Page
10.)
(See Page 10.)
(Coupling section within RoboNet unit)
(Coupling section within RoboNet unit)
1 1
4
5
6
Newly
Developed
Network
Controller
Newly
Developed
Network
Controller
Arrives!
Arrives!
22
The robot can be moved by directly specifying
The robot can be moved by directly specifying
numeric values for the move position/velocity/
numeric values for the move position/velocity/
acceleration and other data.
acceleration and other data.
Besides the conventional method of moving the robot to pre-taught
ROBONET
Standard controller
controller ROBONET(ACON/PCON)
Standard controller
controller
(ACON/PCON)
Position specification
○
Besides the conventional method of moving the robot to pre-taught movement Position specification ○
○
○
positions it is also possible to operate the robot by sending
movement
Direct numeric
value
○
movement
positions it is also possible to operate the robot by sending specificationDirect
numeric value
△
○
information as a string of numeric data that contains position,
specification movement
Velocity/acceleration
(Not possible with PIO)△
information as a string of numeric data that contains position, specificationVelocity/acceleration ○
velocity, acceleration, etc. values. This is effective for cases such as
○ (Possible with
(Notserial
possible with PIO)
specification
velocity, acceleration, etc. values. This is effective for cases such as Current value output
communications)
○
(Possible with serial
when the move position changes with each piece or when one wants
Current value output
communications)
○
when the move position changes with each piece or when one wants * RoboNet operates via the field network;
to move the robot to an arbitrary position.
* RoboNet
operates
via the
field
network;
the standard
controller
operates
with
PIO.
to move the robot to an arbitrary position.
the standard controller operates with PIO.
33
34mm
Ultra-compact
Ultra-compact
Each unit is an ultra-compact size of 34mm wide by 100mm high x 73 mm deep.
Each unit is an ultra-compact size of 34mm wide by 100mm high x 73 mm deep.
Also, since there is no base unit and the main unit is coupled with connectors, the
Also, since there is no base unit and the main unit is coupled with connectors, the
100mm
controller takes up little space for installation even if there are many units.
controller takes up little space for installation even if there are many units.
44
Can operate up to 16 axes
Can operate up to 16 axes
Communications
Unit 2Communications
Unit 2
Up to 16 controller units can be connected to one
Up to 16 controller units can be connected to one
communications unit (GatewayR unit).
communications unit (GatewayR unit).
One can also freely mix and connect RACON units (RCA
One can also freely mix and connect RACON units (RCA
controllers) and RPCON units (RCP2 controllers).
controllers) and RPCON units (RCP2 controllers).
55
Simple absolute specifications that do not require
Simple absolute specifications that do not require
a return to home position
a return to home position
34mm
100mm
Controller unit
Up to 16 units
Controller unit
can be connected
Up to 16 units
can be connected
Simple absolute R unit
Simple absolute R unit
RACON
RPCON
The simple absolute R unit makes it possible to operate incremental specification axes
The simple absolute R unit makes it possible to operate incremental specification axes
without returning to the home position. By mounting a simple absolute R unit on a RACON
without returning to the home position. By mounting a simple absolute R unit on a RACON
unit (RCA controller)/RPCON unit (RCP2 controller), the actuator encoder data is backed up
unit (RCA controller)/RPCON unit (RCP2 controller), the actuator encoder data is backed up
even if the power is cut off.
even if the power is cut off.
RACON
RPCON
66
DIN rail installation
DIN rail installation
The controller is installed with DIN rails, so it can be fastened and removed with one touch.
The controller is installed with DIN rails, so it can be fastened and removed with one touch.
2 2
System configuration/component units
System configuration/component units
System configuration/component units
Systemconfiguration
configuration
System
System configuration
OO
O
Ro
ＰＬＣ
ＰＬＣ
ＰＬＣ
Field network
・DeviceNet
・DeviceNet
・CC-Link
・CC-Link
・ProfiBus
・ProfiBus
・DeviceNet
・CC-Link
・ProfiBus
Field network
Teaching box
Teaching
(option)box
(option)
(Model: CON-T／RCM-E／RCM-P)
(Model:
CON-T／RCM-E／RCM-P)
Teaching
box
(See
Page
9.)
(See
Page 9.)
(option)
(Model: CON-T／RCM-E／RCM-P)
(See Page 9.)
Rob
It c
ItRo
ca
Us
Use
It c
Field network
Us
1
* When an actuator is used with the simple
* When
an actuator
is usedawith
theabsolute
simple
absolute
specification,
simple
absolute
specification,
simple absolute
R is mounted
and the aencoder
cable is
is mounted
encoder
isunit side.
*RWhen
an actuator
is used
withcable
the Rsimple
connected
toand
thethe
simple
absolute
connected
to the simple aabsolute
R unit side.
absolute specification,
simple absolute
R is mounted and the encoder cable is
connected to the simple absolute R unit side.
PC software (option)
PCRS232
software
(option)board
connection
RS232
connection
board
(Model:
RCM-101-MW)
(Model:
RCM-101-MW)
PC software
(option)
RS232
connection
board
USB
connection
board
USB
connection
board
RCM-101-MW)
(Model:
RCM-101-USB)
(Model:
RCM-101-USB)
(See Page 9.)
(See
9.)
USBPage
connection
board
(Model: RCM-101-USB)
(See Page 9.)
2
Encoder cable (attached to actuator)
Encoder
(attached to actuator)
(Model:cable
CB-RCP2-PA)
(Model:
CB-RCP2-PA)
(See Page
10.)
(See
Page 10.)
Encoder
cable (attached to actuator)
(Model: CB-RCP2-PA)
(See Page 10.)
Motor cable (attached to actuator)
Motor
cable
(attached to actuator)
(Model:
CB-RCP2-MA)
(Model:
CB-RCP2-MA)
(See Page
10.)
(See
Page
10.)
Motor cable (attached to actuator)
Encoder
cable (attached to actuator)
(Model: CB-RCP2-MA)
Encoder
cable
(Model:
CB-ACS-PA)
(See Page
10.)(attached to actuator)
(Model:
CB-ACS-PA)
(See Page 10.)
(See
Page 10.)
Encoder
cable (attached to actuator)
(Model: CB-ACS-PA)
(See Page 10.)
24 VDC power supply
24(Model:
VDC power
supply
PS-241
(100V input))
(Model:
(Model:PS-241
PS-242(100V
(200Vinput))
input))
(Model:
PS-242
24 VDC
power
supplyinput))
(See
Page
9.) (200V
(See
Page
9.)
(Model: PS-241 (100V input))
(Model: PS-242 (200V input))
(See Page 9.)
Motor cable (attached to actuator)
Motor
cable
(attached to actuator)
(Model:
CB-ACS-MA)
(Model:
CB-ACS-MA)
(See Page
10.)
(See
Page
10.) (attached to actuator)
Motor
cable
(Model: CB-ACS-MA)
(See Page 10.)
3
Actuator RCP2 series
Actuator RCP2 series
Actuator RCP2 series
LL
L
Actuator RCA series
Actuator RCA series
Actuator RCA series
Componentunit/ordering
unit/orderingmethod
methodexplanation
explanation
Component
Component unit/ordering method explanation
For RoboNet, you order the required units individually and use them together freely.
For RoboNet, you order the required units individually and use them together freely.
Even if you want to add actuators later, you can do so simply by ordering additional RACON/RPCON units.
Even
if you want
toorder
add actuators
later,units
you individually
can do so simply
by ordering
additional
RACON/RPCON units.
For RoboNet,
you
the required
and use
them together
freely.
Even if you want to add actuators later, you can do so simply
by ordering additional RACON/RPCON
units.
Unit name
Contents
Unit name
Gateway
Gateway
R unit
R unit
Gateway
R unit
RACON
RACON
unit
unit
RACON
unit
User's manual
User's manual
RPCON
RPCON
unit
unit
RPCON
unit
Simple
Simple
absolute
absolute
R unit
RSimple
unit
absolute
R unit
The RoboNet user's manual comes with the RoboNet
The
RoboNet
user's
manual comes
the RoboNet
not
as a printed
document,
but aswith
a CD-ROM.
User's
manual
not
ascan
a printed
document,
as amanual
CD-ROM.
You
also download
thebut
user's
from our
Thecan
RoboNet
user's manual
comes
with the
You
also download
the user's
manual
fromRoboNet
our
homepage.
not as a printed document, but as a CD-ROM.
homepage.
You can also download the user's manual from our
homepage.
33
3
See Page _
See Page _
Contents
This unit is for connection to the field network.
unitare
is for
connection
to thefrom:
fieldDeviceNet/CC-Link/ProfiBus/SIO.
network.
There
four
types to select
Unit
name This
Contents
Gateway
There
four
to select
DeviceNet/CC-Link/ProfiBus/SIO.
Gateway
* Thisare
unit
is atypes
required
unit from:
for using
RoboNet.
R unit
Thisunit
unitisisafor
connection
to the
field
network.
* This
required
unit for
using
RoboNet.
R unit
There are four types to select from: DeviceNet/CC-Link/ProfiBus/SIO.
Gateway
This
the controller
unit
forfor
operating
an RCA actuator.
* Thisisunit
is a required
unit
using RoboNet.
R unit
This
is the
controller
for operating
(Each
actuator
axisunit
requires
one unit.)an RCA actuator.
RACON
(Each
requires one
RACON
The actuator
standardaxis
specifications
areunit.)
the incremental specifications, but this unit can be used
unit
This
isthe
thesimple
controller
unit for
an
actuator.
The
standard
specifications
areoperating
the incremental
buta this
unitabsolute
can be used
unit
with
absolute
specifications
byRCA
justspecifications,
combining with
simple
R unit.
(Each
axis requires
one unit.) by just combining with a simple absolute R unit.
with
theactuator
simple absolute
specifications
RACON
This
is the controller
unit forare
operating
an RCP2 actuator.
The standard
specifications
the incremental
specifications, but this unit can be used
unit
This
is the
controller
unit
for operating
RCP2 actuator.
(Each
actuator
requires
one unit.)anby
with the
simpleaxis
absolute
specifications
just combining with a simple absolute R unit.
RPCON
(Each
requires one
RPCON
The actuator
standardaxis
specifications
areunit.)
the incremental specifications, but this unit can be used
unit
This
is
the
controller
unit
for
operating
an
RCP2
actuator. with
The
standard
specifications
are
the
incremental
buta this
unitabsolute
can be used
unit
with the simple absolute specifications by justspecifications,
combining
simple
R unit.
(Each
axis requires
one unit.) by just combining with a simple absolute R unit.
with
theactuator
simple absolute
specifications
RPCON
is the backup
battery unit
Simpleunit
absolute This
The standard
specifications
arefor
theholding
incremental specifications, but this unit can be used
This
is the backup
battery
unit
for holding
SimpleRabsolute
unit
the
encoder
data
when
the power
is switched
Off.with a simple absolute R unit.
withactuator
the simple
absolute
specifications
by just
combining
R unit
the actuator encoder data when the power is switched Off.
Simple absolute This is the backup battery unit for holding
R unit
the actuator encoder data when the power is switched Off.
See Page
P5 _
P5P6
P6
P5
P6
P7
P7
P7
P7
P7
P7
P8
P8
P8
■ Order method RoboNet is used by ordering the necessary units one by one and using them together.
is used by ordering the necessary units one by one and using them together.
■ Order method RoboNet
This means you can add or change units afterwards.
This means you can add or change units afterwards.
RoboNet
is used
by ordering
the necessary
one by one
and usingwith
themabsolute
together.specifications are as follows.
(Order
example)
■ Order
method
Operating
the two
actuator
axes below
via CC-Linkunits
The models
for operating
(Order example) OperatingThis
themeans
two actuator
via CC-Link
The models for operating with absolute specifications are as follows.
you canaxes
addbelow
or change
units afterwards.
(Order example) Operating the two actuator axes below via CC-Link The models for operating with absolute specifications are as follows.
Actuator 1
Actuator
Model/1
Model/
RCA-RA3D～
RCA-RA3D～
Actuator 1
Model/
RCA-RA3D～
Actuator 2
Actuator
Model/2
Model/
RCP2-RA3C～
RCP2-RA3C～
Actuator 2
Model/
RCP2-RA3C～
CC-Link
CC-Link
Gateway unit
Gateway
Model/unit
Model/
RGW-CC
CC-Link
RGW-CC
Gateway unit
Model/
RGW-CC
Actuator 1
Actuator
1 unit
Controller
Controller
Model/ unit
Model/
RACON-20
Actuator 1
RACON-20
Controller unit
Model/
RACON-20
Simple
Simple
absolute unit
absolute
Model/unit
Model/
RABU
Simple
RABU
absolute unit
Model/
RABU
Actuator 2
Actuator
2 unit
Controller
Controller
Model/ unit
Model/
RPCON-28SP
Actuator 2
RPCON-28SP
Controller unit
Model/
RPCON-28SP
Simple
Simple
absolute unit
absolute
Model/unit
Model/
RABU
Simple
RABU
absolute unit
Model/
RABU
N
Nu
M
N
Mo
D
DirM
D
DirD
D
DirD
PD
Pre
CP
Com
ZC
Zon
PZ
Pos
Te
P
Tea
Jo
Te
Jog
In
Jo
Inc
SIn
Sta
CS
Cur
AC
Ala
VA
Vel
M
V
Ma
N
NuM
* TN
* Th
b
by
*T
b
Operating mode explanation
Operating mode explanation
Operating mode explanation
Operating mode explanation
Operating
explanation
ating mode explanation
Operating
modemode
explanation
Operating mode explanation
RoboNet operates under instructions received from the PLC via the field network.
operates under instructions
RoboNetreceived
operatesfrom
under
theinstructions
PLC via the received
field network.
from the PLC via the field network.
It can beoperates
used switching
among the following
threethe
operating
RoboNet
under instructions
from
PLC via modes.
the field network.
used switching among
It can
thebe
following
used switching
three operating
among
the
modes.
followingreceived
three operating
modes.
Use
the
operating
mode
that
best
suits
the
device
operation
details
and control method.
Itoperating
can
used
switching
among
thecontrol
following
three operating
modes.
perating mode that best
Use the
suits
thebe
device
mode
operation
that best
details
suitsand
the
device
operation
method.
details and
control method.
Use the operating
and control method.
Namemode that best suits the device operation details
Contents
Name
Name
Contents
Contents
Name
This mode operates by specifying theContents
position number. The position data, velocity,
Positioner
This mode operates by
specifyingThis
the mode
position
operates
number.
byetc.
The
specifying
position
the
data,
position
velocity,
number.
The of
position
acceleration,
are
input
for
each
position
ahead
time. data, velocity,
1
ositioner
Positioner
Thisahead
mode
operates
byeach
specifying
theahead
position
number. The position data, velocity,
acceleration,
etc. are input
acceleration,
position
etc.
are
of
time.
input for
position
of time.
modefor each
1
Up
to
768
positions
can
be
registered.
Positioner
ode
mode
acceleration,
etc.be
are
input for each position ahead of time.
Up to 768 positions
can be registered.
Up to 768
positions can
registered.
1
mode
Up to 768 positions can be registered.
mple direct
alue mode
irect
umeric value
pecification
This mode operates by directly specifying only the position data and specifying other data
Simple
This mode operates by
directlydirect
specifying
This mode
operates
the position
by directly
data specifying
and
specifying
only other
the
position
data current
data and
specifying
other
datathe position number.
–only
velocity,
acceleration,
position
width,
electrical
limit
for pressing
– with
2
Simple
direct
This
mode
operates
by
directly
specifying
only
thelimit
position
data and
specifying
other data
value
mode
– velocity,
position
width,
– velocity,
electrical
acceleration,
current
position
limit
for
pressing
width,
electrical
–
with
the
current
position
number.
for
pressing
–
with
the
position
number.
2 acceleration,
Up to 768 positions can be registered.
Simple direct
value
– velocity,
position width, electrical current limit for pressing – with the position number.
2 mode
Up to 768 positions
can be registered.
Up to 768
positionsacceleration,
can be registered.
value mode
Up to 768 positions can be registered.
Direct
This mode operates by directly specifying the numeric values for the position data, velocity,
Direct
This mode operates by
directly value
specifying
This mode
the
operates
numericbyvalues
directly
forwidth,
specifying
the position
thedata,
numeric
velocity,
values
for for
thepressing.
position data, velocity,
numeric
acceleration,
position
and electrical
current
limit
3
This
mode
operates
by
directly
specifying
the numeric
values for the position data, velocity,
numeric
value and acceleration,
acceleration,
positionDirect
width,
electrical
current
position
limit
width,
foron
pressing.
and
electrical
for that
pressing.
3
specification
There
is no
limit
the
number
of current
positionlimit
points
can be specified numerically.
numeric
position
width,
and
electrical
current
for pressing.
3 on the
specification
There is no limit
numbervalue
of
There
position
is acceleration,
nopoints
limit on
that
the
can
number
be specified
of position
numerically.
points that
can limit
be specified
numerically.
specification
There is no limit on the number of position points that can be specified numerically.
List
of Functions
by Operating
of Functions by
List
Operating
of
Functions
Mode
by Operating
ModeMode
List of Functions by Operating Mode
Direct numeric
Positioner mode
Simple
direct value mode Direct numeric
Direct
numeric
value specification
Positioner mode
Simple
Positioner
direct value
mode
mode
Simple
direct
value mode
value specification
value specification
Direct
numeric
Positioner
mode
Simple direct
value mode
768 points
768 points
Number of positions registered
value
specification
768
points
768
768
points
points
768
points
positions registered
Number of positions registered
768 points
768 points
Number
of positions
registered
Movement
by specifying
position number
○
○
×
by specifying position number
Movement by specifying position
○ number
○
○
×
×
Movement
by
specifying
position
number
○
○
×
Direct specification of position data
×
?
○
fication of position data Direct specification of position×
data
×
?
?
○
○
Direct
× position table) ×(Specified with
? position table)
○
Directspecification
specificationofofposition
velocitydata
and acceleration
× (Specified with
○
fication of velocity and acceleration
Direct specification
of velocity
andposition
acceleration
× (Specified
○ position table)
○
with
table) ×(Specified
(Specifiedwith
withposition
positiontable)
table) ×(Specified with
Direct
and acceleration
×
○
Directspecification
specificationofofvelocity
positioning
width
×(Specified with
×(Specified
○
withposition
positiontable)
table) ×
(Specifiedwith
withposition
positiontable)
table)
fication of positioning widthDirect specification
of positioning
width table) ×
×(Specified
×(Specified(Specified
○ position table)
○
with position
with position table) × (Specified with
Direct
specification
of
positioning
width
×
○
Pressing operation
○(Specified
○(Specified
○
(Specifiedwith
withposition
positiontable)
table) ×
(Specifiedwith
withposition
positiontable)
table)
ge
_
eration
Pressing operation
○ (Specified with position table) ○ (Specified
○ position table)
○
(Specified with
with position
position table)
table) ○ (Specified with
Pressing
operation
○ (Specified with
○
Completion
position number monitor
○position table) ○ (Specified with
○position table)
×
e_
position number monitor Completion position number ○
monitor
○
○
×
×
Completion
position
number
monitor
○
○
×
Zone output monitor
○
○
○
t monitor
Zone output monitor
○
○
○
○
Zone
output
monitor
○
○
○
Position
zone
output monitor
○
○
×
ne output monitor
Position zone output monitor○
○
○
×
×
Position
output monitor
○
○
×
Teachingzone
functions
○
×
×
nctions
Teaching functions
○
×
○
×
×
Teaching
functions
○
×
×
Jog operations
○
○
○
ons
Jog operations
○
○
○
○
Jog
operationsmoves
○
○
○
Incremental
○
○
○
l moves
Incremental moves
○
○
○
○
Incremental
moves
○
○
○
Status signal monitor (*)
○
○
○
al monitor (*)
Status signal monitor (*) ○
○
○
○
Status
signal
monitor
(*) (*)
○
○
○
Current
position
monitor
○
○
○
ition monitor (*)
Current position monitor (*) ○
○
○
○
Current
position
monitor
○
○
○
Alarm code
monitor
(*) (*)
○
○
○
monitor (*)
Alarm code monitor (*)
○
○
○
○
Alarm
code
monitor
(*)
○
○
○
Velocity and electric current monitor (*)
×
×
○
d electric current monitor (*)Velocity and electric current monitor
× (*)
×
×
○
○
Velocity
andvalue
electric
monitor
(*)
×
×
○
9999.99mm
9999.99mm
Maximum
forcurrent
specification
of position
data
9999.99mm
9999.99mm
9999.99mm
9999.99mm
value for specification of position
Maximum
data value for specification
of position data
9999.99mm
9999.99mm
9999.99mm
9999.99mm
Maximum
of position data
9999.99mm
16
16
Number ofvalue
axesfor
thatspecification
can be connected
8
16
16
16
16
axes that can be connected Number of axes that can be connected
8
8
16
16
Number of axes that can be connected
8
* The status signal monitor, current position monitor, alarm code monitor, and velocity and electric current monitor can monitor
s signal monitor, current
* The
position
status
monitor,
monitor,
alarm
code
monitor,
position
monitor,
velocityalarm
andfrom
electric
code
monitor,
currentand
monitor
velocity
canand
monitor
electric current monitor can monitor
bysignal
accessing
each current
address
of theand
GatewayR
unit
the
PLC.
* The unit
status
signal
current position
monitor,
alarm code monitor, and velocity and electric current monitor can monitor
ing each address of theby
GatewayR
accessing
each
from
address
themonitor,
PLC.
of the GatewayR
unit from
the PLC.
by accessing each address of the GatewayR unit from the PLC.
4
4 44
Component
unit explanation
(GatewayR
Component
unit explanation
(GatewayR
unit) unit)
Component unit explanation (GatewayR unit)
■ Component
explanation
■ Component
unitunit
explanation
■ Component unit explanation
GatewayR
(DeviceNet
specifications)
GatewayR
unitunit
(DeviceNet
specifications)
GatewayR unit (DeviceNet specifications)
G
is the communications
unit
for operating
RoboNet
via DeviceNet.
This isThis
the communications
unit for
operating
RoboNet
via DeviceNet.
Model
RGW-DV
Model
RGW-DV
This is the communications unit for operating RoboNet via DeviceNet.
Specifications
ModelSpecifications
RGW-DV
Item
Item
Specifications
Specifications
Specifications
Specifications
Specifications
Communications
Maximum
Communications
Maximum Maximum
Maximum branch
Totalbranch
branch Total branch
speed length
networkline
length
length
speed
network
length lineline
length line length
Item
Specifications
Current consumption
500kbps 500kbps
100m
39mbranch 39m
Communications
Maximum 100m
Maximum branch Total
600
mA max.600 mA max.
Current
DC24V　±10%
Powerconsumption
supply
Communications
Communications
speed
network length
line length
line length
length
6m 78m
250kbps
250m6m
78m
Uses
DeviceNet
2.0 certified
interface module
Cable length Cable250kbps
250m
Uses
DeviceNet
2.0
certified
interface
module
500kbps
100m
39m
Current consumption 600 mA max.
（※1）
（※1）
Communications
Communications
Communications
125kbps
500m
156m
Group
2
only
server
125kbps
500m
156m
Group
only server
Cable length
standard standard
6m
250kbps
250m
78m
Uses 2DeviceNet
2.0 certified interface module
（※1）
Communications Insulated node
Note:DeviceNet
When thick
DeviceNet
Insulated
node
operating
network
Note:
When thick
cable
is used cable is used156m
operating
with
networkwith
power
supplypower supply
125kbps
500m
Group
2
only
server
standard
Number of Number of
node
Bit strobe Bit strobe
node When1 thick
nodes1 Note:
occupied
nodes occupied
DeviceNet cable is used
Insulated node operating with network power supply
Communications
Master-satellite
Communications
Usage ambient
Master-satellite
Usage
ambient
Polling
0～40℃
Number
of
0～40℃
specifications specifications
temperature temperature
Bit strobe
Connection Connection Polling
1
node
nodesambient
occupied
Usage ambient
Usage
Communications Master-satellite
Cyclic
RH max. (no condensation
Usage ambient
Cyclic
95% RH max.95%
(no condensation
allowed) allowed)
humidity
humidity
Polling
specificationsCommunications
temperatureUsage 0～40℃
Connection
Usage
Communications
500k/250k/125kbps
(switched
with
dedicated
software)
There
must
be
no
corrosive
gas, combustible gas, oil mist, or dust.
Usage
ambient
with dedicated software)
There
be no(no
corrosive
gas, combustible
atmosphere
speed500k/250k/125kbps (switchedCyclic
atmosphere
speed
95%must
RH max.
condensation
allowed) gas, oil mist, or dust.
humidity
Protection
rank
IP20
*
1
For
T
branch
communications,
refer
to
the
user's
manuals
for
the
master
unit
Usage
Communications
Protection rank
IP20
* 1 For T branch
communications,
refer to the user's (switched
manuals forwith
the master
unitsoftware)
500k/250k/125kbps
dedicated
There must be no corrosive gas, combustible gas, oil mist, or dust.
atmosphere
for the PLC used.
and forspeed
the PLCand
used.
140g
Weight
Weight
Protection rank 140g
IP20
* 1 For T branch communications, refer to the user's manuals for the master unit
Terminal
resistance
Terminal
resistance
board
(Modelboard
TN-1)(Model TN-1)
and for the PLC used.
Accessories
Accessories
Network connector/emergency
140g connector/emergency
Weight
Network
stop connectorstop connector
DeviceNet specifications
Environmental
conditions
Environmental
DeviceNet
specifications
Environmental
conditions DeviceNet
specifications
conditions
DeviceNet specifications
DeviceNet
specifications
DeviceNet
specifications
Item
Item
DC24V　±10%
Power supply
DC24V　±10%
Power supply
Item
Specifications
Accessories
Network
connector
Network
connector
Gateway
side connector
：
Gateway
side
connector
：
Network
connector
MSTBA2.5／5-G-5.08
MSTBA2.5／5-G-5.08
ABGY AU ABGY AU
Gateway
side connector
：
byContact)
Phoenix
Contact)
(Made
by (Made
Phoenix
MSTBA2.5／5-G-5.08 ABGY AU
(Made
byCable
Phoenix
sideContact)
connector
Cable
side
connector
Pin colorsPin colors
MSTB2.5/5-ST-5.08
AU BlueBlack Blue
White RedWhite Red
MSTB2.5/5-ST-5.08
ABGY AU ABGYBlack
Cableby
side
connector
(Made
byContact)
Phoenix Contact)
(Made
Phoenix
Black Blue
White Red
AU
= Standard
accessory
=MSTB2.5/5-ST-5.08
Standard
accessoryABGY
(Made by Phoenix Contact)
= Standard accessory
Terminal resistance board (Model TN-1)
Network
connector/emergency
stop
connector
Compatible
for
cable
side connector
Compatible
wire forwire
cable
side
connector
Item
Contents
Item
Contents
Compatible
wire for cable
side
connector
Explanation
Explanation
Power
cable - side
Black
Power cable
- side
Compatible
Braided wire
Black
Compatible
Braided wire
Pin colors
Explanation
Itemwire diameter
Contents
AWG24-12AWG24-12
(0.2～2.5 (0.2～2.5
mm2) mm2)
Communications
Low side　wire diameter
Blue
Communications
data Lowdata
side　Blue
Power cable - side
Black
Compatible
Braided wire
Peeled
wire
Shield
－
Peeled
wire
Shield
－
wire diameter
7mm(0.2～2.5 mm2)
AWG24-12
7mm
Communications data Low side　Blue
length length
Communications
data
Communications
data High
side High side
White White
Peeled
wire
Shield
－
7mm
Power
cable + side
Red
Power cable
+ side
length
Red
Communications data High side
White
Red
Net
Gate
Ne
D-Su
Gat
Sock
D-S
Soc
Power cable + side
GatewayR
CC-Link
specifications
GatewayR
unitunit
CC-Link
specifications
GatewayR unit CC-Link specifications
G
is the communications
unit
for operating
RoboNet
via CC-Link.
This isThis
the communications
unit for
operating
RoboNet
via CC-Link.
Model
RGW-CC
Model
This isRGW-CC
the communications unit for operating RoboNet via CC-Link.
Specifications
ModelSpecifications
RGW-CC
Network
connector
Network
connector
*2 For T branch communications, refer to the user's manuals for the master unit
and for the PLC used.
CC-Link specifications
CC-Link specifications
specifications
CC-Link CC-Link
specifications
*2 communications,
For T branch communications,
refermanuals
to the user's
manuals
*2 For T branch
refer to the user's
for the
masterfor
unitthe master unit
for the PLC used.
*1and
Certification
acquired
for the PLCand
used.
Item
Specifications
Item
Specifications
16
Error control Error control 16 CRC（X
12
5 ＋X 12 ＋X 5＋1）
CRC（X ＋X ＋X ＋1）
technique
Item technique
Specifications
Number
of Number of
Remote
device
Error control
Remote
device
1x5＋1）
4stations
stations,1x
4x42stations,
stations,4x
8x22stations,
stations 8x 2 stations
16 stations
12
stations
occupied
stations
occupied
CRC（X
＋X
＋X
technique
Communications
Communications
10M　5M　2.5M　625k 156k
Number of Communications
10M　5M　2.5M　625k
156k
speed
(bps)
Communications
speed
(bps)
Remote
device
stations
1x 4 stations,
4x 2 stations,
8x 2 stations
stations
occupied
cableTotal
length
cable
length
Total cable
cable
100　160　400　900 1200
（※2)Communications
100　（※2)
length (m)
10M　160　5M　400　2.5M　900
625k 1200
156k
Communicationslength
speed(m)
(bps)
Communication
cable lengthCommunication
Special
cable
Total cable
Special
CC-Link
cableCC-Link
cable
100　160　400　900 1200
（※2) cable length (m)
Usage ambientUsage ambient 0～40℃
Communication
0～40℃
temperature
temperature
CC-Link cable
cableambientUsageSpecial
ambient
Usage
RH max. (no condensation
Usage ambient
95% RH max.95%
(no condensation
allowed) allowed)
humidity
humidity
temperatureUsage0～40℃
Usage
There
must begas,
no corrosive
gas, combustible gas, oil mist, or dust.
Usage ambient
There
must
be
no
corrosive
combustible
atmosphere
atmosphere
95% RH max. (no condensation allowed) gas, oil mist, or dust.
humidity
ProtectionIP20
rank
IP20
Protection
Usagerank
There must be no corrosive gas, combustible gas, oil mist, or dust.
atmosphere
140g
Weight 140g
Weight
Protection rank
IP20
Terminal
resistance
Terminal resistance
board
(Modelboard
TN-1)(Model TN-1)
Accessories
Accessories
140g
Weight
Network connector/emergency
stop connector
Network connector/emergency
stop connector
Terminal
resistance
cable
(110Ω/130Ω)
Terminal
cable
(110Ω/130Ω)
Terminalresistance
resistance
board
(Model
TN-1)
Accessories
Network connector/emergency stop connector
Terminal resistance cable (110Ω/130Ω)
Environmental
conditions
Specifications
Specifications
DC24V　±10%
Power supply
DC24V　±10%
Power supply
Item
Specifications
Current
consumption
600
mA max.600 mA max.
Current
DC24V　±10%
Powerconsumption
supply
Communications
Communications
CC-Link Ver2.0（※1）
CC-Link
standard
standard
600 mA max.Ver2.0（※1）
Current
consumption
Communications
10M/5M/2.5M/625k/156kbps
Communications
10M/5M/2.5M/625k/156kbps
Communications
speed(switched
(switched
with
dedicated software)
speed
CC-Link
Ver2.0（※1）
with
dedicated
software)
standard Communications
Communications
Broadcast
polling technique
Communications
10M/5M/2.5M/625k/156kbps
Broadcast
polling
technique
technique
technique
speed
(switched with dedicated software)
Synchronization
Synchronization
Frame synchronization
Communications
Frame synchronization
technique technique
technique
technique
technique EncodingBroadcast polling technique
Encoding
NRZI
Synchronization
NRZI
technique
technique
Frame synchronization technique
technique Transmission
Transmission
Bus format
(complies
with EIA RS485)
Encoding
Bus
format (complies
with
EIA RS485)
path
format path format
NRZI
technique
Transmission
Transmission
Complies
with HDLC
Transmission
Complies
with
HDLC
format
format
Bus format (complies with EIA RS485)
path format
*1 acquired
Certification acquired
Transmission
*1 Certification
Complies with HDLC
format
Environmental
specifications
Environmental
conditions CC-Link CC-Link
specifications
conditions
Item
Item
Specifications
Gateway
side connector
side connector
Gateway
side
connector
Cable sideCable
connector
Signal name
Explanation
Signal name
Explanation
Network
connector
MSTBA2.5/5-G-5.08AU
MSTB2.5/5-ST-5.08
MSTBA2.5/5-G-5.08AU
MSTB2.5/5-ST-5.08
ABGY AU ABGY AU
Communications
line A
ＤＡ
Communications
line A
ＤＡ
Gateway
side connector
Cableby
side
connector
byContact)
Phoenix Contact)
(Made
byContact)
Phoenix Contact)
(Made
by (Made
Phoenix
(Made
Phoenix
Signal name
Explanation
Communications
line B
ＤＢ
Communications
line
B
MSTBA2.5/5-G-5.08AU
MSTB2.5/5-ST-5.08
ABGY
AU
ＤＢ
=
Standard
accessory
= Standard accessory
Communications line A
ＤＡ
(Made by Phoenix Contact) (Made by Phoenix Contact)
ＤＧ
Ground Ground
ＤＧ
Communications line B
ＤＢ
= Standard accessory
Connect
cable
shield to the
Connect the
shieldthe
andshield
cableand
shield
to the
ＳＬＤ ＳＬＤ
Ground
ＤＧ
frameand
ground
and chassis.
frame
ground
chassis.
Connectthe
theframe
shield
and
cable
shield
tothe
theshield
ＳＬＤ
Connect
the
frame
to
FG
Connect
ground
toground
the
shield
DA
DB DA
DG DBSLD DG FG SLD
ＦＧframe ground and chassis.
ＦＧ
and the chassis
and the chassis
DA
55
5
DB
DG
SLD
FG
ＦＧ
Connect the frame ground to the shield
and the chassis
Compatible
wire for
Compatible
wire for
cableconnector
side connector
cable side
Compatible wire for
Item
Item side
Contents Contents
cable
connector
Braided wire
Compatible
Braided wire
Compatible
Itemwire diameter
Contents
wire diameter
AWG24-12AWG24-12
(0.2～2.5 (0.2～2.5
mm2) mm2)
Braided wire
Compatible
Peeled wire
Peeled
wire
7mm
wire diameter
length7mm
length
AWG24-12 (0.2～2.5 mm2)
Peeled wire
7mm
length
Net
Gate
Ne
MC1.
Gat
(Mad
MC1
(Ma
Cable
MC1.
Cab
(Mad
=MC1
Sta
(Ma
= St
Component unit explanation (GatewayR unit)
Component unit explanation (GatewayR unit)
Component unit explanation (GatewayR unit)
GatewayR
unitunit
(ProfiBus
specifications)
GatewayR
(ProfiBus
specifications)
GatewayR unit (ProfiBus
specifications)
This is the communications unit for operating RoboNet via ProfiBus.
This is the communications unit for operating RoboNet via ProfiBus.
Model RGW-PR
Model
RGW-PR
This
is the
communications unit for operating RoboNet via ProfiBus.
Specifications
Specifications
Model RGW-PR
Item
Specifications
Item
Specifications
Item
Specifications
Item
Specifications
Specifications
Usage ambient
DC24V　±10%
r dust.
12Mbps
ust.
9
1
1
6
9
6
9
Environmental
conditions
Pin No. Signal name
Explanation
Pin No. Signal name
Explanation
Pin No. Signal name
Explanation
Pin No. Signal name
Explanation
+5V output (insulated)
3
Ｂ－Ｌｉｎｅ Communications line B (RS485)
6
＋5V
+5V output (insulated)
3
Ｂ－Ｌｉｎｅ Communications line B (RS485)
6
＋5V
Pin
No.
Signal
name
Explanation
Pin
No.
Signal
name
Explanation
Request to send
4
RTS
8
Ａ－Ｌｉｎｅ Communications line A (RS485)
Request to send
4
RTS
8
Ａ－Ｌｉｎｅ Communications line A (RS485)
+5Vshield
output
3 GND
Ｂ－Ｌｉｎｅ
6
＋5VThe cable
Signal Communications
ground (insulated)line B (RS485)
is (insulated)
connected with the chassis.
5
Housing Ｓｈｉｅｌｄ
Signal
ground
(insulated)
5
GND
Housing Ｓｈｉｅｌｄ The cable shield is connected with the chassis.
Request to send
4
RTS
8
Ａ－Ｌｉｎｅ Communications line A (RS485)
* The partner side connector (D-sub 9-pin connector) does not come as an accessory.　* Pins 1, 2, 7, and 9 are not connected.
ground
The cable shield is connected with the chassis.
GND (D-subSignal
Housing
* The5partner side connector
9-pin connector)
does(insulated)
not come as an accessory.　* Pins 1, 2, Ｓｈｉｅｌｄ
7, and 9 are not connected.
6
* The partner side connector (D-sub 9-pin connector) does not come as an accessory.　* Pins 1, 2, 7, and 9 are not connected.
GatewayR
unitunit
SIOSIO
specifications
GatewayR
specifications
GatewayR unit SIO
This isspecifications
the communications unit for operating RoboNet with serial communications
This is the communications unit for operating RoboNet with serial communications
from an XSEL controller (*1) or Modbus communications unit.　from an
controller (*1)unit
or Modbus
communications
unit.　theXSEL
communications
forisoperating
RoboNet
with
serial communications
*1 AThis
unitiswith
XSEL
Gateway functions
scheduled
for release
soon.
*1
A
unit
with
XSEL
Gateway
functions
is
scheduled
for
release
soon.
from
an
XSEL
controller
(*1)
or
Modbus
communications
unit.　Model RGW-SIO
Model
RGW-SIO
*1 A unit with XSEL Gateway functions is scheduled for release soon.
Specifications
Specifications
Model
RGW-SIO
Item
Specifications
Item
Specifications
Item
Specifications
Item
Specifications
Specifications
Usage ambient
0～40℃
Power supply DC24V　±10%
SIO specifications
1200
6k
00
dust.
ust.
temperatureUsage ambient 0～40℃
Power supply DC24V　±10%
temperature
Specifications
Item
Specifications
Current Item
Usage ambient
95% RH max. (no condensation allowed)
Current600 mA max.
Usageambient
ambient
consumption
humidityUsage
95% RH max. (no condensation allowed)
600 mA max.
consumption
0～40℃
humidity
Power
supply DC24V　±10%
Communications
Usage temperature
There must be no corrosive gas, combustible gas, oil mist, or dust.
RS485 compliant (Modbus protocol) 1:1 communication connection
Communications
Usageambient
format Current
atmosphere
Usage
There
corrosive gas,allowed)
combustible gas, oil mist, or dust.
RS485
compliant (Modbus protocol) 1:1 communication connection
RHmust
max.be
(nonocondensation
format
atmosphere 95%
600
mA max.
Communications
consumption
humidity
Protection
rank
IP20
Stop-start
system
Half
duplex
Communications
techniqueCommunications
Protection rank IP20
Usage
Stop-start
system
Halfprotocol)
duplex 1:1 communication connection
There
must
be
no
corrosive
gas,
combustible
gas, oil mist, or dust.
technique
RS485
compliant
(Modbus
Communications
format 230.4 kbps max.
atmosphere
140g
Weight
Communications
speed Communications
140g
Weight
230.4 kbps
max. Half duplex
Protection rank IP20
speed
Stop-start
system
technique100 m max.
Terminal resistance board (Model TN-1)
Cable length
Accessories
Terminal resistance board
(Model TN-1)
Cable length
stop connector
Communications
Accessories Network connector/emergency
100 kbps
m max.
140g
Weight
230.4
max.
Network connector/emergency stop connector
Recommended
speed 2-pair twisted
pair cable (with shield)
Recommended
cable
Terminal resistance board (Model TN-1)
2-pair
twisted pair cable (with shield)
Cable
Accessories
cablelength
100
m max.
Network connector/emergency stop connector
Recommended
2-pair
twisted
pair
cable
(with
shield)
cable
Environmental
Environmental
conditions
conditions
tions
156k
ns
Environmental
conditions
ctor
100m
Network connector
Network connector
5
1
Gateway side connector:
5
Gateway side
connector:
connector
D-Sub Network
9-pin connector
D-Sub 9-pin connector
SocketGateway
side
5
side connector:
Socket side
D-Sub 9-pin connector
Socket side
SIO specifications
SIO specifications
ector
ambient
temperatureUsage0～40℃
temperature 0～40℃
Item
Specifications
Usage ambient
95%
RH max. (no condensation allowed)
Usageambient
ambient
humidityUsage
95% RH max. (no condensation allowed)
humidity
0～40℃
Usage temperature
There must be no corrosive gas, combustible gas, oil mist, or dust.
Usageambient
atmosphere
Usage
There
corrosive gas,allowed)
combustible gas, oil mist, or dust.
atmosphere 95%
RHmust
max.be
(nonocondensation
humidity
Protection rank
IP20
Usage rank
Protection
IP20
There
must
be
no
corrosive
gas,
combustible
gas, oil mist, or dust.
atmosphere
140g
Weight
140g
Weight rank
Protection
IP20
Terminal resistance board (Model TN-1)
Accessories
Terminal
resistance board (Model TN-1)
stop connector
AccessoriesEmergency
140g
Weight
Emergency stop connector
Terminal resistance board (Model TN-1)
Accessories
Emergency stop connector
Environmental
Environmental
conditions
conditions
ProfiBus specifications
m
ProfiBus specifications
ProfiBus specifications
Power supply
DC24V　±10%
Power
supply
Item
Specifications
Current consumption 600 mA max.
600 mA max.
Current
consumption DC24V　±10%
Power
supply
Communications
DP satellite
standard Communications
DPmA
satellite
standard
600
max.
Current consumption
Communications
9.6kbps～12Mbps
Communications
speed Communications
9.6kbps～12Mbps
speed
DP
satellite
standard
9.6kbps
1500m
Communications
9.6kbps
1500m
9.6kbps～12Mbps
Communications
speed
500kbps
400m
cable lengthCommunications
500kbps
400m
cable length
9.6kbps
1500m
1.5Mbps
200m
Communications
1.5Mbps
200m
500kbps
400m
cable length
3Mbps
200m
3Mbps
200m
1.5Mbps
200m
12Mbps
100m
12Mbps
100m
3Mbps
200m
anch
ngth
mch
th
m
Compatible wire for
Compatible wire for
cable side connector
cable side connector
Compatible wire
for
Item
Contents
Contents
cableItem
side
connector
Braided
wire
Compatible
Network connector
Network connector
Gateway side connector
：
Gateway sideconnector
connector
：
Network
MC1.5/4-G-3.5
MC1.5/4-G-3.5
(Made Gateway
by Phoenix
Contact)
side
connector
：
(Made by Phoenix Contact)
MC1.5/4-G-3.5
Cable side
connector:
(Made
Phoenix
Contact)
FG
SG
Cableby
side
connector:
MC1.5/4-ST-3.5
FG
MC1.5/4-ST-3.5
(Made Cable
by Phoenix
Contact)
side
(Made
byconnector:
Phoenix Contact) FG
= Standard
accessory
MC1.5/4-ST-3.5
= Standard accessory
(Made by Phoenix Contact)
= Standard accessory
SB
SG
SA
SB
SG
SB
SA
SA
Signal name
Explanation
Signal name
Explanation
Communications
SA
RS485 compliant
Braided wire
Compatible
SA line A (+Communications
RS485 compliant
wire diameter
side)
Signal name
Explanation
Item AWG28-16 (0.14～1.5
Contents
mm2)
wire diameter
line A (+ side) Terminal resistance
AWG28-16 (0.14～1.5 mm2)
Terminal
resistance
Communications
Communications
Braided wire
Compatible
SA
7mm
SB
RS485
compliant
Peeled
wire
Communicationsboard (220 Ω) built in
side)
7mm
SB line B (-line
diameter
A (+ side)
Peeled
wire AWG28-16
board (220 Ω) built in lengthwire
(0.14～1.5 mm2)
line B (- side)
Terminal resistance
length
Signal Communications
ground
SG
7mm
Signal ground
SBSG
Peeled wire
board
(220
Ω)
built
in
line ground
B (- side)is connected with the chassis.
The frame
FG
length
The frame ground is connected with the chassis.
FG
Signal ground
SG
FG
The frame ground is connected with the chassis.
66
6
Component unit explanation (controller unit)
Component
unit explanation
(controller
Component
unit explanation
(controller
unit) unit)
■ Component unit explanation
Component
explanation
■ ■
Component
unitunit
explanation
RACON unit RCA series controller
RACON
series
controller
RACON
unitunit
RCARCA
series
controller
S
This is the controller unit for operating an RCA actuator with RoboNet.
the controller
unit
for operating
anactuator
RCA actuator
with RoboNet.
This isThis
theiscontroller
unit for
operating
an RCA
with RoboNet.
Controller model
Supported actuators
Controller
Controller
model model
RACON-20
Supported
Supported
actuators
RCA-SA4□ ／ SS4□ ／ SA5□ ／ SS5□
／ RA4□-20
／actuators
RG□4□-20
／ A4R ／ A5R　RCACR-SA4C ／ SA5□　RCAW-RA4□-20
RCA-SA4□
／／
SS4□
／／
SA5□
／／
SS5□
／ RA4□-20
／ RG□4□-20
RCA-SA4□
／ SS4□
SA5□
SS5□
RA4□-20
／ RG□4□-20
A4R
／ A5R　RCACR-SA4C
／ SA5□　RCAW-RA4□-20
／ A4R ／
／／
A5R　RCACR-SA4C
／ SA5□　RCAW-RA4□-20
RCA-RA3□
RG□3□　RCAW-RA3□
RACON-20
RACON-20
RACON-20S
RCA-RA3□
／／RG□3□　RCAW-RA3□
RCA-RA3□
／ SS6□
RG□3□　RCAW-RA3□
RCA-SA6□
／
RA4□-30 ／ RG□4□-30 ／ A6R
RCACR-SA6□　RCAW-RA4□-30
RCA-SA6□
／
SS6□
／ RA4□-30
／ RG□4□-30
RCA-SA6□ ／ SS6□ ／ RA4□-30
／ RG□4□-30
／ A6R ／ A6R
RCACR-SA6□　RCAW-RA4□-30
RCACR-SA6□　RCAW-RA4□-30
RACON-20S
RACON-20S
RACON-30
RACON-30
RACON-30
Specifications
Electromagnetic
Position detection
Position detection
Brake
release
switch
Incremental
brake
forced release
technique
Incremental
encoderencoder
technique
Electromagnetic
Motor
cable Electromagnetic
Model
CB-ACS-MA
Brakeswitch
release switch
brake
forced
release
Brake
release
brake forced release
Encoder
cableMotor cable
Model CB-ACS-PA
Model CB-ACS-MA
Motor cable
Specifications
Usage ambient
Item
0～50℃
Specifications
Item
Specifications
temperature
Usage
ambient
Usage ambient
Usage
ambient
95%
RH
max.
(no
condensation
allowed)
0～50℃
0～50℃
humidity
temperaturetemperature
Usage There
ambientmust be no corrosive gas, combustible
Usage
Usage ambient
95%
RH
max.
(no condensation
95%
RH
max.
(no
condensation
allowed)allowed)
gas,
oil
mist,
or
dust.
humidity
atmosphere
humidity
There
be no corrosive
gas, combustible
Usage There must
be must
no corrosive
gas, combustible
Usage rank
Protection
IP20
gas,
oil
mist,
or
dust.
gas, oil mist, or dust.
atmosphereatmosphere
Environmental
Environmental
conditions
conditions
Power supply
5.1
A max.DC24V　±10%
(depends on actuator)
Power supply
Power supply
capacity
DC24V　±10%
Operating
Power supply
Power supply
RCA
series
5.1(depends
A max. (depends
on actuator)
5.1
A
max.
on actuator)
actuator
capacity
capacity
Number of Operating
Operatingpoints 768 pointsRCA series
positioning
RCA
series
actuator
actuator
of
Number
of NumberEEPROM
Backup
memory
768 points
points
points
positioning positioning
points 768
Position detection
Backup memory
Incremental
encoder
Backup memory
technique
EEPROM EEPROM
General specifications
General specifications
General specifications
Item
Specifications
Power
supply Item DC24V　±10%Specifications
Specifications
Item
Environmental
conditions
Specifications
Item
Specifications
Protection
rank
WeightProtection rank
200g
IP20
IP20
RoboNet communication
connection board
200g
200gmodel)
(JB-1
Power
supply
connection
board
(PP-1
model)
RoboNet
communication
connection
RoboNet
communication
connection
board board
(JB-1 model)
AccessoriesAccessories (JB-1 model)
Powerconnection
supply connection
board
(PP-1 model)
Power supply
board (PP-1
model)
Weight
Weight
Accessories
Model CB-ACS-MA
Encoder cable
Model CB-ACS-PA
Encoder cable
Model CB-ACS-PA
E
Gat
Ga
RPCON unit RCP2 series controller
RPCON
RCP2
series
controller
RPCON
unitunit
RCP2
series
controller
This is the controller unit for operating an RCP2 actuator with RoboNet.
the controller
unit
for operating
an RCP2
actuator
with RoboNet.
This isThis
theiscontroller
unit for
operating
an RCP2
actuator
with RoboNet.
Controller model
Supported actuators
Controller
RPCON-20P
Controller
model model
RCP2-RA2C ／ GRS
RPCON-28P
RPCON-20P
RPCON-20P
RCP2-GRM
／／
GR3LS
／ GRS
GR3SS ／ RTB ／ RTC
RCP2-RA2C
RCP2-RA2C
GRS ／
RPCON-28SP
RPCON-28P
RPCON-28P
RCP2-RA3C
／
RCP2-GRM
／／
GR3LS
／／
GR3SS
RCP2-GRM
／ RGD3C
GR3LS
GR3SS
RTB ／
／ RTB
RTC ／ RTC
RPCON-28SP
RPCON-28SP
RPCON-42P
RCP2-SA5□
／ RGD3C
SA6□
／ SS7□ ／ BA6□ ／ BA7□ ／ RA4C ／
RCP2-RA3C
／ RGD3C
RCP2-RA3C
／
RG□4C ／GR3LM ／ GR3SM
RCP2-SA5□
／
／ SS7□
／／
BA6□
／／
BA7□
RCP2CR-SA5C
／／ SA6C
／ SA6□
SS7C　RCP2W-RA4C
RCP2-SA5□
SA6□
／ SS7□
／ BA6□
BA7□
RA4C／／RA4C ／
／ GR3SM
RG□4C RG□4C
／GR3LM／GR3LM
／ GR3SM
RCP2CR-SA5C
／
SA6C
／
SS7C　RCP2W-RA4C
RCP2CR-SA5C
SA6C／／RA6C
SS7C　RCP2W-RA4C
RCP2-SA7□
／／
SS8□
／ RG□6C ／
RPCON-42P
RPCON-42P
RPCON-56P
Supported
Supported
actuatorsactuators
RCP2CR-SA7C ／ SS8C　RCP2W-RA6C
RCP2-SA7□
／／
SS8□
／ RG□6C
／
RCP2-SA7□
／ SS8□
RA6C／／RA6C
RG□6C
／
RCP2CR-SA7C
／ SS8C　RCP2W-RA6C
RCP2CR-SA7C
／ SS8C　RCP2W-RA6C
* This controller
can also operate an old-type RCP2 actuator. (Please inquire for details.)
RPCON-56P
RPCON-56P
* This controller
also an
operate
an old-type
RCP2 actuator.
(Pleasefor
inquire
for details.)
* This controller
can also can
operate
old-type
RCP2 actuator.
(Please inquire
details.)
Item
Specifications
Specifications
General specifications
General specifications
General specifications
Power supply
Power supply
Operating
actuator
RCP2 series
2 A max.
capacity capacity 2 A max.
Number of Operating actuator
points
RCP2 series
Operatingpoints
actuator 768
positioning
RCP2 series
of
Number
of NumberEEPROM
Backup
memory
768 points
points
points
positioning positioning
points 768
Position detection
Backup memory
Incremental
encoder
EEPROM
Backup memory
technique
EEPROM
Position detection
Electromagnetic
Position detection
Brake
release
switch
Incremental
technique
brake
forced release
Incremental
encoderencoder
technique
Electromagnetic
Motor
cable Electromagnetic
Model
CB-RCP2-MA
Brake
release switch
Brake
forced
releaserelease switch
brake forcedbrake
release
Encoder cable
Model CB-RCP2-PA
Model CB-RCP2-MA
Motor cableMotor cable
Model CB-RCP2-MA
Encoder cable
Encoder cable
Model CB-RCP2-PA
Model CB-RCP2-PA
Specifications
Usage ambient Item
0～50℃
Specifications
Item
Specifications
temperature
Usage
ambient
Usage95%
ambient
Usage
ambient
RH
max.
(no
condensation
allowed)
0～50℃
0～50℃
humidity
temperaturetemperature
UsageThere
ambientmust be no corrosive gas, combustible
Usage
Usage ambient
95%
RH
max.
(no
condensation
95%
RH
max.
(no
condensation
allowed)allowed)
gas,
oil
mist,
or
dust.
atmosphere
humidity humidity
There
be no corrosive
gas, combustible
Usage There must
be must
no corrosive
gas, combustible
Usage rank
Protection
IP20
gas, oil
mist, or dust.
gas, oil mist,
or dust.
atmosphereatmosphere
Environmental
Environmental
conditions
conditions
Specifications
Specifications
Power supplyPower supply
2 DC24V　±10%
A max. DC24V　±10%
Power supply
capacity
7 7
7
Item
Specifications
Power supply Item DC24V　±10%
Item
Environmental
conditions
Specifications
Protection
rank
WeightProtection rank
200g
IP20
IP20
RoboNet communication connection board
200g
200gmodel)
(JB-1
RoboNet
communication
connection
Power
supply
connection
board
(PP-1
model)
RoboNet
communication
connection
board board
(JB-1 model)
(JB-1 model)
AccessoriesAccessories
Powerconnection
supply connection
board
(PP-1 model)
Power supply
board (PP-1
model)
Weight
Weight
Accessories
Component unit explanation (Simple absolute R unit)
Component unit explanation (Simple absolute R unit)
Component unit explanation (Simple absolute R unit)
Simple absolute R unit
Simple absolute R unit
Simple absoluteThis
R isunit
a data backup battery unit that is connected to a RACON/RCPON unit to allow
This isspecifications
a data backupactuators
battery unit
that
is connected
a RACON/RCPON
unit to allow
incremental
to be
used
as absolutetospecifications
actuators.
incremental
specifications
actuators
to
be
used
as
absolute
specifications
actuators.
This
is
a
data
backup
battery
unit
that
is
connected
to
a
RACON/RCPON
unit
to allow
*1 One simple absolute R unit is required for each RACON/RPCON unit.
*1 One simple
absolute R actuators
unit is required
for each
RACON/RPCON
unit. actuators.
incremental
specifications
to be used
as absolute
specifications
Model　RABU (Common to RACON/RPCON)
*1Model　One simple
R unit
is required for each RACON/RPCON unit.
RABUabsolute
(Common
to RACON/RPCON)
Specifications
Model　RABU (Common to RACON/RPCON)
Specifications
Specifications
Item
Specifications
Specifications
Specifications
Usage ambient Item
0～40℃
DC24V　±10%
temperature Usage ambient
Power supply
0～40℃
Current
DC24V　±10%
Usage ambientItem
Item
Specifications
Specifications
temperature
95% RH max. (no condensation allowed)
300 mA max.
consumption
humidity
Current
Usage ambient
Usage ambient
95%
RH corrosive
max. (no condensation
allowed)
300 mA max.
consumption
Usage
supply
There must
be no
gas,
0～40℃
DC24V　±10%
humidity
Battery usedPower
Nickel metal
hydride battery (Ni-MH)
temperature
atmosphere Usagecombustible gas, oil mist, or dust.
There must be no corrosive gas,
Current
Usage ambient
Battery used
Nickel
metal
hydride
battery
(Ni-MH)
95%
RH
max.
(no
condensation
allowed)
mA max.
atmosphere
combustible gas, oil mist, or dust.
Charge timeconsumption
Protection rank
IP20
About 78300
hours
humidity
Usage
Charge time
Protection rank There
IP20must be no corrosive gas,
About 78 hours
Battery life Battery used
330g combustible gas, oil mist, or dust.
3 years Nickel metal hydride battery (Ni-MH) Weight
atmosphere
Battery
life
330g
Weight
3
years
Charge
time
Protection
rank
About 78 hours
RoboNetIP20
communication
connection
Can store absolute
board (JB-1
model) communication connection
data Maximum
800
400
200
100
Accessories
RoboNet
Can
store
absolute
Battery
life
330g specifications connection
Weight
3 years
rotation rate (rpm)
Simple
absolute
board
(JB-1
model)
data Maximum
800
400
200
100
Accessories
board (JB-1
model)
Simple
absolute
specifications
connection
Absolute data rotation rate (rpm)
RoboNet
communication
connection
120
240
360
480
Power supply
connection
board (PP-1 model)
storage timeCan
(h) store absolute
board
(JB-1
model)
board
(JB-1
model)
data
Maximum
800
400
200
100
Absolute
data
Accessories
120
240
360
480
rotation
rate
(rpm)
Power
supply
connection
board
(PP-1 model)
storage
time
(h)
Simple absolute specifications connection
board (JB-1 model)
Absolute data
120
240
360
480
Power supply connection board (PP-1 model)
storage time (h)
Environmental
conditions
General specifications
General specifications
General specifications
tible
ble
ard
Environmental
Environmental
conditions
conditions
Item
Specifications
Item
Power supply
odel)
d
del)
External dimensions diagram
External dimensions diagram
External
dimensions
diagram
GatewayR
unit/RACON
unit/RPCON unit/simple
absolute R unit all share the same external dimensions.
GatewayR unit/RACON unit/RPCON unit/simple absolute R unit all share the same external dimensions.
GatewayR unit/RACON unit/RPCON unit/simple absolute R unit all share the same external dimensions.
（160）
35.4
35.4
* Can be installed on DIN rail (35 mm)
* Can be installed on DIN rail (35 mm)
（0.5）
34
（10）
5
5
34
（0.5）
（10）
5
（0.5）
（10）
* Can be installed on DIN rail (35 mm)
tible
ard
(50 from the DIN rail center)
100
100
ils.)
ble
35.4
100
tails.)
(50 from the DIN rail center)
(50 from the DIN rail center)
（160）
（160）
34
odel)
d
del)
(69.3 from the DIN rail surface)
73.3
(69.3 from the DIN rail surface)
73.3
(69.3 from the DIN rail surface)
73.3
8 8
8
Options
Options
Options
(simple teaching
box)
RCM-E
(simple
teaching
CON-TRCM-E
(standard
type) box)
RCM-P
(data
setting
unit)
RCM-P
setting
unit) box)
RCM-E (data
(simple
teaching
■
Configuration
Configuration
RCM-P (data setting unit)
■ Model
■
■ Configuration
5m
5m
5m
■
43
23.5
21
M
23
86
15.1 26.2 6.3
23
Wh
140
23.5
43
86
23
140
148.5
Wh
39.0
46.9
7
■ Specifications
■ Specifications
89.6
RCM-P
86
140
46.9
148.5
148.5
39.0
218.3
89.6
15.1 26.2 6.3
15.1 26.2 6.3
21
RCM-E
（113.5）
（113.5）
218.3
89.6
RCM-P RCM-P
（113.5）
23.5
66.6
66.6
110.0
Teaching
Teaching
box box
is a teaching
device equipped
box
■ Features
This
is a This
teaching
device equipped
■Teaching
Features
with position
input,run,
test run,
with position
input, test
otherequipped
functions.
This is amonitor,
teaching
device
■ Features monitor,
and
otherand
functions.
with position input, test run,
monitor,CON-T
and
other(standard
functions.
■ Model■ Model
CON-T
(standard
type) type)
CON-T
RCM-E RCM-E
66.6
218.3
110.0
110.0
21
CON-T CON-T
43
Options
Options
Options
72.5
7
72.5
（34）
（34）
39.0
46.9
7
Item
Item
Specifications
72.5
CON-T
（34）
CON-T
RCM-E
RCM-E
RCM-P
Display
RA
RCM-P
○
○
○
Data input
○
○
○
Data input
RCM-P
Item
CON-T
RCM-E
○
○
×
Actuator
operation
○
○
×
Actuator
operation
○
○
○
Data input
Usage ambient
Usage ambient
○
×
and
Actuatortemperature
operation
Temperature
to○40˚C humidity
Relative 85%
humidity
temperature
and
Temperature
0 to 40˚C 0Relative
max. 85% max.
humidity
Usage ambient
humidity
Usageand
temperature
Temperature 0 to 40˚C Relative humidity 85% max.
Usage
No gas
corrosive
gasDust
allowed
must
not be particularly
bad.
No corrosive
allowed
mustDust
not be
particularly
bad.
atmosphere
humidity
atmosphere
Usage Protection rank
IP54
－ be particularly
No
corrosive
gas allowed Dust
IP54
－ must not
－ bad. －
Protection
rank
atmosphere
Weight
About
400g
About 360g
About
400g
Weight
About
400g
About－
360g
About－
400g
IP54
Protection rank
5m
Cable
length
5m 400g
Cable
length
Weight
About 400g
About 360g
About
20-character
by 4-line 16-character
LCD display by16-character
by 2-line LCD display 16-character by 2-line LCD display
Display
20-character
by
4-line
LCD
display
2-line
Display
5m LCD display 16-character by 2-line LCD display
Cable length
R
Mod
Mo
1
3
Cont
1
3
Co
RA
R
Mod
20-character by 4-line LCD display 16-character by 2-line LCD display 16-character by 2-line LCD display
Mo
PC software
(for Windows
PC software
(for Windows
only) only)
PC software
only)
ThisWindows
is startup support
software equipped with program/position input, test run, monitor, and other functions.
■ Features(for
■ Features This is startup support software equipped with program/position input, test run, monitor, and other functions.
It increases
for debugging
operations
and contributes
to shortening
the time.
start-up time.
It increases
functionsfunctions
required required
for debugging
operations
and contributes
to shortening
the start-up
■ Features This is startup support software equipped with program/position input, test run, monitor, and other functions.
It increases functions required for debugging operations and contributes to shortening the start-up time.
RCM-101-MW
(with external
device communications
cable converter
+ RS232 converter
unit)
■ Model■ Model
RCM-101-MW
(with external
device communications
cable + RS232
unit)
■ Model
RCM-101-MW
■ Configuration
■ Configuration
■ Configuration
PC(CD)
software (CD)
PC software
(with external device communications cable + RS232 converter unit)
RS232adaptor
converter adaptor
RS232 converter
RCB-CV-MW
RCB-CV-MW
5m
RS232 converter adaptor
5m
RCB-CV-MW
0.3m
External
device
communication
cable
5m
0.3m
External device communication
cable
CB-RCA-SIO050
CB-RCA-SIO050
PC software (CD)
External device communication cable
CB-RCA-SIO050
Model RCM-101-USB
(with external
device communications
cable
+ USB cable)
■ Model■ RCM-101-USB
(with external
device communications
cable + USB
cable)
RCM-101-USB
18
2
0.3m
■ Model
18 17
１
Contro
2
Con
RP
R
Mod
Mo
(with external device communications cable + USB cable)
（
RP
* This indicates the first servo to come On after the power is switched on.
Note: Except HS8C, HS8R, or RAIOC
Mo
（18）
Relationship
betweenand
actuator
power
supply current
Relationship
between actuator
powerand
supply
current
PS-241
PS-241
PS-241
PS-242
PS-242
PS-242
9 9
9
(Fro
Cont
R
Mod
PS-24 Number of units that can be connected per unit
PS-24 Number of units that can be connected per unit
type actuator
Actuator and
type powerPower
supply
Thispower
is a 24Vsupply
powerfor
supply
for a robocylinder
that Control
When the servos come
When the servos does
between
current
Control type
Actuator type
Power supply supply
This
is a 24V
a robocylinder
that Relationship
When the
servosOn
come
When
the servosnot
does
■ Features
for all axes
at the
come On for all axes
current
[A]
On for all axes atsame
the time *not come On foratallthe
axes
current [A]
same time *
output
an instantaneous
maximum
PS-24
Number
of units thatatcan
connected
same
time
*
the be
same
time * per unit
output an
instantaneous
maximum
of 17 A. of 17 A.
RPCONActuator type
Control
type
Power
supply
This is aSince
24V power
supply
for
a
robocylinder
that
When
the
servos
come
When
the
servos
does
Rated
RPCON
power
supply
parallel
operation
is
possible,
Rated
PCON
2
8
8
On
for
all
axes
at
the
not
come
On
for
all
axes
RCP2
all
models
(*)
Since power supply parallel operation is possible,
current(=maximum)
[A]
PCON
2
8 time *
RCP2 all models (*)
same time8*
at the same
PSEL
output an
instantaneous
maximum
17 A.
(=maximum)
if one
powerunit
supply
hasofinsufficient
PSEL
if one power
supply
has unit
insufficient
capacity,capacity,
RPCON
1.3
Rated Rated
Since power
parallel
1.32
PCON
8
8
SA4, SA5
(20W)
3
6
RCP2 all models
(*)Rated
to supply
five
can beoperation
added. is possible,
SA4, SA5 (20W)
6
(=maximum) Maximum
up to fiveup
units
canunits
be added.
4.4 3
PSEL
Maximum
4.4
if one power supply unit has insufficient capacity,
Rated
1.3
Rated
1.3
Rated
1.3
SA6（30W）
4
6
SA4, SA5 (20W)
up to five units can be added.
SA6（30W）
66
4 43
Maximum Maximum
Maximum
44.4
RACON
■ Model■ Model
RACON
Rated
1.7
Rated
1.3
Rated
1.7
ACON
RA3（20W）
3
5
ACON
SA6（30W）
RA3（20W）
56
5.1 3 4
ASEL
Maximum Maximum
Maximum
5.14
ASEL
■ Model
RACON
Rated
1.3
Rated
1.7
Rated
1.3
RA4（20W）
3
6
(100V
input specifications)
ACON
RA3（20W）
RA4（20W）
65
4.4 3 3
(100V input
specifications)
Maximum Maximum
5.1
Maximum
4.4
ASEL
Rated
1.3
Rated
1.3
Rated
1.3
RA4（30W）
4
6
RA4（20W）
RA4（30W）
66
(100V input specifications)
4 43
Maximum Maximum
Maximum
44.4
(200V
input specifications)
* This indicates the first servo to Rated
come On after 1.3
the power is switched on.
(200V input
specifications)
* This indicates the firstRA4（30W）
servo to come On after the power is switched on.
4
6
Note: Except HS8C, HS8R, or RAIOC
Maximum
4
Note: Except HS8C, HS8R, or RAIOC
(200V input specifications)
(Fron
Contro
（18）
24power
VDC power
24 VDC
supplysupply
24 VDC
power supply
■ Features
■ Features
（15）
USBadaptor
converter adaptor
USB converter
RCB-CV-USB
RCB-CV-USB
1m converter adaptor
5m
USB
1m
5m
RCB-CV-USB
USB cable
External
device communication
cable
5m
USB cable1m
External device
communication
cable
PC(CD)
software (CD)
CB-SEL-USB010
CB-RCA-SIO050
PC software
CB-SEL-USB010
CB-RCA-SIO050
USB cable
External device communication cable
PC software (CD)
CB-SEL-USB010
CB-RCA-SIO050
■ Configuration
（15）
■ Configuration
■ Configuration
(Fro
Co
(F
C
Maintenance
partsparts
Maintenance
Maintenance parts
When When
it is necessary
to make
for a replacement
cable or
the or
likethe
after
purchase,
find the
model
below.below.
it is necessary
to arrangements
make arrangements
for a replacement
cable
likeproduct
after product
purchase,
find
the model
When it is necessary
tocommunication
make arrangements for a replacement
cable
or the like after product purchase, find the model below.
RoboNet
Terminal
resistance
RoboNet
connection
boardcommunication
board
(simple connection
absolute
RoboNetabsolute
communication
(simple
connection
board)
connection board)
board
connection
Model JB-1
(simpleJB-1
absolute
Model
connection board)
Model JB-1
RACONRACON
motormotor
cable cable
Model　CB-ACS-MA□□□
RACON
motor cable
Model
CB-ACS-MA□□□
Motor Motor
cable cable
Motor cable
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
L
L
（φ9）（φ9）
（φ9）
1
3
Power supply
Power
supply
connection
board
connection
board
Model PP-1
Power supply
Model
PP-1
connection board
Model PP-1
Terminal
resistance
board Model
boardTN-1
Model TN-1
Terminal resistance
board Model TN-1
Model　CB-ACS-MA□□□
1
3
Controller side
1 Controller side
3
Wire
1
AWG22
3
(press fit)
Machine side
1
Machine side
1
L
3
3
Controller side
Machine side
Wire
Ｎｏ Signal Color
Ｎｏ
1
U
RedSignal Color
1
U AWG22
Red
2
V
White
fit)
2
V(pressWhite
3
W
Black
Ｎｏ
Signal Color
3
W
Black
1
U
Red
2
V
White
3
W
Black
Color Signal NO
RedWire U Color
1 Signal NO
Red
U
1
White
2
AWG22 V
White
V
2
(press
Black
3 Signal
Wirefit)W Color
NO
Black
W
3
Red
U
1
AWG22
V
2
(press fit) White
Black
W
3
Wire
AWG22
Wirefit)
(press
AWG22
(press fit)
RACONRACON
encoder
cable cable
Encoder
cable/encoder
robot cable
encoder
Encoder
cable/encoder
robot cable
* The standard encoder cable is the normal cable. A robot cable is available as an option.
* The
standard
encoder cable is the normal cable. A robot cable is available as an option.
Model　CB-ACS-PA□□□／CB-ACS-PA□□□-RB
RACON
encoder
cable
Encoder
cable/encoder
robot
cable
*
For
__,
enter
the cable
length (L), up to 20 meters. Example: 080=8 meters
Model　CB-ACS-PA□□□／CB-ACS-PA□□□-RB
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* The standard encoder cable is the normal cable. A robot cable is available as an option.
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
Model　CB-ACS-PA□□□／CB-ACS-PA□□□-RB
play
CN1
Cable color CN1
Signal
abbrev. Standard
Robot cable Cable color
Signal
Pincable
Standard cable Robot cable
White/blue
Gray
No. abbrev.
ENA
White/blue
Gray
CN1
White/yellow
1
Red
ENA
ENA
RedCable White/yellow
2
Black
ENAWhite/red
ENB
color
Signal
Pin
White/red
Blackcable Robot
3
ENBWhite/black
Yellow
ENB
Standard
abbrev.
cable
No.
White/black
－
－Yellow
4
－
ENB
White/blue
Gray
1
ENA
－
－
－ － Red
－
－
5
White/yellow
2
ENA
－
－
－
White/purple
6
Blue
LS＋
White/red
Black
3
ENB
White/purple
Blue
－ Yellow
7
－
LS＋
White/black
4－
ENB
－
－
－
8
Drain
FG
－
－ Drain －
5
Drain
9
FG
Pink
ENZ
－
－
－ OrangeDrain
6
Orange
Pink
Purple
10
ENZ Green Blue
ENZ
White/purple
7
LS＋
Green
－
11
White
ENZ
－
－
－ PurplePurple
8
－ Gray White
Purple
12
Blue/red
VPS
Drain
Drain
9
FG
Gray
13
VPS
Orange/white
5V
Orange
Pink
10
ENZ RedBlue/red
Red
Orange/white
14
Black
5V
Green/white
GND
Green
Purple
11
ENZ
Black
Green/white
White/gray
Orange
15
GND
LS－
－
Purple
White
12
White/gray
Orange
Brown
16
LS－
BK－
Gray
13
VPS BlueBlue/red
Blue
Brown
Green
17
BK－
BK＋
Red
Orange/white
14
5V Yellow
Yellow
Green
18
BK＋
Black
Green/white
15
GND
Plug housing: XMP-18V (JST)
White/gray
Orange
16
LS－
Socket contact: BXA-001T-P0.6
Plug housing:(JST)
XMP-18V (JST)
Blue
Brown
17 contact:
BK－
Retainer: XMS-09VSocket
(JST)
BXA-001T-P0.6 (JST)
Yellow
Green
18
BK＋
Retainer:
XMS-09V (JST)
CN2
（φ10）
（φ10）
18 17
18 17
2
１
2
Controller side
L
20
20
１
Controller side
2
１
Controller side
Motor Motor
cable cable
Motor cable
CN3
(Front diagram)
(Front diagram) CN3
Controller side
Controller side
L
（28） （28）
CN3
（28）
（20）
（φ8）（φ8）
（15） （15）
（8）
（20） （14）
（20） （14）
I-1318119-3
（AMP）
(Front diagram)
(Front diagram)
Machine side
L
Machine side
(Front diagram)
(Front diagram)
L
Controller side
CN3
（20） （14）
CN1 CN1
（15）
（20）
Plug housing: XMP-18V (JST)
Socket contact: BXA-001T-P0.6 (JST)
Retainer: XMS-09V (JST)
* The standard motor cable is a robot cable. Can be selected
* The standard motor cable is a robot cable. Can be selected
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* The standard motor cable is a robot cable. Can be selected
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
CN1
（20）
（8）
（φ8）
Model　CB-RCP2-MA□□□
（8）
Signal
abbrev.
Housing: PHDR-18VR (JST)
Contact: SPHD-001T-P0.5 (JST)
（14）
RPCONRPCON
motormotor
cable cable
Model　CB-RCP2-MA□□□
RPCON
motor cable
Model
CB-RCP2-MA□□□
Pin
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Pin
No.
LS＋ 18
LS－ 17
Signal
Pin
16
BK＋
abbrev.
No.
BK－
18
LS＋ 15
ENA
17
LS－ 14
13
ENA
16
BK＋
12
ENB
15
BK－
11
ENB
14
ENA
10
ENZ
13
ENA
9
ENZ
12
ENB
－
8
11
ENB
7
VPS
10
ENZ
6
5V
9
ENZ
5
GND
－
8
－
4
7
VPS
－
3
6
5V
－
2
5
GND
F.G
－
41
Housing: PHDR-18VR (JST)
－
－
－
3
Machine side
Contact: SPHD-001T-P0.5
(JST)
Housing:
PHDR-18VR (JST)
－
－
2
Contact:
SPHD-001T-P0.5
(JST)－
Drain
Drain
1
F.G
L
20
（φ10）
18 17
CN2
Signal
Pin
Cable color
abbrev.colorNo.
Robot cable Standard cableCable
Blue
Robot cable
White/purple
18 cable
LS＋Standard
Blue
Orange
White/purple
White/gray
CN2
LS－ 17
Orange
Green
White/gray
Yellow
16
BK＋ color
Cable
Green
Yellow
Brown
Blue
15 cable
BK－Standard
Robot
cable
Brown
Blue ENA
Gray
White/blue
14
Blue
White/purple
Gray
White/blue
Red
White/yellow
13
ENA
Orange
White/gray
Red
White/yellow
Black
White/red
12
Green
YellowENB
1
10
Black
White/red
Yellow
White/black
11
Brown
Blue ENB
1
10 Orange
Yellow
White/black
Pink
10
ENZ
Gray
White/blue
Pink
OrangeENZ
Purple
Green
9
Red
White/yellow
White
Green － Purple
Purple
8
Black
White/red
1
10 Gray
White
Blue/red
PurpleVPS
7
Yellow
White/black
Orange/white
Gray 5V Blue/red
Red
6
Pink
Orange
Orange/white
Green/white
Red
Black
5
GND
Purple
Green
9
18
－
－Purple
Black － Green/white
4
White
9
18 －
－
－
－ Gray － Blue/red
3
Machine side
－ －Orange/white
－
－ Red
2
Machine side －
－ F.G Green/white
－
Drain Black
Drain
1
Drain
9
18
Drain
－
－
（14） （14）
L
Orange
Gray
White
I-1318119-3
Yellow
（AMP）
Pink
Yellow (Green)
I-1318119-3
（AMP）
Machine side
A
A1
VMM Orange
A2
Gray
B
A3
A White
B1
Orange
VMM Yellow
B2
Gray
Pink
B
B3
White
Yellow
(Green)
Yellow
Pink
Yellow (Green)
M cable
CN3
A
VMM
B
A
A
VMM
VMM
B
B
A
VMM
B
M CN1
cable
1
A1
A2
CN3
A3
A1
B1
A2
B2
A3
B3
B1
B2
B3
A
2 VMM
M cable
3
4
5
6
A
B
VMM
B
CN1
Yellow
Yellow
1
A
Gray
Gray
2 VMM SLP-06V
Orange
CN1
Orange
Yellow3(Green)A
(JST)
Yellow
1
A
Yellow
(Green)
4
B
Pink
Gray
2 VMM
VMM
Pink
5
White
Orange
3
A
White
6
B
Yellow (Green)
4
B
Pink
5 VMM
White
6
B
SLP-06V
(JST)
SLP-06V
(JST)
RPCONRPCON
encoder
cable cable
Encoder
cable/encoder
robot cable
encoder
Encoder
cable/encoder
robot cable
* The standard encoder cable is the normal cable. A robot cable is available as an option.
*
The
standard
encoder cable is the normal cable. A robot cable is available as an option.
Model　CB-RCP2-PA□□□/CB-RCP2-PA□□□-RB
RPCON encoder cable
Encoder cable/encoder
robot
cable
* For __, enter
the cable
length (L), up to 20 meters. Example: 080=8 meters
Model　CB-RCP2-PA□□□/CB-RCP2-PA□□□-RB
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
* The standard encoder cable is the normal cable. A robot cable is available as an option.
* For __, enter the cable length (L), up to 20 meters. Example: 080=8 meters
Model　CB-RCP2-PA□□□/CB-RCP2-PA□□□-RB
CN2
Controller side
Controller
side
(Front
diagram)
Controller side
CN4
L
L
L
－
－
LS－
－
15
CN2
LS＋
－
Red －Cable
LS－
BK＋color
14
Signal
Redcable BK＋
Gray
Purple
BK－Standard
13
abbrev.
Robot
cable
Gray
Brown
White (vs.
BK－
ENA
12
－ purple)
－
（13）（15）
LS＋
Brown
ENA
Green Blue
11
－ ENA
－
LS－
Green
Purple
White
(vs. blue)
ENB
10
ENA
Red
Purple
BK＋
Purple
ENB
9
Pink Yellow
ENB
Gray
White
(vs. purple)
BK－
8
－
－ (vs. yellow)
Pink
ENB
White
ENA
Blue (Reserved) Brown
Yellow
(Front diagram)
Green
－ VPS
(Reserved)
7－
Green
White (vs.
blue)
ENA
Yellow
(Front diagram)
Green 5V
OrangeYellow
Red
VPS
6
Purple
ENB
Orange
Redyellow)
Blue
White (vs. red)
5V
GND
5
Pink
ENB
White (vs.
Blue
White
(vs. red)－
－
－
4－
GND
Machine side
－
(Reserved)
－
－
－
－
－ Green
3－
Machine
side
Yellow
(Front
diagram)
VPS
－
－
－
－
－ Red
2－
Orange
5V
－
Drain
F.G
1－
Drain
Blue
White－
(vs. red)
GND
Drain
F.G
Drain
－
－
－
Housing: PHDR-16VS (JST)
Machine side
（25）
（35） （35）
CN4
－
（25） （25）
(Front diagram)
(Front diagram)
（35）
（8）
（φ9）（φ9）
（5）
CN4
CN2
Signal
Pin
Cable color
abbrev.
Signal
colorNo.
Robot cable Standard cableCable
－
－
16 cable abbrev.
LS＋Standard
Robot cable
（13）（15）
CN2 CN2
（8）
（φ9）
（13）（15）
（8）
（5）
CN2
（18）
（5）
（18） （18）
play
Maintenance
parts parts
Maintenance
Maintenance parts
Purple
White (vs. purple)
Blue
White (vs. blue)
Yellow
White (vs. yellow)
Contact: SPHD-001T-P0.5
Housing:
－ PHDR-16VS
－(JST)
Contact:
－ SPHD-001T-P0.5
－
Drain
Drain
Housing: PHDR-16VS (JST)
Contact: SPHD-001T-P0.5
－
－
F.G
Pin
No.
16
15
Pin
14
No.
13
16
12
15
11
14
10
13
9
12
8
11
7
10
6
9
5
8
4
7
3
6
2
5
1
4
3
2
1
CN1
Cable color CN1
Pin
Robot cable Cable color
No. Standard
Signalcable Pin
Brown
Standard cable Robot cable
abbrev. No. Blue
Brown
Blue
Green
White (vs. blue)
1
ENA
CN1
ENA
Purple
2
ENB
ENA YellowGreen
CableWhite
color(vs. blue)
Signal
Pin
Purplecable Robot
Yellow
Pink
3
ENB
White
yellow)
ENB
Standard
cable
abbrev.
No. (vs.
－
－ Brown
Pink
－
WhiteBlue
(vs. yellow)
4
ENB
1
ENA
－
－ blue)
5
－
－
－ Green
－
White (vs.
2
ENA
－
－
6
－
－
－ Purple
－
Yellow
3
ENB
－
7
－
－
－ Pink
－
White (vs.－yellow)
4
ENB
－
－
8
－
White (vs. red)
GND
Blue
－
－
5
－
White (vs.
9
GND
Red Blue
5V
Orange
－
－ red)
6
－
Red
10
5V
VPS
Orange
Yellow
－
－
7
－ Green
－ Yellow
－
－
11
VPS
Green
－
－
8
－
－
－
12
－
－
－
－
White
(vs.
red)
9
GND
Blue
－
－
13
－
－
－
－
Red
10
5V
Orange
－
－
14
－
－
－
－
11
VPS
Green
Yellow
－
－
Purple
15
Red
－
BK＋
－
－
12
－
Purple
Red
White
(vs. purple)
Gray
16
BK＋
BK－
－
－
13
－
White (vs.－purple)
Drain
17
BK－
F.G
－
14
－ Drain Gray
Drain
Drain
18
F.G
－
－
15
－
Housing: XMP-18V (JST)
Purple
Red
16
BK＋
Contact: BXA-001T-P0.6
Housing:
XMP-18V (JST)
White (vs. purple)
Gray
Retainer: XMS-09V Contact:
17
BK－
BXA-001T-P0.6
Drain
Retainer:
XMS-09V Drain
18
F.G
Signal
abbrev.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
ENA
Housing: XMP-18V (JST)
Contact: BXA-001T-P0.6
Retainer: XMS-09V
1010
10
Catalog No. CJ0109-1 (April 2007)
Catalog No. CJ0109-1 (April 2007)
No. CJ0109-1 (April 2007)
Catalog No. CJ0109-1Catalog
(April 2007)
Catalog No. CJ0109-1 (April 2007)
www.intelligentactuator.com
www.intelligentactuator.com
www.intelligentactuator.com
Atlanta Office 1220 Kennestone Circle, Suite E, Marietta, GA 30066
Atlanta Office 1220 Kennestone Circle, Suite E, Marietta, GA 30066
Homepage
www.intelligentactuator.com
The contents of this catalog
are subject to
change without notice for the sake of product improvement.
www.intelligentactuator.com
Homepage
Homepage www.intelligentactuator.com
TheHomepage
contents of thiswww.intelligentactuator.com
catalog are subject to change without notice for the sake of product improvement.
The contents
of this
subject
to change
forimprovement.
the sake of product improvement.
The contents of this catalog
are subject
tocatalog
changeare
without
notice
for thewithout
sake of notice
product
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