PSEP / ASEP Controller

Transcription

1 Slider / ASEP Controller Model C/CW -position controller for RCP/RCP Position Controller Model C/CW -position controller for RCA/RCA/RCL Position Controller Feature /Flat Rotary Can operate with same signal as a solenoid valve. The signal that operates the actuator is the same as the signal that operates the air cylinder. Therefore, the PLC program currently in use can be used without modification even if the air cylinder is replaced by an electric-powered cylinder. Either a single solenoid or a double solenoid may be used. Signal ON Signal OFF Extended Retracted Servo Establishes a dustproof type that supports IP. We provide dustproof type controllers with an IP equivalent (*) protection structure, so that the controller can be mounted outside the control panel. () Bottom surface excluded. Provides the simple absolute type that can be operated immediately upon power-on without homing. ERC Since the simple absolute type can store the current position with the assistance of the absolute battery unit during power-up or after the emergency stop is deactivated; it can start the next operation at that position. (Note ) When the actuator is connected to the simple absolute type controller, the model is considered an incremental model. (Note ) It can not be used for the linear servo type. When mounting the absolute battery unit, mount it below the SEP controller. SEP controller Absolute battery unit Pushing and intermediate stop operation is available. Like air cylinders, the pushing operation is available. In this operation, you can stop with a rod being pushed to a workpiece. Since the force for the push operation is adjustable within a range between 0 to 0 % of the maximum pushing force and a signal is generated when it reaches the specified pushing force, it can be used to determine clamping or size of workpieces. Push force is adjustable within the range of 0 to 0% of the maximum pushing force (V) (00V) Easy data entry with the dedicated touch panel teaching unit. Data, such as setting target positions or pushing force, are easily entered with the optional touch panel teaching model: CON-PT. Since the touch panel teaching unit provides an interactive menu and can be controlled directly on the screen, you can operate intuitively with no assistance from operation manuals. / ASEP

2 Model List Series name Name Positioning method Incremental encoder / ASEP Controller ASEP C CW C CW Dustproof Dust proof Simple absolute type Incremental encoder Simple absolute type Incremental encoder Simple absolute type Incremental encoder Simple absolute type Slider External View /Flat Description Number of positions price Position controller, for pulse motors, specialized to positions / positions positioning and easier control -C dustproof type with an IP equivalent protection structure positions / positions Position controller, for servo motors, specialized to positions / positions positioning and easier control ASEP-C dustproof type with an IP equivalent protection structure Rotary Model Servo Series Motor Encoder type I I/O type I/O cable length Power Simple absolute supply voltage compatible 0 High acceleration compatible model C type CW Dustproof type I Incremental type 0P 0 pulse motor compatible P pulse motor-compatible SP pulse motor compatible (RAC only) P pulse motor-compatible P P pulse motor-compatible pulse motor-compatible NP PN NPN type PNP type 0 No cable m m m ABU ABUN (Blank) Incremental type 0 DCV Blank H High acceleration compatible model * If connecting to RCP-SA/SA/SA RCP(RCPCR)-SA/SA, specify "H", for high-acceleration compatible model. Simple absolute type (with absolute battery unit) Simple absolute type (without absolute battery unit) ERC ASEP I 0 Series Motor Encoder Option type I/O type I/O cable length Power Simple absolute supply voltage compatible C CW type Dustproof type I Incremental type LA Power-saving ABU Simple absolute type (with absolute battery unit) ABUN Simple absolute type (without absolute battery unit) (Blank) Incremental type W motor-compatible W motor-compatible NP PN NPN type PNP type 0 DCV (V) 0 0W motor-compatible 0 0W motor-compatible 0S 0W motor-compatible (RCA-SA /TA, RCA-RA only) 0 0W motor-compatible 0 No cable m m m (00V) / ASEP

3 Slider / ASEP Controller System structure [] PLC /Flat PC Software See P RS version: <Model: RCM-0-MW> USB version: <Model: RCM-0-USB> * Cable supplied with the PC software. * Version older than cannot be used with the SEP controller. Teaching Pendant for CON/R CON/ SEP See P <Model: CON-PT/CON-PD/CON-PG> Teaching Pendant for SEP <Model: SEP-PT> Field network DeviceNet/CC-Link/ProfiBus PIO Cable <Model: CB-A-PIO00> (standard) <Model: CB-AW-PIO00> (for dustproof) m (Supplied with the controller) See P0 DCV Power Supply <Model: PS- (00V input)> <Model: PS- (00V input)> Rotary m Servo 0.m ERC Absolute Battery Unit for SEP Controller (Supplied with simple absolute type) <Model: SEP-ABU> (standard) <Model: SEP-ABU-W> (for dustproof) See P00 Motor-encoder Cable <Model: CB--MPA > m / m / m (Supplied with the actuator) See P0 </R/> Actuator: RCP series Rotary type RCP-RT (See below for small rotary) Gripper type RCP-GRS/GRM/GR Motor-encoder Cable <Model: CB-R-MPA > m / m / m (Supplied with the actuator) See P0 Motor-encoder Cable <Model: CB-PCS-MPA > m / m / m (Supplied with the actuator) See P0 RCP Small Rotary (RCP-RTBS/RTBSL/ RTCS/RTCSL) * The above models use a dedicated cable. Motor-encoder Cable <Model: CB-A-MPA > m / m / m (Supplied with the actuator) See P0 (V) Actuator: RCP series RCP-GRSS/GRLS/GRST RCP-SRAR/SRGSR/SRGDR (00V) / ASEP

4 / ASEP Controller System structure Slider [ASEP] PLC PC Software See P RS version: <Model: RCM-0-MW> USB version: <Model: RCM-0-USB> * Cable supplied with the PC software. * Version older than cannot be used with the SEP controller. Teaching Pendant for CON/R CON/ SEP See P <Model: CON-PT/CON-PD/CON-PG> Teaching Pendant for SEP <Model: SEP-PT> Field network DeviceNet/CC-Link/ProfiBus PIO Cable <Model: CB-A-PIO00> (standard) <Model: CB-AW-PIO00> (for dustproof) m (Supplied with the controller) See P0 /Flat DCV Power Supply <Model: PS- (00V input)> <Model: PS- (00V input)> m Rotary Servo 0.m Absolute Battery Unit for SEP Controller (Supplied with simple absolute type) <Model: SEP-ABU> (standard) <Model: SEP-ABU-W> (for dustproof) See P00 Motor-encoder Cable <Model: CB-ASEP-MPA > m / m / m (Supplied with the actuator) See P0 </R/> ERC Actuator: RCA series Motor-encoder Cable <Model: CB-A-MPA > m / m / m (Supplied with the actuator) See P0 Motor-encoder Cable <Model: CB-ACS-MPA > m / m / m (Supplied with the actuator) See P0 Actuator: RCA/RCL series (V) (00V) / ASEP 0

5 Slider / ASEP Controller PIO Pattern Description The SEP controller provides the following six PIO patterns from which you can choose for operation. Also, PIO patterns 0 to support both the single solenoid and double solenoid signal configurations. PIO Pattern Number 0 PIO Pattern Name -position movement Moving speed change Position Data Change -input -position travel -input -position travel Continuous cycle operation Continuous cycle operation -position motion -position motion -position motion -position motion Continuous motion between positions /Flat Feature Supported solenoid configurations Single Push Double Single Push Changing speed during motion Double Single Push position data change Double Push Push Push Rotary Input 0 signal Pause signal signal signal (Reset signal) signal Pause signal signal signal Moving speed change signal (reset signal) signal Pause signal signal signal Target position change signal (reset signal) signal signal (Reset signal) Retract motion signal Extend motion signal Intermediate motion signal (reset signal) Continuous operation signal Pause signal (Reset signal) Servo /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal Output 0 Retract motion Extend motion Homing completion signal / Servo-ON Alarm / Servo-ON Retract motion Extend motion Homing completion signal /Servo-ON Alarm /Servo-ON * For the signals above, see the controller manuals (downloadable from our website). Retract motion Extend motion Homing completion signal /Servo-ON Alarm /Servo-ON Retract motion Extend motion Midpoint position Alarm /Servo-ON Retract motion Extend motion Midpoint position Alarm /Servo-ON Retract motion Extend motion Homing completion signal /Servo-ON Alarm /Servo-ON ERC PIO Pattern 0 ( -Position travel) This PIO pattern involves movements between two positions the end position and the home position. The positions can be set numerically to any position (by inputting to the controller using the optional touch panel teaching pendant). Two motions are possible: A positioning motion moves the rod or the slider to the specified position, and a "pushing motion" pushes the rod against a workpiece. Positioning (Single Solenoid) Speed: 00mm/s (End position) Input 0 ON Input Input When Input 0 is turned ON, the slider/rod moves to the end position (0mm coordinate) at a speed of 00mm/s. (0) Input End Position Data Position 0 Speed 00 Pushing force (V) (Home position) (0) Speed: 0mm/s Input 0 OFF Input Input Input When input 0 is turned OFF, the slider/rod returns to the home position (0mm coordinate) at a speed of 0mm/s. (00V) Home Position Data Position 0 Speed 0 Pushing force / ASEP

6 / ASEP Controller Slider Positioning (Double Solenoid) (End position) (0) Input 0 OFF Input ON Input Input When Input is turned ON and Input 0 is turned OFF, the slider/rod moves to the end position (0mm coordinate) at a speed of 00mm/s. End Position Data Position 0 Speed 00 Pushing force (Home position) (0) Input 0 ON Input OFF Input Input When Input 0 is turned ON and Input is turned OFF, the slider/rod returns to the home position (0mm coordinate) at a speed of 0mm/s. /Flat Rotary Home Position Data Position 0 Speed 0 Pushing force Servo Push motion (single solenoid) (End position) (0) (0) Input 0 ON Input Input Input When Input 0 is turned ON, the rod moves to the 0mm position at 00mm/s, and then starts pushing from the 0mm position to the 0mm position at slow speed. ERC End Position Data Position 0 Speed 00 Pushing force 0 0 * The pushing motion is performed only if there is a numerical value for the pushing force in the controller's position data. (If there is no numerical value for the pushing force, a positioning motion will be performed instead.) Push motion (double solenoid) (End position) (0) (0) Input 0 OFF Input ON Input Input When Input is turned ON and Input 0 is turned OFF, the rod moves to the 0mm position at 00mm/s, and then starts pushing from the 0mm position to the 0mm position at slow speed. End Position Data Position 0 Speed 00 Pushing force 0 0 * The pushing motion is performed only if there is a numerical value for the pushing force in the controller's position data. (If there is no numerical value for the pushing force, a positioning motion will be performed instead.) (V) (00V) / ASEP

7 Slider / ASEP Controller PIO Pattern (Speed Change During Movement) This PIO pattern involves movements between two positions the end position and the home position. The speed can be changed in stages. (The speed can be either increased or decreased.) The speed change occurs when the rod/slider passes the speed change position, specified in the position values. (Single Solenoid) 00 If the speed change signal is OFF: /Flat Speed (mm/s) 0 If the speed change signal is ON: Home position (0) Speed change position () End position (0) Rotary (End position ) Servo Input 0 ON Input Input ON Input () (0) When Input 0 is turned ON while Input is turned ON, the rod moves at the initial speed up to the trigger point. After it passes the trigger point, the speed changes. If Input is not turned ON, the speed will not change. Home Position Data Position 0 Speed Trigger point Trigger speed Pushing force 0 00 End Position Data Position 0 Speed 00 Trigger point Trigger speed 0 Pushing force ERC PIO Pattern (Position Change) This PIO pattern involves movements between two positions the end position and the home position. You can set sets of data for the end / home positions, speed, pushing force, and pushing width. Switching between the sets of data can be done by turning ON/OFF Input, which is the signal for switching the target position. (Single Solenoid) 00 If the position change signal is OFF: Speed (mm/s) 0 If the position change signal is ON: (V) (00V) Home position (Position change signal: ON) (0) (End position ) Input 0 ON Input Input ON Input (0) (End position ) (0) End position (0) End position (0) If Input (position change signal) is OFF when Input 0 is turned ON, the rod moves according to the position and speed set in "End Position Data " (position: 0 / speed: 00). If Input is ON when Input 0 is turned ON, the rod's movement changes to the position and speed set in End Position Data " (position: 0 / speed: 0). If Input is OFF when the movement starts, but is turned ON in transit, the target position and speed is changed from that position. End Position Data End Position Data Position 0 Position 0 Speed 00 Speed 0 Pushing force Pushing force / ASEP

8 / ASEP Controller Slider PIO Pattern (-Input -Position Travel) This PIO pattern involves movements between positions the end position, the home position, and an intermediate position. Changing between the positions is done by a combination of signals, Input 0 and Input. Positioning (Home position) (0) (0) (Intermediate position) (0) (End position) Input 0 ON Input OFF Input Input Input 0 ON Input ON Input Input Input 0 OFF Input ON Input Input When only Input 0 is turned ON, the rod moves to the home position at the specified speed. When Input 0 and Input are both turned ON, the rod moves to the intermediate position at the specified speed. When only Input is turned ON, the rod moves to the end position at the specified speed. /Flat Rotary Servo PIO Pattern (-Input -Position Travel) This PIO pattern involves movements between positions the end position, the home position, and an intermediate position. Changing between positions is done by three signals Input 0, Input and Input, which are commanded to move to the home, end and intermediate positions, respectively. Positioning (Home position) (0) Input 0 ON Input OFF Input OFF Input When Input 0 is turned ON, the rod moves to the home position at the specified speed. ERC (Intermediate position) (0) Input 0 OFF Input OFF Input ON Input When Input is turned ON, the rod moves to the intermediate position at the specified speed. (End position) (0) Input 0 Input Input Input OFF ON OFF When Input is turned ON, the rod moves to the end position at the specified speed. PIO Pattern (Continuous Cycle Operation) This PIO pattern involves continuous cycling between positions the end and home positions. When Input 0 (continuous operation signal) is turned ON, the rod continuously moves between the specified positions. If Input 0 is turned OFF while in motion, it stops after reaching the current destination. Positioning (Home position) (0) (0) Input 0 Input Input Input ON When Input 0 is turned ON,the rod moves continuously between the end and home positions at the specified speed. (V) (00V) / ASEP

9 Slider /Flat / ASEP Controller Pin No. 0 I/O Signal Cable color Brown Red Orange Yellow Green Blue Purple Grey White Black Specification Table PIO pattern 0 PIO pattern name -input -input Continuous cycle Speed change Position change -position motion -position travel -position travel operation Solenoid type Single Double Single Double Single Double COM COM V 0V V 0V V 0V V 0V V 0V V 0V 0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ST0 ASTR *STP ST() *STP ST () *STP ST () ST ST() /*STP Input (RES) SPDC(RES) CN(RES) (RES) ST(RES) (RES) /SON /SON /SON /SON /SON /SON 0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS0/PE0 LS/PE LS/PE LS/PE LS/PE LS/PE LS/PE Output HEND/SV HEND/SV HEND/SV LS/PE LS/PE HEND/SV *ALM/SV *ALM/SV *ALM/SV *ALM/SV *ALM/SV *ALM/SV Note: The above signals marked with * are normally ON and turn OFF when active. Rotary Servo ERC (V) Item Controller type Connected actuators Number of control axes Operating method Number of positions Backup memory I/O connector Number of I/O points I/O power supply Dedicated type for serial communication Communication cable for peripheral equipment Position detection method For RCP connection Motor-encoder For RCA connection cable For RCP/RCA connection For RCP mini rotary connection Input voltage Controlled power supply capacity Motor power capacity Inrush current (*) Amount of heat generated Dielectric strength voltage Resistance to vibration Ambient operating temperature Ambient operating humidity Ambient operating environment Protection level Weight ASEP C CW C CW RCP/RCP series actuator RCA/RCA/RCL series actuator Positioner positions/ positions ( positions*) EEPROM 0 pin connector input points / output points External power supply DCV±0% RS ch CB-A-PIO CB-AW-PIO CB-A-PIO CB-AW-PIO Incremental encoder (Attaching an absolute battery unit makes the simple absolute specification possible *) CB--MPA (Connection not possible) (Connection not possible) CBASEPMPA CB-A-MPA CBRMPA (Connection not possible) DCV±0% 0.A (0.A for the simple absolute specification) Motor size Rated value Max.(*) Motor power output Maximum Rated value Powersaving (*) deceleration (*) highacceleration / 0P 0.A.0A W 0.A Not specified.a P 0.A.0A W.0A Not specified.a P.A.0A 0W (for RCL).A Not specified.a P.A.0A 0W (for RCA/RCA).A.A.A P.A.0A 0W.A.A.A 0W (for 0S motor).a.a.a 0W.A.A.A Max. 0A.W.W DC00V MΩ XYZ directions 0~Hz One-side width 0.0mm (continuous), 0.0mm (intermittent) ~0Hz.m/s (continuous),.m/s (intermittent) 0~0 C 0~%RH (non-condensing) No corrosive gases IP0 IP (*) IP0 IP (*) About 0g About 0g About 0g About 0g (00V) (*) Upon power-on, an electrical current of to times as much as the rated current, called "in rush current" flows for to ms. Note that the amount of inrush current varies based on the impedance of power source lines. (*) This applies to the case where two position data points are set at each of the end and home positions during a "position change" motion pattern process. (*) The simple absolute type controllers cannot be used for the linear servo type. (*) The current reaches its maximum level during the servo motor excitation phase detection performed during the initial servo ON process after the power has been turned on. (Usually: Approx. to seconds, max. 0 seconds.) (*) When power to the motor is turned ON after shutting it OFF, current of about.0 A flows (for aprox.~ms). (*) The max. value of current can be detected in the magnetic pole detection process or during collision or constraint. The condition continues for up to 0 seconds in the magnetic pole detection process. In this process the above current is required. (*) The bottom surface is excluded. / ASEP

10 Names / ASEP Controller Slider ASEP,, Incremental type ASEP,, Simple absolute type Status LED (for SV, ALM, EMG) SIO connector LED for ABS Status LED (for SV, ALM, EMG) PIO connector SIO connector Motor-encoder cable connector Power connector PIO connector Motor-encoder cable connector Battery connector /Flat FG connector Power connector ASEP Incremental type Incremental type Actuator model number sticker ASEP Simple absolute type Simple absolute type FG connector Actuator model number sticker Rotary Servo Outer dimensions type. (mm DIN rail width) 0mm from the center of DIN rail. () ERC (0) Movable width of DIN securing tab: mm 0 Dustproof type. (mm DIN rail width) 0mm from the center of DIN rail 0. () (0) (V) Movable width of DIN securing tab: mm (00V) / ASEP

11 Slider / ASEP Controller Option /Flat Rotary Servo Touch Panel Teaching Pendant for Position Controller Feature Feature A data input device with an intuitive touch panel menu screen that is easy to operate, even for first-time users. You can use it to configure settings such as home / end positions, intermediate position, speed, and pushing force, or to run an adjustment operation such as jogging, inching, and moving to a specified position. Intuitive and interactive touch panel menus allow for easy configuration, even for first-time users. Menu Axis No. 00 Position Edit Axis No. 00 Monitor Position Edit Parameter Edit Test Run Alarm List Information Target Position (mm) Speed (mm/s) Acceleration (G) Deceleration (G) Message Axis No. 00 Message No. Input data error Data Back-up Menu Large, easy to read display Menu No. Designation Clear All * Touch a position No. to individual edit screen Easy configuration with the touch panel Return Inquiry Backlight color changes when an error occurs Model & Specifications Item Description ERC Model Connectible controllers -position enable switch CON-PT-M-ENG CON-PD-M-ENG CON-PG-M-S-ENG SEP-PT-ENG type Enable switch type Safety compliant type SEP controller dedicated type //R ASEP//R /ERC (*) ASEP (V) Functions Input and edit position data Movement functions (move to specified position, jog, inch) Test input and s Edit parameters Display -color LED with backlight Operating ambient temp./humidity 0~0ºC 0~% RH (non-condensing) Environmental resistance IP0 Weight (incl. m cable) Approx. 0g Approx. 0g Approx. 0g Approx. 0g Touch pen Touch pen TP Adapter (Model: RCB-LB-TG) Touch pen Dummy Plug Accessories (Model: DP-) Controller connection cable (Model: CB-CON-LB00) Touch pen Price (*) If an ERC type controller does not have "0" on the serial number label, it cannot be connected. (00V) Caution: If you have a "CON" type controller (i.e., R,, R,, ERC) and an "SEP" type controller ( or ASEP) linked together, you cannot connect the teaching pendant to it. / ASEP

12 Absolute battery unit for SEP controllers / ASEP Controller Slider Names of Parts/ Exterior Dimensions Option Strap Model STR- 0 Touch pen Emergency stop button. Wall mount hook Control panel 0 /Flat Enable switch CON-PT label Model number / Serial number label (0) Rotary m Servo Strap anchor Controller insertion connector CON-PT-M CON-PD-M SEP-PT CON-PG-M-S * Please note that the CON-PG-M-S has a controller insertion connector that is different from the other models. CON-PG-M-S Wiring Drawing TP adaptor RCB-LB-TG Safety circuit ERC 0.m Controller connection cable CB-CON-LB00 m ASEP CON-PG (V) (00V) / ASEP

13 Slider / ASEP Controller Option PC Software (Windows Only) Features A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. /Flat Rotary Servo Model RCM-0-MW (External device communication cable + RS conversion unit) ERC Configuration PC Software (CD) RS adapter RCB-CV-MW 0.m m External device communication cable CB-RCA-SIO00 Model RCM-0-USB (External device communication cable + USB adapter + USB cable) Configuration m USB adapter RCB-CV-USB m (V) (00V) PC Software (CD) USB cable CB-SEL-USB00 External device communication cable CB-RCA-SIO00 / ASEP

14 Absolute battery unit for SEP controllers / ASEP Controller Slider Description Model Specifications Supplied with the and ASEP simple absolute controllers. This is a battery unit used for backing up the current position data. SEP-ABU (standard type) SEP-ABU-W (dustproof type) Item Ambient operating temp./humidity Ambient operating environment Absolute battery (*) Controller-absolute battery unit cable (*) Weight Allowable encoder RPM during data retention (*) Position data retention duration (*) Specifications 0~0ºC (around 0ºC preferred), % RH or below (non-condensing) No corrosive gases Model: AB- (Ni-MH battery/approx. -year life) Model: CB-A-AB00 (0.m long) type: Approx. 0g; Dustproof type: Approx. 0g 00rpm 00rpm 00rpm 00rpm 0h 0h 0h 0h (*) The absolute battery unit comes with a cable to connect the controller and the absolute battery unit. (*) Position data retention time changes with the allowable encoder RPMs during data retention. 00rpm 0h, 00rpm 0h, 00rpm 0h, 00rpm 0h. (mm DIN) 0mm from the center of DIN rail ().. Dustproof type. (mm DIN) 0mm from the center of DIN rail () 0.. /Flat Rotary Servo (0) Movable width of DIN securing tab: mm Cautions on and Options 0 Movable width of DIN securing tab: mm When mounting the controller to a DIN rail, use the supplied spacer between the controllers to prevent them from contacting each other, to deal with heat dissipation. (See Fig. ) When mounting the absolute battery units and controllers, place the absolute battery units below the controllers. (See Fig. ) If there is not enough space below the controllers, mount the absolute battery units in such a way that the temperature around the controllers stays at 0ºC or below. (Figure ) (Figure ) () (0) ERC (Absolute battery unit) Spacer (included in controller) Controller-Absolute Battery Unit Cable (supplied with the absolute battery unit) Model: CB-A-AB00 (0.m long) Teaching pendants for,, and (e.g. CON-T, RCM) cannot be used with or ASEP. For and ASEP, use the SEP-PT. The SEP-PT cannot communicate to the linked controllers. (Please connect them directly to the controller.) / ASEP 00 (V) (00V)

15 Slider /Flat Rotary / ASEP Controller Spare parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. Motor-encoder integrated cable for connecting [RCP/RCA/RCL] and [] Model CB-A-MPA Min. bend radius r = mm or larger (when movable type is used) Motor-encoder integrated cable for connecting [RCP] and [] Model CB--MPA L * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m Pin number A B A B A B A B A B A B A B A B A B A0 B0 A B [] () Black [ A ](U) White [VMM](V) Brown [ /A ](W) Green [ B ]( - ) Yellow [VMM]( - ) Red [ /B ]( - ) Orange [LS+](BK+) Gray [LS-](BK-) White [ - ](A+) Yellow [ - ](A-) Red [ A+ ](B+) Green [ A- ](B-) Black [ B+ ](Z+) Brown [ B- ](Z-) Black ( label) [BK+](LS+) Brown ( label) [BK-](LS-) Green ( label) [GNDLS](GNDLS) Red ( label) [VPS](VPS) White ( label) [VCC](VCC) Yellow ( label) [GND](GND) Shield [FG](FG) Pin number 0 0 * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m Servo ERC Min. bend radius r = mm or larger (when movable type is used) Model CB-PCS-MPA (0) () (Front view) () (ø) Motor-encoder integrated cable for connecting [RCA] and [ASEP] Model CB-ASEP-MPA L L (0) () () () () () (Front view) Pin number 0 Pin Number Signal A A B VMM A /A B B A VMM B /B A B A BK+ B BK A LS+ B LS A A+ B A A B+ B B A B VPS A0 VCC B0 GND A FG B Black [ A ] White [ VMM ] Red [ B ] Green [ VMM ] Brown [ /A ] Yellow [ /B ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] White ( label) [VCC] Yellow ( label) [VPS] Red ( label) [GND] Green ( label) [(spare)] Shield [ FG ] Motor-encoder integrated type cable for RCP/RCP (Limited to RCP-GRSS/GRLS/GRST/SRAR/SRGSR/SRGDR types) Min. bend radius r = mm or larger (when movable type is used) (Wire color) Black White Red Green Yellow Brown Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Blue Consecutive) Gray (Red Consecutive) Gray (Blue Consecutive) Shield Pin number 0 0 * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m Signal Pin Number A B VMM A /A A B B VMM B /B A BK+ BK LS+ LS A+ A B+ 0 B VPS VCC GND FG * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m (V) (00V) Min. bend radius r = mm or larger (when movable type is used) 0 / ASEP L Pin number 0 Red [ U ] Yellow [ V ] Black [ W ] Orange [ BK+ ] Gray [ BK- ] Black [ LS+ ] Brown [ LS- ] White [ A+ ] Yellow [ A- ] Red [ B+ ] Green [ B- ] Black ( label) [Z+] Brown ( label) [Z-] White ( label) [VCC] Yellow ( label) [VPS] Red ( label) [GND] Green ( label) [(spare)] Shield [ FG ] Pin number 0 0

16 Motor-encoder integrated cable for connecting [RCA/RCL] and [/R/] Model CB-ACS-MPA (0) () (Front view) Motor-encoder integrated cable for connecting [RCP mini rotary] and [] Model CB-R-MPA () Min. bend radius r = mm or larger (when movable type is used) Min. bend radius r = mm or larger (when movable type is used) (ø) L L () () () () (0) () (Front view) / ASEP Controller * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m Pin Number A B A B A B A B A B A B A B A B A B A0 B0 A B * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m Signal U V W BK+ BK LS+ LS A+ A B+ B Z+ Z /PS VCC GND FG Pin number A B A B A B A B A B A B A B A B A B A0 B0 A B (Wire color) Red Yellow Black Yellow (Red ) Yellow (Blue ) Pink (Red ) Pink (Blue ) White (Red ) White (Blue ) Orange (Red ) Orange (Blue ) Gray (Red ) Gray (Blue ) Orange (Red Consecutive) Orange (Blue Consecutive) Gray (Red Consecutive) Gray (Blue Consecutive) Shield Black [ ØA ] White [ VMM ] Brown [ Ø/A ] Green [ ØB ] Yellow [ VMM ] Red [ Ø/B ] Orange [ LS+ ] Gray [ LS- ] Red [ A+ ] Green [ A- ] Black [ B+ ] Brown [ B- ] Black ( label) [BK+] Brown ( label) [BK-] Green ( label) [GNDLS] Red ( label) [VPS] White ( label) [VCC] Yellow ( label) [GND] Shield [ FG ] (FG) Signal U V W Pin Number BK+ BK LS+ LS A+ A B+ B Z+ 0 Z /PS VCC GND FG Pin number 0 0 Slider /Flat Rotary Servo I/O cable for -C-C Model CB-A-PIO L * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m (MOLEX) Signal Color Wire V Brown Red Orange Yellow No. 0 0V IN0 IN IN IN OUT0 OUT OUT OUT Green Blue Purple Gray White Black Flat cable (crimped) ERC I/O cable for -CW-CW Model CB-AW-PIO * Enter the cable length (L) into. Compatible to a maximum of 0 meters. Ex. 00 = m L (MOLEX) No. Signal Color Wire Brown Brown- White 0 V 0V IN0 IN IN IN OUT0 OUT OUT OUT Red Red- White Yellow Cable Yellow- White Green (crimped) Green- White Black Black- White (V) (00V) / ASEP 0