MSEP-C MSEP-LC. Position Controller for ROBO Cylinder 8-axis Type. Position Controller for ROBO Cylinder 6-axis Type with I/O Control

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1 Position Controller for ROBO Cylinder 8-axis Type Position Controller for ROBO Cylinder 6-axis Type with I/O Control MSEP-C MSEP-LC

2 Features MSEPseries MSEP Features Added PLC function MSEP-LC Operating the actuator and controlling the ON/OFF of I/O (input/output) signals using a ladder logic program is now possible. If your equipment is small enough, the MSEP-LC is all you need to control it. If your equipment is larger in size, you can still use the MSEP-LC to perform distributed control for each process to reduce the load of the main PLC. The MSEP-LC also makes your program simpler and troubleshooting easier. 6 inputs (up to ) No need for a host controller No need for wiring IN Switches Sensors Etc. 6 outputs (up to ) OUT Indicator lights Etc. Supporting actuators with the battery-less absolute encoder MSEP-LC MSEP-C Features of actuators with the battery-less absolute encoder Home return is no longer necessary, so these actuators start and restart quicker than incremental actuators to begin working right away. They are also free from problems relating to home return, such as position shift. ROBO Cylinder with the battery-less absolute encoder RCP5 Compared to standard absolute actuators, no battery is required, which results in the following benefits: No need to purchase or replace batteries No need to control the stocks and replacement timing of batteries No need to make adjustment (absolute reset) normally required after battery replacement

3 MSEP-LC MSEP-C Supporting the Power CON (high-output driver) and Mini Cylinder MSEP-LC MSEP-C When the Power CON (newly developed high-output driver) is installed and combined with the RCP5 or RCP, high performance is realized as indicated by the maximum speed of.5 times faster than that of conventional models and payload of more than double. Since the super-compact Mini Cylinders are also supported, you have a greater range of actuator variations from small to large to choose from. Maximum speed vs. conventional models times faster.5 Payload vs. conventional models more than Double + Power CON supported Mini Cylinder RCP5-SA RCP5-RA RCD-RA Choice of 6 boards to install 5 6 Pulse motor board Pulse motor board for battery-less absolute Power CON (pulse high-output motor) board Power CON board for battery-less absolute AC servo motor board Mini Cylinder (DC servo motor) board * Boards and permit operation of only one axis per board. Supporting field networks MSEP-LC MSEP-C DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherCAT, EtherNet/IP and other major field networks are directly accessible. Features of the network 56 positioning points per axis Numerically specify the target position or speed to move to Checking the current position in real time Substantially shorter communications time inside the controller (approx. one-tenth of conventional models)

4 Ladder Support Software MSEPseries Ladder Software Features LC-LADDER is a ladder supporting software application designed for creating, monitoring and debugging ladder programs via simple operations. You can create programs to turn on or off I/O signal or to operate the actuator connected to the controller, monitor programs, perform simulations and execute debugging. Programs Creating programs can be created using 7 basic commands (contact commands, output commands, etc.), and 5 advanced commands (data comparison, arithmetic computation, logic operation, etc.). Functions Comment display Move to display position Search A comment can be displayed for a contact and coil. A label comment for a step or comment between lines can be displayed. You can jump to a registered label comment. The block of a specified contact and coil memory is displayed. You can search for and display the specified command word in a program.

5 The Monitoring status of a program being executed can be checked via various functions. Functions Monitoring registration list Memory batch display Current memory value change You can check the status (current value) of a memory registered to the list at any time. You can display the entire bit memory and word memory. The current bit memory or word memory value can be reset or changed to a specified value. You Debugging function can run a program based on a specified condition and check the operation of the program. Functions Stop step Step execution Programs can be stopped at the specified step. You can run a program for one step at a time. You Simulations can check an execution of a program (perform a test run) on a computer without actually running the program on the controller.

6 5 Sample Program Application Examples MSEPseries Sample Program Example Two-Point Round-Trip Ladder Program This program moves the slider forward (position no.0) and back (position no. ). Front edge Position no. Rear edge Position no. 0 Slider 0 Axis control command always on SM0 Always on DFC AX0IOE M0 Keep DFC command running Operation mode = positioner 6 Servo on M6 CRDY controller ready M6 SON * DFC command is command that sets the operation of the axis. Command: Servo on 0 Return to origin M5 M9 SV HEND servo Return to ON origin complete M HOME Command: Return to origin 6 -point movement between position no. 0/no. M5 M5 M9 M ALM Alarm SV HEND servo Return ON to origin complete PM M96 PC Command: Go between position no. 0/no. M8 PEND Position set T0 Timer 0ms M CSTR Command: Start signal 0ms T0 Timer 0ms Start after 0ms After position no. command, delay 0ms and send start signal * Operations will work without a timer, but depending on the ladder program, use of a timer may make operation more stable. 9 END

7 6 Applications Application Examples Rear panel positioning system Shifted work parts are aligned by the push motion of the ROBO Cylinder as they enter the machining stage for automotive rear panels. One controller can handle multiple axes, so wiring is easy. Palletizing system Should the system halt due to an emergency stop, etc., it can resume operation right away thanks to the battery-less absolute encoder. Transferring work parts between machining systems Work parts can be transferred between systems without using a dedicated PLC. Positioning on an automotive manufacturing line In the case of a large-scale line, implementing distributed control of each process and connecting to the host controller via a field network reduces the control load of the host controller. Field network Host controller

8 Models Details of Slots MSEPseries Controller Models MSEP Controller Models MSEP Series C C Type Standard Total number of axes -axis -axis -axis -axis 5 5-axis 6 6-axis 7 7-axis 8 8-axis (Axis /top connector/ax0) Motor type Encoder type Details of slot 0 Option HA LA (Axis /bottom connector/ax) Motor type Encoder type WAI Battery-less absolute/incremental (*) SA Simple absolute (*) Option High acceleration/deceleration capability Power-saving T High-output setting * HA/LA can be selected only for the RCA, while T can be selected only for the RCP5/RCP. I Incremental (*) (*) Pulse motor type only. (*) Can be used with both pulse motor/ac servo motor types. (*) AC servo motor/dc servo motor types only. Details of slot to (Description of the rd to 8 th axis) NP PN DV CC PR CN EC EP PIO (NPN type) PIO (PNP type) I/O type DeviceNet connection CC-Link connection PROFIBUS-DP connection CompoNet connection EtherCAT connection EtherNet/IP connection Length of I/O cable 0 Powersupply voltage 0 DCV Simple absolute option 0P 0 pulse motor type 0SP 0 pulse motor type (RAAC, RABC) 8P 8 pulse motor type 8SP 8 pulse motor type (RAC exclusive) 5P 5 pulse motor type P pulse motor type 56P 56 pulse motor type P Unused pulse motor axis D DC brush-less.5w motor type W servo motor type 5 5 W servo motor type 5S 5 W servo motor type (SAA, RAA exclusive) 0 0 W servo motor type 0 0 W servo motor type 0S 0W servo motor type (RCS-SA, TA5, RCA-RA exclusive) 0 0 W servo motor type A Unused servo motor axis (*) N Code for no connected axis (*) 0 No cable m (standard) m 5 5m ABB ABBN (Blank) With absolute battery box (simple absolute type) No absolute battery box (simple absolute type) Battery-less absolute Incremental * The RCD series does not support the simple absolute. 7 MSEP Series LC LC Type Logic controller Total number of axes -axis -axis -axis -axis 5 5-axis 6 6-axis 0P 0 pulse motor type 0SP 0 pulse motor type (RAAC, RABC) 8P 8 pulse motor type 8SP 8 pulse motor type (RAC exclusive) 5P 5 pulse motor type P pulse motor type 56P 56 pulse motor type P Unused pulse motor axis D DC brush-less.5w motor type (Axis /top connector/ax0) Motor type Encoder type Option (Axis /bottom connector/ax) Motor type Encoder type HA High acceleration/deceleration capability LA Power-saving T High-output setting * HA/LA can be selected only for the RCA, while T can be selected only for the RCP5/RCP. Option WAI Battery-less absolute/incremental (*) SA Simple absolute (*) I Incremental (*) (*) Pulse motor type only. (*) Can be used with both pulse motor/ac servo motor types. (*) AC servo motor/dc servo motor types only. W servo motor type 5 5 W servo motor type 5S 5 W servo motor type (SAA, RAA exclusive) 0 0 W servo motor type 0 0 W servo motor type 0S Details of slot 0 0W servo motor type (RCS-SA, TA5, RCA-RA exclusive) 0 0 W servo motor type A Unused servo motor axis (*) N Code for no connected axis (*) NP Details of slot to Description of the rd to 6 th axis PIO (NPN type) 0 No cable m (standard) m 5 5m I/O type ABB ABBN Length of I/O cable NP PIO (NPN type) DV DeviceNet connection CC CC-Link connection PR PROFIBUS-DP connection CN CompoNet connection EC EtherCAT connection EP EtherNet/IP connection (Blank) No expansion I/O 0 Powersupply voltage 0 DCV With absolute battery box (simple absolute type) No absolute battery box (simple absolute type) Simple absolute option Battery-less absolute (Blank) Incremental * The RCD series does not support the simple absolute. Expansion I/O type

9 Slot Contents Entry Method Slot Contents () The MSEP-C contains slots. The MSEP-LC contains slots. Slot 0 (top connector: AX0 / bottom connector: AX) Slot (top connector: AX / bottom connector: AX) Slot (top connector: AX / bottom connector: AX5) Slot (top connector: AX6 / bottom connector: AX7) MSEP-C (max. slots) MSEP-LC (max. slots) () Code entry method for each slot Slot contents (Axis / top connector) (Axis / bottom connector) Motor type Encoder type Option Motor type Encoder type Option ➀ Depending on actuator type, slot may be connectable to either or axes. Connectable axes per slot Actuator type axis RCP5 (high-output mode on), RCP (high-output mode on) axes RCP5 (high-output mode off), RCP (high-output mode off) RCP, RCP, RCA, RCA, RCD ➁ If only one axis is connected per slot, the code for the second axis / bottom connector is set to "N". ➂ Enter "T" into the option field if using the RCP5/RCP in high-output mode. Slot entry examples Example Connecting RCP5-SAC-WA-5P axes (high output mode on) Example Connecting RCA-SA5C-I-0 axes and RCD-RA D-I- axis Slot 0 Slot Slot 5PWAIT-N-5PWAIT-N-5PWAIT-N Slot 0 Slot 0I-0I-DI-N See the following page for example axis combinations. 8

10 Actuator Combination Examples MSEPseries Combination Examples Example Basic MSEP Combinations The table below provides example combinations for MSEP-C/LC boards. Note: The MSEP-LC can only use slots 0 through. View of connected axes Connected axis types Number of axes Axis : RCP5-SA6C-WA-P PowerCon/battery-less abso. Axis : RCP5-RAC-WA-5P PowerCon/battery-less abso. RCP5-SA6C RCP5-RAC Axis : RCP5-SA6C-WA-P pulse/battery-less abso. Axis : RCP5-RAC-WA-5P pulse/battery-less abso. Axis : RCA-TCANA-I-0I AC servo/absolute pos. RCP5-SA6C RCP5-RAC RCA-TCANA RCP5-SAC RCP5-RAC Axis : RCP5-SAC-WA-5P PowerCon/battery-less abso. Axis : RCP5-SAC-WA-5P PowerCon/battery-less abso. Axis : RCP5-RAC-WA-5P PowerCon/battery-less abso. Axis : RCP5-RAC-WA-5P PowerCon/battery-less abso. RCP5-SAC RCA-TCANA RCD-RAD Axis : RCP5-SAC-WA-5P PowerCon/battery-less abso. Axis : RCP5-SAC-WA-5P pulse/battery-less abso. Axis : RCA-TCANA-I-0 AC servo/absolute pos. Axis : RCD-RAD-I-D DC servo/incremental RCP5-SA6C RCP5-RAC RCA-TCANA RCD-RAD Axis : RCP5-SA6C-WA-P PowerCon/battery-less abso. Axis : RCP5-RAC-WA-5P pulse/battery-less abso. Axis : RCP5-RAC-WA-5P pulse/battery-less abso. Axis : RCA-TCANA-I-0 AC servo/absolute pos. Axis 5: RCD-RAD-I-D DC servo/incremental 5 Axes -: RCP5-RAC-WA-5P pulse/battery-less abso. Axes -: RCA-TCANA-I-0 AC servo/incremental Axes 5-6: RCD-RAD-I-D DC servo/incremental 6 RCP5-RAC RCA-TCANA RCD-RAD Axes -7: RCP5-RAC-WA-5P pulse/battery-less abso. 7 RCP5-RAC Axes -: RCP5-RAC-WA-5P pulse/battery-less abso. Axes -: RCA-TCANA-I-0 AC servo/absolute pos. Axes 5-6: RCD-RAD-I-D DC servo/incremental 8 9 RCP5-RAC RCA-TCANA RCD-RAD

11 Note: The RCD series does not support absolute positioning. Slot 0 Slot Slot Slot Model Standard price AX0 AX AX AX6 PowerCon PowerCon 5 Battery-less abso. Battery-less abso. AX AX AX5 AX7 N N Bottom connector Top connector MSEP-LC--PWAIT-N-5PWAIT-N-NP--0 Axis no. Slot 0 Slot Top connector Bottom connector AX0 AX AX AX6 Pulse AC servo 0W Battery-less abso. Absolute pos. AX AX AX5 AX7 Pulse 5 Battery-less abso. N AX0 AX AX AX6 PowerCon 5 PowerCon 5 PowerCon 5 PowerCon 5 Battery-less abso. Battery-less abso. Battery-less abso. Battery-less abso. AX AX AX5 AX7 N N N N MSEP-LC--PWAI-5PWAI-0SA-N-NP--0-ABB Slot 0 Slot MSEP-C--5PWAIT-N-5PWAIT-N- Slot 0 Slot 5PWAIT-N-5PWAIT-N-NP--0 Slot Slot AX0 AX AX AX6 PowerCon Pulse 5 AC servo 0W DC servo Battery-less abso. Battery-less abso. Absolute pos. Incremental AX AX AX5 AX7 N N N N MSEP-C--PWAIT-N-5PWAI-N- Slot 0 Slot 0SA-N-DI-N-NP--0-ABB Slot Slot AX0 AX AX AX6 PowerCon Pulse 5 AC servo 0W DC servo Battery-less abso. Battery-less abso. Absolute pos. Incremental AX AX AX5 AX7 N Pulse 5 Battery-less abso. N AX0 AX AX AX6 Pulse 5 AC servo 0W DC servo Battery-less abso. incremental Incremental AX AX AX5 AX7 Pulse 5 AC servo 0W DC servo Battery-less abso. incremental Incremental AX0 AX AX AX6 Pulse 5 Pulse 5 Pulse 5 Pulse 5 Battery-less abso. Battery-less abso. Battery-less abso. Battery-less abso. AX AX AX5 AX7 Pulse 5 Pulse 5 Pulse 5 Battery-less abso. Battery-less abso. Battery-less abso. N AX0 AX AX AX6 Pulse 5 AC servo 0W DC servo DC servo Battery-less abso. Absolute pos. Incremental Incremental AX AX AX5 AX7 Pulse 5 AC servo 0W DC servo DC servo Battery-less abso. Absolute pos. Incremental Incremental 5PWAI-5PWAI-5PWAI-N-NP--0 Slot Slot Slot 0 Slot DI-DI-DI-DI-NP--0-ABB Slot Slot Slot 0 5PWAI-5PWAI-0SA-N-DI-N-NP--0-ABB Slot Slot Slot MSEP-C-8-5PWAI-5PWAI-0SA-0SA- MSEP-C-7-5PWAI-5PWAI-5PWAI-5PWAI- MSEP-C-5-PWAIT-N- MSEP-C-6-5PWAI-5PWAI- Slot 0 Slot 0 0I-0I-DI-DINP--0 Slot Slot Slot 0

12 Standard Price Chart MSEPseries Standard Price Chart Standard Price Chart The standard MSEP controller price is built from the base model price (table below) with prices added depending on slot types (table ), absolute positioning quantity (table ), absolute backup box quantity (table ), I/O type (table 5 ), and expanded I/O type (table 6 ). Base price by model Select between the standard controller (MSEP-C) or controller with I/O control functionality (MSEP-LC). Prices by slot type Add the price for the desired slot types designated in slots 0 through. Prices by absolute position quantity Add the price for the desired number of axes you wish to operate via absolute positioning. Base price by model Prices by slot type (Add all prices for slots used) Absolute position quantity Type Model Price Slots Model Price Axes Price Standard MSEP-C Absolute positioning (for PowerCon) PSAT-N With I/O controller MSEP-LC Pulse motor axis Battery-less abso. / Incremental (for PowerCon) Absolute positioning (for standard) Battery-less abso. / Incremental (for standard) PWAIT-N PSA-N PWAI-N axes Absolute Absolute positioning + positioning (for standard) (for standard) Battery-less abso. / Battery-less abso./ Incremental + Incremental (for standard) (for standard) PSA- PSA PWAI- PWAI 5 6 AC servo motor axis axes Incremental (for standard) Absolute positioning (for standard) Incremental + Incremental (for standard) (for standard) Absolute Absolute positioning + positioning (for standard) (for standard) I-N SA-N I- I SA- SA 7 8 DC servo motor axis axes Incremental (for standard) Incremental + Incremental (for standard) (for standard) DI-N DI-DI *Add the motor number to the empty squares ( ) above.

13 Absolute backup box quantity Add the price for the desired number of axes to install a data backup battery (model ABB) on for absolute data. 5 I/O type Select the controller I/O type. (Only NP can be selected for controllers with I/O control.) 6 Expanded I/O type Select the controller's expanded I/O type. (Not used for standard-model controllers.) Absolute backup box quantity 5 I/O type (Only NP can be selected for controllers with I/O control) 6 Expanded I/O type (Not used for standard-model controllers) Total Axes Price Type Model Price Type Model Price PIO (NPN) NP PIO (NPN) NP PIO (PNP) PN DeviceNet DV DeviceNet DV CC-Link CC 5 CC-Link PROFIBUS-DP CC PR PROFIBUS-DP CompoNet PR CN Specification specific standard price 6 CompoNet CN EtherCAT EC 7 EtherCAT EC EtherNet/IP EP 8 EtherNet/IP EP *Do not add prices from tables and for battery-less absolute types.

14 System Configuration MSEPseries System Configuration Option PC compatible software (See P) RS connection version Model RCM-0-MW USB connection version Model RCM-0-USB * PowerCon (high-output drivers) and mini cylinders are supported by Ver or later. System Configuration Map Option Teaching Pendant (See P) Model TB-0-C PLC PIO flat cable (See P6) Model CB-MSEP-PI000 Standard length: m Supplied with the PIO controller Field Network DeviceNet / CC-Link / PROFIBUS-DP / CompoNet / EtherCAT / EtherNet / IP * There are choices of either the PIO or the field network. * The gateway parameter configuration tool included with the PC compatible software is required for field network setup. Please purchase the PC compatible software if you do not have this tool. (See P) * Field network connection cable is not included. 5m The cable is supplied with the PC compatible software The cable is supplied with the absolute battery box 0.5m Option Absolute battery box (See P) Model MSEP-ABB Replacement battery (See P) Model AB-7 * If the absolute position encoder is selected as a controller unit, the absolute data backup battery is included. (See P for dimensions) MSEP-C DCV Option power supply Model PS- (00 V input) Model PS- (00 V input) Integrated motor-encoder cable (See P5) Model CB-CAN-MPA Integrated motor-encoder robot cable (See P5) Model CB-CAN-MPA -RB Integrated motor-encoder cable (See P5) Model CB-CA-MPA Integrated motor-encoder robot cable (See P5) Model CB-CA-MPA -RB Integrated motor-encoder robot cable (See P5) Model CB-APSEP-MPA * Only robot cable is available for this model. RCP5 series RCP series RCP series

15 Option PC compatible software (See P) RS connection version Model RCM-0-MW USB connection version Model RCM-0-USB * PowerCon (high-output drivers) and mini cylinders are supported by Ver or later. * The gateway parameter configuration tool included with the PC compatible software is required for MSEP-LC setup. Please purchase the PC compatible software if you do not have this tool. Option Teaching Pendant (See P) Model TB-0-C Sensors Buzzers Lamps Signal input Signal output Field Network DeviceNet / CC-Link / PROFIBUS-DP / CompoNet / EtherCAT / EtherNet / IP 5m The cable is supplied with the PC compatible software The cable is supplied with the absolute battery box 0.5m Option Absolute battery box (See P) Model MSEP-ABB Replacement battery (See P) Model AB-7 * If the absolute position is selected as a controller model, the absolute battery box is included. (See P for dimensions) MSEP-LC DCV Option power supply Model PS- (00 V input) Model PS- (00 V input) Integrated motor-encoder robot cable (See P5) Model CB-PSEP-MPA * Only robot cable is available for this model. Integrated motor-encoder robot cable (See P6) Model CB-RPSEP-MPA * Only robot cable is available for this model. Integrated motor-encoder robot cable (See P6) Model CB-ASEP-MPA * Only robot cable is available for this model. Integrated motor-encoder cable (See P5) Model CB-CAN-MPA Integrated motor-encoder robot cable (See P5) Model CB-CAN-MPA -RB RCP series RCA-RT S/RT SL RCA series RCD series

16 Control Methods Control Methods PIO MSEPseries Control Method by Controller Type Type External view Controle methods Using high-output driver No. of control axes Using standard driver PIO controlled motion mode Field network control motion mode MSEP-C Positioner function 8 MSEP-LC I/O control (sequence control) + Positioner function 6 (*) Control Methods The MSEP-C controller itself has no sequencing functionality, so the positioner accepts movement positioning and other commands from a higher-level PLC to conduct operations. The MSEP-LC executes a ladder program inside the controller, allowing it to communicate with external devices via I/O to operate axes (positional operation). PIO Controlled Motion Mode * If using the MSEP-LC in a field network, ladder program-based data transfer and axis operation is required. This mode allows external devices to move actuators based on an ON/OFF signal assigned to the PIO. Six different types of PIO-assigned signal patterns can be selected and used (see table below). * Not available with the MSEP-LC. Motion Mode No. 0 5 Motion Mode Type Feature Standard -position motion Speed change during movement Position data change -input/ -position motion -input/ -position motion -position motion -position motion -position motion -position motion -position motion Continuous cycle operation -position continuous motion Push Push Push Push Push Push Speed change during movement Travel position data change Solenoid configurations Single Double Single Double Single Double 0 Motion signal Motion signal Motion signal Motion signal Motion signal Motion signal Motion signal Retract motion signal Continuous motion signal Input Pause signal Reset signal Motion signal Pause signal Motion signal Speed change signal (Reset signal) Pause signal Motion signal Target position change signal (Reset signal) Motion signal Reset signal Extend motion signal Intermediate point motion command signal (Reset signal) Pause signal Reset signal /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal /Servo-ON signal 0 Retract motion output signal Retract motion output signal Retract motion output signal Retract motion output signal Retract motion output signal Retract motion output signal Output Extend motion output signal Homing complete signal/ Servo-ON output signal Extend motion output signal Homing complete signal/ Servo-ON output signal Extend motion output signal Homing complete signal/ Servo-ON output signal Extend motion output signal Intermediate point position output signal Extend motion output signal Intermediate point position output signal Extend motion output signal Homing complete signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal Alarm output signal/ Servo-ON output signal 5 * Please refer to the controller operation instruction for the above signal information. (Download is available from our website)

17 Field Network Control Motion Mode There are five operation modes to choose from when using the MSEP-C over a field network. Data required for operation (target position, velocity, acceleration, push current, etc.) is written by a PLC or such connected to a higher-level device into a defined address. If operating the MSEP-LC via a field network, data required for axis operation is transferred via ladder program, and axis operation is conducted based on this ladder program motion command. * Ladder programming is required for MSEP-LC axis operations. Motion pattern (*) Description Outline PLC Positioner / Simple numerical mode Positioner mode is programmable up to 56 positions of data to designate the stop position. The simple numerical control allows designating the target position numerically. They both have the capability of monitoring the current position. Target position Target position number Control signal Current position End position number Status signal Communication via field network Actuator PLC Direct numerical control mode This mode allows designating the target position, velocity, acceleration, and current parameters for pushing. Also, it is capable of monitoring the current position, real-time velocity, and the electric current command value. Target position, Positioning width, Velocity, Acceleration/Deceleration Pushing percentage, Control signal Current position Current value (Designated value) Current velocity (Designated value) Alarm code, Status signal Communication via field network Actuator PLC Positioner mode Positioner mode is programmable up to 56 positions of data to designate stop positions, and this mode does not allow monitoring of the current position. This mode has less in/out data transfer volume than the positioner mode. Target position number Control signal End position number Status signal Communication via field network Actuator PLC Positioner mode Positioner mode is programmable up to 56 positions of data to designate stop positions, and this mode does not allow monitoring of the current position. This mode has less in/out data transfer volume from the positioner mode, and operates under minimum number of signals.. Target position number Control signal End position number Status signal Communication via field network Actuator SEP I/O This mode allows the same functions with the field network as the PIO controlled motion mode 0 to 5 as described in the previous page. Please refer to the PIO controlled motion mode. (*) For MSEP-C, only the positioner mode and the SEP I/O mode are available with CompoNet. 6

18 Operation Methods MSEPseries Operation Methods How to Operate MSEP-C PIO Specification Input position data to the MSEP-C and specify a desired position number via PIO from the host PLC to operate the actuator. PLC Ladder logic program Positioning complete signal Completed position number Specification of target position (Specification of position data) Position data Tools required for setting Teaching pendant ( Refer to P. ) PC compatible software ( Refer to P. ) * You only need either or to complete all necessary settings. Actuator Field Network Specification As with the PIO, input position data to the MSEP and specify a desired position number via a field network from the PLC to operate the actuator. The PLC sends numerical position, speed and other data via a field network to operate the actuator. PLC Ladder logic program Positioning complete signal Completed position number Current position Specification of target position (Position ) (Direct numerical ) Position data 7 Actuator Tools required for setting Teaching pendant ( Refer to P. ) PC compatible software ( Refer to P. ) Gateway parameter setting tool * You only need either or to complete all the necessary settings. comes with the PC compatible software.

19 How to Operate MSEP-LC PIO Specification The MSEP-LC runs a ladder logic program internally to operate the axes and control the PIO I/O signals. The axes can be operated either by using position data or specifying coordinates directly. General-purpose output signals Peripheral equipment General-purpose input signals Tools required for setting Teaching pendant ( Refer to P. ) PC compatible software ( Refer to P. ) Gateway parameter setting tool Ladder logic support software ( Refer to P. ) * You only need either or to complete all the necessary settings. comes with the PC compatible software. is downloadable from our website. Available Soon Position data Ladder logic program Actuator Field Network Specification The MSEP-LC runs a ladder logic program internally to operate the axes and control I/O signals via a network. The axes can be operated either by using position data or specifying coordinates directly. General-purpose output signals Position data Peripheral equipment General-purpose input signals Position data Tools required for setting Teaching pendant ( Refer to P. ) PC compatible software ( Refer to P. ) Gateway parameter setting tool Ladder logic support software ( Refer to P. ) * You only need either or to complete all the necessary settings. comes with the PC compatible software. is downloadable from our website. Available Soon Position data Ladder logic program Actuator 8

20 Ladder Program MSEPseries Ladder Program MSEP-LC Ladder Program Specifications The MSEP-LC's I/O control functionality allows you to run ladder programs to control input/output signals and operate axes connected to the controller. Ladder programming s are outlined below. Memory types and sizes The sizes defined in the table below can be used in programming. Program contents Number of memories Input (X) Output (Y) Internal relays (M) Special relays (SM) Data registers (D) Special registers (SD) Timer (T), counter (C) Index register (IX) Labels (L) K steps 6 points / points 6 points / points,07 points 8 points 6 points points points each points points Basic commands There are a total of 7 basic commands, covering contact points, output, and other commands. 9 Type Command Symbol Process Steps LD S a contact LDN S b contact OR S a contact ORN S b contact AND S a contact Contact point commands ANDN S b contact LDP S Trigger on rise LDNP S Trigger on fall ORP S Trigger on rise ORNP S Trigger on fall ANDP S Trigger on rise ANDNP S Trigger on fall OR-BLK OR block processing AND-BLK AND block processing Combination commands M-PUSH Write to memory M-READ Load from memory M-POP Load from memory OUT D ( ) Coil output OUT T parameter ( ) Timer output OUT C parameter ( ) Counter output Output commands SET D [ ] Set OM RST D [ ] Reset OM PLS D [ ] Output pulse PLSN D [ ] Output pulse OFF SFT D [ ] Bit shift End commands END [ ] End program ENDS [ ] End main routine

21 Applied commands There are a total of 5 applied commands, covering data comparison, numerical functions, and more. Type Command Symbol Process Steps S = S [ ] Compare and pass if S=S S > S [ ] Compare and pass if S>S Data compare S >= S [ ] Compare and pass if S>=S S < S [ ] Compare and pass if S<S S <= S [ ] Compare and pass if S<=S S <> S [ ] Compare and pass if S S + S D [ ] Store S+D (BIN) in D + S S D [ ] Store S+S (BIN) in D - S D [ ] Store D-S (BIN) in D - S S D [ ] Store S-S (BIN) in D * S S D [ ] Store S S (BIN) in D / S S D [ ] Store S S (BIN) in D Numerical operations B+ S D [ ] Store S+D (BCD) in D B+ S S D [ ] Store S+S (BCD) in D B- S D [ ] Store D-S (BCD) in D B- S S D [ ] Store S-S (BCD) in D B* S S D [ ] Store S S (BCD) in D B/ S S D [ ] Store S S (BCD) in D I D [ ] Increment DEC D [ ] Decrement BCD/BIN conversion BCD S D [ ] Convert to BCD BIN S D [ ] Convert to BIN MOV S D [ ] Move S to D MOVN S D [ ] Move S to D, inverting all bits Transfer MCPY S D n [ ] Move the value n locations after S to n locations after D MSET S D n [ ] Move S to n locations after D XCHG D D [ ] Exchange bit data between D and D JE S [ ] Jump to L if conditions pass Branching JMP L [ ] Jump to L with no conditions CALL L [ ] Execute subroutine designated in L RET [ ] Return from subroutine LAND S D [ ] Store result of S/D AND operation in D LAND S S D [ ] Store result of S/S AND operation in D LOR S D [ ] Store result of S/D OR operation in D LOR S S D [ ] Store result of S/S OR operation in D Logical operations LXOR S D [ ] Store result of S/D XOR operation in D LXOR S S D [ ] Store result of S/S XOR operation in D LXNR S D [ ] Store result of S/D NOR operation in D LXNR S S D [ ] Store result of S/S NOR operation in D NEG D [ ] Invert sign ROR D n [ ] Rotate D n bits right, ignoring carry flag Rotation RCR D n [ ] Rotate D n bits right, including carry flag ROL D n [ ] Rotate D n bits left, ignoring carry flag RCL D n [ ] Rotate D n bits left, including carry flag SHR D n [ ] Shift D n bits right SHL D n [ ] Shift D n bits left Shift BSHR D n [ ] Shift location n bits after D bit right BSHL D n [ ] Shift location n bits after D bit left WSHR D n [ ] Shift value n locations after D location right WSHL D n [ ] Shift value n locations after D location left SUM S D [ ] Store no. of ON bits in S (6-bit data) in D DECO S D n [ ] Decode lowest n bits of S and store n bits from D EO S D n [ ] Encode value n bits from S and store in D Data processing BSET D n [ ] Set bit n of D BRST D n [ ] Reset bit n of D DDV S D n [ ] Store lower n places of S to lower bits n locations from D DCV S D n [ ] Store lower bits n locations from S in D FIFO FIFW S D [ ] Write to FIFO table FIFR D D [ ] Read from FIFO table FOR S [ ] Execute FOR-NEXT loop n times Loops NEXT [ ] BREAK [ ] Execute step following NEXT Carry flag STC [ ] Set carry flag contact point CLC [ ] Reset carry flag contact point DFC command DFC fcn S S [ ] Call DFC command 0

22 Names Input/Output Signals MSEPseries Components Names Names of the MSEP Controller Components MSEP-C MSEP-LC Caution: With the high-output setting (Power CON), only one axis can be connected per slot. Descriptions of the components Motor-encoder connectors for the actuator connection Connect motor-encoder cable to the actuator Connector for the absolute data backup battery Connect the absolute data backup battery if the controller has the absolute position encoder Connector for the external brake input The connector to input a signal to release the brake for the actuator externally. Connector for the emergency stop input for power source shut-off The emergency stop input connector to connect in/output terminal of the external relay of the motor drive shut-off and each driver slot (*). Information card for configuration of the connecting axes The information card contains information regarding the configuration of the controller axes which is removable to examine the contents. + V power source input connector The main power source connector for the controller: Motor drive source shut-down is possible while restoring the power source for the controller unit in case of an emergency shut-down; This is because the terminals for the power source of the motor and the controller are separate. Fan unit Easily replaceable fan unit. (Replacement fan unit: Model MSEP-FU) AUTO/MANUAL switch To switch automatic operation to/from manual operation SIO connector To connect teaching pendant and the connecting cable for PC compatible software System I/O connector The connector for remote AUTO/MANU switch input and emergency stop input for the entire controller with functions including an external regeneration-resistance expansion terminal. PIO connector/ field network connection connector (MSEP-C only) The PIO - connects to a 68-pin ribbon I/O cable. The field network - connects to a field network type specified on the MSEP controller. Standard I/Os (MSEP-LC only) The MSEP-LC comes installed with a 0-pin PIO connector as standard equipment. Expansion I/Os (MSEP-LC only) Expansion I/Os can be installed as an option. Available I/O types include PIO, DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, Ethernet/IP and EtherCAT. (*) The shut-off feature is available on a single slot basis which is for two axes per slot. Please note that a single axis basis cannot be accommodated.

23 Input/Output Signals PIO Input/Output (PIO) Signals The MSEP-C has dedicated inputs and outputs set to PIO signals at input points/ output points. The axis operates when each signal is turned ON/OFF from the host PLC. With the MSEP-LC, general-purpose input/output signals at input points/ output points can be used in a ladder program by using the standard 6 input points/6 output points plus expansion I/Os. MSEP-C (PIO ) MSEP-LC (Expansion I/O ) PIO connector PIO connector PIO Wiring Diagram for MSEP-C Connector name: HIF6-68PA-.7DS (Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID A V For I/O A8 OUT0 A IN0 A9 Output OUT A Input IN A0 (Axis No. 0) OUT A (Axis No. 0) IN A OUT A5 IN A OUT A6 IN A Output OUT5 A7 Input IN5 A (Axis No. ) OUT6 A8 (Axis No. ) IN6 A5 OUT7 A9 IN7 A6 OUT8 A0 IN8 A7 Output OUT9 A Input IN9 A8 (Axis No. ) OUT0 A (Axis No. ) IN0 A9 OUT A IN A0 OUT A IN A Output OUT A5 Input IN A (Axis No. ) OUT A6 (Axis No. ) IN A OUT5 A7 IN5 A 0V For I/O Connector name: HIF6-68PA-.7DS (Hirose Electric) Pin No. Category Signal ID Pin No. Category Signal ID B V For I/O B8 OUT6 B IN6 B9 Output OUT7 B Input IN7 B0 (Axis No. ) OUT8 B (Axis No. ) IN8 B OUT9 B5 IN9 B OUT0 B6 IN0 B Output OUT B7 Input IN B (Axis No. 5) OUT B8 (Axis No. 5) IN B5 OUT B9 IN B6 OUT B0 IN B7 Output OUT5 B Input IN5 B8 (Axis No. 6) OUT6 B (Axis No. 6) IN6 B9 OUT7 B IN7 B0 OUT8 B IN8 B Output OUT9 B5 Input IN9 B (Axis No. 7) OUT0 B6 (Axis No. 7) IN0 B OUT B7 IN B 0V For I/O PIO Wiring Diagram for MSEP-LC Standard I/Os Pin No. Category Assigned memory Pin No. Category Assigned memory A V A X006 A external input A X007 A Not used A X008 A Not used A X009 A5 X000 A5 X00A Input A6 X00 A6 X00B A7 X00 A7 X00C Input A8 X00 A8 X00D A9 X00 A9 X00E A0 X005 A0 X00F Pin No. Category Assigned memory Pin No. Category Assigned memory B Y000 B Y00A B Y00 B Y00B B Y00 B Y00C Output B Y00 B Y00D B5 Y00 B5 Y00E Output B6 Y005 B6 Y00F B7 Y006 B7 Not used B8 Y007 B8 Not used B9 Y008 B9 0V external input B0 Y009 B0 Expansion I/Os Pin No. Category Assigned memory Pin No. Category Assigned memory A V A X06 A external input A X07 A Not used A X08 A Not used A X09 A5 X00 A5 X0A Input A6 X0 A6 X0B A7 X0 A7 X0C Input A8 X0 A8 X0D A9 X0 A9 X0E A0 X05 A0 X0F Pin No. Category Assigned memory Pin No. Category Assigned memory B Y00 B Y0A B Y0 B Y0B B Y0 B Y0C Output B Y0 B Y0D B5 Y0 B5 Y0E Output B6 Y05 B6 Y0F B7 Y06 B7 Not used B8 Y07 B8 Not used B9 Y08 B9 0V external input B0 Y09 B0

24 Specifications Dimensions Options MSEPseries Specifications Table of General Specifications Specification item Description Number of axes in the controller 8 axes MAX (MSEP-C), 6 axes MAX (MSEP-LC) Controller/ Motor input power DCV ±0% Brake power 0.5 A x Number of axes Current consumption by control power 0.8A Controller inrush current 5A MAX, under 0 ms Maximum Servo motor type Rated ampere Standard/ Energy saver Hi-accel./decel. Motor consumption current Motor inrush current Motor-encoder cable length Serial communication (SIO port: dedicated teaching) PIO External interface Field network Data configuration and input method Data retention memory Positioning points LED display (On the front panel) Electromagnetic brake force release Surge protection Electric shock protection Insulation resistance Weight Cooling method Ambient operating temperature/humidity International Protection code Pulse motor type Rated ampere Maximum W 0.8A.6A 0P.0A.0A W(RCD) 0.7A.5A 8P.0A.0A 5W.0A 6.A 5P. A 0W(RCL) 6.A.A (high output 0W(RCA/RCA).5A.A P disabled) 0W.A.5A.A.5 A 0 W (0S type).7a.a 5.A 56P 0W.A.A.A (high output spec.) Slot numbers x 0A MAX, under 5ms Maximum length 0m (*0m for absolute positioning) RS85 ch (Modbus protocol compatible) Speed 9.6 to 0.kbps PIO : DCV dedicated signal in/output; Maximum input of points/axis; Maximum output of points/axis; Maximum cable length 0 m DeviceNet, CC-Link, PROFIBUS-DP, CompoNet, EtherNet/IP, EtherCAT, PROFINET IO PC compatible software application, touch panel teaching pendant, gateway parameter configuration tool Restore the position data and parameter in non-volatile memory (unlimited input) PIO : or points Field network : 56 points (no limited input for the simple numerical control and the direct numerical control) (Note) The number of designated positions vary depending on the parameter configuration with motion mode selection. LED for driver status, 8 LEDs (for each driver board) Status LED, LEDs (PIO ), 7 LEDs (Fieldbus ) Enable to force-release by transmitting a deactivation signal to each axis (DCV input). Overcurrent protection (A cut-off semiconductor circuit is built-in on each slot) Class I basic insulation DC500V 0MΩ 60g with the absolute position encoder plus 950g absolute data backup battery (8-axis ) Forced-air cooling 0 to 0 C, under 85% RH (non-condensing) IP0. A (high output disabled). A (high output spec.) Dimensions Exterior Dimensions Controller (The same dimensions apply to the MSEP-C/LC) 5. (5mm DIN rail width) 59 from the center of DIN rail Absolute data backup battery box 5. (5mm DIN rail width) 59 from the center of DIN rail

25 Options Options Teaching pendant Summary Model Setting Teaching device for positioning input, test operation, and monitoring. TB-0-C Exterior dimensions Specification Rated voltage Power consumption Ambient operating temperature Ambient operating humidity Environmental resistance Weight V DC.6 W or less (50 ma or less) 0~50 C 0~85%RH (non-condensing) IP0 (initial state) 507g (TB-0 unit only) 69.5 PC compatible software (Windows only) Summary Model Setting * For the MSEP field network, the PC compatible software is required. A startup support software for inputting positions, performing test runs, and monitoring. With enhancements for adjustment functions, the startup time is shortened. RCM-0-MW (External device communication cable and RS conversion adoptor included) MSEP is supported by Ver or later Supported Windows: 000 SP or later / XP SP or later / Vista / 7 PC compatible software (CD) Model Setting RCM-0-USB RS converter adaptor RCB-CV-MW External device communication cable CB-RCA-SI0050 (External device communication cable, USB converter adaptor and USB cable included) MSEP is supported by Ver or later USB converter adaptor RCB-CV-USB PC compatible software (CD) External regeneration resistor Summary Model Absolute data backup battery box Summary Model Exterior dimensions USB cable CB-SEL-USB00 External device communication cable CB-RCA-SI0050 The regeneration resistor converts regenerated current dissipated during deceleration of the motor load into heat. The MSEP controller has an internal regeneration resistor for ordinary operations, however, depending on the operational condition, please install an external regeneration resistor if the internal regeneration resistor capacity is insufficient. RER- Exterior dimensions Square shape helix resistor: BGR0THARJ(KOA) <Guideline for regeneration resistor requirement > One regeneration resistor is required when to 8 actuators with a high acceleration/deceleration are connected. If the absolute position encoder is selected with code ABB, the absolute data backup battery box is included with the controller. However, if the battery box is ordered as a separate unit, it does not include the battery but just the box itself. If the battery is needed, please purchase it separately. (Model: AB-7). MSEP-ABB See P. (Batteries not included) * A cable (Model CB-MSEP-AB005) that connects the absolute data backup battery box to the MSEP is included with the box. Driver board Summary Model / Standard price Pulse motor Replacement battery Summary Model A supplement or modification to the driver board is feasible with the MSEP controller. When the actuator that control motions needs to be modified, just replacing the driver board would serve the purpose without changing the entire controller. (The parameters need to be adjusted when changing the driver board) Motor type High output type Encoder type Number of axes Model Standard price Battery-less High output absolute/ -axis MSEP-PPD-W setting incremental Simple absolute -axis MSEP-PPD-A AC servo motor DC servo motor Cancellation of high output setting The replacement battery for the absolute data backup battery box. AB-7 Battery-less absolute/ incremental Simple absolute Incremental Simple absolute Incremental Replacement fan unit Model MSEP-FU -axis MSEP-PD-W -axis MSEP-PD-W -axis MSEP-PD-A -axis MSEP-PD-A -axis MSEP-AD-I -axis MSEP-AD-I -axis MSEP-AD-A -axis MSEP-AD-A -axis MSEP-DD-I -axis MSEP-DD-I

26 Service Parts Service Parts MSEPseries Service Parts Model number CB-CAN-MPA Integrated Motor-Encoder Cable for CB-CAN-MPA -RB Integrated Motor-Encoder Robot Cable RCP5/RCD * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m (Front view) Actuator side Minimum bending radius 5m or less length Longer than 5m (Note ) R = 68mm or more (for moving parts) R = 7mm or more (for moving parts) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through the cable track. (Note ) If the cable is 5m or longer, Ø9. cable diameter applies for a non-robot cable and Ø0 for a robot cable. (Front view) Controller side Pin No Signal name ØA 5 VMM 0 ØB 9 VMM Ø_A 5 Ø_B 8 LS+ LS- SA[mABS] 7 SB[mABS] A+ 6 A- B+ 6 B- 0 BK+ BK- VCC 7 GND 8 VPS LS_GND 9 (CFvcc) FG Pin No Signal name ØA VMM ØB VMM 5 Ø_A 6 Ø_B 7 LS+ 8 LS- SA[mABS] SB[mABS] A+ A- 5 B+ 6 B- 9 BK+ 0 BK- 7 VCC 9 GND 8 VPS 0 LS_GND (CFvcc) FG Model number (Front view) Actuator side CB-CA-MPA Integrated Motor-Encoder Cable for CB-CA-MPA -RB Integrated Motor-Encoder Robot Cable RCP * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m (Note ) Minimum bending radius 5m or less length R = 68mm or more (for moving parts) Longer than 5m R = 7mm or more (for moving parts) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through the cable track. (Note ) If the cable is 5m or longer, Ø9. cable diameter applies for a non-robot cable and Ø0 for a robot cable. (Front view) Controller side Actuator side (AMP) Pin No Signal name A ØA/U B VMM/V A Ø A/W B ØB/- A VMM/- B Ø_B/- A LS+/BK+ B LS-/BK- A6 -/A+ B6 -/A- A7 A+/B+ B7 A-/B- A8 B+/Z+ B8 B-/Z- A5 BK+/LS+ B5 BK-/LS- A9 LS_GND B9 VPS A0 VCC B0 GND A B FG Controller side PADP-V--S (JST) Pin No Signal name Ø A/U VMM/V 5 Ø_A/W ØB/- VMM/- 6 Ø_B/- 7 LS+/BK+ 8 LS-/BK- -/A+ -/A- A+/B+ A-/B- 5 B+/Z+ 6 B-/Z- 9 BK+/LS+ 0 BK-/LS- 0 LS_GND 8 VPS 7 VCC 9 GND FG Model number CB-APSEP-MPA - LC Integrated Motor-Encoder Cable for CB-APSEP-MPA Integrated Motor-Encoder Robot Cable RCP/RCA and others * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m 5 (Front view) Actuator side Minimum bending radius R = 68mm or more (for moving parts) * The robot cable is designed for flex-resistance: Please use the robot cable if the cable has to be installed through the cable track. Controller side Actuator side Pin number A B A B A B A B A6 B6 A7 B7 A8 B8 A5 B5 A9 B9 A0 B0 A B [PCON](ACON) [ ΦA] (U) [VMM] (V) [ Φ/A ] (W) [ ΦB ] ( - ) [VMM] ( - ) [ Φ/B ] ( - ) [LS+] (BK+) [LS-] (BK-) [ - ] (A+) [ - ] (A-) [ A+ ] (B+) [ A- ] (B-) [ B+ ] (Z+) [ B- ] (Z-) [BK+] (LS+) [BK-] (LS-) [GNDLS] (GNDLS) [VPS] (VPS) [VCC] (VCC) [GND] (GND) Shield [FG] (FG) Controller side Pin number

27 Model number CB-PSEP-MPA Integrated Motor-Encoder Robot Cable (Front view) (Front view) Actuator side (Front view) No connector No connector Actuator side No connector No connector * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m * Only robot cable is available for this model. * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m * Only robot cable is available for this model. * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m * Only robot cable is available for this model. Actuator side Flat cable A Flat cable B Flat cable (-core) x Minimum bending radius Model number CB-RPSEP-MPA Integrated Motor-Encoder Robot Cable Minimum bending radius R = 68mm or more (for moving parts) * Please indicate cable length (L) in, maximum 0m. e.g.) 080=8m A B No. Cable color Wiring A Brown- A Red- A Orange- A Yellow- A5 Green- A6 Blue- A7 Purple- A8 Gray- Flat cable A9 White- (pressure- A0 Black- welded) A Brown- A Red- A Orange- A Yellow- A5 Green- A6 Blue- A7 Purple- Controller side Model number CB-ASEP-MPA Integrated Motor-Encoder Robot Cable Minimum bending radius Flat cable (0-core) x R = 68mm or more (for moving parts) R = 68mm or more (for moving parts) Model number CB-MSEP-PIO PIO Flat Cable * Please indicate cable length (L) in, maximum 0m. e.g.) 00=m HIF6-068D-.7R Connector: HIF6-068D-.7R Model number CB-PAC-PIO PIO Flat Cable Half-pitch MIL socket: HIF6-0D-.7R (Hirose) Controller side Controller side No. Cable color Wiring A8 Gray- A9 White- A0 Black- A Brown- A Red- A Orange- A Yellow- A5 Green- Flat cable A6 Blue- (pressure- A7 Purple- welded) A8 Gray- A9 White- A0 Black- A Brown- A Red- A Orange- A Yellow- for RCP Actuator side Pin number Actuator side Pin number A B A B A B A6 B6 A7 B7 A8 B8 A B A5 B5 A9 B9 A0 B0 A B Actuator side Pin number No. Cable color Wiring B Brown-5 B Red-5 B Orange-5 B Yellow-5 B5 Green-5 B6 Blue-5 B7 Purple-5 B8 Gray-5 Flat cable B9 White-5 (pressure- B0 Black-5 welded) B Brown-6 B Red-6 B Orange-6 B Yellow-6 B5 Green-6 B6 Blue-6 B7 Purple-6 HIF6-0D-.7R No. Signal name Cable color Wiring A V Brown- A V Red- A Orange- A Yellow- A5 IN0 Green- A6 IN Blue- A7 IN Purple- A8 IN Gray- A9 IN White- Flat cable A0 IN5 Black- (pressure- A IN6 Brown- A IN7 Red- welded) A IN8 Orange- A IN9 Yellow- A5 IN0 Green- A6 IN Blue- A7 IN Purple- A8 IN Gray- A9 IN White- A0 IN5 Black- for RCP-RTBS/RTBSL/RTCS/RTCSL for RCA for MSEP-C [ ΦA ] [ VMM ] [ ΦB ] [ VMM ] [ Φ/A ] [ Φ/B ] [ BK+ ] [ BK- ] [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] [VCC] [VPS] [GND] [Spare] Shield [ FG ] [ ΦA ] [ VMM ] [ Φ/A ] [ ΦB ] [ VMM ] [ Φ/B ] [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] [BK+] [BK-] [GNDLS] [VPS] [VCC] [GND] Shield [ FG ] (FG) [ U ] [ V ] [ W ] [ BK+ ] [ BK- ] [ LS+ ] [ LS- ] [ A+ ] [ A- ] [ B+ ] [ B- ] [ Z+ ] [ Z- ] [VCC] [VPS] [GND] [Spare] Shield [ FG ] for PCON-CA/MSEP-LC Controller side Pin number Controller side Pin number Controller side Pin number No. Cable color Wiring B8 Gray-6 B9 White-6 B0 Black-6 B Brown-7 B Red-7 B Orange-7 B Yellow-7 B5 Green-7 Flat cable B6 Blue-7 (pressure- B7 Purple-7 welded) B8 Gray-7 B9 White-7 B0 Black-7 B Brown-8 B Red-8 B Orange-8 B Yellow-8 No. Signal name Cable color Wiring B OUT0 Brown- B OUT Red- B OUT Orange- B OUT Yellow- B5 OUT Green- B6 OUT5 Blue- B7 OUT6 Purple- B8 OUT7 Gray- B9 OUT8 White- Flat cable B0 OUT9 Black- (pressure- B OUT0 Brown- B OUT Red- welded) B OUT Orange- B OUT Yellow- B5 OUT Green- B6 OUT5 Blue- B7 Purple- B8 Gray- B9 0V White- B0 0V Black- 6