Type Number (Specs for 1st axis) (Specs for 2nd axis) of Axes Motor Encoder Option Motor Encoder Option. 20 pulse motor-compatible 28P 20P

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1 Slider Controller Program controller For RCP/RCP Series /Flat List of models Program controller for operating RCP RCP Series actuators. Various control functions are combined into a single unit. Rotary C ame Program mode Positioner Mode Servo External View Description Position points Maximum number of control axes oth the actuator operation and communication with external equipment can be handled by a single controller. When two axes are connected, arc interpolation, path operations, and synchronization can be performed. 100 points Up to 100 positioning points are supported. Push-motion operation and teaching operation are also possible. Model P S E L Series C I I umber (Specs for 1st axis) (Specs for nd axis) of Axes Motor Encoder Option Motor Encoder Option * nd axis specs not applicable to the single-axis model. I/O I/O Cable Length 0 Power Voltage Simple absolute unit High acceleration type model C 0 DC4V I Incremental I Incremental 0 o cable 1 Single-axis model -axis model rake rake m (standard) m 0P 0 pulse 8P 8 pulse 8SP 8 pulse motor (RCP-RAC only) P pulse 4P 4 pulse 6P 6 pulse * If connecting to RCP-RAC/ RGDC, the motor type is 8SP. 0P 0 pulse 8P 8 pulse 8SP 8 pulse motor (RCP-RAC only) P pulse 4P 4 pulse 6P 6 pulse * If connecting to RCP-RAC/ RGDC, the motor type is 8SP. P P DV CC PR PIO P (standard) PIO PP Deviceet CC-Link Profius m lank ot used AU Used lank High acceleration H type model * If connecting to RCP-SA4/ SA/SA6 or RCP-SA/SA6, specify "H", for highacceleration type model. 7

2 System configuration Controller Slider Teaching Pendant (see P6) Model: SEL-T/SEL-TD (Optional) PLC m I/O Flat Cable Model: C-DS-PIO (Supplied with the controller) For a replacement cable, see P66. 0.m m Field etwork Panel Unit (See P6) Model: PU-1 (Optional) /Flat RSC Cable Model: C-ST- E1MW00-E (Supplied with the IA-101-X-MW PC software) m Adapter cable (see P66) Model: C-SEL-SJ (Optional) m US Cable (see P66) Model: C-SEL-US00 (included w/ IA-101-X-US PC software) PC Software (See P6) Model: IA-101-X-MW (with RSC cable) IA-101-X-US (with US cable) m System Memory ackup attery (see P6) Model: A--CS (with case) A- (stand-alone battery) (Optional)*1 *1 The system memory backup battery is a required feature if you wish to retain data such as flags used in programs even after the power has been shut off. Rotary Servo DC4V Power Supply (See P471) <Model: PS-41 (100V input)> <Model: PS-4 (00V input)> (Optional) Simple Absolute Unit (Optional) <Model: -AU> (See P4) Motor Cable <Model: C-RCP-MA > 1m/m/m For a replacement cable, see P66 Actuator: RCP series Encoder Cable <Model: C-RCP-P > 1m/m/m For a replacement cable, see P66. Actuator: RCP series Motor-encoder Cable <Model: C-PCS-MPA > 1m / m / m (Supplied with the actuator) For a replacement cable, see P66. 8

3 Slider Controller I/O Specifications section External input specifications Item voltage current O/OFF voltage Isolation method P Specifications Specifications DC4V ±10% 7mA / circuit O voltage (min.) OFF voltage (max.) Photocoupler P : DC16V / PP : DC8V P : DCV / PP : DC19V section External output specifications Item Load Voltage Max. load current Residual voltage (Max.) Isolation method P Specifications Specifications DC4V 100mA / 1 point 400mA / 8 points in total Max 0.1mA / 1 point Photocoupler /Flat External power supply +4V V R=60Ω terminals s R=.kΩ Internal circuit Internal circuit s Load External power supply +4V Rotary Servo PP Specifications PP Specifications External power supply +4V R=60Ω terminals Internal circuit Internal circuit V Load External power supply +4V s R=.kΩ s Explanation of I/O Signal Two modes can be selected for the controller: Program Mode, in which the actuator is operated by entering a program, and Positioner Mode, in which PLC signals are received and the actuator is moved to designated positions. The Positioner Mode has the five input patterns listed below to enable various applications. Control Function by Operation mode Program mode mode Product Change mode Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., archmotion operation and palletizing operation can be performed using the Super SEL language that lets you program complex control actions using simple commands. This is the basic mode from which operations can be conducted by designating position numbers and inputting the start signal. Push-motion operation and teaching operation are also possible. Multiple work parts of the same shape with slightly different hole positions can be handled using movement commands to the same position numbers by simply changing the product type number. Positioner mode -axis independent mode With a -axis controller, each axis can be commanded and operated separately. Teaching mode In this mode, the slider (rod) moves based on an external signal, when the actuator is stopped, the current location can be registered as position data. DS-S-C1 Compatible mode If you were using a DS-S-C1 controller, you can replace it with a controller without having to change the host programs. *This mode does not ensure actuator compatibility. 9

4 Explanation of I/O Signal Controller Slider Program mode Pin umber Classification A Port o Program Mode Select Program o. 1 Select Program o. Select Program o. 4 Select Program o. 8 Select Program o. 10 Select Program o. 0 Select Program o. 40 CPU reset Start Alarm 0V input Selects the program number to start. ( as CD values to ports to ) Resets the system to the same state as when the power is turned on. Starts the program selected by ports to. Waits for external input via program instructions. Turns off when an alarm occurs. (Contact ) These outputs can be turned O/OFF as desired via program instructions. Connect 0V. ote: This is for P. PP will be different. /Flat Rotary Servo Positioner mode Pin umber Classification Port o. Positioner Mode A Position input 10 Position input 11 Specifies the position numbers to move to, using port number to. Position input 1 The number can be specified either as CD or binary. Position input 1 Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to selected position. Home return Performs home return. Servo O Switches between Servo O and OFF. Push Performs a push motion. Pause Pauses the motion when turned OFF, and resumes when turned O. Cancel Stops the motion when turned OFF. The remaining motion is canceled. Interpolation settings When this signal is turned O for a -axis model, the actuator moves by linear interpolation. Position input 1 Position input Position input Specifies the position numbers to move to, using ports to. Position input 4 The number can be specified either as CD or binary. Position input Position input 6 Position input 7 Position input 8 Position input 9 Alarm Turns off when an alarm occurs. (Contact ) Positioning complete Turns on when the movement to the destination is complete. Home return complete Turns on when the home return operation is complete. Servo O output Turns on when servo is O. Pushing complete Turns on when a push motion is complete. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. ote: This is for P. PP will be different. 60

5 Slider Controller Explanation of I/O Signal /Flat Rotary Servo Positioner, Product- Change Mode Pin umber Classification Port o. A Positioner Product Change Mode Position/Product 10 Position/Product 11 Specifies the position numbers to move to, and the product type numbers, Position/Product 1 using ports to. Position/Product 1 The position and product type numbers are assigned by parameter settings. Position/Product 14 The number can be specified either as CD or binary. Position/Product 1 Position/Product 16 Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to selected position. Home return Performs home return. Servo O Switches between Servo O and OFF. Push Performs a push motion. Pause Pauses the motion when turned OFF, and resumes when turned O. Cancel Stops the motion when turned OFF. The remaining motion is canceled. Interpolation settings When this signal is turned O for a -axis model, the actuator moves by linear interpolation. Position/Product 1 Position/Product Position/Product Specifies the position numbers to move to, and the product type numbers, Position/Product 4 using ports to. Position/Product The position and product type numbers are assigned by parameter settings. Position/Product 6 The number can be specified either as CD or binary. Position/Product 7 Position/Product 8 Position/Product 9 Alarm Turns off when an alarm occurs. (Contact ) Positioning complete Turns on when the movement to the destination is complete. Home return complete Turns on when the home return operation is complete. Servo O output Turns on when servo is O. Pushing complete Turns on when a push motion is complete. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. ote: This is for P. PP will be different. Positioner, -axis Independent Mode Pin umber Classification Port o. Positioner -axis Independent Mode A Position input 7 Position input 8 Position input 9 Position input 10 Position input 11 Position input 1 Position input 1 Error reset Start 1 Home return 1 Servo O 1 Pause 1 Cancel 1 Start Home return Servo O Pause Cancel Position input 1 Position input Position input Position input 4 Position input Position input 6 Alarm Positioning complete 1 Home return complete 1 Servo O output 1 Positioning complete Home return complete Servo O output 0V input Specifies the position numbers to move to, using ports to. The position numbers on the 1st and nd axes are assigned by parameter settings. The number can be specified either as CD or binary. Resets minor errors. (Severe errors require a restart.) Starts the movement to the selected position number on the 1st axis. Performs home return on the 1st axis. Switches between servo O and OFF for the 1st axis. Pauses the motion on 1st axis when turned OFF, and resumes when turned O. Cancels the movement on the 1st axis. Starts the movement to the selected position number on the nd axis. Performs home return on the nd axis. Switches between servo O and OFF for the nd axis. Pauses the motion on nd axis when turned OFF, and resumes when turned O. Cancels the movement on the nd axis. Specifies the position numbers to move to, using ports to. The position numbers on the 1st and nd axes are assigned by parameter settings. The number can be specified either as CD or binary. Turns off when an alarm occurs. (Contact ) Turns on when the movement to the specified position on the 1st axis is complete. Turns on when home return on the 1st axis is complete. Turns on when the 1st axis is in a servo O state. Turns on when the movement to the specified position on the nd axis is complete. Turns on when home return on the nd axis is complete. Turns on when the nd axis is in a servo O state. Connect 0V. ote: This is for P. PP will be different. 61

6 Explanation of I/O Signal Controller Slider Positioner, Teaching Mode Pin umber Classification Port o. A Positioner Teaching Mode JOG on 1st axis While the signal is on, the 1st axis is moved in the - (negative) direction. JOG+ on nd axis While the signal is on, the nd axis is moved in the + (positive) direction. JOG on nd axis While the signal is on, the nd axis is moved in the - (negative) direction. Specify inching (0.01mm) Specify inching (0.1mm) Specifies how much to move during inching. Specify inching (0.mm) (Total of the values specified for ports to ) Specify inching (1mm) Error reset Resets minor errors. (Severe errors require a restart.) Start Starts moving to selected position. Servo O Switches between Servo O and OFF. Pause Pauses the motion when turned OFF, and resumes when turned O. Position input 1 Position input Position input Position input 4 Ports 00 to 01 are used to specify the position number to move, and Position input the position number for inputting the current position. Position input 6 - When the teaching mode setting on port is in the O state, the Position input 7 current value is written to the specified position number. Position input 8 Position input 9 Position input 10 Position input 11 Teaching mode setting JOG+ on 1st axis While the signal is on, the 1st axis is moved in the + (positive) direction. Alarm Turns off when an alarm occurs. (Contact ) Positioning complete Turns on when the movement to the destination is complete. Home return complete Turns on when the home return operation is complete. Servo O output Turns on when servo is O. System battery error 0V input Turns on when the system battery runs low (warning level). Connect 0V. ote: This is for P. PP will be different. /Flat Rotary Servo Positioner, DS-S-C1 Compatible Mode Pin umber Classification Port o. Positioner DS-S-C1 Compatible Mode A Position o. 1 (Same as ports through 01) CPU reset Resets the system to the same state as when the power is turned on. Start Starts moving to selected position. Hold (Pause) Pauses the motion when turned O, and resumes when turned OFF. Cancel Stops the motion when turned O. The remaining motion is canceled. Interpolation settings When this signal is turned O for a -axis model, the actuator moves by linear interpolation. Position o. 1 Position o. Position o. 4 Position o. 8 Position o. 10 Ports through are used to specify the position number to move. Position o. 0 The numbers are specified as CD. Position o. 40 Position o. 80 Position o. 100 Position o. 00 Position o. 400 Position o. 800 Alarm Turns off when an alarm occurs. (Contact A) Positioning complete Turns on when the movement to the destination is complete. System battery error Turns on when the system battery runs low (warning level). 0V input Connect 0V. ote: This is for P. PP will be different. 6

7 Slider /Flat Rotary Servo Controller Table of specifications Item Specifications Connected actuator RCP series actuator (ote 1) voltage DC4V ±10% Power Supply Capacity Control power (Max. 1.) + Motor power (See the table below) Dielectric strength voltage DC00V 10MΩ or higher Withstand voltage AC00V 1 min. Rush current Max. 0A Vibration resistance XYZ directions 10 to 7Hz, One side amplitude: 0.0mm (continuous), 0.07mm (intermittent) 8 to 10 Hz 4.9 m/s (continuous), 9.8 m/s (intermittent) Maximum total output of connected axis Position detection method Incremental encoder Speed setting From 1mm/s. The maximum limit varies depending on the actuator. Acceleration setting From 0.01G. The maximum limit varies depending on the actuator. Operating method Program operation / Positioner operation (switchable) Programming language Super SEL language umber of programs 64 programs umber of program steps steps umber of multi-tasking programs 8 programs Positioning Points 100 points Data memory device FLASHROM (A system-memory backup battery can be added as an option) Data input method Teaching pendant or PC software umber of I/O 4 input points / 8 output points (P or PP selectable) I/O power Externally supplied 4VDC ± 10% PIO cable C-DS-PIO (supplied with the controller) Serial communications function RSC (Half-pitch connector) / US connector Field etwork Deviceet, CC-Link, Profius Motor Cable C-RCP-MA (Max. 0m) Encoder cable C-RCP-PA (Max. 0m) Protection function Motor driver temperature check, Encoder open-circuit check Soft limit over, system error, battery error, etc. Ambient operating humidity and temperature 0 to 40ºC 10 to 9% (non-condensing) Ambient atmosphere Free from corrosive gases. In particular, there shall be no significant powder dust. Protection class IP0 Weight Approx. 40g External dimension 4 mm (W) x 19 mm (H) x 110 mm (D) (ote 1) Cannot operate High-Thrust type (RA10C), High-Speed type (HS8C/HS8R), or Waterproof type (RCPW-SA16). asic Specifications Control specification Program Communication Motor type 0P, 8P, 8SP motor P, 4P, 6SP motor 1-Axis specifications -Axis specifications Rated Max.(ote ) Rated Max.(ote ) A A Exterior dimensions 1-axis controller -axis controller 4 ø (80) ø (80) General specifications Motorpower supply Capacity (ote) (ote ) For both 1-axis and -axis specifications, approx. 0A inrush current flows for ms when the control power supply is turned on. (ote ) After Servo O, excitation detection is performed. In that case, the current is maximized. (Approx. 100 msec) However, if motor drive power supply is turned on after a shut-down, approx. 6.0A and approx. 1.0A current flows to axis-1 and axis- respectively. (Approx. 1 to msec) 6

8 ame of Each Part Controller Slider Motor connector for axis 1 Connects the motor cable of the axis 1 actuator. Motor connector for axis Connects the motor cable of the axis actuator. rake switch for axis 1 This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (OM side) causes the controller to automatically control the brake. 4 Encoder connector for axis 1 Connect the encoder cable of the axis 1 actuator. 9 I/O Connector A connector for interface I/Os. 4-pin flat cable connector for DIO (4I/8OUT) interface. I/O power is also supplied to the controller via this connector (Pin o. 1 and o. 4). 10 Mode switch This switch is used to specify the running mode of the controller. The left position indicates the MAU (manual operation) mode, while the right position indicates the AUTO (automatic operation) mode. Teaching can only be performed in manual operation, and automatic operation using external I/Os is not possible in the MAU mode. /Flat 1 rake switch for axis This switch is used to release the axis brake. Setting it to the left position (RLS side) forcibly releases the brake, while setting it to the right position (OM side) causes the controller to automatically control the brake. 6 Encoder connector for axis Connect the encoder cable of the axis actuator. 7 Status indicator LEDs These LEDs are used to indicate the operating condition of the controller. The LED status indicators are as follows: PWR Power is input to controller. RDY The controller is ready to perform program operation. ALM The controller is abnormal. EMG An emergency stop is actuated and the drive source is cut off. SV1 The axis 1 actuator servo is on. SV The axis actuator servo is on. 11 US connector A connector for PC connection via US. If the US connector is connected, the TP connector is disabled and all communication inputs to the TP connector are cut off. 1 Teaching pendant connector A half-pitch I/O 6-pin connector that connects a teaching pendant when the running mode is MAU. A special conversion cable is needed to connect a conventional D-sub, -pin connector. 1 System-memory backup battery connector If you wish to retain the various data recorded in the SRAM of the controller even after the power is cut off, connect the necessary battery to this connector. This battery is installed externally to the unit. The controller does not come standard with the battery (Option). 14 Motor power input connector This connector is used to input the motor power. It consists of a -pin, -piece connector by Phoenix Contact. Rotary Servo Panel unit connector A connector for the panel unit (optional) that displays the controller status and error codes. 1 Control power/system input connector This connector is used to connect the control power input, emergency stop switch, and enable switch. It consists of a Phoenix Contact 6-pin -piece connector. 64

9 Slider /Flat Rotary Servo Controller Option Teaching Pendant This is a teaching device that provides information on functions such as position input, test runs, and monitoring. Model Model SEL-T-J SEL-TD-J Configuration SEL-T option Wall-mounting hook Model HK-1 Description type with adapter cable Equipped with a deadman switch and adapter cable m Strap Model STR-1 Adapter cable: C-SEL-SJ 0.m Specifications Item SEL-T-J SEL-TD-J -position Enable Switch o Yes ASI/UL standards on-compliant Compliant CE mark Compliant Display 0 char. 4 lines Ambient Operating Temp./Humidity 0~40ºC 10~90% RH (non-condensing) Protective structure IP4 Weight Approx. 0.4kg (not incl. cable) PC Software (Windows Only) Model Configuration A startup support software for inputting programs/positions, performing test runs, and monitoring. More functions have been added for debugging, and improvements have been made to shorten the start-up time. IA-101-X-MW-J (with RSC cable + adapter cable) m 0.m PC Software (CD) RSC Cable C-ST-E1MW00-E Adapter cable: C-SEL-SJ Model Configuration IA-101-X-US (with US cable) m Dummy plug DP- ote: Only versions and later can be used with the controller. PC Software (CD) US cable C-SEL-US00 Panel Unit Display device that shows the error code from the controller or the currently running program number. Model PU-1 (Cable length: m) ø System Memory ackup attery This battery is required when you are using global flags in the program and you want to retain your data even after the power has been turned OFF. Model A CS (with case) A (stand-alone battery) Dummy Plug When connecting the controller to a computer with a US cable, this plug is inserted in the teaching port to shut off the enable circuit. (Supplied with the PC software IA-101-X-US) Model DP

10 Option Controller Slider US Cable A cable for connecting the controller to the US port to a computer. A controller with no US port (e.g. ) can be connected to the US port of a computer by connecting an RSC cable to the US cable via a US adapter. (See PC software IA-101-X-USMW) Model C-SEL-US00 (Cable length: ) Adapter Cable An adapter cable to connect the D-sub -pin connector from the teaching pendant or a PC to the teaching connector (half-pitch) of the controller. Model C-SEL-SJ (Cable length: 0. ) Spare Parts /Flat When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. Motor cable Model C-RCP-MA (1) (8) (Front view) (0) C Controller side (ø8) L * * The standard cable for the motor cable is the robot cable. Min. bend radius r = 0 mm or larger (when movable type is used) (8) C 1 (0) (14) (14) (Front view) Mechanical side * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Wire Color Signal Pin o. Pin o. Signal Color Wire Orange A A1 1 A Yellow I (AMP) Gray White Yellow Pink Orange (lack 1) A A A A Gray Orange Orange (lack 1) Pink White SLP-06V (JST) Rotary Servo Encoder cable/encoder robot cable Model C-RCP-P /C-RCP-P -R * The standard cable for the encoder cable is a normal cable. * Enter the cable length (L) into. Compatible to a maximum of 0 meters. A robot cable can be specified as an option. Ex.: 080 = 8 m (18) () (8) (1) (1) C4 (Front view) Controller side (ø9) Min. bend radius r = 0 mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. L () C (Front view) Mechanical side () C 4 PHDR-16VS (JST) Cable color Signal Cable Robot Cable lue (Red 1) Orange (lack ) L S + White Orange (Red ) L S Red Orange (lack 1) K + Gray Orange (Red 1) K rown Light Gray (lack 1) E A Green Light Gray (Red 1) E A Purple White (lack 1) E Pink White (Red 1) E Yellow Orange lue Ground Yellow (lack 1) V P S Pink (Red 1) V Pink (lack 1) GD (.C) (.C) (.C) Ground F.G Pin o Ground wire Shield wire Pin o Signal E A E A E E GD V V P S L S + L S K + K F.G Cable color Cable Robot Cable rown Light Gray (lack 1) Green Light Gray (Red 1) Purple White (lack 1) Pink White (Red 1) lue Orange Yellow lue (Red 1) Orange (lack ) White Orange (Red ) Red Gray Ground Pink (lack 1) Pink (Red 1) Yellow (lack 1) Orange (lack 1) Orange (Red 1) Ground C XMP-18V (JST) Motor-Encoder Cable for RCP Model C-PCS-MPA (1) (18) (8) () (0) (Front view) (8) Controller side Min. bend radius r = 84 mm or larger (when movable type is used) L (ø1) (18) () (0) (Front view) Mechanical side * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex.: 080 = 8 m Signal Pin umber (Wire color) Pin umber Signal A 1 lack A1 A A White 1 /A A1 Red A /A / A K+ 14 K 1 LS+ 16 LS A+ A + C VPS VCC GD C FG Green Yellow rown Pink (Red ) Pink (lue ) White (Red ) White (lue ) Orange (Red ) Orange (lue ) Gray (Red ) Gray (lue ) Orange (lue Contiguous) Gray (Red Contiguous) Gray (lue Contiguous) Shield A A4 4 A A6 6 A7 7 A8 8 A9 9 A10 10 A11 11 / C C K+ K LS+ LS A+ A + C VPS VCC GD C FG I/O Flat Cable Model C-DS-PIO * Enter the cable length (L) into. Compatible to a maximum of 10 meters. Ex.: 080 = 8 m 1 m Flat cable AWG8 (4-core) o connector Pin o. Color Wire Pin o. Color Wire rown 1 Gray Red 1 White Orange 1 lack Yellow 1 rown- Green 1 1 Red lue1 Orange Purple 1 Yellow A Gray 1 White 1 lack 1 Flat cable crimped Green lue Purple Flat cable crimped rown- 1 Gray Red White Orange lack Yellow rown-4 Green Red 4 lue Orange 4 Purple 1 Yellow 4 66