This position controller enables movement of the RCA2/RCA series actuators. A line-up of 5 types to support various controlling methods.

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1 Slider Controller ModelsC / CG / CY / P / PO / SE Position For RCA/RCA C/CG CY P/PO SE /Flat ist of models This position controller enables movement of the RCA/RCA series actuators. A line-up of types to support various controlling methods. Rotary C CG CY P/PO SE Servo Name Positioner type Safety category compatible type Solenoid valve type Pulse train control type Serial Communication External view plash-proof Description Position points Positioner capable of a maximum of points of Positioning points Conforming to type C safety category specifications points Can be operated using the same control as the air cylinder type points For pulse train control () For serial communication points ERC Model A C O N I 0 Series Motor Encoder Option I/O I/O Cable ength Power Voltage Simple absolute unit (V) (0) C Positioner CG Safety-compliant type Solenoid Valve CY SE Serial Communication P Pulse Train Control (differential line driver model) PO Pulse Train Control (open collector model) I Incremental HA * The absolute-type RCA actuators cannot be operated with the controller To operate an absolute-type actuator, use the controller. A Power-saving However, you can operate a simple absolute-type actuator, in which a simple absolute unit is attached to an incremental actuator. W motor-compatible W motor-compatible 0 0W motor-compatible 0S 0W motor-compatible (*) 0 0W motor-compatible 0 0W motor-compatible * When connecting an RCA-RA / RGS /RGD and RCA-SA /TA, the motor type is 0S. High Accel./Decel. NP NPN (standard) PN PNP DV DeviceNet CC CC-ink PR M ProfiBus MECHATROINK connection model CompoNet CN connection model N No I/O (SE type only) * The network models (DV/CC/PR/ M/CN) support C/CG types only. * When selecting type SE (serial communication), the standard I/O is "N" (no I/O). 0 No cable 0 DCV m (standard) m m Blank ABU Not used Used * If SE (serial communication type), and the network model (I/O type DV, CC, PR, M, or CN) is selected, specify "0" (no cable) for the I/O cable.

2 System configuration Controller Slider PC Field Network I/O cable for positioner CB-PAC-PIO00 Cable length m (Supplied with the controller) For a replacement cable, see P. I/O cable for solenoid valve type CB-PACY-PIO00 Cable length m (Supplied with the controller) For a replacement cable, see P. I/O Cable for pulse train control CB-PACPU-PIO00 Cable length m (Supplied with the controller) For a replacement cable, see P. Gateway Unit + extension unit (See P0-0) For DeviceNet: <Model: RGW-DV> + <Model: REXT-CT> For CC-ink: <Model: RGW-CC> + <Model: REXT-CT> For ProfiBus: <Model: RGW-PR> + <Model: REXT-CT> /Flat Rotary Servo Controller link cable <Model: CB-RCB-CT00> (sold separately) Splash-Proof -C / CG Positioner type -CY Solenoid valve type Peripheral devices are common for all c. -P / PO Pulse train control type PC Software (See P) RS version <Model: RCM-0-MW> USB version <Model: RCM-0-USB> * The cable is supplied with the PC software -C / CG -SE Network connection model Serial communication type * For network-compatible models, the I/O connector varies with the type of network. Teaching Pendant (See P) <Model: CON-PT-M> <Model: CON-T> <Model: RCM-E> ERC DCV Power Supply (See P) <Model: PS- (0 input)> <Model: PS- (0 input)> Simple Absolute Unit (Optional) <Model: -ABU> (See P) * Cannot be used for -P/PO types. m Motor Cable <Model: CB-ACS-MA > m / m / m For a replacement cable, see P. Actuator: RCA series Encoder Cable <Model: CB-ACS-PA > m / m / m For a replacement cable, see P. (V) Actuator: RCA series Motor-encoder Cable <Model: CB-ACS-MPA > m / m / m For a replacement cable, see P. (0)

3 Slider Controller I/O Specifications sectionexternal input specifications Item voltage current eak current Isolation method Specifications DCV±0% ma/circuit ma max./point Photocoupler sectionexternal output specifications Item oad Voltage Max. load current Remaining voltage Isolation method Specifications DCV 0mA/point V or less Photocoupler NPN Specifications NPN Specifications /Flat External power supply +V PV R=0Ω terminal Internal circuit Internal circuit P s R=Ω oad External power supply + V s R=.kΩ N Rotary Servo PNP Specifications PNP Specifications plash-proof External power supply +V N R=0Ω terminal s R=.kΩ Internal circuit Internal circuit PV R=Ω s N oad External power supply +V ERC I/O Specifications The types of c (C/CG, CY, P/PO, and SE) are classified by their respective I/O specifications. Also, for the positioner type and solenoid valve type, the I/O signal information can be changed in the controller settings, so multiple functions can be effectively used. Control Function by Name C/CG Positioner type CY Solenoid valve type P/PO Pulse train control type SE Serial communication type Features Positioner mode () This is the basic operating mode, in which the user designates position numbers and inputs start signals. (V) (0) Teaching mode Solenoid valve mode Pulse train mode Network compatible () * Operates using network communications or serial communications. * Can make a direct connection to a field network with the network specifications. * Can be connected to a field network using a gateway unit. () () () In this mode, the slider (rod) moves based on an external signal, and the stopped positions can be registered as position data. The actuator can be moved simply by ON/OFF position signals. This mode supports the same control signals you are already familiar with on solenoid valves of air cylinders. In this mode, you can operate the actuator freely without inputting position data. The controller can be connected to a DeviceNet or CC-ink network.

4 Explanation of I/O Signal Functions Controller Slider The table below explains the functions allocated to the controller s I/O signal. Since the signals that can be used vary depending on the controller type and settings, check the signal table for each controller to confirm the available functions. Signal Function Description Classification Signal abbreviations Signal Function description CSTR Start signal this signal to cause the actuator to start moving to the position set by the command position number signal. PC to PC Command position number signal This signal is used to input a target position number (binary input). BKR Brake forced release signal This signal forcibly releases the brake. Running mode switching signal This signal can switch the running mode when the MODE switch on the controller is set to AUTO. (AUTO when this signal is OFF, or MANU when the signal is ON). /Flat *STP Pause signal Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator will resume the remaining movement if the signal is turned ON during the pause. Reset signal Turning this signal ON resets the alarms that are present. If this signal is turned ON while the actuator is paused (*STP is OFF), the remaining movement can be cancelled. Servo ON signal The servo remains on while this signal is ON, or off while the signal is OFF. Home return signal Turning this signal ON performs home-return operation. Rotary MODE Teaching mode signal Turning this signal ON switches the controller to teaching modeprovided that CSTR, JOG+ and JOG- are all OFF and the actuator is not moving). Servo JIS JOG/INJOG switching signal When the main signal is off, the JOG operation will be conducted for JOG+ and JOG-. When the signal is on, the unit will do the inching operation for JOG+ and JOG-. JOG+, JOG JOG signal When the JIS signal is off and the JOG +/- signal turns on, the unit will jog in the + (positive) direction when the JOG + turns on and the - (negative) direction when the JOG - turns on. During the JOG operation, the unit slows to a stop when the JOG +/- signal turns off. Splash-Proof PWRT ST0 to ST T DCR PEND/INP PM to PM Teaching signal Start position command Torque limit selection signal Deviation counter clear signal In position signal Position complete signal In the teaching mode, specify a desired position number and then turn this signal ON for at least 0ms to write the current position to the specified position number. Turning this signal ON in the solenoid valve mode causes the actuator to move to the specified position. (Start signal is not required) While this signal is ON, torque is limited by the value set by a parameter. The TR signal turns on if torque has reached the specified value. (Dedicated pulse train type) The position deviation counter is continuously cleared while this signal is ON. (Dedicated pulse train type) This signal turns ON when the actuator has entered the positioning band after movement. If the actuator has exceeded the positioning band, PEND does not turn OFF, but INP does. PEND and INP can be swapped within parameters. This signal is used to output the position number achieved at the completion of positioning (binary output) Home return completion signal This signal turns ON upon completion of home return. ZONE Zone signal This signal turns ON when the current actuator position has entered the range specified by the parameters. ERC Positioning zone signal Turns ON when actuator moves into a position within the range of the target position data that was set. can be used together with ZONE, but is valid only during movement to a specified position. Running mode status signal This outputs the operation mode status. AM EMGS Controller alarm status signal Servo ON status signal Emergency stop status signal This signal remains ON while the controller is not in the alarm condition, and turns OFF when an alarm has occurred. MOVE Moving signal Turns ON while the actuator is moving (home return), including when there is push force. This signal turns ON when servo is ON. This signal remains ON while the controller is not in the emergency stop mode, and turns OFF once an emergency stop has been actuated. MODES Mode status signal The mode signal input turns it ON when it goes into teaching mode. It turns OFF when it goes into normal mode. WEND Writing complete signal PE0 to PE Current position number signal TR Torque limiting signal SO to S imit switch output signal (Note) Signals with asterisks (*) are normally ON and OFF during operation. This signal remains OFF after the controller has switched to the teaching mode. It turns ON upon completion of data write using the PWRT signal. If the PWRT signal is turned Off, this signal also turns OFF. This signal turns ON after the controller has completed moving to the target position in the solenoid valve mode. This signal turns ON once the motor torque has reached the specified value in a condition where torque is being limited by the T signal. (Dedicated pulse train type) Each signal turns ON when the current actuator position has entered the positioning band before or after the target position. If the actuator has already completed home return, these signals are output even before a movement command is issued or while the servo is OFF. (Dedicated Solenoid Valve Mode) (V) (0)

5 Slider /Flat Rotary Servo plash-proof ERC (V) (0) Controller I/O Signal table Positioner type (-C / CG) Pin No. A A A A A A A A A 0A A A A A A A A A A 0A B B B B B B B B B 0B B B B B B B B B B 0B Classification Positioning Points Zone signal P-zone signal IN0 IN IN IN IN IN IN IN IN IN IN0 IN IN IN IN IN OUT0 OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT0 OUT OUT OUT OUT OUT 0 Positioning mode points PC PC PC PC PC PC BKR STP CSTR PM PM PM PM PM PM MOVE ZONE PEND EMGS AM Solenoid valve type (-CY) Pin No. 0 V V Classification V OV Positioning Points Zone signal P-zone signal IN0 IN IN IN OUT0 OUT OUT OUT OUT OUT Teaching mode points PC PC PC PC PC PC MODE JIS JOG+ JOG- STP CSTR/PWRT PM PM PM PM PM PM MOVE MODES PEND/WEND EMGS AM (Note) The names of signals above inside ( ) are functions before the unit returns home. (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Parameters (select PIO pattern) 0 Solenoid valve mode 0 Solenoid valve mode points points ST0 ST (JOG+) ST () S0 S S () AM ST0 ST (JOG+) ST () PE0 PE PE () AM (Note) The names of signals above inside ( ) are functions before the unit returns home. (Note) Signals with asterisks (*) are normally ON, and OFF during operation. Parameters (select PIO pattern) -point mode -point mode points points PC PC PC PC PC PC PC PC BKR STP CSTR PM PM PM PM PM PM PM PM PEND EMGS AM P P N N PC PC PC PC PC PC PC PC PC BKR STP CSTR PM PM PM PM PM PM PM PM PM PEND EMGS AM Solenoid Valve Mode points ST0 ST ST ST ST ST ST BKR STP PE0 PE PE PE PE PE PE ZONE PEND EMGS AM Pulse Train (-P/PO) Pin No. 0 Classification V Positioning Points Zone signal P-zone signal IN0 IN IN IN OUT0 OUT OUT OUT 0 Solenoid Valve Mode points ST0 ST (JOG+) ST (-) BKR SO S S () ZONE EMGS AM Parameters (select PIO pattern) mode Push mode T INP AM PP PP NP NP T / DCR INP / TR AM PP PP NP NP (Note) Signals with asterisks (*) are normally ON, and OFF during operation.

6 Wiring Diagram for the Pulse-Train Differential ine Driver Method (-P) Max. input pulse frequency Max. 00 kpps Cable ength Max. 0m Controller Slider PIO connector Pin Number Classification External V Signal V External T Shield /Flat INP 0 * AM /PP Rotary Differential input PP /NP Servo Mounting plate FG NP * The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate. Splash-Proof Open Collector Method (-PO) Max. input pulse frequency Max. 0 kpps Cable ength Max. m ERC PIO connector Pin Number Classification Signal External V V Shield External T INP 0 * AM Open collector input /PP N.C Open collector input PP /NP DCV±0% Mounting plate N.C FG NP (V) * The shield on the twisted pair cable connected to the pulse connector must be connected to the mounting plate. * Connect the external to the COMMON of the command pulse. (0) 0

7 Slider Controller Command Pulse State Command pulse train state terminal During forward operation During reversed operation Forward pulse train Reversed pulse train PP/PP NP/NP /Flat Negative logic The forward pulse train causes the motor to rotate forward, and the reverse pulse train causes the motor to rotate in reverse. Pulse train PP/PP Symbols NP/NP ow High The command pulse is used for the amount of motor rotation, and the command symbol is used for rotational direction. PP/PP A/B phase pulse train NP/NP An A/B phase pulse with a 0 phase difference (multiplier is ) is used to generate commands for the amount of rotation and rotational direction. Forward pulse train PP/PP Reversed pulse train NP/NP Rotary Servo Positive logic Pulse train Symbols A/B phase pulse train PP/PP NP/NP PP/PP NP/NP High ow plash-proof Table of specifications ERC Item Controller type Connected actuator Number of control axes Operating method Positioning Points Backup memory I/O connector Number of I/O I/O power Serial Communication Peripheral device communication cable Command pulse train input method Max. input pulse frequency (Note ) Position detection method Drive-source cutoff relay at emergency stop Forced release of electromagnetic brake Voltage Dielectric strength voltage Vibration resistance Ambient operating temperature Ambient operating humidity Ambient operating atmosphere Protection class Weight Specifications C CG CY P PO SE Positioner type RCA Series Actuator -axis EEPROM 0-pin connector -pin connector -pin connector None input points/ output points Solenoid valve type points points input points / output points input points/ output points None External supply DCV±0% RSch Pulse train input type Serial communication type CB-PAC-PIO CB-PACY-PIO CB-PACPU-PIO CB-RCB-CT00 Brake release switch ON/OFF Approx. 00g XYZ directions Incremental encoder ON/OFF terminal signal inside the power terminal for brake release DCV ± 0% DC0MΩ 0 to Hz, One side amplitude: 0.0mm (continuous), 0.0mm (intermittent) to 0 Hz. m/s (continuous),. m/s (intermittent) 0 0 C 0 - % (non-condensing) Without corrosive gases IP0 Differential line driver Open collector Max. 00 kpps Max. 0 kpps External points Approx. 0g (Note ) With the open collector specification, keep the maximum input frequency to 0 kpps or below to prevent malfunction. For applications exceeding 0kpps, use the differential line driver. (V) (0) Motor Power Supply Capacity (Note ) Actuator RCA RCA RC Motor 0W 0W [Model symbol: 0] 0W 0W [Model symbol: 0S] SA, RA, TA dedicated W W 0W specifications/high acceleration and deceleration model Rated [A] Max. [A] Rated [A].... Power-saving model (Note ) Other than motor power supply capacity, increase 0.A as control power supply. Inrush current of approx. to times the rated current occurs within to msec from turning the power on. The inrush current changes depending on the power supply line impedance. Max. [A]....

8 External Dimensions Controller Slider -C / CG ø (0). -CY / P / PO / SE ø (0) /Flat Name of Each Part Rotary ED display These ED colors indicate the condition of the controller. it (green) Servo ON it (red) Alarm activated Unlit Servo OFF Blinking (green) Automatic servo-off Emergency stop Servo PIO connector Encoder brake connector Splash-Proof Connects a cable for communicating with a PC or other external equipment. Address-setting rotary switch This switch sets the addresses for c used when the unit is linked with c. Mode switch Switches between manual teaching pendant operations (MANU) and automatic operations (AUTO). Connects the encoder/brake cable for the actuator. Brake release switch This switch forces the brake to release. Motor connector Connects the motor cable for the actuator. ERC CY / P / PO * PIO connectors are: CY: pin P/PO: pin C / CG type SE Operation details MANUA AUTO I/O commands are not accepted. Data can be written from a teaching pendant or PC. I/O commands are valid, while operations from a teaching pendant or PC are not accepted. However, monitoring is possible. SIO connector Connects a teaching pendant, PC cable, controller, or gateway unit to a controller. Operation details Pin No. Signal Name Remarks SGA Positive side, RS differential signal SGB V Negative side, RS differential signal +V output For RS/ conversion ENB EMGA V EMGB Enable signal EMG line connection to external equipment -V power for T/P GND EMG line connection to external equipment EMG line connection to external equipment ground For T/P Power terminal block Main power for controller(s), emergency stop C / CG type Terminal number Signal Name S External drive-source cutoff for S TP_EMG terminal MPI MPO V EMG Motor drive-source cutoff terminal Motor drive-source cutoff terminal Positive side of the -V power supply Negative side of the -V power supply EMG signal (application of V) CY / P / PO / SE type Terminal number Signal Name BK BK release MPI MPO V EMG Motor drive-source cutoff terminal Motor drive-source cutoff terminal Positive side of the -V power supply Negative side of the -V power supply EMG signal (application of V) (V) (0)

9 Slider /Flat Rotary Controller Option Teaching Pendant Features Model Configuration This is a teaching device that provides information on functions such as position input, performing test runs, and monitoring. CON-PT-M-ENG CON-T-ENG RCM-E-ENG m CON-T-ENG Options Wall-mounting hook Model HK- (Touch panel teaching pendant) ( type) (Simple teaching pendant) Note: The version of RCM-E-ENG that can be used with is.0 or later. Strap Model STR- CON-PT-M-ENG 0. Specifications Item CON-PT-M-ENG CON-T-ENG RCM-E-ENG Data Actuator motion Ambient Operating Temp./Humidity Ambient Operating Atmosphere Protection class Weight Cable ength Display IP Approx. 0g CON-T-ENG. -color ED touch panel with backlight..0. Temp: 0~0ºC; Humidity: % RH or below No corrosive gases. Especially no dust. IP Approx. 00g m. 0 char. lines CD display (.) RCM-E-ENG. (). Approx. 00g... char. lines CD display Servo PC Software (Windows Only) plash-proof Features A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. Model RCM-0-MW (External device communications cable + RS conversion unit) ERC Configuration PC Software (CD) RS adapter RCB-CV-MW 0.m m External device communications cable CB-RCA-SIO00 Model RCM-0-USB (External device communications cable + USB adapter + USB cable) Configuration m USB adapter RCB-CV-USB m PC Software (CD) USB cable CB-SE-USB00 External device communications cable CB-RCA-SIO00 Spare parts When you need spare parts after purchasing the product, such as when replacing a cable, refer to the list of models below. (V) Motor Cable for RCA ModelCB-ACS-MA * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m (0) (ø) Wire Color Signal No. No. Signal Color Wire AWG Red U U Red AWG (crimped) White V V White Controller side Mechanical side (crimped) Black W W Black Min. bend radius r = 0 mm or larger (when movable type is used)

10 Encoder Cable / Encoder Robot Cable for RCA ModelCB-ACS-PA/CB-ACS-PA-RB * The standard cable for the encoder cable is the normal cable. A robot cable can be specified as an option. Controller * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m Slider Controller side Min. bend radius r = 0 mm or larger (when movable type is used) * Only robot cable is to be used in a cable track. (ø0) 0 0 Mechanical side CN CN Pin Signal Cable color Cable color Signal Pin No. Cable Robot Cable Robot Cable Cable No. ENA Gray White/Blue White/Purple Blue S+ ENA Red White/Yellow White/Gray Orange S ENB Black White/Red Yellow Green BK+ ENB Yellow White/Black Blue Brown BK White/Blue Gray ENA White/Yellow Red ENA S+ Blue White/Purple White/Red Black ENB White/Black Yellow ENB FG Ground Ground Orange Pink ENZ 0 0 ENZ Pink Orange Green Purple ENZ ENZ Purple Green Purple White White Purple Gray Blue/red VPS VPS Blue/red Gray Red Orange/White V V Orange/White Red Black Green/White GND GND Green/White Black S Orange White/Gray BK Brown Blue BK+ Green Yellow Ground Ground F.G Plug housing : XMP-V (JST) Housing : PHDR-VR (JST) Socket contact : BXA-00T-P0. (JST) Contact : SPHD-00T-P0. (JST) Retainer : XMS-0V (JST) Motor-Encoder Cable for RCA ModelCB-ACS-MPA (0) () () () () (Front view) () Controller side I/O Flat Cable (for -C / CG) ModelCB-PAC-PIO No connector No connector Flat cable (0-core) B A (ø) * The standard cable is a robot cable. Min. bend radius r = mm or larger (when movable type is used) () () Mechanical side 0A A (0) (Front view) 0B B Half-pitch MI socket: HIF-0D-. R (Hirose) * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m Signal Pin No. (Wire color) Pin No. Signal U Red A U V Yellow B V W Black A W BK+ BK S+ S A+ A B+ B Z+ Z /PS VCC GND FG 0 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 * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m HIF-0D-. R Pin Signal Cable Pin Signal Cable Wire No. Color No. Color Wire A V Brown- B OUT0 Brown- A V Red- B OUT Red- A Orange- B OUT Orange- A Yellow- B OUT Yellow- A IN0 Green- B OUT Green- A IN Blue- B OUT Blue- A IN Purple- B OUT Purple- A IN Gray- B OUT Gray- A IN White- B OUT White- 0A IN Black- Flat cable A 0B OUT Black- Flat cable B A IN Brown- (crimped) B OUT0 Brown- (crimped) A IN Red- B OUT Red- AWG A IN Orange- B OUT Orange- A IN Yellow- B OUT Yellow- A IN0 Green- B OUT Green- A IN Blue- B OUT Blue- A IN Purple- B Purple- A IN Gray- B Gray- A IN White- B White- 0A IN Black- 0B Black- B A B A B A B A B A B A B A B A0 B0 A B BK+ BK S+ S A+ A B+ B Z+ Z /PS VCC GND FG /Flat Rotary Servo Splash-Proof ERC I/O Cable for Solenoid Valve (for -CY) ModelCB-PACY-PIO No connector Housing: -00 (MOEX) Contact: -000 (MOEX) * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m -00 (MOEX) Pin Signal Cable No. Color V Brown- Red- IN0 Orange- IN Yellow- IN Green- IN Blue- OUT0 Purple- OUT Gray- OUT White- 0 OUT Black- OUT Brown- OUT Red- Wire Flat cable (crimped) AWG Pulse Train Control I/O Cable (for -P/PO) ModelCB-PACPU-PIO No connector (ø) 0 Single wire (U00 AWG Green) Round terminal: 0.- (JST) Housing: -00 (MOEX) Contact: -000 (MOEX) * Enter the cable length () into. Compatible to a maximum of 0 meters. Ex.: 00 = m Side with no connector Black White/Black Red White/Red Green White/Green Yellow White/Yellow Brown White/Brown Blue White/Blue Gray White/Gray -00 (MOEX) No. Signal Cable Name Color Wire IO_V Black White/Black IO_G IN0 Red IN White/Red IN Green IN White/Green 0.sq OUT0 Yellow White/Yellow OUT OUT Brown 0 OUT White/Brown PP Blue PG White/Blue NP Gray NG White/Gray 0.- (JST) FG White/Gray AWG (V) (0)