System

Instruction Manual Seventh Edition ME0384-7C

Chapter 1 RCON Overview

Specifications
Chapter 2 System Configuration and Specifications
Chapter 3 Gateway Unit

Section
Chapter 4 24V Driver Unit
Chapter 5 200V Power Supply Unit
Chapter 6 200V Driver Unit
Chapter 7 Option Unit
Chapter 8 EC Connection Unit
Chapter 9 Simple Absolute Unit

Chapter 1 Overview
Chapter 2 Mounting and Wiring

Section
Startup
Chapter 3 Simple Absolute Unit
Chapter 4 Network Configuration
Chapter 5 Basic Operation Confirmation
and Adjustment

Chapter 1 Operation Overview

Chapter 2 Address Configuration

Operation
and Signal Assignment

Section
Chapter 3 I/O Signals
Chapter 4 Operating Procedure
Chapter 5 Various Functions
Chapter 6 Preventive Maintenance /
Predictive Maintenance Maintenance
Section

Chapter 1 Maintenance and Inspection

Chapter 2 Troubleshooting
Appendix

Chapter 1 Gateway Parameter

Configuration Tool
Chapter 2 Connectable Actuators
 Please Read Before Use

Please Read Before Use

Thank you for purchasing our product.

This instruction manual explains the handling methods, structure and maintenance of this product,
providing the information you need in order to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.

Please downloaded the user’s manual from our website.

You can download it free of charge. User registration is required for the first time downloading.
URL : www.iai-robot.co.jp/data_dl/CAD_MANUAL/

When using the product, print out of the necessary portions of the relevant manual, or please display
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After reading the instruction manual, keep it in a convenient place so that whoever is handling the
product can refer to it quickly when necessary.

[Important]
• This instruction manual is an original document dedicated for this product.
• This product cannot be used in ways not shown in this instruction manual. IAI shall not be
liable for any result whatsoever arising from the use of the product in any other way than
what is noted in the manual.
• The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
• If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
• Use or reproduction of this instruction manual in full or in part without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

ME0384-7C
Configuration of manuals related to RCON system

Configuration of manuals related to RCON system

[1] Instruction Manual

Control
Product name Instruction manual name
number

RCON Gateway Unit First Step Guide ME0382

RCON Motion
First Step Guide ME0433
Gateway Unit

RCON 24V Driver Unit First Step Guide ME0383

RCON 200V
First Step Guide ME0397
Power Supply / Driver Unit

SEL Unit First Step Guide ME0393

REC System First Step Guide ME0395

RCON System Instruction Manual (this document) ME0384

REC-GW/RCON-EC
REC System ME0394
Instruction Manual
SCON-CB/CGB/LC/LCG
SCON-CB Controller ME0340
Instruction Manual

SCON2 SCON2 Instruction Manual ME0458

RCON Motion RCON-MECHATROLINK-III

ME0426
Gateway Unit Instruction Manual
RCON Motion RCON EtherCAT Motion
ME0427
Gateway Unit Instruction Manual
RCON Motion RCON SSCNET III/H
ME0428
Gateway Unit Instruction Manual
RCM-101-MW/RCM-101-USB
PC Software ME0155
Instruction Manual
IA-OS First Step Guide
PC Software * For how to operate, refer to the guiding features ME0391
installed in IA-OS

Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355

Touch Panel Teaching Pendant TB-03 Instruction Manual ME0376

24V Power Supply Unit PSA-24 Instruction Manual ME0379

ELECYLINDER / Electricity
ELECYLINDER ME3816
Instruction Manual

ME0384-7C
 Please Read Before Use

[2] Quick Start Guide

“Japanese Only”

ME0384-7C
Contents

Contents

Safety Guide ·················································································· Intro-1

Precautions for Handling ··································································· Intro-8
Precautions for PC connection to RCON gateway unit
grounded at positive terminal of 24V DC power supply ···························· Intro-14
International Standard Compliance······················································ Intro-16
About UL/cUL ················································································· Intro-17
Warranty························································································ Intro-18
Actuator Coordinate System ······························································ Intro-20

[Specifications Section]
Chapter 1 RCON Overview
1.1 Overview ················································································ A1-1
1.2 Features ················································································ A1-2
1.3 General Specifications ······························································ A1-4

Chapter 2 System Configuration and Specifications

2.1 System Configuration································································ A2-1
2.1.1 Configuration·························································································· A2-1
2.1.2 Configuration unit ···················································································· A2-3
2.1.3 Model number ························································································ A2-7
2.2 Configuration Unit List ······························································· A2-11
2.2.1 Unit List ································································································· A2-11
2.2.2 Configuring unit blog diagram ···································································· A2-12
2.2.3 Unit connection restrictions ······································································· A2-14
2.3 Specifications ·········································································· A2-17
2.3.1 Basic specifications ················································································· A2-17
2.3.2 Number of connected units and occupied size ·············································· A2-20
2.3.3 Power supply capacity·············································································· A2-25
2.3.4 Inrush current ························································································· A2-34
2.3.5 Operating temperature range ····································································· A2-36
2.3.6 Specifications for field network ··································································· A2-37

Chapter 3 Gateway Unit

3.1 Overview ················································································ A3-1
3.2 How to Read the Model Nameplate·············································· A3-3
3.3 How to Read the Model Number ················································· A3-4
3.4 Components ··········································································· A3-5
3.5 Part Names/Functions······························································· A3-6
3.5.1 Part names ···························································································· A3-6
3.5.2 LED display ··························································································· A3-8
3.5.3 Ethernet connector (Option) ······································································ A3-9
3.5.4 AUTO/MANU switch ················································································ A3-9
3.5.5 SIO connector ························································································ A3-10
3.5.6 USB connector ······················································································· A3-11

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3.5.7 System I/O connector··············································································· A3-12

3.5.8 Motor power connector ············································································· A3-13
3.5.9 Control power connector ··········································································· A3-14
3.5.10 Field network connector ·········································································· A3-15
3.5.11 Connectors ··························································································· A3-15
3.5.12 Terminal unit ························································································· A3-16
3.6 External Dimensions ································································· A3-17
3.6.1 Gateway unit ·························································································· A3-17
3.6.2 Terminal unit ·························································································· A3-18
3.7 Field Network General Specifications ··········································· A3-19
3.7.1 CC-Link ································································································· A3-19
3.7.2 CC-Link IE Field······················································································ A3-20
3.7.3 DeviceNet ······························································································ A3-21
3.7.4 EtherCAT······························································································· A3-22
3.7.5 EtherNet/IP ···························································································· A3-23
3.7.6 PROFIBUS-DP ······················································································· A3-24
3.7.7 PROFINET IO ························································································ A3-25
3.7.8 Motion network ······················································································· A3-26

Chapter 4 24V Driver Unit

4.1 Overview ················································································ A4-1
4.2 How to Read the Model Nameplate·············································· A4-2
4.3 How to Read the Model Number ················································· A4-3
4.4 Components ··········································································· A4-4
4.5 Part Names/Functions······························································· A4-5
4.5.1 Part names ···························································································· A4-5
4.5.2 LED display ··························································································· A4-7
4.5.3 Jog switch ····························································································· A4-8
4.5.4 Brake release switch ················································································ A4-9
4.5.5 Motor/encoder connector ·········································································· A4-10
4.5.6 Drive source shutoff connector ··································································· A4-14
4.5.7 Fan connector ························································································ A4-15
4.5.8 Connectors ···························································································· A4-15
4.5.9 Fan unit ································································································· A4-16
4.6 External Dimensions ································································· A4-18
4.6.1 24V Driver unit (common for RCON-PC/PCF/AC/DC types) ····························· A4-18
4.6.2 Fun unit (RCON-FU) ················································································ A4-19

Chapter 5 200V Power Supply Unit

5.1 Overview ················································································ A5-1
5.2 How to Read the Model Nameplate·············································· A5-3
5.3 How to Read the Model Number ················································· A5-4
5.4 Components ··········································································· A5-5
5.5 Part Names/Functions······························································· A5-6
5.5.1 Part names ···························································································· A5-6
5.5.2 External regenerative resistor connector ······················································ A5-8
5.5.3 200V AC input connector ·········································································· A5-9
5.5.4 Fan connector ························································································ A5-10
5.5.5 Connectors ···························································································· A5-10
5.5.6 Fan unit ································································································· A5-11
5.5.7 Terminal unit for 200V ·············································································· A5-12

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5.6 External Dimensions ································································· A5-13

5.6.1 200V Power supply unit (RCON-PS2) ························································· A5-13
5.6.2 Terminal unit for 200V (RCON-GW-TRS) ····················································· A5-14

Chapter 6 200V Driver Unit

6.1 Overview ················································································ A6-1
6.2 How to Read the Model Nameplate·············································· A6-3
6.3 How to Read the Model Number ················································· A6-4
6.4 Components ··········································································· A6-5
6.5 Part Names/Functions······························································· A6-6
6.5.1 Part names ···························································································· A6-6
6.5.2 LED display ··························································································· A6-7
6.5.3 Jog switch ····························································································· A6-8
6.5.4 Brake release switch ················································································ A6-9
6.5.5 Motor connector ······················································································ A6-9
6.5.6 Encoder connector ·················································································· A6-10
6.5.7 Driver stop connector ··············································································· A6-11
6.5.8 Fan connector ························································································ A6-11
6.5.9 Connectors ···························································································· A6-11
6.5.10 Fan unit for 200V Driver unit ···································································· A6-12
6.6 External Dimensions ································································· A6-13
6.6.1 200V Driver unit ······················································································ A6-13
6.6.2 Fan unit for 200V Driver unit ······································································ A6-14

Chapter 7 Option Unit

7.1 Overview ················································································ A7-1
7.2 How to Read the Model Nameplate·············································· A7-4
7.3 How to Read the Model Number ················································· A7-5
7.4 Option Unit and Components······················································ A7-7
7.5 Part Names/Functions······························································· A7-10
7.5.1 Part names ···························································································· A7-10
7.5.2 LED display ··························································································· A7-12
7.5.3 SCON cable connector ············································································· A7-13
7.5.4 PIO cable connector ················································································ A7-14
7.5.5 SIO cable connector ················································································ A7-18
7.5.6 Connectors ···························································································· A7-18
7.6 External Dimensions ································································· A7-19

Chapter 8 EC Connection Unit

8.1 Overview ················································································ A8-1
8.2 How to Read the Model Nameplate·············································· A8-2
8.3 How to Read the Model Number ················································· A8-3
8.4 Components ··········································································· A8-4
8.5 Part Names/Functions······························································· A8-5
8.5.1 Part names ···························································································· A8-5
8.5.2 LED display ··························································································· A8-6
8.5.3 Jog switch ····························································································· A8-7
8.5.4 Brake release switch ················································································ A8-8
8.5.5 Connectors for EC connection ··································································· A8-9
8.5.6 Drive source shutoff connector ··································································· A8-10

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8.5.7 Connectors ···························································································· A8-11

8.6 External Dimensions ································································· A8-12

Chapter 9 Simple Absolute Unit

9.1 Overview ················································································ A9-1
9.2 How to Read the Model Nameplate·············································· A9-2
9.3 How to Read the Model Number ················································· A9-3
9.4 Components ··········································································· A9-4
9.5 General Specifications ······························································ A9-5
9.6 Part Names/Functions······························································· A9-7
9.6.1 Part names ···························································································· A9-7
9.6.2 LED display ··························································································· A9-8
9.6.3 Actuator cable connector/driver unit cable connector ······································ A9-8
9.7 External Dimensions ································································· A9-9

[Startup Section]
Chapter 1 Overview
1.1 Checking the Product································································ B1-1
1.2 Tools to Use ············································································ B1-7
1.3 IA-OS Installation ····································································· B1-9
1.4 Startup Procedure ···································································· B1-10

Chapter 2 Mounting and Wiring

2.1 Installation ·············································································· B2-1
2.1.1 Requests/Precautions ·············································································· B2-1
2.1.2 Unit connection ······················································································· B2-5
2.1.3 Fan unit mounting method ········································································ B2-10
2.1.4 DIN rail mounting ···················································································· B2-11
2.2 Wiring ···················································································· B2-12
2.2.1 Controller power supply wiring ··································································· B2-12
2.2.2 Actuator power supply wiring ····································································· B2-16
2.2.3 Wiring for external regenerative resistor unit ················································· B2-33
2.2.4 Wiring for brake box················································································· B2-35
2.2.5 Field network wiring ················································································· B2-39
2.2.6 PIO wiring ······························································································ B2-47
2.3 Peripheral Circuit ····································································· B2-48
2.3.1 Stop circuit / Drive cutoff circuit ·································································· B2-48
2.3.2 Driver stop circuit ···················································································· B2-56
2.3.3 AUTO/MANU mode switching circuit wiring··················································· B2-60
2.4 Conforming to Safety Category ··················································· B2-62
2.4.1 System configuration ··············································································· B2-62
2.4.2 Wiring and setting of safety circuit ······························································ B2-63
2.4.3 Examples of safety circuits ········································································ B2-65
2.4.4 TP adapter and related parts ····································································· B2-77

Chapter 3 Simple Absolute Unit

3.1 Simple Absolute Unit Wiring ······················································· B3-1
3.2 Parameter Setting ···································································· B3-4

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3.3 Precautions ············································································ B3-6

Chapter 4 Network Configuration

4.1 Startup of IA-OS ······································································ B4-1
4.2 Setting RCON Gateway Parameters ············································ B4-3
4.2.1 Reading in gateway parameters ································································· B4-3
4.2.2 Operation mode individual setting ······························································· B4-6
4.2.3 Axis number assignment change ································································ B4-7
4.2.4 Editing driver unit configuration ·································································· B4-8
4.2.5 Connection setup using Ethernet port (Option) ·············································· B4-20
4.3 RCON Setting: CC-Link ····························································· B4-23
4.3.1 RCON Setting: CC-Link ············································································ B4-23
4.4 Explanations of Monitoring Menu Features ···································· B4-32
4.5 Master Unit Setting ··································································· B4-34
4.5.1 PLC setting: CC-Link ··············································································· B2-34

Chapter 5 Basic Operation Confirmation and Adjustment

5.1 Operation Confirmation with PC Software ····································· B5-1
5.1.1 Preparation of IA-OS················································································ B5-1
5.1.2 Home return ··························································································· B5-6
5.1.3 Jog travel ······························································································ B5-8
5.1.4 Position travel························································································· B5-9
5.1.5 Operation Check of ELECYLINDER ···························································· B5-14

[Operation Section]
Chapter 1 Operation Overview
1.1 Basic Operation ······································································· C1-1
1.1.1 Basic operation methods ·········································································· C1-1
1.2 Operation Function List ····························································· C1-2
1.2.1 Field network operation mode ···································································· C1-2
1.2.2 List of functions by operation mode ····························································· C1-3
1.2.3 Operation of ELECYLINDER ····································································· C1-4
1.3 Position Table·········································································· C1-5
1.3.1 Driver unit position table ··········································································· C1-5
1.3.2 ELECYLINDER position table ···································································· C1-20
1.3.3 Precautions for rotary type ········································································ C1-23
1.3.4 Precautions for gripper type ······································································ C1-26
1.4 Power ON Sequence ································································ C1-28

Chapter 2 Address Configuration and Signal Assignment

2.1 Address Configuration······························································· C2-1
2.1.1 Fixed region configuration ········································································· C2-2
2.1.2 Data region configuration ·········································································· C2-3
2.1.3 Address assignment order and occupied domains calculation ·························· C2-4
2.1.4 Overall address configuration example ························································ C2-6
2.2 Contents of Each Address Assignment ········································· C2-22
2.2.1 Fixed area control/status signals ································································ C2-22
2.2.2 Direct numerical control mode assignment ··················································· C2-28
2.2.3 Simple direct mode assignment ································································· C2-34
2.2.4 Positioner 1 mode assignment ··································································· C2-38

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2.2.5 Positioner 2 mode assignment ··································································· C2-41

2.2.6 Positioner 3 mode assignment ··································································· C2-42
2.2.7 Positioner 5 mode assignment ··································································· C2-45
2.2.8 Assignment of EC connection unit ······························································ C2-48
2.2.9 Assignment of PIO (PIO/SIO/SCON Extension Unit, PIO Unit)·························· C2-51

Chapter 3 I/O Signals

3.1 Timing of I/O signals ································································· C3-1
3.2 Driver unit I/O signals································································ C3-2
3.3 EC connection unit I/O signals ···················································· C3-26
3.3.1 Features of input and output signals for EC connection unit ····························· C3-26
3.3.2 Caution when connecting EC connection unit ··············································· C3-29

Chapter 4 Operating Procedure

4.1 Positioning ············································································· C4-1
4.2 Pressing ················································································ C4-10
4.3 Pausing ················································································· C4-18
4.4 Speed Changes while Traveling ·················································· C4-19
4.5 Operation at Different Acceleration/Deceleration Speeds ·················· C4-21
4.6 Operation by Specifying Relative Coordinates ································ C4-22
4.7 Shortcut Control of Multi-rotation Rotary Actuator ···························· C4-26
4.8 Basic Operations of ELECYLINDER ············································ C4-28

Chapter 5 Various Functions

5.1 Vibration Damping Control Function ············································· C5-1
5.2 Collision Detection Function ······················································· C5-8
5.3 Power-saving Function ······························································ C5-11

Chapter 6 Preventive Maintenance / Predictive Maintenance

6.1 Preventive Maintenance Function ················································ C6-1
6.1.1 Driver unit ······························································································ C6-1
6.1.2 Gateway unit ·························································································· C6-1
6.1.3 Maintenance Information ·········································································· C6-2
6.1.4 PSA-24 status data monitor ······································································· C6-6
6.2 Predictive Maintenance Function ················································· C6-10
6.2.1 Fan rotation speed monitoring ··································································· C6-10
6.2.2 Overload warning ···················································································· C6-11

Chapter 7 Parameter
7.1 Parameter List ········································································· C7-1
7.2 Parameter Details ···································································· C7-6
7.3 Servo Gain Adjustment······························································ C7-53
7.4 RCON Gateway Parameter ························································ C7-57
7.4.1 Configuration of RCON gateway parameters ················································ C7-57
7.4.2 Network setting ······················································································· C7-58
7.4.3 Special parameter list ·············································································· C7-67
7.4.4 Details of special parameters ····································································· C7-68
7.5 Parameter List for ELECYLINDER ··············································· C7-75

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7.6 Parameter Details of ELECYLINDER ··········································· C7-76

7.7 Operation Noise Tuning ····························································· C7-84

[Maintenance Section]
Chapter 1 Maintenance and Inspection
1.1 Periodic Inspection ··································································· D1-1
1.1.1 Periodic inspection items ·········································································· D1-2
1.2 Requests When Replacing Units ················································· D1-4
1.3 Consumable Parts···································································· D1-5
1.4 Replace Procedure··································································· D1-6
1.4.1 Fan unit replacement ··············································································· D1-6
1.4.2 Absolute battery replacement ···································································· D1-9
1.5 Absolute Reset Procedure ························································· D1-12

Chapter 2 Troubleshooting
2.1 Troubleshooting ······································································· D2-1
2.2 Failure Diagnostics ··································································· D2-2
2.2.1 Operation failure ····················································································· D2-2
2.2.2 Low positioning and velocity accuracy (incorrect operation) ····························· D2-3
2.2.3 Generation of abnormal noise or vibration ···················································· D2-4
2.2.4 Communication failure ············································································· D2-4
2.3 Gateway Unit Alarm Causes and Countermeasures ························ D2-5
2.3.1 Alarm levels ··························································································· D2-5
2.3.2 Causes and countermeasures of individual alarms ········································· D2-6
2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures····· D2-11
2.4.1 Alarm levels ·························································································· D2-11
2.4.2 Simple alarm codes ················································································ D2-12
2.4.3 Alarm code list ······················································································· D2-14
2.4.4 Causes and countermeasures of individual alarms ········································ D2-17
2.5 Causes and Countermeasures for ELECYLINDER Alarms ················ D2-35
2.5.1 ELECYLINDER alarm group ····································································· D2-35
2.5.2 Troubleshooting for ELECYLINDER alarm groups ········································ D2-36

[Appendix]
Chapter 1 Gateway Parameter Configuration Tool
1.1 Installing Gateway Parameter Configuration Tool ···························· E1-1
1.2 Tool Startup ············································································ E1-5
1.3 Function Description ································································· E1-6
1.3.1 Menu descriptions ·················································································· E1-6
1.3.2 Special parameter setting function descriptions ············································ E1-8
1.3.3 Explanations of monitoring menu features ··················································· E1-14
1.4 Various Settings······································································· E1-16
1.4.1 Operation mode setting ··········································································· E1-16
1.4.2 Operation mode individual setting ······························································ E1-18
1.4.3 Axis number assignment change ······························································· E1-19
1.4.4 Editing driver unit configuration ································································· E1-20
1.5 Connection Setting Using Ethernet Port ········································ E1-33
1.6 How to Check Operations Occupied Size of The Network ················· E1-37

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Chapter 2 Connectable Actuators

2.1 List of Actuator Specifications ····················································· E2-1
Specifications for Pulse Motor Type Actuator ······················································· E2-1
Specifications for 24V AC Servo Motor Type Actuator············································ E2-41
Specifications for Brushless DC Electric Motor Actuator ········································· E2-46
Specifications for 200V AC Servo Motor Type Actuator ·········································· E2-47
2.2 Correlation Diagrams of Speed and Payload ·································· E2-100
RCP6 slider type (High output effective) ····························································· E2-100
RCP6 slider type (High output effective / Motor-reversing type) ······························· E2-101
RCP6 wide slider type (High output effective) ······················································ E2-102
RCP6 wide slider type (High output effective / Motor-reversing type) ························ E2-103
RCP6 rod type (High output effective) ································································ E2-104
RCP6 rod type (High output effective / Motor-reversing type) ·································· E2-105
RCP6 radial cylinder type (High output effective) ·················································· E2-106
RCP6 radial cylinder type (High output effective / Motor-reversing type)····················E2-107
RCP6 wide radial cylinder type (High output effective) ··········································· E2-108
RCP6 wide radial cylinder type (High output effective / Motor-reversing type)·············E2-109
RCP6W dust and drip proof rod type (High output effective) ··································· E2-110
RCP6W dust and drip proof rod type (High output effective / Motor-reversing type) ·····E2-112
RCP6W dust and drip proof radial cylinder type (High output effective) ·····················E2-114
RCP6W dust and drip proof radial cylinder type (High output effective / Motor-reversing type) ···E2-116
RCP6W dust and drip proof wide radial cylinder type (High output effective) ··············E2-118
RCP6W dust and drip proof wide radial cylinder type (High output effective / Motor-reversing type) ···E2-120
RCP6 table type (High output effective) ······························································ E2-122
RCP6 table type (High output effective / Motor-reversing type) ································ E2-123
RCP6 table type (High output effective) ······························································ E2-124
RCP6 table type (High output effective / Motor-reversing type) ································ E2-125
RCP5 slider type (High output effective) ····························································· E2-126
RCP5 slider type (High output effective / Motor-reversing type) ······························· E2-127
RCP5 belt type (High output effective) ······························································· E2-128
RCP5 rod type (High output effective) ································································ E2-128
RCP5 rod type ······························································································ E2-129
RCP5 rod type (High output effective / Motor-reversing type) ·································· E2-130
RCP5 rod type (Motor-reversing type) ································································ E2-131
RCP5W dust and drip proof rod type (High output effective) ··································· E2-131
RCP5W dust and drip proof rod type ································································· E2-132
RCP4 slider type (High output effective) ····························································· E2-134
RCP4 slider type (High output effective / Motor-reversing type) ······························· E2-135
RCP4W dust and drip proof slider type······························································· E2-136
RCP4 rod type (High output effective) ································································ E2-137
RCP4 rod type (High output effective / Motor-reversing type) ·································· E2-138
RCP4W dust and drip proof rod type (High output effective) ··································· E2-139
RCP3 slider type ··························································································· E2-140
RCP3 slider type (Motor-reversing type) ····························································· E2-142
RCP3 rod type ······························································································ E2-143
RCP3 table type ···························································································· E2-144
RCP2 slider type ··························································································· E2-145
RCP2 slider type (Motor-reversing type) ····························································· E2-147
RCP2 rod type ······························································································ E2-149
RCP2 rod short type (Standard / Equipped with Guide) ········································· E2-151
RCP2W dust and drip proof type ······································································· E2-153

ME0384-7C
Contents

2.3 Push Force / Gripping Force and Current Limit Value ······················· E2-154
RCP6 Series (Slider type / Rod type / Table type) ················································· E2-154
RCP6 Series (Gripper type) ············································································· E2-155
RCP5 Series (Slider type / Rod type) ································································· E2-157
RCP4 Series (Slider type / Rod type) ································································· E2-158
RCP4 Series (Gripper type) ············································································· E2-159
RCP3 Series (Slider type / Table type) ······························································· E2-160
RCP3 Series (Slim, compact rod type) RA2AC/RA2BC/RA2AR/RA2BR ···················E2-161
RCP2 Series (Slider type / Rod type) ································································· E2-161
RCP2 Series (2-finger gripper type) ··································································· E2-163
RCP2 Series (3-finger gripper type) ··································································· E2-164
RCL Series ··································································································· E2-164
RCD Series ·································································································· E2-164
RCS2 Series ································································································· E2-165
2.4 Rotational Speed and Output Torque / Allowable Inertial Moment ······· E2-166
RCP2 Series (Rotary type) ·············································································· E2-166

Index ···························································································· Post-1

Revision history ·············································································· Post-8

ME0384-7C
 Safety Guide

Safety Guide

“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.

Safety Precautions for Our Products

The common safety precautions for the use of any of our robots in each operation.

Operation
No. Description
Description
1 Model ● This product has not been planned and designed for the application where
Selection high level of safety is required, so the guarantee of the protection of human
life is impossible.
Accordingly, do not use it in any of the following applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications.
Failure to do so may considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding the
specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.

ME0384-7C Intro-1
Safety Guide

Operation
No. Description
Description
2 Transportation ● When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
● When the work is carried out with 2 or more persons, make it clear who is to
be the “leader” and who to be the “follower(s)” and communicate well with
each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
● Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions in
the instruction manual for each model.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator who
has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and ● The storage and preservation environment conforms to the installation
Preservation environment. However, especially give consideration to the prevention of
condensation.
● Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation and (1) Installation of Robot Main Body and Controller, etc.
Start ● Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product.
Failure to do so may cause an accidental fall, injury or damage to the
product due to a drop of anything, malfunction of the product, performance
degradation, or shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

Intro-2 ME0384-7C
 Safety Guide

Operation
No. Description
Description
4 Installation and (2) Cable Wiring
Start ● Use our company’s genuine cables for connecting between the actuator and
controller, and for the teaching tool.
● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil
it around. Do not insert it. Do not put any heavy thing on it.
Failure to do so may cause a fire, electric shock or malfunction due to
leakage or continuity error.
● Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
● Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
● The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control the
unnecessary electromagnetic radiation.
● For the ground terminal (PE) on the AC power cable of the controller and
the grounding plate in the control panel, make sure for grounding work. For
security grounding, it is necessary to select an appropriate wire thickness
suitable for the load.
Perform wiring that satisfies the specifications (electrical equipment
standards and criteria).
For detail, follow the description in [an instruction manual of each controller
or controller built-in actuator].
● Conduct functional grounding on the FG terminal for a controller supplying
24V DC or a controller built-in type actuator. In order to minimize influence
to mechanical operation given by electromagnetic interference (noise) to an
electrical device or insulation failure, conduct grounding on a terminal or a
conductor that is electrically stable. The reference impedance should be
Type D (Former Class 3, ground resistance 100Ω or less).

ME0384-7C Intro-3
Safety Guide

Operation
No. Description
Description
4 Installation and (4) Safety Measures
Start ● When the work is carried out with 2 or more persons, make it clear who is to
be the “leader” and who to be the “follower(s)” and communicate well with
each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or serious
injury.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an injury
or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
● When the installation or adjustment operation is to be performed, give clear
warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
● Take the measure so that the work part is not dropped in power failure or
emergency stop.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who is to
be the “leader” and who to be the “follower(s)” and communicate well with
each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and understand
them well.
● When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.

Intro-4 ME0384-7C
 Safety Guide

Operation
No. Description
Description
6 Trial Operation ● When the work is carried out with 2 or more persons, make it clear who is to
be the “leader” and who to be the “follower(s)” and communicate well with
each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
● When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety speed.
Failure to do so may result in an accident due to unexpected motion caused
by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in the
power ON mode.
Failure to do so may result in an electric shock or malfunction.
7 Automatic ● Check before starting the automatic operation or rebooting after operation
Operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral equipment
is in an automatic-operation-ready state and there is no alarm indication.
● Make sure to operate automatic operation start from outside of the safety
protection fence.
● In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn OFF
the power switch. Failure to do so may result in a fire or damage to the
product.
● When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.

ME0384-7C Intro-5
Safety Guide

Operation
No. Description
Description
8 Maintenance ● When the work is carried out with 2 or more persons, make it clear who is to
and Inspection be the “leader” and who to be the “follower(s)” and communicate well with
each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make sure
that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
● When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection fence, in
addition to the workers, arrange a watchman so that the machine can be
stopped any time in an emergency. Also, keep watch on the operation so
that any third person can not operate the switches carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease according
to the instruction manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● Pay attention not to lose the removed cover or screws, and make sure to
put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
9 Modification ● Do not modify, disassemble, assemble or use of maintenance parts not
and Dismantle specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● Do not come close to the product or the harnesses if you are a person who
requires a support of medical devices such as a pacemaker. Doing so may
affect the performance of your medical device.
● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.

Intro-6 ME0384-7C
 Safety Guide

Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the instruction manual for each model.

Level Degree of Danger and Damage Symbol

This indicates an imminently hazardous situation which, if the

Danger product is not handled correctly, will result in death or serious injury. Danger

This indicates a potentially hazardous situation which, if the product

Warning is not handled correctly, could result in death or serious injury. Warning

This indicates a potentially hazardous situation which, if the product

Caution is not handled correctly, may result in minor injury or property Caution
damage.

This indicates lower possibility for the injury, but should be kept to
Notice use this product properly. Notice

ME0384-7C Intro-7
Precautions for Handling

Precautions for Handling

1. Make sure to follow the usage condition, environment and specification range of the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.

2. Use the correct teaching tool.

Refer to the following item and use compatible tools for PC software and teaching pendant
usable for this controller.
Refer to [Startup Section Chapter 1, 1.2 Tools to Use (page B1-7)]

3. Back up data in order to be prepared for a breakdown.

Non-volatile memory is used for backup memory of this controller. Registered position data and
parameters are written in this memory and backed up. Therefore, these data will normally not be
lost even if the power is turned off. However, be sure to save the latest data to enable a quick
recovery process in case this controller needs to be replaced with a substitute due to breakdown,
etc.

How to save
(1) Save to an external memory or a hard disk using PC software
(2) Record position table and parameters in writing

4. Perform initial operation setting.

This controller is compatible with 7 types of field network to support various applications, and
provided with 6 types of operation modes (Note). These settings can be made during initial setting.
Set operation mode to suit the application at startup.
Refer to [Startup Section Chapter 4, 4.2 Setting RCON Gateway Parameters (page B4-3)]

Note 1: It is not available to select an operation mode in the EC connection unit.

Warning
 It is dangerous if operation settings of the control sequence and field network are not
matched, as it will not only prevent normal operation but can also lead to unpredictable
operation.

Intro-8 ME0384-7C
 Precautions for Handling

5. Except for the EC connection unit, servo ON signal SON must be entered to enable operation.
The SON signal puts the actuator into an operable status.

6. Turn on MON Signal in the gateway control signals after the link with the PLC is established.
Turn MON Signal on otherwise the control from PLC should not be available for those other than
the EC connection units.
Refer to [Operation Section Chapter 2, 2.1 Address Configuration (page C2-1)]

7. Calendar function time setting

Gateway alarm 84A "Real Time Clock Oscillation Stop Detected" may occur when turning the
power on for the first time after delivery. In that case, set the current time with the teaching tool.
When fully charged, time data can be retained approximately 10 days after the power is turned
OFF.
At shipment, time will be set but the unit will not be fully charged. Therefore, even if the
above-mentioned number of days has not passed from shipment, the time data may be lost.

8. Caution when Using Through Hole on Rotary Actuator

If using a rotary actuator with rotational center through hole, with cables, etc. inserted to the
through hole, take measures against wear due to rubbing, or wire disconnection due to twisting.
Be particularly cautious if the actuator is 360-degree specification, as it can infinitely rotate in the
same direction.

9. There are restrictions on index mode operation of the rotary actuator.

With use of Parameter No. 79 "Rotary Axis Mode Select", rotary actuators with 360-degree
specification allow selection of normal mode which provides limited rotation operation, or index mode
which enables multi-rotation control.
Refer to [Operation Section Chapter 7, 7.2 Parameter Details (page C7-6)]
The index mode has the following restrictions.
● In jog or inching operation using teaching tools such as PC software, etc., the one-time
command range enables a maximum of 360° in jog operation, or 1° in inching operation.
● Pushing cannot be performed. For push torque, settings other than 0 cannot be made.
● Do not repetitively execute positioning commands around 0 degree numerous times while
traveling in the vicinity of 0 degree. The rotation direction may switch, or operation may
become unstable.
● Software stroke limit is disabled in index mode.

ME0384-7C Intro-9
Precautions for Handling

10. Creation of sequence programs

When creating a sequence program, be careful of the following.
If exchanging data between devices with different scan time, the length of time required for a
reliable signal reading process is greater than the longer scan time. (In order to safely perform
the reading process on the PLC side, we recommend using a timer set value of at least twice the
longer scan time.)

 Operational image
As shown in the diagram, if exchanging data
between 2 devices with different scan time,
obviously the I/O timing will not match.
PLC
When the signal of this controller turns ON,
(For example, scan time 20 ms)
there is no guarantee that the PLC will read it
immediately.
This controller In cases like this, in order to achieve reliable
(Scan time 1 ms)
reading, set the PLC side to read after a period
Output greater than the longer scan time has passed.
Process This also applies when the reading is performed
on the controller side.
Input On this occasion, make sure the safety factor of
Process the timer setting is 2 to 4 times or more of the
scan time.
As the timer is also processed within the
scanning process, setting below the scan time is
dangerous.
The example shown in the diagram indicates
that even if this controller performs output
process once every 1 ms, the PLC can only
recognize once every 20 ms.
The PLC only performs the output process once
every 20 ms, meaning that it keeps recognizing
the same output status for that period.
Also, if reading is performed while the other device is rewriting output, incorrect signals may be read
at times. Wait until the rewriting is completely finished (allow interval of 2 scans or more), then
perform reading. In terms of the output-side device, do not allow its output to change until the other
device finishes the reading. Additionally, an input constant is set for the input component to prevent
mistaken detection of noise, etc. so it only accepts signals that last more than a certain period of time.
It is necessary to add this period of time as well.

Intro-10 ME0384-7C
 Precautions for Handling

11. PLC timer setting

The PLC timer setting should not be at minimum set value.
If "1" is set, some PLCs turn ON somewhere between 0 and 100 ms with a 100 ms timer, or
between 0 and 10 ms with a 10 ms timer.
Consequently, the process which will be performed is the same as when a timer is not set, which
may lead to failures such as failing to position to a specified position No. in positioner mode, etc.
The minimum set value of the 10 ms timer should be "2", and when required to set to 100 ms,
use the 10 ms timer and set it to "10".

12. Battery-less absolute specification actuators

(1) For stepper motor specification, parameter setting allows switching between absolute
specification and incremental specification.
· Parameter No. 83 "Absolute Unit" 0: Not in use (incremental specification)
1: In use (absolute specification)
(2) RCP5 series actuators will perform slight position adjustment operation due to characteristics
of the stepper motor during initial servo ON only, after the power is turned ON.
Maximum travel during position adjustment operation is 0.025 x lead length [mm].
Additionally, until servo turns ON, the present position displayed on the teaching tool will be
the coordinates prior to the adjustment operation.
(3) After the power is turned ON followed by the initial servo ON, home return complete signal
HEND will be output.
(4) If the initial servo ON is executed outside range of the software limit, no error will be output.
After traveling within the range, monitoring of the software limit will start.
(5) If the motor unit is removed from the actuator for motor replacement, etc., be sure to perform
home return motion (absolute reset).

ME0384-7C Intro-11
Precautions for Handling

13. External communication ports

The RCON gateway unit has 3 types of communication port.
• SIO port (RS-485 round connector)
• USB port (USB mini-B connector)
• Ethernet port (When the ET option is applied)

Do not connect multiple ports and perform communication simultaneously.

This may result in following errors:
• Occurrence of communication error
• Occurrence of unpredictable operation

Ethernet port

SIO port

USB port

14. Supported standards for CC-Link IE

Our product supports CC-Link IE Field only.

15. Handling of Built-in Drive Cutoff Relay and Cautions in Caution in Handling
The drive cutoff solid-state relay installed in this system requires a special care in handling.
Understand well about the contacts below before use.

The drive cutoff solid-state relay built in RCON-SC (200V driver unit) is assumed to be used in
small frequency such as emergency stop of a system and not intended for frequent use.
Therefore, in a condition to require high frequency of use of the drive cutoff relay such as a case
to turn OFF/ON the driving source in every setup change, the life of the relay may reach to the
end in early stage.
Construct a circuit that STOP Signal for the system IO connector gets turned on and off at the
same time as the drive power supply turned ON/OFF. By using STOP Signal together, the
electricity in the electrolytic capacitor can be compulsorily discharged in the motor power supply
line. This operation should stabilize the condition inside the controller and could prevent
occurrence of an unexpected error (such as 0D3: Motor Power Supply Voltage Drop) during
recovery.

Intro-12 ME0384-7C
 Precautions for Handling

16. The RCON system is not capable of operating ELECYLINDER in the single solenoid system.
ELECYLINDER may not operate as commanded by a host system if Parameter No. 9 "Select
Electromagnetic Valve System (Operation System)" is changed to Single.
Also, if there is no "ACR" in the option model code of ELECYLINDER, connection to RCON-EC-4
should not be available.

17. Caution when Connecting Terminal Unit

The terminal unit to be connected on the right end should differ depending on the cases when
the system consists of only the 24V driver units and when it consists of the 200V driver units.
When the 200V driver units are to be used, make sure to use the terminal unit for 200V
(RCON-GW-TRS) enclosed in the 200V power supply unit. The terminal unit for 24V
(RCON-GW-TR) has a structure that does not allow itself connected to the 200V driver unit,
however, it could be forcefully inserted, which could cause fire on the connector as well as
damage on it.

Terminal Unit for 24V Terminal Unit for 200V

RCON-GW-TR RCON-GW-TRS

ME0384-7C Intro-13
Precautions for PC connection to RCON gateway unit grounded at positive terminal of 24V DC power supply

Precautions for PC connection to RCON gateway unit

grounded at positive terminal of 24V DC power supply

If the RCON gateway unit is grounded at the positive terminal of the 24V DC power supply, a
PC cannot be connected to the USB connector (mini-B) of the gateway unit.
If connected directly, short-circuiting of the power will occur as shown in the diagram below,
causing malfunction of the PC.

PC Gateway unit 24V DC power

USB A type USB mini-B type
5V 5V +24 V
-DATA -DATA
+DATA +DATA
GND GND 0V
FG

Communication cable for PC software

USB cable (A, mini-B)
GND and FG
shorting
within PC

Short circuit

Intro-14 ME0384-7C
 Precautions for PC connection to RCON gateway unit grounded at positive terminal of 24V DC power supply

If the gateway unit is grounded at the positive terminal of the 24V DC power supply, use an
SIO isolator (RCB-ISL-SIO) as shown in the diagram below when connecting a PC to the
SIO connector of the gateway unit.
If a PC is connected to the gateway unit without using an SIO isolator, the power will
short-circuit and cause the PC to malfunction.

Conversion unit SIO isolator Gateway

PC (RCB-CV-USB) (RCB-ISL-SIO) unit 24 VDC power
RS-485
5V communication 5V1 5V
+24 V

SGA SGA SGA1 SGA

SGB SGB SGB1 SGB
0V
GND GND GND GND1 GND
FG FG FG

Insulation

Isolator communication cable

CB-RCB-SIO***
will be required separately.

Cable included with PC software (RCM-101-USB) Cable included with PC software (RCM-101-USB)
(USB cable (CB-SEL-USB030) & conversion unit (RCB-CV-USB)) (Communication cable (CB-RCA-SIO050))

Caution
 RS-232 conversion unit (RCB-CV-MW) cannot be used.

ME0384-7C Intro-15
International Standard Compliance

International Standard Compliance

This product complies with the following overseas standards.

Refer to the Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS3 Directive CE Marking UL Certification

(Note 1)
  
Note 1 In the driver units "RCON-SC-1" and "RCON-PS2-3", only the models with UL/cUL
mark applied in the model code label are complied.

[200V Power supply unit] [200V Driver unit]

UL/cUL mark

Intro-16 ME0384-7C
 About UL/cUL

About UL/cUL

1. Environment of Use
• Use in an environment of Pollution Degree 2 is available.
• Use it in an environment with the peripheral temperature at 55°C or below.

2. Overload Protection
RCON-PS2-3, RCON-SC-1 is quipped with a built-in servomotor overload protection feature.
The overload protection function activates at 115% of all the load current on the servomotor as
a criteria.

3. Short Circuit Current Rating (SCCR: Short Circuit Current Rating)

This product should be used with connectivity to the power supply environment of 5,000Arms
or less. Also, the maximum voltage available to use is as shown below:
• AC230V
* The R-unit products except for RCON-PS2-3 and RCON-SC-1 should be connected to the
power supply environment with 24V and 100A or less.

4. About Wiring Protection

The short-circuit protection circuit built in the product is for a purpose of the branch circuit
protection. For the branch circuit protection, follow the NEC standards and regulations in each
region to conduct.

5. About Circuit Breaker

In order to comply with the UL, it is necessary to figure out the power supply input current of
the controller from the connected motor capacity and to use a circuit breaker certified as the
UL listed.

* Circuit Breaker Used When RCON-SC Certified for UL

Supplier : Mitsubishi Electric Corporation
Model : NF50-SVFU330

ME0384-7C Intro-17
Warranty

Warranty
1. Warranty Period
One of the following periods, whichever is shorter:
 18 months after shipment from our company
 12 months after delivery to the specified location
 2,500 operational hours

2. Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our
authorized dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate
purpose under the conditions and environment of use specified in the Instruction Manual and
catalog.
(4) The breakdown or problem in question was caused by a specification defect or problem, or by a
quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
 Anything other than our product
 Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
 Anything that could not be easily predicted with the level of science and technology available at
the time of shipment from our company
 A natural disaster, man-made disaster, incident or accident for which we are not liable
 Natural fading of paint or other symptoms of aging
 Wear, depletion or other expected result of use
 Operation noise, vibration or other subjective sensation not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising from
a breakdown of our product is excluded from the scope of warranty.

3. Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

Intro-18 ME0384-7C
 Warranty

4. Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a
loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our
product or for the result of such program or control method.

5. Conditions of Conformance with Applicable Standards/Regulations, Etc.,

and Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer,
the customer must first check the applicable standards, regulations and/or rules. The customer is
also responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications
specified below, which require a high level of safety. Accordingly, as a rule our product cannot be
used in these applications. Contact us if you must use our product for any of these applications:
 Medical equipment pertaining to maintenance or management of human life or health
 A mechanism or mechanical equipment intended to move or transport people (such as a vehicle,
railway facility or aviation facility)
 Important safety parts of mechanical equipment (such as safety devices)
 Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment
that differs from what is specified in the catalog or Instruction Manual.

6. Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming,
the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even
during the warranty period:
 Guidance for installation/adjustment and witnessing of test operation
 Maintenance and inspection
 Technical guidance and education on operating/wiring methods, etc.
 Technical guidance and education on programming and other items related to programs

ME0384-7C Intro-19
Actuator Coordinate System

Actuator Coordinate System

Unless indicated as home reverse specification (option), the direction of home return for the linear
axis is on the motor side, the rotary axis is on the counter-clockwise moving end, and the gripper is on
the outside (open side).

Caution
 Homing direction cannot be changed with some models.
 If it becomes necessary to reverse the homing direction after assembly to equipment,
check the model [Catalog or actuator instruction manual] of the applicable actuator to
ensure that the homing direction is changeable.
 For models with which change is not possible, the actuator must be replaced.
Contact IAI if anything is unclear.

The "0" in the figure below shows home. The parentheses show home reverse specification.

(1) Rod type

Motor side

Intro-20 ME0384-7C
 Actuator Coordinate System

(2) Slider type

Motor side

(3) Table type

Motor side

(4) Arm type

Motor side

ME0384-7C Intro-21
Actuator Coordinate System

(5) Gripper type

Outside Outside
(open side) (open side)

Note: The finger attachment is not an accessory for the

actuator. It is to be prepared by the customer.

(6) Rotary type

Counter-clockwise
moving end

0-degree

330-degree

In the home reverse specification for the multi-rotation specification, the +/- directions are the reverse
of the figure.

Intro-22 ME0384-7C
 Specifications
Section

Chapter 1
RCON Overview
1.1 Overview ··························································· A1-1

1.2 Features ···························································· A1-2

1.3 General Specifications ·········································· A1-4

ME0384-7C
 1.1 Overview

1.1 Overview

RCON is a host programmable controller (hereafter PLC) dedicated for operating a ROBO
Specifications Section

Cylinder or commercial robots using a field network.

One gateway unit serves as the field network connection interface to which multiple driver units
can be freely configured for control of up to 16 axes (Note 1).

There are 10 types of gateways, for CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet
/IP, PROFIBUS-DP and PROFINET IO, MECHATROLINK- III, EtherCAT Motion, SSCNET-III/H.
By connecting it to a IO unit, it can be used as a remote I/O for the field network (motion
controller excepted).
Also, there are 5 types of driver units, for RCP Series, for High-Thrust RCP Series, for RCA
Series, for RCD Series and for 200V Servo-motor. By combining it to an ELECYLINDER
connection unit, it should become available to operate ELECYLINDER via the field network.
Chapter 1 RCON Overview

Driver Unit  8 (12-axis specifications) + EC Connection Unit

+ 200V Power Supply Unit + Option Unit  2, with Fan Unit

Note 1: 16 axes at the maximum should include the number of ELECYLINDER axes via an
EC connection unit.
Also, the number of connectable axes may vary depending on the operation mode
set to each axis of driver units and the number of connected option units. Refer to
[Operation Section 7.4.2 Network setting] for details.
The maximum number of connectable axes in the motion controller type should be
8 axes.

A1-1 ME0384-7C
 1.2 Features

1.2 Features

(1) Modular connections with excellent expansibility

Specifications Section
The following 7 types of units can be freely combined to build the RCON system.
Max. number of connectable axes is 16 axes (Note 1).

It is available to connect each type of ROBO Cylinder (RCP/High-Thrust RCP Series, RCA/RCL
Series, RCD Series and RCS Series) and actuator (ISA series, ISB series and NSA series etc.).
In addition, the types of robots that can be connected can be increased by using the option unit
SCON extension unit. Each driver unit can also connect to a simple absolute unit to support
simple absolute type ROBO Cylinders.
Also, by using an EC connection unit, it should become available to operate ELECYLINDER.

1) Gateway Unit
1 RCON system uses 1 gateway unit
and terminal unit set.

Chapter 1 RCON Overview

2) Option Unit
3) Driver Unit
4) EC Connection Unit
5) 200V Power Supply Unit
6) Terminal Unit
7) Simple Absolute Unit
(Simple Absolute Unit stands alone
and is not connected.)

3) 4) 5)
1) 2) 6) 7)

Note 1: The maximum number of connectable axes in the all axes direct numerical mode in the
field network except for CC-Link and CC-Link IE Field and for the motion controllers
should be 8 axes.

ME0384-7C A1-2
 1.2 Features

(2) Ultra-compact size

Gateway units/driver units have an ultra-compact size of width 30 mm/ 22.6 mm × height
115 mm × depth 95 mm.
Specifications Section

The smallest combination with 16 axes connected has width 223.4 mm × height 115 mm ×
depth 95 mm.
This contributes to control panel miniaturization.

(3) High performance

Adopts total frame communication for a communication cycle time within 4 ms even with
16 axes connected. This is the same even if SCON series is connected via an extension unit.
(except when EC connection unit is connected)
A high-heat dissipation structure is adopted to support ambient temperatures up to 55°C.
Duty cycle is restricted at 55°C environments, but there is no duty restriction with a fan unit
mounted. However, the operating temperatures of the simple absolute unit and SCON-CB are
up to 40°C.

(4) Enhanced preventive and predictive maintenance functions

The present position and motor current value can be monitored, as well as the travel count,
Chapter 1 RCON Overview

travel distance, and motor overload status.

In addition, there are functions for predicting the life using the internal capacitor temperature
and operation time, and for monitoring decreases in fan rotation speed.

(5) Improved usability

Equipped with a USB port as standard. Connection to a PC is possible using a commercial
USB cable. Ethernet port is also available to mount in an option.
A JOG switch and brake release switch are equipped on the front of the driver unit and
EC connection unit. Operation is easy even the actuator without a teaching tool.

(6) 6 types of operation modes (Field network operation mode)

The following 6 operation modes can be used with RCON regardless of the host field network
type. Operation mode can be selected to suit the application. (It is not available to select the
operation mode in EC connection unit.)

A1-3 ME0384-7C
 1.3 General Specifications

1.3 General Specifications

RCON system general specifications are listed below.

Specifications Section
Item Specifications
DC24V±10％ *1
Power supply voltage
AC200-230V±10％
Differs with system configuration
Power supply current (refer to [Specifications Section / 2.3.3 Power supply capacity
(page A2-25)] for details)
Power Supply Frequency 50/60Hz (only for 200V system)
Refer to [Specifications Section / 2.3.3 Power supply capacity
Current Amperage
(Page A2-25)]
Refer to [Specifications Section /2.3.4 Inrush current (Page A2-
In-rush Current
34)]
24V System : By 24V power source
200V System : Control power supply is by 24V power source
Instantaneous Power
Described as follows for motor power supply
Outage Durability
20ms (50Hz)
16.6ms (60Hz)
24V System : Class III
Electric Shock Protection
200V System : Class I

Chapter 1 RCON Overview

Leakage Current 3.0mA or less (only for 200V system)
Number of controlled axes 1~16 axes (Note 1) (driver unit can be freely combined)
CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP,
Supported field networks PROFIBUS-DP, PROFINET IO (slave station)
EtherCAT Motion, MECHATROLINK- III, SSCNET III/H
Gateway unit, driver unit, EC connection unit, 200V power
Configuration units supply unit, simple absolute unit and SCON extension unit
(refer to [Specifications Section / 2.2.1 Unit list (Page A2-11)] for detail)
STOP Signal input on gateway unit applied to driver unit and
Emergency stop/Enable EC connection unit at the same time, connectors equipped to
operation cut off driving power source to each axis on each driver unit
and EC connection unit
From 0 to 55degC, however from 0 to 40degC for simple
Ambient operating
absolute unit and SCON-CB (refer to [Specifications Section /
temperature
2.3.5 Operating temperature range (Page A2-36)] for detail)
Regulation/standard CE Marking, UL Certification
External dimensions Differ with system configuration
Connections between each Unit connection method
unit (refer to [Startup Section / 2.1.2 Unit connection (page B2-5)] for details)
Installation/mounting
DIN rail (35 mm) mounting
method

*1: Pay attention to the wiring impedance in order to avoid any trouble due to voltage drop.
(Reference = Difference of 24V voltage on power supply side and 24V voltage on controller
side: less than 1V) In parallel, for the cable between 24V power supply and the controller,
select the thickest cable as much as possible in the applicable cable diameter and make it
as short as possible.
Note 1: Maximum number of connectable axes

ME0384-7C A1-4
 Chapter 1 RCON Overview Specifications Section

A1-5
1.3 General Specifications

ME0384-7C
 Specifications
Section

Chapter 2
System Configuration
and Specifications
2.1 System Configuration ··········································· A2-1
2.1.1 Configuration ······················································· A2-1
2.1.2 Configuration unit ················································· A2-3
2.1.3 Model number ······················································ A2-7

2.2 Configuration Unit List ·········································· A2-11

2.2.1 Unit list ······························································· A2-11
2.2.2 Configuring unit blog diagram ································· A2-12
2.2.3 Unit connection restrictions ····································· A2-14

2.3 Specifications ····················································· A2-17

2.3.1 Basic specifications··············································· A2-17
2.3.2 Number of connected units and occupied size ············ A2-20
2.3.3 Power supply capacity ··········································· A2-25
2.3.4 Inrush current ······················································ A2-34
2.3.5 Operating temperature range ·································· A2-36
2.3.6 Specifications for field network ································ A2-37

ME0384-7C
 2.1 System Configuration

2.1 System Configuration

2.1.1 Configuration
Specifications Section

The following shows the system configuration.

PLC Field network

Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching
RCP (Note 4) RCARCL(Note 5) RCD
Pendant PC Software
Model: TB-02 Model: IA-OS
TB-03 RCM-101-*

Power Supply Unit

RCS/ISB, etc.(Note 1) ELECYLINDER (Note 3)

Chapter 2 System Configuration and Specifications

3-Phase / Single-Phase
200V AC
Model: PSA-24 Option Unit

Model: RCON-EXT Regenerative Resistor Unit (Note 2)

RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
Simple Absolute Unit
NP/PN

RCS/ISB, etc. SCON series

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

Note1: In case of the following 200V servomotor actuators and the case that the maximum wattage exceeds
the following, it is not available to establish connectivity to RCON-SC.
1) Motor types other than those from 60W to 750W
2) Encoder types other than battery-less absolute, incremental, spurious absolute or index absolute type
3) For 3-Phase 200V ·········· Combination that exceeds 2,400W for total wattage of actuators
connected to 200V driver unit
4) For Single-Phase 200V ··· Combination that exceeds 1,600W for total wattage of actuators
connected to 200V driver unit
5) Servo Press types
6) SCARA Robot
7) CT4 Series
8) ZR Series
When 1) to 4) above, use SCON extension unit and SCON series (RCON Connection Type for SCON2
or SCON-CB).
Also, DD/DDA and LSA-W21S are not applicable for the single-phase 200V.

A2-1 ME0384-7C
 2.1 System Configuration

Note2: There is a built-in regenerative resistor of 60W equipped in 200V driver unit and 200V power supply unit.
The regenerative resistor is basically not necessary, but use an external regenerative resistor unit in
case of shortage in regenerative resistor. Using the calculator software should help figure out the
necessary number of the regenerative resistor units.
Note3: ELECYLINDER is available for operation only in the double solenoid system. Also, set the option “ACR”

Specifications Section
for ELECYLINDER.
Note4: RCON System in the pulse motor type actuators are not capable of controlling the following products.
•Wrist Unit: WU
•Table Top: TT(A)
•SCARA Robot: IXP
•Pulse Press: RCP6
Note5: The following products in the 24V AC servo motors are not capable of connecting.
•Table Top: TT(A)
•Actuator equipped with absolute encoder

[Precautions when selecting a motor/encoder cable]

Depending on the actuator model, a connector conversion unit and a motor/encoder cable, etc.,
may be required to connect the driver unit and the simple absolute unit.
For details, refer to [Startup Section 2.2.2 Actuator power supply wiring (page B2-16)].

Motor/encoder cable
Model: CB-ADPC-MPA(-RB)

Chapter 2 System Configuration and Specifications

Connector conversion unit RCP/RCA
Model: RCM-CV-APCS

ME0384-7C A2-2
 2.1 System Configuration

2.1.2 Configuration unit

(1) Gateway Unit, Terminal Unit, Fun Unit

Specifications Section

Terminal Unit
Type Gateway Unit (When Using Only Terminal Unit for 200V
24V Unit)
RCON-GW-TRS
RCON-GW-TR
Model code RCON-GW-＊ Supplied with 200V Power
Supplied with GW unit
Supply Unit

External

Maximum
number of 1 unit 1 unit 1 unit
connected
Chapter 2 System Configuration and Specifications

units RCON-GW-TR/ RCON-GW-TRS Either one

Fun Unit
Fun Unit
Type (for 24V Driver Unit,
(for 200V Driver Unit)
200V Power Supply Unit)

Model code RCON-FU RCON-FUH

External

A2-3 ME0384-7C
 2.1 System Configuration

(2) Driver Unit, 200V Power Supply Unit

The RCON system is capable of connecting 16 axes of actuators at the maximum.
Select necessary number of axes from the units below in order to construct a system.

Specifications Section
Stepper Motor
24V DC Brush-less
Type Stepper Motor 56SP/60P/86P
AC Servo Motor Motor
Compatible

RCON-PC-1 RCON-AC-1 RCON-DC-1

Model code RCON-PCF-1
RCON-PC-2 RCON-AC-2 RCON-DC-2

External

Connectable PC-1 : 1-axis AC-1 : 1-axis DC-1 : 1-axis

1-axis
axes PC-2 : 2-axis AC-2 : 2-axis DC-2 : 2-axis

Chapter 2 System Configuration and Specifications

200V 200V
Type
AC Servo Motor Power Supply Unit

Model code RCON-SC-1 RCON-PS2-3

External

Connectable
1-axis −
axes

* The simple absolute unit is to be connected to the RCON-PC-*/RCON-AC-*.

* It is necessary to have one unit of RCON-PS2-3 when using RCON-SC-1.

ME0384-7C A2-4
 2.1 System Configuration

(3) Option Unit

PIO/SIO/SCON
Type SCON Extension Unit PIO Unit
Specifications Section

Extension Unit

RCON-EXT-NP-* RCON-NP-*
Model code RCON-EXT
RCON-EXT-PN-* RCON-PN-*
● SCON connection
● PIO extension
● PIO extension
Applications ● SCON connection 16in/16out
16in/16out
(NPN or PNP)
(NPN or PNP)

External

Maximum
number of Number of
1 unit 1 unit
Chapter 2 System Configuration and Specifications

connected Necessary Units

units

(4) EC Connection Unit

Type EC Connection Unit

Model code RCON-EC-4

● ELECYLINDER
Applications
connection

External

Connectable
4-axis
axes

A2-5 ME0384-7C
 2.1 System Configuration

(5) Simple Absolute Unit

Type Simple Absolute Unit

Specifications Section
RCON-ABU-A
Model code
RCON-ABU-P

External

Connectable
1-axis
axes

Chapter 2 System Configuration and Specifications

ME0384-7C A2-6
 2.1 System Configuration

2.1.3 Model number

Specifications Section

SCON Extension Unit Driver Unit Driver Unit

(Model: RCON-) (Model: RCON-PC-2) （Model: RCON-PCF-1)

Driver Unit
（Model: RCON-AC-2)

Driver Unit
Gateway Unit （Model: RCON-DC-2)
(Model: RCON-GW-∗)

Terminal Unit
(Model: RCON-GW-TR)
Chapter 2 System Configuration and Specifications

(1) Gateway Unit

RCON − − −
Type I/O Type Options

GW Standard type ET Ethernet port installation

GWG Fan unit mounting

FU*
)
TRN Without terminal unit

CC CC-Link connection specification

CIE CC-Link IE Field connection specification

DV DeviceNet connection specification

EC EtherCAT connection specification

EtherCAT Motion connection
ECM
specification
EP EtherNet/IP connection specification
MECHATROLINK-III connection
ML3
specification
PR PROFIBUS-DP connection specification

PRT PROFINET IO connection specification

SSN SSCNET III/H connection specification

A2-7 ME0384-7C
 2.1 System Configuration

(2) Driver Unit

RCON − −
Number of

Specifications Section
Type
Connected Axes

PC Stepper motor type 1 1-axis specification

Stepper motor 2 2-axis specification
PCF 56SP/60P/86P
compatible type * 1 single-axis type for RCON-PCF and RCON-SC
AC AC servo motor type
DC DC brush-less motor type
SC 200V AC servo motor type

Chapter 2 System Configuration and Specifications

(3) 200V Power Supply Unit

RCON − − −
Power Supply
Type Option
Voltage

PS2 200V Power supply unit TRN Without terminal unit

3-Phase /
3
Single-Phase 200V

Fan Unit Fan Unit for 200V Driver Unit

(Model: RCON-FU) (Model: RCON-FUH)

200V Driver Unit

(Model: RCON-SC-1)

Terminal Unit for 200V

200V Power Supply Unit * (Model: RCON-GW-TRS)
(Model: RCON-PS2-3)

* The maximum number of connectable units is one unit.

ME0384-7C A2-8
 2.1 System Configuration

(4) SCON Extension Unit

RCON − EXT
Specifications Section

(5) PIO/SIO/SCON Extension Unit

RCON − EXT − −
I/O Specification I/O Cable Length
Chapter 2 System Configuration and Specifications

NP I/O NPN specification 0 Cable Without

PN I/O PNP specification 2 2m (Standard)
3 3m
5 5m

(6) PIO Unit

RCON − −
I/O Specification I/O Cable Length

NP I/O NPN specification 0 Cable Without

PN I/O PNP specification 2 2m (Standard)
3 3m
5 5m

A2-9 ME0384-7C
 2.1 System Configuration

(7) EC Connection Unit

RCON − EC − 4

Specifications Section
(8) Simple Absolute Unit

RCON − ABU −
Motor Type

Chapter 2 System Configuration and Specifications

P Stepper motor type
A AC servo motor type

ME0384-7C A2-10
 2.2 Configuration Unit List

2.2 Configuration Unit List

2.2.1 Unit list

Specifications Section

Product name Model

CC-Link connection type RCON-GW(GWG)-CC
CC-Link IE Field connection type RCON-GW(GWG)-CIE
DeviceNet connection type RCON-GW(GWG)-DV
EtherCAT connection type RCON-GW(GWG)-EC

Gateway Unit EtherNet/IP connection type RCON-GW(GWG)-EP

(GWG: Safety category type) PROFIBUS-DP connection type RCON-GW(GWG)-PR
PROFINET IO connection type RCON-GW(GWG)-PRT
EtherCAT Motion connection type RCON-GW(GWG)-ECM
MECHATROLINK-IIIconnection type RCON-GW(GWG)-ML3
SSCNET III/H connection type RCON-GW(GWG)-SSN
Stepper motor 1-axis specification RCON-PC-1
Stepper motor 2-axis specification RCON-PC-2
High thrust stepper motor 1-axis specification RCON-PCF-1
Chapter 2 System Configuration and Specifications

24V AC servo motor 1-axis specification RCON-AC-1

Driver Unit
AC servo motor 2-axis specification RCON-AC-2
DC brush-less motor 1-axis specification RCON-DC-1
DC brush-less motor 2-axis specification RCON-DC-2
200V AC Servo-motor Single-axis Type RCON-SC-1
200V Power Supply Unit Power Supply for 200V AC Input RCON-PS2-3
Terminal Resistor for 24V
RCON-GW-TR
(enclosed in Gateway Unit)
Terminal Unit
Terminal Resistor for 200V
RCON-GW-TRS
(enclosed in 200V power supply unit)
SCON Extension Unit SCON series Connection Unit RCON-EXT
SCON series connection,
RCON-EXT-NP
PIO/SIO/SCON For PIO / SIO expansion (NPN)
Extension Unit SCON series connection,
RCON-EXT-PN
For PIO / SIO expansion (PNP)
For PIO expansion (NPN) RCON-NP
PIO Unit
For PIO expansion (PNP) RCON-PN
EC Connection Unit ELECYLINDER 4-axis Type RCON-EC-4
Simple Absolute Unit For Pulse Motor RCON-ABU-P
(1-axis specification) For AC Servo-motor RCON-ABU-A
• Number of enclosed units to be
indicated in RCON-GW
Fan Unit (One unit to be installed for two units of RCON-FU
24V driver unit)
• enclosed in 200V power supply unit
One unit to be installed for one unit of
Fan Unit for 200V Driver RCON-FUH
RCON-SC

A2-11 ME0384-7C
 2.2 Configuration Unit List

2.2.2 Configuring unit blog diagram

RCON configuration example (1) When AC200V system is not to be connected

Specifications Section
Field network Fun unit Fun unit
RCON-FU RCON-FU

Gateway unit 24V Driver unit 24V Driver unit 24V Driver unit 24V Driver Terminal unit
RCON-GW RCON-PC-2 RCON-AC-2 RCON-DC-2 unit
(RCON-GWG) (Axes 0 to 1) (Axes 2 to 3) (Axes 4 to 5) RCON-PCF-1
(Axes 15)
Teaching
Tool

24V 0V
MP


CP

MPG1 MPG2 MPG1 MPG2 MPG1 MPG2 MPG1

Drive- Drive- Drive- Drive- Drive- Drive- Drive-

source source source source source source source
cutoff cutoff cutoff cutoff cutoff cutoff cutoff
circuit circuit circuit circuit circuit circuit circuit

Chapter 2 System Configuration and Specifications

RCP RCP RCA, RCL RCA, RCL RCD RCD High thrust
Stop signal Series Series Series Series Series Series RCP Series
input circuit actuator actuator actuator actuator actuator actuator actuator

RCON configuration example (2) 24V System and 200V System Actuators Mixed with
No SCON series Connected

Field network Fun unit Fun unit

RCON-FU RCON-FU

Gateway unit 24V Driver unit EC Connection unit 200V Power supply 200V Power supply For 200V
RCON-GW RCON-PC-2 RCON-EC-4 unit unit Terminal unit
(RCON-GWG) (Axes 0 to 1) (Axes 3 to 6) RCON-PS2-3 RCON-PS2-3 RCON-GW-
TRS
Teaching
Tool

24V 0V
MP 

CP

MPG1 MPG2 EC1 to 4 MOT PG

Drive- Drive- Drive-

source source source Driver Stop
cutoff cutoff cutoff Circuit
circuit circuit circuit

RCP RCP ELECYLINDER AC200V Servomotor

Stop signal AC200V
Series Series (1 to 4 axes) actuator
input circuit actuator actuator (RCS/ISB, etc.)

ME0384-7C A2-12
 2.2 Configuration Unit List

RCON configuration example (3) When SCON series is connected

Specifications Section

Gateway SCON Driver Driver Driver Terminal

unit Extension unit unit unit unit unit
RCON-GW RCON-EXT
Teaching (RCON-GWG) or
Tool
24V 0V

MP 

CP

Stop signal
input circuit

OUT OUT OUT

Terminal
Chapter 2 System Configuration and Specifications

Connector
100V AC IN 100V AC IN 100V AC IN
200V AC 200V AC 200V AC

L1 L1 L1
L2 L2 L2
L1C L1C L1C
L2C L2C L2C

MP MP MP

actuator actuator actuator

(Note) The diagram above shows a figure when only SCON-CB is to be connected.
The RCON system is capable of having SCON series (RCON Connection Type for
SCON2 or SCON-CB) and RCON-SC connected via the SCON extension units exist
together.

A2-13 ME0384-7C
 2.2 Configuration Unit List

2.2.3 Unit connection restrictions

The RCON system has the following restrictions.

Specifications Section
Check the following descriptions and then make a selection for each unit.

(1) Unit arrangement

RCON System possesses a locking structure with unit linking system. Units available for linking
to each other have the same connectors, and they can be laid out freely. However, the
arrangement of the following units is restricted.

Gateway Unit : The far left of the RCON system.

SCON Extension Unit : The right of the gateway unit.

(Not capable for use together with PIO/SIO/SCON extension unit)

PIO/SIO/SCON Extension Unit :

The right of the gateway unit.
(Not capable for use together with SCON extension unit)

PIO Unit : To be allocated on the right side of a unit furthest on the right in a
gateway unit, SCON extension unit and PIO/SIO/SCON

Chapter 2 System Configuration and Specifications

extension unit.
(It is available to connect up to eight units including the SCON
extension units or PIO/SIO/SCON extension units)

24V Driver Unit : It is on the right side of the unit at the very right end in the
gateway unit, SCON extension unit and PIO/SIO/SCON
extension unit.
(There is no restriction in order of the pulse motor type,
AC servomotor type and DC brush-less motor type)

EC Connection Unit : It is on the right side of the unit at the very right end in the
gateway unit, SCON extension unit, PIO/SIO/SCON extension
unit and 24V driver unit. (Up to 4 units can be connected)

200V Power Supply Unit : Install on the right side of the SCON extension unit and 24V
driver unit (RCON-PC-*/AC-*/DC-*) and the EC connection unit
(PCON-EC-4), or gateway unit if there is no SCON extension unit
and 24V driver unit or EC connection unit.

200V Driver Unit : The right of the 200V power supply unit.

Terminal Unit : The far right of the RCON system.

(The terminal unit for the 24V driver unit and the terminal unit for
the 200V driver unit are different.)

ME0384-7C A2-14
 2.2 Configuration Unit List

EC Connection Unit
(connected to right of 24V driver unit)
Specifications Section

200V Power Supply Unit

Option Unit (Installed on right of 24V Driver
(connected to right of gateway unit) Unit and EC Connection Unit)

200V Driver Unit (Installed on

Gateway Unit
right of 200V power supply unit)
(placed on far left)

Terminal Unit
(placed on far right)

Gateway unit, SCON extension unit, 200V power supply unit and terminal unit can only be
linked to one unit for each set of the systems.
Chapter 2 System Configuration and Specifications

(2) Number of Connectable Units of Driver Unit and EC Connection Unit

Up to 16 axes (Note 1) can be controlled with each gateway unit.
In the perspective of the unit structure, there is no upper limit to the number of connectable.
Keep it at 16 axes at minimum for the driver unit and EC extension unit. If 17 or more actuators
are to be controlled, use a configuration of 2 or more gateway units.
The EC connection unit can be connected for four units at maximum, however, it cannot be
connected if the top axis number exceeds 0 to 15. (The axes numbers for the EC connection unit
should be assigned from the back of those in the driver unit and the SCON extension unit.)
No matter if ELECYLINDER is connected or not, the EC connection unit occupies domains and
axes numbers for four axes (1 word) by one unit.

A2-15 ME0384-7C
 2.2 Configuration Unit List

(3) Restriction in Occupied Size

There are restrictions to each field network for the occupied size in the field network I/O
domains.

Specifications Section
Any value exceeding the occupied size described in the following table cannot be selected.
Even though the number of axes is set at or below the restriction of the connectable axes
described in (2) above, the system has to be constructed using two units or more of the gateway
unit if exceeding the occupied size due to the operation mode setting or addition of an option
unit.
For details, refer to [Operation Section Chapter 2, 2.1.3 Address assignment order and occupied
domains calculation (page C2-4)].

Occupied Size [W]

Field network
* Number of bytes to come in ( )
CC-Link 128 (256)

CC-Link IE Field 128 (256)

DeviceNet 72 (144)

EtherCAT 72 (144)

EtherNet/IP 72 (144)

Chapter 2 System Configuration and Specifications

PROFIBUS-DP 72 (144)

PROFINET-IO 72 (144)

Note 1: When all axes direct numerical control mode is used with field networks other than CC-
Link or CC-Link IE Field, or is the motion controller up to 8 axes can be connected.
(When number of connected option units is "0")
Mode Direct
Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
Field numerical
mode mode mode mode mode
network control mode
CC-Link 16 axes 16 axes 16 axes 16 axes 16 axes 16 axes
CC-Link IE Field 16 axes 16 axes 16 axes 16 axes 16 axes 16 axes
DeviceNet 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
EtherCAT 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
EtherNet/IP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
PROFIBUS-DP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
PROFINET-IO 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes

ME0384-7C A2-16
 2.3 Specifications

2.3 Specifications

2.3.1 Basic specifications

Specifications Section

The specifications regarding installation conditions are listed below.

Item Specifications
0 to 55°C (with temperature derating)
Ambient operating However, 0 to 40°C for simple absolute units
temperature → For details, refer to [Startup Section Chapter 2, 2.1.1 Requests/Precautions
(Page B2-1)].
Ambient operating
5% RH to 85% RH, but non-condensing or freezing
humidity
Ambient storage
-20 to 70℃, but 0 to 40°C for simple absolute units
temperature
Operating
Avoid corrosive gas and in particular avoid excessive dust
atmosphere
Altitude 1,000 m or less
Frequency: 10 to 57 Hz/Amplitude: 0.075 mm
Vibration resistance Frequency: 57 to 150 Hz/ Acceleration: 9.8 m/s2
XYZ directions Sweep time: 10 minutes Number of sweeps: 10 times
Chapter 2 System Configuration and Specifications

Shock resistance Drop height: 800 mm 1 corner, 3 edges, 6 faces

Overvoltage 24V System : I
category 200V System : II
Electric shock 24V System : Class III
protection mechanism 200V System : Class I
Pollution degree II

Degree of protection IP20

Insulation
500V DC 10MΩ
withstanding voltage
RCON-GW − 4.0W

PowerCON: No 5.0W
RCON-PC
PowerCON: Yes 8.0W

RCON-PCF PowerCON: No 19.2W

Generated heat
(per unit) Standard / High accel/decel /
RCON-AC 4.5W
Energy saving
RCON-DC Standard 3.0W

RCON-SC Standard 54W

RCON-PS2 − 42W

Cooling method Natural air cooling and forced air cooling by fan unit

A2-17 ME0384-7C
 2.3 Specifications

The specifications regarding control are listed below.

Item Specifications
1 to 16 axes (The maximum number of connectable axes in the direct
Number of

Specifications Section
numerical mode in the field network except for CC-Link and CC-Link IE Field
controlled axes
and for the motion controllers should be 8 axes.)
Battery-less Absolute RCP6 8,192
Stepper
Battery-less Absolute
motor RCP4/RCP5/EC 800
Incremental

Battery-less Absolute 16,384

RCA
Incremental 800

RCA2-***N/NA 1,048
24V AC Other than
800
servo motor RCA2-***N/NA
Incremental RCL-SA1/4, RA1/4 715

RCL-SA2/5, RA2/5 855

RCL-SA3/6, RA3/6 1,145

DC brush-less RCD-RA1D/GRSN 400

Incremental

Chapter 2 System Configuration and Specifications

motor RCD-RA1DA/GRSNA 480

Battery-less Absolute
Encoder RCS4/RCS3 16,384
resolution Incremental
[pulse/r]
Incremental 5N 1,600

Incremental SR7BD 3,072

RCS2
Incremental Other Models
16,384
Battery-less Absolute than Above

Battery-less Absolute 131,072

ISB/ISDB/ISDBCR
200V AC Incremental 16,384
servo motor
Incremental SSPA/ISA/ISDA/IF/FS 16,384

Battery-less Absolute NSA, IFA 131,072

Incremental SM 2,400

NS Other Models
Incremental 16,384
than Above
Resolution
Incremental LSA/LSAS
0.001mm
Index Absolute 18S 131,072
DD/DDA
Index Absolute 18P 1,048,576

ME0384-7C A2-18
 2.3 Specifications

Item Specifications
Motor/encoder Cable: 20 m or less (10 m or less for RCD),
Motor Cable for 200V Motor: 30m or less
Encoder Cable for 200V Motor: 30m or less
Specifications Section

Cable length
SCON Connection Cable: 3 m or less per cable, total length of 10 m or less
PIO Cable: 10m or less
EC Connection Cable: 10m or less
CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP,
Field network
PROFINET IO,
interface
EtherCAT Motion (CiA402), SSCNET III/H, MECHATROLINK-III
Communication
RS-485 (Conforms to EIA RS485)
method
Communication
9.6/19.2/38.4/57.6/115.2/230.4 kbps
Teaching port speed
Communication Half Duplex Communication
method Start-Stop Synchronous
Protocol Modbus (Transmission mode: RTU)
Communication
USB
method
SIO interface USB port
Communication
12Mbps
speed
Communication
EtherNet
method
Communication
Chapter 2 System Configuration and Specifications

Ethernet port 10M/100Mbps

speed
(Option) Number of
4
Connection
Protocol Modbus/TCP, ICMP (Only echo response)
Data recording FRAM 256kbit (Gateway Unit, 24V Unit)
device SRAM 4Mbit (200V Driver unit)
Calendar
Retention function: About 10 days Charging time: About 100 hours
function
Safety category
B (The safety category specification can support up to 4 external circuits)
compatibility
Drive-source Internal Semiconductor Cutoff, External Lumping Axes Cutoff,
cutoff method External Axis-Specific Cutoff (Note 1)
Protection
Overcurrent, abnormal temperature, encoder disconnection, overload
functionality
Preventive/
predictive
Low electrolytic capacitor capacity and low fan rotation speed
maintenance
functions

Note 1 RCON-SC is not available for external cutoff on each axis.

It is available to cut off the power supply to the motor at the cutoff circuit in the controller
by using the driver stop circuit.

A2-19 ME0384-7C
 2.3 Specifications

2.3.2 Number of connected units and occupied size

[1] Number of Connectable Units of Driver Unit and EC Connection Unit

Specifications Section
Up to 16 axes can be controlled with each gateway unit.
In the perspective of the unit structure, there is no upper limit to the number of connectable.
Keep it at 16 axes at minimum for the driver unit and EC extension unit. If 17 or more actuators
are to be controlled, use a configuration of 2 or more gateway units.

OK
Driver unit 16 axes
15 axes

17 axes
OK
NG 2 axes

Driver unit 17 axes

Chapter 2 System Configuration and Specifications

The EC connection unit can be connected for 4 units at maximum, however, it cannot be
connected if the top axis number exceeds 0 to 15. (The axis number of the EC connection unit
should be assigned after SCON connected to the driver unit and SCON extension connectors)
Also, it is not available to control only with 16 axes of ELECYLINDER connected. It is necessary
to make sure that one or more units of the driver unit is connected.

OK NG

Driver unit is necessary

No matter if ELECYLINDER is connected or not, the EC connection unit occupies domains and
axes numbers for 4 axes by 1 unit (1 word).

ME0384-7C A2-20
 2.3 Specifications

[2] Limit in Count of High-Thrust EC Connection to EC Connection Unit

The number of axes of the high-thrust EC (Note 1) available to connect to one unit of the EC
connection unit (RCON-EC-4) should be 2 axes at the maximum. Also, the number of axes on
Specifications Section

ELECYLINDER other than high-thrust type connectable may differ depending on the number of
connected axes on the high-thrust EC.

High-thrust EC example connection)

Connection Availability of Connectable Axes Count of
High-Thrust EC
High-Thrust EC to RCON-EC-4 ELECYLINDER Other than
Connected Axes Count
(1 Unit) High-Thrust EC
Connection available up to
For the1-axis Connectable
3 Axes
For the 2-axis Connectable Connection unavailable

3-axis or more Connection unavailable ―

Note 1 The applicable type are as described below.

Series Type Model

Chapter 2 System Configuration and Specifications

Slider type S8(X)(□A)/S8(X)(□A)R

Radial cylinder RR8□/RR10□/RR8□R/RR10□R

EC
Belt type B8S

Rotary type RTC18

EC
Slider type S8(X)□(A)CR
(Cleanroom type)

A2-21 ME0384-7C
 2.3 Specifications

[3] About Occupied Size

The occupied size is the data size of the total of the "fixed domains" and the "data domains".
The fixed domains are the domains of 8 words assigned to the gateway unit.

Specifications Section
The data domains are the domains that vary depending on the axis control setting (operation
mode) of the driver unit and the number of connected units, and also the number of connected
option units.

Fixed region (8-words)

+
Data region

Direct simple direct Positioner 1 Positioner 3 Option

numerical + mode
+ mode
+ mode
+ mode
+ unit
control mode
(8-words) (4-words) (4-words) (2-words) (1-word) (1-word)

     
Number of Number of Number of Number of Number of Number of
Axes Axes Axes Axes Axes Unit

* The values in a bracket ( ) in the figure show the occupied size of each operation mode and
option units.

Chapter 2 System Configuration and Specifications

In the occupied size, there is an amount of data restriction available for use for each field network.
Shown below is the occupied size for each network.

Occupied size [W]

Field network * Shown in a bracket ( ) is
number of bytes
CC-Link (*1) 128 (256)

CC-Link IE Field (*1) 128 (256)

DeviceNet 72 (144)

EtherCAT 72 (144)

EtherNet/IP 72 (144)

PROFIBUS-DP 72 (144)

PROFINET-IO 72 (144)

*1 Only CC-Link and CC-Link IE Field should not include the control domains
and reservation domains (8 words) of the gateway.

ME0384-7C A2-22
 2.3 Specifications

Also, a setting with the occupied size above what is shown in the table should not be available.
Even if the number of axes is set below the restriction of the number of connected axes shown
in [1] in this section, it is necessary to configure the system with 2 units or more of the gateway
Specifications Section

units when the occupied size exceeds due to the operation mode setting or addition of option
units.

Point !
 The occupied size is easy to check using the gateway parameter setting tool.
For how to check it, refer to [Appendix Chapter 1, 1.6 How to Check Operations Occupied
Size of The Network (Page E1-37)]

Follow the following method when the occupied size is to be calculated.

 For CC-Link and CC-Link IE Field

Figure out the number of occupied "data domains".

Data region
Chapter 2 System Configuration and Specifications

Direct simple direct Positioner 1 Positioner 3 Option

numerical + mode
+ mode
+ mode
+ mode
+ unit
control mode
(8-words) (4-words) (4-words) (2-words) (1-word) (1-word)

     
Number of Number of Number of Number of Number of Number of
Axes Axes Axes Axes Axes Unit

 DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP and PROFINET IO

Figure it out from "Fixed domains" + "Data domains".

Fixed region (8-words)

+
Data region

Direct simple direct Positioner 1 Positioner 3 Option

numerical + mode
+ mode
+ mode
+ mode
+ unit
control mode
(8-words) (4-words) (4-words) (2-words) (1-word) (1-word)

     
Number of Number of Number of Number of Number of Number of
Axes Axes Axes Axes Axes Unit

A2-23 ME0384-7C
 2.3 Specifications

Example for Calculation of Occupied Size for RCON System

 RCON system configuration example

Specifications Section
RCON-GW-**
RCON-EXT-NP
RCON-NP

RCON-EC-4
RCON-EC-4
RCON-PC-1 RCON-SC-1
(Direct numerical (Direct numerical
control mode) control mode)
SCON-CB-*-RC

Chapter 2 System Configuration and Specifications

(Positioner 1 mode)

 How to Calculate
Fixed region : 8 words
Data region : 24 words
Word Number
Unit name Axis control setting Sub total
count of units
Driver Unit Direct numerical control mode 8  2 = 16
Positioner 1 mode 4  1 = 4
EC Connection Unit 1  2 = 2
PIO/SIO/SCON Connection Unit 1  1 = 1
PIO Unit 1  1 = 1
Total 24
 For CC-Link and CC-Link IE Field
Occupied Size = "Data region" = 24 = 24 words
 For DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP and PROFINET IO
Occupied Size = "Fixed region" + "Data region" = 8 + 24 = 32 words

Therefore, it is shown, in this example, that the size in any network should fall in the restriction
of the occupied size.

ME0384-7C A2-24
 2.3 Specifications

2.3.3 Power supply capacity

Power capacity is divided into two parts, control power capacity and motor power capacity.
Specifications Section

24V DC power supply is to be input from the control power supply connector and the motor
power supply connector on the gateway unit. The user must make sure that 0 V of the control
and motor power is used in common.
The motor power supply to the 200V AC actuator is to be input from the 200V power supply unit
(RCON-PS2-3).

The necessary power capacity is calculated from adding

"Total control power capacity of the unit in use" and
"Total motor power capacity of the connected actuator".
However, the 200V driver unit is to be calculated from the "sum-up of the control current
amperage of used units" and separated from the motor power supply.

The current rating for 24V DC power must exceed the total current rating for motor power
capacity, and the peak current must exceed the total motor power capacity. However, when
multiple axes are connected, provided that not all of the actuators' operation timing is the same,
the resulting value is not a simple total, because the rated current/maximum current do not flow
Chapter 2 System Configuration and Specifications

simultaneously.

A2-25 ME0384-7C
 2.3 Specifications

[1] Selection of Circuit Breaker for Power Supply Protection

[For 24V System]

It is recommended that protection of the power supply is performed on the primary side (AC power

Specifications Section
source side) in the 24V DC power supply unit.
Be mindful of the in-rush current of the 24V DC power supply unit and the rated interrupting current
of the circuit breaker when select.
Rated Interrupting Current > Short-Circuit Current = Primary Side Current Amperage ÷ Power Supply Voltage

[In-Rush Current of IAI Power Supply Unit PSA-24]

Item Conditions Specifications
At Cold Start 100V AC 17A (typ)
(Peripheral temperature:
25°C) 200V AC 34A (typ)
In-Rush Current
At Cold Start 100V AC 27.4A (typ)
(Peripheral temperature:
40°C) 200V AC 54.8A (typ)
The pulse width that the in-rush current flows in is 5ms or less. Also, in parallel operation,
the in-rush current is added for number of units. Confirm the characteristics when select so the
breaker would not work at the in-rush current.

Chapter 2 System Configuration and Specifications

[For 200V System]
For selection of the circuit breaker, follow the instructions below.
• The maximum of three times higher current than the rated flows to the controller at
acceleration / deceleration. Select a breaker that would not trip when this much current flows.
In case it trips, it is necessary to select a breaker with rated current one rank higher. (Check
with the operation characteristic curves shown in a catalog provided by the manufacturer.)
• Select a breaker that would not trip with the in-rush current. (Check with the operation
characteristic curves shown in a catalog provided by the manufacturer.)
• Select the rated cutoff current that surely cuts off the current even when short-circuit current
flows.
Rated Cutoff Current > Short-Circuit Current = Primary Current Amperage / Power Voltage
Have enough margin to the rated current when you select a circuit breaker.

For Single-Phase 200V AC:

Sum of Rated Current of Circuit Breaker >- Motor Current Amperage (VA) ÷ AC Input Voltage
× Margin (1.2 to 1.4)
For 3-Phase 200V AC:
Sum of Rated Current of Circuit Breaker > Motor Current Amperage (VA) ÷ AC Input Voltage ×
Margin (1.2 to 1.4) ÷ √3

ME0384-7C A2-26
 2.3 Specifications

For EC200V Specification:

Only the control power should be supplied from the RCON system, and the motor power
should be supplied from the dedicated DC power supply for motor drive (PSA-200-).
Specifications Section

Refer to for motor power capacity, [ELECYLINDER large slider type instruction manual
(ME3801)].

* Selection of Leakage Breaker

• The leakage current may vary depending on the wattage of motor, cable length and other
ambient environment. In case of leakage protection, measure the leakage current at the
position to install a leakage breaker.
• Select a leakage breaker applicable for higher harmonics.

[2] Current Limit Values for Selection Calculation

The restrictions regarding the control power/motor power supplies are as shown below.
Item Current limit values for selection calculation
Control power (CP) 9.0A or less
Motor power (MP) 37.5A or less

For the 24V system, based on the RCON system configuration, make sure for each unit that the
Chapter 2 System Configuration and Specifications

calculated result for power supply capacity of control power and motor power does not exceed
the current limit value for selection calculation.
Note that the gateway unit is not included in the calculations.

[3] 200V AC Servo Motor Wattage Capacity

For the 200V driver unit, the restriction regarding the motor power supply is as described below.
Item Total of Max. connected axes output
3-Phase 200V AC 2,400W
Single-Phase 200V AC 1,600W

Check that the total of the motor wattage of the actuators connected to the 200V driver unit
does not exceed the maximum connectable axes output.

A2-27 ME0384-7C
 2.3 Specifications

For the actuators listed below, have the motor wattages for calculation when you calculate the
supplies.
Motor wattage for calculation

Specifications Section
Actuator model number 3-Phase Single-Phase Remarks
power supply power supply
LSA-S6S/S8S/S8H/
100 300 Per slider
LSA(S)-N10S
LSA-S10S/H8S/H8H/L15S/ N19SS
200 600 Per slider
LSA(S)-N15S/N15H/
LSA-W21S 400 − (Note 1) Per slider
DD(A)-LT18(C) / T18(C) 200 − (Note 1)

DD(A)-LH18(C) / H18(C) 600 − (Note 1)

RCS3-CTZ5C 200 − (Note 1)

RCS3-CT8C 800 − (Note 1)

Note 1: It is not available if the power supply to RCON-PS2-3 is the single-phase 200V.

For the actuators below, there should be a limit to the number of axes connectable due to the
power supply provided to the 200V power supply unit connected to RCON-SC-1.
200V Motor power supply

Chapter 2 System Configuration and Specifications

Item
3-Phase Single-Phase
DD(A)-LT18(C) / T18(C) Maximum 8 axes Cannot Connect
DD(A)-LH18(C) / H18(C) Maximum 2 axes Cannot Connect
RCS3-CTZ5C Maximum 8 axes Cannot Connect
RCS3-CT8C Maximum 3 axes Cannot Connect
IS(P)B-WXM(X) Maximum 3 axes Cannot Connect

If you would like to have more axes than the maximum number of axes to be connected,
enlarge the capacity by connecting the connection type of SCON series (SCON2 or SCON-CB)
to RCON to the extension unit.

[4] Power capacity

The specifications regarding power capacity are listed below.
[Gateway Unit Control Power]
Item Specifications Power supply current
0.8 A (Ethernet option: No)
Control power capacity Gateway unit (includes terminal unit)
1.0 A (Ethernet option: Yes)

ME0384-7C A2-28
 2.3 Specifications

[Driver/Option/Absolute Unit Control Power]

Item Specifications Power supply current
Brake: No 0.2A
Specifications Section

24V Driver unit Brake: Yes (1-axis specification) 0.4A

Brake: Yes (2-axis specification) 0.6A
Control power
capacity Brake: No 0.2A
(per unit) 200V Driver unit
Brake: Yes 0.5A
Option unit (common to all types) 0.1A
Simple absolute unit (common to all types) 0.2A
Note: As the control supply current consumed in the 200V power supply unit is very little,
it is not necessary to consider in the calculation.
* The power supply to the fan unit (RCON-FU/RCON-FUH) should be included to the control
amperage of each connected unit (approx. 50mA/unit).

[24V Driver Unit Motor Power Supply]

Actuator / Driver Unit Max. current
Rated
Item When energy-
Motor type Series Motor size Current
saving is set
20P/20SP/28P 0.8A － －
Chapter 2 System Configuration and Specifications

RCP2 Without
RCP3 28P (Note 1)/35P/
PowerCON 1.9A － －
Stepper motor 42P/56P
/RCON-PC Without
RCP4 1.9A － －
28P/35P/42P/ PowerCON
RCP5
42SP/56P With
RCP6 2.3A － 3.9A
PowerCON
RCP2
Stepper motor RCP4 Without
56SP/60P/86P 5.7A － －
/RCON-PCF RCP5 PowerCON
RCP6
Standard /
Motor power 5W 1.0A － 3.3A
Hi-accel./decel.
capacity
(1 axis per actuator) 10W 1.3A 2.5A 4.4A
RCA
20W Standard / 1.3A 2.5A 4.4A
RCA2
24V AC servo Hi-accel./decel. /
20W (20S) Energy-saving 1.7A 3.4A 5.1A
motor
/RCON-AC 30W 1.3A 2.2A 4.0A
2W 0.8A － 4.6A
Standard /
RCL 5W 1.0A － 6.4A
Hi-accel./decel.
10W 1.3A － 6.4A
DC brush-less
motor RCD 3W Standard 0.7A － 1.5A
/RCON-DC
Note 1 Applicable Models: RCP2-RA3, RCP2-RGD3

A2-29 ME0384-7C
 2.3 Specifications

[200V Driver Unit Motor Power Supply]

Transient max. motor current
Wattage of Actuator Motor Motor power capacity [VA]
amperage [VA]

Specifications Section
30R (RS-30) 138 414
60 138 414
60 (RCS3-CTZ5) 197 591
100 234 702
100S (LSA) 283 851
150 328 984
200 421 1,263
200S (DD) 503 1,509
200S
486 1,458
(Other than LSA (S) - N15H)
200S (LSA (S) - N15H) 773 2,319
300S (LSA) 662 1,986
400 920 2,760
400 (RCS3-CT8) 1,230 3,690
600 1,164 2,328

Chapter 2 System Configuration and Specifications

600 (DD) 1,462 4,386
750 1,521 3,042
750S 1,521 4,563

[24V Specification ELECYLINDER Control Power]

Power supply
Item Specifications
current
EC Connection Unit (per unit) RCON-EC-4 0.1A
Control power
Brake: No 0.3A
capacity 24V Specification ELECYLINDER (per axis)
Brake: Yes 0.5A

[ELECYLINDER Control Power Capacity (24V Specification ELECYLINDER per axis)]

Power saving Power supply current
Motor size Type
setting Rated Max.
Disabled 2.3A 3.9A
Other than the following
35P/42P/56P Enabled ― 1.9A
ST15 ― ― 1.9A
56SP RTC18 ― ― 5.7A
S3, RR3 ― ― 1.9A
28P RP4, GS4, GD4, TC4,
― ― 1.7A
TW4, RTC9, GRB10/13
20P GRB8 ― ― 0.7A
Φ20 SL3, GDS3, GDB3, T3 ― 0.4A 0.8A

ME0384-7C A2-30
 2.3 Specifications

[200V Specification ELECYLINDER Control Power]

Power supply
Item Specifications
current
Specifications Section

EC Connection Unit (per unit) RCON-EC-4 0.1A

Brake: No 0.32A
Control power EC-S10/S10X 0.54A
capacity 24V Specification EC-S13/S13X
(24V) ELECYLINDER (per axis) Brake: 1.2A
EC-S15/S15X
Yes
EC-S18/S18X
0.753 A
EC-S18LP/S18XLP

[200V Specification ELECYLINDER Motor Power Supply]

Transient max.
Motor Motor power
Item Actuator model number motor current
Wattage capacity [VA]
amperage [VA]
EC-S10, EC-S10X 100 238 714
EC-B8SS, EC-S13,
200 402 1,206
Motor power EC-S13X
capacity EC-S15, EC-S15X 400 772 2,316
(per axis)
Chapter 2 System Configuration and Specifications

EC-S18, EC-S18X 600 1119 3358

EC-S18LP, EC-S18XLP 750 1408 4225

The restrictions regarding the power supply for the 200V ELECYLINDER drive (PSA-200) are
as shown below.
Max. number of Max. motor wattage of
Specifications
connectable axes connectable
AC100V power supply specifications 6 axes 800W
AC200V power supply specifications 6 axes 1,600W

Check that the number of axes of the 200V ELECYLINDER does not exceed the maximum
number of the connectable axes and the motor wattage not exceed the maximum connectable
motor wattage.

A2-31 ME0384-7C
 2.3 Specifications

Calculation examples are shown below.

[Control power] * The gateway unit is not included in the calculations.

24V System Actuator × 16-Axis, All Axes Equipped with Brake (2 axes/unit)

Specifications Section
Ex. 1
24V Driver Unit Equipped with Brake (2-axis specification) 0.6A × 8 = 4.8A ⇒ OK

24V System Actuator × 16-Axis, All Axes Equipped with Brake (1 axes/unit)
Ex. 2
24V Driver Unit Equipped with Brake (1-axis specification) 0.4A × 16 = 6.4A ⇒ OK
24V System Actuator × 8-Axis, All Axes Equipped with Brake (1 axes/unit), All Axes
Simple Absolute
Ex. 3
24V Driver Unit Equipped with Brake (1-axis specification) 0.4A × 8 = 3.2A
Simple Absolute 0.2A × 8 = 1.6A Total 4.8A ⇒ OK
200V System Actuator × 8-Axis, All Axes Equipped with Brake
Ex. 4
200V Driver Unit Equipped with Brake 0.5A × 8 = 4.0A ⇒ OK
24V System Actuator × 7-Axis, All Axes Equipped with Brake (1 axes/unit), All Axes
Simple Absolute
200V System Actuator × 1-Axis, Equipped with Brake SCON Extension Unit × 1 unit
Ex. 5
24V Driver Unit Equipped with Brake (1-axis specification) 0.4A × 7 = 2.8A
Simple Absolute 0.2A × 7 + 200V Driver unit Equipped with Brake 0.5A × 1 = 1.9A
SCON Extension Unit 0.1A × 1 = 0.1A Total 4.8A ⇒ OK
24V System Actuator × 6-Axis, All Axes Equipped with Brake (2 axes/unit),
All Axes Simple Absolute, EC Connection Unit × 1 unit, 24V Specification Equipped with

Chapter 2 System Configuration and Specifications

Brake ELECYLINDER × 2-Axis, 200V Specification Equipped with Brake
ELECYLINDER × 2-Axis
Ex. 6 24V Driver Unit Equipped with Brake (2-axis specification) 0.6A × 3 = 1.8A
Simple Absolute 0.2A × 6 + EC Connection Unit 0.1A × 1 = 1.3A
24V Specification Equipped with Brake ELECYLINDER 0.5A × 2 = 1.0A
200V Specification Equipped with Brake ELECYLINDER 1.2A × 2 = 2.4A
Total 6.5A ⇒ OK
24V System Actuator × 16-Axis, All Axes Equipped with Brake (1 axes/unit), All Axes
Simple Absolute
Ex. 7
24V Driver Unit Equipped with Brake (1-axis specification) 0.4A × 16 = 6.4A
Simple Absolute 0.2A × 16 = 3.2A Total 9.6A ⇒ NG

ME0384-7C A2-32
 2.3 Specifications

[24V System Motor Power Supply]

RCON-PC (with PowerCON) × 16-Axes
Ex. 8
RCON-PC (with PowerCON) rated current 2.3 A × 16-Axes = 36.8 A ⇒ OK
Specifications Section

For RCON-PCF × 7-axes or 6-axes

Ex. 9 RCON-PCF rated current 5.7 A × 7-Axes = 39.9 A ⇒ NG
RCON-PCF rated current 5.7 A × 6-Axes = 34.2 A ⇒ OK
RCON-PC (with PowerCON), RCON-AC, RCON-DC
Ex. 10 RCON-PC (with PowerCON) rated current 2.3A, RCON-AC rated current Max. 1.7A
Does not exceed the current limit even with 16 axes as the rated current of RCON-DC is
0.7A ⇒ OK
RCON-PCF × 3-Axes, RCON-PC (with PowerCON) × 6-Axes,
and RCON-AC (30W) × 3-Axes,
RCON-EC (Power Saving Setting Invalid) × 1 unit (4-Axes)
Ex. 11 RCON-PCF rated current 5.7A × 3-Axes + RCON-PC (with PowerCON) rated current
2.3A × 6-Axes = 30.9 A
RCON-AC (30W) 1.3A × 3-Axes + RCON-EC (Power Saving Setting Invalid) 2.3A × 4 =
13.1A Total 44.0A ⇒ NG

[200V System Motor Power Supply]

1 axis of actuator each of 200W, 300W and 600W motors
Chapter 2 System Configuration and Specifications

Ex. 12 200W × 1-axis + 300W × 1-axis + 600W × 1-axis = 1,100W

⇒ Single-Phase OK, 3-Phase OK
RCS-CTZ5 × 1-axis, actuator of 200W motor × 7-axes
Ex. 13
120W + 200W × 7-axes = 1,520W ⇒ Single-Phase NG, 3-Phase OK

Actuator of 200W motor × 6-axes, LSA-S10SM (Multiple Slider) × 1-axis

Ex. 14 Single-Phase : 200W × 6-axes + 600W × 2 = 2,400W ⇒ NG
3-Phase : 200W × 6-axes + 200W × 2 = 1,600W ⇒ OK
Actuator of 200W motor × 16-axes
Ex. 15
200W × 16-axes = 3,200W ⇒ Single-Phase NG, 3-Phase NG

Caution
 For those with no description of the rated current for the motor current amperage,
calculate with the maximum current.
 Supposing that the operation pattern is that all axes only perform
acceleration/deceleration simultaneously, and operating duty is 100%, the motor power
must be calculated by using the maximum current value.

A2-33 ME0384-7C
 2.3 Specifications

2.3.4 Inrush current

In-rush current would occur only on the driver unit and the EC connection unit.

Specifications Section
The inrush current values are listed below.

Item Specifications

RCON-PC 8.3A
RCON-PCF 10.0A

Inrush current RCON-AC 10.0A

(About 5 ms) RCON-DC 10.0A
RCON-SC 25A
RCON-EC Max.40A (Note 1)
(Note 1) When 4 axes max. of ELECYLINDER are connected

When multiple driver units are used, depending on the capacity of the 24V DC power source,
a voltage drop might occur when the units are turned on.

Chapter 2 System Configuration and Specifications

In the RCON system, the timing can be adjusted with the following two parameters to reduce
the risk of voltage drop due to inrush current. Inrush current lasts for about 5 ms per axis. Adjust
the timing as warranted, within a range such that the offset does not affect operation.

[Driver shutdown release delay time]

The gateway parameter configuration tool is equipped with a function that offsets the release
timing of the drive source cutoff circuit of each driver unit. It offsets the release timing, which
allows it to suppress any possible voltage drops.

• 5 ms per axis has been set for the initial value.

• The minimum for each axis should be 50 ms for the 200V driver unit.
• The release timing of the drive cutoff circuit for one unit (four axes) should be misaligned for
the EC connection unit.

For details, refer to [Appendix Chapter 1, 1.3.2 Special parameter setting function descriptions
(Page E1-8)].

ME0384-7C A2-34
 2.3 Specifications

Stepper motor specification only

[Servo ON Delay Time Adjustment (Parameter No. 190)]

No. Name Unit Input range Default initial value setting

Specifications Section

Servo ON delay time

190 ms 0 to 9,999 0
adjustment

This parameter adjusts the time from when servo ON command signal SON is input until servo ON.
By shifting the timing of each actuator, instantaneous power can be suppressed when the servo
ON command is applied at the same time.
Chapter 2 System Configuration and Specifications

A2-35 ME0384-7C
 2.3 Specifications

2.3.5 Operating temperature range

The operating temperature of the gateway unit/driver unit is within the range of 0 to 55°C.

Specifications Section
However, there is the temperature debating depending on with or without the fan unit for the
24V driver unit.
* It is mandatory to have a fan unit mounted on the 200V driver unit and the 200V power supply unit.

Fan unit (Model: RCON-FU, RCON-FUH)

Operation without derating is possible without a fan unit at 0 to 40°C; however, at 40 to 55°C,
actuator operating duty must be reduced by 20% every 5°C.
With fan unit, operation is possible up to 55°C without derating.

Chapter 2 System Configuration and Specifications

Operating duty [%]

Usage temperature environment [°C]

Caution
 Under conditions where the temperature is higher than 55°C, the unit cannot be used,
regardless of the operating duty.
 When used under unsuitable conditions, the alarm code 0CA "Heating error" may be
generated, causing the actuator to stop.
 The operating temperature of the simple absolute unit and SCON-CB controller is
within the range of 0 to 40°C. It cannot be used under conditions where the
temperature is higher than 40°C.

ME0384-7C A2-36
 2.3 Specifications

2.3.6 Specifications for field network

The field network interface specifications for the RCON system are shown below.
Specifications Section

[1] Specifications of CC-Link Interface

Item Specification
Communication Protocol CC-Link Ver1.10 or Ver2.00

Station Type Remote Device Station (MAX. four stations occupied)

Baud Rate 10Mbps/5Mbps/2.5Mbps/625kbps/156kbps

Communication System Broadcast Polling System

Number of occupied stations Refer to [Operation Section 2.1.4 Overall address configuration example]

Communication Cable Baud Rate [bps] 10M 5M 2.5M 625k 156k

Length (Note 1) Total Cable Length [m] 100 160 400 900 1200

Communications Cable Apply the dedicated cable

Connector (Note 2) MSTB2.5/5-GF-5.08 AU (Manufactured by PHOENIX CONTACT)

Note 1 For T branch communication, refer to [the Instruction Manuals for the master unit and PLC to be mounted].
Note 2 The cable-side connector is a standard accessory. Refer to [Startup Section 1.1 Checking the Product].
Chapter 2 System Configuration and Specifications

[2] Specifications of CC-Link IE Field Interface

Item Specification
Communication Protocol Conforms to IEEE802.3ab (1000BASE-T)

Baud Rate 1Gbps

Communications system Token passing

Communication Cable Length Distance between each segment: 100m Max.

Max. number of connected units 254 (total of master and slave stations)

Max. networks 239

Category 5e or more
Communications Cable (Note 1)
(Double shielded cable braided with aluminum foil recommended)
Connector RJ-45 Connector × 2pcs
RX (slave to master) : 16384 bits
RY (master to slave) : 16384 bits
Cyclic communication
RWr (slave to master) : 8192 words
RWw (master to slave) : 8192 words

Note 1 Prepare separately for the communication cable.

A2-37 ME0384-7C
 2.3 Specifications

[3] Specifications of DeviceNet Interface

Item Specification

Specifications Section
DeviceNet 2.0

Communication Protocol Group 2 Dedicated Server

Network-Powered Insulation Node

Baud Rate Automatically follows the master

Communication System 10Mbps/5Mbps/2.5Mbps/625kbps/156kbps

Number of Occupied Channels Refer to [Operation Section 2.1.4 Overall address configuration example]

Number of Occupied Nodes 1 Node

Max. Network Total Branch Line Max. Branch Line
Baud Rate
Length Length Length
Communication Cable Length 500kbps 100m 39m
(Note 1)
250kbps 250m 78m 6m

125kbps 500m 156m

Communications Cable Use the dedicated cable.

Connector (Note 2) MSTB2.5/5-GF-5.08 AU (Manufactured by PHOENIX CONTACT)

Consumption Current of
60mA
Communication Power Supply

Chapter 2 System Configuration and Specifications

Communication Power Supply 24V DC (Supplied from DeviceNet)

Note 1 For T branch communication, refer to [the Instruction Manuals for the master unit and PLC to be mounted].
Note 2 The cable-side connector is a standard accessory. Refer to [Startup Section 1.1 Checking the Product].

[4] Specifications of EtherCAT® Interface

Item Specification
Communication Protocol IEC61158type12

Physical Layer 100Base-TX (IEEE802.3)

Baud Rate Automatically follows the master

Follows EtherCAT® connection specifications
Communication Cable Length
(Distance between each node: 100m max.)
Slave Type I/O slave
Available Node Addresses for
239
Setting
Category 5 or more
Communications Cable (Note 1)
(Double shielded cable braided with aluminum foil recommended)
Connector RJ-45 Connector × 2pcs (Input × 1, Output × 1)

Connect Daisy chain only

Note 1 Prepare separately for the communication cable.

ME0384-7C A2-38
 2.3 Specifications

[5] Specifications of EtherNet/IP Interface

Item Specification
Specifications Section

Communication Protocol IEC61158 (IEEE802.3)

Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)

Follows EtherNet/IP connection specifications
Communication Cable Length
(Distance between hub and each node: 100m max.)
Number of Connection Master Unit
Available Node Addresses for
0.0.0.0 to 255.255.255.255
Setting
Category 5 or more
Communications Cable (Note 1)
(Double shielded cable braided with aluminum foil recommended)
Connector RJ-45 Connector × 1pc

Note 1 Prepare separately for the communication cable.

[6] Specifications of PROFIBUS-DP Interface

Item Specification
Communication Protocol PROFIBUS-DP
Chapter 2 System Configuration and Specifications

Baud Rate Automatically follows the master

Communication System Hybrid System (Master-Slave System or Token Passing System)

Number of occupied stations Refer to [Operation Section 2.1.4 Overall address configuration example]

MAX. Total Network Baud Rate Cable Type

100m 3,000/6,000/12,000 kbps

200m 1,500 kbps

Communication Cable Length
400m 500 kbps Type A Cable

1000m 187.5 kbps

1200m 9.6/19.2/93.75 kbps

Communications Cable STP cable AWG18

Connector (Note 1) 9-pin female D-sub Connector

Transmission Path Format Bus/Tree/Star

Note 1 Please prepare a 9-pin male D-sub connector for the cable-end connector.

A2-39 ME0384-7C
 2.3 Specifications

[7] Specifications of PROFINET IO Interface

Item Specification

Specifications Section
Communication Protocol IEC61158 (IEEE802.3), IEC61784

Baud Rate 100Mbps

Communication Cable Length Distance between each segment: 100m Max.

Number of Connection Master Unit

Available Node Addresses for Setting 0.0.0.0 to 255.255.255.255

Category 5 or more
Communications Cable (Note 1)
(Double shielded cable braided with aluminum foil recommended)
Connector RJ-45 Connector × 1pc

GSDML File Version Ver2.3

Note 1 Prepare separately for the communication cable.

[8] Specifications of MECHATROLINK-III Interface

For Specifications of MECHATROLINK-III Interface, refer to [RCON Motion System
MECHATROLINK-III Specifications Instruction Manual (ME0426)].

Chapter 2 System Configuration and Specifications

[9] Specifications of EtherCAT Motion Network Interface
For Specifications of EtherCAT Motion Network Interface, refer to [RCON Motion System
EtherCAT Motion Specifications Instruction Manual (ME0427)].

[10] Specifications of SSCNET III/H Interface

For Specifications of SSCNET III/H Interface, refer to [RCON Motion System SSCNET III/H
Specifications Instruction Manual (ME0428)].

ME0384-7C A2-40
 Chapter 2 System Configuration and Specifications Specifications Section

A2-41
2.3 Specifications

ME0384-7C
 Specifications
Section

Chapter 3
Gateway Unit
3.1 Overview ··························································· A3-1

3.2 How to Read the Model Nameplate ························· A3-3

3.3 How to Read the Model Number ····························· A3-4

3.4 Components······················································· A3-5

3.5 Part Names/Functions ·········································· A3-6

3.5.1 Part names ························································· A3-6
3.5.2 LED display ························································· A3-8
3.5.3 Ethernet connector (Option) ···································· A3-9
3.5.4 AUTO/MANU switch ·············································· A3-9
3.5.5 SIO connector ······················································ A3-10
3.5.6 USB connector ····················································· A3-11
3.5.7 System I/O connector ············································ A3-12
3.5.8 Motor power connector ·········································· A3-13
3.5.9 Control power connector ········································ A3-14
3.5.10 Field network connector ······································· A3-15
3.5.11 Connectors ························································ A3-15
3.5.12 Terminal unit ······················································ A3-16

ME0384-7C
3.6 External Dimensions ············································ A3-17
3.6.1 Gateway unit ······················································· A3-17
3.6.2 Terminal unit ························································ A3-18

3.7 Field Network General Specifications······················· A3-19

3.7.1 CC-Link ······························································ A3-19
3.7.2 CC-Link IE Field ··················································· A3-20
3.7.3 DeviceNet ··························································· A3-21
3.7.4 EtherCAT ···························································· A3-22
3.7.5 EtherNet/IP ························································· A3-23
3.7.6 PROFIBUS-DP ···················································· A3-24
3.7.7 PROFINET IO ······················································ A3-25
3.7.8 Motion network ···················································· A3-26

ME0384-7C
 3.1 Overview

3.1 Overview

The gateway unit is a slave station with a gateway function for connecting the ROBO Cylinder

Specifications Section
and industrial robot to the field network of the host PLC. It supports 10 kinds of field networks
(CC-Link, CC-Link IE Field, DeviceNet, EtherCAT, EtherNet/IP, PROFIBUS-DP, PROFINET IO,
MECHATROLINK-III, EtherCAT Motion, SSCNET III/H).

Combination of driver units (RCON-PC/PCF/AC/DC/SC) dedicated for R Unit, EC connection

units, SCON external unit and others can be built up to 16 axes (Note 1) connections at the
maximum. In addition to controlling each connected actuator, operating status and various
information can be monitored.

PLC Field network

Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU

Chapter 3 Gateway Unit

RCON-FUH
Teaching
PC Software RCP RCARCL RCD
Pendant
Model: TB-02 Model: IA-OS
TB-03 RCM-101-*

Power Supply Unit

RCS/ISB, etc.(Note 2) ELECYLINDER

Gateway Unit

3-Phase / Single-Phase
200V AC
Model: PSA-24 Option Unit
Model: RCON-EXT Regenerative Resistor Unit (Note 2)
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
NP/PN Simple Absolute Unit

RCS/ISB, etc. SCON series

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

ME0384-7C A3-1
 3.1 Overview

Note 1: The maximum number of connectable axes in the all axes direct numerical mode in the field network
except for CC-Link and CC-Link IE Field and for the motion controllers should be 8 axes.
Note2: The following 200V servo-motor actuators cannot be connected to the 200V driver units.
1) Motor types other than those from 60W to 750W
Specifications Section

2) Encoder types other than battery-less absolute, incremental, spurious absolute or index absolute type
3) For 3-Phase 200V ·········· Combination that exceeds 2,400W for total wattage of actuators
connected to 200V driver unit
4) For Single-Phase 200V ··· Combination that exceeds 1,600W for total wattage of actuators
connected to 200V driver unit
5) Servo Press types
6) SCARA Robot
7) CT4 Series
8) ZR Series
When connecting the actuators described in 1) to 4) above, use SCON extension unit and SCON series
(RCON Connection Type for SCON2 or SCON-CB).
Also, DD/DDA and LSA-W21S are not applicable for the single-phase 200V.
Note3: There is a built-in regenerative resistor of 60W equipped in 200V driver unit and 200V power supply unit.
The regenerative resistor is basically not necessary, but use an external regenerative resistor unit in
case of shortage in regenerative resistor.
Chapter 3 Gateway Unit

A3-2 ME0384-7C
 3.2 How to Read the Model Nameplate

3.2 How to Read the Model Nameplate

[Gateway Unit]

Specifications Section
[Nameplate Location]

Model number →
Serial number →

↑Caution Mark

X000000 X0 X000000 X0

Type↑ ↑Serial number

Mark Explanation of Mark

Chapter 3 Gateway Unit

Use IAI specified cables only.

[Terminal Unit]

[Nameplate Location]

GW -TR X0 000 00 X0

ME0384-7C A3-3
 3.3 How to Read the Model Number

3.3 How to Read the Model Number

The model of the gateway unit is as follows.

Specifications Section

Gateway unit model

RCON － － －
Type I/O Type Options

GW Standard type
Safety category
GWG
specification

CC CC-Link connection specification ET

CIE CC-Link IE Field connection specification Fan unit mounting
FU*
(*: Specify the number of units, 1 to 8)
DV DeviceNet connection specification
TRN Without terminal unit
EC EtherCAT connection specification
EP EtherNet/IP connection specification
Chapter 3 Gateway Unit

PR PROFIBUS-DP connection specification

PRT PROFINET IO connection specification
EtherCAT Motion connection
ECM
specification
MECHATROLINK-IIIconnection
ML3
specification
SSN SSCNET III/H connection specification

Field network
Connector (I/O type)

Gateway unit Fan unit

(Single product model
number: RCON-FU)

Ethernet port Terminal unit

(Option) (Single product model
number: RCON-GW-TR)

A3-4 ME0384-7C
 3.4 Components

3.4 Components

The following table shows the product configuration for the standard specification.

Specifications Section
See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

Model example:
Body

Gateway unit 1
RCON-GW/GWG

Single product model number:

RCON-GW-TR
Terminal unit 1
(Not supplied with TRN
specification)

Single product model number:

System I/O connector 1 DFMC1.5/5-ST-3.5
(Phoenix Contact)

Chapter 3 Gateway Unit

Field network
1 Depends on I/O type
connector
Accessories

Model Name: DP-5

Dummy plug 1 (Supplied with
GWG specification)

First Step Guide 1

Safety Guide 1

ME0384-7C A3-5
 3.5 Part Names/Functions

3.5 Part Names/Functions

Specifications Section

3.5.1 Part names

Top

Left side

Rear
Chapter 3 Gateway Unit

Right side

Front

RCON-GW-*

A3-6 ME0384-7C
 3.5 Part Names/Functions

T RUN LED
Ethernet connector (O.P.)

Specifications Section
SYS LED
AUTO/MANU switch
Field network
connector
SIO connector
STOP LED
USB connector
MODE LED
System I/O connector
C ERR LED
Motor power connector
STATUS 0 LED
Control power connector
STATUS 1 LED

Front Top

Chapter 3 Gateway Unit

Connector upper part

Connector Connector bottom part DIN tab

Left side Right side Rear

ME0384-7C A3-7
 3.5 Part Names/Functions

3.5.2 LED display

LED for indicating gateway unit status and field network status.
Specifications Section

Display
Panel notation Status Description
color
Light ON Normal internal bus communication
Green
T RUN Blinking Waiting for initialization signal

Orange Light ON Bus communication error generated

Normal operation
Green Light ON (It also lights up green when an alarm is generated in
SYS the driver unit or simple absolute unit)
Orange Light ON Gateway alarm triggered

Light ON STOP signal input OFF (driver unit drive power cut-off)
STOP Red
Light OFF STOP signal input ON

Light ON AUTO (automatic operation) mode ON

MODE Green
Light OFF MANU (manual operation) mode ON

Light ON Field network error generated

C ERR Orange
Chapter 3 Gateway Unit

Light OFF Field network operating normally

Differs with field network
STATUS 0 − − Refer to [Specifications Section Chapter 3, 3.7 Field
Network General Specifications (Page A3-19)]
Differs with field network
STATUS 1 − − Refer to [Specifications Section Chapter 3, 3.7 Field
Network General Specifications (Page A3-19)]

A3-8 ME0384-7C
 3.5 Part Names/Functions

3.5.3 Ethernet connector (Option)

A connector for connecting to Ethernet. Equipped only when the Ethernet option is selected.

Specifications Section
Pin No. Signal name Description

1 TXP Transmit data + side

2 TXN Transmit data - side
3 RXP Receive data + side
4 NC Not connected
5 NC Not connected
6 RXN Receive data - side

Chapter 3 Gateway Unit

7 NC Not connected
8 NC Not connected

3.5.4 AUTO/MANU switch

Switches between automatic and manual operation. System I/O connector AUTO/MANU input is
connected in series.

Symbol Description

Online operation mode that enables reception of commands from

AUTO
host devices such as PLCs
Teaching operation mode that not enables reception of commands
MANU
from host devices such as PLCs

ME0384-7C A3-9
 3.5 Part Names/Functions

3.5.5 SIO connector

A connector for connecting the teaching pendant to PC software. PC software can also be
Specifications Section

connected with a USB (mini-B).

Pin No. Signal name Description

1 TP_SD+ Teaching pendant/PC RS-485 differential signal + side

2 TP_SD- Teaching pendant/PC RS-485 differential signal - side
3 T5V Teaching pendant 5 V output
4 ENB Enable signal input
Chapter 3 Gateway Unit

5 STOPA Stop line A

6 T24V Teaching pendant 24 V output
7 GND 0V
8 STOPB Stop line B
9 (shell) GND 0V

A3-10 ME0384-7C
 3.5 Part Names/Functions

3.5.6 USB connector

It is a connector to be connected to the PC software or gateway parameter configuration tool.

Specifications Section
Connector name: 51387-0530 (Molex)

Pin No. Signal name Description

1 VBUS USB power

2 D- USB signal line -
3 D+ USB signal line +
4 NC Not connected
5 GND 0V

Chapter 3 Gateway Unit

Shell GND 0V

ME0384-7C A3-11
 3.5 Part Names/Functions

3.5.7 System I/O connector

External AUTO/MANU switching input, STOP input, PSA-24 serial communication line equipped.
Specifications Section

Note that the following pins are short-circuited at shipment. (Pins #1 and #6, pins #2 and #7,
pins #3 and #8)

10 5

6 1

Cable connector name: DFMC1.5/5-ST-3.5 (Phoenix Contact)

Pin No. Signal name Description

1 S2 Teaching pendant STOP switch input contact

2 S1 Teaching pendant STOP switch output contact
Chapter 3 Gateway Unit

3 AUTO/MANU- AUTO/MANU signal input

4 GND 0V
5 PS24_SD- PSA-24 RS-485 differential signal - side
6 STOP+ STOP signal +24 V power supply output
7 STOP- STOP signal input
8 AUTO/MANU+ AUTO/MANU power supply
9 NC Not connected
10 PS24_SD+ PSA-24 RS-485 differential signal + side

Cable side connector compatible wire

Item Specifications

Compatible wire AWG24 to 16 (Copper Wire)

Strip length 10.0 mm
Rated Temperature on Isolation Coating 60 °C or more

A3-12 ME0384-7C
 3.5 Part Names/Functions

3.5.8 Motor power connector

Motor power +24 V supply connector. Supplies power to the motor of the 24V driver unit linked

Specifications Section
to the gateway unit.

Pin No. Signal name Description

1 GND 0V
2 MP Motor power +24 V input

Motor power connector compatible wire

Chapter 3 Gateway Unit

Item Specifications

Compatible wire AWG20 to 8 (Copper Wire)

Strip length 15.0 mm
Rated Temperature on Isolation Coating 60 °C or more

Caution
 Select a wire with thickness that tolerates the rated current total value obtained in
[Specifications Section Chapter 2, 2.3.3 Power supply capacity (Page A2-25)].
 Pay attention to the wiring impedance in order to avoid any trouble due to voltage drop.
(Reference = Difference of 24V voltage on power supply side and 24V voltage on
controller side: less than 1V)

ME0384-7C A3-13
 3.5 Part Names/Functions

3.5.9 Control power connector

Control power +24 V and FG connector. Supplies power for the control power of all units linked
Specifications Section

to the gateway unit and for the actuator brake.

Pin No. Signal name Description

1 FG Frame ground
2 GND 0V
3 CP Control power +24 V input
Chapter 3 Gateway Unit

Control power connector compatible wire

Item Specifications
AWG24 to 12 (Copper Wire),
Compatible wire
Frame ground is AWG14 to 16 (Copper wire)
Strip length 10.0 mm
Rated Temperature on Isolation Coating 60 °C or more

Caution
 Select a wire with thickness that tolerates the rated current total value obtained in
[Specifications Section Chapter 2, 2.3.3 Power supply capacity (Page A2-25)].
 Pay attention to the wiring impedance in order to avoid any trouble due to voltage drop.
(Reference = Difference of 24V voltage on power supply side and 24V voltage on
controller side: less than 1V)

A3-14 ME0384-7C
 3.5 Part Names/Functions

3.5.10 Field network connector

A connector for connecting to field networks. Field network details are listed in [Specifications

Specifications Section
Section Chapter 3, 3.7 Field Network General Specifications (Page A3-19)].

Chapter 3 Gateway Unit

3.5.11 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.

Plug side connector Receptacle connector

ME0384-7C A3-15
 3.5 Part Names/Functions

3.5.12 Terminal unit

RCON-GW-TR
Specifications Section
Chapter 3 Gateway Unit

Connector

Left side Right side Rear

Danger
 The terminal unit (RCON-GW-TR) shown in this page is a terminal unit for 24V.
When the 200V driver units are to be connected, make sure to use the terminal unit for
200V (RCON-GW-TRS) enclosed in the 200V power supply unit.
 This terminal unit for 24V has a structure that does not allow itself connected to the
200V driver unit, however, it could be forcefully inserted, which could cause fire on the
connector as well as damage on it.

A3-16 ME0384-7C
 3.6 External Dimensions

3.6 External Dimensions

Specifications Section
3.6.1 Gateway unit

Item Specifications

External dimensions [mm] W 30 × H 115 × D 95

Mass [g] About 170
External view See figure below

39.6

Chapter 3 Gateway Unit

115

36.2
95
30 7
3.6

98.8

ME0384-7C A3-17
 3.6 External Dimensions

3.6.2 Terminal unit

Specifications Section

Item Specifications

External dimensions [mm] W 12.6 × H 115 × D 95

Mass [g] About 48
External view See figure below

115
Chapter 3 Gateway Unit

95
12.6
98.8

A3-18 ME0384-7C
 3.7 Field Network General Specifications

3.7 Field Network General Specifications

3.7.1 CC-Link

Specifications Section
5

Cable connector name: MSTB2.5/5-STF-5.08 AU (Phoenix Contact)

Pin No. Signal name Description

1 DA Signal line A
2 DB Signal line B
3 DG Digital ground
Connects the shield of shielded cables

Chapter 3 Gateway Unit

4 SLD (This connector's 5-pin FG and the control power
connector's 1 pin FG are connected internally)
Frame ground
5 FG (This connector's 4-pin SLD and the control power
connector's 1 pin FG are connected internally)

LED display
Panel Display
Name Status Description
notation color
After joining the network, refresh &
Light ON poll normal reception or refresh normal
reception
STATUS 0 RUN Green 1. Network not joined
2. Channel carrier detected
Light OFF
3. Timeout
4. Hardware reset in progress
1. CRC error
2. Station number setting error when
reset canceled
Light ON (0 or 65 stations or more, including
occupied stations)
3. Baud rate setting error when reset
STATUS 1 ERR Orange
canceled
Blinking Value of station number or baud rate
(0.4 s blinking) setting changed when reset canceled
1. Normal communication
Light OFF
2. Hardware reset in progress

ME0384-7C A3-19
 3.7 Field Network General Specifications

3.7.2 CC-Link IE Field

Specifications Section

P1

P2

Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5e or higher, shielded

8P8C modular plug (RJ-45)
* It is to be prepared by the customer.

LED display
Panel Display
Name Status Description
notation color
Light ON Normal operation
Chapter 3 Gateway Unit

Green
Light OFF Hardware error generated
STATUS 0 MS
Light ON Error generated
Orange
Light OFF Normal operation

Light ON Cyclic transmission ON

Green Blinking Cyclic transmission OFF

Cyclic transmission not yet implemented,
STATUS 1 NS Light OFF
fragmented
Light ON Receive data error
Orange
Light OFF Receive data normal

Light ON Link up
LINK − Green
Light OFF Link down

Light ON Receive data error

L.ER − Orange
Light OFF Receive data normal

A3-20 ME0384-7C
 3.7 Field Network General Specifications

3.7.3 DeviceNet

Specifications Section
5

Cable connector name: MSTB2.5/5-STF-5.08 AU M (Phoenix Contact)

Pin No. Pin color scheme Description

1 Black Power supply cable - side

2 Blue Signal data Low side
3 － Shield
4 White Signal data High side
5 Red Power supply cable + side

Chapter 3 Gateway Unit

LED display
Panel Display
Name Status Description
notation color
Light ON Normal operation
Green No configuration information,
Blinking
incomplete information, or device test
(1 Hz)
operation required
STATUS 0 MS Light ON Non-recoverable fault
Orange Blinking
Recoverable fault
(1 Hz)
Alternate
Green/orange Self-diagnosis
blinking
Light ON Online, connection established
Green Blinking
Online, connection not established
(1 Hz)
Light ON Fatal error
STATUS 1 NS Orange Blinking
Connection timeout
(1 Hz)
Alternate
Self-diagnosis
Orange/green blinking
Light OFF Offline

ME0384-7C A3-21
 3.7 Field Network General Specifications

3.7.4 EtherCAT
Specifications Section

OUT
IN
Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded
8P8C modular plug (RJ-45)
* It is to be prepared by the customer.

LED display
Panel Display
Name Status Description
notation color
Light ON Signal component (module) error
Blinking Configuration information (settings) error
Chapter 3 Gateway Unit

(continuous) ON: 200 ms / OFF: 200 ms

STATUS 0 ERR Orange
Blinking Watchdog timer/timeout
(2 times) ON: 200 ms  2 / OFF: 1,000 ms
Light OFF Initialized status

Light ON Normal operation (OPERATION) status

Blinking PRE-OPERATION status
Green (continuous) ON: 200 ms / OFF: 200 ms
STATUS 1 RUN
Blinking SAFE OPERATION status
(1 time) ON: 200 ms / OFF: 1,000 ms
Orange Blinking Signal component (module) error

A3-22 ME0384-7C
 3.7 Field Network General Specifications

3.7.5 EtherNet/IP

Specifications Section
Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded
8P8C modular plug (RJ-45)
* It is to be prepared by the customer.

LED display
Panel Display
Name Status Description
notation color
Light ON Normal operation
Green No configuration information,
Blinking

Chapter 3 Gateway Unit

STATUS 0 MS or scanner in idle status
Light ON Non-recoverable fault
Orange
Blinking Recoverable fault

Light ON Online, connection established

Green
Blinking Online, connection not established

STATUS 1 NS Light ON Fatal error, IP address duplication error

Orange
Blinking Connection timeout

Green/orange Light OFF No IP address

ME0384-7C A3-23
 3.7 Field Network General Specifications

3.7.6 PROFIBUS-DP
Specifications Section

1
6

9
5

Cable side connector name: 9-pin D sub connector (male)

* It is to be prepared by the customer.

Pin No. Signal name Description

1 NC Not connected
2 NC Not connected
3 B-Line Signal line B (RS-485)
4 RTS Transmission request
5 GND 0 V (isolated)
Chapter 3 Gateway Unit

6 +5 V +5 V output (isolated)
7 NC Not connected
8 A-Line Signal line A (RS-485)
9 NC Not connected
Frame ground (control power connector 1-pin FG
Housing FG
connected internally)

LED display
Panel Display
Name Status Description
notation color
Light ON Initialization complete
Green Initialization complete, diagnosis event
Blinking
STATUS 0 MS found
Orange Light ON Exception error

Green/orange Light OFF Uninitialized

Light ON Online, data exchange

Green
Blinking Online, clear status

STATUS 1 NS Light ON Parameter error

Orange
Blinking Configuration information error

Green/orange Light OFF Offline

A3-24 ME0384-7C
 3.7 Field Network General Specifications

3.7.7 PROFINET IO

Specifications Section
Cable/connector specifications: Ethernet ANSI/TIA/EIA-568-B Category 5 or higher, shielded
8P8C modular plug (RJ-45)
* It is to be prepared by the customer.

LED display
Panel Display
Name Status Description
notation color
Light ON Normal communication

Chapter 3 Gateway Unit

Blinking
Green Network being diagnosed
(1 time)
Blinking
Engineering tool is identifying the node
(2 times)
Exception error generated
Light ON
(hardware failure)
Blinking Settings and actual network
STATUS 0 MS (1 time) configuration differ
Blinking
Orange IP address not set
(2 times)
Blinking
Station name not set
(3 times)
Blinking
Internal error generated
(4 times)
Green/orange Light OFF Initializing
Online status
Light ON
Green (normal communication: RUN)
STATUS 1 NS Blinking Online status (STOP)

Green/orange Light OFF No connection

ME0384-7C A3-25
 3.7 Field Network General Specifications

3.7.8 Motion network

[EtherCAT Motion]
Specifications Section

Refer to [RCON EtherCAT Motion Instruction Manual (ME0427)] for the EtherCAT Motion
connection type.

[MECHATROLINK-III]
Refer to [RCON MECHATROLINK-III Instruction Manual (ME0426)] for the MECHATROLINK-III
connection type.

[SSCNET III/H]
Refer to [RCON SSCNET III/H Instruction Manual (ME0428)] for the SSCNET III/H connection
type.
Chapter 3 Gateway Unit

A3-26 ME0384-7C
 Specifications
Section

Chapter 4
24V Driver Unit
4.1 Overview ··························································· A4-1

4.2 How to Read the Model Nameplate ························· A4-2

4.3 How to Read the Model Number ····························· A4-3

4.4 Components······················································· A4-4

4.5 Part Names/Functions ·········································· A4-5

4.5.1 Part names ························································· A4-5
4.5.2 LED display ························································· A4-7
4.5.3 Jog switch ··························································· A4-8
4.5.4 Brake release switch ············································· A4-9
4.5.5 Motor/encoder connector ······································· A4-10
4.5.6 Drive source shutoff connector ································ A4-14
4.5.7 Fan connector ······················································ A4-15
4.5.8 Connectors ························································· A4-15
4.5.9 Fan unit ······························································ A4-16

4.6 External Dimensions ············································ A4-18

4.6.1 24V Driver unit (common for RCON-PC/PCF/AC/DC types) ··· A4-18
4.6.2 Fun unit (RCON-FU) ············································· A4-19

ME0384-7C
 4.1 Overview

4.1 Overview

The 24V driver unit is a controller dedicated for R Unit that is capable of control the gateway unit
Specifications Section

via the field network communication.

There are 4 types of driver unit available to suit the type of actuator motor controllable.
Additionally, up to 2 axes are controllable by a single driver unit.
Basic functions and performance are the same as PCON/ACON/DCON-CB controllers.

[Features]
■ Compatible with battery-less absolute specification and incremental specification. Additionally,
connection of a simple absolute unit allows support for simple absolute specification.
■ Compatible with stepper motor PowerCON specification and high thrust specification.
■ Driver units are directly connected so that the hassles of wiring can be significantly reduced.
■ DIN rail mounting makes it easy to mount onto control boards, etc.

PLC Field network

Teaching Tool Connectable Actuators

Chapter 4 24V Driver Unit

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching
RCP RCARCL RCD
Pendant PC Software
Model: TB-02 Model: IA-OS 24V
TB-03 RCM-101-* Driver Unit

Power Supply Unit

RCS/ISB, etc. ELECYLINDER

3-Phase / Single-Phase
Option Unit 200V AC
Model: PSA-24
Model: RCON-EXT Regenerative Resistor Unit
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
NP/PN Simple Absolute Unit

RCS/ISB, etc. SCON series

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

A4-1 ME0384-7C
 4.2 How to Read the Model Nameplate

4.2 How to Read the Model Nameplate

Specifications Section
[Nameplate Location]

Model number →
Serial number →

Caution Mark
High Temperature
Cation Mark

Type / Serial number →

Model code →
Connecting actuator model number →
(AXI: 1st axis, AXII: 2nd axis)

Mark Explanation of Mark

Chapter 4 24V Driver Unit

Use IAI specified cables only.

Do not touch product when power is ON. Risk of burn.

ME0384-7C A4-2
 4.3 How to Read the Model Number

4.3 How to Read the Model Number

The model of the 24V driver unit is as follows.

Specifications Section

1-axis specification or 2-axis specification can be selected for RCON-PC/AC/DC.

RCON-PCF is only one type.

24V Driver unit model

RCON － －
Type Number of Axes

PC Stepper motor Type 1 1-axis specification

Stepper motor 2 2-axis specification
PCF 56SP/60P/86P
Compatible type
AC AC servo motor type
DC DC brush-less motor type
Chapter 4 24V Driver Unit

Driver unit Driver unit

(Model : RCON-PCF-1) (Model : RCON-AC-2)
Driver unit
(Model : RCON-PC-2)
Driver unit
(Model : RCON-DC-2)

A4-3 ME0384-7C
 4.4 Components

4.4 Components

The following table shows the product configuration for the standard specification.

Specifications Section
See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

Model example:
Body

Driver unit 1
RCON-PC/PCF/AC/DC

Model:
Drive source DFMC1.5/2-STF-3.5
1
shutoff connector * Supplied with Driver
Unit
Accessories

First Step
1

Chapter 4 24V Driver Unit

Guide

Safety Guide 1

ME0384-7C A4-4
 4.5 Part Names/Functions

4.5 Part Names/Functions

4.5.1 Part names

Specifications Section
Chapter 4 24V Driver Unit

RCON-PC (green) RCON-AC (blue) RCON-DC (brown)

A4-5 ME0384-7C
 4.5 Part Names/Functions

SYS LED (1st axis)

T RUN LED

SYS LED (2nd axis)

Jog switch (1st axis)

Specifications Section
Brake switch (1st axis)
Jog switch (2nd axis)

Brake switch (2nd axis)

Fan connector
Motor/encoder
connector (1st axis)

Motor/encoder
connector (2nd axis)

Drive source shutoff

connector

Front Top

Connector upper part

Chapter 4 24V Driver Unit

Connector Connector Connector bottom part DIN tab

Left side Right side Rear

ME0384-7C A4-6
 4.5 Part Names/Functions

4.5.2 LED display

Display
Specifications Section

Panel notation Status Description

color
Light ON Normal internal bus communication
Green
Blinking Waiting for initialization signal, initialization communication failed
T RUN
Orange Light ON Bus communication error generated

Light OFF Communication stop

Light ON Servo ON
Green
Blinking Automatic servo OFF (blinks at 0.5 Hz)
SYS
I
II ( 1st axis
2nd axis Red
Light ON
Alarm triggered
STOP signal input OFF (Drive source cutoff triggered)
Blinking Collision detection (blinks at 1 Hz)

Light OFF Servo OFF, axis disable setting (gateway parameters)

Chapter 4 24V Driver Unit

A4-7 ME0384-7C
 4.5 Part Names/Functions

4.5.3 Jog switch

A switch for jog operation. I indicates the 1st axis, and II indicates the 2nd axis.

Specifications Section
Tilt the switch to the JOG+ side to perform jog operation in the + direction, and to the JOG- side
for jog operation in the - direction. Tilting the switch further increases the jog speed step by step.
However, if home return is not complete, the jog speed will be home return speed.
When performing jog operation with the JOG switch with servo ON, the servo will be ON even
after completion; with servo OFF, perform jog operation after servo ON and the servo will be
OFF after completion.
Note that the operation of the jog switch is enabled only in MANU teaching mode. It is disabled
in MANU monitor mode and AUTO mode.
The jog switch is also disabled when opening the screen in which the actuator can be operated
with the teaching tool. When opening the screen in which operation can be done with the jog
switch, the actuator will decelerate and stop.
If parameter No. 194 "JOG Switch" is set to "1: Invalid", this switch will be enabled (Initial setting
is "0: Valid").

Chapter 4 24V Driver Unit

Symbol Description

JOG+ Jog operation in + direction (home reverse direction)

JOG- Jog operation in - direction (home direction)

Caution
 The jog switch is disabled when the communication with the teaching tool is
disconnected while the screen in which the actuator can be operated with the teaching
tool is opened.
 To enable jog switch operation again, turn the RCON system on again or perform
software reset.

ME0384-7C A4-8
 4.5 Part Names/Functions

4.5.4 Brake release switch

A switch for forced brake release. I indicates the 1st axis, and II indicates the 2nd axis.
Specifications Section

Should be on NOM side during normal operation. On NOM side, the brake will be released by
servo ON and locked by servo OFF. On RLS side, there will be forced release regardless of
servo ON/OFF (except when control power is OFF).

Symbol Description
RLS Brake release (Brake Release)
NOM Brake lock (Normal)

Warning
 Be careful when releasing the brake. Releasing carelessly may cause injury or damage
to the actuator body, workpiece or surrounding devices due to the slider or rod falling.
Chapter 4 24V Driver Unit

 After releasing the brake, be sure to return the brake to the enabled status. It is very
dangerous to operate with the brake released. It may cause injury or damage to the
actuator body, workpiece or surrounding devices due to the slider or rod falling.

A4-9 ME0384-7C
 4.5 Part Names/Functions

4.5.5 Motor/encoder connector

A connector to connect to the actuator. I indicates the 1st axis, and II indicates the 2nd axis.

Specifications Section
In RCON, the axis numbers will be automatically allocated from the unit closest to the gateway
unit (except for the axis connecting to the EC Connection Unit and the SCON extension unit).
Axis numbers can be changed as needed to any number with the gateway parameter
configuration tool. For the setting method, refer to [Appendix Chapter 1, 1.4.4 Editing driver unit
configuration (Page E1-20)].

Axis number entry field

Chapter 4 24V Driver Unit

ME0384-7C A4-10
 4.5 Part Names/Functions

RCON-PC/PCF Driver Unit

Pin No. Signal name Description

1 A+ Encoder phase A+ input

Specifications Section

2 BK- Brake release - side

3 ΦA+ Motor drive line phase A+
4 ΦA- Motor drive line phase A-
5 VMM Motor power line
6 A- Encoder phase A- input
7 GND 0V
8 LS+ Limit switch + side
9 VMM Motor power line
10 ΦB+ Motor drive line phase B+
11 B+ Encoder phase B+ input
12 ENC_SD+ Battery-less absolute signal line +
13 LS_GND Ground for limit switch
14 LS- Limit switch - side
15 ΦB- Motor drive line phase B-
Chapter 4 24V Driver Unit

16 B- Encoder phase B- input

17 ENC_SD- Battery-less absolute signal line -
18 VPS Encoder line driver enable output
19 NC Not connected
20 BK+ Brake release + side
21 VCC Encoder for motor power 5V
22 CF_VCC Encoder for high-thrust motor power 5V
23 NC Not connected
24 FG Frame ground

A4-11 ME0384-7C
 4.5 Part Names/Functions

RCON-AC Driver Unit

Pin No. Signal name Description

1 B+ Encoder phase B+ input

Specifications Section
2 LS- Limit switch - side
3 U Motor drive line phase U
4 W Motor drive line phase W
5 V Motor drive line phase V
6 B- Encoder phase B- input
7 GND 0V
8 BK+ Brake release + side
9 NC Not connected
10 NC Not connected
11 Z+ / ENC_SD+ Encoder phase Z+ input / Battery-less absolute signal line +
12 A+ Encoder phase A+ input
13 LSGND Ground for limit switch
14 BK- Brake release - side
15 NC Not connected

Chapter 4 24V Driver Unit

16 Z- / ENC_SD- Encoder phase Z- input / Battery-less absolute signal line -
17 A- Encoder phase A- input
18 VPS Encoder line driver enable output
19 NC Not connected
20 LS+ Limit switch + side
21 VCC Encoder power 5V
22 NC Not connected
23 NC Not connected
24 FG Frame ground

ME0384-7C A4-12
 4.5 Part Names/Functions

RCON-DC Driver Unit

Pin No. Signal name Description

1 B+ Encoder phase B+ input

Specifications Section

2 LS- Limit switch - side

3 U Motor drive line phase U
4 W Motor drive line phase W
5 V Motor drive line phase V
6 B- Encoder phase B- input
7 GND 0V
8 BK+ Brake release + side
9 NC Not connected
10 NC Not connected
11 HS_U Hall sensor phase U
12 A+ Encoder phase A+ input
13 HS_W Hall sensor phase W
14 BK- Brake release - side
15 NC Not connected
Chapter 4 24V Driver Unit

16 HS_V Hall sensor phase V

17 A- Encoder phase A- input
18 VPS Encoder line driver enable output
19 NC Not connected
20 LS+ Limit switch + side
21 VCC Encoder power 5V
22 NC Not connected
23 NC Not connected
24 FG Frame ground

A4-13 ME0384-7C
 4.5 Part Names/Functions

4.5.6 Drive source shutoff connector

Drive-source cutoff input. Drive source can be cut off by individual axes.

Specifications Section
4 2

3 1

Cable connector name: DFMC1.5/2-STF-3.5 (Phoenix Contact)

Pin No. Signal name Description

1 MPO_2 Motor power output (2nd axis)

2 MPO_1 Motor power output (1st axis)
3 MPI_2 Motor power input (2nd axis)
4 MPI_1 Motor power input (1st axis)

Chapter 4 24V Driver Unit

Cable side connector compatible wire

Item Specifications

Compatible wire AWG24 to 16 (Copper Wire)

Strip length 10.0mm
Rated Temperature on Isolation Coating 60 °C or more

ME0384-7C A4-14
 4.5 Part Names/Functions

4.5.7 Fan connector

A connector to connect the fan unit. It connects to the fan board connector on the fan unit side.
Specifications Section

Fan connector

4.5.8 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.
Chapter 4 24V Driver Unit

Plug side connector Receptacle connector

A4-15 ME0384-7C
 4.5 Part Names/Functions

4.5.9 Fan unit

An option for forced air cooling of the driver unit. Use by connecting to the fan connector on the

Specifications Section
driver unit side.
1 fan unit to be used per 2 driver units.
The fan rotates when the driver unit internal temperature rises and stops when the temperature
falls.

Fan unit (Model: RCON-FU)

Fan unit

Chapter 4 24V Driver Unit

Operation without derating is possible without a fan unit at 0 to 40°C; however, at 40 to 55°C,
actuator operating duty must be reduced by 20% every 5°C.
(0CA alarm "Overheating" should be generated if operation is performed without decreasing the
operation duty.)
With fan unit, operation is possible up to 55°C without derating.
Operating duty [%]

Usage temperature environment [°C]

ME0384-7C A4-16
 4.5 Part Names/Functions

[How to Attaching Fan Unit]

Prepare a fan unit to be mounted.

Specifications Section

1) Adjust the installation orientation of the New Fan Unit

RCON system and new fan unit.

2) Hook the claw of the fan unit to the driver

unit as shown in the figure on the right. 2) Hook the claw of
RCON system front the fan unit to the
driver unit

3) Pull down the fan unit to the front of the 3) Pull down the fan
RCON system. unit to the front

4)
4) Press the fan unit from the top and snap in.

RCON system front

Chapter 4 24V Driver Unit

A4-17 ME0384-7C
 4.6 External Dimensions

4.6 External Dimensions

4.6.1 24V Driver unit (common for RCON-PC/PCF/AC/DC types)

Specifications Section
Item Specifications

External dimensions [mm] W22.6 × H115 × D95

Mass [g] About 180
External view See figure below

39.6
4

35.2
115

Chapter 4 24V Driver Unit

95
3.5

1 22.6 7 98.8

ME0384-7C A4-18
 4.6 External Dimensions

4.6.2 Fun unit (RCON-FU)

Specifications Section

Item Specifications

External dimensions [mm] W34.2 × H49 × D12.5

Mass [g] About 16
External view See figure below

18.35
34.2 12.5

49
Chapter 4 24V Driver Unit

A4-19 ME0384-7C
 Specifications
Section

Chapter 5
200V Power Supply Unit
5.1 Overview ··························································· A5-1

5.2 How to Read the Model Nameplate ························· A5-3

5.3 How to Read the Model Number ····························· A5-4

5.4 Components······················································· A5-5

5.5 Part Names/Functions ·········································· A5-6

5.5.1 Part names ························································· A5-6
5.5.2 External regenerative resistor connector ··················· A5-8
5.5.3 200V AC input connector········································ A5-9
5.5.4 Fan connector ······················································ A5-10
5.5.5 Connectors ························································· A5-10
5.5.6 Fan unit ······························································ A5-11
5.5.7 Terminal unit for 200V············································ A5-12

5.6 External Dimensions ············································ A5-13

5.6.1 200V Power supply unit (RCON-PS2) ······················· A5-13
5.6.2 Terminal unit for 200V (RCON-GW-TRS) ··················· A5-14

ME0384-7C
 5.1 Overview

5.1 Overview

The power supply unit is dedicated for 200V AC (single-phase / 3-phase). It is necessary when
Specifications Section

using the 200V driver unit.

The unit is to be installed on the right from the front view of the 24V driver unit and EC
connection unit. If only the 200V driver unit is to be used, allocate it on the right side of the
gateway unit.
Also, there is a fan unit and terminal unit for 200V enclosed to the power supply unit.
The terminal unit for 200V and the terminal unit for 24V are different.

[Features]
■ It is applicable for single-phase 200V and 3-phase 200V.
■ As it is equipped with a built-in regenerative resistor, there is basically no need of external
regenerative resistor. Using the calculator software should help figure out the necessary
number of the regenerative resistor units.
■ The wattage connectable is as shown below;
For single-phase 200V····· Total wattage of actuators connected to 200V driver unit should be
1,600W max.
For 3-phase 200V ··········· Total wattage of actuators connected to 200V driver unit should be
Chapter 5 200V Power Supply Unit

2,400W max.
■ Direct link with other units makes drastically simple wiring work.
■ Installation on DIN rails makes it easy to install to a control board.

A5-1 ME0384-7C
 5.1 Overview

PLC Field network

Specifications Section
Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching
RCP RCARCL RCD
Pendant PC Software
Model: TB-02 Model: IA-OS 200V
TB-03 RCM-101-* Power Supply
Unit

Power Supply Unit

RCS/ISB, etc. ELECYLINDER

Terminal
Unit
3-Phase / Single-Phase
Option Unit 200V AC
Model: PSA-24
Model: RCON-EXT Regenerative Resistor Unit (Note 1)
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
NP/PN Simple Absolute Unit

Chapter 5 200V Power Supply Unit

RCS/ISB, etc. SCON series
(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

Note 1 There is a built-in regenerative resistor of 60W equipped in 200V driver unit and 200V power supply unit.
The regenerative resistor is basically not necessary, but use an external regenerative resistor unit in
case of shortage in regenerative resistor.

ME0384-7C A5-2
 5.2 How to Read the Model Nameplate

5.2 How to Read the Model Nameplate

Specifications Section

[Nameplate Location]

Model number →
Serial number →

Caution Mark
High Temperature
Caution Mark
Electric Shock
Caution Mark

Type →
↑Serial number

Mark Explanation of Mark

Use IAI specified cables only.
Where residual-current-operated protective device (RCD) is used for protection in
case of direct or indirect contact, only RCD of Type B is allowed on the supply side of
this Electrotonic Equipment (EE).
Chapter 5 200V Power Supply Unit

Do not touch terminals within 10 minutes after disconnect the power.

Risk of electric shock.

Do not touch product when power is ON. Risk of burn.

[Terminal Unit for 200V]

GW -TRS X000 000 X0

A5-3 ME0384-7C
 5.3 How to Read the Model Number

5.3 How to Read the Model Number

The model of the 200V power supply unit is as follows.

Specifications Section
RCON － PS2 － 3 －
Series Type Power Supply Voltage Option

PS2 200V Power supply unit 3 3-Phase / Single-Phase 200V

Blank Terminal unit enclosed

TRN Without terminal unit

Fan unit
(Model : RCON-FU)

Chapter 5 200V Power Supply Unit

Terminal Unit for 200V
(Model : RCON-GW-TRS)
200V Power supply unit
(Model : RCON-PS2-3)

ME0384-7C A5-4
 5.4 Components

5.4 Components

The following table shows the product configuration for the standard specification.
Specifications Section

See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

200V
Body

1 Model : RCON-PS2-3
Power Supply Unit

Single product model :

Terminal Unit for RCON-GW-TRS
1
200V (Not supplied with TRN
specification)

Single product model :

RCON-FU
Fun Unit 1
(Delivered mounted on
Chapter 5 200V Power Supply Unit

main unit)
Accessories

Single product model :

Power Connector 1 SPC5/4-STF-7.62
(Phoenix Contact)

First Step
1
Guide

Safety Guide 1

A5-5 ME0384-7C
 5.5 Part Names/Functions

5.5 Part Names/Functions

5.5.1 Part names

Specifications Section
RCON-PS2

External Regenerative

Chapter 5 200V Power Supply Unit

Resistor Connector

Fan connector

200V AC Input
Connector

Front Top

ME0384-7C A5-6
 5.5 Part Names/Functions

Connector upper part

Specifications Section

Connector Connector Connector bottom part DIN tab

Left side Right side Rear

Chapter 5 200V Power Supply Unit

A5-7 ME0384-7C
 5.5 Part Names/Functions

5.5.2 External regenerative resistor connector

200V power supply unit and 200V driver unit are equipped with a built-in 60W regenerative

Specifications Section
resistor. In addition, they are equipped with a feature to share the regenerative resistance
among units. In case the resistance is in lack even with them, connect an external regenerative
resistor unit to these connectors. Using the calculator software should help figure out the
necessary number of the regenerative resistor units.
For the wiring method, refer to [Startup Section Chapter 2, 2.2.3 Wiring for external regenerative
resistor unit (Page B2-33)].

Pin No. Signal name Description

1 RB- (RB+) Resistor

2 RB+ (RB-) Resistor
3 Protection Grounding

Chapter 5 200V Power Supply Unit

ME0384-7C A5-8
 5.5 Part Names/Functions

5.5.3 200V AC input connector

It is a 3-phase/single-phase 200V AC input connector. The total wattage available for connection
Specifications Section

is 2,400W for the three-phase 200V AC and 1,600W for the single-phase 200V AC.

Cable connector name:SPC5/4-GF-7,62 (Phoenix Contact)

3-Phase 200V
Pin No. Signal name Description
1 L1 1st Phase
2 L2 2nd Phase
3 L3 3rd Phase
4 Protection Grounding

Single-Phase 200V
Pin No. Signal name Description Remarks
1 L1 Live
Chapter 5 200V Power Supply Unit

2 L2 Neutral
3 L3 No Connect Not to be connected
4 Protection Grounding

Cable side connector compatible wire

Item Specifications
Compatible wire AWG14 to 8 (Copper Wire)
Strip length 15.0 mm
Rated Temperature on Isolation Coating 60 °C or more

A5-9 ME0384-7C
 5.5 Part Names/Functions

5.5.4 Fan connector

A connector to connect the fan unit. It is the same as the fan unit attached on the 24V driver

Specifications Section
unit. It connects to the fan board connector on the fan unit side.

Fan connector

5.5.5 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.

Plug side connector Receptacle connector

Chapter 5 200V Power Supply Unit

ME0384-7C A5-10
 5.5 Part Names/Functions

5.5.6 Fan unit

It is a fun to have forced air cooling on the 200V power supply unit. It is the same as the fan unit
Specifications Section

attached on the 24V driver unit. Use the unit by connecting to the fan connector on the 200V
power supply unit side. One unit of the 200V power supply unit uses one unit of the fan unit.
The fan starts turning if the temperature inside of the 200V power supply unit gets high, and
stops when the temperature drops.

Fan unit (Model: RCON-FU)

Fan unit
Chapter 5 200V Power Supply Unit

A5-11 ME0384-7C
 5.5 Part Names/Functions

5.5.7 Terminal unit for 200V

Specifications Section
RCON-GW-TRS

Connector

Chapter 5 200V Power Supply Unit

Left side Right side Rear

Danger
 When 200V units are to be connected, make sure to use the terminal unit for 200V
(RCON-GW-TRS) enclosed in the 200V power supply unit.
The terminal unit for 24V has a structure that does not allow itself connected to the
200V driver unit, however, it could be forcefully inserted, which could cause fire on the
connector as well as damage on it.

ME0384-7C A5-12
 5.6 External Dimensions

5.6 External Dimensions

5.6.1 200V Power supply unit (RCON-PS2)

Specifications Section

Item Specifications

External dimensions [mm] W45.2 × H115 × D95

Mass [g] About 393
External view See figure below

39.6
4

35.2
115
Chapter 5 200V Power Supply Unit

95
3.5

1 45.2 7 98.8
104.5

A5-13 ME0384-7C
 5.6 External Dimensions

5.6.2 Terminal unit for 200V (RCON-GW-TRS)

Specifications Section
Item Specifications

External dimensions [mm] W12.6 × H115 × D95

Mass [g] About 40
External view See figure below

115

Chapter 5 200V Power Supply Unit

95
12.6
98.8

ME0384-7C A5-14
 Chapter 5 200V Power Supply Unit Specifications Section

A5-15
5.6 External Dimensions

ME0384-7C
 Specifications
Section

Chapter 6
200V Driver Unit
6.1 Overview ··························································· A6-1

6.2 How to Read the Model Nameplate ························· A6-3

6.3 How to Read the Model Number ····························· A6-4

6.4 Components······················································· A6-5

6.5 Part Names/Functions ·········································· A6-6

6.5.1 Part names ························································· A6-6
6.5.2 LED display ························································· A6-7
6.5.3 Jog switch ··························································· A6-8
6.5.4 Brake release switch ············································· A6-9
6.5.5 Motor connector ··················································· A6-9
6.5.6 Encoder connector················································ A6-10
6.5.7 Driver stop connector ············································ A6-11
6.5.8 Fan connector ······················································ A6-11
6.5.9 Connectors ························································· A6-11
6.5.10 Fan unit for 200V Driver unit ··································· A6-12

6.6 External Dimensions ············································ A6-13

6.6.1 200V Driver unit ··················································· A6-13
6.6.2 Fan unit for 200V Driver unit ··································· A6-14

ME0384-7C
 6.1 Overview

6.1 Overview

The 200V driver unit is a controller dedicated for the R unit that a 200V AC servomotor type
Specifications Section

actuator is controlled with the field network communication via the gateway unit. The basic
features and performances are the same as those for SCON controllers. The maximum number
of axes available to control with one unit of the driver unit is one axis.
The unit is to be installed on the right from the front view of the 200V power supply unit. It is
available to perform control 16 axes at the maximum in combination with the 24V driver unit and
the EC connection unit. (Note)
Also, there is a 200V fan unit enclosed to the 200V driver unit.
Note: There is a limit to the wattage connectable. Refer to [Features] for details.

[Features]
■ The unit is applicable for the battery-less absolute type, incremental type, index absolute type
and spurious absolute type.
■ One unit of the driver unit can be applied to wattages from 60 to 750W.
■ As it is equipped with a built-in regenerative resistor, there is basically no need of external
regenerative resistor.
■ The wattage connectable is as shown below;
For single-phase 200V····· Total wattage of actuators connected to 200V driver unit should be
Chapter 6 200V Driver Unit

1,600W max.
For 3-phase 200V ··········· Total wattage of actuators connected to 200V driver unit should be
2,400W max.
■ Direct link among driver units makes drastically simple wiring work.
■ Installation on DIN rails makes it easy to install to a control board.

A6-1 ME0384-7C
 6.1 Overview

PLC Field network

Specifications Section
Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching RCP RCARCL RCD
Pendant PC Software
Model: TB-02 Model: IA-OS 200V
TB-03 RCM-101-* Driver Unit

Power Supply Unit

RCS/ISB, etc.(Note 1) ELECYLINDER

3-Phase / Single-Phase
Option Unit 200V AC
Model: PSA-24
Model: RCON-EXT Regenerative Resistor Unit (Note 2)
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
Simple Absolute Unit
NP/PN

RCS/ISB, etc. SCON series

Chapter 6 200V Driver Unit

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

Note1: In case of the following 200V servomotor actuators and the case that the maximum wattage exceeds
the following, it is not available to establish connectivity to 200V driver unit.
1) Motor types other than those from 60W to 750W
2) Encoder types other than battery-less absolute, incremental, spurious absolute or index absolute type
3) For 3-Phase 200V············· Combination that exceeds 2,400W for total wattage of actuators
connected to 200V driver unit
4) For Single-Phase 200V ······ Combination that exceeds 1,600W for total wattage of actuators
connected to 200V driver unit
5) Servo Press types
6) SCARA Robot
7) CT4 Series
8) ZR Series
When 1) to 4) above, use SCON extension unit and SCON series (RCON Connection Type for SCON2
or SCON-CB).
Also, DD/DDA and LSA-W21S are not applicable for the single-phase 200V.

Note 2: There is a built-in regenerative resistor of 60W equipped in 200V power unit, 200V driver unit.
The regenerative resistor is basically not necessary, but use an external regenerative resistor unit in case
of shortage in regenerative resistor.

ME0384-7C A6-2
 6.2 How to Read the Model Nameplate

6.2 How to Read the Model Nameplate

Specifications Section

[Nameplate Location]

Model number →
Serial number →

Caution Mark
High Temperature
Caution Mark
Electric Shock
Caution Mark

Type / Serial number →

Model number →
Connecting actuator →
model number

Mark Explanation of Mark

Use IAI specified cables only.
Where residual-current-operated protective device (RCD) is used for protection in case
of direct or indirect contact, only RCD of Type B is allowed on the supply side of this
Electrotonic Equipment (EE).
Chapter 6 200V Driver Unit

Do not touch terminals within 10 minutes after disconnect the power.

Risk of electric shock.

Do not touch product when power is ON. Risk of burn.

A6-3 ME0384-7C
 6.3 How to Read the Model Number

6.3 How to Read the Model Number

The model of the 200V driver unit is as follows.

Specifications Section
RCON － SC － 1
Series Type Number of Axes
｜ ｜
SC : 200V AC servo motor type 1:1-axis

60 60W servo motor

100 100W servo motor
100S 100W servo motor (For LSA)
Type : SC 150 150W servo motor
60 to 750W motor 200 200W servo motor
200S 200W servo motor (For LSA, DD)
1-axis 300S 300W servo motor (For LSA)
400 400W servo motor
600 600W servo motor
750 750W servo motor

Chapter 6 200V Driver Unit

200V Driver unit
(Model : RCON-SC-1)
Fan Unit for 200V Driver Unit
(Model : RCON-FUH)

ME0384-7C A6-4
 6.4 Components

6.4 Components

The following table shows the product configuration for the standard specification.
Specifications Section

See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

200V
Body

1 Model : RCON-SC-1
Driver unit

Fan Unit for 200V Driver Single product model :

1
Unit RCON-FUH

Single product model :

Dummy plug 1
DP-6
Accessories
Chapter 6 200V Driver Unit

First Step
1
Guide

Safety Guide 1

A6-5 ME0384-7C
 6.5 Part Names/Functions

6.5 Part Names/Functions

6.5.1 Part names

Specifications Section
RCON-SC

SYS LED T RUN LED

Jog switch

Chapter 6 200V Driver Unit

Brake switch

Fan connector
Encoder connector

Driver Stop Connector

Motor connector

Front Top

ME0384-7C A6-6
 6.5 Part Names/Functions

Connector upper part

Specifications Section

Connector Connector Connector bottom part DIN tab

Left side Right side Rear

Chapter 6 200V Driver Unit

6.5.2 LED display

Display
Panel notation Status Description
color
Light ON Normal internal bus communication
Green
T RUN Blinking Waiting for initialization signal, initialization communication failed
Orange Light ON Bus communication error generated
Light ON Servo ON
Green
SYS Light OFF Servo OFF
Red Light ON Alarm triggered, Stop Signal Input On

A6-7 ME0384-7C
 6.5 Part Names/Functions

6.5.3 Jog switch

A switch for jog operation.

Specifications Section
Tilt the switch to the JOG+ side to perform jog operation in the + direction, and to the JOG- side
for jog operation in the - direction. Tilting the switch further increases the jog speed step by step.
However, if home return is not complete, the jog speed will be home return speed.
When performing jog operation with the JOG switch with servo ON, the servo will be ON even
after completion; with servo OFF, perform jog operation after servo ON and the servo will be
OFF after completion.
Note that the operation of the jog switch is enabled only in MANU mode and teaching mode. It is
disabled in MANU monitor mode and AUTO mode.
The jog switch is also disabled when opening the screen in which the actuator can be operated
with the teaching tool. When opening the screen in which operation can be done with the jog
switch, the actuator will decelerate and stop.
If parameter No. 194 "JOG Switch" is set to "1: Invalid", this switch will be enabled. (Initial
setting is "0: Valid")

Symbol Description
JOG+ Jog operation in + direction (home reverse direction)

Chapter 6 200V Driver Unit

JOG- Jog operation in - direction (home direction)

Caution
 The jog switch is disabled when the communication with the teaching tool is
disconnected while the screen in which the actuator can be operated with the teaching
tool is opened.
 To enable jog switch operation again, turn the RCON system on again or perform
software reset.

ME0384-7C A6-8
 6.5 Part Names/Functions

6.5.4 Brake release switch

A switch for forced brake release.

Specifications Section

Should be on NOM side during normal operation. On NOM side, the brake will be released by
servo ON and locked by servo OFF. On RLS side, there will be forced release regardless of
servo ON/OFF (except when control power is OFF).

Symbol Description
RLS Brake release (Brake Release)
NOM Brake lock (Normal)

Warning
 Be careful when releasing the brake. Releasing carelessly may cause injury or damage
to the actuator body, workpiece or surrounding devices due to the slider or rod falling.
 After releasing the brake, be sure to return the brake to the enabled status. It is very
dangerous to operate with the brake released. It may cause injury or damage to the
actuator body, workpiece or surrounding devices due to the slider or rod falling.
Chapter 6 200V Driver Unit

6.5.5 Motor connector

It is a connector to connect to the motor cable on an actuator.

In RCON, the axis numbers will be automatically allocated from the unit closest to the gateway
unit (except for the axis connecting to the EC Connection Unit and the SCON connection unit).
Axis numbers can be changed as needed to any number with the gateway parameter
configuration tool.

Pin No. Signal name Description

A1 W Motor drive line phase W
A2 Protection Grounding
B1 U Motor drive line phase U
B2 V Motor drive line phase V

A6-9 ME0384-7C
 6.5 Part Names/Functions

6.5.6 Encoder connector

It is a connector to connect to the encoder cable on an actuator.

Specifications Section
Pin No. Signal name Description
1 A+ Encoder phase A+ input
2 A- Encoder phase A- input
3 B+ Encoder phase B+ input
4 B- Encoder phase B- input
5 Z+ Encoder phase Z+ input
6 Z- Encoder phase Z- input
7 SRD+ Send & Receive Data +
8 SRD- Send & Receive Data -

Chapter 6 200V Driver Unit

9 -
10 -
11 NC Not to be connected
12 24VOUT Sensor Power Supply Output
13 0V 24V Power Supply GND
14 -
15 -
16 VCC Encoder Power Supply
17 GND GND
18 -
19 -
20 BK- Brake Release Output Signal -
21 BK+ Brake Release Output Signal +
22 NC Not to be connected
23 RSV Sensor input (Reserve)
24 OT Sensor input (Over Travel)
25 CLEEP Sensor input (Creeping Sensor)
26 LS Sensor input (Limit Switch)

ME0384-7C A6-10
 6.5 Part Names/Functions

6.5.7 Driver stop connector

It is a connector to use the driver stop feature.

Specifications Section

For details, refer to [Startup Section Chapter 2, 2.3.2 Driver Stop Circuit (Page B2-55)].
Keep the enclosed dummy plug (model code: DP-6) on when this feature is not to be used.

6.5.8 Fan connector

A connector to connect the Fan Unit for 200V Driver Unit. It connects to the fan board connector
on the fan unit side.
Fan connector
Chapter 6 200V Driver Unit

6.5.9 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.

Plug side connector Receptacle connector

A6-11 ME0384-7C
 6.5 Part Names/Functions

6.5.10 Fan unit for 200V Driver unit

It is a fan to have forced air cooling on the driver unit. Use by connecting to the fan connector on

Specifications Section
the driver unit side. One unit of the 200V driver unit requires one unit of the Fan Unit for 200V
Driver Unit.
The fan rotates when the driver unit internal temperature rises and stops when the temperature
falls.

Fan unit for 200V driver unit

(Model : RCON-FUH)

Fan unit for 200V driver unit

Chapter 6 200V Driver Unit

ME0384-7C A6-12
 6.6 External Dimensions

6.6 External Dimensions

6.6.1 200V Driver unit

Specifications Section

Item Specifications

External dimensions [mm] W45.2 × H115 × D95

Mass [g] About 438
External view See figure below

39.6
4

35.2
115
Chapter 6 200V Driver Unit

95
3.5

1 45.2 7 98.8
103.5

A6-13 ME0384-7C
 6.6 External Dimensions

6.6.2 Fan unit for 200V Driver unit

Specifications Section
Item Specifications

External dimensions [mm] W44.5 × 64 × D18.2

Mass [g] About 20
External view See figure below

18.2

44.5 12.5

64

Chapter 6 200V Driver Unit

ME0384-7C A6-14
 Chapter 6 200V Driver Unit Specifications Section

A6-15
6.6 External Dimensions

ME0384-7C
 Specifications
Section

Chapter 7
Option Unit
7.1 Overview ··························································· A7-1

7.2 How to Read the Model Nameplate ························· A7-4

7.3 How to Read the Model Number ····························· A7-5

7.4 Option Unit and Components ································· A7-7

7.5 Part Names/Functions ·········································· A7-10

7.5.1 Part names ························································· A7-10
7.5.2 LED display ························································· A7-12
7.5.3 SCON cable connector ·········································· A7-13
7.5.4 PIO cable connector·············································· A7-14
7.5.5 SIO cable connector·············································· A7-18
7.5.6 Connectors ························································· A7-18

7.6 External Dimensions ············································ A7-19

ME0384-7C
 7.1 Overview

7.1 Overview

[SCON Extension Unit]

Specifications Section

SCON extension unit is a unit to connect SCON-CB Controller (RCON connection type) to
R Unit.
Using the SCON extension unit and SCON-CB Controller should enable to connect the following
1) to 4) actuators that are not capable to connect with the 200V driver unit (RCON-SC).

1) Motor types other than those from 60W to 750W

2) Encoder types other than battery-less absolute, incremental, spurious absolute or index
absolute type
3) When the 200V AC servomotor type actuator is to be used in a combination with the motor
wattage exceeding connectable to RCON-PS2-3

As seen from the front, the gateway unit is placed to the left end of the RCON system,
while the SCON expansion unit is located on the right side of the gateway unit during use.

PLC Field network

Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Chapter 7 Option Unit

Teaching
RCP RCARCL RCD
Pendant PC Software
Model: TB-02 Model: IA-OS
TB-03 RCM-101-*

Power Supply Unit

RCS/ISB, etc. ELECYLINDER

3-Phase / Single-Phase
Option Unit 200V AC
Model: PSA-24
Model: RCON-EXT Regenerative Resistor Unit
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
NP/PN Simple Absolute Unit

RCS/ISB, etc. SCON series

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

A7-1 ME0384-7C
 7.1 Overview

The SCON extension unit and the SCON series (RCON Connection Type for SCON2 or SCON-
CB) are connected with a dedicated cable (model: CB-RE-CTL). When connecting two or
more SCON-CB controllers (SCON2/SCON-CB), connect the SCON units together with a

Specifications Section
dedicated cable. Up to 16 axes can be controlled by combining with a driver unit and the
connected axis.

Communication SCON-CB controller (RCON Connection Type)

RCON controller connector
for RCON
connection
Top: OUT
Bottom: IN

Terminal connector
RCON-EXT-TR

SCON Extension Unit

Connection cable CB-RE-CTL

Cable for each actuator

Refer to
[SCON-CB Instruction Manual]

Chapter 7 Option Unit

Actuator

* In RCON System, it is available to connect only either the SCON extension units or
PIO/SIO/SCON extension units.

[PIO/SIO/SCON Extension Units]

PIO/SIO/SCON extension unit is equipped with a connector to link SCON-CB controller as well
as SCON extension unit does. It is also equipped with the parallel I/O connector with 16 points
of input and 16 points of output.
However, the mounted SIO connector cannot be used in the RCON system.
PIO/SIO/SCON extension units are also available to use by allocating on the right of the RCON
gateway unit.

ME0384-7C A7-2
 7.1 Overview

[PIO Unit]
PIO unit is equipped with the parallel I/O connector with 16 points of input and 16 points of output.
Expansion is available up to 8 at the maximum (144 points of input and 144 points of output)
Specifications Section

including PIO/SIO/SCON extension units.

 Parameter Setting When PIO/SIO/SCON Extension Unit and PIO Unit Used
In the RCON system, set up "Number of Option Units to be Connected" in the gateway
parameters when the PIO features are to be used connecting the PIO/SIO/SCON extension unit
or PIO unit. Also, the setting is "0" at the delivery from our production plant.
For details, refer to [Startup Section Chapter 4, 4.2 Setting RCON Gateway Parameters (Page
B4-3)].

Caution
 SIO port mounted on SCON-CB used for SCON extension unit cannot be used.
Have the communication connected from the RCON gateway unit when having a work
such as editing a parameter.

Caution
 PIO/SIO/SCON extension unit and PIO connector on the PIO unit are the connectors to
be used for general input and output. They cannot be used for RCON control and
Chapter 7 Option Unit

status reference.

A7-3 ME0384-7C
 7.2 How to Read the Model Nameplate

7.2 How to Read the Model Nameplate

Specifications Section
Model number →
Serial number →

↓ Serial number
Model
Caution Mark number →

Mark Explanation of Mark

Use IAI specified cables only.

[Nameplate Location]

Chapter 7 Option Unit

ME0384-7C A7-4
 7.3 How to Read the Model Number

7.3 How to Read the Model Number

[SCON Extension Unit]

Specifications Section

RCON − EXT

* The SCON capable of being connected to the SCON extension unit is only the models in
the I/O type "RC".

SCON – C(G)B - - RC - - あ
<Series> <Type> <Motor type> <I/O type> <Cable length> <Power supply voltage>

SCON-CB Controller (RCON connection specification)

Chapter 7 Option Unit

SCON in the RCON connection type is enclosed with the RCON connection cable
(CB-RE-CTL).

CB-RE-CTL002 (0.2m)

A7-5 ME0384-7C
 7.3 How to Read the Model Number

[PIO/SIO/SCON Extension Unit]

RCON − EXT − −

Specifications Section
I/O Specification I/O Cable Length

NP I/O NPN specification 0 Cable Without

PN I/O PNP specification 2 2m (Standard)
3 3m
5 5m

[PIO Unit]

RCON − −
I/O Specification I/O Cable Length

NP I/O NPN specification 0 Cable Without

PN I/O PNP specification 2 2m (Standard)
3 3m

Chapter 7 Option Unit

5 5m

ME0384-7C A7-6
 7.4 Option Unit and Components

7.4 Option Unit and Components

The following table shows the product configuration for the standard specification.
Specifications Section

See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

[SCON Extension Unit]

Part name Shape Quantity Remarks
Body

SCON extension unit 1

Terminal Resistor for

SCON
Single product model
Terminal connector 1 number:
RCON-EXT-TR
* Enclosed to SCON
extension unit
Accessories

First Step Guide 1

Chapter 7 Option Unit

Safety Guide 1

A7-7 ME0384-7C
 7.4 Option Unit and Components

[PIO/SIO/SCON Extension Unit]

Part name Shape Quantity Remarks

Specifications Section
RCON-EXT-PN-*
(PNP specification)
PIO/SIO/SCON
Body

1
extension unit
RCON-EXT-NP-*
(NPN specification)

Terminal Resistor for

SCON
Single product model
Terminal connector 1 number:
RCON-EXT-TR
* Enclosed to SCON
extension unit

PIO cable 1 CB-PAC-PIO***

Accessories

Extension SIO port

1 FMC1.5/3-STF-3.5
connector

Chapter 7 Option Unit

First Step Guide 1 ME0393

Safety Guide 1 M0194

ME0384-7C A7-8
 7.4 Option Unit and Components

[PIO Unit]
Part name Shape Quantity Remarks

RCON-PN-*
Specifications Section

(PNP specification)
Body

PIO unit 1
RCON-NP-*
(NPN specification)

PIO cable 1 CB-PAC-PIO***

Accessories

First Step Guide 1 MJ0393

Safety Guide 1 M0194

Chapter 7 Option Unit

A7-9 ME0384-7C
 7.5 Part Names/Functions

7.5 Part Names/Functions

7.5.1 Part names

Specifications Section
[SCON Extension Unit]

SCON cable connector

Front

Chapter 7 Option Unit

[PIO/SIO/SCON Extension Unit]

Status LED

PIO cable connector

SIO cable connector

SCON cable connector

Front

ME0384-7C A7-10
 7.5 Part Names/Functions

[PIO Unit]
Status LED
Specifications Section

PIO cable connector

Front

Connector upper part

Chapter 7 Option Unit

Connector

Connector bottom part DIN tab

Left side Right side Rear

A7-11 ME0384-7C
 7.5 Part Names/Functions

7.5.2 LED display

The status of the status LED lamps are as shown in the list.

Specifications Section
Total frame communication status LED

PIO unit status LED

Color
LED name Status
Green Red

Light ON Light OFF Configuration communication

Total frame Light ON Light OFF Normal communication
communication
status LED Light OFF Light ON Total frame communication error

Light OFF Light OFF Updating

Chapter 7 Option Unit

Light ON Light OFF Normal operation

PIO unit status Light OFF Light ON Control power voltage dropped
LED Light OFF Light ON I/O power voltage dropped

Light ON Light OFF Updating

ME0384-7C A7-12
 7.5 Part Names/Functions

7.5.3 SCON cable connector

A cable connector for connecting the SCON extension unit and SCON.
Specifications Section

Pin No. Signal name Description

1 VP24 Expansion module 24 V power

2 GND 0V
3 DRV_DY Driver dedicated internal bus signal differential transmit line +
4 DRV_RA Driver dedicated internal bus signal differential receive line +
5 DRV_DZ Driver dedicated internal bus signal differential transmit line -
Chapter 7 Option Unit

6 DRV_RB Driver dedicated internal bus signal differential receive line -

7 AM_SD+ MODBUS differential line +
8 AM_SD- MODBUS differential line -
9 ACT_PULSE+ Driver signal timing notification signal differential line +
10 ACT_PULSE- Driver signal timing notification signal differential line -
11 SYNC_PULSE+ Driver synchronizing signal differential line +
12 SYNC_PULSE- Driver synchronizing signal differential line -
13 RTC_1Hz 1 Hz toggle signal
14 CONE_IN Unit connection check signal
15 STOP Stop signal
16 ENABLE Enable signal
17 NC Not connected
18 GW_RESET Gateway reset signal
19 FG Frame ground

A7-13 ME0384-7C
 7.5 Part Names/Functions

7.5.4 PIO cable connector

It is a connector to connect to external PIO input and output signals.

Specifications Section
T.RUN

SYS

I/O
NPN

20A

 Connector specifications

Manufacturer HIF6-40PA-1.27DS (71)

Model Hirose Electric

Chapter 7 Option Unit

Connector General Specifications

Rated current 0.5A

Rated voltage AC125V
Repeated Insertion life 500 times

ME0384-7C A7-14
 7.5 Part Names/Functions

 External input specifications

Item Specifications

Input point 16 points

Specifications Section

Input voltage DC24V±10%

Input current 4mA/1 circuit
ON voltage : Minimum 18V DC (3.5mA)
ON/OFF voltage
OFF voltage : Maximum 6V DC (1mA)
Isolation method Photocoupler insulation

[NPN specification]
Chapter 7 Option Unit

[PNP specification]

A7-15 ME0384-7C
 7.5 Part Names/Functions

 External output specifications

Item Specifications

Output point 16 points

Specifications Section
Rated load voltage 24V DC ± 10%
Maximum current 50mA/1 circuit
Isolation method Photocoupler insulation

[NPN specification]

Chapter 7 Option Unit

[PNP specification]

ME0384-7C A7-16
 7.5 Part Names/Functions

 Pin Assignment

Pin No. Class Assignment Pin No. Class Assignment

1A 24 P24 1B OUT0
Specifications Section

2A 24 P24 2B OUT1
3A - - 3B OUT2
4A - - 4B OUT3
5A IN0 5B OUT4
6A IN1 6B OUT5
7A IN2 7B OUT6
8A IN3 8B OUT7
Output
9A IN4 9B OUT8
10A IN5 10B OUT9
11A IN6 11B OUT10
12A IN7 12B OUT11
Input
13A IN8 13B OUT12
14A IN9 14B OUT13
15A IN10 15B OUT14
16A IN11 16B OUT15
17A IN12 17B - -
Chapter 7 Option Unit

18A IN13 18B - -

19A IN14 19B 0 N
20A IN15 20B 0 N

A7-17 ME0384-7C
 7.5 Part Names/Functions

7.5.5 SIO cable connector

Specifications Section
3
2
1

Item Model Manufacturer

PCB side connector MC1.5/3-GF-3.5P26THR Phoenix Contact

Mating connector FMC1.5/3-STF-3.5 Phoenix Contact

* The SIO connector cannot be used in the RCON system.

7.5.6 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.

Chapter 7 Option Unit

Plug side connector Receptacle connector

ME0384-7C A7-18
 7.6 External Dimensions

7.6 External Dimensions

[SCON Extension Unit] RCON-EXT

Specifications Section

[PIO/SIO/SCON Extension Unit] RCON-EXT-NP/PN-*

[PIO Unit] RCON-NP/PN-*

Item Specifications

External dimensions [mm] W22.6 × H115 × D95

About 96 (SCON Extension Unit)
Mass [g] About 110 (PIO/SIO/SCON Extension Unit)
About 105 (PIO Unit)
External view See figure below

39.6
4
Chapter 7 Option Unit

35.2
115

95
1 7
3.5

98.8

A7-19 ME0384-7C
 Specifications
Section

Chapter 8
EC Connection Unit
8.1 Overview ··························································· A8-1

8.2 How to Read the Model Nameplate ························· A8-2

8.3 How to Read the Model Number ····························· A8-3

8.4 Components······················································· A8-4

8.5 Part Names/Functions ·········································· A8-5

8.5.1 Part names ························································· A8-5
8.5.2 LED display ························································· A8-6
8.5.3 Jog switch ··························································· A8-7
8.5.4 Brake release switch ············································· A8-8
8.5.5 Connectors for EC connection ································· A8-9
8.5.6 Drive source shutoff connector ································ A8-10
8.5.7 Connectors ························································· A8-11

8.6 External Dimensions ············································ A8-12

ME0384-7C
 8.1 Overview

8.1 Overview

The EC connection is a unit to connect ELECYLINDER dedicated for R Unit.

Specifications Section

Connect RCON-EC connection type (option: ACR) ELECYLINDER to RCON and

ELECYLINDER can be controlled in the field network communication. 24V and 200V driver units
can exist together.
Also, the number of ELECYLINDER available to be connected to one unit of the EC connection
unit should be 4 axes at the maximum. (Note 1)

Caution
 EC Connection Unit is not available for operation ELECYLINDER in the single solenoid
system. ELECYLINDER may not operate as commanded by a host system if the setting
is changed to the single solenoid system.

Field network
PLC

Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching
RCP RCARCL RCD
Pendant PC Software
EC Connection
Model: TB-02 Model: IA-OS
Unit
TB-03 RCM-101-*
Chapter 8 EC Connection Unit

Power Supply Unit

RCS/ISB, etc. ELECYLINDER

3-Phase / Single-Phase
Option Unit 200V AC
Model: PSA-24
Model: RCON-EXT Regenerative Resistor Unit
RCON-NP/PN Model: RESU-2/RESUD-2
RCON-EXT-
NP/PN Simple Absolute Unit

RCS/ISB, etc. SCON series

(RCON Connection Type)
Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

Note 1 There is a limitation to the number of axes available to connect to one unit of the EC
connection unit for the high thrust type ELECYLINDER (EC-RTC18). Refer to [2.3.2
Number of connected units and occupied size [2] Limit in Count of High-Thrust EC
Connection to EC Connection Unit] for details.

A8-1 ME0384-7C
 8.2 How to Read the Model Nameplate

8.2 How to Read the Model Nameplate

Specifications Section
[Nameplate Location]

Model number→
Serial number→

Caution Mark

Type→
↑Serial number

Mark Explanation of Mark

Use IAI specified cables only.

Chapter 8 EC Connection Unit

Do not touch product when power is ON. Risk of burn.

ME0384-7C A8-2
 8.3 How to Read the Model Number

8.3 How to Read the Model Number

The model of the EC connection unit is as follows.

Specifications Section

There is only one type four-axis type for the EC connection unit.

EC Connection Unit model

RCON － －
Type Number of Axes

EC ELECYLINDER 4 Four-axis type

* ELECYLINDER capable to be connected to the EC connection unit is the option :

It is Only models that include ACR.

EC - - - ( ) - - - ACR
< Series> <Type> <Lead> < Motor Joint Type> < Stroke> < Cable Length> <Option>
ACR: RCON-EC connection
type (tentative)
Chapter 8 EC Connection Unit

EC Connection Unit
(Model : RCON-EC-4)

A8-3 ME0384-7C
 8.4 Components

8.4 Components

The following table shows the product configuration for the standard specification.

Specifications Section
See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

Model:
Body

Driver unit 1
RCON-EC-4

Model:
Drive source DFMC1.5/4-ST-3.5
1
shutoff connector * Supplied with
EC Cnnection Unit
Accessories

First Step
1
Guide

Chapter 8 EC Connection Unit

Safety Guide 1

ME0384-7C A8-4
 8.5 Part Names/Functions

8.5 Part Names/Functions

8.5.1 Part names

Specifications Section

Backward end LED

(1st to 4th Axes)
T RUN LED
Forward end LED
(1st to 4th Axes) SYS LED
Jog switch
Brake Release Switch
(1st to 4th Axes)
(1st to 4th Axes)

RCON-EC Drive source shutoff connector

Front

Connector upper part

Chapter 8 EC Connection Unit

Connector Connector Connector bottom part DIN tab

Left side Right side Rear

A8-5 ME0384-7C
 8.5 Part Names/Functions

8.5.2 LED display

Display

Specifications Section
Panel notation Status Description
color
Light ON Normal internal bus communication
Green
T RUN Blinking Waiting for initialization signal, initialization communication failed

Orange Light ON Bus communication error generated

Light ON In normal operation

Green Control power voltage dropped, motor power voltage
Light OFF dropped, emergency stop, error occurred in steady
communication with EC
SYS
Control power voltage dropped, motor power voltage
Light ON dropped, emergency stop, error occurred in steady
Red communication with EC
Light OFF In normal operation
LS1/ALM Light ON Movement to Forward End Complete
( I = 1st axes, Green
II = 2nd axes, Light OFF Stop
III = 3rd axes,
IV = 4th axes) Red Light ON Alarm triggered
LS0
( I = 1st axes, Light ON Movement to Backward End Complete
II = 2nd axes, Green
III = 3rd axes, Light OFF Stop
IV = 4th axes)

Chapter 8 EC Connection Unit

ME0384-7C A8-6
 8.5 Part Names/Functions

8.5.3 Jog switch

They are switches for the jog operation. It comes the switches for 1st, 2nd, 3rd and 4th axes
Specifications Section

from the top.

Set a switch to the JOG+ side and the jog operation to the positive direction (target position
registered as the forward end in the position data) should be made and set it to the JOG- side
and the jog operation to the negative side (target position registered as the backward end) to be
made. The jog speed should be the velocity registered in the position data. If the switch gets
released on the way, stop should be performed with the deceleration registered in the position
data. However, if the home-return operation is incomplete, it should perform the home-return
operation no matter which side the switch is set to. Releasing the switch one the way should
cancel the home-return operation.
The operation on on the jog switch is valid only in MANU Mode. It should be invalid in AUTO
Mode. Also, when a window to operate actuators is open on a teaching tool, the jog switch
should be inactivated. If a window capable to operate actuators gets opened during operation
with the jog switch, an actuator should decelerate and stop.
Setting "RCON3 EC JOG Switch" in option unit parameters from the GW parameter setting tool
invalid should make the jog switches on all the units of the EC connection unit connected to the
gateway inactivated (It is set to "Valid" in the initial setting). For the setting method, refer to
[Appendix Chapter 1, 1.3.2 Special parameter setting function descriptions (Page E1-8)].

JOG- JOG+
Chapter 8 EC Connection Unit

Symbol Description
Jog operation to positive direction (target position registered as
JOG+
forward end in position data)
Jog operation to negative direction (target position registered as
JOG-
backward end in position data)

Caution
 The jog switch is disabled when the communication with the teaching tool is
disconnected while the screen in which the actuator can be operated with the teaching
tool is opened.
At this time, when having the jog switch operation back to enabled, it is necessary to
reboot the power to the RCON system or conduct the software reset.

A8-7 ME0384-7C
 8.5 Part Names/Functions

8.5.4 Brake release switch

They are switches to release the brake compulsorily. It comes the switches for 1st, 2nd, 3rd and

Specifications Section
4th axes from the top.
Should be on NOM side during normal operation. On NOM side, the brake will be released by
servo ON and locked by servo OFF. On RLS side, there will be forced release regardless of
servo ON/OFF. (except when control power is OFF)

RLS NOM

Symbol Description
RLS Brake release (Brake Release)
NOM Brake lock (Normal)

Warning
● Be careful when releasing the brake. Releasing carelessly may cause injury or damage
to the actuator body, workpiece or surrounding devices due to the slider or rod falling.
● After releasing the brake, be sure to return the brake to the enabled status. It is very
dangerous to operate with the brake released. It may cause injury or damage to the

Chapter 8 EC Connection Unit

actuator body, workpiece or surrounding devices due to the slider or rod falling.

ME0384-7C A8-8
 8.5 Part Names/Functions

8.5.5 Connectors for EC connection

They are connectors to connect ELECYLIDER. It comes the connectors for 1st, 2nd, 3rd and
Specifications Section

4th axes from the top.

The axis numbers should be automatically assigned to the numbers after the driver units and
SCON extension unit. Axis numbers for four axes should be assigned to the EC connection unit
even if ELECYLINDER is not connected to all of four. An axis number that an axis is not
connected should not be pulled one number forward.

Pin No. Signal name Description

1 24V (MP) Motor power +24V

2 GND 0V
3 IN0 Input 0
Chapter 8 EC Connection Unit

4 IN1 Input 1
5 IN2 Input 2
6 SD+ Communication Line +
7 OUT0 Output 0
8 OUT1 Output 1
9 OUT2 Output 2
10 SD- Communication Line -
11 BKRLS Brake Release
12 24V (CP) Control Power Supply +24V
13 FG Frame Grounding

A8-9 ME0384-7C
 8.5 Part Names/Functions

8.5.6 Drive source shutoff connector

Drive-source cutoff input. Drive source can be cut off by individual axes.

Specifications Section
8 4

7 3

6 2

5 1

Cable connector name: DFMC1.5/4-ST-3.5 (Phoenix Contact)

Pin No. Signal name Description

1 MPO_4 Motor power output 4th axes

2 MPO_3 Motor power output 3th axes
3 MPO_2 Motor power output 2nd axes
4 MPO_1 Motor power output 1st axes
5 MPI_4 Motor power input 4 th axes
6 MPI_3 Motor power input 3 th axes
7 MPI_2 Motor power input 2nd axes
8 MPI_1 Motor power input 1st axes

Chapter 8 EC Connection Unit

Cable side connector compatible wire

Item Specifications

Compatible wire AWG24 to 16 (Copper Wire)

Strip length 10.0 mm
Rated Temperature on Isolation Coating 60 °C or more

ME0384-7C A8-10
 8.5 Part Names/Functions

8.5.7 Connectors

A connector for use between units. Two identical connectors are used. The connectors have a
Specifications Section

floating structure that absorbs connector misalignment due to housing mating or mounting
misalignment between connectors.

Plug side connector Receptacle connector

Chapter 8 EC Connection Unit

A8-11 ME0384-7C
 8.6 External Dimensions

8.6 External Dimensions

Specifications Section
Item Specifications

External dimensions [mm] W22.6 × H115 × D95

Mass [g] About 114
External view See figure below

39.6
115

35.2
95
1 22.6 7
3.5

98.8

Chapter 8 EC Connection Unit

ME0384-7C A8-12
 Chapter 8 EC Connection Unit Specifications Section

A8-13
8.6 External Dimensions

ME0384-7C
 Specifications
Section

Chapter 9
Simple Absolute Unit
9.1 Overview ··························································· A9-1

9.2 How to Read the Model Nameplate ························· A9-2

9.3 How to Read the Model Number ····························· A9-3

9.4 Components······················································· A9-4

9.5 General Specifications ·········································· A9-5

9.6 Part Names/Functions ·········································· A9-7

9.6.1 Part names ························································· A9-7
9.6.2 LED display ························································· A9-8
9.6.3 Actuator cable connector/driver unit cable connector ··· A9-8

9.7 External Dimensions ············································ A9-9

ME0384-7C
 9.1 Overview

9.1 Overview

Incremental specification actuators can be used as absolute specification models by adding a

Specifications Section

simple absolute unit to the driver unit.

After absolute reset, home return motion is not required even if turning the control power supply
OFF and then ON again.

PLC Field network

Teaching Tool Connectable Actuators

Fan Unit

Model: RCON-FU
RCON-FUH
Teaching
RCP RCARCL RCD
Pendant PC Software
Model: TB-02 Model: IA-OS
TB-03 RCM-101-*

Power Supply Unit

RCS/ISB, etc. ELECYLINDER

3-Phase / Single-Phase
200V AC
Option Unit
Chapter 9 Simple Absolute Unit

Model: PSA-24
Regenerative Resistor Unit
Model: RCON-EXT
Model: RESU-2/RESUD-2
RCON-NP/PN
RCON-EXT- Simple Absolute Unit
NP/PN

RCS/ISB, etc. SCON series

(RCON Connection Type) Model: RCON-ABU-P (for stepper motor)
Model: RCON-ABU-A (for AC servo motor) RCP/RCA

However, simple absolute units do not have a unit-connectable structure. Connect to the driver
unit with a cable after securing to a DIN rail.

A9-1 ME0384-7C
 9.2 How to Read the Model Nameplate

9.2 How to Read the Model Nameplate

Specifications Section
Model number →
Serial number →

Model ↓ Serial number

number →
Caution Mark

Mark Explanation of Mark

Use IAI specified cables only.

[Nameplate Location]

Chapter 9 Simple Absolute Unit

ME0384-7C A9-2
 9.3 How to Read the Model Number

9.3 How to Read the Model Number

The simple absolute unit models are as follows.

Specifications Section

1 simple absolute unit is required for each actuator axis.

Also, the applicable driver units should be the 24 pulse motor type (RCON-PC) and the 24V AC
servo-motor type (RCON-AC) only.

Simple absolute unit model

RCON － ABU －
Motor type

P Stepper motor type

A AC servo motor type

Simple Absolute Unit Simple Absolute Unit

for stepper motor for AC servo motor
(Model: RCON-ABU-P) (Model: RCON-ABU-A)
Chapter 9 Simple Absolute Unit

A cable (model: CB-ADPC-MPA005, length 50 cm) is included for connection to the driver unit.
Cables of lengths other than 50 cm must be prepared separately as needed. The cable length
should be selected based on the driver unit and simple absolute unit installation positions.

Connection diagram
DF62DL-24S-2.2C (Hirose) DF62DL-24S-2.2C (Hirose)
Color (Thickness) Symbol Pin Pin Symbol Color (Thickness)
Standard cable Robot cable DC AC PC No. No. PC AC DC Standard cable Robot cable
U U ΦA 3 3 ΦA U U
V V VMM 5 5 VMM V V
－ － ΦB 10 10 ΦB － －
－ － VMM 9 9 VMM － －
W W Φ_A 4 4 Φ_A W W
－ － Φ_B 15 15 Φ_B － －
A+ A+ SA 12 12 SA A+ A+
A- A- SB 17 17 SB A- A-
B+ B+ A+ 1 1 A+ B+ B+
B- B- A- 6 6 A- B- B-
B+ 11 11 B+
B- 16 16 B-
－ VPS/BAT- VPS 18 18 VPS VPS/BAT- －
－ BK+ LS+ 8 8 LS+ BK+ －
－ LS+ BK+ 20 20 BK+ LS+ －
－ LS- BK- 2 2 BK- LS- －
VCC VCC VCC 21 21 VCC VCC VCC
GND GND GND 7 7 GND GND GND
－ BK- LS- 14 14 LS- BK- －
LS_GND LS_GND 13 13 LS_GND LS_GND
－ － － － － 19 19 － － － － －
－ BAT+ CF_VCC 22 22 CF_VCC BAT+ －
－ － － － － 23 23 － － － － －
FG FG FG 24 Purple 24 FG FG FG
(AWG26)

A9-3 ME0384-7C
 9.4 Components

9.4 Components

The following table shows the product configuration for the standard specification.

Specifications Section
See the packing list for the details of the enclosed components. In the unlikely case that any
model number errors or missing parts come to light, contact your local IAI distributor.

Part name Shape Quantity Remarks

Model: RCON-ABU-*
Body

Simple Absolute Unit 1

* is A or P

Model Name: AB-7

Absolute battery 1 * Supplied with
Simple Absolute Unit

Model Name:
CB-ADPC-MPA005
Motor/encoder cable 1
* Supplied with
Simple Absolute Unit
Accessories

First Step Guide 1

Safety Guide 1 Chapter 9 Simple Absolute Unit

ME0384-7C A9-4
 9.5 General Specifications

9.5 General Specifications

[Absolute Battery Specifications]

Specifications Section

Item Specifications

Type Cylindrical sealed nickel-metal hydride battery

Manufacturer FDK Corporation
Model AB-7
Nominal voltage [V] 3.6
Rated capacity [mAh] 3,100
Nominal capacity [mAh] 3,700
Average life Approx. 3 years (varies widely with operating conditions)
Weight [g] 190
Charging time Approx. 72 hours

[Absolute Battery Charging]

Charge for at least 72 hours continuously if using for the first time, after replacing the battery,
and when power has been turned off for extended periods. The battery is charged while control
power supply 24V DC is supplied to RCON.

If RCON power is turned OFF beyond the data retention time, the data will be lost, so charge
regularly.
The battery has a limited lifetime that gradually decreases data retention time. Replace the
Chapter 9 Simple Absolute Unit

battery when the retention time decreases significantly even if properly charged.

Data retention time (approximate time when battery is new)

Upper limit of encoder rotation speed when Battery Retaining time
Parameter power is OFF [r/min] retaining per 1 hour of
No.155 time charge time
settings If connected actuator If connected actuator guideline (guideline)
is not RCA2-***NA is RCA2-***NA [days] [h]
0 100 75 20 6.6
1 200 150 15 5.0
2 400 300 10 3.3
3 800 600 5 1.6

For details, refer to [Operation Section Chapter 7, 7.2 Parameter Details (Page C7-6)].

A9-5 ME0384-7C
 9.5 General Specifications

(Example) When used under the following conditions: "Monday ~ Friday: 8 hours charging /
16 hours discharging per day, Saturdays and Sundays: discharging"
Connected axis: When not RCA2-***NA

Specifications Section
1) If Parameter No. 155 is set to 3...
Total charge: 8 [h] operation per day x 1.6 [h] retention time per 1 hour charge x 5 [days]
weekdays = 64 [h]
Total discharge: Nightly down time 16 [h] x weekdays 5 [days] + weekend down time
48 [h] = 128 [h]
→ If starting on Monday from a fully charged state, the total discharge amount exceeds
the total charge amount by 64 [h] in one week, so the full charge amount decreases
by 64 [h] each week. Accordingly, a full charge is required every 10 days.
2) If Parameter No. 155 is set to 2...
Total charge: 8 [h] operation per day x 3.3 [h] retention time per 1 hour charge x 5 [days]
weekdays = 132 [h]
Total discharge: Nightly down time 16 [h] x weekdays 5 [days] + weekend down time
48 [h] = 128 [h]
→ If starting on Monday, the total charge amount exceeds the total discharge amount,
so there is no need to maintain continuous full charge. Charge increases by 4 [h]
each week.

[Absolute Battery Voltage Drop Detection]

If the absolute battery voltage drops, error detection is performed in accordance with the voltage.
Voltage Output signal status Alarm code
0EE "Absolute encoder error detection 2"
2.5V ±8%

Chapter 9 Simple Absolute Unit

Alarm signal *ALM OFF or
or less
0EF "Absolute encoder error detection 3"

If an alarm occurs, absolute reset must be performed after replacing the battery.
RCON checks the battery voltage at power ON. Detection does not occur even if the battery
voltage drops to the alarm level while RCON is energized.

ME0384-7C A9-6
 9.6 Part Names/Functions

9.6 Part Names/Functions

9.6.1 Part names

Specifications Section

RCON-ABU-P (green) RCON-ABU-A (blue)

Chapter 9 Simple Absolute Unit

SYS LED

STATUS1 LED

Actuator cable connector

STATUS0 LED

Driver unit cable connector

DIN tab

Front Rear

A9-7 ME0384-7C
 9.6 Part Names/Functions

9.6.2 LED display

Specifications Section
Panel notation Display color Status Description

Green Light ON Normal operation

SYS
Red Light ON Alarm triggered

Green Light ON Home return complete

STATUS1
Red Light ON Home return not complete

Green Light ON Battery fully charged

STATUS0 Red Light ON Battery not connected

Orange
Light ON Battery charging
(green/red)

9.6.3 Actuator cable connector/driver unit cable connector

Connect the simple absolute unit to an actuator using an actuator cable connector (MPG),
and to a driver unit with the driver unit cable connector (CONT). There are two types, one for
stepper motors and one for AC servo motors, as the pin arrangement of the MPG connector
differs. A color panel can be used for identification, as with the driver unit.

Chapter 9 Simple Absolute Unit

ME0384-7C A9-8
 9.7 External Dimensions

9.7 External Dimensions

Specifications Section

Item Specifications

External dimensions [mm] W22.6 × H115 × D95

Mass [g] Approx. 270 (of which 190 is the battery)
External view See figure below

39.6
4

35.2
115

95
3.5

25
98.8
Chapter 9 Simple Absolute Unit

A9-9 ME0384-7C
 Startup
Section

Chapter 1
Overview
1.1 Checking the Product ··········································· B1-1

1.2 Tools to Use ······················································· B1-7

1.3 IA-OS Installation ················································ B1-9

1.4 Startup Procedure ··············································· B1-10

ME0384-7C
 1.1 Checking the Product

1.1 Checking the Product

Prepare the following devices.

Caution
Startup Section

 The RCON system does not link each unit; individual units are packaged and shipped.
 When unpacking, make sure first that each unit you ordered is present in the correct
quantity.
 Below are examples of the products shipped together.

[RCON Gateway Unit]

Part name Shape Quantity Remarks

RCON gateway
Body

1 Model example: RCON-GW/GWG

unit
Chapter 1 Overview

Model: MSTB2.5/5-STF-5.08 AU
(Phoenix Contact)
1
* Enclosed to RCON gateway unit
(Enclosed in
Field network CC-Link connection Type
connection
cable connector Model: MSTB2.5/5-STF-5.08 AU M
types described
(Phoenix Contact)
on the right)
* Enclosed to RCON gateway unit
DeviceNet connection type

Depends on
Fan unit Model: RCON-FU
gateway unit
(Option) * Supplied with RCON gateway unit
Accessories

model

System I/O Model: DFMC1.5/5-ST-3.5

1
connector (Phoenix Contact)

Terminal unit 1 Model: RCON-GW-TR

B1-1 ME0384-7C
 1.1 Checking the Product

[RCON 24V Driver Unit]

Part name Shape Quantity Remarks

Customer
Model example:
Body

RCON Driver unit specification

Startup Section
RCON-PC/PCF/AC/DC
dependent
Accessories

Model: DFMC1.5/2-STF-3.5
Drive source shutoff 1
(Phoenix Contact)
connector (per unit)
* Supplied with driver unit

[RCON 200V Driver Unit]

Part name Shape Quantity Remarks

Customer

Chapter 1 Overview
Body

200V Driver unit specification Model: RCON-SC-1

dependent

Single product model number:

Fan unit for 1
RCON-FUH
200V Driver unit (per unit)
* Enclosed to 200V driver unit
Accessories

Single product model number:

Dummy plug 1 DP-6
* Enclosed to 200V driver unit

ME0384-7C B1-2
 1.1 Checking the Product

[RCON 200V Power Supply Unit]

Part name Shape Quantity Remarks

200V Power supply

Body

1 Model: RCON-PS2-3
Startup Section

unit

1
Single product model number:
Depends on
Terminal unit RCON-GW-TRS
model type of
for 200V (Not enclosed to
power supply
RCON-PS2-3-TRN)
unit
Accessories

Single product model number:

1 RCON-FU
Fan unit
(per unit) * Enclosed to 200V power
supply unit

Single product model number:

Chapter 1 Overview

SPC5/4-STF-7.62
1
Power connector (Phoenix Contact)
(per unit)
* Enclosed to 200V power
supply unit

[EC Connection Unit]

Part name Shape Quantity Remarks

Model example:
Body

EC Connection unit 1
RCON-EC

Model:
Accessories

DFMC1.5/4-ST-3.5
Drive source shutoff 1
connector (per unit) (Phoenix Contact)
* Enclosed to EC connection
unit

B1-3 ME0384-7C
 1.1 Checking the Product

[SCON Extension Unit]

Part name Shape Quantity Remarks
Body

SCON extension unit 1 Model: RCON-EXT

Startup Section
SCON Controller Customer Model:
(RCON Connection specification SCON2-CG-S*-RC-0-* or
Type) dependent SCON-CB-***-RC-0-*
Accessories

Model: RCON-EXT-TR
Terminal connector
1 * Included with
(Terminal resistor)
SCON extension unit

Model: CB-RE-CTL***
* Required for connecting the

Chapter 1 Overview
Customer expansion unit and SCON.
Connection cable specification 1 piece of CB-RE-CTL002
dependent (0.2m) enclosed to one unit
of RCON Connectivity Type
SCON

ME0384-7C B1-4
 1.1 Checking the Product

[PIO/SIO/SCON Extension Unit]

Part name Shape Quantity Remarks

RCON-EXT-PN-*
PIO/SIO/SCON (PNP specification)
Body

1
Startup Section

extension unit RCON-EXT-NP-*

(NPN specification)

Single product model number:

Terminal connector 1
RCON-EXT-TR
Accessories

PIO cable 1 CB-PAC-PIO***

Chapter 1 Overview

Extension SIO
1 FMC1.5/3-STF-3.5
port connector

[PIO Unit]
Part name Shape Quantity Remarks

RCON-PN-*
(PNP specification)
Body

PIO unit 1
RCON-NP-*
(NPN specification)
Accessories

PIO cable 1 CB-PAC-PIO***

B1-5 ME0384-7C
 1.1 Checking the Product

[Other peripheral equipment] (Option)

Part name Shape Quantity Remarks

Model: PSA-24*
* Commercially available
24V DC power supply −

Startup Section
24V DC power supply can
also be used

Model: TB-02/03-*
Teaching pendant − * Either teaching pendant or
PC software is required

Model: RESU-2/RESU-1
Regenerative resistor * To be added when
−
unit regenerative resistor in
RCON-SC is not enough

Model: IA-OS or

Chapter 1 Overview
RCM-101-*
PC software − (applicable for all units)
* Either teaching pendant or
PC software is required

ME0384-7C B1-6
 1.2 Tools to Use

1.2 Tools to Use

The tools used for constructing and starting up the RCON system are PC software or
a teaching pendant, and the gateway parameter configuration tool.
The applicable versions are as shown below. The versions in < > are the applicable versions
Startup Section

when using the 200V driver unit or EC connection unit.

[PC software]
● IA-OS Ver.1.00.00.00 or later <Ver. 3.00.00.00 or later>
● RCM-101-*-* Ver.13.00.00.00 or later <Ver. 13.01.00.00 or later>

[Teaching pendant]
● TB-02/TB-02D Ver.2.11 or later <Ver.2.70 or later>
● TB-03 Ver.2.11 or later <Ver.2.70 or later>

[Gateway parameter configuration tool]

● Ver.3.1.0.0 or later <Ver.3.1.7.0 or later>
Chapter 1 Overview

The gateway parameter configuration tool is included in the PC software, but you can also
download the latest version from our website.
For the operation of PC software and teaching pendant, refer to the following instruction manual.

Also, for how to operate the PC teaching software and the teaching pendant, refer to the
instruction manuals stated below.

● PC software operating method

Refer to [PC software (RCM-101-*-*) manual (ME0155)]
Refer to [Guiding Features Installed in PC Teaching Software (IA-OS)]
● Teaching pendant operating method
Refer to [Touch Panel Teaching Pendant manual TB-02/02D (ME0355)]
Refer to [Touch Panel Teaching Pendant manual TB-03 (ME0376)]

B1-7 ME0384-7C
 1.2 Tools to Use

Refer to [Startup Section 4.2 Setting RCON Gateway Parameters (page B4-3)] for how to set up
the gateway parameters.
Also, "Quick Start Guide" explaining how to set up each network is available to download from
IAI homepage. (Quick Start Guide available in Japanese only)

Startup Section
Chapter 1 Overview

ME0384-7C B1-8
 1.3 IA-OS Installation

1.3 IA-OS Installation

[Installation work of IA-OS]

Items to prepare
Startup Section

RCON system / PC / IA-OS DVD-ROM / cable

Refer to [PC Teaching Software IA-OS First Step Guide (ME0391)] for how to control.
Chapter 1 Overview

B1-9 ME0384-7C
 1.4 Startup Procedure

1.4 Startup Procedure

When using this product for the first time, refer to the following procedure and pay attention so as
to avoid checking or wiring errors.
This section describes the startup procedure of the RCON system. For installation and wiring of

Startup Section
miscellaneous devices connected to the network, controllers and actuators, follow the respective
instruction manuals.

Checking the package No.

Contact IAI or the local IAI distributor.
Are all deliverables present?
Yes
Assembling RCON (connecting the unit)
Connect the units to be used, such as gateway unit, driver unit, EC connection unit and SCON expansion unit.

Installation and wiring Priority check items

Install and wire the actuator and controller. · Is the frame ground (FG) connected?
· Are noise countermeasures provided?
Yes

Power ON

Chapter 1 Overview
(1) Turn on the power of the PLC (master unit).
(2) When using the SCON extension unit, turn on the power of the SCON connected to the SCON extension
unit.
(3) Turn on the power of the RCON.

Initial setting (gateway setting) * IA-OS or Gateway parameter configuration tool is used.
Set the unit configuration, number of axes, axis number, operation mode, address (station number), field network communication
speed and the like according to the system. If the number of axes is incorrect, the Teaching tool cannot be connected.

Initial setting (driver unit/EC connection unit /SCON expansion unit setting) * Teaching tool is used.
Set the parameters for each controller.

Communication setting of PLC (master unit) Priority check items

* Refer to [the PLC instruction manual]. · Are the continuous mode and control sequence
Set the PLC node address (station number), communication speed, etc. that supports the system incorporated?

Confirming that communication is established Check the cause of the error

· Make sure that communication is established, with the gateway unit through the LEDs and the like
No.
LED. and take appropriate actions. If
· Make sure that communication is also established on the PLC (master unit). the cause is unknown, try setting
* Refer to [the PLC Instruction Manual]. again from the beginning.
Yes
Checking the safety circuit No.
Confirm that the stop circuit (drive-source cutoff circuit) operates normally. Check the circuit.

Yes
Communication is established and it is ready for operation.
Check the system operation and make adjustments.
Next page

ME0384-7C B1-10
 1.4 Startup Procedure

From previous page

Servo ON
Turn ON the servo of all connected axes using the teaching tool.

Caution:
 Keep this operation as far away from the mechanical end and interfering objects as possible. If interfering,
move it away. When turning ON the servo, there may be contact with the mechanical end or an interfering
Startup Section

object, which will generate an alarm.

 If mounted vertically, repeating servo ON/OFF at the same position may cause the unit to slightly descend
due to its own weight. Be careful not to snag hands or damage workpieces.

Check items No. If an alarm is generated, check the alarm description

Is the status LED SYS* for driver of the axis number
from the teaching tool and take appropriate action.
given the servo ON command lit in green?
Yes
Checking the safety circuit No.
Does the emergency stop circuit (drive-source cutoff Check the emergency stop circuit.
circuit) operate normally, and does the servo turn OFF?
Yes
Position data setting (excluding direct numerical control mode)
Set the position (*), speed, acceleration/deceleration and the like in each position table. * No need to set in simple direct mode

Test run adjustment 1

Chapter 1 Overview

(1) Cancel the emergency stop and set the unit to low speed without placing a workpiece, and confirm the
operation with instructions from the teaching tool.
(2) Place the workpiece, set the speed in automatic operation and check the operation with instructions from the teaching tool.

No. Check whether there is a problem with the installation of

Check items
the actuator, whether the usage conditions have exceeded
Is vibration or noise generated?
the rating, etc. Perform servo adjustment if necessary.
Yes

Link to field network

(1) Set the AUTO/MANU switch to the AUTO side and turn the power on again.
(2) When the link with the PLC (master unit) is established, turn on the MON signal of the gateway control signal.
(Except for the EC connection unit, it can be controlled from the field network while the MON signal is ON.)
Yes
Test run adjustment 2
Output travel commands from the PLC (master unit) to the controller and confirm by system operation.

Caution
 If the actual number of connected axes of the RCON system does not match the
number of axes set in the gateway parameter configuration tool, the PC software cannot
be connected.
 Set and transfer the gateway parameters suitably according to the actual unit
configuration and the number of connected axes.

B1-11 ME0384-7C
 Startup
Section

Chapter 2
Mounting and Wiring
2.1 Installation ························································· B2-1
2.1.1 Requests/Precautions ········································· B2-1
2.1.2 Unit connection ·················································· B2-5
2.1.3 Fan unit mounting method ···································· B2-10
2.1.4 DIN rail mounting ··············································· B2-11

2.2 Wiring ······························································· B2-12

2.2.1 Controller power supply wiring ······························· B2-12
2.2.2 Actuator power supply wiring································· B2-16
2.2.3 Wiring for external regenerative resistor unit ············· B2-33
2.2.4 Wiring for brake box ············································ B2-35
2.2.5 Field network wiring ············································ B2-39
2.2.6 PIO wiring ························································ B2-47

2.3 Peripheral Circuit ················································ B2-48

2.3.1 Stop circuit / Drive cutoff circuit ······························ B2-48
2.3.2 Driver stop circuit ··············································· B2-56
2.3.3 AUTO/MANU mode switching circuit wiring ··············· B2-60

ME0384-7B
2.4 Conforming to Safety Category ······························ B2-62
2.4.1 System configuration··········································· B2-62
2.4.2 Wiring and setting of safety circuit ·························· B2-63
2.4.3 Examples of safety circuits ··································· B2-65
2.4.4 TP adapter and related parts ································· B2-77

ME0384-7B
 2.1 Installation

2.1 Installation

2.1.1 Requests/Precautions

In order to enhance the reliability of RCON and to fully utilize its functions, consider the following

Startup Section
before installation.

[1] Installation Environment

Usage is possible in environments of pollution degree 2*1 or equivalent.
*1 Pollution degree 2: Environment in which generally only nonconductive pollution occurs,
but temporary conductive pollution may occur due to condensation.
(IEC60664-1)

Avoid the following locations for installation.

 Where the ambient temperature exceeds the range of 0 to 55°C
(If there is no fan unit, derating is available.)
For simple absolute units and SCON-CB, where the ambient temperature exceeds the range of 0 to 40°C
 Where the temperature changes rapidly and condensation occurs
 Where the relative humidity exceeds the range of 5%RH to 85%RH

Chapter 2 Mounting and Wiring

 Where the unit is exposed to odorous or combustible gases
 Where the unit is exposed to significant amounts of dust, salt or iron powder
 Where the unit is subject to direct vibration or impact
 Where the unit receives direct sunlight
 Where the unit may come in contact with water, oil or chemical spray
 Where vents are blocked Refer to [Startup Section 2.1.1 [2] Installation and mounting (page
B2-2)]
 Where the altitude higher than 1,000m

If the unit is used in any of the following locations, provide sufficient shielding measures:
 Where noise is generated due to static electricity, etc.
 Where there are strong electrical or magnetic fields
 Where mains or power lines pass nearby

ME0384-7C B2-1
 2.1 Installation

[2] Installation and mounting

Consider the size of the control panel, placement of the RCON controller, cooling and the like
when designing and manufacturing so that the ambient temperature is 0 to 55°C. (If it has no
fan unit, there is derating.) When installing a simple absolute unit or SCON on the same control
panel, design and manufacture so that the ambient temperature is 0 to 40°C.
Startup Section

In particular, the performance may deteriorate when the temperature around the simple absolute
unit (battery) is too low or too high. Make sure that the temperature is as close to room
temperature as possible. (The recommended temperature is about 20°C.)

Item Specifications Item Specifications

Installation Vertical mounting

Ambient With fan unit 0 to 55°C
direction (exhaust side on top)
operating
Installation temperature
DIN rail mounting Without fan unit 0 to 55°C (Note 1)
method
Installation Class D
See figure below Ground
conditions grounding

Note 1: If there is no fan unit, derating is available.

Chapter 2 Mounting and Wiring

Ceiling Ceiling

RCON Simple
Absolute
Unit

* Simple absolute units can be installed in close contact with each other.

B2-2 ME0384-7C
 2.1 Installation

[3] Noise countermeasures and mounting method

(1) Grounding for noise countermeasures (frame ground)
[24V DC]
Connect the ground wire to the FG
terminal block of the main body. Controller

Startup Section
Push in the square hole with a
screwdriver or the like to connect.

Controller
Connect with a ground wire of
(2 mm 2: AWG14) or higher.
Ground terminal
Grounding resistance: 100 Ω or less Grounding wires should not be connected
(Class D grounding construction) in common with other devices and
separate controllers should be grounded.

(2) Installation for Safety

[200V 3-Phase Type]

Chapter 2 Mounting and Wiring

[200V Single-Phase Type]

ME0384-7C B2-3
 2.1 Installation

(3) Notes on wiring method

1) Twist the power wiring.
2) Separate the wiring of signal wires and encoders from power supply lines and power lines.

(4) Noise sources and noise prevention

Startup Section

For the same power supply path and power supply

device in the same device, take measures against noise.
Countermeasure examples for noise sources are shown
below. Relay
coil
1) AC solenoid valve / magnetic switch / relay
[Measure] Install an anti-noise device in parallel
with the coil. Relay coil

2) DC solenoid valve / magnetic switch / relay

[Measure] Install a diode in parallel with the coil or
use the diode built-in type.
Chapter 2 Mounting and Wiring

B2-4 ME0384-7C
 2.1 Installation

2.1.2 Unit connection

Connect the unit before mounting on a DIN rail.

(1) Turn the operating parts of the connector upper/bottom part towards the panel and position
on the panel end.

Startup Section
(2) The 2 sections circled with a dashed line and the 4 positioning bosses within the square
dotted lines are used as a total of 6 mating sections for positioning 2 units.
(3) When positioning is completed, insert the cable connectors  2 so that they are firmly
connected.
(4) Turn the operating parts of the connector upper/bottom part towards the rear, rotating firmly
until you feel a click.

Connector upper part operating part

Panel

Rear

Panel Rear Chapter 2 Mounting and Wiring

Connector bottom part operating part

ME0384-7C B2-5
 2.1 Installation

The RCON system has the following restrictions.

Check the following descriptions and then make a selection for each unit.

[1] Unit arrangement

Startup Section

RCON System possesses a locking structure with unit linking system. Units available for linking
to each other have the same connectors, and they can be laid out freely. However, the
arrangement of the following units is restricted.

Gateway Unit : The far left of the RCON system.

Terminal Unit : The far right of the RCON system.

The terminal unit for the 24V driver unit and the terminal unit for
the 200V driver unit are different.

SCON Extension Unit : The right of the gateway unit.

(Not capable for use together with PIO/SIO/SCON extension unit)

PIO/SIO/SCON Extension Unit :

The right of the gateway unit.
(Not capable for use together with SCON extension unit)
Chapter 2 Mounting and Wiring

PIO Unit : To be allocated on the right side of a unit furthest on the right in a
gateway unit, SCON extension unit and PIO/SIO/SCON
extension unit.
(It is available to connect up to eight units including the SCON
extension units or PIO/SIO/SCON extension units)

200V Power Supply Unit : Install on the right side of the SCON extension unit and 24V
driver unit (RCON-PC/AC/DC) and the EC connection unit
(PCON-EC), or gateway unit if there is no SCON extension unit
and 24V driver unit or EC connection unit.

200V Driver Unit : The right of the 200V power supply unit.

B2-6 ME0384-7C
 2.1 Installation

EC Connection Unit
(connected to right of 24V driver unit)

200V Power Supply Unit

Startup Section
Option Unit (Installed on right of 24V Driver
(connected to right of gateway unit) Unit and EC Connection Unit)

200V Driver Unit (Installed on

Gateway Unit
right of 200V power supply unit)
(placed on far left)

Terminal Unit
(placed on far right)

Also, Gateway unit, PIO/SIO/SCON extension unit, SCON extension unit and terminal unit can
only be linked to one unit for each set of the systems.

Chapter 2 Mounting and Wiring

ME0384-7C B2-7
 2.1 Installation

[2] Number of Connectable Units of Driver Unit and EC Connection Unit

Up to 16 axes (Note 1) can be controlled with each gateway unit.
In the perspective of the unit structure, there is no upper limit to the number of connectable.
Keep it at 16 axes at minimum for the driver unit and EC extension unit. If 17 or more actuators
are to be controlled, use a configuration of 2 or more gateway units.
Startup Section

The EC connection unit can be connected for four units at maximum, however, it cannot be
connected if the top axis number exceeds 0 to 15. (The axes numbers for the EC connection
unit should be assigned from the back of those in the driver unit and the SCON extension unit.)
No matter if ELECYLINDER is connected or not, the EC connection unit occupies domains and
axes numbers for four axes (1 word) by one unit.

[3] Restriction in Occupied Size

There are restrictions to each field network for the occupied size in the field network I/O
domains.
Any value exceeding the occupied size described in the following table cannot be selected.
Even though the number of axes is set at or below the restriction of the connectable axes
described in [2] above, the system has to be constructed using two units or more of the gateway
unit if exceeding the occupied size due to the operation mode setting or addition of an option
unit.
Chapter 2 Mounting and Wiring

For details, refer to [Operation Section Chapter 2, 2.1.4 Overall address configuration example
(page C2-6)].

Occupied Size [W]

Field network
* Number of bytes to come in ( )
CC-Link 128 (256)

CC-Link IE Field 128 (256)

DeviceNet 72 (144)

EtherCAT 72 (144)

EtherNet/IP 72 (144)

PROFIBUS-DP 72 (144)

PROFINET-IO 72 (144)

B2-8 ME0384-7C
 2.1 Installation

Note 1: When all axes direct numerical control mode is used with field networks other than
CC-Link or CC-Link IE Field, up to 8 axes can be connected.
(When number of connected option units is "0")
Mode Direct
Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
Field numerical
mode mode mode mode mode
network control mode

Startup Section
CC-Link 16 axes 16 axes 16 axes 16 axes 16 axes 16 axes
CC-Link IE Field 16 axes 16 axes 16 axes 16 axes 16 axes 16 axes
DeviceNet 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
EtherCAT 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
EtherNet/IP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
PROFIBUS-DP 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes
PROFINET-IO 8 axes 16 axes 16 axes 16 axes 16 axes 16 axes

Chapter 2 Mounting and Wiring

ME0384-7C B2-9
 2.1 Installation

2.1.3 Fan unit mounting method

1) Adjust the installation orientation of the Fan Unit

RCON system and fan unit.
Startup Section

Hook the claw of the fan unit to the driver

unit as shown in the figure on the right.
1) Hook the claw of
RCON system front the fan unit to the
driver unit
2) Pull down the fan unit to the front of the
RCON system. 2) Pull down the fan
unit to the front

3) Press the fan unit from the top and snap in. 3)

RCON system front

Chapter 2 Mounting and Wiring

* RCON-PS2-3 and RCON-SC-1 are equipped with a fan unit on delivery.

B2-10 ME0384-7C
 2.1 Installation

2.1.4 DIN rail mounting

Pull down the DIN tab visible from the lower part of the housing rear (circled in a dashed line in
the figure below), mount on the DIN rail, then push the DIN operating part upward to lock it.

Startup Section
DIN tab

Chapter 2 Mounting and Wiring

Front Rear

ME0384-7C B2-11
 2.2 Wiring

2.2 Wiring

2.2.1 Controller power supply wiring

[24V power supply wiring to RCON system]

Startup Section

To supply power to the RCON system, wiring to the RCON gateway unit is required.
The example below shows the wiring of the RCON gateway unit and the IAI 24V DC power
supply unit PSA-24.

Items to prepare
RCON system / wiring / 24V DC power supply (PSA-24)

Wire each terminal to supply power to the controller.

Perform 1) to 4) with reference to the figure and connection diagram below.

[Wiring method to 24V power connector]

1) Refer to the next page for each wiring
Strip length
diameter.
Chapter 2 Mounting and Wiring

2) The strip length of the wiring is

 MP : 15 mm
 CP : 10 mm

3) Insert the wire all the way into the terminal

port while pushing the flathead screwdriver
into the hole next to the wire insertion port.

4) Remove the screwdriver.

[Electric wire diameter used for RCON 24V power supply wiring]
For the wires to be connected to the power connector, use the following applicable wires.

Compatible wire
External view Signal name Content
diameter

24V
AWG20 to 8
MP Motor drive power supply
(Copper wire)
0V

24V AWG24 to 12
Control power input
0V (Copper wire)
CP
AWG14 to 12
FG Frame ground
(Copper wire)
* Use cables with their rated temperature on the isolation sheath at 60°C or higher.

B2-12 ME0384-7C
 2.2 Wiring

1) Connect the "24V" of MP (motor power

Gateway unit
connector) to the +24V terminal of the
24V DC power supply.
Motor power connector
2) Connect the "0 V" of MP (motor power
connector) to the 0 V terminal of the 24V

Startup Section
DC power supply.
MP

3) Connect the "24V" of CP (control power

24 V 1)
0V
connector) to the +24V terminal of the 2)
+24 V
24V DC power supply. +24 V CP
0V
0V 24 V
3)
0V
4)
4) Connect the "0 V" of CP (control power
24V DC power
connector) to the 0 V terminal of the 24V supply
DC power supply. Control power connector

The controller current consumption varies depending on the controller model and the motor type
of the actuator to be connected. Refer to [Specifications Section Chapter 2, 2.3.3 Power supply
capacity (page A2-25)].

Chapter 2 Mounting and Wiring

Caution
 Using a cable with diameter less than the applicable cable diameter or wiring distance
too long may cause an error due to the voltage drop or may drop the actuator
performance.
In such a case, have the output voltage of the power supply adjusted to 24V for the
controller supply voltage.

[200V Power Supply Wiring to RCON System]

The control power supply to the 200V driver unit (RCON-SC) is to be supplied from the RCON
gateway unit. In order to supply motor power, it is necessary to connect wires to the 200V power
supply unit (RCON-PS2).

Items to Prepare
RCON System / Wire

Join the power supply connector and connect wires to each terminal in order to supply motor
power to the 200V driver unit. See the following figure and wiring diagram and have the
processes in 1) to 2).

ME0384-7C B2-13
 2.2 Wiring

1) Insert the power supply connector to the 200V power supply unit (RCON-PS2).

200V Power Supply Unit

RCON-PS2
Startup Section

Connector Model Code: Tighten up with slotted

SPC5/4-STF-7.62 screwdriver

2) Connect wires to each terminal. See the example of connection below to have the wiring
process.
Chapter 2 Mounting and Wiring

Refer to [Startup Section Chapter 2, 2.1.1 [3] Noise countermeasures and mounting
method (page B2-3)] for wiring of the single-phase 200V.

Caution
 The leakage current may vary depending on the connected motor capacity, cable
length and other ambient environment. In case of leakage protection, measure the
leakage current at the position to install a leakage breaker.
 A leakage breaker should be selected under a clear purpose such as protection from
fire or protection for personnel. Select a leakage breaker applicable for higher
harmonics (inverter).

B2-14 ME0384-7C
 2.2 Wiring

[Electric wire diameter used for RCON 200V power supply wiring]
For the wires to be connected to the power connector, use the following applicable wires.

Compatible wire (3-Phase 200V)

Compatible wire
Signal name Description

Startup Section
diameter
L1 Phase 1
L2 Phase 2 Motor drive power AWG14 to 8
L3 Phase 3 supply (Copper wire)

Protection grounding

Compatible wire (Single-Phase 200V)

Compatible wire
Signal name Description
diameter
L1 (L) Live
L2 (N) Neutral Motor drive power AWG14 to 8
L3 (NC) No Connect supply (Copper wire)

Protection grounding

* Use cables with their rated temperature on the isolation sheath at 60°C or higher.

Chapter 2 Mounting and Wiring

The controller current consumption varies depending on the controller model and the motor type
of the actuator to be connected. Refer to [Specifications Section Chapter 2, 2.3.3 Power supply
capacity (page A2-25)].

Caution
 Use wires with diameter large enough for allowable current higher than the current
actually used.
Smaller diameter of the cables than applicable could cause abnormal high heat when
flowing current. This could melt the coating on cables and set a fire.

Reference: Shown below is a list of the recommended products when using a rod terminal
(ferrule terminal) for power supply wiring.
Rod terminal Allowable
(Ferrule terminal) AWG current Remarks
Model (Reference)
AI 0.75-8 GY 18 10
AI 1-8 RD 18 10
IA 1.5-8 BK 16 13
AI 2.5-8 BU 14 17
AI 4-18 GY 12 23 Cut at 3mm from tip of ferrule
AI 6-18 YE 10 31 Cut at 3mm from tip of ferrule
Applicable crimping tool: CRIMPFOX 6 (supplied by PHOENIX CONTACT)

ME0384-7C B2-15
 2.2 Wiring

2.2.2 Actuator power supply wiring

[Checking actuator and controller model numbers]

Before connecting the actuator, make sure that the combination with the controller is correct.
Connectable actuator models are listed on the model number sticker on the left side of the
Startup Section

controller.

Items to prepare
RCON system / actuator / motor encoder cable

Model number shown in "MODEL" on the actuator model number sticker

Actuator side surface

Match
Chapter 2 Mounting and Wiring

Model number shown on the controller model number sticker

Driver unit front

B2-16 ME0384-7C
 2.2 Wiring

[Connecting motor/encoder cable]

● Connecting RCP6 (other than high thrust) / RCP5 (other than high thrust) / RCD series to RCON
Actuator
Driver unit connector

Startup Section
Insert until
it clicks

Motor/encoder cable
supplied with actuator

Insert until
it clicks

Actuator RCON System

(RCP6)

Connection cable
Actuator side Controller side
CB-ADPC(2)-MPA□□□(-RB)

Caution
 Precautions when selecting a motor/encoder cable

Chapter 2 Mounting and Wiring

Depending on the actuator model, conversion cable CB-CAN-AJ002 and connector
conversion unit RCM-CV-APCS may be required to connect the driver unit and the
simple absolute unit.

● Connecting RCON and RCP/RCA Series other than the above

RCON System

Connection cable
Connector conversion unit
CB-ADPC(2)-MPA□□□ (-RB)
RCM-CV-APCS

Motor/encoder cable
supplied with actuator
CB-ASEP2-MPA□□□
(Enclosed)

Actuator
(RCA)
Insert until it clicks

Insert until it clicks and Insert until

put cover on it clicks

ME0384-7C B2-17
 2.2 Wiring

● Connection between 200V AC Servo-motor Actuator and 200V Driver Unit

Connection 200V Driver Unit

example RCON System RCON-SC

Insert till end

Startup Section

Actuator side Encoder cable

Encoder cable CB-□□□-P(L)A□□□

Actuator side
Actuator Encoder cable
(RCS4)
Motor cable
CB-□□□-MA□□□
Chapter 2 Mounting and Wiring

Insert till end Insert until it clicks

Insert until it clicks

B2-18 ME0384-7C
 2.2 Wiring

RCON Connection Cable List

[24V Driver Unit Connection Cable]

Actuator Applicable RCON connection cable (Note 2)

Conversion Wiring
No. controller (-RB: Robot cable)
Series Target type unit diagram
code [Each actuator connection cable]

Startup Section
RCP6
(1) RCP6CR Other than high thrust type (Note 1) P5 CB-ADPC(2)-MPA□□□(-RB) - A
RCP6W
RCP5
CB-ADPC(2)-MPA□□□(-RB)
(2) RCP5CR High thrust type (Note 1) P6
CB-CAN-AJ002 (conversion cable)
- B
RCP5W
Gripper (GR*),
(3) P5 CB-ADPC(2)-MPA□□□(-RB) - A
ST4525E, SA3/RA3
RCP4
CB-ADPC(2)-MPA□□□(-RB)
(4) RCP4CR High thrust type (Note 1) P6 - B
CB-CAN-AJ002 (conversion cable)
RCP4W
CB-ADPC(2)-MPA□□□(-RB)
(5) Other than (3), (4) P5 - B
CB-CAN-AJ002 (conversion cable)
(6) RCP3 P5 CB-RCAPC-MPA□□□(-RB) - C
RCP2 (standard type)
CB-ADPC-MPA002 (Note 3)
(7) Rotary compact type P5 Required D
[CB-RPSEP-MPA□□□]
RCP2-RTBS/RTBSL/RTCS/RTCSL
RCP2CR (clean room type),
RCP2W (dust-proof/splash-proof type)
(8) P5 CB-ADPC(2)-MPA□□□(-RB) - A

Chapter 2 Mounting and Wiring

Rotary (RT*) of above types
GRS/GRM/GR3SS/GR3SM of above types
RCP2
All (standard / clean room / dust-
RCP2CR
proof/splash-proof) types of
RCP2W
(9) GRSS/GRLS/GRST/GRHM/GRHB P5 CB-RCAPC-MPA□□□(-RB) - C
Short type (RCP2 only)
RCP2-SRA4R/SRGS4R/SRGD4R
CB-ADPC-MPA002 (Note 3)
(10) High thrust type (Note 1) P6 Required D
[CB-CFA-MPA□□□(-RB)]
CB-ADPC-MPA002 (Note 3)
(11) Other than (7) to (10) P5 Required D
[CB-PSEP-MPA□□□]
(12) RCA2/RCA2CR/RCA2W, RCL A6 CB-RCAPC-MPA□□□(-RB) - C
(13) RCA2/RCA2CR/RCA2W (CNS option) A6 CB-ADPC(2)-MPA□□□(-RB) - A
Short type (RCA only)
(14) RCA
RCA-SRA4R/SRGS4R/SRGD4R
A6 CB-RCAPC-MPA□□□(-RB) - C
RCACR
CB-ADPC-MPA002 (Note 3)
(15) RCAW Other than (14) A6 Required D
[CB-ASEP2-MPA□□□]
(16) RCD RCD-RA1DA, RCD-GRSNA D6 CB-ADPC(2)-MPA□□□(-RB) - A
Note 1: Actuators using high-thrust pulse motor (56SP, 60P and 86P)
Note 2: The cable length from each driver unit to actuators should be 20m at maximum regardless of
the conversion unit.
However, for the DC brushless motor type, the maximum length from the driver unit
(RCON-DC) to RCD actuator should be 10m.
Note 3: There is no model code setting to CB-ADPC-MPA002 (RCON connection cable) that comes
as a set when an actuator is purchased. It is necessary to prepare separately when to use.

ME0384-7C B2-19
 2.2 Wiring

RCON Connection Cable Wiring Diagram (24V Driver Unit Connection Cable)

(1) RCP6/RCP6CR/RCP6W/RCP5/RCP5CR/RCP5W (other than high thrust type (Note 1))

A (3) RCP4 Gripper (GR*), ST4525E, SA3/RA3
(8) RCP2CR/RCP2W rotary (RT*) and GRS/GRM/GR3SS/GR3SM
(13) RCA2/RCA2CR/RCA2W (CNS option)
Startup Section

(16) RCD-RA1DA, RCD-GRSNA

CB-ADPC(2)-MPA□□□ (-RB)

Actuator
Driver Unit

(2) RCP6/RCP6CR/RCP6W/RCP5/RCP5W high thrust type (Note 1)

B (4) RCP4/RCP4W high thrust type (Note 1)
(5) RCP4/RCP4CR/RCP4W (gripper, ST4525E, SA3/RA3, high thrust type (Note 1))

Conversion cable
CB-ADPC(2)-MPA□□□ (-RB) CB-CAN-AJ002
Order Separately
Actuator
Driver Unit Simple Absolute Unit
Chapter 2 Mounting and Wiring

(6) RCP3
(9) RCP2/RCP2CR/RCP2W-GRSS/GRLS/GRST/GRHM/GRHB,
C
RCP2-SRA4R/SRGS4R/SRGD4R
(12) RCA2/RCA2CR/RCA2W, RCL
(14) RCA short type (RCA-SRA4R/SRGS4R/SRGD4R)

CB-RCAPC-MPA□□□ (-RB)

Actuator
Driver Unit

(7) RCP2-RTBS/RTBSL/RTCS/RTCSL
(10) RCP2/RCP2CR/RCP2W high thrust type (Note 1)
D
(11) RCP2/RCP2CR/RCP2W, excluding some (Refer to the list in the [previous page] for details)
(15) RCA/RCACR/RCAW (other than RCA-SRA4R/SRGS4R/SRGD4R)

RCM-CV- Each actuator

APCS connection cable
CB-ADPC-MPA002
Conversion
unit
Order Separately
Actuator
Order Separately
Driver Unit

Note 1: Actuators using high-thrust pulse motor (56SP, 60P and 86P)

B2-20 ME0384-7C
 2.2 Wiring

[200V Driver Unit Connection Cable]

Actuator RCON Connection Cable
Applicable
No. Applicable
Applicable Controller Motor Robot Encoder Robot
Series Symbol controller Motor Cable Encoder Cable
Type Cable Cable
code
RCS4
(1) T4 20 CB-RCC1-MA□□□ CB-X2-MA□□□ ― CB-X1-PA□□□
RCS4CR

Startup Section
CTZ5C
― CB-X1-PA□□□
RCS3(P) CT8C
(2) T4 20 CB-RCC1-MA□□□ CB-X2-MA□□□
RCS3(P)CR Other than
CB-RCS2-PA□□□ CB-X3-PA□□□
those above
RTC□L
RCS2 CB-RCS2-PLA□□□ CB-X2-PLA□□□
RT6
(3) RCS2CR T4 20 CB-RCC1-MA□□□ CB-X2-MA□□□
Other than
RCS2W CB-RCS2-PA□□□ CB-X3-PA□□□
those above
RA13R CB-RCS2-PLA□□□ CB-X2-PLA□□□
[From Actuator to [From Actuator to
RA13R Brake Box] Brake Box]
With no Loadcell

Equipped CB-RCS2-PLA□□□ CB-X2-PLA□□□

with Brake
(with brake [From Brake Box [From Brake Box
(4) RCS2 T4 20 CB-RCC1-MA□□□ CB-X2-MA□□□ to Controller] to Controller]】
box)
CB-RCS2-PLA□□□ CB-X2-PLA□□□
RA13R
Equipped [From Actuator to [From Actuator to
with Brake Brake Box] Brake Box]
(with no CB-RCS2-PLA□□□ CB-X2-PLA□□□
brake box)
CB-X1-PA□□□
*Cable length at 21m or more
and 30m or less in battery-

Chapter 2 Mounting and Wiring

less absolute type should be
CB-X1-PA□□□-
IS(P)B
AWG24
(5) IS(P)DB T4 30 ― CB-X2-MA□□□ ―
CB-X1-PLA□□□
IS(P)DBCR
*Cable length at 21m or more
Option: Limit
and 30m or less in battery-
Switch Equipped
less absolute type should be
Type (Note 1)
CB-X1-PLA□□□-
AWG24
IS(P)A CB-X1-PA□□□
IS(P)DA
IS(P)DACR
SSPA Option: Limit
(6) T4 30 ― CB-X2-MA□□□ ―
SSPDACR
Switch Equipped CB-X1-PLA□□□
IF
Type (Note 1)
FS
RS
(7) NSA T4 30 ― CB-X2-MA□□□ ― CB-X1-PA□□□

CB-X3-PA□□□
(8) NS Option: Limit T4 30 ― CB-X2-MA□□□ ―
Switch Equipped CB-X2-PLA□□□
Type (Note 1)
T18□
DD(A) CB-X2-MA□□□
LT18□
(9) DD(A)CR T4 30 ― ― CB-X3-PA□□□
H18□
DDW CB-XMC1-MA□□□
LH18□
W□□□ CB-XMC1-MA□□□ CB-X2-PLA□□□
(10) LSA T4 20 ― ―
Other than
CB-X2-MA□□□ CB-X3-PA□□□
those above
(11) LSAS T4 20 ― CB-X2-MA□□□ ― CB-X1-PA□□□

(12) IS(P)WA T4 30 ― CB-XEU1-MA□□□ ― CB-X1-PA□□□-WC

Note 1: When it is required to operate an actuator equipped with a limit switch, it should be the
cable equipped with a limit switch. (It has a limit switch built inside.)

ME0384-7C B2-21
 2.2 Wiring

● Connection between ELECYLINDER and EC Connection Unit

(1) Connection between 24V stepper motor type ELECYLINDER and EC connection unit
EC Connection Unit
Connection
example RCON-EC
RCON System
Startup Section

Insert until
it clicks
EC Connection Unit
Cable

EC Connection Unit Cable

ELECYLINDER • Standard Connector Cable Model Code:
(EC) CB-REC-PWBIO□□□-RB
• 4-way Connector Cable Model Code:
CB-REC2-PWBIO□□□-RB

Controller side
ELECYLINDER side Insert until it clicks

(2)-1. When connecting directly to EC connection unit

Connect the actuator cable on the Ultra Mini ELECYLINDER to the EC connection unit
Chapter 2 Mounting and Wiring

(RCON-EC).

Figure: Cable Connection

RCON-EC

Actuator
Cable

Set the snap feature to

the left and push it in
until it makes a click feel.

Actuator Body
Tab

Caution
 There is an orientation for insertion to the connector.
Align the orientation to the profile of the connector and push it in until it makes a click
feel.

B2-22 ME0384-7C
 2.2 Wiring

(2)-2. When connecting from interface box to RCON-EC

When connecting to an EC connection unit using an interface box, perform the wiring as
shown in the figure below.

Figure: Cable Connection

Startup Section
RCON-EC

Insert the connector while

aligning it to grooves

Push it in until if
makes click feel

Interface Box Power & I/O

Push it in until if Cable
makes click feel

Interface Box
Conversion Cable

Chapter 2 Mounting and Wiring

Push it in until if
makes click feel
Actuator
Cable

Actuator Body

Caution
 There is an orientation for insertion to the connector.
Align the orientation to the profile of the connector and push it in until it makes a click
feel.

ME0384-7C B2-23
 2.2 Wiring

(3) Connection between large slider type ELECYLINDER and EC connection unit

EC Connection Unit
(Model: RCON-EC-4)

Power supply / communication cable

CB-REC-PWBIO***-RB
DC Power Supply
Startup Section

for Motor Drive

(Model: PSA-200-*)
Large slider type ELECYLINDER

Motor power supply cable

CB-REC-PW***-RB

Caution
 Make sure to confirm that option ACR (RCON-EC connection specifications) is selected
for ELECYLINDER before connecting.
The actuator model code is described on the production label on the left side of the
Chapter 2 Mounting and Wiring

main unit.

B2-24 ME0384-7C
 2.2 Wiring

[1] Wiring to DC Power Supply for Motor Drive

Power Supply Connector

(Model: MSTB2.5/6-STF-5.08)

 Motor power supply (L1 and L2)

Startup Section
 Control power supply (L1C and L2C)
 Grounding (PE)
Perform wiring at 5 points in total

Terminal Screw
Inlet

7mm

Slotted Screwdriver

Wire

Slotted Screwdriver

Chapter 2 Mounting and Wiring

1) Refer to the table below for the wire diameter for each cable.
2) The stripped length on a cable should be 7mm.
3) Insert wires to the inlet on the power supply connector.
Inset the wires till they hit the end.
0 7mm
4) Tighten up the terminal screw with using a slotted screwdriver.

Bad Good

ME0384-7C B2-25
 2.2 Wiring

[Wire Diameters in Cables used for Power Supply Wiring on DC Power Supply for Motor Drive]
For the wires to be connected to the power supply connector, use the following applicable wires.

Compatible wire
Connector Terminal name Compatible wire diameter
Startup Section

PE AWG 14 (Copper wire)

NC N/A

L2C AWG 18 (Copper wire)

L1C AWG 18 (Copper wire)

L2 AWG 14 (Copper wire)

L1 AWG 14 (Copper wire)

* Use cables with their rated temperature on the isolation sheath at 60°C or higher.

5) Join the power supply connector to the DC power supply for motor drive and tighten up
Chapter 2 Mounting and Wiring

the fixing screws on the flanges of the connector by using a slotted screwdriver.

DC Power Supply for Motor Drive

(Model: PSA-200-*)

Power Supply Connector

(Model: MSTB2.5/6-STF-5.08)

Tighten up
with slotted
screwdriver

B2-26 ME0384-7C
 2.2 Wiring

[Installation of Noise Filter and Surge Protector on DC Power Supply for Motor Drive]
For the wires to be connected to the power supply connector, use the following applicable wires.

L1 L2 DC Power Supply for Motor Drive

(Model: PSA-200-*)

Startup Section
Ｘ Ｘ Noise Filter
Leakage Breaker NF2010A-UP
(manufactured by
Okaya Electric Industrie)
Circuit Breaker NAC-20-472
(manufactured by Cosel)
Connector Model Code:
MSTB2.5/6-STF-5.08

Surge Protector
R/A/V-781BWZ-2A
Grounding
(manufactured by
Class D Grounding
Okaya Electric Industrie)
(former Class 3 Grounding with ground
resistance 100Ω or below)

Chapter 2 Mounting and Wiring

Caution
 The leakage current may vary depending on the connected motor capacity,
cable length and other ambient environment. In case of leakage protection,
measure the leakage current at the position to install a leakage breaker.
 A leakage breaker should be selected under a clear purpose such as protection from
fire or protection for personnel. Select a leakage breaker applicable for higher
harmonics (inverter).

ME0384-7C B2-27
 2.2 Wiring

[2] Connectivity of Status Output Connector on DC Power Supply for Motor Drive
It should output the status of a DC power supply for motor drive. The output should be linked
to LEDs for PWR, MP and ALM.

Refer below for how to attach the status output connector.

Startup Section

DC Power Supply for Motor Drive

(Model: PSA-200-*)

Status Output Connector

(Model: DFMC1.5/3-STF-3.5)

Tighten up
with slotted
screwdriver

Signal
Connector Pin No. Content Remarks
name
Chapter 2 Mounting and Wiring

1 *ALM-
Alarm contact output
2 *ALM+
3 MP- Motor power supply Photocoupler insulation
4 MP+ contact output open collector output
5 PWR- Control power supply
6 PWR+ contact output

Compatible wire diameter

Item Specifications

Compatible wire AWG24 to 16

Max. cable length 10m
Strip length 10.0mm

* Use cables with their rated temperature on the isolation sheath at 60°C or higher.

B2-28 ME0384-7C
 2.2 Wiring

If it is required to stop the ELECYLINDER operation when the motor power supply on the
motor drive DC power supply PSA-200 gets cut off, establish the connectivity of the power &
I/O connector and the status output connector on ELECYLINDER (TMD2 type) as shown in
the diagram below.

Startup Section
Chapter 2 Mounting and Wiring

ME0384-7C B2-29
 2.2 Wiring

[3] Wiring between Actuator Unit and Motor Driving DC Power Supply Unit
Connect the ELECYLINDER large slider type unit to the REC system and the motor driving
DC power supply unit.
Startup Section

EC Connection Unit
(Model: RCON-EC-4)
Insert until
it clicks

Control power supply / communication cable

CB-REC-PWBIO□□□-RB

REC system

DC Power Supply
for Motor Drive
(Model: PSA-200-*)
Chapter 2 Mounting and Wiring

Large slider type

ELECYLINDER

Insert until
CB-EC-PW□□□-RB
it clicks

Power supply /
communication cable

Insert until
Motor power supply cable
it clicks Insert until
it clicks

Motor power supply cable

B2-30 ME0384-7C
 2.2 Wiring

[How to Apply Connector Guard]

There is a connector guard equipped for the large slider type ELECYLINDER.
With the connector guard applied, a risk to accidentally pull off a cable can be avoided.

Startup Section
Connector guard

By tightening the matching parts of the connector guard and the connectors with a cable band,
concern of contact error at the connectors caused by vibration on the cables can be reduced.

Tighten with

Chapter 2 Mounting and Wiring

cable bands

When pulling out the connector, insert a thin tool in a gap between the connector guard and the
connector to hold the locking feature, hold the other side at the same time and then pull it out.

Locking Locking

Push in a thin tool to a gap between the

connector guard and the locking feature
to hold the locking features on two sides Flathead screwdriver
and then pull out the connector.

ME0384-7C B2-31
 2.2 Wiring

[EC Connection Unit Cable (Common for All Types)]

Standard Connector Cable Code : CB-REC-PWBIO-RB
4-way Connector Cable Code : CB-REC2-PWBIO-RB
* The cable lengths should be 1m at shortest and 10m at longest. Order can be made in every
1m of length.
Startup Section

* Shown below is an example for the model types.

Cable Length 1ｍ → CB-REC-PWBIO010-RB
Cable Length 3ｍ → CB-REC-PWBIO030-RB
Cable Length 10ｍ → CB-REC-PWBIO100-RB
Chapter 2 Mounting and Wiring

B2-32 ME0384-7C
 2.2 Wiring

2.2.3 Wiring for external regenerative resistor unit

There is a built-in regenerative resistor of 60W equipped in 200V driver unit (RCON-SC-1) and
200V power supply unit (RCON-PS2-3).
The regenerative resistor is basically not necessary, but use this external regenerative resistor

Startup Section
in case of shortage in regenerative resistor.

[External Regenerative Resistor Unit]

[Model, Accessories]
Item Enclosed Items

Screw attachment small type RESU-2 200V Driver Unit Connection Cable
First
(Model code: CB-SC-REU010)
Unit
DIN rail attachment small type RESUD-2 1m enclosed
Model

Screw attachment small type RESU-1 Regenerative resistor unit

2nd
connection cable
unit or
(Model code: CB-ST-REU010)
later DIN rail attachment small type RESUD-1 1m enclosed

[Specification]
RESU-1, RESU-2 RESUD-1, RESUD-2

Chapter 2 Mounting and Wiring

Body Size [mm] W34  H154  D106.5 W34  H158  D115
Body Mass Approx. 0.4kg
Internal Regenerative Resistor 235Ω 80W
Heat Generation Value Max. 32W

[Appearance]

RESU-1, RESU-2 (Screw attachment small type) RESUD-1, RESUD-2 (DIN rail attachment small type)

[Wiring for Regenerative Resistor Unit]

Connect the regenerative resistor units as shown in the figure below with using the cables
enclosed to the regenerative resistor units.
(1) Connecting 1 Unit: Connect RESU(D)-2 with enclosed cable (CB-SC-REU)
(2) Connecting 2 or More: Connect RESU(D)-1 with enclosed cable (CB-ST-REU)

ME0384-7C B2-33
 2.2 Wiring

● Wiring Image
200V Power Supply Unit RB IN
External Regenerative Resistor Connector
(1)

(2)
Startup Section

RB OUT
RESU-2 RESU-1
RESUD-2 RESUD-1

● External Regenerative Resistor Connector Specifications

Item Items and Model
Connector Name External Regenerative Resistor Connector (RB)
Model Controller side: 1-178138-5 Cable side: 1-178128-3

● Pin Assignment
Pin No. Signal name Items Compatible wire diameter
Chapter 2 Mounting and Wiring

Regeneration Resistor +
1 RB+
(Motor drive DC voltage)
Dedicated Cable Enclosed to
2 RB- Regeneration Resistor - Regenerative Resistor Unit
3 PE Ground Terminal

(1) 200V Driver Unit Connection Cable (CB-SC-REU□□□)

□□□ indicates the cable length (Example) 010 = 1m

Controller Side Display of Cable Mode Code Regenerative

Resistor Unit Side

(2) Regenerative Resistor Unit Connection Cable (CB-ST-REU□□□)

□□□ indicates the cable length (Example) 010 = 1m

Controller Side Display of Cable Mode Code Regenerative

Resistor Unit Side

B2-34 ME0384-7C
 2.2 Wiring

2.2.4 Wiring for brake box

[1] RCB-110-RA13-0
Establish connectivity among the actuator, brake box and controller as shown in the figure.
(It is an example of connecting to the first axis.)

Startup Section
Motor cable
(CB-X2- MA) Encoder cable
(CB-RCS2-PLA010)
RCON-SC-1

Encoder cable
(CB-X3-PA)

Brake box
Actuator (RCB-110-RA13-0) RCON system

(2) Brake release switch (3) Brake release switch

connector 1 connector 2

Front

Chapter 2 Mounting and Wiring

(1) Brake power supply
input connector

(1) Brake power supply input connector

Connector Model Remarks

MC1.5/2-ST-3.5
Cable side
(Phoenix Contact)
MC1.5/2-GF-3.5
Brake box side
(Phoenix Contact)

External Compatible wire

Pin No. Signal name Description
view diameter

24VIN 0V Power supply

1 0V
ground
0.08 to 1.25mm2
(AWG28 to 16)
2 24VIN +24V power supply
2 1

ME0384-7C B2-35
 2.2 Wiring

(2) Brake release switch connector 1 and 2

Connector Model Remarks

XAP-02V-1
Cable side Contact BXA-001T-P0.6
(J.S.T. Mfg.)
Startup Section

Brake box side S02B-XASS-1 (J.S.T. Mfg.)

External Signal Compatible wire

Pin No. Description
view name diameter

1 BKMRL Brake release switch input

0.08 to 0.3mm2
(AWG28 to 22)
Common for brake release
2 COM
switch input
1 2
Use one with the switch rating 30V DC and 1.5mA or more.
Chapter 2 Mounting and Wiring

B2-36 ME0384-7C
 2.2 Wiring

[2] IA-110-DD-4
Establish connectivity among the actuator, brake box and controller as shown in the figure.
(It is an example of connecting to the first axis.)。
Motor cable
(CB-X2- MA/CB-XMC1-MA)
RCON-SC-1

Startup Section
Encoder cable Encoder cable
(CB-X3-PA) (CB-X3-PA010)

Brake box /
Actuator connection cable
(CB-DDB-BK)
Brake box
Actuator (IA-110-DD-4) RSEL system

Front

(2) Outside release & release signal output connector

(1) Power supply input terminal block

Chapter 2 Mounting and Wiring

Rear

(1) Power supply input terminal block

In order to supply power to the brake box, conduct wiring to the power supply input
terminal block.
 Power Supply Input Terminal Block Names and Pin Assignments
Terminal block name: ML-50-S2FXS-3P (Sato Parts)
Pin No. Signal name Explanation
1 L AC power phase L
2 N AC power phase N
3 PE Protection grounding

 Recommended Power Supply Size and Solderless Terminals

Item Explanation
Recommended L, N : AWG18 or less
Wire Size PE : AWG14 or less
Solderless I.D. : Φ4.0mm or more
Terminals O.D. : Φ8.5mm or less

ME0384-7C B2-37
 2.2 Wiring

(2) Outside release & release signal output connector

Pin 1 and Pin 2 are connectors to release the brake externally. Make Pin 1 and
Pin 2 short-circuited and the brake compulsory release can be performed. When a switch
is to be connected to the externally releasing connector, it is necessary to have 30VDC
and 1.5mA or more for the switch rating.
Startup Section

Pin 3 and Pin 4 are connectors to output the release signal. As inside Pin 3 and Pin 4 is
an open collector connection using a photocoupler, Pin 3 and Pin 4 should be conducted
once the brake voltage is output.
* Pin 3 and Pin 4 are isolated from inside of the brake box with the photocoupler.

 Outside release & release signal output connector

Connector name: ML-700-NH-4P (Sato Parts)
External view Pin No. Signal name Explanation
1 BKRMT+ Brake release input + side

2 BKRMT− Brake release input − side

3 RLS-C Open collector output collector side

Chapter 2 Mounting and Wiring

4 RLS-E Open collector output emitter side

 Connection cable specification

Item Explanation
Wire Size AWG22 to AWG28
Standard Strip Length 9 to 10mm

B2-38 ME0384-7C
 2.2 Wiring

2.2.5 Field network wiring

For details of the connection method, follow the instruction manuals of the master unit of each
field network and the PLC configured.

Startup Section
[CC-Link]

Shield (SLD)
5 FG

SLD Yellow (DG)

DG
White (DB)
DB

1 DA
Blue (DA)

Controller side
Connector top view

Connector name CC-Link cable connector Remarks

Standard
Cable side MSTB2.5/5-STF-5.08 AU (Phoenix Contact)
accessories

Chapter 2 Mounting and Wiring

Controller side MSTB2.5/5-GF-5.08 AU (Phoenix Contact)

Signal name Compatible

Pin No. Description
(color scheme) wire diameter
1 DA (blue) Signal line A
2 DB (white) Signal line B
3 DG (yellow) Digital ground CC-Link
Connects the shield of shielded cables dedicated
4 SLD cable
(5-pin FG and control power connector 1-pin FG connected internally)
Frame ground
5 FG
(4-pin SLD and control power connector 1-pin FG connected internally)

Master
unit RCON CC-Link Specifications
At the terminal, a terminal resistor needs
to be connected.
The terminal resistor varies depending on
the type of CC-Link dedicated cable.
· Cable FANC-SBH: 130 Ω 1/2 W
(CC-Link dedicated high
performance cable)
· Cable FANC-SB: 110 Ω 1/2 W
(CC-Link dedicated cable)
SLD and FG are
internally connected.

ME0384-7C B2-39
 2.2 Wiring

[CC-Link IE Field]

L ER

P1
Startup Section

LINK

L ER
P2

LINK

Controller side
Connector top view

Connector name CC-Link IE Field cable connector Remarks

Ethernet ANSI/TIA/EIA-568-B Category 5e or higher shielded To be prepared
Cable side
8P8C modular plug (RJ-45) by the customer
Ethernet ANSI/TIA/EIA-568-B Category 5e or higher shielded
Controller side
8P8C modular jack (RJ-45)

Pin No. Signal name Description Compatible wire diameter

Chapter 2 Mounting and Wiring

1 TD+ Transmit data +

2 TD- Transmit data -
3 RD+ Receive data +
4 － Not used For the Ethernet cable,
use a straight STP cable of
5 － Not used Category 5e or higher.
6 RD- Receive data -
7 － Not used
8 － Not used

Master unit Slave device

IN/OUT is not
distinguished in
the connector.

Ethernet straight cable, Category 5e or higher

Aluminum tape and braided double cutoff shielded cable recommended
(Note) Terminal resistor is not required.

B2-40 ME0384-7C
 2.2 Wiring

[DeviceNet]

Red (V+)

5
White (CAN H)

Startup Section
Shield

Blue (CAN L)
1
Black (V-)

Controller side
Connector top view

Connector name DeviceNet cable connector Remarks

Standard
Cable side MSTB2.5/5-STF-5.08 AU M (Phoenix Contact)
accessories
Controller side MSTB2.5/5-GF-5.08 AU (Phoenix Contact)

Signal name Compatible

Pin No. Description
(color scheme) wire diameter
1 V- (black) Power supply cable - side

Chapter 2 Mounting and Wiring

2 CAN L (blue) Signal data Low side DeviceNet
3 － Digital ground dedicated
4 CAN H (white) Signal data High side cable
5 V+ (red) Power supply cable + side

At the terminal, a terminal

resistor needs to be connected.
Master unit Slave device
121Ω 121Ω
Red
Red V+ V+ V+ Red
White
White White

Blue
Blue Blue
Black
Black V- V- V- Black

Grounding resistance: 100 Ω or less

(Class D grounding construction)
The communication power must be
supplied from the outside.

ME0384-7C B2-41
 2.2 Wiring

[EtherCAT]

OUT
Startup Section

N
I

Controller side
Connector top view

Connector name EtherCAT cable connector Remarks

Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded To be prepared
Cable side
8P8C modular plug (RJ-45) by the customer
Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded
Controller side
8P8C modular jack (RJ-45)

Pin No. Signal name Description Compatible wire diameter

1 TD+ Transmit data +
Chapter 2 Mounting and Wiring

2 TD- Transmit data -

3 RD+ Receive data +
4 － Not used For the Ethernet cable,
use a straight STP cable of
5 － Not used Category 5 or higher.
6 RD- Receive data -
7 － Not used
8 － Not used

Master unit Slave device

Ethernet straight cable, Category 5 or higher

Aluminum tape and braided double cutoff shielded cable recommended
(Note) Terminal resistor is not required.

B2-42 ME0384-7C
 2.2 Wiring

[EtherNet/IP]

Startup Section
Controller side
Connector top view

Connector name EtherNet/IP, PROFINET IO cable connector Remarks

Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded To be prepared
Cable side
8P8C modular plug (RJ-45) by the customer
Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded
Controller side
8P8C modular jack (RJ-45)

Pin No. Signal name Description Compatible wire diameter

Chapter 2 Mounting and Wiring

1 TD+ Transmit data +
2 TD- Transmit data -
3 RD+ Receive data +
4 － Not used For the Ethernet cable,
use a straight STP cable of
5 － Not used Category 5 or higher.
6 RD- Receive data -
7 － Not used
8 － Not used

Switching hub

Master unit Slave device

RCON
Ethernet straight cable EtherNet/IP specification
Category 5 or higher or
Aluminum tape and braided double RCON
cutoff shielded cable recommended PROFINET IO specification

ME0384-7C B2-43
 2.2 Wiring

[PROFIBUS-DP]

Red B line (positive side)

Green A line (negative side)
Startup Section

6
6
Cable

9
5
9
5
Shield

Controller side
Connector top view

Connector name PROFIBUS-DP cable connector Remarks

To be prepared
Cable side 9-pin D sub connector (male)
by the customer
Controller side 9-pin D sub connector (female)

Pin No. Signal name Description Compatible wire diameter

1 NC Not connected
Chapter 2 Mounting and Wiring

2 NC Not connected
3 B-Line Signal line B (RS-485)
4 RTS Transmission request PROFIBUS-DP
5 GND Signal GND (insulation) dedicated cable
6 +5 V +5 V output (isolated) (Type A: EN5017)
7 NC Not connected
8 A-Line Signal line A (RS-485)
9 NC Not connected

Master unit Slave device

Grounding resistance: 100 Ω or less

(Class D grounding construction)

B2-44 ME0384-7C
 2.2 Wiring

[PROFINET IO]

Startup Section
Controller side
Connector top view

Connector name EtherNet/IP, PROFINET IO cable connector Remarks

Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded To be prepared
Cable side
8P8C modular plug (RJ-45) by the customer
Ethernet ANSI/TIA/EIA-568-B Category 5 or higher shielded
Controller side
8P8C modular jack (RJ-45)

Pin No. Signal name Description Compatible wire diameter

Chapter 2 Mounting and Wiring

1 TD+ Transmit data +
2 TD- Transmit data -
3 RD+ Receive data +
4 － Not used For the Ethernet cable,
use a straight STP cable of
5 － Not used Category 5 or higher.
6 RD- Receive data -
7 － Not used
8 － Not used

Switching hub

Master unit Slave device

RCON
Ethernet straight cable EtherNet/IP specification
Category 5 or higher or
Aluminum tape and braided double RCON
cutoff shielded cable recommended PROFINET IO specification

ME0384-7C B2-45
 2.2 Wiring

[EtherCAT Motion]
Refer to [RCON EtherCAT Motion Instruction Manual (ME0427)] for the EtherCAT Motion
connection type.

[MECHATROLINK-III]
Startup Section

Refer to [RCON MECHATROLINK-III Instruction Manual (ME0426)] for the MECHATROLINK-III

connection type.

[SSCNET III/H]
Refer to [RCON SSCNET III/H Instruction Manual (ME0428)] for the SSCNET III/H connection
type.
Chapter 2 Mounting and Wiring

B2-46 ME0384-7C
 2.2 Wiring

2.2.6 PIO wiring

The connection of I/O to the controller is to be carried out using the dedicated I/O cable. The
cable length is shown in the model code of the controller. Please check the controller model
code. There are 2m for standard, 3m and 5m as an option. Up to 10m can be enabled sold

Startup Section
separately.
Also, the end of the cable harness to be connected to the host controller (PLC, etc.) is just cut
and no treatment is conducted so the wiring layout can be performed freely.

Chapter 2 Mounting and Wiring

Model : CB-PAC-PIO
( indicates the cable length L. Example. 020 = 2m)

Cable Cable
No. Wiring No. Wiring
Color Color
1A BR-1 1B BR-3
2A RD-1 2B RD-3
3A OR-1 3B OR-3
4A YW-1 4B YW-3
5A GN-1 5B GN-3
6A BL-1 6B BL-3
7A PL-1 7B PL-3
8A GY-1 8B GY-3

○ ○
9A WT-1 9B WT-3
Flat Cable A Flat Cable B
10A BK-1 10B BK-3
(Press Welding) (Press Welding)
11A BR-2 11B BR-4
AWG28 AWG28
12A RD-2 12B RD-4
13A OR-2 13B OR-4
14A YW-2 14B YW-4
15A GN-2 15B GN-4
16A BL-2 16B BL-4
17A PL-2 17B PL-4
18A GY-2 18B GY-4
19A WT-2 19B WT-4
20A BK-2 20B BK-4

ME0384-7C B2-47
 2.3 Peripheral Circuit

2.3 Peripheral Circuit

2.3.1 Stop circuit / Drive cutoff circuit

The circuit related to RCON's drive-source cutoff is shown below. RCON gets the motor power
Startup Section

supplied from the gateway unit for the 24V system and from the 200V power supply unit for the
200V system, however, the circuit related to drive cutoff is on the driver unit side.

System I/O connector

Chapter 2 Mounting and Wiring

Drive source shutoff connector

(24V Driver unit)

Drive source shutoff connector

Driver stop connector
(EC Connection Unit)
(200V Driver unit)

[For 24V System Driver Unit (RCON-PC/PCF/AC/DC)]

• Each driver unit has an interface (Drive-source cutoff connector: MPI/MPO) that can shut off
the external drive source of each axis.

[For 200V System Driver Unit (RCON-SC)]

• Each driver unit possesses a drive cutoff circuit and the driver stop circuit by the internal
semiconductor instead of an external drive cutoff connector.
• The driver stop circuit (DRV STOP) is a feature to stop the output by cutting off the motor
control signals after the reaction time (8ms or less) in response to the condition of an input
signal without cutting off the drive source.

[For EC Connection Unit (RCON-EC)]

• There are some interfaces (drive cutoff connectors: MPI/MPO) available which enables to cut
off drive externally for each axis of each EC connection unit.

B2-48 ME0384-7C
 2.3 Peripheral Circuit

Caution
● The drive cutoff semiconductor relay mounted on IAI controllers is assumed in
frequency of only limited use such as the case that an emergency stop of the device is
needed, thus it is not assumed to activate frequently. Therefore, in case of high
frequency of use of the drive cutoff relay such as switching on and off of the drive

Startup Section
source repeatedly every time of setup change, the semiconductor may come to the end
of life in early timing.
● Construct a circuit that STOP Signal for the system IO connector gets turned on and off
at the same time as the drive power supply turned on and off for RCON-SC-1 (RCON-
PS2-3). By using STOP Signal together, the electricity in the electrolytic capacitor can
be compulsorily discharged in the motor power supply line. This operation should
stabilize the condition inside the controller and could prevent occurrence of an
unexpected error (such as 0D3: Motor Power Supply Voltage Drop) during recovery.

[Electrical Specifications]
Item Specification
STOP- Input 24V DC±10％ / 10mA or less

Chapter 2 Mounting and Wiring

S1, S2 Input 24V DC±10％ / 0.1A or less

ME0384-7C B2-49
 2.3 Peripheral Circuit

Three conditions below are shown as an example of circuit.

(1) When operating an actuator by using the stop input on the teaching pendant
(2) When operating an actuator with the stop input activated on the equipment and teaching
pendant
(3) When reflecting the stop switch on the teaching pendant to the stop circuit in the
Startup Section

equipment

(1) When operating an actuator by using the stop input on the teaching pendant

[Wiring Layout Image]

Teaching
pendant SIO connector
Stop switch is valid

RCON

System I/O connector

Chapter 2 Mounting and Wiring

[Example of Circuit]

Gateway unit Driver unit

Teaching pendant
Stop switch SIO connector

*1

System I/O
connector

Wiring done 24V

before delivered dedicated
for stop
circuit

Drive
Cutoff
Circuit

*1 The circuit should differ as shown below depending on the types of RCON Gateway.
RCON-GW: If nothing is connected to the SIO connector, S1 and S2 will be short-circuited
in the controller.
RCON-GWG: If nothing is connected to the SIO connector, S1 and S2 will not be short-
circuited in the controller.
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.

B2-50 ME0384-7C
 2.3 Peripheral Circuit

(2) When operating an actuator with the stop input activated on the equipment and teaching
pendant

[Wiring Layout Image]

Startup Section
Teaching pendant SIO connector

Stop switch is valid

System I/O connector

External stop switch

[Example of Circuit]

Gateway unit Driver unit

Teaching pendant

Chapter 2 Mounting and Wiring

Stop switch SIO connector

*1

Stop switch System I/O

connector

Wiring done 24V

before delivered dedicated
for stop
circuit

Drive Cutoff
Circuit

*1 The circuit should differ as shown below depending on the types of RCON Gateway.
RCON-GW: If nothing is connected to the SIO connector, S1 and S2 will be short-circuited
in the controller.
RCON-GWG: If nothing is connected to the SIO connector, S1 and S2 will not be short-
circuited in the controller.
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.

ME0384-7C B2-51
 2.3 Peripheral Circuit

(3) When reflecting the stop switch on the teaching pendant to the stop circuit in the equipment

[Example of Circuit (For 24V System)]

Startup Section
Chapter 2 Mounting and Wiring

*1 The circuit should differ as shown below depending on the types of RCON Gateway.
RCON-GW: If nothing is connected to the SIO connector, S1 and S2 will be short-circuited
in the controller.
RCON-GWG: If nothing is connected to the SIO connector, S1 and S2 will not be short-
circuited in the controller.
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.
*2 The 24V driver unit and ELECYLINDER that an EC connection unit is connected should be
able to set in the stop status by cutting off the drive cutoff connector or the power supplied to
MP 24V.
In this case, an actuator connected to a 24V driver should stop in the way set in Driver
Parameter No. 110 "Stop Mode in Servo-off" and the output signal "EMGS" should turn on.
For ELECYLINDER connected to an EC connection unit, it should make a sudden stop and
turn the operation ready signal "E0RD" to "E3RD" off.

B2-52 ME0384-7C
 2.3 Peripheral Circuit

[Example of Circuit (When using the 200V driver only)]

Stop switch
on teaching pendant
(TB-03, …etc.)

24V Gateway Unit 200VAC Power Supply Unit 200VAC Driver Unit

Startup Section
SIO
8. STOPB
*1
Emergency 5. STOPA
Stop reset
switch
Emergency
stop switch SYS I/F
2. S1

Motor Power
CR1
1. S2

6. STOP＋

7. STOP－
CR1

high-side protection circuit

*2

∫
MP
24V
0V

Chapter 2 Mounting and Wiring

CP
24V
Control Power
0V
FG

CR1

CR1
MC1 Motor Power
Supply Connector
for 200V Driver
MC1

0V L1 L2 L3 PE

(Note) Construct the circuit to turn STOP Signal off at the same time as turning off the drive
power supply provided to the motor power supply connector for 200V driver. By using
STOP Signal together, the electricity in the electrolytic capacitor can be compulsorily
discharged in the motor power supply line. This operation should stabilize the condition
inside the controller and could prevent occurrence of an unexpected error (such as 0D3:
Motor Power Supply Voltage Drop) during recovery.

*1 The circuit should differ as shown below depending on the types of RCON Gateway.
RCON-GW: If nothing is connected to the SIO connector, S1 and S2 will be short-circuited
in the controller.
RCON-GWG: If nothing is connected to the SIO connector, S1 and S2 will not be short-
circuited in the controller.
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.
*2 Power supply to MP not necessary when 24V driver not used for drive.

ME0384-7C B2-53
 2.3 Peripheral Circuit

[Example of Circuit (When Using 24V Driver and 200V Driver Together)]
Stop switch
on teaching pendant
(TB-03, …etc.)

24VDC Driver Unit EC Connection Unit 200VAC Power Supply Unit 200VAC Driver Unit
24V

SIO
Startup Section

8. STOPB

5. STOPA *3
Stop reset
switch

EC Motor Power Supply Ⅰ

EC Motor Power Supply Ⅱ

EC Motor Power Supply Ⅲ

EC Motor Power Supply Ⅳ

Emergency
stop switch SYS I/F

Motor Power Ⅰ

Motor Power Ⅱ
2. S1

Motor Power
CR1
1. S2

6. STOP＋
*1
7. STOP－
CR1

high-side protection circuit

high-side protection circuit

high-side protection circuit

*2
∫

∫
MP
24V
MC1 0V
high-side protection circuit

∫
CP

24V
Control Power
0V
FG
Chapter 2 Mounting and Wiring

CR1

CR1 Drive source Motor Power

MC1
shutoff connector Supply Connector
1 MPO Ⅰ
1 MPI Ⅰ
2 MPO Ⅱ
2 MPI Ⅱ
3 MPO Ⅲ
3 MPI Ⅲ
4 MPO Ⅳ
4 MPI Ⅳ
1 MPO Ⅰ

2 MPO Ⅱ

2 MPI Ⅱ
1 MPI Ⅰ

(24V Driver unit) for 200V Driver *1

*2 MC2
MC2
0V MC1 MC1 MC1 MC1 MC1 MC1 L1 L2 L3
Drive source shutoff connector
(EC Connection Unit) *2

*1 When cutting off the drive power supplied to the motor power supply connector for 200V
driver, it is necessary to establish the circuit to turn STOP Signal off at the same time.By
using STOP Signal together, the electricity in the electrolytic capacitor can be compulsorily
discharged in the motor power supply line. This operation should stabilize the condition
inside the controller and could prevent occurrence of an unexpected error (such as 0D3:
Motor Power Supply Voltage Drop) during recovery.
*2 The 24V driver unit and ELECYLINDER that an EC connection unit is connected should be
able to set in the stop status by cutting off the drive cutoff connector or the power supplied to
MP 24V.
In this case, an actuator connected to a 24V driver should stop in the way set in Driver
Parameter No. 110 "Stop Mode in Servo-off" and the output signal "EMGS" should turn on.
For ELECYLINDER connected to an EC connection unit, it should make a sudden stop and
turn the operation ready signal "E0RD" to "E3RD" off.

B2-54 ME0384-7C
 2.3 Peripheral Circuit

*3 The circuit should differ as shown below depending on the types of RCON Gateway.
RCON-GW: If nothing is connected to the SIO connector, S1 and S2 will be short-circuited
in the controller.
RCON-GWG: If nothing is connected to the SIO connector, S1 and S2 will not be short-
circuited in the controller.

Startup Section
To short-circuit, connect the supplied dummy plug DP-5 to the SIO connector.

Dummy plug (model: DP-5)

SIO connector

Chapter 2 Mounting and Wiring

Warning
 The stop switch on a teaching pendant can stop all the actuators connected to RCON,
however, it cannot stop the system.

Caution
 When externally shutting off the motor drive source to comply with the safety category
or the like, connect a contact such as a relay to the wiring between the MPI* and MPO*
terminals.
 The rating of the STOP-signal to be turned ON/OFF with the contact CR1 is 24V DC /
10mA or less.
 The CR1 coil current must be 0.1A or less.
 When supplying power by turning ON/OFF 24V DC, leave 0V connected and supply/cut
off (cut one side only) +24V. Shutting power supply on the both ends may make the
electric potential unstable when the power gets cut on the 0V end first. This may cause
malfunction of components inside the controller.
 Consider the wire diameter and length for the drive cutoff connector wiring so the
voltage would not drop.
 There may be a case that an alarm gets generated due to the voltage drop supplied to
the controller caused by inappropriate wire diameter and length. In such a case, adjust
the output voltage of the power supply to secure 24V for the voltage supplied to the
controller.

ME0384-7C B2-55
 2.3 Peripheral Circuit

2.3.2 Driver stop circuit

The 200V driver unit (RCON-SC-1) supplies three-phase/single-phase 200V AC from the
dedicated power supply unit (RCON-PS2-3). RCON-SC-1 is equipped with the drive cutoff
circuit with an internal semiconductor and the driver stop function instead of being equipped with
Startup Section

a connector for external drive cutoff.

The driver stop function (described name: DRV STOP) is a feature to stop the output to a motor
by cutting off the motor control signals after the reaction time (8ms or less) in response to the
condition of an input signal without cutting off the drive source.
Shown below is an example for wiring for the driver stop feature.

[Connector Position]

Driver Stop Connector

Chapter 2 Mounting and Wiring

Front View of RCON-SC

[Example for Wiring]

By wiring a shown in the diagram above, the driver features can be stopped when the switch is
turned off. (Pin numbers 3/4 and 5/6 have no polarity.)
Note 1: Have the 0V in common with the 24V power supply of the gateway unit.

B2-56 ME0384-7C
 2.3 Peripheral Circuit

[Signals on Driver Stop Connector]

Connector Name on Driver unit Side: 2294417-1 (Tyco Electronics)
Signal
Pin No. Name Explanation
name
1 NC − Do not apply

Startup Section
2 NC − Do not apply

3 /SRI1- Stop input signal should be input.

Stop Input Signal 1 On: DRV STOP released
4 /SRI1+ Off: In DRV STOP (Motor current cutoff)
5 /SRI2- Stop input signal should be input.
Stop Input Signal 2 On: DRV STOP released
6 /SRI2+ Off: In DRV STOP (Motor current cutoff)
7 EDM- External Device Monitor It is an output signal to show the stop feature
8 EDM+ Output Signal is in operation with no failure.

[Electrical Specifications]
Item Specifications Remarks

Stop Input Signal (SRI)

Chapter 2 Mounting and Wiring

On Input Voltage Range 24V ± 10%
Off Input Voltage Range 0-2V
Input Current 7.6mA (Typ) It is a value per 1ch.
Reaction Time 8ms or less

External Device Monitor Output Signal (EDM)

Voltage Range 24V ± 10%

Output Current 100mA (Max)

[Test Pulse of Stop Input Signal]

Set the test pulse off time input externally at 1ms or less.

Caution
 When it is necessary to release stop several units at the same time using the driver
stop feature (DRV STOP), use the units with the stop release signal of each unit for
1ms or more. (It may detect an overcurrent error unexpectedly.)
 There should be no problem to have the stop release at the same time for the
manufacturing number B20978900 or later.
 The driver inactivating feature is not Safe Torque Off Feature (EN/IEC61800-5-2).

ME0384-7C B2-57
 2.3 Peripheral Circuit

[Operating Sequence]
 Normal Operation

DRV STOP Released DRV STOP Released

ON
Stop Input Signal 1
( /SRI1) In DRV STOP
OFF
Startup Section

DRV STOP Released DRV STOP Released

ON
Stop Input Signal 2
( /SRI2) In DRV STOP
OFF

ON
Energy Supply to
Motor
OFF
Reaction Time: 8ms or less
ON
External Monitor
Output Signal
OFF
(EDM)
Dynamic Brake

Number of Motor Revolution

Internal Circuit Latency Time: * ms
Chapter 2 Mounting and Wiring

 Operation in malfunction

DRV STOP Released DRV STOP Released

ON
Stop Input Signal 1
( /SRI1) In DRV STOP
OFF

ON
Stop Input Signal 2 DRV STOP
( /SRI2)
OFF

ON
Energy Supply to
Motor
OFF
Reaction Time: 8ms or less
ON
External Monitor
Output Signal Monitor Signal kept off
OFF
(EDM)
Dynamic Brake

Number of Motor Revolution

Internal Circuit Latency Time: * ms

Operation in malfunction should be as shown in the diagram above when switches are
reduplicated as shown in the example of wiring.
When having one switch, the driver stop feature at malfunction should get invalid.

B2-58 ME0384-7C
 2.3 Peripheral Circuit

[Cable for Driver Stop Feature] (Sold separately)

Model Code Cable Model Wiring Diameter

CB-SC-STO 2464C BIOS-CL3-2603P-B (BANDO DENSEN) AWG26 × 3P

Startup Section
Cut off

Controller Side Connector Name：2013595-1（Tyco Electronics）

Pin No. Signal Name Wiring Color
1 − −
2 − −
3 /SRI1- Black
4 /SRI1+ Black/ White
AWG26
5 /SRI2- Red
6 /SRI2+ Red/ White
7 EDM- Green
8 EDM+ Green/ White

Chapter 2 Mounting and Wiring

[Dummy Plug for Driver Stop Connector] (Enclosed)
It is a short-circuit plus to unable the function by connecting to the driver stop connector when
the driver stop feature is not in use.

Model : DP-6

[Driver Stop Connector (Cable Side)] (To be prepared by user)

There is the following model code available for a connector unit on the cable side when a cable
for driver stop feature is to be built up.
Manufacturer: Tyco Electronics
Model Code: 2013595-1 (Soldering Type) * There is cold-welding type also available.

Cramping Tool
2229737-1

It is necessary to have a cramping tool 2229737-1. (for both soldering and cold-welding types)

ME0384-7C B2-59
 2.3 Peripheral Circuit

2.3.3 AUTO/MANU mode switching circuit wiring

You can also switch AUTO/MANU by connecting the PLC/contact to the AUTO/MANU
(automatic/manual operation) input of the system I/O connector of the gateway unit.
AUTO/MANU Switch
Startup Section

System I/O connector

Pin No. Signal name Explanation

3 AUTO/MANU－ AUTO/MANU input signal
8 AUTO/MANU＋ AUTO/MANU power supply
Chapter 2 Mounting and Wiring

Note that the specification of the system I/O connector is as follows.

Item Specifications

Input current 5mA

Leakage current Max. 1 mA
Isolation method Non-isolated

Refer to [Specifications Edition Chapter 3 3.5.7 System I/O connector (page A3-12)] for details of
other specifications.

There are three ways of wiring for the AUTO/MANU Mode switchover circuit. In the next page,
shows an example of wiring.

B2-60 ME0384-7C
 2.3 Peripheral Circuit

(1) When using only AUTO/MANU switch

If AUTO/MANU inputs (Pin 3 and 8) inside the system I/O connector are shorted out with a
short-circuit line, the mode gets unavailable for switching over "only with the AUTO/MANU
switch". (Status on delivery)

Startup Section
RCON AUTO/MANU Switch
Gateway unit AUTO
MANU

System I/O
Short-circuit line (*1)
connector
Internal
circuit 3 *1 In the system I/O connector at delivery
has a short-circuit line wired.

(2) When using AUTO/MANU switch and external contact together

The "AUTO/MANU switch" and the "external contact" should be connected in series as
shown in the figure. When both are connected, the mode should be "AUTO" and when either
of them is open, it should be "MANU".

Chapter 2 Mounting and Wiring

RCON AUTO/MANU Switch
Gateway unit AUTO
MANU

System I/O
External contact
connector
Internal
circuit
3

(3) When using only external contacts

Connect the AUTO/MANU signal input 3-pin in the system I/O connector to the PLC, etc.
It is "AUTO" at external I/O output ON (0 V) and "MANU" at OFF (open).
In this case, the AUTO/MANU switch will be disabled.

AUTO/MANU Switch
RCON
Gateway unit AUTO * AUTO/MANU switch will be
MANU disabled

System I/O
External contact
connector
Internal
circuit 3

ME0384-7C B2-61
 2.4 Conforming to Safety Category

2.4 Conforming to Safety Category

In this section, picks up some examples of circuit complies with Safety Categories. However,
it is yourself to ensure conformation to your own condition of use. Therefore, it is necessary to
construct yourself the circuit that conforms to your condition of use and the applicable category.
Startup Section

2.4.1 System configuration

When it is necessary to construct a system complied with Safety Categories (ISO12100-

1/ISO13849-1), make sure to use RCON Gateway Unit (model code: RCON-GWG) and TP
adapter (model code: RCB-LB-TGS) that are complied with Safety Categories.
By changing the connection of the system I/O connector, it can conform up to Safety Categories
B to 4. In order to comply with Safety Categories from B to 3, it is recommended to use the
teaching pendant equipped with a dead man’s switch (model code: TB-02D).
In order to comply with Safety Category 4, take off a teaching pendant and connect the dummy
plug (model code: DP-4S).
Chapter 2 Mounting and Wiring

B2-62 ME0384-7C
 2.4 Conforming to Safety Category

2.4.2 Wiring and setting of safety circuit

[Power supply]
To use safty relays and/or contactors of 24V DC specification in the safety circuit, the control
power supply should be used only for the circuit as much as possible. (Do not attempt to use

Startup Section
the same power source as this this controller.)
For example, to supply power to the safety circuit, do not use the power supply driving our
robocylinder controller ACON or PCON.
It is the risk prevention treatment preparing for the cases such as the operation error of the
safety circuit caused by not enough power capacity.

[Specification of system I/O connector for TP adapter]

Connector Name System I/O Connector Applicable Wire
(Note 1)
Upper side Cable side FMC1.5/6-ST-3.5
(EMG side) TP adapter side MCDN1.5/6-G1-3.5P26THR Phoenix AWG24 to 16
Cable side FMC1.5/6-ST-3.5 (Note 1) Contact (0.2 to 1.25m2)
Lower side
(ENB side) TP adapter side MCDN1.5/6-G1-3.5P26THR

Pin No. Signal Name Description

Chapter 2 Mounting and Wiring

1 EMG1- Emergency stop contact 1
2 EMG1+ (30V DC or less, 100mA or less)
Upper side 3 EMG2- Emergency stop contact 2
(EMG 4 EMG2+ (30V DC or less, 100mA or less)
side)
5 EMGIN Emergency stop detection input
24V power supply output for emergency stop
6 EMGOUT
detection input
7 ENB1- Emergency stop contact 1
8 ENB1+ (30V DC or less, 100mA or less)

Lower side 9 ENB2- Emergency stop contact 2

(ENB side) 10 ENB2+ (30V DC or less, 100mA or less)
11 ENBIN Enable detection input
12 ENBOUT 24V power supply output for enable detection input
Note 1 : Connectors on the cable side are attached under conditions where initial wiring has
been conducted.
In order to support each category, remove the initial wiring and wire your safety circuit.

ME0384-7C B2-63
 2.4 Conforming to Safety Category
Startup Section

12

7
8
9
10
Chapter 2 Mounting and Wiring

11
12

Insertion Error Prevention Key

Insertion Error Prevention Key

[Connection of Dummy Plug on TP Adapter]

When operating the controller with AUTO Mode, make sure to connect the dummy plug DP-4S.

B2-64 ME0384-7C
 2.4 Conforming to Safety Category

2.4.3 Examples of safety circuits

[Safety category 1] Summary of Requirements

• Use well tried highly trusted components and follow the safety principles to ensure safety.
[1] -1 Category 1 (When Connecting Only 24V Unit)

Startup Section
Chapter 2 Mounting and Wiring

In this example of circuit, the electromagnetic contactor cuts off

the power input connector MP+24V on the gateway unit.
However, it is available also to have a circuit to cut off the drive
cutoff connectors MPO and MPI on each driver unit.

Note 1 : The gateway unit complied with Safety Categories (RCON-GWG) is not equipped with
a relay to switch over the lines by automatic identification of a teaching tool being
inserted to the SIO connector.

ME0384-7C B2-65
 2.4 Conforming to Safety Category

[1] -2 Category 1 (When connecting RCON-SC (single-phase 200V))

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to 24V and 200V.
In this example for a circuit, the drive is cut off at the power supply input connector MP+24V on
the gateway and 200V AC on RCON-PS2. It is also available to have a circuit to cut off at the
drive cutoff connector MPO and MPI on 24Ｖdriver unit.
Cut off the 200V AC for RCON-PS2.

B2-66 ME0384-7C
 2.4 Conforming to Safety Category

[1] -3 Category 1 (When connecting SCON using an SCON extension unit)

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to RCON and SCON.
In this example of circuit, the RCON circuit cuts off the power input connector MP+24V on the
gateway unit. However, it is available also to have a circuit to cut off the drive cutoff connectors
MPO and MPI on each driver unit.

ME0384-7C B2-67
 2.4 Conforming to Safety Category

[Safety category 2] Summary of Requirements

• Follow the safety principles to ensure safe.
• The safety function(s) shall be checked periodically by the machine control system.

[2] -1 Category 2 (When Connecting Only 24V Unit)

Startup Section
Chapter 2 Mounting and Wiring

In this example of circuit, the electromagnetic contactor cuts off the power input connector
MP+24V on the gateway unit. However, it is available also to have a circuit to cut off the drive
cutoff connectors MPO and MPI on each driver unit.

B2-68 ME0384-7C
 2.4 Conforming to Safety Category

[2] -2 Category 2 (When connecting RCON-SC (single-phase 200V))

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to 24V and 200V.
In this example for a circuit, the drive is cut off at the power supply input connector MP+24V on
the gateway and 200V AC on RCON-PS2. It is also available to have a circuit to cut off at the
drive cutoff connector MPO and MPI on 24V driver unit.
Cut off the 200V AC for RCON-PS2.

ME0384-7C B2-69
 2.4 Conforming to Safety Category

[2] -3 Category 2 (When connecting SCON using an SCON extension unit)

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to RCON and SCON.
In this example of circuit, the RCON circuit cuts off the power input connector MP+24V on the
gateway unit. However, it is available also to have a circuit to cut off the drive cutoff connectors
MPO and MPI on each driver unit.

B2-70 ME0384-7C
 2.4 Conforming to Safety Category

[Safety category 3] Summary of Requirements

• Follow the safety principles to ensure safety.
• The safety related parts shall be designed under the following directions
(1) A single fault in any of its parts shall not lead to the loss of a safety function.
(2) A single fault shall be detected as much as possible.

Startup Section
[3] -1 Category 3 (When Connecting Only 24V Unit)

Chapter 2 Mounting and Wiring

In this example of circuit, the electromagnetic contactor cuts off the power input connector
MP+24V on the gateway unit. However, it is available also to have a circuit to cut off the drive
cutoff connectors MPO and MPI on each driver unit.

ME0384-7C B2-71
 2.4 Conforming to Safety Category

[3] -2 Category 3 (When connecting RCON-SC (single-phase 200V))

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to 24V and 200V.
In this example for a circuit, the drive is cut off at the power supply input connector MP+24V on
the gateway and 200V AC on RCON-PS2. It is also available to have a circuit to cut off at the
drive cutoff connector MPO and MPI on 24V driver unit.
Cut off the 200V AC for RCON-PS2.

B2-72 ME0384-7C
 2.4 Conforming to Safety Category

[3] -3 Category 3 (When connecting SCON using an SCON extension unit)

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to RCON and SCON.
In this example of circuit, the RCON circuit cuts off the power input connector MP+24V on the
gateway unit. However, it is available also to have a circuit to cut off the drive cutoff connectors
MPO and MPI on each driver unit.

ME0384-7C B2-73
 2.4 Conforming to Safety Category

[Safety category 4] Summary of Requirements

• Follow the safety principles to ensure safety.
• The safety related parts shall be designed under the following directions
(1) A single fault in any of its parts shall not lead to the loss of a safety function.
(2) The single fault shall be detected at or before the next demand on the safety function. If this detection is
not possible then an accumulation of faults shall not lead to a loss of safety function.
Startup Section

[4]-1 Category 4 (When Connecting Only 24V Unit)

Chapter 2 Mounting and Wiring

In this example of circuit, the electromagnetic contactor cuts off the power input connector
MP+24V on the gateway unit. However, it is available also to have a circuit to cut off the drive
cutoff connectors MPO and MPI on each driver unit.

B2-74 ME0384-7C
 2.4 Conforming to Safety Category

[4] -2 Category 4 (When connecting RCON-SC (single-phase 200V))

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to 24V and 200V.
In this example for a circuit, the drive is cut off at the power supply input connector MP+24V on
the gateway and 200V AC on RCON-PS2. It is also available to have a circuit to cut off at the
drive cutoff connector MPO and MPI on 24Ｖdriver unit.
Cut off the 200V AC for RCON-PS2.

ME0384-7C B2-75
 2.4 Conforming to Safety Category

[4] -3 Category 4 (When connecting SCON using an SCON extension unit)

Startup Section
Chapter 2 Mounting and Wiring

The electromagnetic contactor cuts off the motor power supply to RCON and SCON.
In this example of circuit, the RCON circuit cuts off the power input connector MP+24V on the
gateway unit. However, it is available also to have a circuit to cut off the drive cutoff connectors
MPO and MPI on each driver unit.

B2-76 ME0384-7C
 2.4 Conforming to Safety Category

2.4.4 TP adapter and related parts

[TP Adapter]

Startup Section
External dimensions

Chapter 2 Mounting and Wiring

ME0384-7C B2-77
 2.4 Conforming to Safety Category

[Connection cable]
• Connection Cable between Gateway Unit and TP Adapter
Use this cable to connect the gateway unit and TP adapter.
Model : CB-CON-LB005 (Cable length : 0.5m)
Startup Section

• Connection Cable between Teaching Pendant and TP Adapter

Chapter 2 Mounting and Wiring

Use this cable to connect the teaching pendant and TP adapter.

Model : CB- TB1-GC
Maximum cable length : 10.0m, Minimum cable length : 0.2m

B2-78 ME0384-7C
 2.4 Conforming to Safety Category

[Dummy plug]
Connect a dummy plug to the teaching pendant connecting connector.
Make sure to connect a dummy plug if the AUTO mode is specified.
Without the connection, it will be the emergency stop condition.
Model: DP-4S

Startup Section
Chapter 2 Mounting and Wiring

ME0384-7C B2-79
 2.4 Conforming to Safety Category
Startup Section
Chapter 2 Mounting and Wiring

B2-80 ME0384-7C
 Startup
Section

Chapter 3
Simple Absolute Unit
3.1 Simple Absolute Unit Wiring ··································· B3-1

3.2 Parameter Setting ··············································· B3-4

3.3 Precautions ······················································· B3-6

ME0384-7C
 3.1 Simple Absolute Unit Wiring

3.1 Simple Absolute Unit Wiring

When using a simple absolute unit, perform wiring as shown below.

1 simple absolute unit is required for each actuator.
Startup Section

Simple Absolute Unit

RCON System

Actuator connection
Connector (MPG)

Driver unit

CB-ADPC-MPA005
(Supplied with Simple Absolute Unit)

Driver cable connector (CONT)

Actuator
Chapter 3 Simple Absolute Unit

For the wiring of this section,

refer to the RCON connection
cable list on the next page.

B3-1 ME0384-7C
 3.1 Simple Absolute Unit Wiring

RCON Connection Cable List (RCP/RCA series)

Actuator Applicable RCON connection cable (Note 2)

Conversion Wiring
No. controller (-RB: Robot cable)
Series Target type unit diagram
code [Each actuator connection cable]
Gripper (GR*),
(3) P5 CB-ADPC(2)-MPA□□□(-RB) - A
ST4525E, SA3/RA3

Startup Section
RCP4
CB-ADPC-MPA002 (Note 3)
(4) RCP4CR High thrust type (Note 1) P6
CB-CAN-AJ002 (conversion cable)
- B
RCP4W
CB-ADPC-MPA002 (Note 3)
(5) Other than (3), (4) P5 - B
CB-CAN-AJ002 (conversion cable)
(6) RCP3 P5 CB-RCAPC-MPA□□□(-RB) - C
RCP2 (standard type)
CB-ADPC-MPA002 (Note 3)
(7) Rotary compact type P5 Required D
[CB-RPSEP-MPA□□□]
RCP2-RTBS/RTBSL/RTCS/RTCSL
RCP2CR (clean room type),
RCP2W (dust-proof/splash-proof type)
(8)
Rotary (RT*) of above types
P5 CB-ADPC(2)-MPA□□□-RB - A
GRS/GRM/GR3SS/GR3SM of above types
RCP2
All (standard / clean room / dust-
RCP2CR
proof/splash-proof) types of
RCP2W
(9) GRSS/GRLS/GRST/GRHM/GRHB P5 CB-RCAPC-MPA□□□(-RB) - C
Short type (RCP2 only)
RCP2-SRA4R/SRGS4R/SRGD4R
CB-ADPC-MPA002 (Note 3)
(10) High thrust type (Note 1) P6
[CB-CFA-MPA□□□(-RB)]
Required D

Chapter 3 Simple Absolute Unit

CB-ADPC-MPA002 (Note 3)
(11) Other than (7) to (10) P5 Required D
[CB-PSEP-MPA□□□]
(12) RCA2/RCA2CR/RCA2W, RCL A6 CB-RCAPC-MPA□□□(-RB) - C
(13) RCA2/RCA2CR/RCA2W (CNS option) A6 CB-ADPC(2)-MPA□□□(-RB) - A
Short type (RCA only)
(14) RCA
RCA-SRA4R/SRGS4R/SRGD4R
A6 CB-RCAPC-MPA□□□(-RB) - C
RCACR
CB-ADPC-MPA002 (Note 3)
(15) RCAW Other than (14) A6 Required D
[CB-ASEP2-MPA□□□]
Note 1: Actuators using high-thrust pulse motor (56SP, 60P and 86P)
Note 2: Up to 20 m from each driver unit to the actuator, with or without the conversion unit.
Note 3: There is no model code setting to CB-ADPC-MPA002 (RCON connection cable) that comes
as a set when an actuator is purchased. It is necessary to prepare separately when to use.

ME0384-7C B3-2
 3.1 Simple Absolute Unit Wiring

RCON Connection Cable Wiring Diagram (For Simple Absolute Unit Connection)

(3) RCP4 Gripper (GR*), ST4525E, SA3/RA3

(8) RCP2CR/RCP2W rotary (RT*) and GRS/GRM/GR3SS/GR3SM
A (13) RCA2/RCA2CR/RCA2W (CNS option)
Supplied with
Startup Section

Simple Absolute Unit

CB-ADPC-MPA005

CB-ADPC(2)-MPA□□□ (-RB)

Actuator
Driver Unit Simple Absolute Unit

(4) RCP4/RCP4W high thrust type (Note 1)

(5) RCP4/RCP4CR/RCP4W (GR*, ST4525E, SA3/RA3, high thrust type (Note 1))
B
Supplied with
Simple Absolute Unit

CB-ADPC-MPA005
Conversion cable
CB-CAN-AJ002
Order Separately

Simple Absolute Unit

Actuator
Driver Unit

(6) RCP3
Chapter 3 Simple Absolute Unit

(9) RCP2/RCP2CR/RCP2W-GRSS/GRLS/GRST/GRHM/GRHB,
C RCP2-SRA4R/SRGS4R/SRGD4R
(12) RCA2/RCA2CR/RCA2W, RCL
(14) RCA short type (RCA-SRA4R/SRGS4R/SRGD4R)
Supplied with
Simple Absolute Unit

CB-ADPC-MPA005

CB-RCAPC-MPA□□□ (-RB)

Driver Unit Simple Absolute Unit Actuator

(7) RCP2-RTBS/RTBSL/RTCS/RTCSL
(10) RCP2/RCP2CR/RCP2W high thrust type (Note 1)
D (13) RCP2/RCP2CR/RCP2W, excluding some (Refer to the list in the [previous page] for details)
(15) RCA/RCACR/RCAW (other than RCA-SRA4R/SRGS4R/SRGD4R)
Supplied with
Simple Absolute Unit

CB-ADPC-MPA005 RCM-CV- Each actuator

APCS connection cable
CB-ADPC-MPA002 Conversion
Unit
Order Separately
Actuator
Driver Unit Simple Absolute Unit

Note 1: Actuators using high-thrust pulse motor (56SP, 60P and 86P)

B3-3 ME0384-7C
 3.2 Parameter Setting

3.2 Parameter Setting

In the RCON system, the factory default setting of the parameter No. 83 "Absolute unit" is "0".
For an axis connected with the simple absolute unit and used in the simple absolute type,
change the parameter to "1" in the teaching tool.

Startup Section
24V AC servo motor specification and
stepper motor specification only
[Absolute Unit (Parameter No.83)]
No. Name Unit Input range Default initial value setting
0: Not in use
83 Absolute Unit − 0
1: In use

For stepper motor specification

Set "1" for simple absolute specification.
For the battery-less absolute specification, the factory default value is "1". Change the setting to
"0" when using in incremental specification.

For 24V AC servo motor specification

Set "1" for simple absolute specification.

Chapter 3 Simple Absolute Unit

Battery-less absolute specification cannot be used in incremental specification.

For the PC software, the parameter changes automatically when connected to RCON.
Stated in the following page is how to change settings for IA-OS.

ME0384-7C B3-4
 3.2 Parameter Setting

[How to Change to Simple Absolute Type in IA-OS (Parameter Setting)]

Refer to [Fast Step Guide (ME0391)] for how to install the PC teaching software IA-OS.

1. In case the change to the single absolute type is not conducted, the following Warning screen
Startup Section

should appear after starting up IA-OS and connecting to RCON. Click .

Warning screen

1)
Click

2. Wait till the software reset finishes.

Chapter 3 Simple Absolute Unit

3. Click .

3)
Click

4. Alarm information screen should show up. Click here.

Alarm information screen

Now, it is the end of the parameter setting.

Next, follow the procedures described in [Maintenance Section 1.5 Absolute Reset Procedure
(page D1-12)] to conduct the absolute reset.

B3-5 ME0384-7C
 3.3 Precautions

3.3 Precautions

[Precautions when changing parameters]

If the following parameters are changed, an absolute error will occur. After changing the
parameters, absolute reset must be performed once again.

Startup Section
(1) Parameter No. 5 "Homing direction"
(2) Parameter No. 22 "Homing offset"
(3) Parameter No. 77 "Ball screw lead length"
(4) Parameter No. 78 "Axis motion type"

Chapter 3 Simple Absolute Unit

ME0384-7C B3-6
 Chapter 3 Simple Absolute Unit Startup Section

B3-7
3.3 Precautions

ME0384-7C
 Startup
Section

Chapter 4
Network Configuration
4.1 Startup of IA-OS·················································· B4-1

4.2 Setting RCON Gateway Parameters ························ B4-3

4.2.1 Reading in gateway parameters ······························ B4-3
4.2.2 Operation mode individual setting ···························· B4-6
4.2.3 Axis number assignment change ····························· B4-7
4.2.4 Editing driver unit configuration································ B4-8
4.2.5 Connection setup using Ethernet port (Option) ··········· B4-20

4.3 RCON Setting: CC-Link ········································ B4-23

4.3.1 RCON Setting: CC-Link ········································· B4-23

4.4 Explanations of Monitoring Menu Features ··············· B4-32

4.5 Master Unit Setting ·············································· B4-34

4.5.1 PLC setting: CC-Link ············································· B4-34

ME0384-7C
 4.1 Startup of IA-OS

4.1 Startup of IA-OS

 Items to prepare
RCON system / PC / IA-OS/USB cable, USB conversion adapter and External device
Communication cable (USB cable (Connector on controller is mini-B) can be connected)
Startup Section

This section describes the operating environment on a PC with Windows 10.

[Startup of IA-OS]

1. Connecting controller communication cable

3 parts supplied with IA-OSC (PC software)
1) As shown in the figure on the right, USB
USB cable
conversion
connect the 3 parts supplied with adapter
IA-OS-C.
+ +

This cable is hereafter referred to as

"controller communication cable".
Chapter 4 Network Configuration

USB cable

2) Connect the controller communication PC side Controller side

cable as shown below.

Controller communication cable

connection method

PC side Gateway unit

USB port SIO port SIO port

Controller
communication
cable
PC
RCON System

Caution
 When connecting the controller communication cable to the gateway unit SIO port,
insert matching the two white arrows as shown in the red frame above.
Failure to do so may cause damage to the connector.

B4-1 ME0384-7C
 4.1 Startup of IA-OS

2. Turn on the RCON system

1) After connecting the controller
RCON System
communication cable, turn on the 24V
DC power.

Startup Section
Refer to [Startup Section Chapter 2,
2.2.1 Controller power supply wiring
(page B2-12)] for the wiring layout to the
controller. Turn on the power

2) Tilt the operation mode switch on the

Operation mode switch
front of the gateway unit to the "MANU" to MANU side
side.

Chapter 4 Network Configuration

RCON System

ME0384-7C B4-2
 4.2 Setting RCON Gateway Parameters

4.2 Setting RCON Gateway Parameters

The select the operation mode of the RCON system and to set various functions. The screen
design differs slightly depending on the OS of the PC.
Startup Section

4.2.1 Reading in gateway parameters

 Reading in Gateway Parameters

IA-OS main screen
1) Right-click in
the status box in the IA-OS main screen.
Click "Parameter editing".

Right-click
Chapter 4 Network Configuration

2) The number of axes of the connected

drivers should be automatically input in Parameter Configuration Tool main screen
the axis setting in the gateway parameter
setup screen.
The axis number setting of drivers should
be automatically assigned as well as the
number of axes setting.
The number of axes setting can be
changed as necessity.

Automatic
input

Caution
 Make sure to set up the number of connected driver units and number of option units.
Without the setting established, communication to the gateway unit, driver units and
option units should not be established.

B4-3 ME0384-7C
 4.2 Setting RCON Gateway Parameters

The operation after reading the gateway parameters is as follows.

Startup Section
1)
2)
3)

 Read
For the first connection, the following dialog will be displayed.
Press OK to transfer the parameters that match the current configuration.

Chapter 4 Network Configuration

1) Number of axes setting
Sets the number of axes of the actuator to be controlled
2) Number of option units
Set the number of the units of the EC connection unit to be connected.

ME0384-7C B4-4
 4.2 Setting RCON Gateway Parameters

3) Operation mode setting

Sets all operation modes of all driver units connected to this gateway unit at once.
The operation mode options are as follows.

No. Operation mode setting No. Operation mode setting

Startup Section

1 Positioner 1 (size: 4 W) 5 Direct numerical control (size: 8 W)

2 Positioner 2 (size: 2 W) 6 Simple direct (size: 4 W)

3 Positioner 3 (size: 1 W) 7 Individual setting [see (5) ]

4 Positioner 5 (size: 2 W)

4)

5)
Chapter 4 Network Configuration

4) Axis No. assgnmt change

When you selected "Automatic" in axis number assignment, the "Axis number assignment
change screen" will be displayed.
Operation for automatic assignment and manual assignment is as follows.

"Change" button for axis

Axis number
number assignment
Automatic assignment Disabled Serial numbers

Values set on the axis number

Manual assignment Enabled
assignment change screen

5) Operation mode individual setting

Select "Individual setting" in Operation Mode Individual Setting and press the Setting button,
and the Operation Mode Individual Setting screen should appear.

B4-5 ME0384-7C
 4.2 Setting RCON Gateway Parameters

4.2.2 Operation mode individual setting

The operation for operation mode individual setting is as follows.

Startup Section
1)

2)

1) Operation mode individual setting

Set in order to set the operation mode for each axis.

2) OK
It confirms the change and returns to the main screen. If the operation mode of each axis is
not the same, the display on the main screen will be individually set.

Chapter 4 Network Configuration

ME0384-7C B4-6
 4.2 Setting RCON Gateway Parameters

4.2.3 Axis number assignment change

The operation of axis number assignment change is as follows.

Startup Section

1)
3)
2)

1) Unit configuration
Displays the driver unit configuration connected to the gateway unit. When creating or editing,
if the configuration cannot be read due to a communication error, the following screen will be
displayed.
Chapter 4 Network Configuration

2) Setting status
The axis number assignment can be changed on this screen.
The unit configuration shows the setting of the previous transfer.

3) Unit configuration edit button

Displays various screens for editing the driver unit configuration displayed in 2).

B4-7 ME0384-7C
 4.2 Setting RCON Gateway Parameters

4.2.4 Editing driver unit configuration

The driver unit configuration editing method is as follows.

1. Reflect the current driver unit configuration

Startup Section
1) On the Axis number / Unit configuration setting screen,
press Reflect current configuration .

2) The configuration of the actual driver unit will be imported.

Chapter 4 Network Configuration

1)

2)

3)
4)

3) Confirm the unit configuration and press Next .

It will be reflected in the Axis number / Unit configuration setting screen.

ME0384-7C B4-8
 4.2 Setting RCON Gateway Parameters

[When Connecting 200V Driver Unit (RCON-SC)]

When the 200V driver unit is connected, set "Axis number / Unit configuration setting" to
"Automatic", and the 200V driver unit should get assigned to the last of the 24V driver units
(RCON-PC/PCF/AC/DC).
When SCON is connected using the SCON extension unit (RCON-EXT), the 200V driver unit
Startup Section

should be assigned before SCON.

Also, the 24V driver units cannot be moved or added after the 200V driver unit.
When setting an axis number, the connected axis number on the driver unit can be set by setting
"Axis Number / Unit Configuration Setting" to "Manual" and clicking Set .
Chapter 4 Network Configuration

B4-9 ME0384-7C
 4.2 Setting RCON Gateway Parameters

[When connecting SCON]

When SCON is connected using an extension unit (RCON-EXT), set "Axis No. assignmen /
unit configuration setting" to "Auto", and SCON should be assigned to the last of all the driver
units. Other driver units (RCON-PC/PCF/AC/DC/SC) cannot be moved or added after SCON.
When setting an axis number, the connected axis number on the driver unit can be set by

Startup Section
setting "Axis Number / Unit Configuration Setting" to "Manual" and clicking Set .

SCON

Chapter 4 Network Configuration

ME0384-7C B4-10
 4.2 Setting RCON Gateway Parameters

[When Connecting Option Unit]

When the option unit is connected (EC connection unit, PIO / SIO / SCON expansion unit, PIO
unit), set the number of option units to be connected in "Number of option units".
The number of option units can be set up to 8 at the maximum. There is an upper limit to
connection that one unit for PIO/SIO/SCON extension unit and four units in maximum for EC
Startup Section

connection unit.
The axis numbers for the EC connection unit should be assigned after each driver unit
(RCON-PC/PCF/AC/DC/SC) and SCON. Also, no other unit can be moved or added after the
EC connection unit.
Also, it cannot be connected when the top axis number of the EC connection unit exceeds 15.

1 Unit
Chapter 4 Network Configuration

Set the number of

EC connection units
to be connected

Caution
 If the actual number of connected axes of the RCON system does not match the
number of axes set and transferred in the gateway parameter configuration tool,
the PC software cannot be connected.
 Set and transfer the gateway parameters suitably according to the actual unit
configuration and the number of connected axes.

B4-11 ME0384-7C
 4.2 Setting RCON Gateway Parameters

2. Edit the settings of the specific driver unit

1) On the Axis number / Unit configuration setting screen, press Unit edit .

Startup Section
2) Editing unit screen opens.
Select the driver units to be edited and press Next .

Chapter 4 Network Configuration

ME0384-7C B4-12
 4.2 Setting RCON Gateway Parameters

3) Unit type change screen opens.

Select the unit type from the following 6 types and press Next .
Startup Section

Unit type

PC, PCF, AC, DC, SC, SCON, reserved

4) Axis configuration change screen opens.

First, select the number of axes to be used in the driver unit.
Chapter 4 Network Configuration

Number of axes of selected driver unit Selection item

1 *1

1-axis 2 (add to Drv0)

2 (add to Drv1)

1 (delete Drv0)

2-axis 1 (delete Drv1)

*1: Since PCF, SC and SCON are 1 unit 1 axis, the selection item will be only 1.

B4-13 ME0384-7C
 4.2 Setting RCON Gateway Parameters

5) Next, set the axis number after adding/deleting.

Select from the following selection items and press Next .

Startup Section
Number of
Selection item Axis number setting change results
Axes
Shift Shifts the axis number of the added drivers from before.
When adding
Unallocated number Sets unassigned number to the added driver.

Shift Shifts the axis number of the deleted driver from before.
When deleting
Adds the reserved unit after the edited unit and leaves
Keep as reserved unit
the axis number.

<When Drv1 is added to Unit1 and "Shift" is selected> Chapter 4 Network Configuration

<When Drv1 is added to Unit1 and "Unallocated number" is selected>

ME0384-7C B4-14
 4.2 Setting RCON Gateway Parameters
Startup Section

<When Drv1 is deleted from Unit1 and "Shift" is selected>

<When Drv1 is deleted from Unit1 and "Keep as reserved unit" is selected>

3. Add the driver unit

Chapter 4 Network Configuration

1) In Axis number / Unit configuration setting screen, press Addition of units .

B4-15 ME0384-7C
 4.2 Setting RCON Gateway Parameters

2) Location setting to add unit screen opens.

Select the position to which the driver unit is to be added and press Next .

Startup Section
3) Addition of units screen opens.
Select the unit type from the following 6 types and select the number of axes,
then press Next .

Chapter 4 Network Configuration

Unit type

PC, PCF, AC, DC, SC, SCON, reserved

ME0384-7C B4-16
 4.2 Setting RCON Gateway Parameters

4) Axis configuration change screen opens.

Startup Section

Selection item Axis number setting change results

Unallocated number Sets unassigned number.

Shift Shifts the axis number of the added drivers from before.
Chapter 4 Network Configuration

<When the reserved unit is added to Unit1-Unit2 and "Shift" is selected>

B4-17 ME0384-7C
 4.2 Setting RCON Gateway Parameters

4. Move the driver unit

1) On the Axis number / Unit configuration setting screen, press Unit arrangement .

Startup Section
2) Moving unit screen opens.
Select the driver unit to be moved and its position, and press Next .

Chapter 4 Network Configuration

ME0384-7C B4-18
 4.2 Setting RCON Gateway Parameters

5. Delete the driver unit

1) On the Axis number / Unit configuration setting screen, press Unit deletion .
Startup Section

2) Deleting unit screen opens.

Select the driver units to be deleted and press Next .
Chapter 4 Network Configuration

B4-19 ME0384-7C
 4.2 Setting RCON Gateway Parameters

4.2.5 Connection setup using Ethernet port (Option)

For those equipped with an Ethernet port (Option: ET), here explains how to Ethernet in the
gateway parameter setting tool.

Startup Section
 Items to prepare
RCON system / PC / IA-OS controller communication cable

1.
1) Right-click in
the status box in the IA-OS main
screen.
Click .

Click Click

Chapter 4 Network Configuration

2) When the User parameter edit screen Click

appears, click on
tab in the screen.

ME0384-7C B4-20
 4.2 Setting RCON Gateway Parameters

2. In Ethernet Setting screen the following parameter settings should be shown.

Straight after the window opens, it should be shown the current setting values input.

User parameter setting screen

Startup Section
Chapter 4 Network Configuration

Ethernet Connection Setting Parameters

No. Parameter Name Explanation of Parameter
1 IP Address Ethernet Communication Port IP Address
2 Subnet Mask Ethernet Communication Port Subnet Mask
3 UDP Port No. Port Number for IP Address Search with IA-OS
4 MAC Address MAC Address for Ethernet Communication Port (Not available
for change)
When it is not available to acquire such as in file edit, each item
should get hidden.

B4-21 ME0384-7C
 4.2 Setting RCON Gateway Parameters

3. Click to confirm the change when

Ethernet Setting screen
a change is made to the settings.
* Close the setting screen by clicking the
× button when it is required not to

Startup Section
reflect the change.

Click to
confirm

4. Transfer Confirmation screen should

open after parameter setting screen is Confirmation screen

finished.
Click to transfer the
changed contents to the gateway unit.

Chapter 4 Network Configuration

Click

ME0384-7C B4-22
 4.3 RCON Setting: CC-Link

4.3 RCON Setting: CC-Link

4.3.1 RCON Setting: CC-Link

[Setting RCON gateway parameters]

Startup Section

Items to prepare
RCON system / PC / IA-OS controller communication cable

The operation is explained in the gateway parameter configuration tool (PC OS environment is
Windows 10).

Caution
 The operation mode of the RCON gateway is set up using the gateway parameter
configuration tool (Ver.3.1.7.0 or later).

The gateway parameter configuration tool is used to set up the RCON system (indicated as Unit 1
and 2).
Items to be set on the controller side are 1) to 3) below.
Chapter 4 Network Configuration

[Connecting RCON and gateway parameter configuration tool]

◆ Master
Host PLC (CC-Link master unit)
1.
Determine what data each axis
transmits and receives
with the host PLC.
3.

RCON System RCON System

Unit 1 Unit 2

2.
Set the RCON system address
Gateway parameter configuration tool in the CC-Link network

B4-23 ME0384-7C
 4.3 RCON Setting: CC-Link

1. Set the operation mode.

(1) Determine the control method from the host PLC. Select from the following 6 types.
1 2 3 4 5 6
Direct Simple

Startup Section
Positioner 1 Positioner 2 Positioner 3 Positioner 5
numerical direct
control mode mode mode mode mode mode

Number of positioning
Unlimited Unlimited 128 points 128 points 128 points 16 points
points

Home return motion      

Positioning operation      

Speed,
acceleration/deceleration      
settings
Different acceleration
×     
and deceleration settings
Pitch feed
    × 
(Incremental)

JOG operation     × 

Position data
× ×   × ×
reading signal

Chapter 4 Network Configuration

Push-motion operation      

Speed changes while

     
traveling

Pausing      

     
Zone signal output
(2 points) (2 points) (2 points) (2 points) (1 point) (2 points)
Position zone
×    × ×
signal output
Overload warning
    × 
output

Vibration control ×     

Collision detection
×     
function
Present position reading    
× ×
(Resolution) (0.01mm) (0.01mm) (0.01mm) (0.1mm)
*  shows that direct setting is available,  shows
input is required to the position data or parameters and
× shows operation is not available.

(2) When the mode selection is completed in (1),

it is input to the gateway unit using the
gateway parameter configuration tool. In this
manual, the RCON system (Units 1 and 2) is RCON System RCON System
set as shown at right. Unit 1 Unit 2

ME0384-7C B4-24
 4.3 RCON Setting: CC-Link

(3) Select and click the operation mode confirmed in (1).

Parameter configuration tool main screen

Gateway
Parameter
configuration tool
Startup Section

Select

Click

Point!
 Here is how to set all the axes connected to the gateway unit to the same operation
mode collectively.

To individually set the operation mode of the connected axes, refer to [Appendix Chapter 1,
Chapter 4 Network Configuration

1.4.1 Operation mode setting (page E1-16)].

B4-25 ME0384-7C
 4.3 RCON Setting: CC-Link

(4) Take notes of the occupancy information on the "Parameter configuration tool" main
screen. This is the information required for setting the 2. Address (CC-Link station
number) and PLC shown on the next page.

"Parameter configuration tool" main screen

Startup Section
The example displays the following occupancy information.

RCON System Unit 1 RCON System Unit 2

: 4
Occupancy information
Occupancy information

Chapter 4 Network Configuration

By station type : Ver.1
By station type : Ver.2
Remote device station
Remote device station
Extended cyclic : 1x
Extended cyclic : 4x

ME0384-7C B4-26
 4.3 RCON Setting: CC-Link

2. Set the address (CC-Link station number).

(1) Check the address (station number) set value with reference to the following figure.
◆ Master
(CC-Link master unit)
Startup Section

(×10 → 0, ×1 → 0)

0
Unit name
RCON System Unit 1 0 Master
Occupancy information
By station type : Ver.1 1
Remote device station 2 ◆ Unit 1 1
Extended cyclic : 1x 3 RCON System
:4 4
RCON System Unit 2 5 ◆ Unit 2
Occupancy information RCON System 5
6
By station type : Ver.2
︙

︙
Remote device station
Extended cyclic : 4x
:2

(2) Select and click the address (station number) set value confirmed in (1).

IA-OS Gateway parameters configuration screen

Chapter 4 Network Configuration

Select

Point!
 When connecting multiple units to the master unit, it is necessary to ensure that there
will be no duplicate RCON system station numbers in the same CC-Link network.
Also, make sure that the respective number of occupied stations will not be the same.

B4-27 ME0384-7C
 4.3 RCON Setting: CC-Link

3. Set the "Communication speed".

(1) Check the address (station number) set value with reference to the following figure.

CC-Link master unit

Startup Section
"MODE" set value

PLC side
Communication speed
"MODE" part
Set value
(Example: "4" -> 10 Mbps)

0 (Initial value) 156 kbps

Noise resistance: High
1 625 kbps
2 2.5 Mbps
3 5 Mbps
4 10 Mbps
Communication speed: Fast

(2) Select and click the same numerical value as

the CC-Link master unit "MODE" set value
confirmed in (1).

Chapter 4 Network Configuration

IA-OS Gateway parameters configuration screen

Select

Click

ME0384-7C B4-28
 4.3 RCON Setting: CC-Link

[Transferring and writing parameters]

4. 1) Click on the Parameter

configuration tool main screen.
Startup Section

Parameter configuration tool main screen

Click

2) When the Confirmation screen

appears, click . Confirmation screen
Chapter 4 Network Configuration

Click

3) When the parameter writing is

completed and the Information Information screen

screen appears, click .

Click

4) When the Confirmation screen

appears, click . Confirmation screen

The gateway unit restarts.

Click

B4-29 ME0384-7C
 4.3 RCON Setting: CC-Link

This completes the CC-Link network setting of the RCON system.

Check the communication status between each unit.

Startup Section
Caution
 For subsequent adjustment, when operating
from the PLC, return the AUTO/MANU switch
Tilt to the AUTO side
on the front of the gateway unit to AUTO.
 If left on the MANU side, operation from the
PLC will not be possible.

Chapter 4 Network Configuration

ME0384-7C B4-30
 4.3 RCON Setting: CC-Link

Caution
 If the actual number of connected axes of the RCON system does not match the
number of axes set and transferred in the gateway parameter configuration tool, the PC
software cannot be connected to the driver unit.
Startup Section

 Confirm the actual number of connected axes and change the gateway parameters, or
read the present driver unit configuration with the gateway parameter configuration tool
for transfer. For details, refer to [Appendix Chapter 1 Gateway Parameter Configuration
Tool].

[Checking inter-unit communication status of the RCON system]

5. Check the communication status in the RCON system.

Look at the LEDs on the front of the RCON system gateway unit and driver unit (T.RUN and
SYS) and check if they are in the same status (normal communication) as in the
table below.

[LED status] [LED status]

Chapter 4 Network Configuration

RCON System

T.RUN

T.RUN
SYS

Gateway unit side LED display Driver unit side LED display
Definition of display Definition of display
■ Lit ■ Lit
T RUN ★ T RUN ★
■ Lit ■ Lit
SYS
■ Lit Normal operation
■ Lit

B4-31 ME0384-7C
 4.4 Explanations of Monitoring Menu Features

4.4 Explanations of Monitoring Menu Features

[I/O data (register monitor)]

Startup Section
Display switch

The data that the gateway received from the master and transmission data returned to the

Chapter 4 Network Configuration

master are displayed on this register monitor screen.
• Display switch : Select either binary or hexadecimal display

ME0384-7C B4-32
 4.4 Explanations of Monitoring Menu Features

[Diagnostic information]
Startup Section

The scan time of the driver unit, the number of communication errors (ERRC, ERRT) and the
number of stops (EMG) detected can be counted.
When there is an option unit connected, the scan time and the number of communication errors
of the option unit should be displayed.

[Alarm list]
Chapter 4 Network Configuration

Press Update to read out the alarm list again from the gateway unit.
Press Clear to delete all alarm lists held by the gateway unit.
Press Save to save the alarm list held by the gateway unit in CSV format.
For the alarm details, refer to [Maintenance Section Chapter 2 Troubleshooting].

B4-33 ME0384-7C
 4.5 Master Unit Setting

4.5 Master Unit Setting

4.5.1 PLC setting: CC-Link

Items to prepare

Startup Section
PLC / CC-Link master unit / PC / GX Works2 / communication cable

Ex) Two RCON units are connected to the CC-Link master unit of PLC.

(×10 → 0, ×1 → 0)
Communication speed
10Mbps
Same communication speed
throughout the network
PLC

Manufactured by
Mitsubishi Electric Corporation

Chapter 4 Network Configuration

PLC programming RCON System Unit 1 RCON System Unit 2
software GX Works2 Occupancy information Occupancy information
By station type : Ver.1 By station type : Ver.2

Extended cyclic : 1x Extended cyclic : 4x

:4 :2

[Connection between PLC and PC software]

Start up the Mitsubishi Electric Co., Ltd. PLC programming software GX Works2 and connect
the CC-Link master unit.

For installation procedure and the like of GX Works2,

refer to ["Appendix 14.1 Installing GX Works2" in Mitsubishi Electric Co., Ltd. Engineering
Software GX Works2 Version 1 Operating Manual (Common Edition)].

ME0384-7C B4-34
 4.5 Master Unit Setting

1. Double-click the "GX Works2" icon to start the software.

GX Works2 main screen

Startup Section

GX Works2 startup

2. At the top left of the GX Works2 main Main screen New project creation process
screen, click in the order of

1) Project
2) New... 1)
Click 2)
in order. Click
Chapter 4 Network Configuration

3) The New Project screen opens.

3) New Project screen

4) After setting the prerequisites on

the New Project screen (in this
manual, set in the New Project
screen as shown at right),
click .
3)
4) Click

B4-35 ME0384-7C
 4.5 Master Unit Setting

5) "Project" will be displayed in the work window of the main screen.

Main screen

Startup Section
Work window

"Project" appears
in the work window.

[Setting network parameters]

3. Open the Network parameters screen.

From the Navigation screen in the tree view on the left side of the main screen,
1) Click Network Parameter .

Chapter 4 Network Configuration

2) Click CC-Link and select.
Main screen Navigation screen

1)
Click

2)
Click

3) Open the Network Parameters screen in CC-Link.

Network Parameter screen

ME0384-7C B4-36
 4.5 Master Unit Setting

4. Enter the "number of modules" in CC-Link network.

For "PLC unit configuration example" as shown below, one CC-Link network unit is
connected.
PLC unit configuration example
Startup Section

CC-Link master
1 unit
is connected

Set the number of modules to 1. CC-Link network parameters setting screen

Click

5. Set the CC-Link network mode.

Make sure that Mode setting in the CC-Link network parameter setting screen is selected
Chapter 4 Network Configuration

in "Remote Network - Ver.2 mode".

Network Parameter screen

Mode setting

Selection

Point!
 RCON's CC-Link unit operates in Remote Net (Ver.2 Mode).

B4-37 ME0384-7C
 4.5 Master Unit Setting

6. Enter the "total module connected" to the CC-Link master.

Master unit

Units connected to the master

=2

Startup Section
CC-Link network parameters setting screen

Chapter 4 Network Configuration

7. Set the "leading I/O number".
Next, we set the "I/O leading No." to be assigned to each unit connected to the master unit.

Set according to your context. In this case, we will set it as below.

Network Parameter screen

ME0384-7C B4-38
 4.5 Master Unit Setting

8. Open the CC-Link station information screen.

1) Click in the CC-Link Network Prameter screen.

Network Parameter screen CC-Link network parameters setting screen

Startup Section

Click

2) CC-Link Station Information screen will be displayed.

CC-Link Station Information screen

Chapter 4 Network Configuration

B4-39 ME0384-7C
 4.5 Master Unit Setting

9. Set the "CC-Link Station Information".

Set the occupancy information obtained based on the example.

The RCON system Unit 1 is set to "number of units / station number: 1/1" and the RCON

Startup Section
system Unit 2 to "number of units / station number → 2/5".

CC-Link Station Information screen

RCON System Unit 1
Occupancy information
By station type : Ver.1

Extended cyclic : 1x
:4
RCON System Unit 2
Occupancy information 1) 2) 3)
By station type : Ver.2

Extended cyclic : 4x
:2

1) Select the "Station Type".

Chapter 4 Network Configuration

Select "Ver.1 Remote Device Station" for "number of units / station number: 1/1" and
"Ver.2 Remote Device Station" for "number of units / station number: 2/5".

CC-Link Station Information screen

Selection

2) Perform the "Extended Cyclic Setting".

"Number of units / station number: 1/1" is fixed at "Single". Select "Quadruple" for the
"number of units / station number: 2/5".

CC-Link Station Information screen

Selection

ME0384-7C B4-40
 4.5 Master Unit Setting

3) Set the "Number of Occupied Stations".

Select "Occupied stations 4" for "Number of units/Station number: 1/1". Select
"Occupied stations 2" for the "number of units / station number: 2/5".

CC-Link station information screen

Startup Section

Selection

4) When "CC-Link Station Information" is set, click on the same screen.

CC-Link Station Information screen

Chapter 4 Network Configuration

Click

5) When it returns to the Network Parameter screen, click .

Network Parameter screen

Click

Writes the last set network parameters to PLC.

B4-41 ME0384-7C
 4.5 Master Unit Setting

[Saving network parameters]

10. Write the network parameters to PLC.

Startup Section
Caution
 The following description is based on one example. Be careful not to accidentally
delete your valuable data.

1) Click on the menu bar.

Main screen

1)
Click

Mitsubishi Electric PLC

programming software

Chapter 4 Network Configuration

GX Works2

2) Clicking on will display the PC write screen.

Main screen online part

Online Data Operation screen

Click

ME0384-7C B4-42
 4.5 Master Unit Setting

3) On the Online Data Operation screen, click the checkboxes  for "Program (Program
File)", "MAIN", "Parameter" and "PLC / Network / Remote Password" to change to  .

Online Data Operation screen

Startup Section

4 items
Click

4) Click .

Online Data Operation screen

Chapter 4 Network Configuration

Click

B4-43 ME0384-7C
 4.5 Master Unit Setting

Caution
 The following description is based on one example. Be careful not to accidentally
delete your valuable data.

Startup Section
5) When the following message is
displayed, click .

Click

6) When the parameter is written and

the condition shown in the
following figure is achieved, click
.

Chapter 4 Network Configuration

This concludes the PLC network
configuration.

Click

ME0384-7C B4-44
 4.5 Master Unit Setting

[Confirming CC-Link communication status]

Confirm the communication between the CC-Link master unit and the RCON system.

1. Check the communication status in the RCON system.

Startup Section

Check the LED (ERR and RUN) status (color) on the front of the gateway unit to confirm
the status (normal communication) of the part.

RCON System

[LED status]
Communication
is normal

ERR

RUN
Chapter 4 Network Configuration

Status LED Display status Definition of display

・Error status
 Lit ・Time between power-on or software reset to the end
of CC-Link initialization
ERR
 Light off ・Normal communication
・The station number or communication speed setting
 (0.4 s)
changed during communication
 Lit ・In communication
RUN
 Light off ・When not in communication

 indicates blinking. The value in ( ) is the blinking cycle.

B4-45 ME0384-7C
 4.5 Master Unit Setting

2. Look at the LED status on the front of the CC-Link master and judge whether it is
communicating normally.

CC-Link master unit

Startup Section
No. LED name Applications
The operation status will be displayed.
1 Light ON Normal operation
Light OFF Hardware error or watchdog timer error generated
The status of the data link will be displayed.
2 Light ON Data link in process
Light OFF Data link not executed
The data transmission status will be displayed.
3 Light ON Transmitting data

Chapter 4 Network Configuration

Light OFF Data not transmitted
The data receipt status will be displayed.
4 Light ON Receiving data
Light OFF Data not transmitted
The error status of the master/local unit will be displayed.
Refer to Mitsubishi Electric Co., Ltd. Instruction Manual for error details.
One of the following errors has occurred.
 Error was detected in all stations.
 The setting of "station number setting switch" or "transmission speed /
5
Light ON mode setting switch" of the master/local main unit is out of the range.
 The master stations are duplicated on the same network.
 There is an error in the network setting.
 CC-Link cable is disconnected. Or there is influence of noise, etc.
Light OFF Normal operation.
The status of the data link error will be displayed
Light ON Data link error has occurred in the local station.
Flashing at
The setting of the master unit full-surface panel switch on the
regular
right has been changed while the power was turned on.
6 intervals 
Flashing at
Communication is unstable due to the following causes.
regular
 Terminal resistor is not connected. Impacted by noise
intervals 
Light OFF Normal operation.
 indicates blinking. indicate whether or not the master station and standby
master station are in operation as master stations.

ME0384-7C B4-46
 Chapter 4 Network Configuration Startup Section

B4-47
4.5 Master Unit Setting

ME0384-7C
 Startup
Section

Chapter 5
Basic Operation
Confirmation and
Adjustment
5.1 Operation Confirmation with PC Software ················· B5-1
5.1.1 Preparation of IA-OS ············································· B5-1
5.1.2 Home return ························································ B5-6
5.1.3 Jog travel ···························································· B5-8
5.1.4 Position travel ······················································ B5-9
5.1.5 Operation check of ELECYLINDER ·························· B5-14

ME0384-7C
 5.1 Operation Confirmation with PC Software

5.1 Operation Confirmation with PC Software

5.1.1 Preparation of IA-OS

Described below, shows how to check operation in PC software (IA-OS-*).

Startup Section

Items to prepare
RCON system / actuator / PC / communication cable / motor/encoder cable

1. Connect the PC and RCON system

1) Connect the controller communication cable as shown below.

Controller communication cable

PC side Gateway unit Align the two

USB port SIO port white arrows
SIO port and insert
Chapter 5 Basic Operation Confirmation and Adjustment

Controller
communication
cable
PC

RCON System

Caution
 When connecting the controller communication cable to the gateway unit SIO port,
insert matching the two white arrows as shown in the red frame above. Failure to do
so may cause damage to the connector.

B5-1 ME0384-7C
 5.1 Operation Confirmation with PC Software

2) After connecting the cable, turn on

RCON System
24V DC power to RCON.

Startup Section
Turn on the power

3) Tilt the operation mode switch on

Operation mode switch
the front of the gateway unit to the to MANU side
"MANU" side.

RCON System

4) Double-click the IA-OS icon to

start up the software.

2. Connect the IA-OS and RCON system Chapter 5 Basic Operation Confirmation and Adjustment

1) Start up IA-OS and the

communication method selection Communication method selection screen

screen should show. Click Serial

Communication .
Click

ME0384-7C B5-2
 5.1 Operation Confirmation with PC Software

2) The Select communication port

Select communication port screen
screen will be displayed.
Select a COM number of the
controller to be connected in the
communication port list and click
Startup Section

Start communication .

Click

3) The "Connected axis check"

screen will be displayed. Communication Establishment screen
Axis No. 0 to 5
Axes succeeded to be
If a lamp turns on in the result connected
column, it means connection was
established with the subject axis.
Click OK .

Click
Chapter 5 Basic Operation Confirmation and Adjustment

4) The Warning screen will be Warning screen

displayed.
Click Yes .

Click

5) The MANU Operation Mode Select

MANU Operation Mode Select screen
screen will be displayed.
Select an operation mode and click
OK .

Click

B5-3 ME0384-7C
 5.1 Operation Confirmation with PC Software

6) The IA-OS main screen opens. IA-OS main screen

The status of the connected axes

should be displayed in the tree view
in the left of the screen.

Startup Section
3. Open the position data editing screen
1) Right-click on the axis No. in the
tree view on the left end of the PC Software main screen

main screen to expand each item.

Right-click

Chapter 5 Basic Operation Confirmation and Adjustment

2) Click on Edit position data .
Tree view

Click

3) The Edit position data screen is

displayed.
Edit position data screen

ME0384-7C B5-4
 5.1 Operation Confirmation with PC Software

[Switching edit position data screen]

In the edit position data window, there are four types of display switch, simple, standard, all items
and customized, available to select from.
Startup Section

Position data edit screen

Position data edit (Simple) screen

Simple Input

Position data edit (Standard) screen

Either

Show Minimum
Chapter 5 Basic Operation Confirmation and Adjustment

Position data edit (All items) screen

Show All

Position data edit (Customization) screen

Items you would like to show can be displayed

B5-5 ME0384-7C
 5.1 Operation Confirmation with PC Software

5.1.2 Home return

Caution

Startup Section
 Operation of an actuator should be performed with the procedure below. Before starting
operation, confirm well that there is no interference in the actuator movable range.

1. Turn on the actuator motor. (Servo ON)

1) Click Trial Run in the position
data edit screen to open the trial run Position data edit screen

window.

1) Click

2) Click .

Chapter 5 Basic Operation Confirmation and Adjustment

Position data edit screen

2) Click

3) When the servo of the actuator motor normally turns on (motor power on)
changes to . (The lamp lights up in green.)

Caution
 When operating the actuator, the motor needs to be turned to servo ON. If an operation
command is sent while the servo is off, "Warning: Movement command during servo
off" is displayed and the actuator does not start operation.

ME0384-7C B5-6
 5.1 Operation Confirmation with PC Software

2. Perform home return for the actuator.

1) Click . Position data edit screen

Startup Section

1) Click

2) When the actuator starts home return motion and the home return completes normally
changes to . (The lamp lights up in green.)

Caution
 The home return speed cannot be changed. Increasing this speed may increase the
impact when the actuator operating part hits the mechanical end, which may adversely
affect the actuator mechanism in the long run or increase the error of the home
Chapter 5 Basic Operation Confirmation and Adjustment

position.

B5-7 ME0384-7C
 5.1 Operation Confirmation with PC Software

5.1.3 Jog travel

1. Activates the JOG operation of the actuator.

Startup Section
Position data edit screen

3)

2) 1)

1) Clicking will move the

actuator to the stroke end side.
Moves to stroke
end side
Home

Stroke end

Chapter 5 Basic Operation Confirmation and Adjustment

2) Clicking will move the
actuator to the home direction.

Home

Stroke end

3) You can adjust the speed in 3 steps

from the red frame below.

ME0384-7C B5-8
 5.1 Operation Confirmation with PC Software

5.1.4 Position travel

1. Register the positions.

Startup Section

[Registration of Position (Target Position)]

1) Input the position [mm] to move the actuator moving part in the position table input area.

Position data edit screen

Position table input area

2) Put the cursor on the position number "Position [mm]" that you would like to input in the
"position table input area". The range of values available for input should be displayed at the
bottom of the position table input area.
Chapter 5 Basic Operation Confirmation and Adjustment

Position table input area screen

Click
Position table input area

Display of Input Range

3) Input any coordinate value in the range displayed in the input range and press the Enter
key on your PC.

Position Input
Input a position + Enter and the actuator rated values such
+ as velocity and acceleration/deceleration that have already
Enter been registered in the controller in advance should get input
automatically.

B5-9 ME0384-7C
 5.1 Operation Confirmation with PC Software

4) Click on the top left of the position

data edit screen.

Startup Section
Click

5) As a confirmation window appears,

click .

Click

6) Once the transfer of the position table

Chapter 5 Basic Operation Confirmation and Adjustment

data to the controller is completed, the
input values should turn from Bold
letters into thin letters.

ME0384-7C B5-10
 5.1 Operation Confirmation with PC Software

2. Moves the actuator to the registered position (target position).

1) Click and select the position No.

column to be moved.
Startup Section

Selection

2) Click in the "Position travel"

column.
Stop Step travel

Stop
To stop, click .
Click

Click
Chapter 5 Basic Operation Confirmation and Adjustment

● Starts the movement to the selected position.

Moves to
Position No.1
Home
Position No.1

100mm

B5-11 ME0384-7C
 5.1 Operation Confirmation with PC Software

3) Click in the "Position travel"

column.
Stop

Stop
To stop, click .

Startup Section
Click

Click

Position No.0

Position No.1
0mm

100mm

Chapter 5 Basic Operation Confirmation and Adjustment

ME0384-7C B5-12
 5.1 Operation Confirmation with PC Software

[Test Run Speed]

When performing a test run, check whether the "Safety velocity" function is enabled/disabled.
Restriction to the speed set in parameter No. 35 "Safety velocity" is applied if the safety velocity
function is enabled. To perform trial run at the speed set in the position data, disable the safety
velocity function using the following procedure.
Startup Section

1. Right-click Safety velocity :Enable in

"Status" in the tree view and click
MANU Operation Mode setting .

Right
click

Click

2. Select Disable of "Safety velocity"

and click OK .
Chapter 5 Basic Operation Confirmation and Adjustment

Select

Click

3. The safety speed function has been switched.

B5-13 ME0384-7C
 5.1 Operation Confirmation with PC Software

5.1.5 Operation check of ELECYLINDER

Shown below, explains how to operate in PC software (Model Code: IA-OS-*) when
ELECYLINDER is connected via the EC connection unit.
For how to check operation in the teaching pendant (TB-02/03), refer to an instruction manual of

Startup Section
each ELECYLINDER or teaching pendant.

[Caution when Connecting ELECYLINDER]

● ELECYLINDER is not available for operation in the single solenoid system. ELECYLINDER
may not operate as commanded by a host device (PLC, etc.) system if the setting is changed
to the single solenoid system.
● SIO connectors on ELECYLINDER side cannot be used during being connected to the EC
connection unit.
● ELECYLINDER will be in motor voltage drop condition (alarm in teaching pendant: 203) if the
teaching pendant gets into disable status by the deadman’s switch.
● When the mode switch on the gateway unit is set to AUTO, it should not be available to go to
the try run window of the digital speed controller for ELECYLINDER.
● If the mode switch on the gateway unit gets switched from MANU to AUTO during the try run
window for the ELECYLINDER digital speed controller is displayed, the try run window should
close.

1. Select "Position data" → "Edit position data" from the

Chapter 5 Basic Operation Confirmation and Adjustment

main menu, and the screen switches to the simple
data setting window.
Except when the position edit password is set to
"0000", the password input window should show up.
Input the password.

Reference
The position edit password at delivery is set to "0000".
The password can be changed in File → Data Edit
Restriction .

ME0384-7C B5-14
 5.1 Operation Confirmation with PC Software

2. Click Homing button.

ELECYLINDER starts performing the home-
return operation.
Once the home-return operation is complete,
B.End and F.End buttons should
Startup Section

appear.
(Note) There is no need of having the home-
return operation for the battery-less
absolute encoder type (WA).

3. Click either F.End button or B.End button.

ELECYLINDER starts moving forward or
backward.
Stop the click during operation and the
ELECYLINDER starts to decelerate and stop
from that timing.

[Stop Position / Operating Condition Setting / Adjustment]

ELECYLINDER is ready with the stop position and operating conditions set before delivery.
Chapter 5 Basic Operation Confirmation and Adjustment

Adjustment can be made to the stop position and operating conditions in the simple data setting
window.

Caution
 Make sure to touch Transfer after setting or adjusting the data.
 Switching the window without transferring should allow to get the data back.
Also, without transferring, operation with Manual Run button would not work.

B5-15 ME0384-7C
 5.1 Operation Confirmation with PC Software

(1) Stop Position Setting and Adjustment

1. Click at the position that you would like to set

or adjust.

Startup Section
2. Input a number and press Enter on your
PC keyboard, and click Transfer on the
screen.

Chapter 5 Basic Operation Confirmation and Adjustment

3. Check the result of the setting or adjustment by clicking Forward end button and
Backward end button.
Also, stop the click during operation and the ELECYLINDER starts to decelerate and stop
at that point.

ME0384-7C B5-16
 5.1 Operation Confirmation with PC Software

(2) Operating Condition Setting and Adjustment

The operating conditions (AVD) can be set or adjusted with the procedures shown below.
Also, there is a feature to calculate automatically the "optimum velocity and optimum
acceleration / deceleration" in ELECYLINDER.
Set the "Installation Posture" and "Transferred Payload" before setting or adjusting the operating
Startup Section

conditions.

1. Click either Acceleration , Velocity or

Deceleration , and the current payload
setting should appear at the bottom of the
screen.

2. To set or adjust the payload setting, click

Payload setting .
Payload Setting window should open.
Chapter 5 Basic Operation Confirmation and Adjustment

3. Select "Installation posture", input "Payload"

and click OK .
With the set conditions, the "Optimum
velocity" and "Optimum accel/decel" that
gives the fastest cycle time should be
displayed.

B5-17 ME0384-7C
 5.1 Operation Confirmation with PC Software

4. Click on a operating condition that you

would like to set or adjust.

Startup Section
5. Input a number, press Enter key on your
PC keyboard and click Transfer .
The number should be written to the controller
and Backward end and Forward end
buttons turns into green.
Also, "Transfer history" should be updated.

6. Calculation result of the cycle time in "Current

settings" and "Previous settings" in "Transfer

Chapter 5 Basic Operation Confirmation and Adjustment

history" should be updated.
Perform operation by clicking Forward end
button and Backward end button.
Check the result of the setting or adjustment.

Caution
In case there is some abnormal noise, vibration or impact when operating ELECYLINDER,
attempt to reduce the acceleration or deceleration.
Keep Using without reducing could cause malfunction.

ME0384-7C B5-18
 5.1 Operation Confirmation with PC Software

(3) Pressing Operation Setting

1. Click in the checkbox on "Pressing" to switch 1) 2)

to the pressing operation window.
"Pressing" can be set to the 1) way forward
Startup Section

and 2) way backward.

Adjust the setting considering the operating
conditions.

2. Click 1) "Pressing force" and 2) "Pressing 1)

start point" and input a number.

2)

3. Input a number and press Enter on your

Chapter 5 Basic Operation Confirmation and Adjustment

PC keyboard, and click Transfer .

The number should be written to the controller
and Backward end and Forward end
buttons turns into green.

4. Perform operation by clicking Forward end button and Backward end button.
Check the result of the setting or adjustment.

Caution
 Pressing force displayed in [N] units are reference.
Refer to [the instruction manual or catalog for each ELECYLINDER] for detail.
 When the pressing velocity is low, the pressing force may get unstable and the
operation may get inappropriate. The pressing velocity may vary depending on models.
Refer to [the instruction manual or catalog for each ELECYLINDER] for detail.

B5-19 ME0384-7C
 Operation
Section

Chapter 1
Operation Overview
1.1 Basic Operation ·················································· C1-1
1.1.1 Basic operation methods ········································ C1-1

1.2 Operation Function List ········································· C1-2

1.2.1 Field network operation mode ································· C1-2
1.2.2 List of functions by operation mode ·························· C1-3
1.2.3 Operation of ELECYLINDER··································· C1-4

1.3 Position Table ····················································· C1-5

1.3.1 Driver unit position table········································· C1-5
1.3.2 ELECYLINDER position table ································· C1-20
1.3.3 Precautions for rotary type······································ C1-23
1.3.4 Precautions for gripper type ···································· C1-26

1.4 Power ON Sequence ··········································· C1-28

ME0384-7C
 1.1 Basic Operation

1.1 Basic Operation

1.1.1 Basic operation methods

This controller should be controlled in the field network. There are various types of actuators
including slider, rod, rotary and gripper types. The same operation control method is applicable
unless particular descriptions are contained in this manual.
Operation Section

PLC (Master)

Data Transfer via

Field Network
Target position, speed, etc
command
Chapter 1 Operation Overview

Movement complete
confirmation
(Status signal read)

Slave
Slave

Controller Teaching
Actuator
(Slave) Pendant

C1-1 ME0384-7C
1.2 Operation Function List

1.2 Operation Function List

1.2.1 Field network operation mode

The field network can be selected from the following operation modes.
(except when motion network and EC connection unit is connected)
Data required for operation (target position, speed, acceleration, push current value, etc.) are

Operation Section
written by a connected PLC or other host controller into the specified addresses.
Operation
Content Overview
mode
This mode allows designating the target PLC

position, speed, acceleration/deceleration, Target position

Direct Positioning width Actuator
and current limit value for pushing Speed, acceleration/deceleration
numerical Pushing percentage Control signal
numerically. Field network
control Present position
Also, it is capable of monitoring the present Present current value *
communication
mode Present speed (command value)
position, present speed, and the present Alarm code Status signal
current value (*) with 0.01mm increments.
PLC
The target position can be indicated
Target position Actuator
directly by a number. Control signal
Simple direct
Both modes allow monitoring of the Field network
mode
present position numerically with Present position

Chapter 1 Operation Overview

communication
Completed position No.
0.01mm increments. Status signal

PLC
Registers up to 128 points of position
data, and can stop at the registered Target position No. Actuator
Control signal
Positioner 1 position.
Field network
mode Both modes allow monitoring of the Present position
communication
present position numerically with Completed position No.
Status signal
0.01mm increments.

PLC
Registers up to 128 points of position data,
and can stop at the registered position. Target position No. Actuator
Positioner 2 This mode does not allow monitoring of the Control signal
Field network
mode present position. communication
Completed position No.
This mode has less in/out data transfer
Status signal
volume than the Positioner 1 mode.

Registers up to 128 points of position data, PLC

and can stop at the registered position.

Target position No. Actuator
This mode does not allow monitoring of the Control signal
Positioner 3
present position. Field network
mode communication
This mode has less in/out data transfer
volume than the Positioner 2 mode, and
controls travel with the minimum of signals.
Registers up to 16 points of position data, PLC

and can stop at the registered position.

Target position No. Actuator
This mode has less in/out data transfer Control signal
Positioner 5
volume and fewer positioning tables than Field network
mode Present position communication
the Positioner 2 mode, and allows
Completed position No.
monitoring of the present position Status signal
numerically with 0.1mm increments.
* The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

ME0384-7C C1-2
 1.2 Operation Function List

1.2.2 List of functions by operation mode

Direct
numerical Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
control mode mode mode mode mode
mode
Number of positioning
Unlimited Unlimited 128 points 128 points 128 points 16 points
points
Operation Section

Home return motion      

Positioning operation      

Speed, acceleration/
 (Note 1)    
deceleration settings
Different acceleration
and deceleration      
settings
Pitch feed
     
(Incremental)

JOG operation      
Chapter 1 Operation Overview

Position data write

 ×    
Reading Signal

Push-motion operation      

Speed changes while

     
traveling

Pausing      

     
Zone signal output
(2 points) (2 points) (2 points) (2 points) (1 point) (2 points)
Position zone signal
     
output

Overload warning output      

Vibration control (Note 2)      

Collision Detection
     
Feature (Note 3)
Present position
    (Note 5)
reading (Note 4)  
(0.01mm) (0.01mm) (0.01mm) (0.1mm)
(Resolution)

* : Direct setting is possible, : Position data or parameter input is required, : The operation is not supported.
Note 1: The number of settable position data is 128 points at the maximum.
Note 2: This function is limited to the AC servo motor specification.
Note 3: It is a feature dedicated for the pulse motor type.
Note 4: DD motor is 0.001 degree (0.01 degree for positioner 5 mode only).
Note 5: The maximum output value in positioner 5 mode is 3,276.7 mm (327.67 degrees for DD motor). To control
the actuator in an operation range exceeding the maximum value, select a different operation mode.

C1-3 ME0384-7C
1.2 Operation Function List

1.2.3 Operation of ELECYLINDER

ELECYLINDER can be operated by inputting a signal from the host device to ELECYLINDER via
the EC connection unit.
Also, the status of ELECYLINDER can be grasped by having ELECYLINDER output signals and
the host device receive them via the EC connection unit.

Operation Section
[Image of Connection] Connection between PLC and ELECYLINDER
(1) Input a movement signal (forward or backward) from PLC to RCON (EC connection unit).
(2) Input the movement signal from RCON (EC connection unit) to each unit of ELECYLINDER.
(3) ELECYLINDER units start moving.
(4) A position detection signal gets output from ELECYLINDER. (Forward end or backward end)
(5) The position detection signal gets output from RCON (EC connection unit) to PLC.

(1) Forward
command
or Backward
command

PLC

(5) Forward end

detection
or 後退端検出
RCON

Chapter 1 Operation Overview

(4) Forward end
detection
or Backward end
detection

EC Connection Unit Cable

CB-REC(2)-PWBIO□□□-RB
(2) Forward
command
or Backward
command

ELECYLINDER

ELECYLINDER continues its operation while a movement command signal

(ST0/ST1) is on, and a position detection signal (LS0/LS1) turns on after the
operation is complete.
If the movement command signal gets turned off before the operation completes,
the operation gets cancelled and an actuator decelerates and stops.

ME0384-7C C1-4
 1.3 Position Table

1.3 Position Table

1.3.1 Driver unit position table

Each driver unit can operate in 6 types of modes, direct numerical control mode, simple direct
mode, positioner 1~3 and 5 modes, depending on the gateway unit.
Simple direct mode and positioner mode require the creation of a position table in advance,
Operation Section

using a teaching tool, in order to perform positioning.

(*) In the direct numerical command mode, the position table in the teaching tool should not be
displayed.

(1) (2) (3) (4) (5) (6) (7) (8)

(18)
Chapter 1 Operation Overview

(9) (10) (11) (12) (13)(14) (15) (16) (17)

The position table is explained using a sample IA-OS screen.

(The displayed contents differ for teaching pendants)

 PC software operating method

Refer to [PC software (RCM-101-*-*) manual (ME0155)]
Refer to [Guiding Features Installed in PC Teaching Software (IA-OS)]
 Teaching pendant operating method
Refer to [Touch Panel Teaching Pendant manual TB-02/02D (ME0355)]
Refer to [Touch Panel Teaching Pendant manual TB-03 (MJ0376)]

Refer to [Operation Section 1.3.2 ELECYLINDER position table (page C1-20)] for the EC
connection unit.

Caution
 When using the rotary type or gripper type, be sure to confirm the following.
[Operation Section 1.3.3 Precautions for rotary type (page C1-23)]
[Operation Section 1.3.4 Precautions for gripper type (page C1-26)]

C1-5 ME0384-7C
1.3 Position Table

(1) No.
Displays the position data No.

Caution
● Do not use position No. 0 if the position has play.
● Even if not at Position No. 0 at the first servo ON after power ON, the complete position

Operation Section
number output will be 0 and the status will be the same as when positioning to Position
No. 0. The complete position No. output is 0 while the actuator is moving.
● To use position No. 0, take the command log with the sequence program and check the
complete position No. 0 in accordance with the log.

(2) Position [mm]

Input the target position to which the actuator is to travel.
Absolute coordinates specification : Input the distance from the actuator home position.
Relative coordinates specification : This means the relative amount treating the present
position as the home position and feeding by equivalent
pitch.

Chapter 1 Operation Overview

Position
No. Incremental
[mm]
Absolute coordinates specification target position
0 5.00 0
is 5 mm from home
Relative coordinates specification Plus 10 mm
1 10.00 1
from present position
Relative coordinates specification Minus 10 mm
2 -10.00 1
from present position

(3) Velocity [mm/s]

Input the speed at which the actuator is to travel.
Initial values differ depending on the actuator type.

Caution
 Do not attempt to set above the maximum speed or below the minimum speed. It may
lead to abnormal noise or unstable speeds.
 For the maximum speed and minimum speed, refer to [Appendix Chapter 2
Connectable Actuators].
 The minimum speed can be calculated with the equation below.
Minimum speed [mm/s] = Lead [mm/r] / Encoder resolution [pulse/r] x 1000 [1/s]

ME0384-7C C1-6
 1.3 Position Table

(4) Acceleration / Deceleration [G]

Input the acceleration/deceleration rate at which the actuator is to travel. Use a value within the
rated range.
Take care, as it is possible to input a number larger that the catalog rated value.
Reduce the number if the object to be conveyed vibrates during acceleration/deceleration,
causing problems.
Operation Section

Speed

Acceleration Deceleration
0.3 G 0.2G
Time
Start position

Target position
Acceleration/deceleration is rapid when the number is increased and gradual when it is
decreased.
Chapter 1 Operation Overview

Caution
● Acceleration/deceleration greatly affects the allowable payload. Refer to [Appendix
Chapter 2 Connectable Actuators], or to [the actuator catalog or instruction manual],
and set so that the specified acceleration/deceleration is not exceeded.
● Input appropriate values so that excessive shock and vibration are not applied to the
actuator, in consideration of the installation conditions and the shape of the conveyed
object. Take care as this can cause failure that raising too much this value.

C1-7 ME0384-7C
1.3 Position Table

(5) Operation type (Pressing force [%])

Select "positioning" or "push-motion operation".
The factory default setting is 0.
0 : Normal positioning operation
Non-0 : Displays the current limit value. Setting this will configure push-motion operation mode.

Operation Section
Caution
● Changing the push speed may result in a force different from the original push force.
● When the push speed is changed, measure and check the actual push force.
● Refer to [Appendix Chapter 2 Connectable Actuators] for the reference of pressing
force for each actuator.

(6) Load current threshold [%]

1) Set the threshold for pressing torque
Load output judgment status (LOAD) turns on when the torque (load current) reaches this
value or higher in the range of the positioning zone during pressing operation. This feature
is to be used to monitor the load current in a performance that uses pressing operation such

Chapter 1 Operation Overview

as press-fitting, and see if the operation goes well or not.
Use this as a reference output for those other than the pulse motor type high-thrust
actuators.
For details, refer to [Operation Section 4.2 (7) Pressing operation commanded torque level
detection (page C4-15)].

2) Sets the threshold value for collision judgment.

When the present position is within the position zone range and the time set in parameter
No. 50 "Load output judgment time" is exceeded and the command torque value set in the
position table "Threshold" is exceeded, a "Collision" is judged to have happened.
The load output judgment status (LOAD) should turn on after judgment. For the pulse motor
type, the collision detection alarm gets generated and the servo gets turned off.
For details, refer to [Operation Section 5.2 Collision Detection Function (page C5-8)].

ME0384-7C C1-8
 1.3 Position Table

(7) Positioning band [mm] / pressing band [mm]

Handling of set value differs between "positioning" and "pressing".

[Positioning operation]
Defines how far before the target position the positioning complete signal should turn ON.
Even if the positioning complete turns ON, the actuator will continue to move to the target
position.
Operation Section

Increasing the positioning width value will speed up the next sequence operation, which will
shorten the tact time. Set the optimum value by looking at the overall balance of the equipment.

Timing for when the positioning

complete signal turns ON

Target position
Positioning
width
Chapter 1 Operation Overview

[Push-motion Operation]
Defines the maximum travel amount using push-motion operation from the target position.
Considering the mechanical variation of the workpieces, set the positioning width so as not to
complete positioning before pressing against the workpiece.

When pushing a workpiece, the positioning

complete signal turns ON when it determines
Speed the pushing operation is complete.

Push
speed

Positioning width
(Maximum travel amount using
Target position push-motion operation)

For the 24V driver unit, parameter No. 181 "Push Mode" enables SEP push-motion operation.
For details, refer to [Operation Section 4.2 (6) When SEP is set as push mode (page C4-14)].

C1-9 ME0384-7C
1.3 Position Table

(8) Zone +/- [mm]

Defines the region in which the zone output signal turns ON.
This can be set individually for each target position.
Only the zone setting of the position No. traveling is enabled, and the zone settings of other
position No. are disabled.

For linear axis

Operation Section
0 mm 30 mm 70 mm 100 mm

Present position
Set value
ON Zone setting + side : 70 mm
Zone signal output Zone setting - side : 30 mm

Set value
ON ON Zone setting + side : 30 mm
Zone signal output
Zone setting – side : 70 mm

Chapter 1 Operation Overview

Caution
 Unless the zone signal detection range is set at a value above minimum resolution,
a signal will not be output.
 The minimum resolution can be calculated with the equation below.
Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r]

For rotary actuator in index mode

0° Zone signal ON range 0°

315°
315°

70°
70°

Set value Set value

Zone setting + side : 70° Zone setting + side : 315°
Zone setting – side : 315° Zone setting – side : 70°

ME0384-7C C1-10
 1.3 Position Table

(9) Acceleration/deceleration mode

Defines acceleration/deceleration pattern characteristics.
The factory default setting is 0.
0: Trapezoid pattern
1: S-motion
2: First-order delay filter
Operation Section

[Trapezoid pattern]
Acceleration and deceleration are configured in the "Acceleration" and "Deceleration" fields of
the position table.

Speed

Acceleration Deceleration

Time
Chapter 1 Operation Overview

[S-motion]
When accelerating, a curve which starts gently then sharply increases partway through is
drawn.
This should be used when fast tact time is required so high acceleration/deceleration is wanted,
yet a gradual start and stop are required.
Speed

Time

The degree of S-motion ratio setting is set with parameter No. 56 "S-motion Ratio Setting".
Setting unit is % and the setting range is 0 to 100.
(The figure above is a graph when set to 100%.)
However, this is not reflected for jogging/inching operations via a PC or teaching pendant.

C1-11 ME0384-7C
1.3 Position Table

Caution
 In the following cases S-motion becomes disabled.
(1) When a position command or direct numerical value command with S-motion is set
during actuator operation.
(2) When using a rotary actuator in index mode.
(3) When set such that the acceleration time or deceleration time exceeds 2 seconds.

Operation Section
(4) When parameter No. 56 is set to 0.
 The acceleration/deceleration time does not change, but as per the figure, the
acceleration/deceleration exceeds that set in the position table. (Max. 2×)
 Avoid pauses during acceleration or deceleration operation. Speed changes
(acceleration) will occur, which may be dangerous.

[First-order delay filter]

This draws a more gentle acceleration/deceleration curve compared to trapezoidal patterns.
The shock at acceleration/deceleration is relieved, but the cycle time becomes longer.
Use for applications where minor vibrations to the workpiece during acceleration/deceleration

Chapter 1 Operation Overview

are to be avoided.

Speed

Time

The amount of first-order delay is set by parameter No. 55 "Position command primary filter time
constant". The setting unit is [ms] and can be set from 0.0 to 100.0 in 0.1ms increments.
However, this is not reflected for jogging/inching operations via a PC or teaching pendant.

Caution
 In the following cases the first-order delay filter becomes disabled.
(1) When a position command or direct numerical value command with the first-order
delay filter is set during actuator operation.
(2) When using a rotary actuator in index mode.
(3) When parameter No. 55 is set to 0.

ME0384-7C C1-12
 1.3 Position Table

(10) Incremental
Defines whether using absolute coordinate specifications or relative coordinate specifications.
The factory default setting is 0.
0: Absolute coordinates specified
1: Relative coordinates specified

Caution
Operation Section

● When performing relative movement, do not output a travel command smaller than the
minimum resolution value (actuator lead length / encoder resolution). Also, do not use a
travel command smaller than the positioning repeatability. As the travel command is for
the same position as the positioning complete status, deviation occurs, but normal
positioning control is not possible.

(11) Payload /Gain set

This item has different functions depending on motor specifications.
Chapter 1 Operation Overview

Motor specification Function

Stepper motor specification Payload

Servo motor specification Gain set

[Payload] Stepper motor specification function only

Registers four types of load weight with the teaching tool and registers which of them to use by
number (0 to 3). Based on the number (load weight) set in this section, the smart tuning function
calculates the optimum speed and acceleration/deceleration.

Setting Name

0 Payload pattern No. 0

1 Payload pattern No. 1
2 Payload pattern No. 2
3 Payload pattern No. 3

C1-13 ME0384-7C
1.3 Position Table

[Gain set] Servo motor specification function only

6 parameters required for servo gain adjustment are collected together as 1 set. 4 kinds of sets
can be registered, enabling the servo gain to be switched for each positioning operation. By
using the PC software's offboard tuning function, it is possible to obtain a setting close to the
optimum setting.

When using this function and setting for high-speed operation, or when setting a payload

Operation Section
exceeding the rated value, it may be necessary to set the home return gain.

For details on the setting method and precautions of the load weight, smart tuning function and
off-board tuning function, refer to the following instruction manuals.

 PC software operating method

Refer to [PC software (RCM-101-*-*) manual (ME0155)]
Refer to [Guiding Features Installed in PC Teaching Software (IA-OS)]
 Teaching pendant operating method
Refer to [Touch Panel Teaching Pendant manual TB-02/02D (ME0355)]
Refer to [Touch Panel Teaching Pendant manual TB-03 (ME0376)]

Chapter 1 Operation Overview

Parameters configured in 1 set are as follows.
 Servo gain number (position gain)
 Positional feedforward gain
 Velocity loop proportional gain
 Velocity loop integral gain
 Torque filter constant
 Current control band number

Set the gain corresponding to the position No. to be operated with the specified gain
setting.
For details about each gain parameter, refer to [Operation Section Chapter 7,
7.3 Servo Gain Adjustment (Page C7-53)].

Setting Parameter set selection Parameter No.

0 Gain set 0 7, 71, 31 to 33, 54

1 Gain set 1 120 to 125
2 Gain set 2 126 to 131
3 Gain set 3 132 to 137

ME0384-7C C1-14
 1.3 Position Table

(12) Stop Mode

The servo can be turned OFF automatically at a fixed time after completion of positioning, for
power saving.
Time setting is performed with parameter No. 36 to 38 "Automatic servo OFF delay time 1 to 3",
enabling three time options to be selected.
Servo motor specification and DC brush-less motor specification allow selection from 0 to 3.
Stepper motor specification allows selection from 0 to 7.
Operation Section

Selectable
Set value Operation after positioning complete
specifications
0 Servo ON as is All specifications
After a fixed time (parameter No. 36 set value)
1 All specifications
AUTO servo OFF
After a fixed time (parameter No. 37 set value)
2 All specifications
AUTO servo OFF
After a fixed time (parameter No. 38 set value)
3 All specifications
AUTO servo OFF
Stepper motor
4 Full servo control
specification
Fixed time (parameter No. 36 set value) Stepper motor
5
Chapter 1 Operation Overview

After full servo control, AUTO servo OFF specification

Fixed time (parameter No. 37 set value) Stepper motor
6
After full servo control, AUTO servo OFF specification
Fixed time (parameter No. 38 set value) Stepper motor
7
After full servo control, AUTO servo OFF specification

Caution
 There is no holding torque during AUTO servo OFF. Take care with this setting, as the
actuator will move if external force is applied.
 Do not use AUTO servo OFF when the next travel command is relative specifications
(pitch feed). Misalignment may occur.
 Do not use AUTO servo OFF with push-motion operation. The pushing force will be
lost.
 AUTO servo OFF does not function if operating in teaching mode with PC software.

C1-15 ME0384-7C
1.3 Position Table

[Full servo control method]

Holding current can be reduced by using servo control with stepper motors.
To stop the stepper motor completely with minimal vibration, a current is constantly supplied.
Also, when the value of the encoder deviates from the target position by ±4 counts, it will not be
returned to the target position. However, activating the full servo function will enable returning
even with the deviation of 1 count.
As with the full servo function, the RCP6 Series performs home return even with deviation of

Operation Section
1 count. Therefore, the full servo function cannot be used for RCP6.
No position deviation will occur as the system maintains the servo ON status. While the degree
of reduction varies depending on the actuator model and load conditions, the holding current
drops to about 1/2 to 1/4.
The actual holding current can be checked using the current monitor screen within PC software.

(13) Vibration control No. Servo motor specification function only

Suppresses vibration (resonance) of the load attached to the actuator.
Handles 3 types of vibrations.
For each vibration, 4 parameters are established and treated as 1 set.
The position table configures parameter sets that correspond to the position No. that needs

Chapter 1 Operation Overview

vibration damping.
For details, refer to [Operation Section Chapter 5, 5.1 Vibration Damping Control Function (page
C5-1)].

Vibration damping frequency

Setting Parameter No.
(natural frequency)
0 Normal position control (no vibration damping) −
1 Vibration damping parameter set 1 97 to 100
2 Vibration damping parameter set 2 101 to 104
3 Vibration damping parameter set 3 105 to 108

This function is limited to servo motor specification actuators.

For stepper motor specification or DC brush-less motor specification actuators, this should be
set to 0.

Caution
● The vibration frequency that can be suppressed (targeted natural frequency) is 0.5Hz to 30Hz.
● Vibration of the load to which vibration is induced due to the actuator connected to this
controller is applicable. Other vibrations cannot be damped.
● Vibration in the same direction as the direction of movement of the actuator is
applicable. Other vibration directions cannot be damped.
● Home return and push-motion operation are not applicable.
● If the vibration frequency setting is low, the tact time may increase. At less than about
6 Hz, the positioning convergence time will be over 150 ms.

ME0384-7C C1-16
 1.3 Position Table

(14) Drive torque limit [%] / Push speed [mm/s]

The expansion function can be switched by setting parameter No. 191 "Position data expansion
function setting".

Parameter No.191 Available expansion

set value functions

0 Not displayed (disabled)

Operation Section

1 Drive torque limit

2 Push speed

Drive torque limit : Sets the travel current limit value during position travel. [%]
Push speed : Sets the push speed for push-motion operation. [mm/s]

Warning
 The drive torque limit function changes the output of the actuator.
 The actuator may display unexpected behavior depending on the application, setting,
operation and control.
Chapter 1 Operation Overview

 This indicates a potentially hazardous situation which, if the product is not handled
correctly, could result in death or serious injury. Make sure that safety is ensured and
operation is stable before use.

[Examples of unexpected behavior]

■ When mounted vertically and used in applications where the workpiece is moved vertically
If the "drive torque limit" is set too low, not only does it become impossible to move the
workpiece, but the unit stops and becomes unable to support the workpiece, which may cause
it to fall.

■ When a travel command to a position number is given while moving to a different position number
When the "drive torque limit" of the position number commanded afterward is high, the unit may
suddenly start moving.

C1-17 ME0384-7C
1.3 Position Table

(15) Link No.

After completing travel, this sets the position No. to continue traveling.
If "wait time" is not set, this function will be disabled.

This function is subject to the following precautions. Be sure to check before use.

1) AUTO/MANU mode

Operation Section
■ This function can only be enabled in AUTO mode. When performing continuous operation
with PC software, use the easy programming function.

2) Gateway operation mode

■ In simple direct mode, this function is disabled.
■ An alarm is generated when a position number exceeding the maximum number of
positions according to the operation mode of the gateway unit is set as the connection
destination during position linking travel.
■ An alarm is generated when the operation mode of the gateway unit is changed to a mode
with fewer position numbers, if the linked position numbers are out of range during position
linking travel after position data editing.

Chapter 1 Operation Overview

3) Position linking operation
■ If the destination is set so that the linked positions are looped, operation will continue
endlessly.
For example, if a multi-rotation specification rotary actuator is set to repeat incremental
movement in index mode, it continues to rotate.
■ Set appropriate wait times, etc., in order not to exceed the duty limit.
■ Also, when operating endlessly, position travel will not be completed.
In order to stop the unit, pause it by turning ON pause signal STP, then input reset signal
RES and perform remaining travel distance cancel or turn OFF the servo.
■ When a travel command is issued to the linked position, the cycle time displayed on the tool
is added up to the command complete signal MEND output of the travel complete position
including the wait time.
Also, when looping a linked destination position, the cycle time continues to be added.
When the counter upper limit value is exceeded, the count will start again from 0.000 sec.

ME0384-7C C1-18
 1.3 Position Table

(16) Standby time [s]

After completing travel, this sets the standby time until the next position No. operation starts.
Enabled only when "Connection No." is set.

This function can only be enabled in AUTO mode. When performing continuous operation with
PC software, use the easy programming function.
Operation Section

(17) Comment
Up to 20 alphanumeric characters can be input.
Input comments are saved to the controller.

(18) 1-line comment

Up to 56 alphanumeric characters can be input.

Right-clicking on the position data and enabling One line comment will allow you to enter
1-line comments. Disabling it will clear any comment you have entered.
Chapter 1 Operation Overview

To edit a comment, type in the comment to display the setting screen. Enter a comment on the
setting screen and click OK .

C1-19 ME0384-7C
1.3 Position Table

1.3.2 ELECYLINDER position table

The stop position and operating condition settings are established in ELECYLINDER at the
delivery.
The stop position and the operation conditions can be adjusted with a teaching tool in the simple
data setting window.
Here shows an example of a screen in the PC software about the position table.

Operation Section
(The contents of display is the same for the teaching pendant)

[Simple Data Setting Window]

3) 3)
2) 2)

Chapter 1 Operation Overview

3)

1)

For how to operate on each teaching tool, refer to the instruction manuals stated below.
 PC software operating method
Refer to [PC software (RCM-101-*-*) manual (ME0155)]
Refer to [Guiding Features Installed in PC Teaching Software (IA-OS)]
 Teaching pendant operating method
Refer to [Touch Panel Teaching Pendant manual TB-02/02D (ME0355)]
Refer to [Touch Panel Teaching Pendant manual TB-03 (ME0376)]

Caution
 Make sure to touch the Transfer after setting or adjusting the data.
 Switching the screen without making a transfer, the data will go back to that before
change.
Also, without transfer, the Manual Operation should not be able to activate.
 ELECYLINDER is not available for operation in the single solenoid system. Make sure
to apply the double solenoid system.

ME0384-7C C1-20
 1.3 Position Table

1) Backward end (Home Side) / Forward end (stroke) [mm]

It is the coordinate values for positioning. Input values from the home position.
Registration is available in 0.01 mm unit.

2) Acceleration / Velocity / Deceleration

● Acceleration [%] or [G]
Acceleration at the start of operation should be set in a value from 1 to 100%.
Operation Section

Touch Switch Unit and the unit switches to [G] and can be registered in 0.01G unit.

● Velocity [%] or [mm/s]

The velocity to perform the positioning operation should be set in a value from 1 to 100%
If there is a check mark at “Pressing”, it should be the movement speed from the movement
start position (forward end or backward end) to the pressing start position.
When the velocity is set to a value lower than the pressing speed, the pressing operation
should be performed in the set velocity. The pressing speed should differ depending on the
models. Refer to an [instruction manual of each ELECYLINDER or a catalog] for detail.
Touch Switch Unit and the unit switches to mm/s and can be registered in 0.01 mm/s
unit.
Chapter 1 Operation Overview

● Deceleration [%] or [G]

Deceleration at the stop of operation should be set in a value from 1 to 100%.
If there is a check mark at “Pressing”, it should be the deceleration from the movement start
position (forward end or backward end) to the pressing start position.
Touch Switch Unit and the unit switches to [G] and can be registered in 0.01G unit.

Caution
 In case there is any abnormal noise, vibration or mechanical shock in operation of
ELECYLINDER, revise and decrease the acceleration and deceleration.
Continuing to use without revising could cause malfunction.

C1-21 ME0384-7C
1.3 Position Table

3) Pressing / Pressing start point / Pressing force

● Pressing
Selection can be made from "Positioning Operation" and "Pressing Operation".
When there is a check mark at "Pressing", it should perform the pressing operation.

● Pressing start point [mm] *Displayed only in pressing operation

It is the position to start the pressing operation. Input values from the home position.

Operation Section
Registration is available in 0.0 1mm unit

● Pressing force [%] or [N] *Displayed only in pressing operation

It is the current limit value at the pressing operation. Set in a value from 20 to 70% (Note1).
Touch Switch Unit and input in [N] unit is also available.
Note 1: The input range available for the pressing current limit value should differ
depending on the models.
Refer to an [instruction manual of each ELECYLINDER] for detail.

Caution
 The pressing force displayed in N unit is a reference.
Refer to an [instruction manual of each ELECYLINDER or a catalog] for detail.

Chapter 1 Operation Overview

 When the pressing speed is set lower than the rated push speed of each model,
the pressing force could get unstable.
It could cause the performance not work properly.

ME0384-7C C1-22
 1.3 Position Table

1.3.3 Precautions for rotary type

(1) Homing direction

Home position is the counter-clockwise moving end of the output shaft.
The multi-rotation specification includes a reverse-rotation specification (NM: Home reverse
specification)(*1). For reverse-rotation specification, the homing direction is clockwise.
*1 There is no reversed rotary type in DD Motor (DD, DDA).
Operation Section

Caution
 If the homing direction is changed by changing the parameter after delivery, the homing
direction will be reversed. However, do not change the parameter of homing direction,
as the home position will deviate due to structural reasons.

(2) Operation (position setting) range

Position value is the travel angle from home position.

[330-degree Rotation Specification]

Chapter 1 Operation Overview

Position specification range 0 to 330 degrees

[Multi-rotation Specification]
The multi-rotation specification actuator has two operation modes: normal mode with finite
rotation and index mode (Note 1) capable of multiple rotation. The operation mode can be selected
in parameter No. 79 "Rotary axis mode select". In addition, shortcut selection can be set to
enabled/disabled in parameter No. 80 "Rotary axis shortcut select".
The table below shows the parameter settings and operation specifications in the respective
modes.

Rotary axis Rotary axis Present Absolute position Relative position

Software limit
mode select shortcut select position command command
Enabled/disabled
Parameter No.79 Parameter No.80 display (Note 3) range (Note 3) range (Note 3)
0 -9,999.99 -0.15 -9,999.30
0 (Disabled) Enabled
(Normal mode) to 9,999.99 (Note 2) to 9,999.15 (Note 2) to 9,999.30 (Note 2)
1 -360.00
0 to 359.99 0 to 359.99 0 to 359.99 Disabled
(Index mode) to 360.00
Note 1: Index Mode is not available for the absolute type actuators except for DD Motor.
Note 2: Restricted to the range of the software limit.
Note 3: The minimum resolution of the DD motor is 0.001°.

C1-23 ME0384-7C
1.3 Position Table

(3) Angular velocity and acceleration/deceleration command

Angular velocity [deg/s] is the command value for rotation angle.
Acceleration/deceleration is specified as [G] in the program.
Rated angular acceleration/deceleration: 0.3G = 2,940 deg/s2

(4) Home return motion

Operation Section
[330-degrees rotation specification]

Operation range (330 degrees)

1)

Home 5) 2)
4)
3)

Chapter 1 Operation Overview

1) When home return is commanded, the rotary part rotates in the CCW
(counterclockwise) direction as seen from the load side.
The speed is 20 deg/s.
2) Detects mechanical stopper.
3) It travels in reverse.
4) Moves from the position of 3) for the amount set in Parameter No. 22
"Homing Offset" and stops.
5) The position stopped in 4) should be the home position.

Caution
 When changing Parameter No. 22 "Homing offset", be sure to refer to [Operation
Section 7.2 Homing offset (Parameter No. 22) (page C7-15)].

ME0384-7C C1-24
 1.3 Position Table

[Multi-rotation Specification]
1)

Home
12) 1)
(Forward rotation side swivel end)
11)
5) 4) 2)
(Home side)
Operation Section

Offset travel distance 3)

10) 6)

Rotary axis
7)
Offset reference position
(Center of 6), 7), 9) and 10)) 9) 8)
(Home reverse side)
Home sensor detection range

1) When home return is commanded, the rotary part rotates in the CCW
(counterclockwise) direction as seen from the load side.
The speed is 20 deg/s.
2) The home sensor turns ON.
3) It travels in reverse.
Chapter 1 Operation Overview

4) Confirm that the home sensor turns OFF as it returns to the position beyond the
detection range of the home sensor.
5) It travels in reverse.
6) Check again that the home sensor is ON.
7) Confirm that the home sensor turns OFF beyond the detection range on the home
reverse side of the home sensor.
8) It travels in reverse.
9) Check that the home sensor is ON.
10) Confirm that the home sensor turns OFF beyond the detection range on the home
side of the home sensor.
11) Calculate the detection range center of the home sensor from the results of 6), 7), 9)
and 10).
12) Moves from the position of 11) for the amount set in Parameter No. 22 "Homing
Offset" and stops. This stopped position should be the home position.

Caution
 When changing Parameter No. 22 "Homing offset", be sure to refer to [Operation
Section 7.2 Homing offset (Parameter No. 22) (page C7-15)].

(5) Relation among Output Torque, Allowable Inertia Moment and Rotary Speed
Refer in the graph shown in [Appendix 2.4 Rotational Speed and Output Torque / Allowable
Inertial Moment (page E2-164)].
For details, refer to [the instruction manual of actuator to use].

C1-25 ME0384-7C
1.3 Position Table

1.3.4 Precautions for gripper type

(1) Finger part operation

[Definition of position]
Home is the position where the fingers are open. Position command is the travel distance from
home position of this single finger to the closed side.
Therefore, the maximum command value is 5 mm for RCP2-GRS type, or 7 mm for RCP2-GRM

Operation Section
type. For EC, GRB8 should be 10 mm and GRB13 should be 20 mm.
As for the stroke of 2-claw type, the total travel distance value of both fingers is shown in the
specifications.
Therefore, the travel distance of a single finger is half of the stroke.

[Definition of velocity and acceleration/deceleration]

Command value is per single finger.
Relative velocity and acceleration/deceleration of the 2-claw type are twice as much as the
command value.

[Operation mode for gripper applications]

Chapter 1 Operation Overview

When using as a gripper that involves gripping of workpieces, be sure to use in "push mode".

Caution
 If used in "positioning mode", a servo error may occur while the workpiece is being
gripped, or the workpiece may be dropped.

ME0384-7C C1-26
 1.3 Position Table

(2) Removing gripped workpieces

This gripper is structured to maintain its gripping force by self-locking the workpiece even during
servo OFF or controller power shut-off.
When removal of a gripped workpiece is necessary during power shut-off, turn the
opening/closing screw or remove the finger attachment on one side to remove the workpiece.

[2-claw Type]
Operation Section

Turn the opening/closing screw or remove the finger attachment on one side.

Finger attachment

Opening/closing screw
Turn counterclockwise
with a flathead screwdriver
(OPEN)
Open

Fixing bolt
Chapter 1 Operation Overview

[3-claw Type]
Remove one of the finger attachments.

Finger attachment
Fixing bolt

(3) Relation between Grip Force and Current Limit Value

Refer to [Appendix 2.3 Push Force / Gripping Force and Current Limit Value (page E2-152)].
For ELECYLINDER, refer to [the instruction manual for each ELECYLINDER].
(→ Describe "Pressing Force / Gripping Force and Current Limit Value" in the REC appendix
and make it the section refer to)

C1-27 ME0384-7C
1.4 Power ON Sequence

1.4 Power ON Sequence

The procedure from turning on the RCON system to the home return command is as follows.
(1) Supply the control power and motor power (24V DC/200V AC).
(2) Turn ON the STOP signal input to cancel the drive shutoff status and set to conductive
status.
(3) Once it is confirmed that Gateway Status Signal 0 "RUN" has turned on and Gateway Status

Operation Section
Signal 1 "LINK*" on, turn Gateway Control Signal 0 "MON" on, and then input the servo-on
signal "SON" (Note) in the driver unit.
(4) After confirming that the operation ready signal "SV" is ON, input the home return signal
"HOME". home return motion begins. When home return is completed, the home return
complete signal "HEND" is output.
For the EC connection unit, confirm that the gateway status signal 0 "RUN" and operation
standby complete signals "E0RD" to "E3RD" are turned on, and then input either forward or
backward signal "ST0/ST1". The home-return operation starts. Once the home-return
operation ends and moved to the backward (or forward) end, the forward/backward signal
"LS0/LS1" should be output.

Chapter 1 Operation Overview

Note: There is no "LNK*" or "SON" signal for the EC connection unit.
Once the power is supplied, the servo on ELECYLINDER automatically turns on.

Caution
 About MON Signal
Turn on MON Signal in the gateway control signals after the link with the PLC is
established.
Turn MON Signal on otherwise the control from PLC should not be available for those
other than the EC connection units.

Refer below for the detail of MON Signal and Enable/Disable settings.
Detail: [Operation Section 2.2.1 (1) Gateway control/status signals PLC output]
Enable/Disable Settings: [Appendix Chapter 1, 1.3.2 Special parameter setting function
descriptions]

MON signal OFF

PLC
RCON

Actuator
Gateway unit Driver unit
Control
signal

ME0384-7C C1-28
 1.4 Power ON Sequence

STOP signal OFF

(Drive-source cutoff status) STOP signal ON
STOP signal status
(Drive-source cutoff status)

Control power [Input]

(24V DC)

Motor power [Input]

Operation Section

(24V DC/200V AC)

(Note 1)

Gateway status signal 0

RUN [Output]
(Note 2)

Gateway status signal 1 (Note 3)

LNK* [Output]

Gateway control signal 0 (Note 4)

MON [Input]

Servo ON signal (Note 5)

SON [Input] (Note 5)
Chapter 1 Operation Overview

Operation ready signal

SV (E0RD to E3RD) [Output]
Driver unit
SYS lit green

Home return signal Home return

HOME (ST0/ST1) [Input]
Home return complete
HEND (LS0/LS1) [Output]
EC Connection Unit
20ms (TYP)
Backward (Forward) end
LED lit green

Actuator operation

Mechanical end
Home position

For details on the gateway status signal, refer to [Operation Section Chapter 2, 2.2.1 Fixed area
control/status signals (1) Gateway control/status signals (C2-22)].

Note 1: When the power is turned ON, the RCON system starts up. When field network
communication between the gateway unit and host device is established, the gateway
status signal 0 "RUN" turns ON. After confirming that the "RUN" is ON, begin
communication with the gateway unit.

C1-29 ME0384-7C
1.4 Power ON Sequence

Note 2: If the gateway unit and driver unit are communicating normally, the gateway status
signal 1 "LNK* (* is axis number)" turns ON.
If a communication error occurs between the gateway unit and driver unit, "LNK*" turns
OFF. However, the ERRT alarm is not generated until the "communication retry count"
set in the gateway parameter configuration tool is exceeded, until which retries are
repeated.
If the communication becomes normal after repeated retries, "LNK*" turns ON.

Operation Section
The signal may also turn ON after temporarily turning OFF due to sudden noise.
Regarding the "communication retry count", refer to [Operation Section Chapter 7,
7.4.4 Details of special parameters].

Note 3: There is no "LNK*" for the EC connection unit.

Note 4: Confirm "RUN" and "LINK*" are on, turn "MON" on, and then input "SON".
The actuator turns the servo on.
Also, for the EC connection unit, there is no "SON". The servo on ELECYLINDER
automatically turns on.

Note 5: When the first "SON" signal is input after power ON, the motor performs excitation
phase detection operation (stepper motor specification) or magnetic pole phase

Chapter 1 Operation Overview

detection operation (AC servo motor specification).
After confirming that the operation ready signal "SV" (E0RD to E3RD) is ON, input the
travel command or home return command.

Caution
 If the servo is turned ON in the vicinity of the mechanical end, the magnetic pole phase
will not be properly detected, causing abnormal operation, uncertain magnetic pole
error or excitation detection error.
Turn ON the servo in a position away from the mechanical end.
 If the power has been turned OFF, wait 1 second or more before rebooting the power.
Otherwise, the product may malfunction.

ME0384-7C C1-30
 Chapter 1 Operation Overview Operation Section

C1-31
ME0384-7C
1.4 Power ON Sequence
 Operation
Section

Chapter 2
Address Configuration
and Signal Assignment
2.1 Address Configuration ·········································· C2-1
2.1.1 Fixed region configuration ······································ C2-2
2.1.2 Data region configuration ······································· C2-3
2.1.3 Address assignment order and occupied domains calculation · C2-4
2.1.4 Overall address configuration example ····················· C2-6

2.2 Contents of Each Address Assignment ····················· C2-22

2.2.1 Fixed area control/status signals ······························ C2-22
2.2.2 Direct numerical control mode assignment ················· C2-28
2.2.3 Simple direct mode assignment ······························· C2-34
2.2.4 Positioner 1 mode assignment ································ C2-38
2.2.5 Positioner 2 mode assignment ································ C2-41
2.2.6 Positioner 3 mode assignment ································ C2-42
2.2.7 Positioner 5 mode assignment ································ C2-45
2.2.8 Assignment of EC connection unit ···························· C2-48
2.2.9 Assignment of PIO (PIO/SIO/SCON Extension Unit, PIO Unit) · C2-51

ME0384-7C
 2.1 Address Configuration

2.1 Address Configuration

The RCON address configuration is the same for all driver units regardless of field network type.
The addresses occupied by the network consist of eight words of the fixed domains, data
domains that vary depending on the operation mode and number of axes and the data domains
for the EC connection unit. Each operation mode and occupied data region is as follows.
Direct numerical control mode, simple direct mode and positioner 1 to 3 and 5 modes can be
Operation Section

mixed for use and the model for each axis can be selected arbitrarily.
It is not available to select an operation mode in the EC connection unit.

Fixed region (8-words)

+
Data region

Direct
numerical + simple direct + Positioner 1 + + Positioner 3 + Option
mode mode mode mode unit
control mode (4-words) (4-words) (2-words) (1-word) (1-word)
(8-words)

     
Number of Number of Number of Number of Number of Number of
Axes Axes Axes Axes Axes Unit
Chapter 2 Address Configuration and Signal Assignment

Caution
 About MON Signal
Turn on MON Signal in the gateway control signals after the link with the PLC is
established.
Turn MON Signal on otherwise the control from PLC should not be available for those
other than the EC connection units.

Refer below for the detail of MON Signal and Enable/Disable settings.
Detail: [Operation Section 2.2.1 (1) Gateway control/status signals PLC output]
Enable/Disable Settings: [Appendix Chapter 1, 1.3.2 Special parameter setting function
descriptions (page E1-8)]

MON signal OFF

PLC
RCON

Actuator
Gateway unit Driver unit
Control
signal

C2-1 ME0384-7C
 2.1 Address Configuration

2.1.1 Fixed region configuration

PLC output ⇒ RCON RCON ⇒ PLC input

High byte Low byte Word count High byte Low byte Word count

Gateway Gateway control signal 0 Gateway status signal 0

2 2
control region Gateway control signal 1 Gateway status signal 1

Operation Section
Not available. Power supply unit status signal 0
Not available. Power supply unit status signal 1
Not available. Power supply unit status signal 2
Power supply
6 6
unit region * Not available. Power supply unit status signal 3
Power supply unit status signal 4/
Not available.
Light malfunction maintenance signal (Note1)
Not available. Not available.
* Occupied as a data region even if a power supply unit is not connected.
Note 1: This signal can change the feature by switchover in the gateway parameter.

Chapter 2 Address Configuration and Signal Assignment

ME0384-7C C2-2
 2.1 Address Configuration

2.1.2 Data region configuration

(1) Direct numerical control mode data region configuration

PLC output ⇒ each axis input Each axis output ⇒ PLC input
High byte Low byte Word count High byte Low byte Word count
Specified position data (L) * Present position data (L) *
2 2
Specified position data (H) * Present position data (H) *
Direct Specified positioning width (L) * Present current value (L) * (Note 1)
Operation Section

2 2
specified Specified positioning width (H) * Present current value (H) * (Note 1)
region Specified speed 1 Present speed data 1
Specified acceleration/deceleration 1 Not available. 1
Pushing current limit value 1 Alarm code 1
Control signal region Control signal 1 Status signal 1
* (L) is the low word of a 2-word datum while (H) is the high word of a 2-word datum.
Note 1: The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

(2) Simple direct mode and positioner 1 mode data region configuration
PLC output ⇒ each axis input Each axis output ⇒ PLC input
High Low Word Simple Positioner High Low Word Simple Positioner
byte direct
byte count mode 1 mode byte byte count direct
mode 1 mode
Specified Present position
Position data
position data (L) data (L)
Chapter 2 Address Configuration and Signal Assignment

specified 2  ×* 2  
Specified Present position
region
position data (H) data (H)
Position Command Completed
1   1  
specified region position No. position No.
Control signal region Control signal 1   Status signal 1  
* Positioner 1 mode does not use the position data specified region (PLC ⇒ each axis input),
but it is occupied as a data region.

(3) Positioner 2 mode data region configuration

High byte Low byte Word count High byte Low byte Word count
Position
Command position No. 1 Completed position No. 1
specified region
Control signal region Control signal 1 Status signal 1

(4) Positioner 3 mode data region configuration

High byte Low byte Word count High byte Low byte Word count
Command Completed
Control signal region Control signal 1 Status signal 1
position No. position No.

(5) Positioner 5 mode data region configuration

High byte Low byte Word count High byte Low byte Word count
Position Present position data
Command position No. 1 1
specified region (0.1 mm increments)
Control signal region Control signal 1 Status signal 1

(6) EC connection unit data region configuration

High byte Low byte Word count High byte Low byte Word count
Control signal region Control signal (for four axes). 1 Status signal (for four axes) 1

C2-3 ME0384-7C
 2.1 Address Configuration

(7) PIO/SIO/SCON expansion unit/PIO unit data region configuration

High byte Low byte Word count High byte Low byte Word count
Input signal Output signal
Control signal region 1 1
(PLC → Controller) (Controller → PLC)

2.1.3 Address assignment order and occupied domains calculation

Operation Section
Here explains how to figure out the address assignment order and occupied domains.

The following shows the assignment order.

1. RCON Gateway Unit
2. 24V Driver Unit
3. 200V Driver Unit
4. Connected to SCON expansion connector SCON-CB-*-RC
5. Option Unit (*1)
6. EC Connection Unit

Configuration example:

Chapter 2 Address Configuration and Signal Assignment

RCON-GW-**
RCON-EXT-NP
RCON-NP_1

RCON-EC-4_2
RCON-EC-4_1
RCON-PC-1 RCON-SC-1

SCON-CB-*-RC

ME0384-7C C2-4
 2.1 Address Configuration

In the example of the RCON system construction described in the previous page, the order of
assignment should be as shown below.

PLC → RCON system RCON system → PLC

GW control (2W) GW control (2W)

Power supply unit status or

Operation Section

Maintenance bit domains (5W)

Reserve (6W)
Reserve (1W)

Axis number 1 control (RCON-PC-1) Axis number 1 status (RCON-PC-1)

Axis number 2 control (RCON-SC-1) Axis number 2 status (RCON-SC-1)

Axis number 3 control (SCON-CB-*-RC) Axis number 3 status (SCON-CB-*-RC)

Option unit 0 control (RCON-EXT-NP) Option unit 0 status (RCON-EXT-NP)

Option unit 1 control (RCON-NP) Option unit 1 status (RCON-NP)

Option unit 2 control (RCON-EC-4_1) Option unit 2 status (RCON-EC-4_1)

Chapter 2 Address Configuration and Signal Assignment

Option unit 3 control (RCON-EC-4_2) Option unit 3 status (RCON-EC-4_2)

*1 There are option units assignment should be made in order close to RCON gateway unit.

Complement
The order of the driver unit assignment should be able to be changed by setting up the
gateway parameters.
Refer to [Startup Section Chapter 4, 4.2.3 Axis number assignment change (page B4-7)].
The operation mode of the driver unit is capable of setting up for each axis.
For the setting method, refer to [Startup Section Chapter 4, 4.2.2 Operation mode
individual setting (page B4-6)].

Caution
There are option units assignment should be made in order close to RCON gateway unit.
Swapping in the software is not available.

C2-5 ME0384-7C
 2.1 Address Configuration

2.1.4 Overall address configuration example

Here shows an example for the overall address configuration when four-word mode axes
(Simple Direct / Positioner 1) are connected for 12 axes, eight-word mode axes (Direct
Indication) for two axes are connected, and also the overall address configuration when two-
word mode axes (Positioner 2 / Positioner 5) for 12 axes and one unit of the EC connection unit
are connected.

Operation Section
Note that CC-Link and DeviceNet are assigned with word addresses while PROFIBUS uses
byte addresses.

[For CC-Link]
The following page shows a CC-Link configuration example.
Fixed 8-word region is assigned to the bit register (RX/RY), while the region for each axis is
assigned to the word register (RWr/RWw).

Chapter 2 Address Configuration and Signal Assignment

ME0384-7C C2-6
 2.1 Address Configuration

■ CC-Link overall address configuration example (direct numerical control mode + simple direct
mode/positioner 1 mode) shows direct numerical control mode connection for 2 axes and
simple direct or positioner 1 mode connection for 12 axes.
PLC output ⇒ RCON RCON ⇒ PLC input
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0
Operation Section

RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)
(*1)
PLC master Output register Input register
extended
cyclic settings RWw 00H (Axis 0) Specified position data (L) RWr 00H (Axis 0) Present position data (L) 4 words each
RWw 01H (Axis 0) Specified position data (H) RWr 01H (Axis 0) Present position data (H) Positioner 1
RWw 02H (Axis 0) Command position No. RWr 02H (Axis 0) Completed position No. /simple direct
RWw 03H (Axis 0) Control signal RWr 03H (Axis 0) Status signal mode
RWw 04H (Axis 1) Specified position data (L) RWr 04H (Axis 1) Present position data (L)
RWw 05H (Axis 1) Specified position data (H) RWr 05H (Axis 1) Present position data (H)
4 words each
RWw 06H (Axis 1) Command position No. RWr 06H (Axis 1) Completed position No.
RWw 07H (Axis 1) Control signal RWr 07H (Axis 1) Status signal
RWw 08H (Axis 2) Specified position data (L) RWr 08H (Axis 2) Present position data (L)
RWw 09H (Axis 2) Specified position data (H) RWr 09H (Axis 2) Present position data (H)
Chapter 2 Address Configuration and Signal Assignment

4 words each
16-word RWw 0AH (Axis 2) Command position No. RWr 0AH (Axis 2) Completed position No.
RWw 0BH (Axis 2) Control signal RWr 0BH (Axis 2) Status signal
1x multiplier RWw 0CH (Axis 3) Specified position data (L) RWr 0CH (Axis 3) Present position data (L)
(*2) RWw 0DH (Axis 3) Specified position data (H) RWr 0DH (Axis 3) Present position data (H)
4 words each
RWw 0EH (Axis 3) Command position No. RWr 0EH (Axis 3) Completed position No.
RWw 0FH (Axis 3) Control signal RWr 0FH (Axis 3) Status signal
32-word ･ ･ ･
･ ･ ･
4x multiplier setting 2 stations ･ ･ ･
RWw 1FH (Axis 7) Control signal RWr 1FH (Axis 7) Status signal
･ ･ ･ ･ 4 words each
･ ･ ･ ･
･ ･ ･ ･
RWw 2FH (Axis 11) Control signal RWr 2FH (Axis 11) Status signal
RWw 30H (Axis 12) Specified position data (L) RWr 30H (Axis 12) Present position data (L)
RWw 31H (Axis 12) Specified position data (H) RWr 31H (Axis 12) Present position data (H)
RWw 32H (Axis 12) Specified positioning width (L) RWr 32H (Axis 12) Present current value (L) 8 words each
RWw 33H (Axis 12) Specified positioning width (H) RWr 33H (Axis 12) Present current value (H) Direct numerical
RWw 34H (Axis 12) Specified speed RWr 34H (Axis 12) Present speed data control mode
RWw 35H (Axis 12) Specified acceleration/deceleration RWr 35H (Not available)
RWw 36H (Axis 12) Pushing current limit value RWr 36H (Axis 12) Alarm code
RWw 37H (Axis 12) Control signal RWr 37H (Axis 12) Status signal
RWw 38H (Axis 13) Specified position data (L) RWr 38H (Axis 13) Present position data (L)
RWw 39H (Axis 13) Specified position data (H) RWr 39H (Axis 13) Present position data (H)
64-word RWw 3AH (Axis 13) Specified positioning width (L) RWr 3AH (Axis 13) Present current value (L)(*3)
RWw 3BH (Axis 13) Specified positioning width (H) RWr 3BH (Axis 13) Present current value (H)
8 words each
8x multiplier RWw 3CH (Axis 13) Specified speed RWr 3CH (Axis 13) Present speed data
RWw 3DH (Axis 13) Specified acceleration/deceleration RWr 3DH (Not available)
RWw 3EH (Axis 13) Pushing current limit value RWr 3EH (Axis 13) Alarm code
RWw 3FH (Axis 13) Control signal RWr 3FH (Axis 13) Status signal
*1 Extended cyclic settings are performed based on the occupancy information displayed with the
gateway parameter configuration tool.
*2 Operation is also possible with CC-Link Ver.1.10 if extended cyclic 1x multiplier settings (4 stations
occupied) are within the usable range.
*3 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

C2-7 ME0384-7C
 2.1 Address Configuration

■ CC-Link overall address configuration example (positioner 2 mode + EC Connection Unit)

This is an example for connection of 12 axes of positioner 2 axes and one unit of the EC
connection unit (for four axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0

Operation Section
RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)
(*1)
PLC master Output register Input register
extended
cyclic settings RWw 00H (Axis 0) Command position No. RWr 00H (Axis 0) Completed position No.
2 words each
RWw 01H (Axis 0) Control signal RWr 01H (Axis 0) Status signal
RWw 02H (Axis 1) Command position No. RWr 02H (Axis 1) Completed position No.
RWw 03H (Axis 1) Control signal RWr 03H (Axis 1) Status signal
RWw 04H (Axis 2) Command position No. RWr 04H (Axis 2) Completed position No.
RWw 05H (Axis 2) Control signal RWr 05H (Axis 2) Status signal
RWw 06H (Axis 3) Command position No. RWr 06H (Axis 3) Completed position No.
RWw 07H (Axis 3) Control signal RWr 07H (Axis 3) Status signal
RWw 08H (Axis 4) Command position No. RWr 08H (Axis 4) Completed position No.
RWw 09H (Axis 4) Control signal RWr 09H (Axis 4) Status signal

Chapter 2 Address Configuration and Signal Assignment

16-word RWw 0AH (Axis 5) Command position No. RWr 0AH (Axis 5) Completed position No.
RWw 0BH (Axis 5) Control signal RWr 0BH (Axis 5) Status signal
1x multiplier setting 4 RWw 0CH (Axis 6) Command position No. RWr 0CH (Axis 6) Completed position No.
(*2) RWw 0DH (Axis 6) Control signal RWr 0DH (Axis 6) Status signal
RWw 0EH (Axis 7) Command position No. RWr 0EH (Axis 7) Completed position No.
RWw 0FH (Axis 7) Control signal RWr 0FH (Axis 7) Status signal
RWw 10H (Axis 8) Command position No. RWr 10H (Axis 8) Completed position No.
RWw 11H (Axis 8) Control signal RWr 11H (Axis 8) Status signal
RWw 12H (Axis 9) Command position No. RWr 12H (Axis 9) Completed position No.
32-word RWw 13H (Axis 9) Control signal RWr 13H (Axis 9) Status signal
RWw 14H (Axis 10) Command position No. RWr 14H (Axis 10) Completed position No.
4x multiplier setting 2 RWw 15H (Axis 10) Control signal RWr 15H (Axis 10) Status signal
RWw 16H (Axis 11) Command position No. RWr 16H (Axis 11) Completed position No.
RWw 17H (Axis 11) Control signal RWr 17H (Axis 11) Status signal
RWw 18H (Axis 12 to Axis 15) Control signal RWr 18H (Axis 12 to Axis 15) Status signal 1 word (*3)
*1 Extended cyclic settings are performed based on the occupancy information displayed with the
gateway parameter configuration tool.
*2 Operation is also possible with CC-Link Ver.1.10 if extended cyclic 1x multiplier settings (4 stations
occupied) are within the usable range.
*3 The EC connection unit occupies domains and axis numbers for four axes (one word) even though
not all of four axes are connected.
The axis numbers for the EC connection unit should be assigned from after axes connected to
driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.

ME0384-7C C2-8
 2.1 Address Configuration

■ CC-Link overall address configuration example (positioner 3 mode + PIO unit + EC Connection Unit)
This is an example for connection of 4 axes of positioner 3 axes, five units of the PIO unit and
three units of the EC connection unit (for 12 axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0
Operation Section

RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)
(*1)
PLC master
extended Output register Input register
cyclic settings
RWw 00H (Axis 0) Control signal Command position No. RWr 00H (Axis 0) Status signal Completed position No. 1 word each
RWw 01H (Axis 1) Control signal Command position No. RWr 01H (Axis 1) Status signal Completed position No.
RWw 02H (Axis 2) Control signal Command position No. RWr 02H (Axis 2) Status signal Completed position No.
RWw 03H (Axis 3) Control signal Command position No. RWr 03H (Axis 3) Status signal Completed position No.
RWw 04H (Unit_0) PIO input RWr 04H (Unit_0) PIO output 1 word each(*3)
RWw 05H (Unit_1) PIO input RWr 05H (Unit_1) PIO output
RWw 06H (Unit_2) PIO input RWr 06H (Unit_2) PIO output
RWw 07H (Unit_3) PIO input RWr 07H (Unit_3) PIO output
RWw 08H (Unit_4) PIO input RWr 08H (Unit_4) PIO output
Chapter 2 Address Configuration and Signal Assignment

RWw 09H (Axis 4 ~ Axis 7) Control signal RWr 09H (Axis 4 ~ Axis 7) Status signal 1 word each(*4)
16-word RWw 0AH (Axis 8 ~ Axis 11) Control signal RWr 0AH (Axis 8 ~ Axis 11) Status signal
RWw 0BH (Axis 12 ~ Axis 15) Control signal RWr 0BH (Axis 12 ~ Axis 15) Status signal
1x multiplier setting 4 RWw 0CH − RWr 0CH −
(*2) RWw 0DH − RWr 0DH −
RWw 0EH − RWr 0EH −
RWw 0FH − RWr 0FH −

*1 Extended cyclic settings are performed based on the occupancy information displayed with the
gateway parameter configuration tool.
*2 Operation is also possible with CC-Link Ver.1.10 if extended cyclic 1x multiplier settings (4 stations
occupied) are within the usable range.
*3 The PIO/SIO/SCON extension unit should occupy one word in the domain even if PIO features
are not to be used.
*4 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
*5 The axis numbers for the PIO/SIO/SCON extension unit, PIO unit and EC connection unit should
be assigned from after axes connected to driver units (RCON-PC/AC/DC/PC/SC) and SCON
extension unit.

C2-9 ME0384-7C
 2.1 Address Configuration

[For CC-Link IE Field]

Fixed 8-word region is assigned to the bit register (RX/RY), while the region for each axis is
assigned to the word register (RWr/RWw).
■ CC-Link IE Field overall address configuration example (direct numerical control mode +
simple direct mode/positioner 1 mode) shows direct numerical control mode connection for 2
axes and simple direct or positioner 1 mode connection for 12 axes.
PLC output ⇒ RCON RCON ⇒ PLC input

Operation Section
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0
RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)

Output register Input register

RWw 00H (Axis 0) Specified position data (L) RWr 00H (Axis 0) Present position data (L) 4 words each
RWw 01H (Axis 0) Specified position data (H) RWr 01H (Axis 0) Present position data (H) Positioner 1
RWw 02H (Axis 0) Command position No. RWr 02H (Axis 0) Completed position No. /simple direct
RWw 03H (Axis 0) Control signal RWr 03H (Axis 0) Status signal mode
RWw 04H (Axis 1) Specified position data (L) RWr 04H (Axis 1) Present position data (L)
RWw 05H (Axis 1) Specified position data (H) RWr 05H (Axis 1) Present position data (H)

Chapter 2 Address Configuration and Signal Assignment

4 words each
RWw 06H (Axis 1) Command position No. RWr 06H (Axis 1) Completed position No.
RWw 07H (Axis 1) Control signal RWr 07H (Axis 1) Status signal
RWw 08H (Axis 2) Specified position data (L) RWr 08H (Axis 2) Present position data (L)
RWw 09H (Axis 2) Specified position data (H) RWr 09H (Axis 2) Present position data (H)
4 words each
RWw 0AH (Axis 2) Command position No. RWr 0AH (Axis 2) Completed position No.
RWw 0BH (Axis 2) Control signal RWr 0BH (Axis 2) Status signal
RWw 0CH (Axis 3) Specified position data (L) RWr 0CH (Axis 3) Present position data (L)
RWw 0DH (Axis 3) Specified position data (H) RWr 0DH (Axis 3) Present position data (H)
4 words each
RWw 0EH (Axis 3) Command position No. RWr 0EH (Axis 3) Completed position No.
RWw 0FH (Axis 3) Control signal RWr 0FH (Axis 3) Status signal
･ ･ ･
･ ･ ･
･ ･ ･
RWw 1FH (Axis 7) Control signal RWr 1FH (Axis 7) Status signal
･ ･ ･ 4 words each
･ ･ ･
･ ･ ･
RWw 2FH (Axis 11) Control signal RWr 2FH (Axis 11) Status signal
RWw 30H (Axis 12) Specified position data (L) RWr 30H (Axis 12) Present position data (L)
RWw 31H (Axis 12) Specified position data (H) RWr 31H (Axis 12) Present position data (H)
RWw 32H (Axis 12) Specified positioning width (L) RWr 32H (Axis 12) Present current value (L) (*1) 8 words each
RWw 33H (Axis 12) Specified positioning width RWr 33H (Axis 12) Present current value (H) (*1) Direct numerical
RWw 34H (Axis 12) Specified speed RWr 34H (Axis 12) Present speed data control mode
RWw 35H (Axis 12) Specified acceleration/deceleration RWr 35H (Not available)
RWw 36H (Axis 12) Pushing current limit value RWr 36H (Axis 12) Alarm code
RWw 37H (Axis 12) Control signal RWr 37H (Axis 12) Status signal
RWw 38H (Axis 13) Specified position data (L) RWr 38H (Axis 13) Present position data (L)
RWw 39H (Axis 13) Specified position data (H) RWr 39H (Axis 13) Present position data (H)
RWw 3AH (Axis 13) Specified positioning width (L) RWr 3AH (Axis 13) Present current value (L) (*1)
RWw 3BH (Axis 13) Specified positioning width RWr 3BH (Axis 13) Present current value (H) (*1)
8 words each
RWw 3CH (Axis 13) Specified speed RWr 3CH (Axis 13) Present speed data
RWw 3DH (Axis 13) Specified acceleration/deceleration RWr 3DH (Not available)
RWw 3EH (Axis 13) Pushing current limit value RWr 3EH (Axis 13) Alarm code
RWw 3FH (Axis 13) Control signal RWr 3FH (Axis 13) Status signal
*1 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

ME0384-7C C2-10
 2.1 Address Configuration

■ CC-Link IE Field overall address configuration example (positioner 2 mode + EC Connection Unit)
This is an example for connection of 12 axes of positioner 2 axes and one unit of the EC
connection unit (for four axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0
Operation Section

RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)

Output register Input register

RWw 00H (Axis 0) Command position No. RWr 00H (Axis 0) Completed position No.
2 words each
RWw 01H (Axis 0) Control signal RWr 01H (Axis 0) Status signal
RWw 02H (Axis 1) Command position No. RWr 02H (Axis 1) Completed position No.
RWw 03H (Axis 1) Control signal RWr 03H (Axis 1) Status signal
RWw 04H (Axis 2) Command position No. RWr 04H (Axis 2) Completed position No.
RWw 05H (Axis 2) Control signal RWr 05H (Axis 2) Status signal
RWw 06H (Axis 3) Command position No. RWr 06H (Axis 3) Completed position No.
RWw 07H (Axis 3) Control signal RWr 07H (Axis 3) Status signal
RWw 08H (Axis 4) Command position No. RWr 08H (Axis 4) Completed position No.
RWw 09H (Axis 4) Control signal RWr 09H (Axis 4) Status signal
Chapter 2 Address Configuration and Signal Assignment

RWw 0AH (Axis 5) Command position No. RWr 0AH (Axis 5) Completed position No.
RWw 0BH (Axis 5) Control signal RWr 0BH (Axis 5) Status signal
RWw 0CH (Axis 6) Command position No. RWr 0CH (Axis 6) Completed position No.
RWw 0DH (Axis 6) Control signal RWr 0DH (Axis 6) Status signal
RWw 0EH (Axis 7) Command position No. RWr 0EH (Axis 7) Completed position No.
RWw 0FH (Axis 7) Control signal RWr 0FH (Axis 7) Status signal
RWw 10H (Axis 8) Command position No. RWr 10H (Axis 8) Completed position No.
RWw 11H (Axis 8) Control signal RWr 11H (Axis 8) Status signal
RWw 12H (Axis 9) Command position No. RWr 12H (Axis 9) Completed position No.
RWw 13H (Axis 9) Control signal RWr 13H (Axis 9) Status signal
RWw 14H (Axis 10) Command position No. RWr 14H (Axis 10) Completed position No.
RWw 15H (Axis 10) Control signal RWr 15H (Axis 10) Status signal
RWw 16H (Axis 11) Command position No. RWr 16H (Axis 11) Completed position No.
RWw 17H (Axis 11) Control signal RWr 17H (Axis 11) Status signal
RWw 18H (Axis 12 to Axis 15) Control signal RWr 18H (Axis 12 to Axis 15) Status signal 1 word (*1)
*1 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
The axis numbers for the EC connection unit should be assigned from after axes connected to
driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.

C2-11 ME0384-7C
 2.1 Address Configuration

■ CC-Link IE Field overall address configuration example (positioner 3 mode + PIO unit + EC Connection Unit)
This is an example for connection of 4 axes of positioner 3 axes, five units of the PIO unit and
three units of the EC connection unit (for 12 axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Output register High byte Low byte Input register High byte Low byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 (Not available) RX2F to 20 Power supply unit status signal 0

Operation Section
RY3F to 30 (Not available) RX3F to 30 Power supply unit status signal 1 8 words each
RY4F to 40 (Not available) RX4F to 40 Power supply unit status signal 2 Fixed region
RY5F to 50 (Not available) RX5F to 50 Power supply unit status signal 3
Power supply unit status signal 4/
RY6F to 60 (Not available) RX6F to 60
Light malfunction maintenance signal
RY7F to 70 (Not available) RX7F to 70 (Not available)

Output register Input register

RWw 00H (Axis 0) Control signal Command position No. RWr 00H (Axis 0) Status signal Completed position No. 1 word each
RWw 01H (Axis 1) Control signal Command position No. RWr 01H (Axis 1) Status signal Completed position No.
RWw 02H (Axis 2) Control signal Command position No. RWr 02H (Axis 2) Status signal Completed position No.
RWw 03H (Axis 3) Control signal Command position No. RWr 03H (Axis 3) Status signal Completed position No.
RWw 04H (Unit_0) PIO input RWr 04H (Unit_0) PIO output 1 word each(*1)
RWw 05H (Unit_1) PIO input RWr 05H (Unit_1) PIO output
RWw 06H (Unit_2) PIO input RWr 06H (Unit_2) PIO output
RWw 07H (Unit_3) PIO input RWr 07H (Unit_3) PIO output
RWw 08H (Unit_4) PIO input RWr 08H (Unit_4) PIO output
RWw 09H (Axis 4 ~ Axis 7) Control signal RWr 09H (Axis 4 ~ Axis 7) Status signal 1 word each(*2)

Chapter 2 Address Configuration and Signal Assignment

RWw 0AH (Axis 8 ~ Axis 11) Control signal RWr 0AH (Axis 8 ~ Axis 11) Status signal
RWw 0BH (Axis 12 ~ Axis 15) Control signal RWr 0BH (Axis 12 ~ Axis 15) Status signal

*1 The PIO/SIO/SCON extension unit should occupy one word in the domain even if PIO features
are not to be used.
*2 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
*3 The axis numbers for the PIO/SIO/SCON extension unit, PIO unit and EC connection unit should
be assigned from after axes connected to driver units (RCON-PC/AC/DC/PC/SC) and SCON
extension unit.

ME0384-7C C2-12
 2.1 Address Configuration

[For DeviceNet]
■ DeviceNet overall address configuration example (direct numerical control mode + simple
direct mode/positioner 1 mode)
Shows direct numerical control mode connection for 2 axes and simple direct or positioner 1
mode connection for 12 axes.
PLC output ⇒ RCON RCON ⇒ PLC input
Relative CH * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
1 Gateway control signal 1 Gateway status signal 1 8 words each
Operation Section

2 (Not available) Power supply unit status signal 0 Fixed region

3 (Not available) Power supply unit status signal 1
4 (Not available) Power supply unit status signal 2
5 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
6 (Not available)
Light malfunction maintenance signal
7 (Not available) (Not available)
8 (Axis 0) Specified position data (L) (Axis 0) Present position data (L) 4 words each
9 (Axis 0) Specified position data (H) (Axis 0) Present position data (H) Positioner 1
10 (Axis 0) Command position No. (Axis 0) Completed position No. /simple direct
11 (Axis 0) Control signal (Axis 0) Status signal mode
12 (Axis 1) Specified position data (L) (Axis 1) Present position data (L)
13 (Axis 1) Specified position data (H) (Axis 1) Present position data (H)
4 words each
14 (Axis 1) Command position No. (Axis 1) Completed position No.
15 (Axis 1) Control signal (Axis 1) Status signal
16 (Axis 2) Specified position data (L) (Axis 2) Present position data (L)
Chapter 2 Address Configuration and Signal Assignment

17 (Axis 2) Specified position data (H) (Axis 2) Present position data (H)
4 words each
18 (Axis 2) Command position No. (Axis 2) Completed position No.
19 (Axis 2) Control signal (Axis 2) Status signal
20 (Axis 3) Specified position data (L) (Axis 3) Present position data (L)
21 (Axis 3) Specified position data (H) (Axis 3) Present position data (H)
4 words each
22 (Axis 3) Command position No. (Axis 3) Completed position No.
23 (Axis 3) Control signal (Axis 3) Status signal
･ ･ ･
･ ･ ･
･ ･ ･
39 (Axis 7) Control signal (Axis 7) Status signal
･ ･ ･ 4 words each
･ ･ ･
･ ･ ･
55 (Axis 11) Control signal (Axis 11) Status signal
56 (Axis 12) Specified position data (L) (Axis 12) Present position data (L)
57 (Axis 12) Specified position data (H) (Axis 12) Present position data (H)
58 (Axis 12) Specified positioning width (L) (Axis 12) Present current value (L) (*1) 8 words each
59 (Axis 12) Specified positioning width (H) (Axis 12) Present current value (H) (*1)
Direct numerical
60 (Axis 12) Specified speed (Axis 12) Present speed data control mode
61 (Axis 12) Specified acceleration/deceleration (Not available)
62 (Axis 12) Pushing current limit value (Axis 12) Alarm code
63 (Axis 12) Control signal (Axis 12) Status signal
64 (Axis 13) Specified position data (L) (Axis 13) Present position data (L)
65 (Axis 13) Specified position data (H) (Axis 13) Present position data (H)
66 (Axis 13) Specified positioning width (L) (Axis 13) Present current value (L) (*1)
67 (Axis 13) Specified positioning width (H) (Axis 13) Present current value (H) (*1)
8 words each
68 (Axis 13) Specified speed (Axis 13) Present speed data
69 (Axis 13) Specified acceleration/deceleration (Not available)
70 (Axis 13) Pushing current limit value (Axis 13) Alarm code
71 (Axis 13) Control signal (Axis 13) Status signal
* Relative CH is the CH number relative to the gateway head CH
*1 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

C2-13 ME0384-7C
 2.1 Address Configuration

■ DeviceNet overall address configuration example (positioner 2 mode + EC Connection Unit)

This is an example for connection of 12 axes of positioner 2 axes and one unit of the EC
connection unit (for four axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Relative CH * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
1 Gateway control signal 1 Gateway status signal 1 8 words each

Operation Section
2 (Not available) Power supply unit status signal 0 Fixed region
3 (Not available) Power supply unit status signal 1
4 (Not available) Power supply unit status signal 2
5 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
6 (Not available)
Light malfunction maintenance signal
7 (Not available) (Not available)
8 (Axis 0) Command position No. (Axis 0) Completed position No.
2 words each
9 (Axis 0) Control signal (Axis 0) Status signal
10 (Axis 1) Command position No. (Axis 1) Completed position No.
11 (Axis 1) Control signal (Axis 1) Status signal
12 (Axis 2) Command position No. (Axis 2) Completed position No.
13 (Axis 2) Control signal (Axis 2) Status signal
14 (Axis 3) Command position No. (Axis 3) Completed position No.
15 (Axis 3) Control signal (Axis 3) Status signal
16 (Axis 4) Command position No. (Axis 4) Completed position No.

Chapter 2 Address Configuration and Signal Assignment

17 (Axis 4) Control signal (Axis 4) Status signal
18 (Axis 5) Command position No. (Axis 5) Completed position No.
19 (Axis 5) Control signal (Axis 5) Status signal
20 (Axis 6) Command position No. (Axis 6) Completed position No.
21 (Axis 6) Control signal (Axis 6) Status signal
22 (Axis 7) Command position No. (Axis 7) Completed position No.
23 (Axis 7) Control signal (Axis 7) Status signal
24 (Axis 8) Command position No. (Axis 8) Completed position No.
25 (Axis 8) Control signal (Axis 8) Status signal
26 (Axis 9) Command position No. (Axis 9) Completed position No.
27 (Axis 9) Control signal (Axis 9) Status signal
28 (Axis 10) Command position No. (Axis 10) Completed position No.
29 (Axis 10) Control signal (Axis 10) Status signal
30 (Axis 11) Command position No. (Axis 11) Completed position No.
31 (Axis 11) Control signal (Axis 11) Status signal
32 (Axis 12 to Axis 15) Control signal (Axis 12 to Axis 15) Status signal 1 word (*1)

* Relative CH is the CH number relative to the gateway head CH

*1 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
The axis numbers for the EC connection unit should be assigned from after axes connected to
driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.

ME0384-7C C2-14
 2.1 Address Configuration

■ DeviceNet overall address configuration example (positioner 3 mode + PIO unit + EC Connection Unit)
This is an example for connection of 4 axes of positioner 3 axes, five units of the PIO unit and
three units of the EC connection unit (for 12 axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Relative CH * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
1 Gateway control signal 1 Gateway status signal 1 8 words each
Operation Section

2 (Not available) Power supply unit status signal 0 Fixed region

3 (Not available) Power supply unit status signal 1
4 (Not available) Power supply unit status signal 2
5 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
6 (Not available)
Light malfunction maintenance signal
7 (Not available) (Not available)
8 (Axis 0) Control signal Command position No. (Axis 0) Status signal Completed position No. 1 word each
9 (Axis 1) Control signal Command position No. (Axis 1) Status signal Completed position No.
10 (Axis 2) Control signal Command position No. (Axis 2) Status signal Completed position No.
11 (Axis 3) Control signal Command position No. (Axis 3) Status signal Completed position No.
12 (Unit_0) PIO input (Unit_0) PIO output 1 word each(*1) (*3)
13 (Unit_1) PIO input (Unit_1) PIO output
14 (Unit_2) PIO input (Unit_2) PIO output
15 (Unit_3) PIO input (Unit_3) PIO output
16 (Unit_4) PIO input (Unit_4) PIO output
Chapter 2 Address Configuration and Signal Assignment

17 (Axis 4 ~ Axis 7) Control signal (Axis 4 ~ Axis 7) Status signal 1 word each(*2) (*3)
18 (Axis 8 ~ Axis 11) Control signal (Axis 8 ~ Axis 11) Status signal
19 (Axis 12 ~ Axis 15) Control signal (Axis 12 ~ Axis 15) Status signal

* Relative CH is the CH number relative to the gateway head CH

*1 The PIO/SIO/SCON extension unit should occupy one word in the domain even if PIO features
are not to be used.
*2 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
*3 The axis numbers for the PIO/SIO/SCON extension unit, PIO unit and EC connection unit should
be assigned from after axes connected to driver units (RCON-PC/AC/DC/PC/SC) and SCON
extension unit.

C2-15 ME0384-7C
 2.1 Address Configuration

[For PROFIBUS-DP, EtherNet/IP, EtherCAT]

■ Overall address configuration example (direct numerical control mode + simple direct
mode/positioner 1 mode)
Shows direct numerical control mode connection for 2 axes and simple direct or positioner 1
mode connection for 12 axes.
PLC output ⇒ RCON RCON ⇒ PLC input
Relative byte * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
2 Gateway control signal 1 Gateway status signal 1 8 words each

Operation Section
4 (Not available) Power supply unit status signal 0 Fixed region
6 (Not available) Power supply unit status signal 1
8 (Not available) Power supply unit status signal 2
10 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
12 (Not available)
Light malfunction maintenance signal
14 (Not available) (Not available)
16 (Axis 0) Specified position data (L) (Axis 0) Present position data (L) 4 words each
18 (Axis 0) Specified position data (H) (Axis 0) Present position data (H) Positioner 1
20 (Axis 0) Command position No. (Axis 0) Completed position No. /simple direct
22 (Axis 0) Control signal (Axis 0) Status signal mode
24 (Axis 1) Specified position data (L) (Axis 1) Present position data (L)
26 (Axis 1) Specified position data (H) (Axis 1) Present position data (H)
4 words each
28 (Axis 1) Command position No. (Axis 1) Completed position No.
30 (Axis 1) Control signal (Axis 1) Status signal
32 (Axis 2) Specified position data (L) (Axis 2) Present position data (L)

Chapter 2 Address Configuration and Signal Assignment

34 (Axis 2) Specified position data (H) (Axis 2) Present position data (H)
4 words each
36 (Axis 2) Command position No. (Axis 2) Completed position No.
38 (Axis 2) Control signal (Axis 2) Status signal
40 (Axis 3) Specified position data (L) (Axis 3) Present position data (L)
42 (Axis 3) Specified position data (H) (Axis 3) Present position data (H)
4 words each
44 (Axis 3) Command position No. (Axis 3) Completed position No.
46 (Axis 3) Control signal (Axis 3) Status signal
･ ･ ･
･ ･ ･
･ ･ ･
78 (Axis 7) Control signal (Axis 7) Status signal
･ ･ ･ 4 words each
･ ･ ･
･ ･ ･
110 (Axis 11) Control signal (Axis 11) Status signal
112 (Axis 12) Specified position data (L) (Axis 12) Present position data (L)
114 (Axis 12) Specified position data (H) (Axis 12) Present position data (H)
116 (Axis 12) Specified positioning width (L) (Axis 12) Present current value (L) (*1) 8 words each
118 (Axis 12) Specified positioning width (H) (Axis 12) Present current value (H) (*1) Direct numerical
120 (Axis 12) Specified speed (Axis 12) Present speed data control mode
122 (Axis 12) Specified acceleration/deceleration (Not available)
124 (Axis 12) Pushing current limit value (Axis 12) Alarm code
126 (Axis 12) Control signal (Axis 12) Status signal
128 (Axis 13) Specified position data (L) (Axis 13) Present position data (L)
130 (Axis 13) Specified position data (H) (Axis 13) Present position data (H)
132 (Axis 13) Specified positioning width (L) (Axis 13) Present current value (L) (*1)
134 (Axis 13) Specified positioning width (H) (Axis 13) Present current value (H) (*1)
8 words each
136 (Axis 13) Specified speed (Axis 13) Present speed data
138 (Axis 13) Specified acceleration/deceleration (Not available)
140 (Axis 13) Pushing current limit value (Axis 13) Alarm code
142 (Axis 13) Control signal (Axis 13) Status signal
* Relative byte is the byte address relative to the gateway head
*1 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

ME0384-7C C2-16
 2.1 Address Configuration

■ Overall address configuration example (positioner 2 mode + EC Connection Unit)

This is an example for connection of 12 axes of positioner 2 axes and one unit of the EC
connection unit (for four axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Relative byte * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
2 Gateway control signal 1 Gateway status signal 1 8 words each
Operation Section

4 (Not available) Power supply unit status signal 0 Fixed region

6 (Not available) Power supply unit status signal 1
8 (Not available) Power supply unit status signal 2
10 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
12 (Not available)
Light malfunction maintenance signal
14 (Not available) (Not available)
16 (Axis 0) Command position No. (Axis 0) Completed position No.
2 words each
18 (Axis 0) Control signal (Axis 0) Status signal
20 (Axis 1) Command position No. (Axis 1) Completed position No.
22 (Axis 1) Control signal (Axis 1) Status signal
24 (Axis 2) Command position No. (Axis 2) Completed position No.
26 (Axis 2) Control signal (Axis 2) Status signal
28 (Axis 3) Command position No. (Axis 3) Completed position No.
30 (Axis 3) Control signal (Axis 3) Status signal
32 (Axis 4) Command position No. (Axis 4) Completed position No.
Chapter 2 Address Configuration and Signal Assignment

34 (Axis 4) Control signal (Axis 4) Status signal

36 (Axis 5) Command position No. (Axis 5) Completed position No.
38 (Axis 5) Control signal (Axis 5) Status signal
40 (Axis 6) Command position No. (Axis 6) Completed position No.
42 (Axis 6) Control signal (Axis 6) Status signal
44 (Axis 7) Command position No. (Axis 7) Completed position No.
46 (Axis 7) Control signal (Axis 7) Status signal
48 (Axis 8) Command position No. (Axis 8) Completed position No.
50 (Axis 8) Control signal (Axis 8) Status signal
52 (Axis 9) Command position No. (Axis 9) Completed position No.
54 (Axis 9) Control signal (Axis 9) Status signal
56 (Axis 10) Command position No. (Axis 10) Completed position No.
58 (Axis 10) Control signal (Axis 10) Status signal
60 (Axis 11) Command position No. (Axis 11) Completed position No.
62 (Axis 11) Control signal (Axis 11) Status signal
64 (Axis 12 to Axis 15) Control signal. (Axis 12 to Axis 15) Status signal 1 word (*1)

* Relative byte is the byte address relative to the gateway head

*1 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
The axis numbers for the EC connection unit should be assigned from after axes connected to
driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.

C2-17 ME0384-7C
 2.1 Address Configuration

■ Overall address configuration example (positioner 3 mode + PIO unit + EC Connection Unit)
This is an example for connection of 4 axes of positioner 3 axes, five units of the PIO unit and
three units of the EC connection unit (for 12 axes).
PLC output ⇒ RCON RCON ⇒ PLC input
Relative byte * High byte Low byte High byte Low byte
0 Gateway control signal 0 Gateway status signal 0
2 Gateway control signal 1 Gateway status signal 1 8 words each

Operation Section
4 (Not available) Power supply unit status signal 0 Fixed region
6 (Not available) Power supply unit status signal 1
8 (Not available) Power supply unit status signal 2
10 (Not available) Power supply unit status signal 3
Power supply unit status signal 4/
12 (Not available)
Light malfunction maintenance signal
14 (Not available) (Not available)
16 (Axis 0) Control signal Command position No. (Axis 0) Status signal Completed position No 1 word each
18 (Axis 1) Control signal Command position No. (Axis 1) Status signal Completed position No
20 (Axis 2) Control signal Command position No. (Axis 2) Status signal Completed position No
22 (Axis 3) Control signal Command position No. (Axis 3) Status signal Completed position No
24 (Unit_0) PIO input (Unit_0) PIO output 1 word each (*1) (*3)
26 (Unit_1) PIO input (Unit_1) PIO output
28 (Unit_2) PIO input (Unit_2) PIO output
30 (Unit_3) PIO input (Unit_3) PIO output
32 (Unit_4) PIO input (Unit_4) PIO output

Chapter 2 Address Configuration and Signal Assignment

34 (Axis 4 ~ Axis 7) Control signal (Axis 4 ~ Axis 7) Status signal 1 word each (*2) (*3)
36 (Axis 8 ~ Axis 11) Control signal (Axis 8 ~ Axis 11) Status signal
38 (Axis 12 ~ Axis 15) Control signal (Axis 12 ~ Axis 15) Status signal

* Relative byte is the byte address relative to the gateway head

*1 The PIO/SIO/SCON extension unit should occupy one word in the domain even if PIO features
are not to be used.
*2 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
*3 The axis numbers for the PIO/SIO/SCON extension unit, PIO unit and EC connection unit should
be assigned from after axes connected to driver units (RCON-PC/AC/DC/PC/SC) and SCON
extension unit.

ME0384-7C C2-18
 2.1 Address Configuration

[For PROFINET-IO]
■ PROFINET-IO overall address configuration example (direct numerical control mode + simple
direct mode/positioner 1 mode)
Shows direct numerical control mode connection for 2 axes and simple direct or positioner 1
mode connection for 12 axes.
PLC output ⇒ RCON RCON ⇒ PLC input
4-word
High byte Low byte High byte Low byte
Module count
Gateway control signal 0 Gateway status signal 0
Gateway control signal 1 Gateway status signal 1 8 words each
Operation Section

1
(Not available) Power supply unit status signal 0 Fixed region
(Not available) Power supply unit status signal 1
(Not available) Power supply unit status signal 2
(Not available) Power supply unit status signal 3
2 Power supply unit status signal 4/
(Not available)
Light malfunction maintenance signal
(Not available) (Not available)
(Axis 0) Specified position data (L) (Axis 0) Present position data (L) 4 words each
(Axis 0) Specified position data (H) (Axis 0) Present position data (H) Positioner 1
3
(Axis 0) Command position No. (Axis 0) Completed position No. /simple direct
(Axis 0) Control signal (Axis 0) Status signal mode
(Axis 1) Specified position data (L) (Axis 1) Present position data (L)
(Axis 1) Specified position data (H) (Axis 1) Present position data (H)
4 4 words each
(Axis 1) Command position No. (Axis 1) Completed position No.
(Axis 1) Control signal (Axis 1) Status signal
(Axis 2) Specified position data (L) (Axis 2) Present position data (L)
Chapter 2 Address Configuration and Signal Assignment

(Axis 2) Specified position data (H) (Axis 2) Present position data (H)
5 4 words each
(Axis 2) Command position No. (Axis 2) Completed position No.
(Axis 2) Control signal (Axis 2) Status signal
(Axis 3) Specified position data (L) (Axis 3) Present position data (L)
(Axis 3) Specified position data (H) (Axis 3) Present position data (H)
6 4 words each
(Axis 3) Command position No. (Axis 3) Completed position No.
(Axis 3) Control signal (Axis 3) Status signal
･ ･ ･
･ ･ ･ 4 words each
･ ･ ･
(Axis 11) Specified position data (L) (Axis 11) Present position data (L)
(Axis 11) Specified position data (H) (Axis 11) Present position data (H)
14 4 words each
(Axis 11) Command position No. (Axis 11) Completed position No.
(Axis 11) Control signal (Axis 11) Status signal
(Axis 12) Specified position data (L) (Axis 12) Present position data (L)
(Axis 12) Specified position data (H) (Axis 12) Present position data (H)
15
(Axis 12) Specified positioning width (L) (Axis 12) Present current value (L) (*1) 8 words each
(Axis 12) Specified positioning width (H) (Axis 12) Present current value (H) (*1) Direct numerical
(Axis 12) Specified speed (Axis 12) Present speed data control mode
(Axis 12) Specified acceleration/deceleration (Not available)
16
(Axis 12) Pushing current limit value (Axis 12) Alarm code
(Axis 12) Control signal (Axis 12) Status signal
(Axis 13) Specified position data (L) (Axis 13) Present position data (L)
(Axis 13) Specified position data (H) (Axis 13) Present position data (H)
17
(Axis 13) Specified positioning width (L) (Axis 13) Present current value (L) (*1)
(Axis 13) Specified positioning width (H) (Axis 13) Present current value (H) (*1)
8 words each
(Axis 13) Specified speed (Axis 13) Present speed data
(Axis 13) Specified acceleration/deceleration (Not available)
18
(Axis 13) Pushing current limit value (Axis 13) Alarm code
(Axis 13) Control signal (Axis 13) Status signal
*1 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

C2-19 ME0384-7C
 2.1 Address Configuration

■ PROFINET-IO overall address configuration example (positioner 2 mode + EC Connection Unit)

This is an example for connection of 12 axes of positioner 2 axes and one unit of the EC
connection unit (for four axes).
PLC output ⇒ RCON RCON ⇒ PLC input
4-word
High byte Low byte High byte Low byte
Module count
Gateway control signal 0 Gateway status signal 0

Operation Section
Gateway control signal 1 Gateway status signal 1 8 words each
1
(Not available) Power supply unit status signal 0 Fixed region
(Not available) Power supply unit status signal 1
(Not available) Power supply unit status signal 2
(Not available) Power supply unit status signal 3
2 Power supply unit status signal 4/
(Not available)
Light malfunction maintenance signal
(Not available) (Not available)
(Axis 0) Command position No. (Axis 0) Completed position No.
2 words each
(Axis 0) Control signal (Axis 0) Status signal
3
(Axis 1) Command position No. (Axis 1) Completed position No.
(Axis 1) Control signal (Axis 1) Status signal
(Axis 2) Command position No. (Axis 2) Completed position No.
(Axis 2) Control signal (Axis 2) Status signal
4
(Axis 3) Command position No. (Axis 3) Completed position No.
(Axis 3) Control signal (Axis 3) Status signal

Chapter 2 Address Configuration and Signal Assignment

(Axis 4) Command position No. (Axis 4) Completed position No.
(Axis 4) Control signal (Axis 4) Status signal
5
(Axis 5) Command position No. (Axis 5) Completed position No.
(Axis 5) Control signal (Axis 5) Status signal
(Axis 6) Command position No. (Axis 6) Completed position No.
(Axis 6) Control signal (Axis 6) Status signal
6
(Axis 7) Command position No. (Axis 7) Completed position No.
(Axis 7) Control signal (Axis 7) Status signal
(Axis 8) Command position No. (Axis 8) Completed position No.
(Axis 8) Control signal (Axis 8) Status signal
7
(Axis 9) Command position No. (Axis 9) Completed position No.
(Axis 9) Control signal (Axis 9) Status signal
(Axis 10) Command position No. (Axis 10) Completed position No.
(Axis 10) Control signal (Axis 10) Status signal
8
(Axis 11) Command position No. (Axis 11) Completed position No.
(Axis 11) Control signal (Axis 11) Status signal
9 (Axis 12 to Axis 15) Control signal (Axis 12 to Axis 15) Status signal 1 word (*1)

*1 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
The axis numbers for the EC connection unit should be assigned from after axes connected to
driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.

ME0384-7C C2-20
 2.1 Address Configuration

■ PROFINET-IO overall address configuration example (positioner 3 mode + PIO unit + EC Connection Unit)
This is an example for connection of 4 axes of positioner 3 axes, five units of the PIO unit and
three units of the EC connection unit (for 12 axes).
PLC output ⇒ RCON RCON ⇒ PLC input
4-word
High byte Low byte High byte Low byte
Module count
Gateway control signal 0 Gateway status signal 0
Operation Section

Gateway control signal 1 Gateway status signal 1 8 words each

1
(Not available) Power supply unit status signal 0 Fixed region
(Not available) Power supply unit status signal 1
(Not available) Power supply unit status signal 2
(Not available) Power supply unit status signal 3
2 Power supply unit status signal 4/
(Not available)
Light malfunction maintenance signal
(Not available) (Not available)
(Axis 0) Control signal Command position No. (Axis 0) Status signal Completed position No. 1 word each
(Axis 1) Control signal Command position No. (Axis 1) Status signal Completed position No.
3
(Axis 2) Control signal Command position No. (Axis 2) Status signal Completed position No.
(Axis 3) Control signal Command position No. (Axis 3) Status signal Completed position No.
(Unit_0) PIO input (Unit_0) PIO output 1 word each (*1) (*3)
(Unit_1) PIO input (Unit_1) PIO output
4
(Unit_2) PIO input (Unit_2) PIO output
(Unit_3) PIO input (Unit_3) PIO output
Chapter 2 Address Configuration and Signal Assignment

(Unit_4) PIO input (Unit_4) PIO output

(Axis 4 ~ Axis 7) Control signal (Axis 4 ~ Axis 7) Status signal 1 word each (*2) (*3)
5
(Axis 8 ~ Axis 11) Control signal (Axis 8 ~ Axis 11) Status signal
(Axis 12 ~ Axis 15) Control signal (Axis 12 ~ Axis 15) Status signal
*1 The PIO/SIO/SCON extension unit should occupy one word in the domain even if PIO features
are not to be used.
*2 The EC connection unit occupies domains and axis numbers for four axes (one word) even
though not all of four axes are connected.
*3 The axis numbers for the PIO/SIO/SCON extension unit, PIO unit and EC connection unit should
be assigned from after axes connected to driver units (RCON-PC/AC/DC/PC/SC) and SCON
extension unit.

C2-21 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2 Contents of Each Address Assignment

2.2.1 Fixed area control/status signals

(1) Gateway control/status signals

The first 2 words in each of input and output in the address configuration in the gateway unit are
the signals to control the gateway unit and to monitor the status.

Operation Section
PLC output Address *
CC-Link, DeviceNet PROFIBUS-DP, PROFINET-IO
CC-Link IE Field EtherNet/IP,
EtherCAT
Relative Relative Relative
−
CH byte module
b15 b14 b13 b12 b11 b10 b9 b8
RY 0* +0 +0
Gateway MON − RTE − − − − −
Control
signal 0 b7 b6 b5 b4 b3 b2 b1 b0
+1
− − − − − − − −
+0
b15 b14 b13 b12 b11 b10 b9 b8
Gateway
RY 1* +1 +2
− − − − − − − −
Control
b7 b6 b5 b4 b3 b2 b1 b0

Chapter 2 Address Configuration and Signal Assignment

signal 1
+3
− − − − − − − −

PLC input Address *

CC-Link, DeviceNet PROFIBUS-DP, PROFINET-IO
CC-Link IE Field EtherNet/IP,
EtherCAT
Relative Relative Relative
−
CH byte module
b15 b14 b13 b12 b11 b10 b9 b8
RX 0* +0 +0
Gateway RUN LERC ERRT MOD ALMH ALML − SEMG
Status
signal 0 b7 b6 b5 b4 b3 b2 b1 b0
+1
ALMC128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1
+0
b15 b14 b13 b12 b11 b10 b9 b8
Gateway LNK15 LNK14 LNK13 LNK12 LNK11 LNK10 LNK9 LNK8
RX 1* +1 +2
Status
signal 1
b7 b6 b5 b4 b3 b2 b1 b0
+3
LNK7 LNK6 LNK5 LNK4 LNK3 LNK2 LNK1 LNK0

*Address is the address relative to the gateway head.

CC-Link, CC-Link IE Field, and DeviceNet have word addresses while PROFIBUS-DP,
EtherNet/IP, and EtherCAT use byte addresses. PROFINET-IO uses 4-word module
addresses.
The * in CC-Link and CC-Link IE Field bit register addresses is 0 to F.
For CC-Link and CC-Link IE Field, b10 to b15 are bA to bF. (Hexadecimal notation)
For PROFIBUS-DP, EtherNet/IP, and EtherCAT, b8 to b15 are b0 to b7. (Byte addresses)

ME0384-7C C2-22
 2.2 Contents of Each Address Assignment

I/O signal list

Symbol
Signal type Bit Content
name
PLC control output is enabled when ON ("1") (PLC output is reflected
15 MON on controller unit) and disabled when OFF ("0").
* It should be used only for control of driver units
14 － Not available. Keep this OFF ("0") normally.
PLC output

Control
signal 0 Turn it on and the hold status of ERR-T or ERR-C during operation
13 RTE gets released: Release signal when ERR-T or ERR-C was set to latch
in the gateway parameter setting seal
Operation Section

12-0 － Not available. Keep this OFF ("0") normally.

Control
15-0 － Not available.
signal 1
b15 RUN Turns ON when gateway is in normal operation.
Turns ON and stays ON when an ERR-C error is generated while
operating.
b14 LERC
Enabled when ERR-C generation is configured with the gateway
parameter configuration tool.
b13 ERRT Turns ON if a gateway or axis communication error is detected.
Turns ON if MANU is selected with the unit front operation mode
b12 MOD
setting switch, and turns OFF when AUTO is selected.
Turns ON if an error occurs that requires the gateway to be restarted.
b11 ALMH
(Likely due to a mistaken parameter setting. Confirm as needed.)
Turns ON if a minor error caused by the gateway occurs.
b10 ALML
Status (Likely that calendar data has been deleted. Confirm as needed.)
signal 0 b9 － Not available
Turns ON when the system I/O connector STOP signal input is OFF
Chapter 2 Address Configuration and Signal Assignment

b8 SEMG (stop).
All connected axes will go to stop status if this bit turns ON.
b7
b6
b5
Outputs alarm codes caused by the gateway.
PLC input

b4 ALMC
For details, refer to [Maintenance Section Chapter 2, 2.3 Gateway Unit
b3 1 to 128
Alarm Causes and Countermeasures (page D2-5)].
b2
b1
b0
b15 LNK15
b14 LNK14
b13 LNK13
b12 LNK12
b11 LNK11
b10 LNK10
b9 LNK9 When communication between the gateway unit and the driver unit is
solidly established, the bit No. that the gateway recognizes as enabled
Status b8 LNK8
turns ON.
signal 1 b7 LNK7
Axis No. 0 = LNK0 to Axis No. 15 = LNK15
b6 LNK6 * It is not available in EC connection unit
b5 LNK5
b4 LNK4
b3 LNK3
b2 LNK2
b1 LNK1
b0 LNK0

C2-23 ME0384-7C
 2.2 Contents of Each Address Assignment

(2) Power supply unit (PSA-24) status signal

Eight words of input and output from the top address of the gateway unit are the fixed domains.
Six words in these domains should be assigned as the power supply unit status signal domains
and the condition of the IAI 24V DC power supply unit PSA-24 can be checked.

■ Address configuration
Request command region and response command region comprise 6 words for each I/O.

Operation Section
Address is the address relative to the gateway head.

1) For CC-Link and CC-Link IE Field

PLC output ⇒ gateway ⇒ each axis input Each axis output ⇒ gateway ⇒ PLC input
Bit Bit
Address b15 High byte b8 b7 Low byte b0 b15 High byte b8 b7 Low byte b0 Address
RY 2F~20 Not available Power supply unit status signal 0 RX 2F~20
RY 3F~30 Not available Power supply unit status signal 1 RX 3F~30
RY 4F~40 Not available Power supply unit status signal 2 RX 4F~40
RY 5F~50 Not available Power supply unit status signal 3 RX 5F~50
Power supply unit status signal 4/
RY 6F~60 Not available RX 6F~60
Light malfunction maintenance signal
RY 7F~70 Not available Not available RX 7F~70

Chapter 2 Address Configuration and Signal Assignment

2) For DeviceNet
PLC output ⇒ gateway ⇒ each axis input Each axis output ⇒ gateway ⇒ PLC input
Word
Address b15 High byte b8 b7 Low byte b0 b15 High byte b8 b7 Low byte b0
+2 Not available Power supply unit status signal 0
+3 Not available Power supply unit status signal 1
+4 Not available Power supply unit status signal 2
+5 Not available Power supply unit status signal 3
Power supply unit status signal 4/
+6 Not available
Light malfunction maintenance signal
+7 Not available Not available

ME0384-7C C2-24
 2.2 Contents of Each Address Assignment

3) For PROFIBUS-DP, EtherNet/IP, and EtherCAT

*1
PLC output ⇒ gateway ⇒ each axis input Each axis output ⇒ gateway ⇒ PLC input
Byte
Address b15 High byte b8 b7 Low byte b0 b15 High byte b8 b7 Low byte b0
+4/+5 Not available Power supply unit status signal 0
+6/+7 Not available Power supply unit status signal 1
+8/+9 Not available Power supply unit status signal 2
+10/+11 Not available Power supply unit status signal 3
Operation Section

Power supply unit status signal 4/

+12/+13 Not available
Light malfunction maintenance signal
+13/+14 Not available Not available

*1 b8 to b15 of the high byte are b0 to b7.

4) For PROFINET-IO
*2
PLC output ⇒ gateway ⇒ each axis input Each axis output ⇒ gateway ⇒ PLC input
Module
Address b15 High byte b8 b7 Low byte b0 b15 High byte b8 b7 Low byte b0
Not available Power supply unit status signal 0
+0
Not available Power supply unit status signal 1
Not available Power supply unit status signal 2
Chapter 2 Address Configuration and Signal Assignment

Not available Power supply unit status signal 3

+1 Power supply unit status signal 4/
Not available
Light malfunction maintenance signal
Not available Not available

*2 PROFINET-IO uses 4-word unit module addresses.

■ I/O signal
The details of the power supply unit status signal address configuration are as follows.

PLC input
b15 b14 b13 b12 b11 b10 b9 b8
Power supply unit LNK − − − − OPMV FANW FANA
Status signal 0 to 4 b7 b6 b5 b4 b3 b2 b1 b0
PSMV

C2-25 ME0384-7C
 2.2 Contents of Each Address Assignment

I/O signal list

Symbol
Signal type Bit Content
name
When communication between the gateway unit and the
b15 LNK power supply unit is solidly established, it turns ON when the
gateway unit recognizes it as enabled.
b14 to 11 − Not available
b10 OPMV ON when a reading error occurs in monitored data.

Operation Section
Generates a message level alarm (alarm 04C "Fan rotation
speed drop") when the fan rotation speed decreases 30%.
b9 FANW
ON when an alarm occurs and OFF when the alarm is
canceled.
If the fan rotation speed drops 50%, an operation cancel level
alarm (alarm code 0D6 "Fan error detection") is generated,
Power b8 FANA and the actuator stops.
PLC input

unit ON when an alarm occurs and OFF when the alarm is

Status canceled.
signal
b7 Monitors the item selected using the gateway parameter
0 to 4
configuration tool.
b6 For details of the selection method, refer to [Appendix 1.3.3
Explanations of monitoring menu features (page E1-14)]
b5
b4 One of the following seven items can be monitored.
PSMV (1) Output voltage: 0 to 255 V

Chapter 2 Address Configuration and Signal Assignment

b3 (2) Voltage of auxiliary winding: 0 to 255 V
(3) Output current: 0 to 25.5 A (0.1 A increments)
b2
(4) Peak hold current: 0 to 25.5 A (0.1 A increments)
b1 (5) Load factor: 0 to 255%
(6) FAN rotation speed: 0 to 25,500 r/min (100 r/min increments)
b0 (7) PCB temperature: 0 to 255°C

Monitored items
Item Content
This power supply can vary the output voltage according to the load.
(1) Output voltage
The output voltage monitoring value changes, but this is not abnormal.
Control power supply voltage inside the power supply unit. As with the
(2) Voltage of
output voltage, it changes according to the load on the output voltage
auxiliary winding
side.
(3) Output current Instantaneous value of output current.
(4) Peak hold current Peak value of output current.
Ratio of integral value of output current and rated output current. If this
(5) Load factor
value exceeds 100%, the output voltage is cut off as an overload error.
(6) FAN rotation speed It is the speed of the fan rotation.
Internal temperature: Temperature in the vicinity of the output capacitor
(7) PCB temperature
on the secondary side.

ME0384-7C C2-26
 2.2 Contents of Each Address Assignment

(3) Light Malfunction Maintenance Output Feature (Light Malfunction Maintenance Signal)
The light malfunction maintenance output feature is a feature that outputs light malfunction alarms
output from each driver unit and maintenance warnings output from ELECYLINDER connected to
the EC connection unit to the host PLC. (Note1)
Power Supply Unit Status Signal 4 in the power supply unit status signal domain should be
assigned as the domain of the maintenance signals.
Operation Section

This feature gets enabled by having the number of the connected power supply units assigned
to the gateway to four units or less.
Refer to [Appendix Chapter 1 Gateway Parameter Configuration Tool].

This signal can be utilized as a predictive maintenance feature.

■I/O signal
The details of light malfunction maintenance signal address configuration are as follows.

PLC input
b15 b14 b13 b12 b11 b10 b9 b8
Light Malfunction MNT15 MNT14 MNT13 MNT12 MNT11 MNT10 MNT9 MNT8
Maintenance Signal b7 b6 b5 b4 b3 b2 b1 b0
Chapter 2 Address Configuration and Signal Assignment

MNT7 MNT6 MNT5 MNT4 MNT3 MNT2 MNT1 MNT0

I/O signal list

Symbol
Signal type Bit Content
name
b15 MNT15
b14 MNT14
b13 MNT13
b12 MNT12
b11 MNT11
b10 MNT10
b9 MNT9
ALML bit of ELECYLINDER connected via a driver and
PLC input

Light Malfunction b8 MNT8 EC connection unit should be assigned in order of axis

Maintenance
b7 MNT7 numbers.
Signal
Axis No.0 = MNT0 to Axis No.15 = MNT15
b6 MNT6
b5 MNT5
b4 MNT4
b3 MNT3
b2 MNT2
b1 MNT1
b0 MNT0

Note1 Gateway version should be V0009 or later

C2-27 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2.2 Direct numerical control mode assignment

Assigning the direct numerical control mode is as follows.

Set the current limit value in push-motion, acceleration/deceleration and speed within the range
of the actuator specifications, and set the target position data within the software stroke range.

Setting units: Current limit value = 1%, Acceleration/deceleration = 0.01 G, Speed = 1.0

Operation Section
mm/s or 0.1 mm/s, Position data/Positioning width = 1/100 mm
PLC output = Axis control signal
Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
n+0
RWw n+0 p+0
m+0
(Low byte)
n+1 Specified position data (signed integer)

n+2
n+3
RWw n+1
m+1
Specified position data (signed integer)

n+4
32,768

16,384

n+5
8,192
4,096
2,048

1,024
512
256
128
64
32
16
RWw

8
4
2
1

Chapter 2 Address Configuration and Signal Assignment

n+2
m+2
Positioning width

n+6

524,288
262,144
131,072
65,536
n+7
RWw
−

−
−
−
−
−

−
−
−
−
−
−
n+3
m+3
Positioning width

n+8
32,768

16,384

n+9
8,192
4,096
2,048
1,024

512
256
128

p+1
64
32
16
8
4
2
1
RWw n+4
m+4
Speed

n + 10
32,768

16,384
8,192
4,096
2,048
1,024

n + 11
512
256
128
64
32
16
8
4
2
1

RWw n+5
m+5
Acceleration/deceleration

n + 12
n + 13
256
128
64
32
16
8
4
2
1
−

−
−
−
−
−

RWw n+6
m+6
Pushing current limit value

n + 14
HOME
PUSH

DSTR
JOG+
BKRL

JVEL
JOG-

n + 15
SON
RES
JISL

STP
INC
DIR

−
−
−

RWw n+7
m+7 p+2
Control signal

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

ME0384-7C C2-28
 2.2 Contents of Each Address Assignment

PLC input = Axis status signal

Address (*1)
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
n+0
RWr n+0 p+0
m+0
(Low byte) Present position data (signed integer)
n+1
Operation Section

n+2
n+3
RWr n+1
m+1
Present position data (signed integer)

n+4
n+5
RWr n+2
m+2
Present current value (*2) (signed integer)

n+6
n+7
RWr n+3
m+3
Present current value (*2) (signed integer)

n+8
p+1
32,768

16,384
8,192
4,096

2,048
1,024
n+9
512
256

128
64
32
16
8
4
2
1
RWr n+4
m+4
Present speed
Chapter 2 Address Configuration and Signal Assignment

n + 10
n + 11
−

−
−
−
−

−
−
−
−
−
−
−
−
−
−
−
RWr n+5
m+5
(Not available)

n + 12
n + 13
RWr n+6
m+6
Alarm code

n + 14
ZONE2
ZONE1

MEND
EMGS

MOVE
HEND
CRDY

PEND
ALML
GSL1

GSL0

PSFL

ALM

n + 15
SV
−

RWr n+7
m+7 p+2 Status signal

*1 m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP,
and EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.
*2 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

Note: The maximum number of connectable axes in CC-Link and CC-Link IE Field should be 16
axes. For others, the maximum number of connectable axes should be eight axes.

C2-29 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Operation in direct numerical control mode

(ON = corresponding bit is "1", OFF = corresponding bit is "0")
Signal
Signal type Bit Content Details
name
32-bit signed integer (unit: 0.01 mm; 0.001°
for DD motor).
Ex) For +25.40 mm, specify as 2540.
● The maximum set value is +9,999.99 mm =
Position

Operation Section
32-bit 999999. Page
specified −
data ● Set the position data within the software C4-16
data
stroke range.
● For negative numbers, specify with 2’s
complement when input is made in a
hexadecimal number.
32-bit integer (unit: 0.01 mm; 0.001° for DD
motor).
Ex) For +25.40 mm, specify as 2540.
● Set the position data within the software
stroke range.
Positioning 32-bit Page
− ● Specify the direction of push-motion
width data C4-16
operation with DIR.
● Note that when the specified positioning
width data is not set, the parameter No.10
"Positioning width initial value" will not be

Chapter 2 Address Configuration and Signal Assignment

applied.
PLC output

16-bit integer (unit: 1.0 mm/s or 0.1 mm/s).

Ex) For 200mm/s, specify as 200 when unit =
1.0mm/s
● If the speed is not set or set as "0", it will
16-bit remain stopped. Alarm will not be triggered. Page
Speed −
data If the speed is changed by setting to "0" C4-16
during travel, it will decelerate and stop.
● The unit can be switched with the gateway
parameter configuration tool. (It is set to
1.0 mm/s by default.)
16-bit integer (unit: 0.01G).
Ex) When setting at 0.20 G, specify as 20.
● Note that when the
acceleration/deceleration is not set, the
Acceleration/ 16-bit Page
− parameter No.9 "Acceleration/deceleration
deceleration data C4-16
initial value" will not be applied.
● The acceleration and deceleration cannot
be individually set. They will be set
together as acceleration/deceleration.
Set the current limit value in push-motion
Pushing operation.
16-bit Page
current − The setting range is 0 to 200%, where 255 =
data C4-16
limit value 100% and 510 = 200% (Note 1).
Ex) To set to 50%, specify 255 × 50% = 127.

ME0384-7C C2-30
 2.2 Contents of Each Address Assignment

[I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")
Signal
Signal type Bit Content Details
name
b15 BKRL Forced brake release 3.2 [15]
Incremental
b14 INC [OFF: absolute position command, 3.2 [20]
ON: relative position command]
Push direction specification
Operation Section

[ON : travel in home reverse direction,

b13 DIR OFF: travel in home direction] 3.2 [17]
(Note) This signal is enabled when CON
push-motion method is selected.
Push-motion specification
b12 PUSH 3.2 [16]
[ON: push-motion operation, OFF: positioning operation]
Servo gain parameter set
Servo gain
selection to use.
b11 GSL1 parameter set
GSL1 GSL0 Function
1 selection
OFF OFF Parameter set 0 selection 3.2 [23]
Servo gain OFF ON Parameter set 1 selection
b10 GSL0 parameter set ON OFF Parameter set 2 selection
0 selection ON ON Parameter set 3 selection

b9 − Not available −
Chapter 2 Address Configuration and Signal Assignment

PLC output

Control b8 JOG+ +Jog [ON: travel in home reverse direction, OFF: Stop]
signal 3.2 [10]
b7 JOG- -Jog [ON: travel in home direction, OFF: Stop]
Jog speed / inching distance switching
[OFF: Uses RCON parameter No. 26 "Jog velocity"
and No. 48 "Inching setting value"
b6 JVEL ON: Uses RCON parameter No. 47 "Jog velocity 3.2 [11]
2 setting value or command vel. setting
value" (Note 2) and No. 49 "Inching 2 setting
value"]
b5 JISL Jog/Inching switching [ON: Inching, OFF: Jog] 3.2 [12]

b4 SON Servo ON command [ON: Servo ON, OFF: Servo OFF] 3.2 [5]

b3 RES Reset [ON to execute reset] 3.2 [4]

b2 STP Pause [ON: Pause, OFF: Pause cancel] 3.2 [8]

Home return
b1 HOME [ON to execute home return command. Even when 3.2 [6]
turned OFF midway, it will run until completion]
Positioning command
b0 DSTR [ON to execute travel command. Even when 3.2 [7]
turned OFF midway, it will run until completion]
Note 1: The range available for setting should differ depending on actuators. Refer to [Appendix
Chapter 2, 2.3 Push Force / Gripping Force and Current Limit Value (page E2-152)].
Note 2: When command speed setting = 0: operates at the value of RCON parameter No. 47 "PIO Jog
velocity 2". When command speed setting ≠ 0: operates at the command speed set value.

C2-31 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")
Signal
Signal type Bit Content Details
name
Present position data is output in 32-bit signed
integer (unit: 0.01mm and 0.001deg for DD motor).
Present
32-bit Ex) For +25.4 mm, it will be 2540. Page
position −
data ● For negative numbers, 2’s complement will C4-16
data
be displayed when reading is made in a
hexadecimal number.

Operation Section
Motor command current value data is output in 32-
Present bit signed integer (unit: mA).
current 32-bit Ex) For +1A (+1000mA), it will be 1000. Page
−
value data ● For negative numbers, 2’s complement will C4-16
(Note 1)
be displayed when reading is made in a
hexadecimal number.
Output in 16-bit integer (unit: 1.0 mm/s or 0.1
mm/s). Change the unit using the gateway
parameter configuration tool.
Present 16-bit Page
− Ex) For 125mm/s, 1,250 will be displayed
speed data C4-16
when unit = 1.0mm/s
● It should be 2's complement when
operating in negative direction.
Outputs the currently generated alarm code.
(ALM is ON.)
Alarm 16-bit Page

Chapter 2 Address Configuration and Signal Assignment

− For the alarm contents, refer to [Maintenance
code data D2-13
Section Chapter 2 Troubleshooting]. Note that
PLC input

this is not the same as the simple alarm code.

Emergency stop status
b15 EMGS 3.2 [2]
[ON: Emergency stop status]
Controller ready
b14 CRDY 3.2 [1]
[ON: Ready]
Zone output monitor 2
[ON: Present position is within the setting
b13 ZONE2
range of zone 2,
OFF: Limit position is not within the setting range]
3.2 [9]
Zone output monitor 1
[ON: Present position is within the setting
b12 ZONE1
range of zone 1,
Status OFF: Limit position is not within the setting range]
signal b11
b10 − Not available. −
b9
Command complete signal
[ON: When in positioning complete, push-motion
b8 MEND 3.2 [19]
complete or idling status after travel,
OFF: Travel start or servo OFF]
Minor malfunction alarm
b7 ALML [ON: When overload warning or message 3.2 [21]
level alarm occurs]
b6 − Not available −
Note 1 The present current value should be the command current value for the stepper motor and be the
feedback current value for the AC servomotor (including AC servomotor connected to SCON).

ME0384-7C C2-32
 2.2 Contents of Each Address Assignment

[I/O Signal List] Direct numerical control mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")
Signal
Signal type Bit Content Details
name
Push-motion operation contactless
b5 PSFL 3.2 [18]
[ON: push-motion operation completed contactless]
Operation ready
b4 SV 3.2 [5]
[ON: Operation ready (Servo ON)]
Alarm
Operation Section

b3 ALM 3.2 [3]

[ON: Alarm generated, OFF: No alarm]
PLC input

Status Traveling 3.2

b2 MOVE
signal [ON: Traveling, OFF: Stopped] [6] [7]
Home return complete
b1 HEND [ON: Maintaining home after home return 3.2 [6]
complete]
Positioning complete
[ON : After completion, stopped at servo ON, 3.2
b0 PEND
OFF: For contactless push-motion, stopped [5] to [7]
at servo OFF]
Chapter 2 Address Configuration and Signal Assignment

C2-33 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2.3 Simple direct mode assignment

Assigning the simple direct mode is as follows.

PLC output = Axis control signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE

Operation Section
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
RWw n+0
n+0 p+0
m+0
(Low byte)
n+1 Specified position data (signed integer)

n+2
RWw n+3
n+1
m+1
Specified position data (signed integer)

n+4

PC64
PC32
PC16
n+5

PC8
PC4
PC2
PC1
RWw n+2
−

−
−
−

−
−
−
−
−
m+2
Command position No.

n+6

HOME
CSTR
JOG+
BKRL

n+7

JVEL
JOG-

SON
RES
JISL

STP
RWw n+3

Chapter 2 Address Configuration and Signal Assignment

−
−
−

−
−
−

m+3
p+1
Control signal

PLC input = Axis status signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
RWr n+0
n+0 p+0
m+0
(Low byte)
n+1 Present position data (signed integer)

n+2
RWr n+3
n+1
m+1
Present position data (signed integer)

n+4
PM64
PM32
PM16

n+5
PM8
PM4
PM2
PM1

RWr n+2
−

−
−
−

−
−
−
−
−

m+2
Completed position No.

n+6
PZONE
ZONE2

ZONE1

MEND
EMGS

MOVE
HEND
CRDY

PEND
LOAD
ALML

PSFL

n+7
ALM

RWr
SV

n+3
−
−

m+3
p+1
Status signal

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

ME0384-7C C2-34
 2.2 Contents of Each Address Assignment

[I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

32-bit signed integer (unit: 0.01 mm;
0.001° for DD motor).
Ex) For +25.40 mm, set as 2540.
Position
32-bit ● The maximum set value is +9,999.99 Page
specified −
data mm = 999999. C4-6
data
● For negative numbers, specify with 2’s
Operation Section

complement when input is made in a

hexadecimal number.
The travel data not specified by the
Command
position data are set in the position table. Page
position b6-b0 PC**
This position No. will be specified in C4-6
No.
binary.
Forced brake release
b15 BKRL 3.2 [15]
[ON: forced brake, OFF: brake enabled]
b14

b13

b12
− Not available −
b11

b10
Chapter 2 Address Configuration and Signal Assignment

b9
PLC output

+Jog
b8 JOG+ [ON: travel in home reverse direction, OFF:
Stop] 3.2 [10]
-Jog
b7 JOG-
[ON: travel in home direction, OFF: Stop]
Jog velocity/inching distance switchover
Control [OFF: Use RCON parameter No. 26 "Jog
signal b6 JVEL velocity" and No. 48 "Inching set value" 3.2 [11]
ON : Use RCON parameter No. 47 "Jog velocity
2" and No. 49 "Inching 2 set value"]
Jog/Inching switching
b5 JISL 3.2 [12]
[ON: Inching, OFF: Jog]
Servo ON
b4 SON 3.2 [5]
[ON: Servo ON, OFF: Servo OFF]
Reset
b3 RES 3.2 [4]
[ON to execute reset]
Pausing
b2 STP 3.2 [8]
[ON: Pause, OFF: Pause cancel]
Home return
[ON to execute home return command.
b1 HOME 3.2 [6]
Even when turned OFF midway, it will run
until completion]
Positioning start
[ON to execute travel command. Even
b0 CSTR 3.2 [7]
when turned OFF midway, it will run until
completion]

C2-35 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

32-bit signed integer (unit: 0.01 mm;
0.001° for DD motor).
Ex) For +25.40 mm, outputs as 2540.
Present
32-bit ● The maximum output value is Page
position −
data +9,999.99 mm = 999999. C4-6
data
● For negative numbers, 2’s complement
will be displayed when reading is made

Operation Section
in a hexadecimal number.
Reads the completed position No. in
Complete binary. Outputs the simple alarm code
Page
position b6-b0 PM** while alarm is generated.
C4-6
No. [Maintenance Section Chapter 2, 2.4.2
Simple alarm codes (page D2-11)]
Emergency stop status
b15 EMGS 3.2 [2]
[ON: Emergency stop status]
Controller ready
b14 CRDY 3.2 [1]
[ON: Ready]
Zone output monitor 2
[ON : Present position is within the setting
b13 ZONE2 range of zone 2,
OFF: Limited position is not within the
setting range]
Zone output monitor 1

Chapter 2 Address Configuration and Signal Assignment

[ON : Present position is within the setting 3.2 [9]
b12 ZONE1 range of zone 1,
PLC input

OFF: Limited position is not within the

setting range]
Position zone output monitor
b11 PZONE [ON when the present position is within
the position zone setting]
b10
− Not available. −
Status b9
signal
Command complete
[ON : When in positioning complete, push-
b8 MEND motion complete or idling status 3.2 [19]
after travel,
OFF: Travel start or servo OFF]
Minor malfunction alarm output
b7 ALML [ON: When overload warning or message 3.2 [21]
level alarm occurs]
Load output judgment status
b6 LOAD 3.2 [22]
[ON: When collision is detected]
Push-motion operation contactless
b5 PSFL [ON: push-motion operation completed 3.2 [18]
contactless]
Operation ready
b4 SV 3.2 [5]
[ON: Operation ready (Servo ON)]
Alarm
b3 ALM 3.2 [3]
[ON: Alarm generated, OFF: No alarm]
Traveling 3.2
b2 MOVE
[ON: Traveling, OFF: Stopped] [6] [7]

ME0384-7C C2-36
 2.2 Contents of Each Address Assignment

[I/O Signal List] Simple direct mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

Home return complete

b1 HEND [ON: Maintaining home after home return 3.2 [6]
PLC input

complete]
Status
signal Positioning complete
[ON : After completion, stopped at servo ON, 3.2
b0 PEND
Operation Section

OFF: For contactless push-motion, [5] to [7]

stopped at servo OFF]
Chapter 2 Address Configuration and Signal Assignment

C2-37 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2.4 Positioner 1 mode assignment

Assigning the positioner 1 mode is as follows.

PLC output = Axis control signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE

Operation Section
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
RWw n+0
n+0 p+0
m+0
(Low byte)
n+1 (Not available)

n+2
RWw n+3
n+1
m+1
(Not available)

n+4

PC64
PC32
PC16
n+5

PC8
PC4
PC2
PC1
RWw n+2
−

−
−
−
−
−

−
−
−
m+2
Command position No.

n+6

HOME
MODE
PWRT

CSTR
JOG+
BKRL

n+7

JVEL
JOG-

SON
RES
JISL

STP
RWw n+3

Chapter 2 Address Configuration and Signal Assignment

−
−
−
−

m+3
p+1
Control signal

PLC input = Axis status signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
RWr n+0
n+0 p+0
m+0
(Low byte)
n+1 Present position data (signed integer)

n+2
RWr n+3
n+1
m+1
Present position data (signed integer)

n+4
PM64
PM32
PM16

n+5
PM8
PM4
PM2
PM1

RWr n+2
−

−
−
−
−
−

−
−
−

m+2
Completed position No.

n+6
MODES
PZONE
ZONE2
ZONE1

WEND
MEND
EMGS

MOVE
HEND
CRDY

PEND
LOAD
ALML

PSFL

n+7
ALM

RWr
SV

n+3
m+3
p+1
Status signal

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

ME0384-7C C2-38
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 1/2 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

Command
Page
position b6-b0 PC** Specifies the command position No. in binary.
C4-6
No.
Forced brake release
b15 BKRL 3.2 [15]
[ON: forced brake, OFF: brake enabled]
Operation Section

b14

b13
− Not available −
b12

b11
Teaching mode command
b10 MODE 3.2 [13]
[OFF: Normal operation mode, ON: Teaching mode]
Position data import command
b9 PWRT 3.2 [14]
[ON: Position data import]
+Jog
b8 JOG+
[ON: travel in home reverse direction, OFF: Stop]
3.2 [10]
-Jog
b7 JOG-
[ON: travel in home direction, OFF: Stop]
PLC output

Jog velocity/inching distance switchover

Chapter 2 Address Configuration and Signal Assignment

[OFF: Use RCON parameter No. 26 Jog

Control velocity and No. 48 Inching set
signal b6 JVEL value 3.2 [11]
ON : Use RCON parameter No. 47 Jog
velocity 2 and No. 49 Inching 2 set
value]
Jog/Inching switching
b5 JISL 3.2 [12]
[ON: Inching, OFF: Jog]
Servo ON
b4 SON 3.2 [5]
[ON: Servo ON, OFF: Servo OFF]
Reset
b3 RES 3.2 [4]
[ON to execute reset]
Pausing
b2 STP 3.2 [8]
[ON: Pause, OFF: Pause cancel]
Home return
[ON to execute home return command.
b1 HOME 3.2 [6]
Even when turned OFF midway, it will run
until completion]
Positioning start
[ON to execute travel command. Even
b0 CSTR 3.2 [7]
when turned OFF midway, it will run until
completion]

C2-39 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 1/2 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

32-bit signed integer (unit: 0.01 mm;
0.001° for DD motor).
Present Ex) For +25.40 mm, outputs as 2540.
32-bit ● The maximum output value is +9,999.99 Page
position −
data mm = 999999. C4-6
data ● For negative numbers, 2’s complement

Operation Section
will be displayed when reading is made
in a hexadecimal number.
Reads the completed position No. in binary.
Complete Outputs the simple alarm code while alarm
Page
position b6-b0 PM** is generated. Refer to [Maintenance
C4-6
No. Section Chapter 2, 2.4.2 Simple alarm
codes (Page D2-12)].
Emergency stop status
b15 EMGS 3.2 [2]
[ON: Emergency stop status]
Controller ready
b14 CRDY 3.2 [1]
[ON: Ready]
Zone output monitor 2
b13 ZONE2 [ON : Present position is within the setting range of zone 2,
OFF: Limited position is not within the setting range]
Zone output monitor 1
b12 ZONE1 [ON : Present position is within the setting range of zone 1, 3.2 [9]
OFF: Limited position is not within the setting range]

Chapter 2 Address Configuration and Signal Assignment

Position zone output monitor
b11 PZONE [ON when the present position is within
the position zone setting]
PLC input

Teaching mode status

b10 MODES 3.2 [13]
[ON for teaching mode]
Position data import complete
b9 WEND 3.2 [14]
[ON when position data import completes]
Command complete
[ON : When in positioning complete, push-motion
b8 MEND 3.2 [19]
Status complete or idling status after travel,
signal OFF: Travel start or servo OFF]
Minor malfunction alarm output
b7 ALML [ON: When overload warning or message 3.2 [21]
level alarm occurs]
Load output judgment status
b6 LOAD 3.2 [22]
[ON: When collision is detected]
Push-motion operation contactless
b5 PSFL 3.2 [18]
[ON: push-motion operation completed contactless]
Operation ready
b4 SV 3.2 [5]
[ON: Operation ready (Servo ON)]
Alarm
b3 ALM 3.2 [3]
[ON: Alarm generated, OFF: No alarm]
Traveling 3.2
b2 MOVE
[ON: Traveling, OFF: Stopped] [6] [7]
Home return complete
b1 HEND 3.2 [6]
[ON: Maintaining home after home return complete]
Positioning complete
[ON : After completion, stopped at servo ON, 3.2
b0 PEND
OFF: For contactless push-motion, [5] to [7]
stopped at servo OFF]

ME0384-7C C2-40
 2.2 Contents of Each Address Assignment

2.2.5 Positioner 2 mode assignment

Assigning the positioner 2 mode is as follows.

PLC output = Axis control signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Operation Section

Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

(High byte)

PC64
PC32
PC16
n+0

PC8
PC4
PC2
PC1
RWw n+0 p+0

−
−
−
−
−
−
−
−

−
m+0
(Low byte)
n+1 Command position No.

n+2

HOME
MODE

PWRT

CSTR
JOG+
BKRL
n+3

JVEL
JOG-

SON
RES
JISL

STP
RWw n+1 −

−
−
−
m+1
Control signal

PLC input = Axis status signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Chapter 2 Address Configuration and Signal Assignment

(High byte)

PM64
PM32
PM16
PM8
PM4
PM2
PM1
RWr n+0
−
−
−
−
−
−
−
−

−
n+0 p+0
m+0
(Low byte) Completed position No.
n+1

n+2
MODES
PZONE
ZONE2
ZONE1

WEND
MEND
EMGS

MOVE
HEND
CRDY

PEND
LOAD
ALML

PSFL

n+3
ALM
RWr
SV

n+1
m+1
Status signal

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

I/O signal list and alarm content list are all the same except for "Present position data" in
positioner 1 mode. In positioner 1 mode, the "Present position data" is included in the PLC
input signal. It is not included in positioner 2 mode. Refer to [Operation Section Chapter 2,
2.2.4 Positioner 1 mode assignment (Page C2-38)].

C2-41 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2.6 Positioner 3 mode assignment

Assigning the positioner 3 mode is as follows.

PLC output = Axis control signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field

Operation Section
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)

HOME
CSTR
BKRL

PC64
PC32
PC16
n+0

SON
RES

PC8
PC4
PC2

PC1
STP
RWw n+0 p+0

−
−

−
m+0
(Low byte)
n+1 Control signal Command position No.

PLC input = Axis status signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
ZONEI
EMGS

MOVE
HEND
PEND

PM64
PM32
PM16
PSFL

n+0

PM8
PM4
PM2
PM1
ALM
SV

RWr n+0 p+0

−
m+0
(Low byte)
n+1 Status signal Completed position No.

Chapter 2 Address Configuration and Signal Assignment

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

ME0384-7C C2-42
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 3 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

Forced brake release
b15 BKRL 3.2 [15]
[ON: forced brake, OFF: brake enabled]
b14
− Not available −
b13
Operation Section

Servo ON
b12 SON 3.2 [5]
[ON: Servo ON, OFF: Servo OFF]
Reset
b11 RES 3.2 [4]
[ON to execute reset]
Control
PLC output

signal Pausing
b10 STP 3.2 [8]
[ON: Pause, OFF: Pause cancel]
Home return
[ON to execute home return command.
b9 HOME 3.2 [6]
Even when turned OFF midway, it will run
until completion]
Positioning start
[ON to execute travel command. Even
b8 CSTR 3.2 [7]
when turned OFF midway, it will run until
completion]
Command b7 − Not available −
Chapter 2 Address Configuration and Signal Assignment

position Page
No. b6-b0 PC** Specifies the command position No. in binary.
C4-8

C2-43 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 3 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

Emergency stop status
b15 EMGS 3.2 [2]
[ON: Emergency stop status]
Zone output monitor 1
[ON : Present position is within the setting
b14 ZONE1 range of zone 1, 3.2 [9]
OFF: Limited position is not within the

Operation Section
setting range]
Push-motion operation contactless
b13 PSFL [ON: push-motion operation completed 3.2 [18]
contactless]
Operation ready
Status b12 SV 3.2 [5]
[ON: Operation ready (Servo ON)]
signal
Alarm
b11 ALM 3.2 [3]
PLC input

[ON: Alarm generated, OFF: No alarm]

Traveling 3.2
b10 MOVE
[ON: Traveling, OFF: Stopped] [6] [7]
Home return complete
b9 HEND [ON: Maintaining home after home return 3.2 [6]
complete]
Positioning complete

Chapter 2 Address Configuration and Signal Assignment

[ON : After completion, stopped at servo ON, 3.2
b8 PEND
OFF: For contactless push-motion, [5] to [7]
stopped at servo OFF]
b7 − Not available －
Complete Reads the completed position No. in binary.
position Outputs the simple alarm code while
Page
No. b6-b0 PM** alarm is generated. Refer to [Maintenance
C4-8
Section Chapter 2, 2.4.2 Simple alarm
codes (Page D2-12)].

ME0384-7C C2-44
 2.2 Contents of Each Address Assignment

2.2.7 Positioner 5 mode assignment

Assigning the positioner 5 mode is as follows.

PLC output = Axis control signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Operation Section

Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

(High byte)
n+0

PC8
PC4
PC2

PC1
RWw n+0 p+0

−
−
−
−
−
−
−
−

−
−
−
−
m+0
(Low byte)
n+1 Command position No.

n+2

HOME
CSTR
JOG+
BKRL

JVEL
JOG-
n+3

SON
RES
JISL

STP
RWw n+1 −
−
−
−
−
−
m+1
Control signal

PLC input = Axis status signal

Address*
CC-Link, DeviceNet 1 word = 16 bits
CC-Link IE
Field b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Chapter 2 Address Configuration and Signal Assignment

(High byte)
RWr n+0
n+0 p+0
m+0
(Low byte) Present position data (signed integer)
n+1

n+2
ZONE2
ZONE1

MEND
EMGS

MOVE
HEND
CRDY

PEND
ALML

PSFL

n+3
PM8
PM4
PM2
PM1

ALM
RWr
SV

n+1
m+1
Status signal/completed position No.

* m is the head register address of each axis. n is the head relative address of each axis.
p is the head module address of each axis.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

Caution
 The maximum present position data that can be output in positioner 5 mode is
3,276.7 mm (327.67° for DD motor).
 If the maximum value is exceeded, the present position data will not be correctly
output.
This may lead to display or operation malfunction, resulting in personal injury or device
damage.
 For use in an operation range exceeding the maximum value, select a different
operation mode.

C2-45 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 5 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

Command
Specifies the command position No. in Page
position b3-b0 PC**
binary. C4-8
No.
Forced brake release
b15 BKRL 3.2 [15]
[ON: forced brake, OFF: brake enabled]

Operation Section
b14

b13

b12
− Not available −
b11

b10

b9
+Jog
b8 JOG+ [ON : travel in home reverse direction,
OFF: Stop] 3.2 [10]
-Jog
b7 JOG-
[ON: travel in home direction, OFF: Stop]
PLC output

Jog velocity/inching distance switchover

Chapter 2 Address Configuration and Signal Assignment

[OFF: Use RCON parameter No. 26 Jog
Control velocity and No. 48 Inching set
signal b6 JVEL value 3.2 [11]
ON : Use RCON parameter No. 47 Jog
velocity 2 and No. 49 Inching 2 set
value]
Jog/Inching switching
b5 JISL 3.2 [12]
[ON: Inching, OFF: Jog]
Servo ON
b4 SON 3.2 [5]
[ON: Servo ON, OFF: Servo OFF]
Reset
b3 RES 3.2 [4]
[ON to execute reset]
Pausing
b2 STP 3.2 [8]
[ON: Pause, OFF: Pause cancel]
Home return
[ON to execute home return command.
b1 HOME 3.2 [6]
Even when turned OFF midway, it will run
until completion]
Positioning start
[ON to execute travel command. Even
b0 CSTR 3.2 [7]
when turned OFF midway, it will run until
completion]

ME0384-7C C2-46
 2.2 Contents of Each Address Assignment

[I/O Signal List] Positioner 5 mode (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

16-bit signed integer (unit: 0.1 mm; 0.01°
for DD motor).
Ex) For +25.40 mm, outputs as 254.
Present  The maximum output value is +3,276.7 Page
16 bits −
position mm = 32767. C4-8
 For negative numbers, 2’s complement
Operation Section

will be displayed when reading is made

in a hexadecimal number.
Emergency stop status
b15 EMGS 3.2 [2]
[ON: Emergency stop status]
Controller ready
b14 CRDY 3.2 [1]
[ON: Ready]
Zone output monitor 2
[ON : Present position is within the setting
b13 ZONE2 range of zone 2,
OFF: Limited position is not within the
setting range]
3.2 [9]
Zone output monitor 1
[ON : Present position is within the setting
b12 ZONE1 range of zone 1,
OFF: Limited position is not within the
setting range]
Chapter 2 Address Configuration and Signal Assignment

Reads the completed position No. in binary.

Outputs the simple alarm code while
Page
b11-b8 PM** alarm is generated. Refer to [Maintenance
PLC input

C4-8
Section Chapter 2, 2.4.2 Simple alarm
codes (page D2-12)].
Status Command complete
signal, [ON : When in positioning complete, push-
complete b7 MEND motion complete or idling status 3.2 [19]
position after travel,
No. OFF: Travel start or servo OFF]
Minor malfunction alarm output
b6 ALML [ON: When overload warning or message 3.2 [21]
level alarm occurs]
Push-motion operation contactless
b5 PSFL [ON: push-motion operation completed 3.2 [18]
contactless]
Operation ready
b4 SV 3.2 [5]
[ON: Operation ready (Servo ON)]
Alarm
b3 ALM 3.2 [3]
[ON: Alarm generated, OFF: No alarm]
Traveling 3.2
b2 MOVE
[ON: Traveling, OFF: Stopped] [6] [7]
Home return complete
b1 HEND [ON: Maintaining home after home return 3.2 [6]
complete]
Positioning complete
[ON : After completion, stopped at servo ON, 3.2
b0 PEND
OFF: For contactless push-motion, [5] to [7]
stopped at servo OFF]

C2-47 ME0384-7C
 2.2 Contents of Each Address Assignment

2.2.8 Assignment of EC connection unit

The assignment of the EC connection unit should be as shown below.

The EC connection unit occupies domains for four axes (one word) even though not all of four
axes are connected.

PLC output = Axis control signal

Address*

Operation Section
1 word = 16 bits
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)

RES

RES

RES

RES
n＋0

ST1
ST0

ST1
ST0

ST1
ST0

ST1
ST0
RWw n＋0 p＋0

−
m＋0
(Low byte)
n＋1 Control signal (4th Axis) Control signal (3rd Axis) Control signal (2nd Axis) Control signal (1st Axis)

PLC input = Axis status signal

Address*
1 word = 16 bits
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
LS1/PE1

LS0/PE0

LS1/PE1

LS0/PE0

LS1/PE1

LS0/PE0

LS1/PE1

LS0/PE0
E3RD

E2RD

E1RD

E0RD
*ALM

*ALM

*ALM

*ALM
RWr n＋0
n＋0 p＋0
m＋0

Chapter 2 Address Configuration and Signal Assignment

(Low byte) Status signal (4th Axis) Status signal (3rd Axis) Status signal (2nd Axis) Status signal (1st Axis)
n＋1

* m is the head register address of each unit. n is the head relative address of each unit.
p is the head module address of each unit.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

ME0384-7C C2-48
 2.2 Contents of Each Address Assignment

[I/O Signal List] EC Connection Unit (ON = corresponding bit is "1", OFF = corresponding bit is "0")

Signal type Bit Signal name Content Details

b15 − Not available −

Alarm Cancel Page
b14 RES
[Alarm cancelled with on] C3-26
Drive Forward
[Drives forward with on (drives forward
Control Page
Operation Section

b13 ST1 after home-return operation when home

signal C3-25
return not complete), decelerate and stop
(4th Axis)
on the way with off]
Drive Backward
[Drives backward with on (drives
Page
b12 ST0 backward after home-return operation
C3-25
when home return not complete),
decelerate and stop on the way with off]
b11 − Not available −
Alarm Cancel Page
b10 RES
[Alarm cancelled with on] C3-26
Drive Forward
[Drives forward with on (drives forward
Control Page
b9 ST1 after home-return operation when home
signal C3-25
return not complete), decelerate and stop
(3rd Axis)
Chapter 2 Address Configuration and Signal Assignment

on the way with off]

Drive Backward
[Drives backward with on (drives
PLC output

Page
b8 ST0 backward after home-return operation
C3-25
when home return not complete),
decelerate and stop on the way with off]
b7 − Not available −
Alarm Cancel Page
b6 RES
[Alarm cancelled with on] C3-26
Drive Forward
[Drives forward with on (drives forward
Control Page
b5 ST1 after home-return operation when home
signal C3-25
return not complete), decelerate and stop
(2nd Axis) on the way with off]
Drive Backward
[Drives backward with on (drives
Page
b4 ST0 backward after home-return operation
C3-25
when home return not complete),
decelerate and stop on the way with off]
b3 − Not available −
Alarm Cancel Page
b2 RES
[Alarm cancelled with on] C3-26
Drive Forward
[Drives forward with on (drives forward
Control Page
b1 ST1 after home-return operation when home
signal C3-25
return not complete), decelerate and stop
(1st Axis) on the way with off]
Drive Backward
[Drives backward with on (drives
Page
b0 ST0 backward after home-return operation
C3-25
when home return not complete),
decelerate and stop on the way with off]

C2-49 ME0384-7C
 2.2 Contents of Each Address Assignment

[I/O Signal List] EC Connection Unit (ON = corresponding bit is "1", OFF = corresponding bit is "0")
Signal type Bit Signal name Content Details

b15 E3RD Operation Ready Page

[On: Operation ready (servo on)] C3-27
b14 *ALM Alarm (break contact) Page
[ON：No alarm、OFF：Alarm generated] C3-27
Driving Forward Complete / Pressing
Complete Page
Status b13 LS1/PE1 [It turns on when an actuator gets in the

Operation Section
C3-26
signal detection range of the forward end. It turns to 27
(4th Axis) on when pressing operation completes.]
Driving Backward Complete / Pressing
Complete
[It turns on when an actuator gets in the Page
b12 LS0/PE0 C3-26
detection range of the backward end. It
turns on when pressing operation to 27
completes.]
b11 E2RD Operation Ready Page
[On: Operation ready (servo on)] C3-27
b10 *ALM Alarm (break contact) Page
[ON：No alarm、OFF：Alarm generated] C3-27
Driving Forward Complete / Pressing
Complete Page
Status b9 LS1/PE1 [It turns on when an actuator gets in the C3-26
signal detection range of the forward end. It turns to 27
(3rd Axis) on when pressing operation completes.]
Driving Backward Complete / Pressing

Chapter 2 Address Configuration and Signal Assignment

Complete
[It turns on when an actuator gets in the Page
b8 LS0/PE0 detection range of the backward end. It C3-26
to 27
PLC input

turns on when pressing operation

completes.]
Operation Ready Page
b7 E1RD [On: Operation ready (servo on)] C3-27
Alarm (break contact) Page
b6 *ALM [ON：No alarm、OFF：Alarm generated] C3-27
Driving Forward Complete / Pressing
Complete Page
Status b5 LS1/PE1 [It turns on when an actuator gets in the C3-26
signal detection range of the forward end. It turns to 27
(2nd Axis) on when pressing operation completes.]
Driving Backward Complete / Pressing
Complete
[It turns on when an actuator gets in the Page
b4 LS0/PE0 detection range of the backward end. It C3-26
turns on when pressing operation to 27
completes.]
b3 E0RD Operation Ready Page
[On: Operation ready (servo on)] C3-27
b2 *ALM Alarm (break contact) Page
[ON：No alarm、OFF：Alarm generated] C3-27
Driving Forward Complete / Pressing
Complete Page
Status b1 LS1/PE1 [It turns on when an actuator gets in the C3-26
signal detection range of the forward end. It turns to 27
(1st Axis) on when pressing operation completes.]
Driving Backward Complete / Pressing
Complete
[It turns on when an actuator gets in the Page
b0 LS0/PE0 C3-26
detection range of the backward end. It
turns on when pressing operation to 27
completes.]

ME0384-7C C2-50
 2.2 Contents of Each Address Assignment

2.2.9 Assignment of PIO (PIO/SIO/SCON Extension Unit, PIO Unit)

The assignment of the PIO (PIO/SIO/SCON extension unit) should be as shown below.

PLC output = Axis control signal

Address*
1 word = 16 bits
Operation Section

b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0

(High byte)

IN15
IN14
IN13
IN12

IN10
n＋0

IN11

IN9
IN8

IN7
IN6
IN5

IN4
IN3
IN2
IN1

IN0
RWw n＋0 p＋0
m＋0
(Low byte)
n＋1 High byte Low byte

PLC input = Axis status signal

Address*
1 word = 16 bits
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(High byte)
OUT15
OUT14
OUT13
OUT12

OUT10
OUT11

OUT9
OUT8

OUT7
OUT6

OUT4
OUT3
OUT5

OUT2

OUT0
OUT1
RWr n＋0
n＋0 p＋0
m＋0
(Low byte) High byte Low byte
n＋1
Chapter 2 Address Configuration and Signal Assignment

* m is the head register address of each unit. n is the head relative address of each unit.
p is the head module address of each unit.
CC-Link, CC-Link IE Field, and DeviceNet have word addresses, PROFIBUS-DP, EtherNet/IP, and
EtherCAT use byte addresses, and PROFINET-IO uses 4-word module addresses.

Caution
 PIO assignment is a feature to link the input and output signals to a host device.
Function assignment to the RCON system cannot be conducted.
Use it for general input and output.

C2-51 ME0384-7C
 Operation
Section

Chapter 3
I/O Signals
3.1 Timing of I/O signals ············································ C3-1

3.2 Driver unit I/O signals ··········································· C3-2

3.3 EC connection unit I/O signals ······························· C3-26

3.3.1 Features of input and output signals for EC connection unit ·· C3-26
3.3.2 Caution when connecting EC connection unit ············· C3-29

ME0384-7C
 3.1 Timing of I/O signals

3.1 Timing of I/O signals

In order to operate the actuator with a PLC sequence program, various control signals are
turned ON; the maximum response time until their response (status) signals return to the PLC is
expressed with the following formula.
The PLC is the master station and the gateway unit the remote I/O station.
Operation Section

Maximum response time (ms) = Yt + (Tt × 3) + command processing time + (Tt × 2) + Xt

Tt = Transmission time: 1 to 4 axes 1ms, 5 to 9 axes 2ms, 10 to 14 axes 3ms, 15 to 16 axes 4ms
Yt : Master station → remote I/O station transmission lag time
Field network transmission lag time
Xt : Remote I/O station → master station transmission lag time

For the transmission lag time from the master station to the remote I/O station (Yt) and from the
remote I/O station to the master station (Xt), refer to the instruction manuals for the field network
master units and mounted PLC.
Also, refer to [Operation Section Chapter 3, 3.3.2 Caution when connecting EC connection unit
(page C3-28)] when the EC connection unit is to be connected.
Chapter 3 I/O Signals

Status signal

Yt Xt

Gateway
Control signal
Status signal

Communication time

Driver unit
Control signal Command
processing time

Status signal

If a communication error occurs for such a reason as a problem on the transmission path,
the duration of communication time (Tt × 3 / Tt × 2) should be extended for amount of
Transmission Time (Tt) × Number of Error Occurrence Times.
If communication cannot be normally performed, an operation cancel level alarm (alarm 8DE
"Driver unit communication error") is generated, and the actuator stops.

C3-1 ME0384-7C
 3.2 Driver unit I/O signals

3.2 Driver unit I/O signals

I/O signals are prepared for each axis No.

ON means that the corresponding bit is "1" and OFF means the corresponding bit is "0".
Refer to [Operation Section Chapter 3, 3.3.1 Features of input and output signals for EC
connection unit (page C3-25)] for the EC connection unit.

Operation Section
[1] Controller ready (CRDY) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

Regardless of the alarm status, servo status and the like, when the power is turned ON, driver
unit initialization normally completes, and control is enabled, it turns ON.
It will turn ON even during alarm status if the driver unit is enabled.

[2] Emergency stop (EMGS) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

Chapter 3 I/O Signals

This signal turns ON when the condition gets to the motor drive cutoff status.
(1) STOP Signal Input: OFF
(2) MP 24V : OFF
(3) MPI1 or MPI2 Signal : OFF (EMGS: ON only on axis with motor drive source cut off)
(4) 200V Power Supply input : OFF
It turns OFF once the motor drive cutoff status gets cancelled.
Also, the SYS of the driver unit LED lights up in red.
On the host device such as a PLC, apply appropriate safety measures such as interlocking
using this signal.
It is not an output signal caused by the driver unit alarm.

[3] Alarm (ALM) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

It is a signal that turns OFF when it is normal and turns ON when an alarm of operation cancel
level or higher is generated.
This signal turns OFF when the reset signal RES is turned ON while the operation cancel level
alarm is generated. (For a cold start level alarm, the power must be turned on again.)
Also, the SYS of the driver unit LED lights up in red.
For details on alarms, refer to [Maintenance Section Chapter 2, 2.4 Driver Unit/Simple Absolute
Unit Alarm Causes and Countermeasures (page D2-11)].

ME0384-7C C3-2
 3.2 Driver unit I/O signals

[4] Reset (RES) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

The reset signal RES has two functions: it resets the alarm when an alarm is generated and
suspends operation when it is in pause.
Operation Section

1) If this signal is turned ON while an alarm of operation cancel level is being generated, the
alarm will be canceled. (For a cold start level alarm, the power must be turned on again.)
Check the cause of the alarm and resolve the cause before resetting the alarm. Resetting
the alarm repeatedly without resolving the cause and repeating the activation may cause
serious malfunction such as motor burnout.
2) If this signal is turned from OFF to ON while paused, it is possible to cancel the remaining
travel distance and interrupt the operation.

[5] Servo ON command (SON) PLC output signal

Servo ON status (SV) PLC input signal
Positioning complete (PEND) PLC input signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
Chapter 3 I/O Signals

×: N

1) The servo ON command signal SON is a signal that puts the actuator into an operable
status.
2) When servo is turned ON and operation is enabled, the servo ON signal SV turns ON. At the
same time, the positioning complete signal PEND turns ON.
Also, the SYS of the driver unit LED of the corresponding axis No. on the front panel lights
up in green.
3) Even if power is supplied to the controller, it cannot be operated while the SV signal is OFF.
When the SON signal is turned OFF while the actuator is in operation, the actuator stops
and the servo turns OFF.
For actuator with brake, the brake will activate.

Servo ON command signal

SON
(PLC → RCON)

Servo ON status signal

SV
(RCON → PLC)

Positioning complete signal

PEND (Note 1)
(RCON → PLC)

Note 1: PEND should not turn on when it is in the pause status or the start signal (CSTR,
DSTR) is on. When movement amount is canceled with the reset signal (RES) during
pause, PEND should turn on by releasing the pause.

C3-3 ME0384-7C
 3.2 Driver unit I/O signals

[6] Home return (HOME) PLC output signal

Home return complete (HEND) PLC input signal
Positioning complete (PEND) PLC input signal
Traveling (MOVE) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

Operation Section
Home return signal HOME is a signal for performing home return motion.
When the HOME signal is turned ON, home return motion starts as the signal starts up (ON edge).
When the home return motion is completed, the home return complete signal HEND turns ON.
HOME Signal should be turned off after HEND Signal output. The HEND signal will stay ON
unless the home is lost. During home return motion, the positioning complete signal PEND turns
OFF and the moving signal MOVE turns ON.

Home return signal

HOME
(PLC → RCON)

Home return complete signal

Chapter 3 I/O Signals

HEND
(RCON → PLC)

Positioning complete signal

PEND
(RCON → PLC)

Moving signal
MOVE
(RCON → PLC)

Caution
 In the positioner mode and simple direct mode, when an actuator with incremental
specification is connected and the positioning command is made to the position without
performing home return at power on, positioning is executed after home position is
automatically restored after the power is turned on (first time only).
 Note that in the direct numerical control mode, if an actuator of incremental
specification is connected and a positioning command to the position is made without
executing home return at power-on, alarm 083 "Absolute position travel command in
home return uncompleted status" is generated and operation is canceled.

ME0384-7C C3-4
 3.2 Driver unit I/O signals

Unless indicated as home reverse specification (option), the direction of home return for the
linear axis is on the motor side, the rotary axis is on the counterclockwise side, and the gripper
is on the outside (open side).
For details, refer to [Actuator Coordinate System (page Intro-20)].

(1) Home return operation of slider type/rod type/table type actuator

Operation Section

Mechanical end
Home 2)
1)

1) With the HOME signal ON, the unit begins traveling toward the mechanical end at
the home return speed.
The travel speed is 20 mm/s for most actuators, with some exceptions by model.
2) The unit reverses at the mechanical end and stops at the home position. The travel
distance at this time will be the set value of parameter No. 22 "Homing offset".
Chapter 3 I/O Signals

Caution
 In the home reverse specification, the unit moves in the reverse direction.
 When changing Parameter No. 22 "Homing offset", be sure to refer to [page C7-15].

C3-5 ME0384-7C
 3.2 Driver unit I/O signals

(2) Home return operation of rotary actuator

[330-degree rotation specification]

Operation range (330 degrees)

1)

Operation Section
Home 5) 2)
4)
3)

Mechanical
stopper

1) When home return is commanded, the rotary part rotates in the CCW (counterclockwise)
direction as seen from the load side.
The speed is 20 deg/s.

Chapter 3 I/O Signals

2) Detects mechanical stopper.
3) It travels in reverse.
4) Moves from the position of 3) for the amount set in Parameter No. 22 "Homing Offset"
and stops.
5) The position stopped in 4) should be the home position.

Caution
● When changing Parameter No. 22 "Homing offset", be sure to refer to [page C7-15].

ME0384-7C C3-6
 3.2 Driver unit I/O signals

[Multi-rotation Specification]
1)

Home
12) 1)
(Forward rotation side swivel end)
11)
5) 4) 2)
(Home side)
Operation Section

Offset travel distance 3)

10) 6)

Rotary axis
7)
Offset reference position
(Center of 6), 7), 9) and 10)) 9) 8)
(Home reverse side)
Home sensor detection range

1) When home return is commanded, the rotary part rotates in the CCW
(counterclockwise) direction as seen from the load side.
The speed is 20 deg/s.
2) The home sensor turns ON.
3) It travels in reverse.
4) Confirm that the home sensor turns OFF as it returns to the position beyond the
Chapter 3 I/O Signals

detection range of the home sensor.

5) It travels in reverse.
6) Check again that the home sensor is ON.
7) Confirm that the home sensor turns OFF beyond the detection range on the home
reverse side of the home sensor.
8) It travels in reverse.
9) Check that the home sensor is ON.
10) Confirm that the home sensor turns OFF beyond the detection range on the home side
of the home sensor.
11) Calculate the detection range center of the home sensor from the results of 6), 7), 9)
and 10).
12) Moves from the position of 11) for the amount set in Parameter No. 22 "Homing Offset"
and stops. This stopped position should be the home position.

Caution
 In the reverse rotation specification, the unit moves in the reverse direction.
 When changing Parameter No. 22 "Homing offset", be sure to refer to [page C7-15].

C3-7 ME0384-7C
 3.2 Driver unit I/O signals

(3) Home return operation of gripper

Finger attachment (Note)

Operation Section
Finger attachment (Note) 2) 1)
2)
(Note) The finger attachment is not an
1) 1) 1) accessory for the actuator.
2) 2) It is to be prepared by the
2) customer.

1) The unit travels toward the mechanical end (outside) at the home return speed.
2) The unit reverses at the mechanical end and stops at the home position. The travel
distance at this time is a fixed value for each actuator and cannot be changed.

Caution
 When changing Parameter No. 22 "Homing offset", be sure to refer to [page C7-15].

Chapter 3 I/O Signals

ME0384-7C C3-8
 3.2 Driver unit I/O signals

[7] Positioning start (CSTR) PLC output signal

Traveling (MOVE) PLC input signal
Positioning complete (PEND) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N
Operation Section

The positioning start signal CSTR is processed at the startup edge (ON edge) and positioned at
the target position of the specified position No. or the position set in the target position register
of the PLC.

1) When the CSTR signal is turned ON, the actuator starts acceleration based on the data in
the specified position table for positioning to the target position.
2) When the operation is started, the positioning complete signal PEND turns OFF. At this time,
turn OFF the CSTR signal. If the CSTR signal is not turned OFF, output of the complete
position No. and PEND signal will not turn ON when positioning is completed.
3) When positioning is completed, the position No. of the positioning complete is output in binary
data by complete position No. PM1 to PM**, and at the same time the PEND signal will turn
ON.
4) The moving signal MOVE turns ON at the same time as the travel starts, and the PEND
Chapter 3 I/O Signals

signal turns ON, or turns OFF when the travel command output is completed.
5) The PEND signal turns ON when the remaining travel distance enters the positioning width
range. Once turned ON, the PEND signal will remain ON unless the CSTR signal is turned
ON again, or servo is turned OFF.

The PEND signal output method can be switched in parameter No. 39 "Positioning complete
signal output method".

No. Name Unit Input range Default initial value setting

Positioning complete 0: PEND

39 − 0
signal output method 1: INP

A parameter to select the positioning complete signal type.

Output status after positioning complete varies according to whether the servo is ON or OFF.

Set value Signal identification During servo ON (during positioning complete) During servo OFF

Will not turn OFF even if present position is

0 PEND Unconditional OFF
outside the range of positioning width
Will turn ON if present position is within the range of positioning
1 INP
width and OFF outside the range.

Output format will be the same for the complete position No. output PM1 to PM **.

C3-9 ME0384-7C
 3.2 Driver unit I/O signals

·
or
·
T1 ≥ 0 ms
Turn OFF by turning
PEND OFF.

Start signal

Operation Section
CSTR
(PLC → RCON)
ON when entering
the positioning width
range. (Note 1)
PEND
(RCON → PLC)

Moving signal
MOVE
(RCON → PLC)

Note 1: The MOVE signal turns ON simultaneously as PEND signal is turned OFF, and it turns
OFF when command from the controller to the motor is completed. Therefore, if the
positioning width is set high, the PEND signal may turn ON before the MOVE signal
turns OFF. If the positioning width is set low, the MOVE signal may turn OFF before the

Chapter 3 I/O Signals

PEND signal turns ON.

Caution
 The PEND signal turns OFF once it enters servo OFF status or emergency stop while
stopped at the target position.
 If the CSTR signal remains ON, the PEND signal will not turn ON even if positioning is
completed.

[8] Pause (STP) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

When this signal is turned ON, the axis decelerates and stops. If it is turned OFF, the axis travel
will resume.
The acceleration value at restart of operation and deceleration value at stop are values in
acceleration/deceleration of the position No. set in the specified position No. register in the
positioner mode and simple direct mode, and are values in the acceleration/deceleration
register in the direct numerical control mode.

ME0384-7C C3-10
 3.2 Driver unit I/O signals

[9] Zone 1 (ZONE1) PLC input signal

Zone 2 (ZONE2) PLC input signal
Position zone (PZONE) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y   
  
×: N (PZONE not available) (ZONE 1 only) (PZONE not available)
Operation Section

ON
Zone output signal
OFF

2) 3)

Acceleration Deceleration

Stop status
1) 4) 5)
Speed
Time Zone signal output setting range

1) 2) 3) 4) 5)
Position 1 input When it enters the When it leaves the Positioning
Travel
start signal input set range, it outputs set range, the zone complete
complete
(travel start) a zone signal signal turns OFF signal output
Chapter 3 I/O Signals

The signal turns ON while the actuator is passing through a specified position (zone range) or
while the actuator is stopped.
There are two types of zone signals.

They can judge pass/fail of the completion position at push-motion completion, set the
continuous operation range in pitch feed, perform operation interlock of other devices within the
setting range, and so on.

C3-11 ME0384-7C
 3.2 Driver unit I/O signals

(1) Zone signal (ZONE1, ZONE2)

Turns ON in any range set in the parameter.
Set the zone range in the following parameters.
1) ZONE1 : Parameter No. 1 (zone boundary 1 + side), parameter No. 2 (zone boundary 1 - side)
2) ZONE2 : Parameter No. 23 (zone boundary 2 + side), parameter No. 24 (zone boundary 2 - side)

The zone signal is valid during drive source cutoff after home return is completed as long as the

Operation Section
home is not lost due to an alarm or the like.

(2) Position zone signal (PZONE)

Turns ON in any range set in the position table.

Setting the zone range

The zone range is set in the position table.

During the execution of the position No. for which the zone range is set, its set value will be

Chapter 3 I/O Signals

enabled. It is valid during drive source cutoff even after it is stopped as long as the actuator is
operated and the home is not lost due to an alarm or the like.

ME0384-7C C3-12
 3.2 Driver unit I/O signals

(3) Set value and signal output range

The zone output range varies depending on the difference between the set value on the + side
and - side of the zone.

1) + side set value > - side set value: zone signal ON within the range of - side set value to +
side set value, OFF when out of range
2) + side set value < - side set value: zone signal OFF within the range of + side set value to -
Operation Section

side set value, ON when out of range

[For linear axis]

0 mm 30 mm 70 mm 100 mm

Present position
Set value
ON
Zone setting + side : 70 mm
Zone signal output
Zone setting – side : 30 mm

Set value
ON ON Zone setting + side : 30 mm
Zone signal output
Zone setting – side : 70 mm
Chapter 3 I/O Signals

[For rotary actuator of multi-rotation specification in index mode]

0 deg 0 deg
315 deg 315 deg

70 deg 70 deg

Set value Set value

Zone setting + side : 70 deg Zone setting + side : 315 deg
Zone setting – side : 315 deg Zone setting – side : 70 deg

Caution
 This signal is enabled after home return is completed. It will not be output only by
turning on the power.

C3-13 ME0384-7C
 3.2 Driver unit I/O signals

[10] + Jog (JOG+) PLC output signal

- Jog (JOG -) PLC output signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

It is a start command for jog or inching operation.

Operation Section
The plus direction command operates in the home reverse direction, and the minus direction
command in the home direction.

(1) Jog operation

The jog operation is available when the jog/inching switching signal JISL is OFF.
While the JOG+ signal is ON, the actuator moves in the home reverse direction, and when it is
OFF it decelerates and stops.
While the JOG- signal is ON, the actuator moves in the home direction, and when it is OFF it
decelerates and stops.

The operation is performed with the set values of the following parameters.
• Travel is at the following speeds, depending on the ON/OFF position of the jog speed/inching
distance switching signal JVEL.
When JVEL signal is OFF: operates in the value of parameter No. 26 "PIO Jog velocity".

Chapter 3 I/O Signals

When JVEL signal is ON: operates in the value of parameter No. 47 "PIO Jog velocity 2".
• Note that when the JVEL signal is ON, it operates at the following speed in direct numerical
control mode.
When speed setting value = 0: operates at the value of parameter No. 47 "PIO Jog velocity 2".
When speed setting value ≠ 0: operates at the speed set value.
For details, refer to [Operation Section Chapter 2, 2.2.2 Direct numerical control mode
assignment (page C2-28)].
• Acceleration/deceleration operate at the rated acceleration/deceleration (dependent on
actuator).
• When both JOG+ and JOG- signal turn ON, it decelerates and stops.

+ JOG / - JOG
JOG＋ / JOG－
(PLC → Controller)

Traveling
MOVE
(Controller → PLC)

Positioning complete
PEND
(Controller → PLC)

Actuator operation
(Image of Velocity Waveform)

ME0384-7C C3-14
 3.2 Driver unit I/O signals

(2) Inching (incremental) operation

Inching operation is available when the JISL signal is ON.
When the jog signal is turned ON once, it travels a fixed distance for the inching distance set in
the parameter.
When the JOG+ signal is ON, it moves in the home reverse direction, and when the JOG- signal
is ON, it moves in the home direction.
Operation Section

The operation is performed with the set values of the following parameters.
• It moves with the following speeds depending on the ON/OFF position of the JVEL signal.
When JVEL signal is OFF: operates in the value of parameter No. 26 "PIO Jog velocity".
When JVEL signal is ON: operates in the value of parameter No. 47 "PIO jog velocity 2".
• The travel distance will be set according to separate parameters depending on ON/OFF of the
JVEL signal.
When JVEL signal is OFF: operates in the value of parameter No. 48 "PIO inching distance".
When JVEL signal is ON: operates in the value of parameter No. 49 "PIO inching distance 2".
• Acceleration/deceleration operate at the rated acceleration/deceleration (dependent on
actuator).

During normal operation, even if JOG+ or JOG- signal is turned ON, normal operation will
continue. (Jog signal will be ignored)
Chapter 3 I/O Signals

While paused, it will not operate even if JOG+ signal or JOG- signal is turned ON.

+ JOG / - JOG
JOG＋ / JOG－
(PLC → Controller)

Traveling
MOVE
(Controller → PLC)

Positioning complete
PEND
(Controller → PLC)

Actuator operation
(Image of Velocity Waveform)

Caution
 Beware of collision with the mechanical end since the software stroke limit is disabled
before home return completes.

C3-15 ME0384-7C
 3.2 Driver unit I/O signals

[11] Jog speed / inching distance switching (JVEL) PLC output signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

This is a parameter switching signal that specifies the speed and inching distance during jog
and inching (incremental) operation.

Operation Section
It changes as follows according to the JVEL signal, JISL signal and field network control mode.

JVEL signal Jog operation: JISL = OFF Inching operation: JISL = ON

Parameter No.26
"PIO Jog velocity"
Parameter No.26
OFF
"PIO Jog velocity"
Parameter No.48
"PIO inching distance"

Parameter No.47
"PIO Jog velocity 2"
Parameter No.47
ON
"PIO Jog velocity 2" (Note 1)
Parameter No.49
"PIO inching distance 2"

Chapter 3 I/O Signals

Note 1: For direct numerical control mode, it operates at the following speed.
When speed setting value = 0 : operates at the value of parameter No. 47 "PIO Jog velocity 2"
When speed setting value ≠ 0 : operates at the speed set value
For details, refer to [Operation Section Chapter 2, 2.2.2 Direct numerical control mode
assignment (page C2-28)].

ME0384-7C C3-16
 3.2 Driver unit I/O signals

[12] Jog/inching switching (JISL) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

It is a switching signal between jog operation and inching (incremental) operation.

When JISL signal is OFF : Jog operation
Operation Section

When JISL signal is ON : Inching operation

If the JISL signal is switched to ON (inching) during jog operation, it decelerates and stops, and
switches to the inching function.
If the JISL signal is switched to OFF (jog) during inching operation, it switches to the jog function
after the travel is completed.

Jog operation Inching operation

JISL OFF ON

Speed Parameter No. 26 "Jog velocity" Parameter No. 26 "Jog velocity"

JVEL Travel distance － Parameter No. 48 "Inching"
= OFF
Acceleration/
Rated value (dependent on actuator) Rated value (dependent on actuator)
deceleration
Speed Parameter No. 47 "Jog velocity 2" (Note 1) Parameter No. 47 "Jog velocity 2"
Chapter 3 I/O Signals

JVEL Travel distance － Parameter No. 49 "Inching 2"

= ON
Acceleration/
Rated value (dependent on actuator) Rated value (dependent on actuator)
deceleration
When the rising edge (ON edge)
Operation While JOG+ / JOG- is ON
of JOG+ / JOG- is detected

Note 1: For direct numerical control mode, it operates at the following speed.
When speed setting value = 0 : operates at the value of parameter No. 47 "PIO Jog velocity 2"
When speed setting value ≠ 0 : operates at the speed set value
For details, refer to [Operation Section Chapter 2, 2.2.2 Direct numerical control mode
assignment (page C2-28)].

C3-17 ME0384-7C
 3.2 Driver unit I/O signals

[13] Teaching mode command (MODE) PLC output signal

Teaching mode signal (MODES) PLC input signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
× ×   × ×
×: N

When the teaching mode command signal MODE is turned ON, it changes from the normal

Operation Section
operation mode to the teaching mode.
Teaching mode signal MODES turns ON when it switches to the teaching mode.
On the PLC side, confirm that the teaching mode signal MODES is turned ON before performing
teaching operation.

In order to switch from the normal operation mode to the teaching mode, the following status is
required.
• Actuator operation (motor) is stopped
• JOG+ signal and JOG- signal are OFF
• The position data import command signal PWRT and positioning start signal CSTR are OFF
(Note) If the PWRT signal is not OFF, it will not return to the normal operation mode.

Chapter 3 I/O Signals

ME0384-7C C3-18
 3.2 Driver unit I/O signals

[14] Position data import command (PWRT) PLC output signal

Position data import complete (WEND) PLC input signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
× ×   × ×
×: N

Position data import command signal PWRT is enabled when the teaching mode signal MODES
Operation Section

is ON.
When the PWRT signal is turned ON (Note 1), the present position data will be written in the
position field of the position number set in the PLC's specified position number channel. (Note 2)
When writing is completed, the position data import complete signal WEND turns ON.
Make sure that the WEND signal is turned ON in the host PLC, then turn OFF the PWRT signal.
If PWRT signal is turned OFF before WEND signal turns ON, WEND signal will not turn ON.
When PWRT signal is turned OFF, WEND signal will turn OFF.
Note 1: Be sure to keep ON continuously for 20 ms or more. If it is less than 20 ms, writing may
not be executed.
Note 2: If data other than the position data is undefined, the parameter initial value will be written.
For details, refer to [Operation Section Chapter 7, 7.1 Parameter List (page C7-1)].

Teaching mode
MODES 20 ms or more
Chapter 3 I/O Signals

(RCON → PLC)
Position data import
command
PWRT
(PLC → RCON)
Position data import complete
WEND
(RCON → PLC)

C3-19 ME0384-7C
 3.2 Driver unit I/O signals

[15] Forced brake release (BKRL) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

While the forced brake release signal BKRL is ON, the brake will be released. For an actuator
with brake, the brake is automatically controlled by servo ON/OFF. When assembling to a

Operation Section
device, performing direct teaching* or the like, it may be necessary to release the brake in order
to move the slider or rod by hand.
* Operation where the slider or rod is moved by hand and the coordinate values imported into
the position table

Warning
 Be careful when releasing the brake. Conducting it carelessly will drop the moving part,
which may cause injury, or may damage an actuator unit, workpiece or equipment.
 After releasing the brake, be sure to return the brake to the enabled status. Make sure
to activate the brake. Operation with the brake kept released is extremely risky. It may
drop the moving part and cause injury, or may damage an actuator unit, workpiece or
equipment.
 Make sure this signal is turned off (brake activated) when turning on the power supply

Chapter 3 I/O Signals

to a controller.
 It is prohibited to switch over between AUTO and MANU while this signal is on (brake
released).

ME0384-7C C3-20
 3.2 Driver unit I/O signals

[16] Push-motion specification (PUSH) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
 × × × × ×
×: N

Executing a travel command after turning this signal ON will activate push-motion operation.
When this signal is OFF, normal positioning operation will be performed.
Operation Section

The 24V driver unit is capable to select the pressing method in Parameter No. 181 "Pressing
Type" from the pressing type same as the CON system such as PCON controller and the
pressing type same as the SEP system such as PSEP. (Note) Refer to [Operation Section
Chapter 7, 7.2 Parameter Details [Push Mode (Parameter No. 181)] (page C7-49)] for the
selection method.
Note : The pressing method for the 200V driver unit is the CON type only.

(1) CON mode push

After reaching the target position (Note 1) from the current position, the actuator moves with the
pressing speed for the distance set as the positioning band width (Note 2).
During push motion, once the workpiece is pushed against and the push is judged to be
completed, positioning complete signal PEND will turn ON.
Speed Position where workpiece is pushed against and push is judged
to be completed, and positioning complete signal turns ON
Chapter 3 I/O Signals

Travel distance

Positioning width
Target position (Max. Movement Amount by Pressing Operation)

(2) SEP mode push

Push-motion operation is performed at the distance set in the positioning width (Note 2) (direct
numerical control mode) from the target position (Note 1) as the start position. Note that there is
no pull-operation mode.
During push motion, once the workpiece is pushed against and the push is judged to be
completed, PEND will turn ON.
Speed Position where workpiece is pushed against and push is judged
to be completed, and positioning complete signal turns ON
↓

Push width
(Positioning width)
Present position Push
Target position
start position

Note 1 : It should be the value input in the position data indication register for direct indication
and the simple direct mode.
Note 2 : It should be the value input in the positioning band width indication register in the direct
indication mode.

C3-21 ME0384-7C
 3.2 Driver unit I/O signals

[17] Push direction specification (DIR) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
 × × × × ×
×: N

Specifies the direction of push-motion.

When this signal is turned OFF, push-motion is performed toward the value obtained by

Operation Section
subtracting the positioning width from the target position.
When this signal is turned ON, push-motion is performed toward the value obtained by adding
the positioning width to the target position.
This signal is disabled when normal positioning operation is selected.

1) For Pressing Operation Towards Positive from Start Point

Present speed
Correct operation

Set speed

Push speed
Present position

Start point Positioning Positioning

Chapter 3 I/O Signals

width width Maximum moving position
When DIR is negative (-). Target position at push-motion operation
（Start Position of
push-motion Operation）

2) For Pressing Operation Towards Negative from Start Point

Present speed
Correct operation

Set speed

Push speed
Present position

Positioning Positioning Start point

width width
Maximum moving position
at push-motion operation When DIR is positive (+).
Target position
（Start Position of
push-motion Operation）

As shown in the figure 1) above, when pushing from the start point toward the target position in
the direction in which the coordinate value increases, the push direction is positive (+), and
when pushing in the direction in which the coordinate value decreases as the 2) above, the
push direction is negative (-).
Pushing in the wrong direction will lead to improper operation, as the push-motion operation will
start at the start point and continue to the distance (positioning width × 2) take care.

ME0384-7C C3-22
 3.2 Driver unit I/O signals

[18] Push-motion contactless (PSFL) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
     
×: N

ON when push-motion operation is performed but does not touch the workpiece, even after
traveling the distance set by the positioning width of the controller's position table or positioning
Operation Section

width register of the PLC.

[19] Command complete signal (MEND) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

This signal turns ON when the travel to the target position commanded from the host is
completed.
It is almost the same control as the positioning complete PEND signal, but this signal will turn
ON even if in push-motion contactless.
It turns OFF at servo OFF and drive source cutoff. Also, if positioning command DSTR is ON,
it will not turn ON even if movement to the target position is completed.
Chapter 3 I/O Signals

[20] Incremental specification (INC) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
 × × × × ×
×: N

When this signal is ON, if a travel command is executed, it will travel by the value input in the
target position register of the PLC with the present position as a reference. (Relative travel)
When the signal is off, movement should be made to the position of the PLC target position
register value.

[21] Minor malfunction alarm (ALML) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
    × 
×: N

This signal turns ON when an overload warning or message level alarm is generated.
For details, refer to [Operation Section Chapter 7, 7.2 Parameter Details [Minor Trouble Alarm
Output Select (Parameter No. 151)] (page C7-44)].

C3-23 ME0384-7C
 3.2 Driver unit I/O signals

[22] Load output judgment status (LOAD) PLC input signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
×    × ×
×: N

(1) Pressing operation commanded torque level detection signal

It turns on when the actuator gets in the pressing operation range and also in the position

Operation Section
zone range, and the pressing current exceeds the current value set in "Threshold" in the
position data for the period of time set in Parameter No. 50 "Load output judgment time".
For details, refer to [Operation Section Chapter 4, 4.2 Pressing (7) Pressing operation
commanded torque level detection (page C4-15)].

(2) Load output judgment signal

When the present position is within the position zone range and the time set in parameter
No. 50 "Load output judgment time" is exceeded and the command torque value set in the
position table "Threshold" is exceeded, a collision is judged to have happened.
The load output judgment status (LOAD) should turn on after judgment. For the pulse motor
type, the collision detection alarm gets generated and the servo gets turned off.
For details, refer to [Operation Section Chapter 5, 5.2 Collision Detection Function (page
C5-8)]

Chapter 3 I/O Signals

[23] Servo gain parameter set selection (GSL0, GSL1) PLC output signal
Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
 × × × × ×
×: N

An operation with preset parameters at each position becomes available if 4 sets of servo gain
parameters (6 sets) are registered in advance
For details, refer to [SCON2 instruction manual (ME0458)].

GSL1 GSL0 Function Remarks

OFF OFF Parameter set 0 selection Factory setting

OFF ON Parameter set 1 selection

ON OFF Parameter set 2 selection

ON ON Parameter set 3 selection

ME0384-7C C3-24
 3.2 Driver unit I/O signals

[24] Positioning command (DSTR) PLC output signal

Operation mode Direct numerical control Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
: Y
 × × × × ×
×: N

This command should be processed as rising (on-edge) and it should position at the target
position input in PLC target position register. It should generate an alarm (operation cancel
Operation Section

level) if this command is conducted without home-return operation for once (HEND Signal is off)
after the power is supplied.
This signal is to be turned off after it is confirmed that the positioning complete (PEND) Signal is
off.

Target position data

(PLC → RCON)

DSTR
(PLC → RCON)

PEND
(RCON → PLC)
Chapter 3 I/O Signals

This signal can also be turned on during operation. In this case, the command should be
overwritten to the one read in afterwards. By utilizing this feature, such an operation as velocity
change during operation (refer to [Operation Edition 4.4 Velocity Change during Operation]).

C3-25 ME0384-7C
 3.3 EC connection unit I/O signals

3.3 EC connection unit I/O signals

3.3.1 Features of input and output signals for EC connection unit

The input and output signals for the EC connection unit are as shown below.
On means the applicable bit is "1" while off means "0".

Operation Section
[1] Movement command input backward end/forward end (ST0/ST1) PLC output signal
The ST signal function automatically switches depending on whether the unit has completed
home return or not.

Function overview by status

Signal
Signal name Home return:
abbreviation Home return: Complete
Not complete
Backward ST0 Backward
Home return operation
Forward ST1 Forward

[Home return status: Not complete]

● When the "ST0" signal is turned ON, home return operation begins.
● When the "ST1" signal is turned ON, as with the "ST0" signal, home return operation begins.

Chapter 3 I/O Signals

● Turning the ST signal OFF midway through home return operation will cause a gradual stop.

[Home return status: complete]

● When the ST signal is turned ON, the ELECYLINDER moves "Backward" and "Forward".
● While the ST signal is ON, operation will continue until the "Backward end" or "Forward end"
is reached.
● Turning the ST signal OFF midway through operation will cause a gradual stop.

Caution
● If stopped when the LS or PE signals are not ON, the ELECYLINDER may be stopped
on the way to the backward or forward end, or it may have stopped at the backward or
forward end during pressing operation with no contact.
We recommend first inputting the "ST0" signal and then performing the following
actions after returning to the backward end.
● If battery-less absolute specification (option) is selected, the home return complete
status is retained.
However, if the "Change home return direction" or "Adjust home position" parameters
are changed, home return status will be not-complete; perform homing (absolute reset).
● ELECYLINDER is not available for operation in the single solenoid system.

ME0384-7C C3-26
 3.3 EC connection unit I/O signals

[2] Alarm clear input (RES) PLC output signal

● When the "RES" signal is turned ON, the currently triggered alarm will be cleared.
● Alarm clear may not be possible depending on the alarm itself.
For details, refer to [Maintenance Section Chapter 2, 2.5.2 Troubleshooting for
ELECYLINDER alarm groups (page D2-36)].

[3] Position detection output backward end/forward end (LS0/LS1) PLC input signal
Operation Section

● The LS signals perform the same operation as an air cylinder automatic switch.
They are not positioning complete signals.
● The LS signals turn ON when the current ELECYLINDER position is within the detection
range configured at the backward and forward ends.
● They turn ON when within the detection range regardless of whether the servo is ON or OFF.

The backward end and forward end

set values' relationship to "LS0"
and "LS1 signals ON is as follows.

In this example, the LS signal

detection range is ±0.10 mm.
Chapter 3 I/O Signals

Backward end Forward end

0.00 mm 200.00 mm

[LS0 detection range] [LS1 detection range]

-0.10 to 0.10 mm 199.90 to 200.10 mm

To adjust the LS signal detection range,

open the "Edit parameters window".
Parameter No.2
AutSwitch "LS" Signl Detctn Rng Adjst
can be used to make adjustments.

C3-27 ME0384-7C
 3.3 EC connection unit I/O signals

[4] Pressing complete output backward end/forward end (PE0/PE1) PLC input signal
● Turns ON when "pressing complete" is determined during pressing operation.
● Turns OFF if no contact can be made.

[5] Alarm output (*ALM) PLC input signal

● Turns ON when the ELECYLINDER is in normal status.

Operation Section
Turns OFF when an alarm occurs.
● Always monitor the *ALM signal using the master device.
If it turns OFF, immediately take appropriate safety countermeasures with the equipment as
a whole.

[6] Operation ready (E*RD) PLC input signal

● It turns on when the operation is ready (servo on).
● It shows "*" = 0: 1st axis on EC connection unit ready for operation
1: 2nd axis on EC connection unit ready for operation
2: 3rd axis on EC connection unit ready for operation
3: 4th axis on EC connection unit ready for operation

Chapter 3 I/O Signals

ME0384-7C C3-28
 3.3 EC connection unit I/O signals

3.3.2 Caution when connecting EC connection unit

● The EC connection unit occupies domains for four axes (one word) even though not all of four
axes are connected. Also, an axis number that an axis is not connected should not be pulled
one number forward.
● The axis numbers for the EC connection unit should be assigned from after axes connected
to driver units (RCON-PC/AC/DC/PC/SC) and SCON extension unit.
Operation Section

● The EC connection unit can be connected for four units at maximum, however, it cannot be
connected if the top axis number exceeds 0 to 15 and an alarm should get generated.
● When the EC connection unit is connected, the initialization time should be longer compared
to when only the driver unit is connected (by approx. 60ms).
● For the structure with driver units and EC connection units existing together, communication
from a teaching tool to EC connection units and ELECYLINDER will not start unless the
initialization communication to all the units has finished.

[Initializing Communication when EC Connection Unit Existed Together]

Teaching Tool
Chapter 3 I/O Signals

3)

1) Finish initializing communication with driver units and SCON conducted first
2) Initializing communication for EC connection units starts
2)
When communication of 1) failed and did not finish in normal condition,
Extension Unit
Gateway unit

Terminal Unit

EC communication in 2) would not start.

Driver
Unit
SCON

Unit Without completing communications in 1) and 2),

3) communication from teaching tool to EC connection unit and ELECYLIDER
1) should not be conducted.
* Communication from teaching tool to gateway unit should be available.

ELECYLINDER

ELECYLINDER

ELECYLINDER

SCON
(RCON Connection Type)

● Time taken for the movement command (ST* Signal) reaching from PLC to ELECYLINDER
should be approximately 20ms.
● When the EC connection unit is connected, the time taken for data update for the PC software
should be longer compared to when only the driver unit is connected in the structure.

C3-29 ME0384-7C
 Operation
Section

Chapter 4
Operating Procedure
4.1 Positioning ························································· C4-1

4.2 Pressing ···························································· C4-10

4.3 Pausing ····························································· C4-18

4.4 Speed Changes while Traveling ····························· C4-19

4.5 Operation at Different Acceleration/Deceleration Speeds ···· C4-21

4.6 Operation by Specifying Relative Coordinates ··········· C4-22

4.7 Shortcut Control of Multi-rotation Rotary Actuator ······· C4-26

4.8 Basic Operations of ELECYLINDER ························ C4-28

ME0384-7C
 4.1 Positioning

4.1 Positioning

The procedure from turning on the RCON system to the home return command is as follows.
(1) Supply the control power and motor power (24V DC/AC200V).
(2) Turn on the STOP signal input to cancel the drive shutoff status and set to conductive status.
(3) After confirming that the gateway status signals 0 "RUN" and 1 "LNK*" are ON, input the
servo ON signal "SON". (Note)
Operation Section

(4) After confirming that the operation ready signal "SV" is ON, input the home return signal
"HOME". home return motion begins. When home return is completed, the home return
complete signal "HEND" is output.
For the EC connection unit, confirm that the gateway status signal 0 "RUN" and operation
standby complete signals "E0RD" to "E3RD" are turned on, and then input either forward or
backward signal "ST0/ST1". The home-return operation starts. Once the home-return
operation ends and moved to the backward (or forward) end, the forward/backward signal
"LS0/LS1" should be output.

Note: There is no "LNK*" or "SON" signal for the EC connection unit.

Once the power is supplied, the servo on ELECYLINDER automatically turns on.

Caution
Chapter 4 Operating Procedure

 About MON Signal

Turn on MON Signal in the gateway control signals after the link with the PLC is
established.
Turn MON Signal on otherwise the control from PLC should not be available for those
other than the EC connection units.

Refer below for the detail of MON Signal and Enable/Disable settings.
Detail: [Operation Section 2.2.1 (1) Gateway control/status signals PLC output]
Enable/Disable Settings: [Appendix Chapter 1, 1.3.2 Special parameter setting function
descriptions]

MON signal OFF

PLC
RCON

Actuator
Gateway unit Driver unit
Control
signal

C4-1 ME0384-7C
 4.1 Positioning

STOP signal OFF

(Drive-source cutoff status) STOP signal ON
STOP signal status
(Drive-source cutoff status)

Control power [Input]

(24 VDC)

Motor power [Input]

Operation Section
(24 VDC/AC200V)
(Note 1)

Gateway status signal 0

RUN [Output] (Note 2)

Gateway status signal 1

LNK* [Output]

Servo ON signal (Note 3)

SON [Input] (Note 4)

Operation ready signal

SV [Output]
Driver unit
SYS lit green
Home return signal Home return
HOME (STO/ST1) [Input]

Chapter 4 Operating Procedure

Home return complete
HEND (LS0/LS1) [Output]
EC Connection Unit 20 ms (TYP)
Backward (Forward) End Turns
Green Light on
Actuator operation

Mechanical end
Home position
(ELECYLINDER moves from the home
position to backward (forward) end)

For details on the gateway status signal, refer to [Operation Section Chapter 2, 2.2.1 Fixed area
control/status signals (1) Gateway control/status signals (page C2-22)].

ME0384-7C C4-2
 4.1 Positioning

Note 1: When the power is turned ON, the RCON system starts up. When field network
communication between the gateway unit and host device is established, the gateway
status signal 0 "RUN" turns ON. After confirming that the "RUN" is ON, begin
communication with the gateway unit.

Note 2: If the gateway unit and driver unit are communicating normally, the gateway status
signal 1 "LNK* (* is axis number)" turns ON.
Operation Section

If a communication error occurs between the gateway unit and driver unit, "LNK*" turns
OFF. However, the ERRT alarm is not generated until the "communication retry count"
set in the gateway parameter configuration tool is exceeded, until which retries are
repeated.
If the communication becomes normal after repeated retries, "LNK*" turns ON.
The signal may also turn ON after temporarily turning OFF due to sudden noise.

Regarding the "communication retry count", refer to [Appendix Chapter 1, 1.3.2

Special parameter setting function descriptions (page E1-8)].

Note 3: For the EC connection unit, there is no "LNK*" signal.

Note 4: After checking the "RUN" and "LNK*", input the "SON". The actuator goes into servo ON
status. Also, there is no "SON*" signal for the EC connection unit. Once the power is
supplied, the servo on ELECYLINDER automatically turns on.
Chapter 4 Operating Procedure

Note 5: When the first "SON" is input after power ON, the motor performs excitation phase
detection operation (stepper motor specification) or magnetic pole phase detection
operation (AC servo motor specification).
After confirming that the operation ready signal "SV" is ON, input the travel command or
home return command.

Caution
 If the servo is turned ON in the vicinity of the mechanical end, the magnetic pole phase
will not be properly detected, causing abnormal operation, uncertain magnetic pole
error or excitation detection error.
Turn ON the servo in a position away from the mechanical end.
 If the power has been turned OFF, wait 1 second or more before rebooting the power.
Otherwise, the product may malfunction.

C4-3 ME0384-7C
 4.1 Positioning

[Operation in direct numerical control mode]

Specify the data in the PLC position data specification register, positioning width register, speed
register, acceleration/deceleration register and push-motion current limit value register.

 Operation example (normal positioning operation)

1) Set the target position data in the position data specification register.
2) Set the push width data in the positioning width register.

Operation Section
3) Set the speed data in the speed register.
4) Set the acceleration/deceleration data in the acceleration/deceleration register.
5) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF,
turn ON the positioning command DSTR.
The data set in 1) to 4) are read into the RCON at the rising edge of the DSTR signal.
6) After the DSTR signal is turned ON, the PEND signal turns OFF after Tdpf.
7) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the DSTR
signal. However, be sure to set an interval of 10 ms or more from DSTR signal ON until
signal OFF. Do not change the value of each register until the DSTR signal is turned OFF.
8) The present position data is constantly being updated.
9) When the remaining travel distance of the actuator enters the positioning width range set in
the position data, the PEND signal turns ON when the DSTR signal is OFF, and the
complete position number is output to the complete position number register.
The present position data may slightly change due to vibration or the like even while it is

Chapter 4 Operating Procedure

stopped.

ME0384-7C C4-4
 4.1 Positioning

 Operation example

1)
Target position data setting n1 n2 n3
(PLC→RCON)
2)
Positioning width data
v1 v2 v3
(PLC→RCON)
Operation Section

3)
Speed data
m1 m2 m3
(PLC→RCON)

4)

(PLC→RCON)
t1 t2 t3
0ms or more 0ms or more

10ms or more
Positioning command
DSTR
(PLC→RCON)
5) Tdpf (Note 1)
Tdpf ( Note 1)
6)
Positioning complete 7)
PEND
(RCON→PLC)
9)
Present position
n1 7) 8) n2
Chapter 4 Operating Procedure

(RCON→PLC)

Traveling
MOVE
(RCON→PLC) Positioning
width

Actuator travel
Normal positioning
Target
position

Note 1 Tdpf : Response time

For details of the response time, refer to [Operation Section Chapter 3, 3.1 Timing of I/O signals (page C3-1)].

C4-5 ME0384-7C
 4.1 Positioning

[Simple direct mode/positioner 1 operation]

Set the target position data to PLC position data specification register (in simple direct mode) or
register the target position to the RCON position table (in positioner 1 mode), and register other
data such as speed, acceleration/deceleration, positioning width and push-motion force in the
position table for operation.

 Operation example (normal positioning operation in simple direct mode)

Operation Section
<Preparation> Using the gateway parameter configuration tool, set the axis number to be used in
the simple direct mode. For details, refer to [Appendix Chapter 1, 1.4.1 Operation
mode setting (page E1-16)].
Register the position data (speed, acceleration/deceleration, push width, etc.)
other than the target position in the position table.

1) Set the target position data in the position data specification register.
2) Register the position No. for which the speed, acceleration/deceleration and the like are set
in the command position No. register.
3) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF, turn
ON the positioning start signal CSTR.
The data set in 1) and 2) are read into the RCON at the rising edge of the CSTR signal.
4) After the CSTR signal is turned ON, the PEND signal turns OFF after Tdpf.
5) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the CSTR

Chapter 4 Operating Procedure

signal. However, be sure to set an interval of 10 ms or more from CSTR signal ON until
signal OFF. Do not change the value of each register until the CSTR signal is turned OFF.
6) The present position data is constantly being updated.
7) When the remaining travel distance of the actuator enters the positioning width range set in
the position data, the PEND signal turns ON when the CSTR signal is OFF, and the
complete position number is output to the complete position number register.
The present position data may slightly change due to vibration or the like even while it is
stopped.

ME0384-7C C4-6
 4.1 Positioning

 Operation example

1)
Target position data setting
(PLC→RCON)
n1 n2 n3

2)
Command position No.
(PLC→RCON) v1 v2 v3
Operation Section

0ms or more

10ms or more
Positioning start
CSTR
(PLC→RCON)
3) Tdpf ( (Note 1) Tdpf (Note 1)
Positioning complete 4)
PEND
(RCON→PLC)

Present position 5)
(RCON→PLC)
n1 6) n2
Chapter 4 Operating Procedure

Traveling
MOVE
(RCON→PLC) Positioning width
7)
Actuator travel
Target position
Note 1 Tdpf : Response time
For details of the response time, refer to [Operation Section Chapter 3, 3.1 Timing of I/O signals (page C3-1)].

C4-7 ME0384-7C
 4.1 Positioning

[Operation in positioner 2, 3, and 5 modes]

Register the target position, speed, acceleration/deceleration, positioning width, push-motion
and the like to the RCON position table.

 Operation example (positioning operation)

<Preparation> Using the gateway parameter configuration tool, set the axis number to be used
in the positioner 2, 3 or 5 mode. For details, refer to [Appendix Chapter 1, 1.4.1

Operation Section
Operation mode setting (page E1-16)].
Register the position data (target position, speed, acceleration/deceleration etc.)
in the position table.

1) Register the position No. for which the speed, acceleration/deceleration and the like are set
in the command position No. register.
2) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF, turn
ON the positioning start signal CSTR.
The data set in 1) are read into the RCON at the rising edge of the CSTR signal.
3) After the CSTR signal is turned ON, the PEND signal turns OFF after Tdpf.
4) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the CSTR
signal. However, be sure to set an interval of 10 ms or more from CSTR signal ON until
signal OFF. Do not change the value of each register until the CSTR signal is turned OFF.
5) In positioner 5 mode, the present position data is constantly being updated.

Chapter 4 Operating Procedure

6) When the remaining travel distance of the actuator enters the positioning width range set in
the position data, the PEND signal turns ON when the CSTR signal is OFF, and the
complete position number is output to the complete position number register.

ME0384-7C C4-8
 4.1 Positioning

 Operation example

1)
Command position No. p1 p2 p3
(PLC→RCON)
Operation Section

0ms or more

10ms or more
Positioning start
CSTR
(PLC→RCON)
2) Tdpf (Note 1) Tdpf (Note 1)

Positioning complete 3)
PEND
(RCON→PLC)

Present position p1 4)
(RCON→PLC) 5) p2

Traveling
MOVE
(RCON→PLC)
Chapter 4 Operating Procedure

Completed position No. p1 p2

(RCON→PLC)
Positioning
width
6)
Actuator travel
Target position

Note 1 Tdpf : Response time

For details of the response time, refer to [Operation Section Chapter 3, 3.1 Timing of I/O signals (page C3-1)].

C4-9 ME0384-7C
 4.2 Pressing

4.2 Pressing

(1) Basic operation

After moving to the set target position as shown below, advance at the set push speed with
push motion by the positioning width set as the maximum travel amount.
When the pushing force reaches a certain value during push motion, it is judged that pushing is
completed and the positioning complete signal PEND becomes "1" (ON).

Operation Section
When pushing a workpiece, the positioning complete
signal turns ON when it determines the pushing
Speed operation is complete.

Push speed
Travel distance

Positioning width (Maximum travel

Target position amount at push-motion operation)

Concept of push direction

position

position
Home

Target

Target
Home
Start

Start

Chapter 4 Operating Procedure

Push direction
Push
direction

Actuator Actuator

Positioning width Positioning width

(Sign+) (Sign-)

Speed Correct Speed Correct

operation operation

Position Position
Start

Start

When sign is (-) When sign is (+)

As shown in the figure above, when pushing from the start point toward the target position in the
direction in which the coordinate value increases, the push direction is positive (+), and when
pushing in the direction in which the coordinate value decreases, the push direction is negative
(-). Pushing in the wrong direction will lead to improper operation, as the push-motion operation
will start at the start point and continue to the distance (positioning width × 2); take care.

ME0384-7C C4-10
 4.2 Pressing

■ Push mode specification

• For positioner 1 to 3 and 5 mode and simple direct mode, set a numerical value to
something other than 0 in the "Push" column of the position table. (Pushing current limit
value)
• For direct numerical control mode, set the value to the current limit value area at the time of
pushing (8-bit), and set the control signal PUSH (bit 12) to "1" (ON).
Operation Section

■ Push speed
Set Parameter No. 34 "Push velocity".
(Individually set for each actuator model at shipment.)

■ Maximum travel amount at push-motion operation

• For positioner 1 to 3 and 5 mode and simple direct mode, set in the "Positioning width"
column of the position table.
• For direct numerical control mode, set a numerical value for the positioning width area.
(When setting, consider the workpiece installation positioning error and the indentation of
elastic workpieces.)

■ Push direction
• For positioner 1 to 3 and 5 mode and simple direct mode, the sign in the "Positioning width"
column of the position table.
Chapter 4 Operating Procedure

• For direct numerical control mode, set the control signal DIR (bit 13) to "0" (OFF) or "1"
(ON).

■ Pushing complete recognition

• Recognition of pushing complete is done by motor generated torque (pushing force) and
push time.
• Set the push current limit value [%] in the "Push" column of the position table. For direct
numerical control mode, set in the push current limit value register.
Determine the push force from the workpiece characteristics (shape, material etc.) and then
the push current limit value from the actuator "Push force - Current limit value" relationship
diagram.
• Set the value of Pushing Stop Recognition Time in Parameter No. 6.
(The factory default setting is 255 ms. The default is set to 70 ms for some models of the
gripper type.)

■ Continuous pushing
• When it is determined that push-motion operation is complete, positioning complete signal
PEND becomes "1" (ON), but continuous push-motion operation is performed until the next
travel command (command position number and positioning start signal CSTR) is issued.

C4-11 ME0384-7C
 4.2 Pressing

(2) For push-motion contactless

Even if it travels the distance set for positioning width, positioning complete signal PEND will not
be output if it has not pushed the workpiece (the current of the motor has not reached the
current limit value at the time of pushing). However, completed position No. is output.
At this time, PSFL of status signal bit 5 becomes "1" (ON).
Speed
If it has not pushed the workpiece
Positioning complete signal will not

Operation Section
turn ON
Travel distance

Positioning width
Target position (Maximum travel amount at push-motion operation)

(3) If the workpiece moves after pushing

■ If the workpiece moves in the pushing direction
Once the workpiece moves in the pushing direction after pushing is completed, the actuator
tracks the workpiece within the range of the positioning width.
If the traveling current value becomes smaller than the pushing current limit value, the
positioning complete signal PEND will be "0" (OFF). When it reaches the current limit value
again, it becomes "1" (ON).

Speed Position at which

Chapter 4 Operating Procedure

pushing complete
was determined first If the workpiece shifts backwards,
it tracks within the positioning width
range
Travel distance

Positioning width
Target position (Maximum travel amount at push-motion operation)

■ If the workpiece moves in the direction opposite to the push direction (when the reaction force
from the workpiece is too strong and it is pushed back)
If pushed back due to reaction force from the workpiece after pushing is completed, the
actuator is pushed back to the utmost until the pushing force and the reaction force from the
workpiece are balanced.
At this time, the positioning complete signal PEND remains "1" (ON). When pushed back to
the target position, an alarm is generated.
Speed
Position at which pushing complete
was determined first

Travel distance

Positioning width
Target position (Maximum travel amount at push-motion operation)

ME0384-7C C4-12
 4.2 Pressing

(4) If push direction is set incorrectly

If the push direction is set incorrectly, be careful as it will be displaced by "positioning width × 2"
as shown below.

Speed

Intended operation
Actual operation
Operation Section

Travel distance

Positioning width Positioning width Positioning

Actual travel position Target position

(contactless)

(5) If return after pushing is performed by relative coordinate specification

Be aware that for relative coordinate specification, the reference position is the target position of
the position No. that pushed, not the current position where pushing has stopped after
completion.
In this example, if you set the position No. to -40 mm of the relative coordinate, it will move to
the position 280 - 40 = 240 mm. However, if pushing is specified, it will move relatively from the
stop position.
Chapter 4 Operating Procedure

Speed

Return

240mm 280mm Push complete position

(Target position)

C4-13 ME0384-7C
 4.2 Pressing

(6) When SEP is set as push mode

The 24V driver unit is capable to change the pressing method to SEP type by setting Parameter
No. 181 to "1". (Note)
Note: The pressing method for the 200V driver unit is the CON type only.

[Push Mode (Parameter No. 181)]

No. Name Unit Input range Default initial value setting

Operation Section
0: CON mode
181 Push mode − 0
1: SEP mode

Push-motion operation is performed with the position obtained by subtracting the distance set
for the positioning width from the target position (Note 1) (position data specified value) (Note 2) as
the start position. Pull-motion operation is not available.
During push motion, once the workpiece is pushed against and the push is judged to be
completed, PEND will turn ON.

Speed Position where workpiece is pushed against and push is

judged to be completed, and positioning complete signal turns

Chapter 4 Operating Procedure

Push width
(Positioning width)
Present position Push Target position
start position (Position data specified value)

Note 1: It should be the value input in the position data indication register for direct indication
and the simple direct mode.
Note 2: It should be the value input in the positioning band width indication register in the direct
indication mode.

ME0384-7C C4-14
 4.2 Pressing

Stepper motor specification function only

(7) Pressing operation commanded torque level detection
It is a signal dedicated for the high-thrust actuator that possesses the stepper motor
specification (PCF Type). It should be used as a reference for output when it is used for an
actuator other than the motor specification high-thrust type.
This is a feature to detect that specified load is applied on an actuator by checking the torque by
the loaded current during the press-fitting operation when press-fitting is performed with the
pressing operation. As no load is applied when there is no press-fitting resistance applied, it is
Operation Section

available to generate an alarm from PLC to alert that press-fitting is not being performed in
normal condition.
The load output judgment status (LOAD) gets turned on when the pressing current exceeds the
current value [%] set in "Threshold" in the position data for the period of time set as judgment
time (Note 1) in the pressing operation range (excluding the approach motion range) and also in
the range set as "Position Zone" in the position data.
It would not turn off even after the load is removed and current falls. It will turn off at the next
movement command or alarm reset.
Note 1: It is to be set in Parameter No. 50 "Load output judgment time". (Initial value: 255 ms)

Pressing current drops

below threshold
Push current value
Chapter 4 Operating Procedure

Push [%]

Threshold [%]

Time

125ms – 5ms + 135ms ≥ 255ms (Note 2)

LOAD output

Turns on in position
zone setting range

C4-15 ME0384-7C
 4.2 Pressing

[Operation in direct numerical control mode]

Specify the data in the PLC position data specification register, positioning width register, speed
register, acceleration/deceleration register and push-motion current limit value register.

 Operation example (push-motion operation)

<Preparation> Using the gateway parameter configuration tool, set the axis number to be used
in the direct numerical control mode. For details, refer to [Appendix Chapter 1,

Operation Section
1.4.1 Operation mode setting (page E1-16)].

1) Set the target position data in the position data specification register.
2) Set the push width data in the positioning width register.
3) Set the speed data in the speed register.
4) Set the acceleration/deceleration data in the acceleration/deceleration register.
5) Set the push-motion current limit data in the push-motion current limit value register.
6) Set the push-motion specification signal PUSH to ON.
7) Specify the push-motion direction with the push-motion direction specification signal DIR.
8) While the positioning complete signal PEND is ON or the moving signal MOVE is OFF, turn
ON the positioning start signal CSTR.
The data set in 1) to 5) are read into the RCON at the rising edge of the CSTR signal.
9) After the CSTR signal is turned ON, the PEND signal turns OFF after Tdpf.
10) Confirm that the PEND signal is OFF or the MOVE signal is ON, then turn OFF the CSTR

Chapter 4 Operating Procedure

signal. However, be sure to set an interval of 10 ms or more from CSTR signal ON until
signal OFF. Do not change the value of each register until the CSTR signal is turned OFF.
11) The present position data is constantly being updated.
12) The PEND signal turns ON when the CSTR signal is OFF and the motor current reaches
the current limit value set in 5). (Push-motion complete)
Even if the push width set in 2) is reached, if the motor current does not reach the current
limit value set in 5), the push-motion contactless signal PSFL turns ON. In this case, the
PEND signal will not turn ON. (Push-motion contactless)
13) After the PEND signal or PSFL signal turns ON, turn OFF the PUSH signal.

ME0384-7C C4-16
 4.2 Pressing

1)
Target position data setting
(PLC→RCON) n1 n2 n3

2)
Positioning width data/
push width data v1 v2 v3
(PLC→RCON)
3)
Operation Section

Speed data m1 m2 m3
(PLC→RCON)
4)
Acceleration/deceleration data
(PLC→RCON)
t1 t2 t3

5)
Push-motion current limit value
(PLC→RCON)
s1 s2 s3
6)
Push-motion specification
PUSH
(PLC→CON)
7)
Specified push direction
DIR
(PLC→RCON)
0ms or more
10ms or more
Positioning start
13)
CSTR
(PLC→RCON)
Chapter 4 Operating Procedure

8) Tdpf (Note 1)
12) Tdpf (Note 1)
Positioning complete/ 9) 10)
Push-motion contactless
PEND/PSFL
(RCON→PLC)
14)
Present position
(RCON→PLC) n1 10) 11) n2

10ms or less
Traveling
MOVE
(RCON→PLC)
Positioning
Push width
Actuator travel
Push-motion poeration Target
position

Note 1 Tdpf: Response time

For details of the response time, refer to [Operation Section Chapter 3, 3.1 Timing of I/O signals (page C3-1)].

C4-17 ME0384-7C
 4.3 Pausing

4.3 Pausing

Deceleration to a stop occurs when the pause command signal STP is set to "1" (ON) during
actuator operation and the remaining travel distance is suspended. If the STP signal is set to "0"
(OFF) again, movement over the remaining travel distance is resumed.

Command position

Operation Section
Positioning start
(CSTR)
Positioning complete
(PEND)

Completed position

Pause command
(STP)

Traveling
(MOVE)
Speed

Actuator travel
Decelerating Remaining travel
stop distance starts

Chapter 4 Operating Procedure

If reset signal RES is set to "1" (ON) while paused, it is possible to cancel the remaining travel
distance. (Detects the RES signal and cancels it.) After that, the positioning complete signal
PEND becomes "1" (ON) in about 1 ms when cancellation of the pause command signal STP is
recognized.

Command position

Positioning start
(CSTR)
Positioning complete 注意
(PEND)
About 1 ms
Completed position

Pause command
(STP)

Reset
(RES)
Traveling
(MOVE)
Speed

Actuator travel

ME0384-7C C4-18
 4.4 Speed Changes While Traveling

4.4 Speed Changes While Traveling

Multiple speed control is possible with one operation. While traveling, you can slow down or
speed up from a given point. However, position data is required every time the speed changes.
Operation Section

Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3

This function is effective for cases where the material to be conveyed is soft, the workpiece may
fall due to its shape, such as bottles, and when vibration or shocks while stopping are
undesirable.

(Example) When positioning to position 2 (300 mm from home), it moves to an intermediate

position 1 (200 mm from home) at 200 mm/s speed, and thereafter at 20 mm/s speed.

Position table example

Positioning
Position Speed Acceleration Deceleration Push
No. width Comment
[mm] [mm/s] [G] [G] [%]
[mm]

0 * * * * * *

1 200.00 200.00 0.30 0.30 0 20.00

Chapter 4 Operating Procedure

2 300.00 20.00 0.30 0.30 0 0.10

Position command Position 1 Position 2

T1* T1
Positioning start
(CSTR)
Positioning complete
(PEND)

Completed position Position 2

Position 1

Traveling
(MOVE)

Speed 200 mm/s

20 mm/s
Actuator travel
▲ ▲ ▲
180 mm Position 1 Position 2
(200 mm) (300 mm)

* Consider the scan time of the host controller, so that T1 ≥ 0 ms.

C4-19 ME0384-7C
 4.4 Speed Changes While Traveling

Caution
 When the positioning start signal CSTR is set to "1" (ON), positioning complete signal
PEND changes to "0" (OFF) and the moving signal MOVE changes to "1" (ON).
Set the start signal CSTR to "1" (ON); after confirming that the PEND signal is "0"
(OFF), set the CSTR signal back to "0" (OFF).

Operation Section
 If you increase the positioning width at position 1, speed change can be performed
smoothly without having to pause.
 When a pause command is issued during home return, the travel command is
suspended if before mechanical end pushing; if after push reverse operation, it starts
over from home return.

Chapter 4 Operating Procedure

ME0384-7C C4-20
 4.5 Operation at Different Acceleration/Deceleration Speeds

4.5 Operation at Different Acceleration/Deceleration Speeds

(1) In positioner 1 to 3 and 5 mode and simple direct mode

Acceleration and deceleration can be set separately in the position table.

(2) In direct numerical control mode

In this mode, acceleration and deceleration cannot be set separately.
Operation Section

Acceleration/deceleration can be set together.

Acceleration/deceleration data (16-bit data) is valid when data is received by the driver unit
(rising edge "0" (OFF) → "1" (ON) of CSTR signal), so to set a different deceleration from
acceleration, change the acceleration/deceleration data while traveling.

Position data setting value

Acceleration/deceleration Acceleration Deceleration

setting value

Positioning complete
Chapter 4 Operating Procedure

(PEND) T1*
T1

Positioning start
(CSTR)

Traveling
(MOVE)
Speed

Actuator travel
▲
Target position

Acceleration Deceleration

* Consider the scan time of the host controller, so that T1 ≥ 0 ms.

C4-21 ME0384-7C
 4.6 Operation by Specifying Relative Coordinates

4.6 Operation by Specifying Relative Coordinates

Relative coordinates for the target position of the position table can also be specified,
allowing use for equidistant positioning operations.

(1) Example for operation in positioner 1 to 3 and 5 mode

Here is an example for positioning with 50 mm pitch starting from position No. 1. Create a

Operation Section
position table like the one below. The end of operation judgment is carried out by performing
count management on the PLC side. Double checking is possible if a zone signal is used
together.

Forward end
direction
Position 1 50 mm 350 mm
100 mm pitch
Last workpiece

Chapter 4 Operating Procedure

99.5 mm 300.5 mm

Zone output signal

Set the coordinate value for the workpiece before the last workpiece to +
side boundary value

Position table example

Position Zone+ Zone-
No. Incremental Comment
[mm] [mm] [mm]

0 * * * 0

1 100.00 300.50 99.50 0

2 50.00 300.50 99.50 1

Define whether absolute coordinate indication or relative coordinate indication.

0 : Absolute Coordinate Indication
1 : Relative Coordinate Indication

ME0384-7C C4-22
 4.6 Operation by Specifying Relative Coordinates

Command position Position 1 Position 2

Positioning start T1* T1

(CSTR)

Positioning complete
(PEND)

Completed position
Operation Section

Position 1 Position 2 Position 2

Traveling
(MOVE)

Zone signal
(PZONE) 1) 2) 3) 4) 5)
Speed

Actuator travel
Time
100 150 200 250 300

Distance from home

* Consider the scan time of the host controller, so that T1 ≥ 0 ms.

[Description of Operation]
1) Positioning to position 1 (100.00 mm) is carried out
Chapter 4 Operating Procedure

2) When positioning to position 1 is completed, positioning complete signal PEND changes to

"1" (ON). The zone signal PZONE also changes to "1" (ON).
Switch position No. 1 → 2 and set the start signal CSTR to "1" (ON).
3) When travel starts, PEND signal changes from "1" (ON) to "0" (OFF) and the moving signal
MOVE changes from "0" (OFF) to "1" (ON). After confirming that the PEND signal is "0"
(OFF), set the CSTR signal to "0" (OFF).
4) After moving by 50 mm again, the PEND signal changes to "1" (ON) and the MOVE signal
changes to "0" (OFF). At this time, the travel count is counted as 1 by the PLC. Next, set the
CSTR signal for the second 50 mm movement to "1" (ON).
5) Operations 3) and 4) below are repeated.

The PLC side confirms the state of the PZONE signal after positioning complete, and if it is "0"
(OFF), it recognizes it as the last workpiece position.
If the count on the PLC side does not match the state of the zone signal, the signal timing may
not have been synchronized.

C4-23 ME0384-7C
 4.6 Operation by Specifying Relative Coordinates

(2) Precautions for positioning operation

When selecting and inputting position No. of the relative coordinates during positioning
operation and performing start input, it travels to the first position plus the amount of relative
travel. (If the amount of relative travel is negative, it moves to the position subtracted from the
first position.)
Example: If start input of position 2 is performed during travel to position 1,
it will go to a position 40mm from home.

Operation Section
<Position table with teaching tool>
Command position Position 1 Position 2
No. Position Speed

Positioning start
(CSTR)
Positioning complete
(PEND)

Completed position Position 2

Traveling
(MOVE)
Speed

Actuator travel
Distance
Position from home: 40

Chapter 4 Operating Procedure

Also, when performing start input to the position No. of the relative coordinates during
positioning operation multiple times, it travels to the first position plus the amount of
"relative travel × the count".
Example: If start input of position 2 is performed twice during travel to position 1,
it will go to a position 50 mm from home.

Command position Position 1 Position 2

Positioning start
(CSTR)

Positioning complete
(PEND)

Completed position Position 2

Traveling
(MOVE)
Speed

Actuator travel
Distance
Position from home: 50

ME0384-7C C4-24
 4.6 Operation by Specifying Relative Coordinates

(3) Precautions for push-motion operation

When selecting and inputting position No. (pushing designation) of the relative coordinates while
traveling in push mode, it travels to the input position plus the relative travel amount. Therefore,
the end point position is not fixed.

Example: If start input of position 2 is performed during travel to position 1 in push mode,
it will go to a position 10 mm from the input position.
Operation Section

Command position <Position table with teaching tool>

Position 1 Position 2
No. Position Speed

Positioning start
(CSTR)

Positioning complete
(PEND)
Completed position Position 2
Speed

Actuator travel
10 mm Distance
Chapter 4 Operating Procedure

C4-25 ME0384-7C
 4.7 Shortcut Control of Multi-rotation Rotary Actuator

4.7 Shortcut Control of Multi-rotation Rotary Actuator

(1) Setting shortcut selection

Shortcut selection can be set to enabled/disabled in parameter No. 80 "Rotary axis shortcut
select". When shortcut selection is enabled, it is also possible to operate only in the same
direction.

Operation Section
[Operation examples]
Position No.1

Position No. Position

1 0.00
Position No.4 Position No.2 2 90.00
3 180.00
4 270.00
Enter the position data as 1 deg
= 1 mm. (Ex) 1.2 is treated as 1.2 deg.
Position No.3

When operating in order of positions 1 → 2 → 3 → 4 → 1, operation differs according to

whether shortcut selection is disabled or enabled.

Chapter 4 Operating Procedure

• Disabled

• Enabled

ME0384-7C C4-26
 4.7 Shortcut Control of Multi-rotation Rotary Actuator

(2) Infinite rotation control

By setting Parameter No. 79 "Rotary Axis Mode Select" to "1: Index Mode] and Parameter No.
80 "Rotary Axis Shortcut Select" to "1: Enable" and operate continuously to the same direction,
continuous rotation like a motor can be performed. Proceed as follows to perform continuous
operation.

[Operation examples]
This example shows 2 rotations, finally stopping at position No. 4.
Operation Section

Position No.1

Position No. Position

1 0.00
Position No.4 2 120.00
3 240.00
4 90.00
Position No.3 Position No.2 Enter the position data as 1 deg
= 1 mm. (Ex) 1.2 is treated as 1.2 deg.
Chapter 4 Operating Procedure

Actual operation

1) Expand the positioning width setting of Position No. 1 to 3 to a position forward of the
position where deceleration starts.
2) If positioning is performed at Position No. 1, the positioning complete signal PEND turns
ON before deceleration starts.
Position No. 2 positioning is performed by turning ON the PEND signal. Similarly,
positioning is performed in the order of position No. 3 → 1 → 2 → 3 → 4. In normal
positioning, the position data commanded afterward is always prioritized, which enables
continuous rotation.
3) At this point, if the speed setting is the same for Position No. 1 to 4, it is possible to rotate
at the same speed and set the stop position to No. 4. The number of rotations is
determined by how many times positions No. 1 to 3 are repeated.

C4-27 ME0384-7C
 4.8 Basic Operations of ELECYLINDER

4.8 Basic Operations of ELECYLINDER

* ELECYLINDER connected to RCON-EC is not available for operation the single solenoid system.
[Home return operation/positioning operation]
Turning the "ST0" signal ON when home return is not complete will first trigger home return
operation.
After a momentary stop at the home position, it will then move to the backward end. As well,

Operation Section
when the "ST1" signal is turned ON, the unit will move to the forward end after home return
operation.
However, for the battery-less absolute type, positioning operation should be conducted without
having the home-return operation.

Backward signal "ST0"

Turning the ST signal OFF
midway through operation will
interrupt home return operation.
Backward end signal "LS0"

ELECYLINDER 1) Backward 3) Forward

2)Forward
movement

Chapter 4 Operating Procedure

Reverse at mechanical end Home Backward end

3) Forward 2) Forward

1) Backward

1) When the "ST0" signal is turned ON, backward motion begins towards the mechanical end.
The movement speed is 20 mm/s.
2) Once the mechanical end is struck, the direction will be reversed and forward motion will begin.
The unit will move forward until the home position, then stop.
3) After that, it will continuously move forward until the backward end, where it stops as
operation is complete.

Caution
In the home reverse specification (model: NM), home return operation is in the reverse
direction.

ME0384-7C C4-28
 4.8 Basic Operations of ELECYLINDER

This shows the PLC timing chart for operating the ELECYLINDER.
The basic process is as follows.

Move to forward Move to backward

Power ON Home return end end

[Basic timing chart]

ELECYLINDER → PLC → input signals to
Output Input
output signals to PLC ELECYLINDER
Operation Section

Signal
Category Timing chart Remarks
abbreviation

24V DC power supply is

1 Power Power ON EC Connection Unit
turned ON.
SYS LED：On
*ALM: Turns ON if no alarm
has been triggered.
*ALM E*RD: It turns on when
2 Output
E*RD operation ready
(servo on)

When the [ST0] signal is

3 Input ST0 ∆t1 turned ON, home return
operation begins.

∆t2 Home return operation is

4 Output LS0 complete and the unit
Chapter 4 Operating Procedure

EC Connection Unit moves to the backward end.

Backward End LED: On

5 Input ST1 ∆t2 Moves to the forward end.

6 Output LS1 Moved to the forward end.

EC Connection Unit
Forward End LED: On

7 Input ST0 ∆t2 Moves to the backward end.

8 Output LS0 Moved to the backward end.

9 After this, "5" to "8" repeat.

∆t1: Wait approximately 0.5 seconds from when the E*RD signal turns ON before inputting the
first command.
∆t2: The time taken for the ELECYLINDER actually to reach the forward or backward end after
the LS signal turns ON. Consider ∆t2 when giving instructions for the next operation from
the PLC to the ELECYLINDER.
The wider the detection range gets, the longer that Δt2 gets.
Also, ∆t2 varies depending on the communication time among PLC ⇔ EC connection unit
⇔ ELECYLINDER, size of payload and acceleration/deceleration.

C4-29 ME0384-7C
 4.8 Basic Operations of ELECYLINDER

Turning the ST signal OFF midway through operation will cause a gradual stop.
For example, be careful of the following point with a large LS signal detection range.

If the sequence is set to turn the ST signal OFF immediately after the LS signal turns ON,
the ELECYLINDER may not have reached the forward/backward end.

Operation Section
ST signal

LS signal ON
→ ST signal OFF
LS signal
Detection
range

Original
ELECYLINDER deceleration
movement start position

Mid-operation deceleration start

→ stop before reaching backward end Backward end

Caution

Chapter 4 Operating Procedure

 Turning the ST signal ON again after the gradual stop causes the ELECYLINDER to
begin operation again.
 Within the detection range, the LS signal turns ON even if the ELECYLINDER is mid-
operation.
 Make sure that "ST0" and "ST1" do not turn ON simultaneously.
This may result in unpredictable operation.

ME0384-7C C4-30
 4.8 Basic Operations of ELECYLINDER

[Pressing operation]
Establish the setting for the operating conditions and position setting in the simple data setting
window before performing the pressing operation.
Operation Section

The basic time chart is as follows.

ST signal
PE signal ON
→ ST signal OFF

PE signal Not ON
at failure to contact
Chapter 4 Operating Procedure

ELECYLINDER
movement

Pressing
Approach operation operation Pressing complete

Caution
 The pressing operation speed should differ depending on models.
Refer to [an instruction manual of each ELECYLINDER or a catalog] for detail.
 The workpiece remains pressed after the pressing is completed.
If the workpiece moves or pushes back, it may be pressed even further.
 Hitting a workpiece during the approaching operation will cause "Alarm Group A:
Overload Alarm".

C4-31 ME0384-7C
 4.8 Basic Operations of ELECYLINDER

The torque (current limit value) configured for Pressing force in the Simple Data Setting
screen judges completion of pressing operation.

When the ELECYLINDER is performing pressing operation, satisfying the following conditions
will produce a judgment of pressing complete, turning ON the PE signal.

(Accumulated time in which current has reached pressing value [%]) -

Operation Section
(Accumulated time in which current is less than pressing value [%]) ≥ 255 ms

Reference

Decrease in current due to

movement of workpiece
Current

Pressing [%]

Time
200ms 20ms 75ms

Chapter 4 Operating Procedure

Operation
start 295ms

Approach operation Contacting

end Pressing start workpiece 200ms - 20ms + 75ms ≥ 255ms
Pressing complete (PE output)

Reference
Points of caution for when the workpiece is not struck (no contact) and the movement to
forward end or backward end is complete. Consider a master device sequence or detection
method based on the content below.
● If no contact is made, the PE signal will not turn ON.
A timer is required to determine if no contact has been made.
● After a non-contact operation, the unit will stop in the pressing operation status.
● If the workpiece shifts once pressing complete is determined and the PE signal is ON,
the ELECYLINDER will start another pressing operation with the PE signal still ON. If the
workpiece cannot be pressed again, it will remain ON even with no contact.

ME0384-7C C4-32
 4.8 Basic Operations of ELECYLINDER
Operation Section
Chapter 4 Operating Procedure

C4-33 ME0384-7C
 Operation
Section

Chapter 5
Various Functions
5.1 Vibration Damping Control Function ························ C5-1

5.2 Collision Detection Function ·································· C5-8

5.3 Power-saving Function ········································· C5-11

ME0384-7C
 5.1 Vibration Damping Control Function

5.1 Vibration Damping Control Function

AC servo motor specification only

Vibration damping control function controls the vibration caused by operation of IAI actuators.
The vibration which can be suppressed is vibration in the same direction as operation of the
actuator, with frequency ranging from 0.5 to 30Hz.
Operation Section

Measure the generated vibration frequency and set with the parameter. Three types of
frequency are available to set for the parameter which can be selected using the position table
to be reflected to vibration control of the operation. Multiple setting is not available for a single
travel command (position data).

This function is dedicated for the AC servo motor specification. Also, it is not available with direct
numerical control mode.
When using this function, check the precautions on the next page.

[Operational Image of the Function]

The following diagram is an example of 2-axis configuration of an IAI actuator.
Operation of actuator A causes vibration to actuator B which is equivalent to a beam. By
measuring vibration B in the travel direction of actuator A, and performing vibration damping
control against the operation of A, vibration B can be suppressed. Vibration B caused by the
operation of actuator B cannot be suppressed by actuator A.
Chapter 5 Various Functions

Vibration in axis
moving direction

B
B (Beam)
(Beam)

A A

C5-1 ME0384-7C
 5.1 Vibration Damping Control Function

Caution
 Use of frequency analysis tool for vibration damping control
To use the frequency analysis tool for vibration damping control built into the PC
software, it is necessary to acquire the key file (Fam.dll) and copy it into the folder
containing the file to execute the PC software (RcPc.exe). For how to obtain the key
files, consult with IAI.

Operation Section
For operation method, refer to [Chapter 14 Frequency Analysis Function for Vibration
Damping Control] in the instruction manual for the PC software.

 Vibration subject to vibration damping control

The vibration is caused by an IAI actuator, in the same direction as the travel direction
of the actuator.

 Vibration not subject to vibration damping control

1) The vibration source is other than operation of the actuator
2) The vibration source is in a direction different from the travel direction of the actuator
3) Vibration of vibrating objects (This function is to move objects that are susceptible to
vibration without vibrating, and it cannot control vibrations which have already
started)

 Conditions when vibration damping control is unlikely to be effective

1) When the vibration frequency desired to be controlled matches the frequency of the
motor mechanical angle (motor rotation speed), or frequency of the motor electrical

Chapter 5 Various Functions

angle
Frequency of motor mechanical angle (motor rotation speed):
Operation speed [mm/s] / lead length [mm]
Frequency of motor electrical angle:
Frequency of the shaft with servo-motor is 4 times the mechanical angle
Example: Shaft with servo-motor
For lead length: 20 mm, operation speed 100 mm/s
Frequency of mechanical angle (motor rotation speed): 5Hz
Frequency of electrical angle (4 times frequency of mechanical angle): 20Hz
2) When the vibration damping requires higher speed response than the set speed
control response, speed response cannot catch
up with vibration control.
Actuator Linear Guide
3) For those type of equipment as shown in the
figure on the right, the effect may be small or
even no effect can be gain as the actuator is not
capable of controlling vibration directly. vibration

ME0384-7C C5-2
 5.1 Vibration Damping Control Function

Caution
 Home return motion and push-motion operation are not subject to vibration damping
control
Vibration cannot be suppressed during home return motion and push-motion operation.
When operation is performed by setting push motion, alarm 0A2 "Position data error"
Operation Section

will occur.

 Usage in conjunction with feed forward gain is forbidden

This function cannot be used in conjunction with feed forward gain.

 Usage and switching of vibration damping control during travel operation are forbidden
During operation of the actuator, vibration damping control and positioning operation
are not switchable. If switching is commanded, alarm 0C5 "Unauthorized control
system transmission command error" will occur.

 Responsivity of vibration damping control

Vibration damping control causes a delay in the speed commanded based on an
operation plan. Therefore, the cycle time will be longer.
The lower the set vibration frequency is, the more significant the delay will be.

 Considering servo gain

If the servo gain is not appropriately set, the effect of vibration damping control may be
Chapter 5 Various Functions

reduced. Before setting the vibration damping control, adjust servo gain first.

C5-3 ME0384-7C
 5.1 Vibration Damping Control Function

[Setting Procedure]
Use by following the procedures of measurement and setting below.

Before setting vibration damping control

Perform startup setting
Is the startup procedure up to test run adjustment 2 No
following the startup
completed?
procedure.
→ Refer to [Startup↓Section
Yes Chapter 1, 1.4 Startup

Operation Section
Procedure (page B1-10)].
Yes

Determination of vibration to control The vibration cannot be

No controlled with this
function. Take other

Yes

Measurement of natural frequency

Measure natural frequency with one of the following methods.
· Use the frequency analysis tool for vibration damping control built into the
PC software. Arrange referring to precautions [Use of frequency analysis
tool for vibration damping control].
· Use measuring devices such as a vibrometer (acceleration pickup, etc).
· Calculate based on video picture image data.

Chapter 5 Various Functions

· Set the measured natural frequency with the parameter.
With the frequency analysis tool for vibration damping control built into the
PC software, it can be written in the parameter from the tool.
· Set related parameters.

Vibration damping control parameter set No. settings

In the vibration column of the position No. to perform vibration damping
control, set the vibration damping control parameter set No. to use.

Test run (check effect of vibration control)

No
Operate the actuator.
Is the vibration control effect sufficiently achieved?
Yes

The setting is completed.

ME0384-7C C5-4
 5.1 Vibration Damping Control Function

[Parameter Setting for Vibration Damping Control]

Set parameters related to vibration damping control. Related parameters are as described below.

Parameters Parameters at
Parameter Name Unit Input range
No. Set No. shipping
Damping characteristics
97 Rate 10 0 to 1,000
coefficient 1
Damping characteristics
98 Rate 1,000 0 to 1,000
Operation Section

1 coefficient 2
99 Natural frequency 1/1,000Hz 10,000 500 to 30,000
100 Notch filter gain Rate 9,990 1 to 20,000
Damping characteristics
101 Rate 10 0 to 1,000
coefficient 1
Damping characteristics
102 Rate 1,000 0 to 1,000
2 coefficient 2
103 Natural frequency 1/1,000Hz 10,000 500 to 30,000
104 Notch filter gain Rate 9,990 1 to 20,000
Damping characteristics
105 Rate 10 0 to 1,000
coefficient 1
Damping characteristics
106 Rate 1,000 0 to 1,000
3 coefficient 2
107 Natural frequency 1/1,000Hz 10,000 500 to 30,000
108 Notch filter gain Rate 9,990 1 to 20,000
Vibration suppression
109 0 0 to 3
Chapter 5 Various Functions

No. initial value

Stop method during
110 0 0, 1
SrvOFF

[Damping Characteristics Coefficient 1, 2 (Parameter No. 97/98, 101/102, 105/106)]

Do not attempt to change this item.

[Natural Frequency [1/1,000Hz] (Parameter No. 99, 103, 107)]

Set the measured natural frequency of the load. With the frequency analysis tool for vibration
damping control built into the PC software, it can be set in the parameter directly from the tool.
Exhibits even higher vibration control performance if the setting is made as close as possible to
the natural frequency of the load.

[Reference] Other vibration measuring methods

· Use measuring devices such as a vibrometer (acceleration pickup, etc)
· Calculate from video picture image data

C5-5 ME0384-7C
 5.1 Vibration Damping Control Function

[Notch Filter Gain (Parameter No. 100, 104, 108)]

Set the notch filter gain following the table below in accordance with the measured natural
frequency of the load. Make fine adjustments if overshooting, etc. occurs.
If the notch filter gain setting is high, overshooting will occur during positioning stop.
If the notch filter gain setting is low, undershooting will occur during positioning stop.

Measured natural frequency

Notch filter gain set value
[Hz]

Operation Section
0.5 9,900

1 9,980

2 to 30 9,990

[Vibration Suppression No. Initial Value (Parameter No. 109)]

When position is written in an unregistered position table, the initial value of this parameter will be
automatically set in the "Vibration Suppression No.". To change the setting, rewrite the set value
by editing the position table afterwards.
0: Normal positioning control (initial value)
1: Use vibration damping control parameter set 1
2: Use vibration damping control parameter set 2
3: Use vibration damping control parameter set 3

Chapter 5 Various Functions

[Stop Method during SrvOFF (Parameter No. 110)]
The relations between parameter setting and each stop command are as described below.

Stop method during servo OFF Set value

0: Sudden stop 1: Decelerating stop

Stop command During During
During During
normal normal
vibration vibration
positioning positioning
control control
control control
Vibration control Normal
Pausing decelerating decelerating
stop stop
Vibration control Normal
Servo OFF
decelerating decelerating
Drive-source cutoff Sudden stop with stop stop
emergency stop torque
Alarm
(Operation cancel level)
Alarm
Sudden stop with emergency stop torque
(Cold start)

ME0384-7C C5-6
 5.1 Vibration Damping Control Function

[Position Data Setting]

In order to enable vibration damping control, set the parameter set No. to use in the vibration
damping No. column of the position data.
(Note) Vibration damping control cannot be used during push-motion operation.

Positioning Acceleration/ Vibration

Position Speed Acceleration Deceleration Push Threshold Zone+ Zone- Gain Stop
No. width deceleration Incremental damping
[mm] [mm/s] [G] [G] [%] [%] [mm] [mm] set mode
[mm] mode No.
Operation Section

1 0.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 0

2 50.00 50.00 0.01 0.01 0 0 0.10 0.00 0.00 0 0 0 0 1

3 50.00 50.00 0.01 0.01 50 0 0.10 0.00 5.00 0 0 0 0 3

Set natural frequency 1 (enabled)

Set natural frequency 3 (Alarm generation: "0A2 Position data error" cannot
be used in conjunction with
push-motion operation.)
Chapter 5 Various Functions

C5-7 ME0384-7C
 5.2 Collision Detection Function

5.2 Collision Detection Function

Stepper motor specification only

The collision detection function is a function to stop operation by generating an alarm when the
command current value exceeds the set value. Detection range can also be set.
Fully understand the descriptions in this section and use without any safety or operational issues.

Operation Section
Caution
 This is an auxiliary function to reduce damage to workpieces, etc. in case of
unexpected events.
 This feature is not used in the direct indication mode.
 No compensation will be offered for unexpected damages.
 This function must be set in accordance with expected collisions, therefore appropriate
values vary depending on the system. Check thoroughly before use.

[Collision Judgment]
When the present position is within the position zone range and the time set in parameter No.
50 "Load output judgment time" is exceeded and the command torque value set in the position
table "Threshold" is exceeded, a collision is judged to have happened.

Chapter 5 Various Functions

After judgment, the load output judgment status (LOAD) turns ON, the collision detection alarm
is generated and the servo turns OFF. At this moment, if it is set to "1" or "3" in Parameter No.
168 "Collision Detection Feature", the servo should automatically be turned off.

 Example of Judgment (at judgment time of 255 ms)

Due to outside range Due to load fluctuation

not counted Occurrence of
Current collision current drops
limit value Current
when
traveling

"Threshold"
Set current
value

Start counting 75 ms
Travel start Position zone
position Within range
(judgment start) Count up to 200

Time Count up to 255

LOAD

Collision detection alarm (0DF)

Servo control Servo

OFF

Controller status indicator LED Blinking green

ME0384-7C C5-8
 5.2 Collision Detection Function

[Setting]
(1) Selecting functions to be used
Set with a parameter. Set Parameter No. 168 "Collision Detection Function."

Set value Content Alarm level

0 No detection will be made (same even if 2, 4, 6 are set) −

1 Detects within the set range of the position zone.

Operation Section

Operation cancel
Detects within the set range of the position zone; however, level
no detection will be made in the following cases. (Servo OFF)
3 (Note 1)
· First travel after pause release (Alarm 0DF)
· Travel from stop status within position zone range
5 Detects within the set range of the position zone.

Detects within the set range of the position zone; however, Message level
no detection will be made in the following cases. (Alarm 049)
7 (Note 1)
· First travel after pause release
· Travel from stop status within position zone range
Note 1: This setting helps to avoid false detection due to increased current during acceleration.

(2) Setting of detection current value

Set the "threshold" field of the position table to 0 ~ 100 [%]. No detection will be made if 0 is
set.

(3) Setting of judgment time

Chapter 5 Various Functions

Set with a parameter. Set Parameter No. 50 "Load Output Judgment Time."
Set range: 0 to 9,999 [ms] (initial value 255 ms)

(4) Setting of judgment range (position zone)

Set the range in "zone +" and "zone -" of the position table. When setting, be sure to set the
value of "zone -" smaller than that of "zone +."
Set range: 0.00 to actuator stroke length [mm]

C5-9 ME0384-7C
 5.2 Collision Detection Function

[Adjustment]
Make adjustments using the following descriptions as a guideline.
 Judgment range : Avoid acceleration regions that may require a large amount of
current, and configure over the range where collisions may occur.
 Detection current value : Consider travel speed, weight of the workpiece, etc., and set as low
as possible over ranges where false detection is unlikely to occur.
(Set the current value slightly higher than required during constant

Operation Section
travel and make fine adjustments.)

Outside setting Outside setting

range, so range, so
Current not detected not detected Speed

Threshold current
50%

Position zone
Travel start Setting range Target
position position
Distance

Chapter 5 Various Functions

ME0384-7C C5-10
 5.3 Power-saving Function

5.3 Power-saving Function

[AUTO Servo OFF and Full Servo Function]

Equipped with AUTO servo OFF (setting available for all motor specifications) and full servo
function (stepper motor specification only) to reduce power consumption while the actuator is
stopped. Fully understand the descriptions in this section and use without any safety or
operational issues.
Operation Section

With automatic servo OFF function, the servo turns OFF automatically after a certain period of
time once positioning is completed. Once the next positioning start signal CSTR is commanded,
the servo automatically turns ON and executes positioning operation. Since holding current
does not flow during the stop, power consumption can be reduced.
Three types of setting are available for the period of time from positioning complete to servo
OFF.

With the full servo function, the power consumption can be reduced by servo-controlling the
stepper motor with a relatively large stop current.
To stop the stepper motor completely with minimal vibration, a current is constantly supplied.
Also, when the value of the encoder deviates from the target position by ±4 counts, it will not be
returned to the target position. However, activating the full servo function will enable returning
even with the deviation of 1 count.
As with the full servo function, the RCP6 Series performs home return even with deviation of
Chapter 5 Various Functions

1 count.
Therefore, the full servo function cannot be used for RCP6.

With the power-saving function, the status of the actuator determines which is to be enabled:
the setting of Parameter No. 53, or "stop mode" in the position table. The details are as
described below.

Status Setting
Home return complete and on stand-by Execution of power-saving function at the value
(positioning to the target position not set for Parameter No. 53
performed) (Stop mode setting of position No. disabled)
After turning the power ON, stand-by state Execution of power-saving function at the value
with servo ON (positioning to the target set for Parameter No. 53
position not performed) (Stop mode setting of position No. disabled)
Execution of power-saving function at the value
Positioning complete in the target position
set for "stop mode" of each position No.
set in the position table
(Set value of Parameter No. 53 disabled)

C5-11 ME0384-7C
 5.3 Power-saving Function

Caution
 Do not use this function if operation after automatic servo OFF is pitch feed (relative
travel). Slight position deviation may occur due to turning the servo ON/OFF.
Additionally, if the position deviates due to application of external force during servo
OFF, positioning to the correct position will become impossible since the position at
startup is the reference point for pitch feed operation.

Operation Section
 Automatic servo OFF function is disabled for push-motion operation. Do not use it.
This function will be enabled upon completion of positioning operation. For push-motion
operation, it will be enabled only when contactless (completion of operation without
contact = same status as positioning complete).
 There is no holding torque during AUTO servo OFF. The actuator will move if external
force is applied. Take extra care regarding interference and safety when setting.
 If jog or inching operation is performed while operating with full servo function, full
servo function will be disabled. Full servo function will be enabled again by moving to
the position No. for which full servo function is enabled.

[Setting Time until Automatic Servo OFF]

Three types of setting are available for delay time from positioning complete until servo OFF.
Set in the following parameters in units of second [s].

Chapter 5 Various Functions

Parameter No. Name Unit Input range Initial value

36 Automatic servo OFF delay time 1 s 0 to 9,999 0

37 Automatic servo OFF delay time 2 s 0 to 9,999 0
38 Automatic servo OFF delay time 3 s 0 to 9,999 0

ME0384-7C C5-12
 5.3 Power-saving Function

[Setting of Power-saving Method]

Select from the following conditions, and set in "stop mode" of the position table, or with
Parameter No. 53 using a numerical value.
For AC servo motor specification and DC brush-less motor specification, select from 0 to 3.
For stepper motor specification, select from 0 to 7.
[Reference] Refer to [Operation Section Chapter 1, 1.3 Position Table (page C1-5)].
Operation Section

Set Selectable
Operation after positioning complete
value specifications
0 Servo ON as is All specifications
1 After a fixed time (parameter No. 36 set value) automatic servo OFF All specifications
2 After a fixed time (parameter No. 37 set value) automatic servo OFF All specifications
3 After a fixed time (parameter No. 38 set value) automatic servo OFF All specifications
Stepper motor
4 Full servo control specification
(Excluding RCP6 Series)
After full servo control for a fixed time (parameter No. 36 set Stepper motor
5
value), automatic servo OFF specification
After full servo control for a fixed time (parameter No. 37 set Stepper motor
6
value), automatic servo OFF specification
After full servo control for a fixed time (parameter No. 38 set Stepper motor
7
value), automatic servo OFF specification
Chapter 5 Various Functions

Caution
 There is no holding torque during AUTO servo OFF. The actuator will move if external
force is applied. Take extra care when setting.
 Do not use AUTO servo OFF when the next travel command is relative specifications
(pitch feed). Misalignment may occur.
 Do not use AUTO servo OFF with push-motion operation. The pushing force will be lost.
 AUTO servo OFF does not function if operating in teaching mode with PC software.

C5-13 ME0384-7C
 5.3 Power-saving Function

[Status of Positioning Complete Signal when AUTO Servo OFF Selected]

If AUTO servo OFF is executed, the status is no longer positioning complete as the servo is turned
OFF. Therefore, the positioning complete signal PEND turns OFF. By changing the PEND signal into
an in-position signal that determines if the unit is stopped in the range of positioning width instead of
the positioning complete signal, the signal can be made not to turn OFF even during servo OFF.

Perform this setting with Parameter No. 39.

Operation Section
Set value of Description of
Signal output status during AUTO servo OFF
parameter No.39 PEND signal
PEND

0 Positioning complete signal OFF

1 In-position signal ON

(Note) Status LED SYS blinks green during AUTO servo OFF.

(1) When Parameter No. 39 = 0

Positioning AUTO servo OFF Positioning
Operation of actuator Servo OFF
operation stand-by operation

Servo status ON ON OFF ON

Complete position No. output

(Present position PM1~** = 0 PM1~** = Output PM1~** = 0 PM1~** = 0

Chapter 5 Various Functions

number output)

Positioning complete
OFF ON OFF OFF
signal PEND

Servo OFF delay time

(Parameter No.36~38)

(2) When Parameter No. 39 = 1

Positioning AUTO servo OFF Positioning
Operation of actuator Servo OFF
operation stand-by operation

Servo status ON ON OFF ON

Complete position No. output

(Present position PM1~** = 0 PM1~** = Output PM1~** = Output PM1~** = 0
number output)

Positioning complete
OFF ON ON OFF
signal PEND

Servo OFF delay time

(Parameter No.36~38)

ME0384-7C C5-14
 5.3 Power-saving Function

Stepper motor specification only

[Auto current down function]
(1) Function selection parameter
Energized at a set current (Note 1) regardless of size of the external force for complete stop after
positioning operation, and when auto current down adjustment is not used. With the use of auto
current down adjustment, energization is done with consideration of the impact of external force,
so it is effective for reduction of power consumption when transported load is small, etc.
Note 1: Parameter No. 12 "Current Limit during Positioning Stop"
Operation Section

Set auto current down adjustment enable/disable with Parameter No. 182.

Parameter No. Name Unit Input range at shipping

0: Disabled,
182 Auto current adj. select − 0
1: Enabled

"Relations of energization amount and speed command during positioning operation" are shown
below for disabled/enabled auto current down function.

●Auto current down adjustment: Disabled

Energization amount
Speed command
Current/speed
Chapter 5 Various Functions

Current limit during

positioning stop

Time

●Auto current down adjustment: Enabled

Energization amount
Speed command
Current/speed

Time
Energization amount during stop with consideration
of impact of external force

C5-15 ME0384-7C
 5.3 Power-saving Function

(2) Control with function enabled

1) The same process as the existing complete stop function will be performed until the
energization amount reaches current limit during positioning stop (parameter).
2) After completion of current energization during stop, the state is maintained until target
position deviation does not occur (zero).
3) In accordance with whether target deviation is present or not, the energization amount will
be manipulated.

Operation Section
• Without target position deviation, energization decreases by a fixed amount
• With target position deviation, energization increases by a fixed amount

The following restrictions are applicable for the manipulation of the energization amount.
• Decrease in energization amount ⇒ When process transition of increase is performed more
than a set number of times, only increase process will be executed.
• Minimum energization amount is defined per actuator basis, and without position deviation,
it allows energization amount to increase to the applicable amount.
• Maximum energization amount is current limit value during positioning stop (parameter), and
allows energization amount to increase to the applicable amount.

(3) Precautions
1) Difference in target position deviation depending on the encoder resolution
For actuator with lead length 24 [mm/r]

Chapter 5 Various Functions

 If the encoder resolution is 800 pulse/r, it allows the energization amount to decrease until
target position deviation of 24 ÷ 800 = 0.0300... mm is generated.
 If the encoder resolution is 8,192 pulse/r, it allows the energization amount to decrease
until target position deviation of 24 ÷ 8,192 = 0.0029... mm is generated.

2) Precautions for high-resolution encoder

For an actuator with built-in high resolution encoder, when positioning complete status
continues for an extended period of time, even if this function is enabled, the energization
amount will eventually rise to current limit value during positioning stop (parameter).

ME0384-7C C5-16
 Chapter 5 Various Functions Operation Section

C5-17
5.3 Power-saving Function

ME0384-7C
 Operation
Section

Chapter 6
Preventive Maintenance
/ Predictive Maintenance
6.1 Preventive Maintenance Function ··························· C6-1
6.1.1 Driver unit ··························································· C6-1
6.1.2 Gateway unit ······················································· C6-1
6.1.3 Maintenance information ········································ C6-2
6.1.4 PSA-24 status data monitor ···································· C6-6

6.2 Predictive Maintenance Function ···························· C6-10

6.2.1 Fan rotation speed monitoring ································· C6-10
6.2.2 Overload warning ················································· C6-11

ME0384-7C
 6.1 Preventive Maintenance Function

6.1 Preventive Maintenance Function

The RCON system has a preventive maintenance function for the capacitor and a predictive
maintenance function for the fan unit.

6.1.1 Driver unit

Operation Section

The temperature of the capacitor for the motor power supply of the driver unit is monitored to
calculate the service life.

A message level alarm is generated (alarm 04A "Estimated life exceeded warning") when the
electrostatic capacity decreases 20%. When an alarm is generated, although the capacity of the
capacitor is not zero (dried-out), we recommend replacing it as soon as possible.

6.1.2 Gateway unit

The temperature of the capacitor for the gateway unit calendar function is monitored to calculate
the service life.

A message level alarm is generated (alarm 84C "Calendar function backup capacitor estimated
life exceeded") when the electrostatic capacity decreases 50%. When an alarm is generated,
Chapter 6 Preventive Maintenance / Predictive Maintenance

although the capacity of the capacitor is not zero (dried-out), we recommend replacing it as
soon as possible.

C6-1 ME0384-7C
 6.1 Preventive Maintenance Function

6.1.3 Maintenance information

[For driver unit]

The following data should be integrated and recorded to the driver unit.
• Total moving count (The number of times the actuator has moved)
Default initial value
Name Unit Input range
setting

Operation Section
Total moving count time 0 to 999,999,999 0 (disabled setting)

• Total moving distance (The number of times the travel distance)

Default initial value
Name Unit Input range
setting
m
Total moving distance 0 to 999,999,999 0 (disabled setting)
km

If the set count or distance (Note 1) is exceeded, an alarm (Note 2) and external signal (Note 3)
can be output. This enables checking the timing for lubrication and periodic inspection.
The recorded data should be able to be checked in a teaching tool.

Chapter 6 Preventive Maintenance / Predictive Maintenance

PC Software TB-02 Maintenance information screen

Note 1: Setting should be established in the following parameters or the maintenance

information screen in the teaching tool.
• Parameter No. 147 "Total travel count target value"
• Parameter No. 148 "Total travel distance target value"
Note 2: Outputs a message level alarm 04E "travel count target value exceeded" or
04F "travel distance target value exceeded".
For details, refer to [Maintenance Section Chapter 2 Troubleshooting].
Note 3: Outputs a minor malfunction alarm (ALML).

ME0384-7C C6-2
 6.1 Preventive Maintenance Function

[In case of EC connection unit (ELECYLINDER)]

"Total number of movements" and "Total distance traveled" can be set and managed as the
maintenance information.
For ELECYLINDER, it is not in the parameters, but in the maintenance information screen in the
teaching tool to set the maintenance information. When each setting values are exceeded, there
should be a "maintenance warning" generated and the status LED on ELECYLINDER should
flash in green and red in turns to notify.
Operation Section

Even if a "maintenance warning" is generated, the ELECYLINDER will continue to operate

without interruption.

/ alternate blinking

All of maintenance warning LEDs from 1 to 3 on

ELECYLINDER flash in green and red in turns.

● When the total travel count exceeds the set value, the user will be notified with
"Maintenance warning 1".
● When "Maintenance warning 1" is output, maintenance is recommended, such as greasing.
Set the target value to a value larger than the present one and update.
● Setting it to "0 times" will disable this function.
Chapter 6 Preventive Maintenance / Predictive Maintenance

● When the total travel distance exceeds the set value, the user will be notified with
"Maintenance warning 2".
● When "Maintenance warning 2" is output, maintenance is recommended, such as greasing.
Set the target value to a value larger than the present one and update.
● Setting it to "0m" will disable this function.
● The displayed units can be switched. [m ⇔ km]

C6-3 ME0384-7C
 6.1 Preventive Maintenance Function

[Maintenance Information Setting in Teaching Tool]

Maintenance information can be checked and set with the following procedures.
• TB-02/TB-03 Monitor → Maintenance
• TB-02/TB-03 Information → Maintenance Information
• PC software Monitor (M) → Maintenance Information (I) → Axis selection

As a reference, shown below is how to operate using a teaching pendant TB-02.

Operation Section
Refer to [an instruction manual for each teaching tool] for detail.

● Switchover to Maintenance Information Screen Using TB-02

1. Touch Information on the Menu 1 screen.

2. Touch Maintenance information on the

Information screen.

Chapter 6 Preventive Maintenance / Predictive Maintenance

ME0384-7C C6-4
 6.1 Preventive Maintenance Function

● Basic Operation in Maintenance Information Screen Using TB-02

1. To set the target value,

touch the Edit of the relevant item.
Operation Section

2. Enter the value with the Ten Key pad and touch
the ENT .
Chapter 6 Preventive Maintenance / Predictive Maintenance

3. If the actuator has been replaced, touch the

Actuator replacem. .

C6-5 ME0384-7C
 6.1 Preventive Maintenance Function

6.1.4 PSA-24 status data monitor

IAI 24V DC Power Supply Unit: PSA-24 possesses a feature to monitor the status data from a
host device as a preventive maintenance feature in purpose of improving efficiency of
management and maintenance for equipment.
For the preventive maintenance features equipped on PSA-24 other than status data monitor,
refer to [PSA-24 Instruction Manual (ME0379)].

Operation Section
[How to Establish Connection]
Connect the gateway board on RCON to PSA-24 in order to monitor the status data of the
power source via RCON. If it is preferred to monitor the status data using the PC software
(Software Version RCM-101: V13.00.00 and later, IA-OS: V1.00.00.00 and later), establish the
connection using the USB interface on RCON.
As the status data of the power source is also uploaded to the field network, it is available to
monitor the status data in the host network via PLC. (For details, refer to [Operation Section
Chapter 2, 2.2.1 Fixed area control/status signals (2) Power supply unit (PSA-24) status signal
(page C2-24)]

Monitoring in PC software via USB

RCON Enclosed Connector

Power Supply Enclosed Connector

Chapter 6 Preventive Maintenance / Predictive Maintenance

5 units max.

Remote Monitoring via PLC

ME0384-7C C6-6
 6.1 Preventive Maintenance Function

● How to Connect with PSA-24

System I/O connector

Wiring should be Wiring should be
performed to performed to
● SD+ (Red) ● SD+ (Red)
● SD- (White) ● SD- (White)
● GND (Blue) ● GND (Blue)
on the connector as on the connector as
Operation Section

shown in figure shown in figure

(Note) The cable colors red, white and blue are

an example.
Different colors are used so the cables
can be visible.

* Use the following complied cables for

PSA-24 communication wiring.

Item Specifications

Compatible wire diameter AWG 22 to 20

AWG (UL) (Copper wire)
(SQ (JIS)) (0.3 to 0.5 mm2)

Stripped length 10.0 mm

* Use cables with their rated temperature

Chapter 6 Preventive Maintenance / Predictive Maintenance

on the isolation sheath at 60°C or higher.

Caution
There could be a concern of communication failure if using thinner cables than the
complied cable diameter. Also, make sure to use twisted pair cables for the differential
lines.
A communication line on one unit of PSA-24 is not available for connecting to multiple
gateway units.
Connecting to multiple units should generate the alarm of alarm 86D "Power Supply
Unit Communication Error" (Gateway Version V0009 or later) or alarm 8FA "CPU Error"
(Gateway Version V0008 or earlier).

C6-7 ME0384-7C
 6.1 Preventive Maintenance Function

[Related parameters]

The special setting should be established in RCON gateway unit when PSA-24 is to be monitored.
The items to be established are as stated below.

Default initial
Name Unit Input range Reference
value setting

Operation Section
Power supply unit connection
― 0 to 7 3 7.4.4 (8)
retry times
0: Output voltage
1: Auxiliary winding wire voltage
2: Output current
Power supply unit monitor type ― 3: Peak hold current 0: Output voltage 7.4.4 (9)
4: Load factor
5: FAN rotation speed
6: PCB temperature
Number of power supply units 0: Not to Use
― 0: Not to Use 7.4.4 (10)
connected 1 to 5

Chapter 6 Preventive Maintenance / Predictive Maintenance

ME0384-7C C6-8
 6.1 Preventive Maintenance Function

[Status data]
The status data available for monitoring is as listed below.

Item Details
Output voltage AD converted value. As this power source fluctuates the
Output Voltage [V] output voltage, the output voltage monitored value changes from
moment to moment. Note that it is not an error.
Control power voltage inside power source AD converted value. It
Supplement Coil
Operation Section

changes in response to the load on output voltage side as it does for

Voltage [V]
the output voltage, which is not an error.
Output voltage AD converted value. Comparison is performed every
Peak Hold Voltage [V]
time AD conversion is executed and the maximum voltage is saved.
Output Current [A] Output current AD converted value. It shows the transient value.
Output current peak value. Comparison is performed every time AD
Peak Hold Current [A]
conversion is executed and the maximum current is saved.
It is the value expressed in percentage for the ratio of output current
integral value and the rated output current used for overload judgment
Load Ratio [%]
internally. If this value exceeds 100%, an overload error should be
generated and output voltage will be cut off.
Peak Hold Load Ratio Comparison is performed every time overload calculation is executed
[%] and the maximum load ratio is saved.
Fan Revolution Speed It is the value of number of fan revolution calculated by pulse signal
[rpm] input from the fan.
It is the AD converted value of the temperature sensor around the
PCB Temperature [℃]
secondary side output capacitor.
Total Conducting Time It is the time the values saved in the internal memory regularly were
[Day : Hour] integrated by conducting time was counted in CPU.
Chapter 6 Preventive Maintenance / Predictive Maintenance

PC software Current monitor screen (Model: For RCM-101-*-*)

The background color should change depending on the status of the acquired status of the power supply unit.
Auxiliary winding voltage : Yellowish green when 15V or more and white when 10V or less
Load factor : Yellowish green when 330W with fan equipped and white when 220W with no
fan equipped
Fan rotating speed : Gray when no fan equipped, white when fan in normal operation, yellow when
in warning and red when error

For the operation method, refer to [9.8 Power Supply Unit Information Screen in PC Software
Instruction Manual (ME0155)] or [the guiding features installed in IA-OS].

C6-9 ME0384-7C
 6.2 Predictive Maintenance Function

6.2 Predictive Maintenance Function

6.2.1 Fan rotation speed monitoring

The fan rotation speed of the fan unit attached to the driver unit is monitored.

A message level alarm is generated (alarm 04C "Fan rotation speed drop") when the fan

Operation Section
rotation speed decreases 30%. When an alarm is generated, although the fan will not have
stopped completely, we recommend replacing it as soon as possible.

Note that if the fan rotation speed drops 50%, an operation cancel level alarm (alarm 0D6
"Fan error detection") is generated, and the actuator stops. Replace the fan and reset the alarm
to resume operation.

Refer to the following for the replacement method.

● 24V Driver Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-6)].
● 200V Driver Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-6)].
● 200V Power Supply Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-6)].

Chapter 6 Preventive Maintenance / Predictive Maintenance

ME0384-7C C6-10
 6.2 Predictive Maintenance Function

6.2.2 Overload warning

Using this function enables monitoring of motor temperature changes caused by dried-up
grease or wear and tear on parts. A warning is output when the preset value is exceeded.
This enables detection of abnormalities before a breakdown or a malfunction occurs.

[For Driver Unit]

Operation Section

Load Alarm Output

Alarm Occurred
Increase ROBO Cylinder stops.
Example for motor temperature Reset is required in order to recover from alarm.
change in error condition
Overload Alarm Detection Line
(100%)
Warning Overl oad Warning Occurred
Output ROBO Cylinder continues to operate.

Conduct Maintenance
Overl oad “W arning” Line
Motor Temperature

* Set in ratio to parameter load level

Setting can be e stablished w ith any
number from 50 to 99% w ith the
error dete ction level as 100% .
Abnormal Any m alfunction or trouble
Change! can be prevented by
conducting maintenance
after the warning outpu t.
Load
Increase Example for
Example for motor temperature change in normal condition
motor
temperature
change Time

Warning output enables detection of items

Chapter 6 Preventive Maintenance / Predictive Maintenance

such as those below.

Time to supply grease
Time to replace components
Time to implement mechanical tuning

C6-11 ME0384-7C
 6.2 Predictive Maintenance Function

Parameters related are as follows.

[Overload Load Level Ratio (Parameter No.143)]

No. Name Unit Input range Default initial value setting

143 Overload load level ratio % 50 to 100 100

Operation Section
Outputs alarm 048 "overload warning" (message level) when motor temperature exceeds the
ratio set in this parameter if motor temperature under rated operation is set as 100%.
No judgment will be made when set as 100%.
The ratio also can be set in the maintenance information screen in the teaching tool.

[Minor Trouble Alarm Output Select (Parameter No. 151)]

No. Name Unit Input range Default initial value setting

0: At overload warning
Minor trouble alarm output
151 − 1
output select 1: Message level alarm
output

If 0 is set, when overload load level ratio (Parameter No. 143) is exceeded, a minor malfunction
alarm signal *ALML will be output.
If 1 is set, when a message level alarm is generated, *ALML signal will be output.

Chapter 6 Preventive Maintenance / Predictive Maintenance

[In case of EC connection unit (ELECYLINDER)]
● For ELECYLINDER, it is not in the parameters, but in the maintenance information screen in
the teaching tool to set the ratio. When each setting values are exceeded, there should be
"Maintenance Warning 3" generated and the status LED on ELECYLINDER should flash in
green and red in turns to notify.
● When the motor temperature rise value falls below the ratio set as "overload warning level",
"Maintenance warning 3" will be automatically cleared.
● When "Maintenance warning 3" is output, investigate the cause of the increase in load.
Maintenance such as greasing or reviewing the operating conditions is recommended.
● Setting it to "100%" will disable this function.

/ alternate blinking

All of maintenance warning LEDs from 1 to 3 on

ELECYLINDER flash in green and red in turns.

ME0384-7C C6-12
 Chapter 6 Preventive Maintenance / Predictive Maintenance Operation Section

C6-13
6.2 Predictive Maintenance Function

ME0384-7C
 Operation
Section

Chapter 7
Parameter
7.1 Parameter List ···················································· C7-1

7.2 Parameter Details ················································ C7-6

7.3 Servo Gain Adjustment ········································· C7-53

7.4 RCON Gateway Parameter ··································· C7-57

7.4.1 Configuration of RCON gateway parameters ·············· C7-57
7.4.2 Network setting ···················································· C7-58
7.4.3 Special parameter list ············································ C7-67
7.4.4 Details of special parameters ·································· C7-68

7.5 Parameter List for ELECYLINDER ·························· C7-75

7.6 Parameter Details of ELECYLINDER ······················· C7-76

7.7 Operation Noise Tuning ········································ C7-84

ME0384-7C
 7.1 Parameter List

7.1 Parameter List

The following parameters are available for each actuator.

Parameters should be set and confirmed for each axis number.
Also, the unused parameters are not mentioned in the list.

Parameter list (1/5)

Operation Section

Compatible
Unit Default initial value motor type Relevant
No. Name Input range (Note 3)
(Note 1) setting page
P A D S
mm Actual stroke on
1 Zone boundary 1 + side -9,999.99 to 9,999.99     C7-6
(deg) + side (Note 2)
mm Actual stroke on
2 Zone boundary 1 - side -9,999.99 to 9,999.99     C7-6
(deg) - side (Note 2)
mm Actual stroke on + side
3 Soft limit - side -9,999.99 to 9,999.99     C7-8
(deg) (Note 2)

mm Actual stroke on - side

4 Soft limit - side -9,999.99 to 9,999.99     C7-8
(deg) (Note 2)

In accordance with
5 Homing direction － 0: Reverse, 1: Forward     C7-9
actuator (Note 2)
In accordance with
6 Pushing stop recognition time ms 0 to 9,999     C7-9
actuator (Note 2)
In accordance with
7 Servo gain number － 0 to 31     C7-10
actuator (Note 2)
mm/s 1~ Actuator
8 Velocity initial value     C7-10
(deg/s) Actuator maximum speed rated speed (Note 2)
Actuator rated
0.01 ~ Actuator max.
9 Acc/Dec initial value G acceleration/deceleration     C7-11
acceleration/deceleration (Note 2)

mm In accordance with
10 Positioning band initial value 0.01 to 999.99     C7-11
(deg) actuator (Note 2)
Chapter 7 Parameter

Current limit during positioning In accordance with

12 % 0 to 70  − − − C7-12
stop actuator (Note 2)
0 to 100 In accordance with  − − −
13 Current limit during homing % C7-12
0 to 300 actuator (Note 2) −   
14 Dynamic brake － 0: Disabled, 1: Enabled 1 − − −  C7-12
In accordance with
18 Home sensor polarity － 0 to 2   −  C7-13
actuator (Note 2)
In accordance with
19 Overrun sensor input polarity － 0 to 2 − − −  C7-13
actuator (Note 2)
In accordance with
20 Creep sensor input polarity － 0 to 2 − − −  C7-14
actuator (Note 2)
mm In accordance with
22 Homing offset 0.00 to 9,999.99     C7-15
(deg) actuator (Note 2)
mm Actual stroke on
23 Zone boundary 2 + side -9,999.99 to 9,999.99     C7-6
(deg) + side (Note 2)
mm Actual stroke on
24 Zone boundary 2 - side -9,999.99 to 9,999.99     C7-6
(deg) - side (Note 2)
Note 1 The unit [deg] is applicable to the DD motor, rotary actuator or lever-type gripper. It will be displayed as [mm] on the teaching
tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification,
S: 200V AC servo motor specification

C7-1 ME0384-7C
 7.1 Parameter List

Parameter list (2/5)

Compatible
Unit Default initial value motor type Relevant
No. Name Input range (Note 3)
(Note 1) setting page
P A D S
mm/s 1 ~ Actuator In accordance with
26 PIO Jog velocity     C7-16
(deg/s) maximum speed actuator (Note 2)
Excitation signal detection In accordance with
28 − 0: Reverse, 1: Forward   − − C7-16
operation initial travel direction actuator (Note 2)
1 to 999 10  − − −

Operation Section
29 Excitation signal detection time ms C7-16
50 to 999 128 −  − −
0: Conventional mode
Excitation detection type − 1: New mode 1 1  − − − C7-17
2: New mode 2
30
0: Current control
Pole sense type − 1: Distance control 1 1 −  − − C7-17
2: Distance control 2
In accordance with
31 Velocity loop proportional gain − 1 to 99,999,999     C7-18
actuator (Note 2)
In accordance with
32 Velocity loop integral gain − 1 to 99,999,999     C7-19
actuator (Note 2)
In accordance with
33 Torque filter constant − 0 to 2,500     C7-20
actuator (Note 2)
mm/s 1 ~ Actuator In accordance with
34 Push velocity     C7-20
(deg/s) Maximum push speed actuator (Note 2)
1 to 250 (Maximum speed should
mm/s
35 Safety velocity be the upper limit for actuators with 100     C7-21
(deg/s)
maximum speed less than 250)
Automatic servo OFF delay
36 s 0 to 9,999 0     C7-21
time 1
Automatic servo OFF delay
37 s 0 to 9,999 0     C7-21
time 2
Automatic servo OFF delay
38 s 0 to 9,999 0     C7-21
time 3
Positioning complete signal 0: PEND
39 − 0     C7-21

Chapter 7 Parameter
output method 1: INP
0: Sensor not in use
Home confirmation sensor In accordance with
43 − 1: a-contact   − − C7-22
input polarity actuator (Note 2)
2: b-contact
46 Velocity override % 1 to 100 100     C7-22
mm/s 1 ~ Actuator In accordance with
47 PIO Jog velocity 2     C7-23
(deg/s) maximum speed actuator (Note 2)
mm 1.00    −
48 PIO inching distance 0.01 to 1.00 C7-23
(deg/s) 0.10 − − − 
mm
49 PIO inching distance 2 0.01 to 1.00 0.10     C7-23
(deg/s)
50 Load output judgment time ms 0 to 9,999 255  − −  C7-23
0: Trapezoid pattern
52 Acc/Dec mode initial value − 1: S-motion 0     C7-24
2: First-order delay filter
0 to 3 −   
53 Stop mode initial value − 0 (not in use) C7-24
0 to 7  − − −

Note 1 The unit [deg] is applicable to the DD motor, rotary actuator or lever-type gripper. It will be displayed as [mm] on the teaching
tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification,
S: 200V AC servo motor specification

ME0384-7C C7-2
 7.1 Parameter List

Parameter list (3/5)

Compatible
Unit Default initial value motor type Relevant
No. Name Input range (Note 3)
(Note 1) setting page
P A D S
In accordance with
54 Current control width number − 0 to 15 −    C7-24
actuator (Note 2)
Position command primary
55 ms 0.0 to 100.0 0.0     C7-25
filter time constant
56 S-motion ratio setting % 0 to 100 0     C7-26
Operation Section

0   － 
71 Position feed forward gain − 0 to 100 C7-28
50 − −  −
Depending on encoder
73 Encoder voltage level − 0 to 3 − − −  C7-29
cable length
Electromagnetic brake In accordance with
75 − 0: Disabled, 1: Enabled − − −  C7-29
power supply monitoring actuator (Note 2)
Belt breaking sensor input In accordance with
76 − 0 to 2 − − −  C7-30
polarity actuator (Note 2)
mm In accordance with
77 Ball screw lead length 0.01 to 999.99     C7-30
(deg) actuator (Note 2)
0: Linear axis In accordance with
78 Axis motion type −     C7-31
1: Rotary axis actuator (Note 2)
0: Normal mode In accordance with
79 Rotary axis mode select −     C7-31
1: Index mode actuator (Note 2)
In accordance with
80 Rotary axis shortcut select − 0: Disabled, 1: Enabled     C7-32
actuator (Note 2)
83 Absolute unit − 0: Not in use, 1: Used 0 (Note 4)   − − C7-32
88 Software limit margin mm 0 to 9,999.99 0     C7-32
Allowable time of exceeding
In accordance with
89 torque allowing continuous s 0 to 300 − − −  C7-33
pressing actuator (Note 2)

Current limit value during 0: Current limit value

during stop
91 contactless − 0     C7-33
1: Current limit value
push stop during push
Chapter 7 Parameter

Damping characteristics
97 − 0 to 1,000 10 −  − 
parameters set 1
Vibration control

coefficient 1
Damping characteristics
98 − 0 to 1,000 1,000 −  − 
coefficient 2
99 Natural frequency 1/1,000Hz 500 to 30,000 10,000 −  − 
100 Notch filter gain − 1 to 20,000 9,990 −  − 
Damping characteristics
101 − 0 to 1,000 10 −  − 
parameters set 2
Vibration control

coefficient 1
Damping characteristics
102 − 0 to 1,000 1,000 −  − 
coefficient 2 C7-34
103 Natural frequency 1/1,000Hz 500 to 30,000 10,000 −  − 
104 Notch filter gain − 1 to 20,000 9,990 −  − 
Damping characteristics
105 − 0 to 1,000 10 −  − 
parameters set 3
Vibration control

coefficient 1
Damping characteristics
106 − 0 to 1,000 1,000 −  − 
coefficient 2
107 Natural frequency 1/1,000Hz 500 to 30,000 10,000 −  − 
108 Notch filter gain − 1 to 20,000 9,990 −  − 

Note 1 The unit [deg] is applicable to the DD motor, rotary actuator or lever-type gripper. It will be displayed as [mm] on the teaching
tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification,
S: 200V AC servo motor specification
Note 4 When using the simple absolute unit, change the parameter No. 83 to "1" and perform absolute reset before use.

C7-3 ME0384-7C
 7.1 Parameter List

Parameter list (4/5)

Compatible
Unit Default initial value motor type Relevant
No. Name Input range (Note 3)
(Note 1) setting page
P A D S
Vibration damping No. initial
109 − 0 to 3 0 −  −  C7-35
value
0: Sudden stop
110 Stop method during SrvOFF − 0     C7-35
1: Decelerating stop
0: Not in use

Operation Section
1: Monitor function 1
112 Monitoring mode select − 1     C7-36
2: Monitor function 2
3: Monitor function 3
1 to 60,000    −
113 Monitoring cycle ms 1 C7-36
1 to 1,000 − − − 
In accordance with
120 Servo gain number 1 − 0 to 31 −  − 
actuator (Note 2)
121 Position feed forward gain 1 − 0 to 100 0 −  − 
1 to 27,661 In accordance with −  − −
122 Velocity loop proportional gain 1 −
1 to 99,999,999 actuator (Note 2) − − − 
1 to 217,270 In accordance with −  − −
123 Velocity loop integral gain 1 −
1 to 99,999,999 actuator (Note 2) − − − 
In accordance with
124 Torque filter constant 1 − 0 to 2,500 −  − 
actuator (Note 2)
In accordance with
125 Current control width number 1 − 0 to 15 −  − 
actuator (Note 2)
In accordance with
126 Servo gain number 2 − 0 to 31 −  − 
actuator (Note 2)
127 Position feed forward gain 2 − 0 to 100 0 −  − 
1 to 27,661 In accordance with −  − −
128 Velocity loop proportional gain 2 −
1 to 99,999,999 actuator (Note 2) − − − 
C7-37

Chapter 7 Parameter
1 to 217,270 In accordance with −  − −
129 Velocity loop integral gain 2 −
1 to 99,999,999 actuator (Note 2) − − − 
In accordance with
130 Torque filter constant 2 − 0 to 2,500 −  − 
actuator (Note 2)
In accordance with
131 Current control width number 2 − 0 to 15 −  − 
actuator (Note 2)
In accordance with
132 Servo gain number 3 − 0 to 31 −  − 
actuator (Note 2)
133 Position feed forward gain 3 − 0 to 100 0 −  − 
1 to 27,661 In accordance with −  − −
134 Velocity loop proportional gain 3 −
1 to 99,999,999 actuator (Note 2) − − − 
1 to 217,270 In accordance with −  − −
135 Velocity loop integral gain 3 −
1 to 99,999,999 actuator (Note 2) − − − 
In accordance with
136 Torque filter constant 3 − 0 to 2,500 −  − 
actuator (Note 2)
In accordance with
137 Current control width number 3 − 0 to 15 −  − 
actuator (Note 2)
Note 1 The unit [deg] is applicable to the DD motor, rotary actuator or lever-type gripper. It will be displayed as [mm] on the teaching
tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification,
S: 200V AC servo motor specification

ME0384-7C C7-4
 7.1 Parameter List

Parameter list (5/5)

Compatible
Unit Default initial value motor type Relevant
No. Name Input range (Note 3)
(Note 1) setting page
P A D S
Servo gain switch time
138 ms 10 to 2,000 10 −  −  C7-38
constant
In accordance with
139 Home preset value mm -9,999.99 to 9,999.99 −  −  C7-39
actuator (Note 2)
143 Overload load level ratio % 50 to 100 100     C7-40
Operation Section

144 GS magnification upper limit % 0 to 1,023 0 (Disabled)  − − − C7-41

GS velocity loop proportional In accordance with
145 − 1 to 99,999,999  − − − C7-41
gain actuator (Note 2)
In accordance with
146 GS velocity loop integral gain − 1 to 99,999,999  − − − C7-42
actuator (Note 2)
147 Total travel count threshold times 0 to 999,999,999 0 (Disabled)     C7-42
148 Total travel distance threshold m 0 to 999,999,999 0 (Disabled)     C7-42
Linear absolute home preset In accordance with
150 mm -9,999.99 to 999,999,999 − − −  C7-43
value actuator (Note 2)
0: Output during overload
Minor trouble alarm output warning
151 − 1    − C7-44
select 1: Message level Alarm
output
In accordance with
152 High output setting − 0: Disabled, 1: Enabled  − − − C7-44
actuator (Note 2)
BU velocity loop proportional In accordance with
153 − 1 to 99999999  − − − C7-44
gain actuator (Note 2)
In accordance with
154 BU velocity loop integral gain − 1 to 99999999  − − − C7-45
actuator (Note 2)
0: 20 days
Absolute battery retention 1: 15 days
155 − 0   − − C7-46
time 2: 10 days
3: 5 days
158 Enabled/disabled axis select − 0: Enabled, 1: Disabled 0    − C7-46
Chapter 7 Parameter

Startup current limit

166 − 0: Disabled, 1: Enabled 0  − − − C7-47
expansion function
168 Collision detection function − 0 to 7 0  − − − C7-48
0: CON mode
181 Push mode − 0    − C7-49
1: SEP mode
182 Auto current adj. select − 0: Disabled, 1: Enabled 0  − − − C7-50
Servo ON delay time
190 ms 0 to 9,999 0  − − − C7-50
adjustment
0: Not displayed
Position data
191 − 1: Drive torque limit 0     C7-50
expansion function setting
2: Push speed
194 JOG switch − 0: Enabled, 1: Disabled 0     C7-51
195 Virtual axis mm 0 to 1 0     C7-52
Virtual axis absolute initial
196 mm -9,999.99 to 9,999.99 0   −  C7-52
position
Note 1 The unit [deg] is applicable to the DD motor, rotary actuator or lever-type gripper. It will be displayed as [mm] on the teaching
tool.
Note 2 The setting values vary in accordance with the specification of the actuator. At shipping, the parameters are set in
accordance with the specification.
Note 3 P: Stepper motor specification, A: AC servo motor specification, D: DC brush-less motor specification,
S: 200V AC servo motor specification

C7-5 ME0384-7C
 7.2 Parameter Details

7.2 Parameter Details

Caution
 Overwriting of the parameters should be conducted through the gateway unit. Writing
directly to the driver unit is not available.

Operation Section
 After changing (writing) parameters, perform a software reset or power reboot so that
the set values can be reflected.
 The unit [deg] is applicable to the rotary actuator or lever-type gripper. Note that it will
be displayed as [mm] on the teaching tool.

[Zone Boundary 1 + Side, Zone Boundary 1 - Side (Parameter No. 1, No. 2)]
[Zone Boundary 2 + Side, Zone Boundary 2 - Side (Parameter No. 23, No. 24)]
Default initial value
No. Name Unit Input range
setting
mm
1 Zone boundary 1 + side -9,999.99 to 9,999.99 Actual stroke on + side
(deg)
mm
2 Zone boundary 1 - side -9,999.99 to 9,999.99 Actual stroke on - side
(deg)
mm
23 Zone boundary 2 + side -9,999.99 to 9,999.99 Actual stroke on + side
(deg)

Chapter 7 Parameter
mm
24 Zone boundary 2 - side -9,999.99 to 9,999.99 Actual stroke on - side
(deg)

Set the range to turn zone signals (ZONE1, ZONE2) ON.

The minimum setting unit is 0.01 mm (deg).
If the same value is set for zone boundary + side and zone boundary - side, a zone signal will
not be output.
Setting examples are shown below.

ME0384-7C C7-6
 7.2 Parameter Details

[For linear axis]

0 mm 30 mm 70 mm 100 mm
Present position

Set value
Zone signal Zone boundary + side: 70 mm
ON Zone boundary - side: 30 mm
Operation Section

Set value
Zone signal ON ON Zone boundary + side: 30 mm
Zone boundary - side: 70 mm

[For rotary actuator in index mode]

0 deg Zone signal ON range 0 deg

315 deg 315 deg

70 deg 70 deg

Set value Set value

Chapter 7 Parameter

Zone setting + side : 70 deg Zone setting + side : 315 deg

Zone setting – side : 315 deg Zone setting – side : 70 deg

Caution
 Unless the zone signal detection range is set at a value above minimum resolution,
a signal will not be output.
 The minimum resolution can be calculated with the equation below.
Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r]

C7-7 ME0384-7C
 7.2 Parameter Details

[Soft Limit + Side, Soft Limit - Side (Parameter No. 3, No. 4)]

No. Name Unit Input range Default initial value setting

mm
3 Soft limit + side -9,999.99 to 9,999.99 Actual stroke on + side
(deg)
mm
4 Soft limit - side -9,999.99 to 9,999.99 Actual stroke on - side
(deg)

Operation Section
0.3 mm (deg) is added to the outside of the effective actuator stroke for the default setting. Change
as required to prevent collision when there are obstacles, or when used slightly above effective
stroke within the movable range.
The minimum setting unit is 0.01 mm.

Caution
 At this time, take extra care not to set incorrect values as this will lead to a collision
with the mechanical end.
 If changing, set a value extended by 0.3 mm to the outside of the effective stroke.

Example) To set the effective stroke between 0.0 mm and 80.0 mm

Parameter No.3 (+ side) 80.3
Parameter No.4 (- side) -0.3

Software limit to set for the parameter

Chapter 7 Parameter
Approx. 0.3 mm Approx. 0.3 mm
Effective stroke

0.0 80.0

0.2 mm Jog/inching movable range after home return 0.2 mm

The movable range of jog or inching after home return will be 0.2 mm inside the set value.
Alarm 0D9 "Software limit over error" occurs when the set value exceeds the value set in
parameter No. 88 "Soft limit margin" (default setting = 0). If parameter No. 88 is not set, the
value set for this parameter will become a detection value of the alarm 09D "Software limit over
error".

ME0384-7C C7-8
 7.2 Parameter Details

[Homing Direction (Parameter No.5)]

No. Name Unit Input range Default initial value setting

0: Reverse,
5 Homing direction － In accordance with actuator
1: Forward

Unless indicated as home reverse specification (option), the direction of home return for the linear
axis is on the motor side, the rotary axis is on the counterclockwise side, and the gripper is on the
Operation Section

outside (open side).

For details, refer to [Actuator Coordinate System (Intro-20)].

Caution
 Homing direction cannot be changed with some models.
 If it becomes necessary to reverse the homing direction after assembly to equipment,
check the model of the applicable actuator to ensure that the homing direction is
changeable.
 For models with which change is not possible, the actuator must be replaced.
Contact IAI if anything is unclear.

[Pushing Stop Recognition Time (Parameter No. 6)]

No. Name Unit Input range Default initial value setting

Pushing stop recognition

6 ms 0 to 9,999 In accordance with actuator
time
Chapter 7 Parameter

A parameter to set completion judgment time of push-motion operation.

The torque (current limit value) set in % in "Pushing" in the position table is monitored, and the
pushing complete signal PEND turns ON when the load current reaches the following conditions
during push-motion operation. PEND signal turns ON when the conditions are satisfied even if
the workpiece is not stopped.
(Accumulated time in which current has reached push value [%]) - (accumulated time in which current is less than push value [%])
≥ 255ms (Parameter No.6)

Contacting Decrease in current

Current workpiece due to workpiece travel

Push [%]

Time
200ms 20ms 75ms
Approach operation end 295ms
Operation start Push start
200ms - 20ms + 75ms ≥ 255ms (Note 1)
Note 1 : The default is set to 70ms for some models of the gripper type. Push complete (PEND output)

C7-9 ME0384-7C
 7.2 Parameter Details

[Servo Gain Number (Parameter No. 7)]

No. Name Unit Input range Default initial value setting

7 Servo gain number − 0 to 31 In accordance with actuator

Called position loop gain, position control system proportional gain, etc., this is the parameter
that sets the response of the position control loop. The increased set value improves tracking

Operation Section
of position command. If it is too high, overshoot may occur.
If the setting value is low, tracking performance with respect to the position command becomes
worse, and positioning takes time.
In systems with low mechanical rigidity and systems with low natural frequency, mechanical
resonance occurs when the setting value is increased, and this may cause not only vibration
and noise, but also overload malfunctions.

Speed
When the setting value is high (overshoot)

When the setting

value is low

Time

Chapter 7 Parameter
[Velocity Initial Value (Parameter No. 8)]

No. Name Unit Input range Default initial value setting

mm/s 1 ~ Actuator maximum

8 Velocity initial value Actuator rated speed
(deg/s) speed

The actuator rated speed is set at shipment.

This value will be written automatically in the speed field of the applicable position No. when
target position is written in an unregistered position table. Enter frequently used values for
convenience.

ME0384-7C C7-10
 7.2 Parameter Details

[Acc/Dec Initial Value (Parameter No. 9)]

No. Name Unit Input range Default initial value setting

0.01 ~ Actuator max. Actuator rated

9 Acc/Dec initial value G
acceleration/deceleration acceleration/deceleration

The actuator rated acceleration/deceleration is set at shipment.

This setting value should be automatically written to the acceleration/deceleration in the
Operation Section

applicable position numbers when the target position gets written to the unregistered position
table. This setting also gets reflected to the jog/inching operations with a teaching tool.
Enter frequently used values for convenience.

[Positioning Band (In-Position) Initial Value (Parameter No. 10)]

No. Name Unit Input range Default initial value setting

Positioning band initial mm

10 0.01 (Note 1) ~ 999.99 In accordance with actuator
value (deg)

This value will be written automatically in the positioning width field of the applicable position
No. when target position is written in an unregistered position table. Enter frequently used
values for convenience.

Caution
For the initial positioning band width, set a value of or higher than the minimum positioning
Chapter 7 Parameter

band width.

The minimum resolution can be calculated with the equation below.

Minimum resolution [mm/pulse] = Actuator lead [mm/r] / Encoder resolution [pulse/r]
For RCP2/3/4/5 Series, a value 3 times the minimum resolution will be the minimum positioning
width.

Note 1 For RCP4 and RCP5 Series actuators, the minimum setting should be the value for the
minimum positioning band width.

C7-11 ME0384-7C
 7.2 Parameter Details

Stepper motor specification only

[Current Limit During Positioning Stop (Parameter No. 12)]

No. Name Unit Input range Default initial value setting

Current limit during

12 % 0 to 70 In accordance with actuator
positioning stop

By increasing the value, torque retention during stop will be increased.

There is normally no need to make changes. If significant external force is applied during the

Operation Section
stop, it is necessary to increase the set value. Contact IAI.

[Current Limit During Homing (Parameter No. 13)]

No. Name Unit Input range Default initial value setting Specifications
Stepper motor
0 to 100
Current limit specification
13 % In accordance with actuator
during homing AC servo motor specification
0 to 300
DC brush-less motor specification

A current value suited to the actuator standard specifications is set at shipment.

By increasing the value, home return torque will be increased.
There is normally no need to make changes. During vertical use, if home return motion
completes before the normal position due to the fixing method or load bearing conditions, it is
necessary to increase the set value. Contact IAI.

Chapter 7 Parameter
200V AC servo motor specification only
[Dynamic brake (Parameter No. 14)]

No. Name Unit Input range Default initial value setting

14 Dynamic brake – 0 : Disabled, 1 : Enabled 1

This parameter defines whether the dynamic brake is enabled or disabled while the actuator is
at standstill.
Normally it need not be changed.

ME0384-7C C7-12
 7.2 Parameter Details

AC servo motor specification and

stepper motor specification only
[Home Sensor Polarity (Parameter No. 18)]

No. Name Unit Input range Default initial value setting

18 Home sensor polarity − 0 to 2 In accordance with actuator

A parameter to select input polarity of the home sensor.

Home sensor is optional.
Operation Section

Set value Content

Standard specification
0
(home sensor not in use)
1 Input is a-contact

2 Input is b-contact

200V AC servo motor specification only

[Overrun sensor input polarity (Parameter No. 19)]

No. Name Unit Input range Default initial value setting

Overrun sensor input
19 − 0 to 2 In accordance with actuator
polarity

This parameter is set properly prior to the shipment according to the specification of the actuator.

Set value Content

Chapter 7 Parameter

0 Standard specification without sensor

1 Over travel detection sensor input is a contact

2 Over travel detection sensor input is b contact

C7-13 ME0384-7C
 7.2 Parameter Details

200V AC servo motor specification only

[Creep sensor input polarity (Parameter No. 20)]

No. Name Unit Input range Default initial value setting

20 Creep sensor input polarity − 0 to 2 In accordance with actuator

Even though the movement speed for most of the actuators at the home return is 20 mm/s,
there are some actuators with other settings. Refer to the instruction manual of each actuator.

Operation Section
Even though the actuator with long stroke requires time to home-return if the power is shut at a
point far from the home position, the required time can be improved with using the creep sensor.
The actuator moves at the creep speed (100 mm/s or less) until a creep sensor signal is
detected, upon which the actuator will decelerate to the home return speed.
Creep sensor is an option for the line axis type.
This parameter is set properly prior to the shipment according to the specification of the
actuator.

Set value Content

0 Not to use

Chapter 7 Parameter
1 Input is a contact

2 Input is b contact

ME0384-7C C7-14
 7.2 Parameter Details

[Homing offset (Parameter No. 22)]

No. Name Unit Input range Default initial value setting

mm
22 Homing offset 0.00 to 9,999.99 In accordance with actuator
(deg)

Sets the distance from the mechanical end to the home position.
Home is adjustable in the following cases.
Operation Section

 To match the actuator home position and the mechanical home position after assembly into
equipment.
 To set a new home position after reversing the default home direction.
 To eliminate a slight deviation from the previous home position generated after replacing the
actuator.

Adjustment process
(1) Perform home return motion.
(2) Check amount of deviation.
(3) Change the parameter.
(4) After setting, repeat home return motion several times to confirm that the actuator always
returns to the same home position.

Caution
 If the homing offset has been changed, the software limit parameter also needs to be
reviewed.
Chapter 7 Parameter

If the value must be set above the default setting, contact IAI.
 For the absolute specification, if a value close to an integral multiplication of the lead
length (including homing offset 0) is set for the homing offset, servo lock status may
ensue in the Z-phase during the absolute reset, and coordinates may deviate by the
lead length.
 For absolute specification, never set a value close to an integral multiplication of the
lead length. Secure sufficient margin.

[Zone Boundary 2 + Side, Zone Boundary 2 - Side (Parameter No. 23, No. 24)]
Refer to [page C7-6 (Parameter No. 23, No. 24)] for more information.

C7-15 ME0384-7C
 7.2 Parameter Details

[PIO Jog Velocity (Parameter No. 26)]

No. Name Unit Input range Default initial value setting

mm/s 1 ~ Actuator
26 PIO Jog velocity In accordance with actuator
(deg/s) maximum speed

A setting for jog operation speed when jog speed/inching switch signal JVEL is OFF.

Operation Section
Set an ideal value to suit the application.

24V AC servo motor specification and

stepper motor specification only

[Excitation Signal Detection Operation Travel Direction (Parameter No. 28)]

No. Name Unit Input range Default initial value setting

Excitation signal detection 0: Reverse

28 − In accordance with actuator
operation travel direction 1: Forward

After turning the power ON, the first servo ON detects excitation. Operation direction during
detection is set.
There is normally no need to make changes. Set in a direction which makes movement of the
motor easy if the mechanical end or an obstacle is contacted when power is turned ON.
If the direction without contact is the same as the home return direction, set the same value as
Parameter No. 5 "Home Return Direction." If the direction is opposite, set the value opposite to
that of Parameter No. 5 (1 if No. 5 is 0, 0 if No. 5 is 1).
For simple absolute specification and RCP5 Series, it detects excitation upon home return

Chapter 7 Parameter
motion complete.

24V AC servo motor specification and

stepper motor specification only
[Excitation Signal Detection Time (Parameter No. 29)]

No. Name Unit Input range Default initial value setting Specifications

1 to 999 10 Stepper motor specification

Excitation signal
29 ms
detection time 24V AC servo motor
50 to 999 128
specification

After turning the power ON, the first servo ON detects excitation. Set this detection time.
There is normally no need to make changes. Adjustment of this parameter can be effective at
times when an excitation detection error or abnormal operation has occurred.
Contact IAI when changing this parameter.
For simple absolute specification and RCP5 Series, it detects excitation upon home return
motion complete.

ME0384-7C C7-16
 7.2 Parameter Details

Stepper motor specification only

[Excitation Detection Type (Parameter No. 30)]

No. Name Unit Input range Default initial value setting

0: Conventional mode
1: New mode 1
30 Excitation detection type − (For vertical mount) 1
2: New mode 2
(For horizontal mount)
Operation Section

After turning the power ON, the first servo ON detects excitation. The new mode makes this
operation smooth and quiet.
If the actuator is mounted vertically, setting new mode 2 (for horizontal mount) may cause the
slider or rod to fall during excitation detection operation. Be sure to mount in the designated
direction. If the slider moves when setting to New System 2 even in the horizontal orientation,
set it to New System 1.
For simple absolute specification and RCP5 Series, it detects excitation upon home return
motion complete.

24V AC servo motor specification only

[Pole Sense Type (Parameter No. 30)]

No. Name Unit Input range Default initial value setting

0: Current control
30 Pole sense type − 1: Distance control 1 1
2: Distance control 2
Chapter 7 Parameter

After turning the power ON, the first servo ON detects polarity. The operation method is set at
this time.
There is normally no need to make changes.

C7-17 ME0384-7C
 7.2 Parameter Details

[Velocity Loop Proportional Gain (Parameter No. 31)]

No. Name Unit Input range Default initial value setting

Velocity loop proportional

31 − 1 to 99,999,999 In accordance with actuator
gain

This parameter determines the response of the velocity loop. The increased set value improves
tracking of speed command. The higher the setting value, the greater the load inertia becomes.

Operation Section
If it is too high, overshoot and oscillation, as well as vibration in the mechanical system may
occur.

Speed
When the setting value is high (overshoot)

When the setting

value is low

Time

For the conditions for using this item in the stepper motor specification, refer to [Selection and
use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain] at the bottom of the

Chapter 7 Parameter
following page.

ME0384-7C C7-18
 7.2 Parameter Details

[Velocity Loop Integral Gain (Parameter No. 32)]

No. Name Unit Input range Default initial value setting

32 Velocity loop integral gain − 1 to 99,999,999 In accordance with actuator

Machines have friction. "Velocity Loop Integral Gain" is the parameter which corresponds to
deviation caused by external factors, such as friction. The increased set value improves the
Operation Section

repulsive force against load fluctuation.

If it is too high, overshoot and oscillation, as well as vibration in the mechanical system may
occur.
Adjust appropriately while observing the response.

Speed
When the setting value is high (overshoot)

When the setting

value is low

Time

For the conditions for using this item in the stepper motor specification, refer to [Selection and
use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain] below.
Chapter 7 Parameter

[Selection and use of Velocity Loop Proportional Gain and Velocity Loop Integral Gain]
Each of the 3 parameters - No. 31, 145, and 153 for Velocity Loop Proportional Gain and
Parameters No. 32, 146, and 154 for Velocity Loop Integral Gain - of the stepper motor
specification can be set, but only 1 of them will be enabled at the time of operation.
The conditions for selecting which parameter No. setting value is enabled are shown below.

Enabled Parameter No.

High Output Setting (Parameter No.152)

0 (Disabled) 1 (Enabled)
~ 100 Parameters Parameters
Gain (Disabled) No.31, 32 No.153, 154
scheduling
(Parameter No.144) 101 ~ Parameters Parameters
(Enabled) No.145, 146 No.145, 146

C7-19 ME0384-7C
 7.2 Parameter Details

[Torque Filter Constant (Parameter No. 33)]

No. Name Unit Input range Default initial value setting

33 Torque filter constant − 0 to 2,500 In accordance with actuator

This parameter sets the filter time constant for the torque command. This parameter may
prevent resonance if vibration or noise is generated during operation due to mechanical

Operation Section
resonance. It is effective for torsional resonance of the ball screw (several hundred Hz).

[Push Velocity (Parameter No. 34)]

No. Name Unit Input range Default initial value setting

mm/s 1 ~ Actuator maximum

34 Push velocity In accordance with actuator
(deg/s) push speed

A parameter to set speed during push-motion operation.

The setting at shipment is according to the actuator specifications. For details, refer to
[Appendix Chapter 2 Connectable Actuators].
Contact IAI if the setting needs to be changed. The designated push force may not be attainable
if the speed is changed. Also, when setting slower speeds, the limit should be 5 mm/s.
Speed

Positioning speed

Push speed

Chapter 7 Parameter
Workpiece

Positioning

Caution
 If positioning speed of the position table is set below this parameter, the push speed
will be the same as the positioning speed.
 Note that if the push speed is set in the position table in parameter No. 191 "Position
data expansion function setting", that set value becomes enabled.

ME0384-7C C7-20
 7.2 Parameter Details

[Safety Velocity (Parameter No. 35)]

No. Name Unit Input range Default initial value setting

1 to 250
(Maximum speed should
mm/s be the upper limit for
35 Safety velocity 100
(deg/s) actuators with
maximum speed less
than 250)
Operation Section

A parameter to set the maximum speed for manual operation under safety speed selection on
the teaching tool. For your safety, do not attempt to set unless it is necessary.

[Automatic Servo OFF Delay Time 1, 2 and 3 (Parameter No. 36, No. 37 & No. 38)]

No. Name Unit Input range Default initial value setting

Automatic servo OFF
36 s 0 to 9,999 0
delay time 1
Automatic servo OFF
37 s 0 to 9,999 0
delay time 2
Automatic servo OFF
38 s 0 to 9,999 0
delay time 3

Set the duration from the time after positioning complete until automatic servo OFF when using
the power-saving function.
For details, refer to [Operation Section Chapter 5, 5.3 Power-saving Function (page C5-11)].
Chapter 7 Parameter

[Positioning Complete Signal Output Method (Parameter No. 39)]

No. Name Unit Input range Default initial value setting

Positioning complete signal 0: PEND

39 − 0
output method 1: INP

A parameter to select the positioning complete signal type.

Output status after positioning complete varies according to whether the servo is ON or OFF.

Signal
Set value During servo ON (during positioning complete)) During servo OFF
identification
Will not turn OFF even if present position is
0 PEND Unconditional OFF
outside the range of positioning width
Will turn ON if present position is within the range of positioning width
1 INP
and OFF outside the range.

Output format will be the same for the complete position No. output PM1 to PM **.

C7-21 ME0384-7C
 7.2 Parameter Details

24V AC servo motor specification

and stepper motor specification only
[Home Confirmation Sensor Input Polarity (Parameter No. 43)]

No. Name Unit Input range Default initial value setting

0: Sensor not in use

Home confirmation sensor
43 − 1: a-contact In accordance with actuator
input polarity
2: b-contact

Operation Section
Sets input signal polarity of the home confirmation sensor (optional).
The home confirmation sensor is mounted on the mechanical end. If inverted before reaching
the mechanical end due to interference, etc. it will be recognized as a positioning diversion and
alarm 0BA "Home Sensor Undetected" will be output.
There is normally no need to make changes.

Set value Content

0 Home confirmation sensor not in use

1 Sensor polarity is a-contact

2 Sensor polarity is b-contact

[Velocity Override (Parameter No. 46)]

No. Name Unit Input range Default initial value setting

46 Velocity override % 1 to 100 100

Chapter 7 Parameter
When executing travel commands from the PLC side, override can be applied against the travel
speed set in the "Speed" field in the position table. Minimum setting unit is 1%, and input range
is 1 to 100%.
Invalid against travel commands from a teaching tool such as PC software.
Actual travel speed = [speed set in position table]  [set value of Parameter No. 46]

Example) If the value in the "Speed" column of the position table is 500 mm/s and parameter
No. 46 is 20%, the actual travel speed will be 100 mm/s.

ME0384-7C C7-22
 7.2 Parameter Details

[PIO Jog Velocity 2 (Parameter No. 47)]

No. Name Unit Input range Default initial value setting

mm/s 1 ~ Actuator maximum

47 PIO Jog velocity 2 In accordance with actuator
(deg/s) speed

A setting for jog operation speed when jog speed/inching switch signal JVEL is ON.
Set an ideal value to suit the application.
Operation Section

Note that for direct numerical control mode, it operates only at this parameter value if JVEL
signal is ON and speed setting value = 0.
(Operates at speed setting value if the JVEL signal is ON and speed set value ≠ 0.)

[PIO Inching Distance and PIO Inching Distance 2 (Parameter No. 48 & No. 49)]
Default initial
No. Name Unit Input range Specification
value setting
Stepper motor specification
24V AC servo motor specification
1.00
DC brush-less motor
48 PIO inching distance mm 0.01 to 1.00 specification
200V AC servo motor
0.10
specification
49 PIO inching distance 2 mm 0.01 to 1.00 0.10

Sets inching distance against inching input command from PLC.

Chapter 7 Parameter

Parameter No. 49 is for inching distance when JOG speed/inching distance switch signal JVEL
is ON.
Setting over 1 mm is not possible.

200V AC servo motor specification and

stepper motor specification only
[Load Output Judgment Time (Parameter No. 50)]

No. Name Unit Input range Default initial value setting

50 Load output judgment time ms 0 to 9,999 255

Sets the time required to judge the load output judgment status (LOAD) ON.
For details, refer to [Operation Section Chapter 4, 4.2 (7) Pressing operation commanded
torque level detection (page C4-15)], [Operation Section Chapter 5, 5.2 Collision Detection
Function (page C5-8)].

C7-23 ME0384-7C
 7.2 Parameter Details

[Acc/Dec Mode Initial Value (Parameter No. 52)]

No. Name Unit Input range Default initial value setting

0: Trapezoid pattern
52 Acc/Dec mode initial value − 1: S-motion 0
2: First-order delay filter

This value will be set automatically as "Acc/Dec mode" of the applicable position No. when the

Operation Section
target position is written in an unregistered position table.
For the acceleration/deceleration mode, refer to [Operation Section Chapter 1, 1.3 Position
Table (page C1-5)].

[Stop Mode Initial Value (Parameter No. 53)]

No. Name Unit Input range Default initial value setting

0 to 3 (Except for stepper

motor specification) 0
53 Stop mode initial value −
0 to 7 (Stepper motor (Not in use)
specification)

A parameter to set the power-saving function (AUTO Servo OFF and Full Servo Function).
For details on functions and use, refer to [Operation Section Chapter 5, 5.3 Power-saving
Function (page C5-11)].

AC Servo Motor Specification and

Chapter 7 Parameter
DC brush-less motor specification only
[Current Control Width Number (Parameter No. 54)]

No. Name Unit Input range Default initial value setting

Current control width

54 − 0 to 15 In accordance with actuator
number

This parameter is a manufacturer adjustment parameter that determines the responsiveness of

the current loop control. Therefore, it must not be changed. The stability of the control system
may be impaired, which is extremely dangerous.

ME0384-7C C7-24
 7.2 Parameter Details

[Position Command Primary Filter Time Constant (Parameter No. 55)]

No. Name Unit Input range Default initial value setting

Position command primary

55 ms 0.0 to 100.0 0.0
filter time constant

Used when the value of "Acc/Dec mode" field in the position table is set to 2 "First-order delay
filter".
Operation Section

This draws a more gentle acceleration/deceleration curve compared to trapezoidal patterns.

The shock at acceleration/deceleration is relieved, but the cycle time becomes longer.
Use for applications where minor vibrations to the workpiece during acceleration/deceleration
are to be avoided.

Speed

Time

The amount of first-order delay is set by parameter No. 55 "Position command primary filter time
constant". The setting unit is [ms] and can be set from 0.0 to 100.0 in 0.1 ms increments.
However, this is not reflected for jogging/inching operations via a PC or teaching pendant.

Caution
Chapter 7 Parameter

 In the following cases the first-order delay filter becomes disabled.

(1) When a position command or direct numerical value command with the first-order
delay filter is set during actuator operation.
(2) When using a rotary actuator in index mode.
(3) When parameter No. 55 is set to 0.

C7-25 ME0384-7C
 7.2 Parameter Details

[S-Motion Ratio Setting (Parameter No. 56)]

No. Name Unit Input range Default initial value setting

56 S-motion ratio setting % 0 to 100 0

Used when the value of "Acc/Dec mode" field in the position table is set to 1 (S-motion ratio
setting).

Operation Section
This softens the shocks of acceleration/deceleration without extending the cycle time.

Speed

Time
0

Acceleration
time

S-motion is the sinusoidal waveform of a single cycle of acceleration time.

This parameter specifies degree of amplitude.

Setting [%] Degree of amplitude

No S-motion
0
(dotted line in the image diagram)

Chapter 7 Parameter
Amplitude of sinusoidal wave × 0.1
10
(solid line in the image diagram)
Amplitude of sinusoidal wave × 0.5
50
(single-dot chain line in the image diagram)
Amplitude of sinusoidal wave × 1
100
(double-dot chain line in the image diagram)

Speed

0 Time
Within 2 seconds

ME0384-7C C7-26
 7.2 Parameter Details

Caution
 Be sure to execute the command while the actuator is stopped.
 Because it changes speed, etc. during travel, even if executing position command or
direct numerical value command with S-motion setting while the actuator is under
operation, the control will be trapezoid instead of S-motion.
 For rotary actuator in the index mode, S-motion control is disabled. Even if S-motion
Operation Section

control is specified, the control will be trapezoid.

 Do not use S-motion control if the setting of the acceleration time or the deceleration
time exceeds 2 seconds. The control will be trapezoid.
 Avoid pauses during acceleration or deceleration operation. Speed changes
(acceleration) will occur, which may be dangerous.
Chapter 7 Parameter

C7-27 ME0384-7C
 7.2 Parameter Details

[Positional Feedforward Gain (Parameter No. 71)]

No. Name Unit Input range Default initial value setting Specifications

AC servo motor specification

0
Positional feed Stepper motor specification
71 − 0 to 100
forward gain
50 DC brush-less motor specification

Operation Section
Sets the feed forward gain amount of the position control system.
For the trapezoidal operation pattern, the value obtained by multiplying speed command by
"feed forward gain" is added to the speed command so as to reduce the following delay of the
speed and the position deviation.

Performing this setting increases the servo gain and improves responsiveness of the position
control loop. Properly adjust Parameter No. 7 "Servo Gain Number" and Parameter No. 31
"Velocity Loop Proportional Gain", etc., to further improve the tact time and following
performance. As a result, positioning time can be shortened.

Gain adjustment of position, speed, and current loop in the feedback control directly changes
the response of the servo control system, so affecting the stability of the control system due to
inappropriate setting may cause vibration and abnormal noise. However, this parameter only
changes the speed command value, so it is irrelevant to the servo loop, and it does not make
the control system unstable or generate persistent vibration and noise. However, if the setting is
excessive, every time it operates, vibration and noise may be generated until the machine
follows the command value.

Chapter 7 Parameter
Speed
Speed command value (trapezoid pattern)

Actual speed

Time

Caution
 Vibration damping control function cannot be used when using feed forward gain
(setting other than 0).

ME0384-7C C7-28
 7.2 Parameter Details

200V AC servo motor specification only

[Encoder voltage level (Parameter No. 73)]

No. Name Unit Input range Default initial value setting

Depending on encoder
73 Encoder voltage level − 0 to 3
cable length

To stabilize encoder detection signals, this parameter defines the voltage supplied to the
encoder circuit to one of four levels in accordance with the encoder type and the length of the
Operation Section

encoder relay cable.

Normally this parameter need not be changed. If you have changed the length of the encoder
relay cable after the shipment, the value of the parameter may be changed.
If you wish to change this parameter, always consult us in advance. If the setting is not
optimum, it may cause an operation error of the actuator or malfunction of the encoder.

200V AC servo motor specification only

[Electromagnetic Brake Power Supply Monitoring (Parameter No. 75)]

No. Name Unit Input range Default initial value setting

Electromagnetic brake 0: Disabled (Without brake)
75 − In accordance with actuator
power supply monitoring 1: Enabled (With brake)

For an actuator equipped with a brake, it is equipped with a power supply monitoring feature in
order to protect in advance from an error operation of the actuator or component malfunction
due to voltage error of the 24V power supply for brake.
As the setting is established in accordance with equipped or not equipped with a brake, it is
Chapter 7 Parameter

generally no need of making a change.

Caution
 Set the brake unactivated and the brake control would not be performed.

C7-29 ME0384-7C
 7.2 Parameter Details

200V AC servo motor specification only

[Belt breaking sensor input polarity (Parameter No. 76)]

No. Name Unit Input range Default initial value setting

Belt breaking sensor input
76 − 0 to 2 In accordance with actuator
polarity

Set the sensor input polarity for alarm 0D7 "Belt Break Detection" for ultra-high thrust type
RCS2-RA13R.

Operation Section
Set value Content

0 not used

1 Input is a contact

2 Input is b contact

Caution
 Changing the setting of this parameter disables the alarm to be detected.

[Lead Size of Ball Screw (Parameter No. 77)]

No. Name Unit Input range Default initial value setting

Chapter 7 Parameter
77 Ball screw lead length mm 0.01 to 999.99 In accordance with actuator

Sets ball screw lead length.

A value suited to the actuator characteristics is set at shipment.

Caution
 Changing the setting will not only make operation at the instructed speed,
acceleration/deceleration or travel distance impossible but also cause an alarm or
malfunction to occur.

ME0384-7C C7-30
 7.2 Parameter Details

[Axis Motion Type (Parameter No. 78)]

No. Name Unit Input range Default initial value setting

0: Linear axis
78 Axis motion type − In accordance with actuator
1: Rotary axis

Sets the type of actuator to use.

Operation Section

Connecting actuator Set value Remarks

Linear axis 0 Actuator other than rotary type

Rotary axis 1 Rotary type actuator

Caution
 Do not attempt to change the setting. This may lead to alarms or malfunctions.

[Rotary Axis Mode Select (Parameter No. 79)]

No. Name Unit Input range Default initial value setting

0: Normal mode
79 Rotary axis mode select − In accordance with actuator
1: Index mode

Sets rotary axis mode.

Chapter 7 Parameter

When parameter No. 78 "Axis Motion Type" is set to "1: Rotary axis," the present value
expression will be fixed to 0 ~ 359.99 by selecting index mode. Selection of the index mode will
enable shortcut control.

Index mode cannot be specified with an absolute specification actuator.

Caution
 Push-motion operation is not available during index mode. Even if data is input for the
push-motion of position data, it will become invalid and normal travel will be executed.
Also, the positioning width will be the parameter positioning width initial value.
 When changing the index mode setting to normal mode, the software limit value should
also be changed. If the software limit value is set to 0, a parameter data error will occur.
Value extended by 0.3 mm to the outside of the effective stroke should be set.
 In DD motor, switchover between the normal mode and the index mode cannot be
made in this parameter. Do not attempt to change the settings.

C7-31 ME0384-7C
 7.2 Parameter Details

[Rotary Axis Shortcut Select (Parameter No. 80)]

No. Name Unit Input range Default initial value setting

80 Rotary axis shortcut select − 0: Disabled, 1: Enabled In accordance with actuator

Sets whether to enable or disable shortcut when positioning other than relative position travel
with multi-rotation specification rotary actuator.

Operation Section
Shortcut refers to performing an operation in a direction that requires less travel towards the
next positioning.
For details, refer to [Operation Section Chapter 4, 4.7 Shortcut Control of Multi-rotation Rotary
Actuator (page C4-26)].

24V AC servo motor specification and

stepper motor specification only
[Absolute Unit (Parameter No.83)]

No. Name Unit Input range Default initial value setting

83 Absolute unit − 0: Not in use, 1: Used 0 (not in use)

For stepper motor specification

Set 1 for simple absolute specification.
For the battery-less absolute specification, the factory default value is 1. Change the setting to 0
when using in incremental specification.

Chapter 7 Parameter
For 24V AC servo motor specification
Set 1 for simple absolute specification.
Battery-less absolute specification cannot be used in incremental specification.

[Software Limit Margin (Parameter No. 88)]

No. Name Unit Input range Default initial value setting

mm
88 Software limit margin 0 to 9,999.99 0
(deg)

A parameter for over error detection setting with regard to the values set for Parameter No. 3
and Parameter No. 4.
Normally, setting change is not required.
Software Software limit Software
limit margin (Parameter No. 3, No. 4) setting range limit margin
Error Error
detection range detection range

ME0384-7C C7-32
 7.2 Parameter Details

200V AC servo motor specification only

[Allowable time of exceeding torque allowing continuous pressing (Parameter No. 89)]

No. Name Unit Input range Default initial value setting

Allowable time of exceeding
89 torque allowing continuous s 0 to 300 In accordance with actuator
pressing
Operation Section

This is the parameter to limit the continuous pressing time when using RCS2-RA13R with the
pressing setting of 71% or more.
When the unit is used beyond this limit, alarm 0C4 "continuous pressing capable torque time
over" will be generated to prevent the temperature rise on the motor due to the continuous
pressing operation.
For operation of RCS2-RA13R, make sure to check how to select operating conditions and
others described in the actuator instruction manual and use it in the specification range.

Set value Content

0 Do not judge
Allowable time of continuous pressing
1 to 300s
(when pressing setting of 71% or more is used in RCS2-RA13R)

[Current Limit Value During Contactless Push Stop (Parameter No. 91)]

No. Name Unit Input range Default initial value setting

Chapter 7 Parameter

0: Current limit value

Current limit value during during stop
91 − 0
contactless push stop 1: Current limit value
during push

Select current limit value during stop when contactless push has occurred.
Servo will be locked by this current limit value until the next travel command.

Set value Content

0 Uses Current Limit During Positioning Stop (Parameter No. 12).

1 Uses the current limit value during push-motion set in the position table.

C7-33 ME0384-7C
 7.2 Parameter Details

AC servo motor specification only

[Damping Characteristics Coefficient 1, 2 / Natural Frequency / Notch Filter Gain

(Parameters No. 97 to 108)]
Default initial value
No. Name Unit Input range
setting
Damping characteristics
97 − 0 to 1,000 10
coefficient 1

Operation Section
Vibration Damping characteristics
control 98 − 0 to 1,000 1,000
coefficient 2
parameters
set 1 99 Natural frequency 1/1,000Hz 500 to 30,000 10,000

100 Notch filter gain − 1 to 20,000 9,990

Damping characteristics
101 − 0 to 1,000 10
coefficient 1
Vibration Damping characteristics
control 102 − 0 to 1,000 1,000
coefficient 2
parameters
set 2 103 Natural frequency 1/1,000Hz 500 to 30,000 10,000

104 Notch filter gain − 1 to 20,000 9,990

Damping characteristics
105 − 0 to 1,000 10
coefficient 1
Vibration Damping characteristics
control 106 − 0 to 1,000 1,000
coefficient 2
parameters
set 3 107 Natural frequency 1/1,000Hz 500 to 30,000 10,000

108 Notch filter gain − 1 to 20,000 9,990

Chapter 7 Parameter
A parameter dedicated to vibration damping control.
For details, refer to [Operation Section Chapter 5, 5.1 Vibration Damping Control Function (page
C5-1)].

ME0384-7C C7-34
 7.2 Parameter Details

AC servo motor specification only

[Vibration Suppression No. Initial Value (Parameter No. 109)]

No. Name Unit Input range Default initial value setting

Vibration suppression No.

109 − 0 to 3 0
initial value

A parameter dedicated to vibration damping control.

Operation Section

For details, refer to [Operation Section Chapter 5, 5.1 Vibration Damping Control Function (page
C5-1)].

[Stop Method During SrvOFF (Parameter No. 110)]

No. Name Unit Input range Default initial value setting

Stop method during 0: Sudden stop

110 − 0
SrvOFF 1: Decelerating stop

Selects Servo OFF command, drive source cutoff, and stop mode of actuator during alarm
generation (operation cancel level).

Set value

0: Sudden stop 1: Decelerating stop

Stop command
During
During During During normal
normal
vibration vibration positioning
Chapter 7 Parameter

positioning
control control control
control
Vibration control Normal
Pausing decelerating decelerating
stop stop
Vibration
Normal
Servo OFF control
decelerating
decelerating
Sudden stop with emergency Stop
Drive-source cutoff Stop
stop torque
Alarm
(Operation cancel level)
Alarm
Sudden stop with emergency stop torque
(Cold start)

C7-35 ME0384-7C
 7.2 Parameter Details

[Monitoring Mode Select (Parameter No. 112)]

No. Name Unit Input range Default initial value setting

0: Not in use
1: Monitor function 1
112 Monitoring mode select − 1
2: Monitor function 2
3: Monitor function 3

Operation Section
Servo monitoring can be performed by connecting PC software.
Select monitoring mode function (number of channels for servo monitor) with this parameter.
Refer to [the manual for PC software (ME0155)].

Set value Content

0 Not in use

1 Set in 4CH record mode

2 Set in 8CH record mode

3 Set in 2CH record mode

[Monitoring Cycle (Parameter No. 113)]

Default initial
No. Name Unit Input range Specification
value setting
Stepper motor specification
1 to 60,000 24V AC servo motor specification
113 Monitoring cycle ms DC brush-less motor specification 1

Chapter 7 Parameter
1 to 1,000 200V AC servo motor specification

Sets initial value (Note 1) of time cycle (sampling cycle) to obtain data when monitoring mode is
selected.
Data obtaining interval can be extended by increasing the value of this parameter.
The initial value is set at 1ms. Up to 60,000 ms (Up to 1,000 ms for 200V driver unit) can be set
in 1ms increments.

For RCON-PC/PCF/AC For RCON-DC

1ms cycle setting 60,000ms cycle setting 1ms cycle setting 60,000ms cycle setting

During 4CH record mode: During 4CH record mode: During 4CH record mode: During 4CH record mode:
Maximum 3,584 seconds Maximum 59 hours and 44 minutes Maximum 4,096 seconds Maximum 68 hours and 16 minutes
During 8CH record mode: During 8CH record mode: During 8CH record mode: During 8CH record mode:
Maximum 1,792 seconds Maximum 29 hours and 52 minutes Maximum 2,048 seconds Maximum 34 hours and 8 minutes
During 2CH record mode: During 2CH record mode: During 2CH record mode: During 2CH record mode:
Maximum 7,168 seconds Maximum 119 hours and 28 minutes Maximum 8,192 seconds Maximum 136 hours and 32 minutes

Note 1: Sampling cycle can be changed by using PC software.

ME0384-7C C7-36
 7.2 Parameter Details

AC servo motor specification only

[Servo Gain Number / Positional Feedforward Gain / Velocity Loop Proportional Gain / Velocity Loop
Integral Gain / Torque Filter Constant / Current Control Width Number (Parameters No. 120 to 137)]
Default initial
No. Name Unit Input range
value setting
120 Servo gain number 1 − 0 to 31

121 Positional feedforward gain 1 − 0 to 100

Operation Section

1 to 27,661
(24V AC servo motor specification)
122 Velocity loop proportional gain 1 −
1 to 99,999,999
Gain (200V AC servo motor specification) In accordance
set 1 1 to 217,270 with actuator
(24V AC servo motor specification)
123 Velocity loop integral gain 1 −
1 to 99,999,999
(200V AC servo motor specification)

124 Torque filter constant 1 − 0 to 2,500

125 Current control width number 1 − 0 to 15

126 Servo gain number 2 − 0 to 31

127 Positional feedforward gain 2 − 0 to 100

1 to 27,661
(24V AC servo motor specification)
128 Velocity loop proportional gain 2 −
1 to 99,999,999
Gain (200V AC servo motor specification) In accordance
set 2 1 to 217,270 with actuator
Chapter 7 Parameter

(24V AC servo motor specification)

129 Velocity loop integral gain 2 −
1 to 99,999,999
(200V AC servo motor specification)

130 Torque filter constant 2 − 0 to 2,500

131 Current control width number 2 − 0 to 15

132 Servo gain number 3 − 0 to 31

133 Positional feedforward gain 3 − 0 to 100

1 to 27,661
(24V AC servo motor specification)
134 Velocity loop proportional gain 3 −
1 to 99,999,999
Gain (200V AC servo motor specification) In accordance
set 3 1 to 217,270 with actuator
(24V AC servo motor specification)
135 Velocity loop integral gain 3 −
1 to 99,999,999
(200V AC servo motor specification)

136 Torque filter constant 3 − 0 to 2,500

137 Current control width number 3 − 0 to 15

C7-37 ME0384-7C
 7.2 Parameter Details

● Servo Gain Number 1/2/3 (Parameters No. 120, 126, 132)

These parameters determine the response of the position control loop.
For details, refer to [Parameter No. 7 "Servo Gain Number" (page C7-10)].

● Positional Feedforward Gain 1/2/3 (Parameters No. 121, 127, 133)

Sets the feed forward gain amount of the position control system.
For details, refer to [Parameter No. 71 "Positional Feedforward Gain" (page C7-28)].

Operation Section
● Velocity Loop Proportional Gain 1/2/3 (Parameters No. 122, 128, 134)
This parameter determines the response of the speed control loop.
For details, refer to [Parameter No. 31 "Velocity Loop Proportional Gain" (page C7-18)].

● Velocity Loop Integral Gain 1/2/3 (Parameters No. 123, 129, 135)
This parameter determines the response of the speed control loop.
For details, refer to [Parameter No. 32 "Velocity Loop Integral Gain" (page C7-19)].

● Torque Filter Constant 1/2/3 (Parameters No. 124, 130, 136)

This parameter determines the filter time constant for the torque command.
For details, refer to [Parameter No. 33 "Torque Filter Constant" (page C7-20)].

● Current Control Width Number 1/2/3 (Parameters No. 125, 131, 137)
Set the control band of the current control system.
For details, refer to [Parameter No. 54 "Current Control Width Number" (page C7-24)].

Chapter 7 Parameter
[Reference] Refer to [Operation Section Chapter 1, 1.3 Position Table (page C1-5)].

AC servo motor specification only

[Servo Gain Switch Time Constant (Parameter No.138)]

No. Name Unit Input range Default initial value setting

Servo gain switch time

138 ms 10 to 2,000 10
constant

If the position table is instructed to switch the servo gain set, switching will be completed after a
period that exceeds 3 times the setting time of this parameter after the operation of the specified
position No. starts.

Caution
 If the setting is shortened, operation of the actuator may become unstable due to
sudden gain change.

ME0384-7C C7-38
 7.2 Parameter Details

AC servo motor specification only

[Home preset value (Parameter No.139)]

No. Name Unit Input range Default initial value setting

139 Home preset value mm -9,999.99 to 9,999.99 In accordance with actuator

When using an actuator of absolute specification, set "homing offset value+ this parameter set
value" within the range of "0 to ball screw lead length". (Z-phase near the mechanical end must
Operation Section

be registered as reference)
The allowable values are multiples of ± ball screw lead length including 0.00.
(0.00 if the homing offset value is within the range of 0 to ball screw lead length)
Also, if a value other than 0.00 is set to this parameter, the home return complete position will
not be 0.00, but the home position + this parameter position.
For the incremental specification actuator, be sure to set to 0.00.

Caution
 If the homing offset value and this parameter setting do not meet the above conditions,
the home position may be shifted by the multiple of the ball screw lead length when
restarted after home return.

<Configuration example 1>

For ball screw lead length of 4 mm and homing offset of 10 mm, set this parameter to -8 mm.
Chapter 7 Parameter

Homing offset value (10 mm)

Ball screw lead length (4 mm) Ball screw lead length (4 mm) Ball screw lead length (4 mm)

Home preset value (-8 mm)

[-8 mm] [0 mm]

C7-39 ME0384-7C
 7.2 Parameter Details

[Overload Load Level Ratio (Parameter No.143)]

No. Name Unit Input range Default initial value setting

143 Overload load level ratio % 50 to 100 100

Outputs alarm 048 "overload warning" (message level) when motor temperature exceeds the
ratio set in this parameter if motor temperature under rated operation is set as 100%.

Operation Section
For details, refer to [Operation Section Chapter 6, 6.2.2 Overload warning (page C6-11)].

No judgment will be made when set as 100%.

Using this function enables monitoring of motor temperature changes caused by dried-up
grease or wear and tear on parts.
A warning is output when the preset value is exceeded.
This enables detection of abnormalities before a breakdown or a malfunction occurs.

Load Alarm Output

Alarm Occurred
Increase ROBO Cylinder stops.
Example for motor temperature Reset is required in order to recover from alarm.
change in error condition
Overload Alarm Detection Line
(100%)
Warning Overl oad Warning Occurred
Output ROBO Cylinder continues to operate.

Conduct Maintenance
Overl oad “W arning” Line
Motor Temperature

* Set in ratio to parameter load level

Setting can be e stablished w ith any
number from 50 to 99% w ith the
error dete ction level as 100% .

Chapter 7 Parameter
Abnormal Any m alfunction or trouble
Change! can be prevented by
conducting maintenance
after the warning outpu t.
Load
Increase Example for
Example for motor temperature change in normal condition
motor
temperature
change Time

Warning output enables detection of items

such as those below.
Time to supply grease
Time to replace components
Time to implement mechanical tuning

ME0384-7C C7-40
 7.2 Parameter Details

Stepper motor specification only

[GS Magnification Upper Limit (Parameter No.144)]

No. Name Unit Input range Default initial value setting

GS magnification upper
144 % 0 to 1,023 0 (Disabled)
limit

Gain scheduling is a function that changes the gain according to the operation speed.
For this parameter, set the high magnification to change the gain.
Operation Section

The set value of GS Velocity Loop Proportional Gain (Parameter No. 145) and GS Velocity Loop
Integral Gain (Parameter No. 146) changes at the set magnification.

Set value Content

100 or less Gain scheduling disabled

Gain scheduling enabled
101 to 1,023
(Recommended value 300)

Stepper motor specification only

[GS Velocity Loop Proportional Gain (Parameter No. 145)]

No. Name Unit Input range Default initial value setting

GS velocity loop
145 − 1 to 99,999,999 In accordance with actuator
proportional gain

When Parameter No. 144 "GS Magnification Upper Limit" is set to 101 or higher, the setting of
Chapter 7 Parameter

this parameter becomes valid for the Velocity Loop Proportional Gain.
For details, refer to [Parameter No. 31 "Velocity Loop Proportional Gain" (page C7-18)].

For the conditions for using this item, refer to [Selection and use of Velocity Loop Proportional
Gain and Velocity Loop Integral Gain (page C7-19)].

C7-41 ME0384-7C
 7.2 Parameter Details

Stepper motor specification only

[GS Velocity Loop Integral Gain (Parameter No. 146)]

No. Name Unit Input range Default initial value setting

GS velocity loop integral

146 − 1 to 99,999,999 In accordance with actuator
gain

When Parameter No. 144 "GS Magnification Upper Limit" is set to 101 or higher, the setting of
this parameter becomes valid for the Velocity Loop Integral Gain.

Operation Section
For details, refer to [Parameter No. 32 "Velocity Loop Integral Gain" (page C7-19)].

For the conditions for using this item, refer to [Selection and use of Velocity Loop Proportional
Gain and Velocity Loop Integral Gain (page C7-19)].

[Total Travel Count Threshold (Parameter No.147)]

No. Name Unit Input range Default initial value setting

147 Total travel count threshold times 0 to 999,999,999 0 (Disabled)

When total travel count exceeds the set value of this parameter, alarm 04E "Travel Count
Threshold Over" will send a notification.
No judgment will be made when set as 0.

[Total Travel Distance Threshold (Parameter No. 148)]

Chapter 7 Parameter
No. Name Unit Input range Default initial value setting

Total travel distance

148 m 0 to 999,999,999 0 (Disabled)
threshold

When total travel distance exceeds the set value of this parameter, alarm 04F "Travel Distance
Threshold Over" will send a notification.
No judgment will be made when set as 0.

ME0384-7C C7-42
 7.2 Parameter Details

200V AC servo motor specification only

[Linear Absolute Home Preset Value (Parameter No. 150)]

No. Name Unit Input range Default initial value setting

Linear absolute home

150 mm -9,999.99 to 9,999.99 In accordance with actuator
preset value

This can set the home position of the actuator for Spurious Absolute Type.
This can set the home position of the actuator for Spurious Absolute Type. The diagram below
Operation Section

shows the position of each part related to the datum (the initial position at the delivery from our
factory):
Chapter 7 Parameter

Caution
 Note the initial parameter at the delivery from our factory in a memo before changing
the settings.
 Take the initial parameter at the delivery from our factory as the datum when giving a
change to the settings.
 After having a change to the settings, make sure to have an operation check with low
speed.
 For the spurious absolute type actuator, No.22: Home-return Offset Value and No.139:
Home Preset Value are invalid.

C7-43 ME0384-7C
 7.2 Parameter Details

[Minor Trouble Alarm Output Select (Parameter No. 151)]

No. Name Unit Input range Default initial value setting

0: Overload warning
Minor trouble alarm output output
151 − 1
select 1: Message level alarm
output

Operation Section
If 0 is set, when parameter No. 143 "Overload Load Level Ratio" is exceeded, the minor
malfunction alarm signal *ALML will be output.
If 1 is set, when a message level alarm is generated, *ALML signal will be output.

Stepper motor specification only

[High Output Setting (Parameter No.152)]

No. Name Unit Input range Default initial value setting

0: Disabled
152 High output setting − In accordance with actuator
1: Enabled

Set if high output function is to be used. However, it is necessary to connect an actuator that
supports high output.
(Actuators that support high output: RCP4, RCP5 and RCP6 Series)

Chapter 7 Parameter
Stepper motor specification only
[BU Velocity Loop Proportional Gain (Parameter No. 153)]

No. Name Unit Input range Default initial value setting

BU velocity loop
153 − 1 to 99,999,999 In accordance with actuator
proportional gain

When Parameter No. 152 "High Output Setting" is enabled and Parameter No. 144 "GS
Magnification Upper Limit" is set to 100 or less, the setting of this parameter is enabled for
Velocity Loop Proportional Gain.
For details, refer to [Parameter No. 31 "Velocity Loop Proportional Gain" (page C7-18)].

For the conditions for using this item, refer to [Selection and use of Velocity Loop Proportional
Gain and Velocity Loop Integral Gain (page C7-19)].

ME0384-7C C7-44
 7.2 Parameter Details

Stepper motor specification only

[BU Velocity Loop Integral Gain (Parameter No. 154)]

No. Name Unit Input range Default initial value setting

BU velocity loop integral

154 − 1 to 99,999,999 In accordance with actuator
gain

When Parameter No. 152 "High Output Setting" is enabled and Parameter No. 144
"GS Magnification Upper Limit" is set to 100 or less, the setting of this parameter is enabled for
Operation Section

Velocity Loop Integral Gain.

For details, refer to [Parameter No. 32 "Velocity Loop Integral Gain" (page C7-19)].

For the conditions for using this item, refer to [Selection and use of Velocity Loop Proportional
Gain and Velocity Loop Integral Gain (page C7-19)].
Chapter 7 Parameter

C7-45 ME0384-7C
 7.2 Parameter Details

24V AC servo motor specification and

stepper motor specification only
[ABS Battery Retaining Time (Parameter No. 155)]

No. Name Unit Input range Default initial value setting

0: 20 days
1: 15 days
155 ABS battery retaining time − 0
2: 10 days
3: 5 days

Operation Section
This function is limited to the simple absolute specification. Set encoder positional data retention
time after turning the power supply to the actuator OFF. The setting is available in 4 levels. The
lower the motor rotation speed setting is, the longer the retention time of the positional data can
be. If there is a possibility of external force moving the workpiece conveying components of the
actuator such as the slider or rod while power is OFF, refer to the following table and calculate
motor revolution based on movement speed and set the value of this parameter faster. If the
motor revolution exceeds the set value, positional data will be lost.

The motor rotation speed can be calculated with the equation below.
Motor revolution [r/min] = Movement speed [mm/s] / Actuator lead [mm] × 60 [s/min]

For details, refer to [Specifications Section Chapter 9, 9.5 General Specifications (page A9-5)].

Upper limit of encoder rotation speed Battery Retaining time

Parameter when power is OFF [r/min] retaining per 1 hour of
No.155 time charge time
settings If connected actuator If connected actuator guideline (guideline)
is not RCA2-***NA is RCA2-***NA [days] [h]

Chapter 7 Parameter
0 100 75 20 6.6
1 200 150 15 5.0
2 400 300 10 3.3
3 800 600 5 1.6

24V AC servo motor specification,

DC brush-less motor specification
and Stepper motor specification only
[Enabled/Disabled Axis Select (Parameter No. 158)]
Default initial value
No. Name Unit Input range
setting
Enabled/disabled axis 0: Enabled
158 − 0
select 1: Disabled

If operation is required with fewer axes than the purchased number of axes, alarms can be
avoided by disabling this parameter.
During startup, etc., operation can be performed by connecting specific axes only, or to use for
future expansion.

ME0384-7C C7-46
 7.2 Parameter Details

Stepper motor specification only

[Startup Current Limit Expansion Function (Parameter No. 166)]

No. Name Unit Input range Default initial value setting

Startup current limit 0: Disabled

166 − 0
expansion function 1: Enabled

Change the setting when this feature is necessary in the models stated below.
Operation Section

Applicable Models: RCP2-GRS/GRSS/GRST/GRM/GR3S/GRLS

When the load is high at the start of movement to the target point, by having high current flowed
for a certain period of time, the actuator operates with large force. It is expected to work well on
an actuator with high static friction of load such as a condition of getting sticky.

Warning
Do not attempt to set this parameter valid unless necessary.
Make sure to confirm the followings when it is to be changed.
 As it generates high force in case also of load other than static friction, it may cause
injury, damage on a workpiece or influence to the actuator life.
 As current higher than usual flows, it may require higher current amperage.

Also, note that this feature would not activate at the start of movement for following situations
even if this parameter is set valid.
Chapter 7 Parameter

1) Home return
2) Operation resumed by cancelling pause
3) When movement command is issued during operation
4) Movement backward or forward by the actuator pushed due to such as deformation of a
workpiece in a condition after pressing operation is finished and there is no next movement
command

C7-47 ME0384-7C
 7.2 Parameter Details

Stepper motor specification only

[Collision Detection Function (Parameter No. 168)]

No. Name Unit Input range Default initial value setting

168 Collision detection function − 0 to 7 0

A function to generate a collision detection alarm and stop traveling (servo OFF) when the actuator
collides. Detects within the set range of the position zone.

Operation Section
For details, refer to [Operation Section Chapter 5, 5.2 Collision Detection Function (page C5-8)].

Set
Content Alarm level
value
0 No detection will be made (same even if 2, 4, 6 are set) −

1 Detects within the set range of the position zone.

Detects within the set range of the position zone; however, Operation cancel
no detection will be made in the following cases. level
3 (Note 1)
·First travel after pause release
·Travel from stop status within position zone range
5 Detects within the set range of the position zone.
Detects within the set range of the position zone; however,
no detection will be made in the following cases. Message level
7 (Note 1)
·First travel after pause release
·Travel from stop status within position zone range
Note 1: This setting can avoid occurrence of false detection due to current value during
acceleration.

Chapter 7 Parameter

ME0384-7C C7-48
 7.2 Parameter Details

24V AC servo motor specification,

DC brush-less motor specification
and Stepper motor specification only
[Push Mode (Parameter No. 181)]

No. Name Unit Input range Default initial value setting

0: CON mode
181 Push mode − 0
1: SEP mode

Selects CON mode or SEP mode for the push mode. (Note)
Operation Section

Note: The pressing type of the 200V driver unit is only the CON system.
(1) CON mode push
After reaching the target position (Note 1) from the current position, the actuator moves with the
pressing speed for the distance set as the positioning band width (Note 2).
During push motion, once the workpiece is pushed against and the push is judged to be
completed, positioning complete signal PEND will turn ON.
Note 1: In direct numerical control mode, it is the value input in the target position register.
Speed
Position where workpiece is pushed against and push is judged to
be completed, and positioning complete signal turns ON
↓

Travel
distance

Positioning width
Target (Max. Movement Amount by Pressing Operation)
position

(2) SEP mode push

Chapter 7 Parameter

Push-motion operation is performed with the position obtained by subtracting the distance set
for the positioning width (Note 2) from the target position (Note 1) (position data specified value) as
the start position. Pull-motion operation is not available.
During push motion, once the workpiece is pushed against and the push is judged to be
completed, PEND will turn ON.
Speed Position where workpiece is pushed against and push is judged
to be completed, and positioning complete signal turns ON

Push width

Present Push start Target position

position position

Note 1: It should be the value input in the position data indication register for direct indication
and the simple direct mode.
Note 2: It should be the value input in the positioning band width indication register in the direct
indication mode.

C7-49 ME0384-7C
 7.2 Parameter Details

Stepper motor specification only

[Auto Current Adj. Select (Parameter No. 182)]

No. Name Unit Input range Default initial value setting

0: Disabled
182 Auto current adj. select − 0
1: Enabled

When automatic current down function is not used, regardless of the size of the external force,
the current set in parameter No. 12 "Current Limit During Positioning Stop" applies after

Operation Section
positioning stop.
When automatic current down function is enabled, it maintains the present position at the
current in accordance with the size of the external force. Effective for reduction of power
consumption when transported load is small.
For details, refer to [Operation Section Chapter 5, 5.3 Power-saving Function (page C5-11)].

Stepper motor specification only

[Servo ON Delay Time Adjustment (Parameter No. 190)]

No. Name Unit Input range Default initial value setting

Servo ON delay time

190 ms 0 to 9,999 0
adjustment

This parameter adjusts the time from when servo ON command signal SON is input until servo ON.
By shifting the timing of each actuator, instantaneous power can be suppressed when the servo
ON command is applied at the same time.

Chapter 7 Parameter
[Position Data Expansion Function Setting (Parameter No. 191)]

No. Name Unit Input range Default initial value setting

0: No function
Position data expansion
191 − 1: Drive torque limit 0 (No function)
function setting
2: Push speed

The "parameter selection area" function in the position data table can be selected.

Drive torque limit : Sets the travel current limit value during position travel. [%]
Push speed : Sets the push speed limit value during position travel. [mm/s]

ME0384-7C C7-50
 7.2 Parameter Details

[JOG Switch (Parameter No. 194)]

No. Name Unit Input range Default initial value setting

0: Enabled
194 JOG switch − 0 (Enabled)
1: Disabled

Enable/disable can be selected on the jog switch allocated on the front of the driver units.
Either Enabled or Disabled can be selected for the JOG switch on the front of the driver unit.
Operation Section

When Disabled is selected with this parameter, the actuator does not operate even if the JOG
switch is operated.
* Selection of activation / deactivation of the jog switch on the EC connection unit should be
made in the gateway parameter setting tool.
For details, refer to [Appendix Chapter 1, 1.3.2 Special parameter setting function descriptions
(page E1-8)].
Chapter 7 Parameter

C7-51 ME0384-7C
 7.2 Parameter Details

[Virtual Axis (Parameter No. 195)]

No. Name Unit Input range Default initial value setting

0: Enabled
195 Virtual axis − 0
1: Disabled

Status data such as the current position and the current velocity should be generated "as if
there was an axis connected".

Operation Section
 When use with this feature disabled  When use with this feature enabled

[Virtual Axis Absolute Initial Position (Parameter No. 196)]

Chapter 7 Parameter
No. Name Unit Input range Default initial value setting

Virtual axis absolute initial

196 mm* -9,999.99 to 9,999.99 0
position

The absolute initial position setting of the feature capable of operation simulation without
connecting an axis should be established.
* The unit should be [deg] for the rotary.

ME0384-7C C7-52
 7.3 Servo Gain Adjustment

7.3 Servo Gain Adjustment

At shipment from factory, parameters are set so that operation at rated load (maximum) is
within the payload capacity of the actuator and with stable operating characteristics.
However, at the actual usage sites, it may be necessary to perform servo adjustment.
This section explains the basic servo adjustment method.
Operation Section

Caution
 It is dangerous to make excessive settings suddenly. Damage to the equipment or the
actuator or injury may occur, so proceed with caution.
 Make sure to keep a record as you work so that it can be restored at any time.
 If you face problems which cannot be resolved, contact IAI.

Adjustment of stepper motor and AC servo motor

No. Problems Adjustment method

1 • Positioning takes time • Set Parameter No. 55 "Position Command Primary Filter
• Positioning accuracy is Time Constant" to "0" if it is set.
insufficient • Increase Parameter No. 7 "Servo Gain Number". The
• Tact time needs to be increased set value improves tracking of position
shorter command. As a guideline for setting, set 3 to 10, at most
15 or less. If it is too high, overshoot may occur, which will
cause sound and vibration.
Chapter 7 Parameter

• When increasing Parameter No. 7 "Servo Gain Number",

Parameter No. 31 "Velocity Loop Proportional Gain"
should also be increased accordingly in order to ensure
stability of the control system.
• When increasing Parameter No. 31 "Velocity Loop
Proportional Gain", make sure to set it to about 20% of
the initial value. Adjust Parameter No. 7 "Servo Gain
Number" as a priority.
2 Vibration occurs during • This may be caused by excessive
acceleration/deceleration "Acceleration/Deceleration Setting," or inadequate rigidity
of the device on which the actuator is mounted.
• Lower "Acceleration/Deceleration Setting".
• Lower Parameter No. 7 "Servo Gain Number".
If Parameter No. 7 "Servo Gain Number" is too low,
convergence will take longer.
• Or consider reinforcing the device.
3 • Speed irregularity occurs • Increase Parameter No. 31 "Velocity Loop Proportional
during travel Gain". The increased set value improves tracking of
• Speed accuracy is speed command. If it is too large, mechanical system
insufficient vibration may occur. As a setting guideline, try to increase
the initial values by about 20% respectively.

C7-53 ME0384-7C
 7.3 Servo Gain Adjustment

No. Problems Adjustment method

4 Abnormal noise • Enter Parameter No. 33 "Torque Filter Constant". As a

In particular, high-pitched setting guideline, try to increase by 50 respectively. If it is
noise occurs when stopping too large, stability of the control system may be impaired
or at low speed (50 mm/s or and vibration may occur.
less).
[Important] Before adjustment
This phenomenon is likely to occur when the rigidity of the

Operation Section
mechanical system is not maintained. Even with the
actuator alone, resonance may occur in the belt drive or if
the stroke exceeds 600 mm.
Before adjustment, make sure that:

(1) Parameter No. 7 "Servo Gain Number", Parameter No.

31 "Velocity Loop Proportional Gain" and Parameter No.
32 "Velocity Loop Integral Gain" are not set too high.
(2) Rigidity of the load is maintained as much as possible.
Mounting is not loose and there is no play, etc.
(3) The actuator body has been installed firmly with the
prescribed torque.
(4) There is no distortion on the mounting surface of the
actuator.
5 • Trajectory accuracy needs • Refer to adjustment methods No. 1 to 3 described above
to be higher and adjust Parameter No. 7 "Servo Gain Number" and
• Constant speed needs to Parameter No. 31 "Velocity Loop Proportional Gain" to
be higher optimize the conditions.
• Response needs to be
better [Reference]

Chapter 7 Parameter
Selection of the actuator (motor) is the most important
factor.
The servo motor is very sensitive to the magnitude of load
inertia. If the moment of inertia on the load side (load
inertia) is too large with respect to the moment of inertia of
the motor itself (motor inertia), the servo motor will cause
the motor to be wagged by the load, as it were, resulting
in unstable control.
Therefore, in order to improve trajectory, position, speed,
response, etc., it is necessary to reduce the load inertia
ratio.
For applications such as coating, if trajectory accuracy,
constant velocity, response, etc. are called for, it is
recommended to make the actuator ball screw lead as
small as possible and to select an actuator with a higher
motor capacity.

ME0384-7C C7-54
 7.3 Servo Gain Adjustment

No. Problems Adjustment method

6 • The static friction of the • Set Parameter No. 71 "Positional Feedforward Gain".
load is large and travel Estimated setting is from 10 to 50. As the set value
start is slow increases, the deviation amount is reduced and
• The load inertia is large responsiveness improves.
and response is poor when Setting a high value may cause vibration or noise.
stopping • Adjust Parameter No. 7 "Servo Gain Number" and
• Operation time needs to Parameter No. 31 "Velocity Loop Proportional Gain" to
Operation Section

be shorter further improve responsiveness.

7 There is a shock when • Set Parameter No. 55 "Position Command Primary Filter
starting or stopping Time Constant" to about 50 ms.
If no improvement is observed, increase gradually. If
improvement is observed, gradually lower the set value to
the limit. If this setting is made, the settling time will be
extended and the tact time will increase. Positioning
accuracy also deteriorates.
Chapter 7 Parameter

C7-55 ME0384-7C
 7.3 Servo Gain Adjustment

Adjustment of DC brush-less motor

No. Problems Adjustment method

1 • Hunting occurs when Set the parameters following the procedure below and
positioning stops check the operation.
• Speed irregularity occurs When the motion improves, end the adjustment. There is
during travel no need to proceed to the next step.
• Speed accuracy is Step 1: Change Parameter No. 32 "Velocity Loop Integral Gain".

Operation Section
insufficient Set the following 5 values in order and check the operation.
Velocity loop integral gain setting
Setting order
value
1 411
2 592
3 925
4 1,645
5 3,700
If the operation does not improve, perform step 2.
Step 2: Change Parameter No. 31 "Velocity Loop
Proportional Gain" and Parameter No. 32 "Velocity
Loop Integral Gain".
Set the following 6 values in order and check the operation.
● Load is 0.2 kg or less
Velocity loop Velocity loop
Setting
proportional integral
order
gain setting value gain setting value
1 42 382
2 42 520

Chapter 7 Parameter
3 42 749
4 42 1,171
5 42 2,081
6 42 4,683

● Load is heavier than 0.2 kg

Velocity loop Velocity loop
Setting
proportional integral
order
gain setting value gain setting value
1 32 231
2 32 315
3 32 453
4 32 708
5 32 1,259
6 32 2,833

If the operation does not improve, contact IAI.

2 Abnormal noise Change Parameter No. 31 "Velocity Loop Proportional
In particular, high-pitched Gain" and Parameter No. 32 "Velocity Loop Integral Gain"
noise occurs when stopping to the following values and confirm.
or at low speed (20 mm/s Velocity Loop Proportional Gain: 32
or less) Velocity Loop Integral Gain: 231

ME0384-7C C7-56
 7.4 RCON Gateway Parameter

7.4 RCON Gateway Parameter

7.4.1 Configuration of RCON gateway parameters

There are two types as follows in the RCON gateway parameters.

[1] Network setting

Operation Section

"Communication setting", "Axis control settings" and "Occupation size information (Master
Registration Information)" should be displayed.
Establish the setting in accordance with the master depending on the connected network type.
Chapter 7 Parameter

[2] Special parameters

Sets parameters related to gateway unit processing.

The switchover of the parameter setting screen can be done by clicking "Network setting" and
"Special parameters" tags.

C7-57 ME0384-7C
 7.4 RCON Gateway Parameter

7.4.2 Network setting

Here, explains the content in the network setting screen.

Operation Section
[1] Communication
[2]
setting
Axis control
settings

[3]
Occupied size information
(Master Registration Information)

[1] Communication setting

The content of display should differ depending on the used driver or network. Establish the
setting in accordance with the master.

[CC-Link]

Chapter 7 Parameter

Item Initial setting Settable Range

Network type CC-Link Not Available for Change

Address 1 1 to 64
Select : 156kbps/ 625kbps/
Baudrate 156kbps
2.5Mbps/ 5Mbps/ 10Mbps

ME0384-7C C7-58
 7.4 RCON Gateway Parameter

[CC-Link IE Field]
Operation Section

Item Initial setting Settable Range

Network type Network type CC-Link IE Field

Network No. Network No. 1
Station number Station number 1
Baudrate Baudrate Auto
MAC address (*1) MAC address (*1) Specific to Product

*1 It is the specific identification number (setting not available) assigned to the network module.

[DeviceNet]
Chapter 7 Parameter

Item Initial setting Settable Range

Network type DeviceNet Not Available for Change

Address 0 0 to 63
Setting Not Necessary
Baudrate Auto
(Follows automatically to master setting)

C7-59 ME0384-7C
 7.4 RCON Gateway Parameter

[EtherCAT]

Operation Section
Item Initial setting Settable Range

Network type EtherCAT Not Available for Change

Address 0 0 to 65,535
Setting Not Necessary
Baudrate Auto
(Follows automatically to master setting)

[EtherNet/IP]

Chapter 7 Parameter
Item Initial setting Settable Range

Network type EtherNet/IP Not Available for Change

IP address 192.168.0.1 0.0.0.0 to 255.255.255.255
Subnet mask 255.255.255.0 0.0.0.0 to 255.255.255.255
Default gateway 0.0.0.0 0.0.0.0 to 255.255.255.255
Setting Not Necessary
Baudrate Auto
(Automatic negotiation)

ME0384-7C C7-60
 7.4 RCON Gateway Parameter

[PROFIBUS-DP]
Operation Section

Item Initial setting Settable Range

Network type PROFIBUS-DP Not Available for Change

Address 0 0 to 65,535
Baudrate Auto Setting Not Necessary (Fixed at 1Gbps)

[PROFINET IO]
Chapter 7 Parameter

Item Initial setting Settable Range

Network type PROFINET IO Not Available for Change

Setting Not Necessary (Fixed at
Baudrate Auto
100Mbps)
MAC address (*1) Specific to Product Not Available for Change

*1 It is the specific identification number (setting not available) assigned to the network module.

C7-61 ME0384-7C
 7.4 RCON Gateway Parameter

[2] Axis control settings

(1) Axis number /

Unit configration setting

Operation Section
(2) Operation mode setting

(1) Axis number / Unit configration setting

For operation related to setup, refer to [Startup Section Chapter 4, 4.2 Setting RCON Gateway
Parameters (page B4-3)].

 Switchover between "Auto" and "Manual"

Axis number / unit configuration can be set automatically (in order from gateway unit side) or
manually.

Select "Manual" from "Auto" (default), and the following warning window should appear.

Select and the axis numbers will be automatically assigned. In this case, "Axis Count Chapter 7 Parameter
Setting" should get unavailable.

Select and the axis number assignment should remain "Manual".

Select "Manual" and select , and change can be made to the axis number assignment
and the driver unit configuration.
Refer to [Startup Section Chapter 4, 4.2.3 Axis number assignment change (page B4-7)] for
how to assign axis numbers and [Startup Section Chapter 4, 4.2.4 Editing driver unit
configuration (page B4-8)] for how to edit or change the driver unit configurations.

ME0384-7C C7-62
 7.4 RCON Gateway Parameter

Select "Auto" from "Manual", and the following warning window should appear.
Operation Section

Select and the axis numbers will be automatically assigned. In this case, it is necessary
to set up the number of axes to be used in "Axis Count Setting". At this time, button will get
unactivated.

Select and the axis number assignment should remain "Manual".

When "Auto" is selected, set up the number of axes connected to the gateway unit in "Axis
Count Setting".

 Number of axes setting

Set up the number of units of driver units and SCON (RCON connection type) connected to
the gateway unit.
The content of setting is in common regardless of a network type.

Name Unit Input range Default initial value setting

Chapter 7 Parameter

Number of axes setting ― 1 to 16 (Set it up at initial connection)

[Example for Axis Count Setting]

Set "7" as the driver

units are for seven
axes.

For 7 axes of driver unit

C7-63 ME0384-7C
 7.4 RCON Gateway Parameter

 Number of option units

Set up the number of units of option units (PIO unit, PIO/SIO/SCON extension unit and EC
connection unit) connected to the gateway unit.
The content of setting should be the same regardless of network.

Name Unit Input range Default initial value setting

Operation Section
Number of option units ― 0 to 8 0

[Configuration example]

As there are 1 unit of

optional unit , set "1".

RCON-EC : 1 unit

(2) Operation mode setting

Set up the operation mode of the driver unit and SCON (RCON connection type) connected to
the gateway unit.

Chapter 7 Parameter
For details of the operation modes, refer to [Operation Section Chapter 1, 1.2 R Operation
Function List (page C1-2)].

For how to operate in the operation mode setting part, refer to [Appendix Chapter 1, 1.4.1
Operation mode setting (page E1-16)] or [Appendix Chapter 1, 1.4.2 Operation mode individual
setting (page E1-18)].

ME0384-7C C7-64
 7.4 RCON Gateway Parameter

[3] Occupied size information (Master Registration Information)

The occupation information should vary depending on the number of connected driver units and
option units and the operation mode setting in each driver unit.
Described below is some examples of occupation information in each network type.

Setting Conditions
 Driver unit : 7 axes
Operation Section

 Operation mode : All axes_ Direct numerical mode (Positioning) (Size : 8 w)

 Option units : 4 units

[CC-Link]

[CC-Link IE Field]
Chapter 7 Parameter

[DeviceNet]

[EtherCAT]

C7-65 ME0384-7C
 7.4 RCON Gateway Parameter

[EtherNet/IP]

Operation Section
[PROFIBUS-DP]

[PROFINET IO]

Chapter 7 Parameter

ME0384-7C C7-66
 7.4 RCON Gateway Parameter

7.4.3 Special parameter list

Shown below is the special parameter list.

Default initial Relevant

Name Unit Input range
value setting page
0: invalid
Latch in ERR_C − 0: invalid C7-68
1: valid
Operation Section

0: valid
SERVO-OFF in ERR_C − 0: valid C7-68
1: invalid
Unit velocity 0: [1.0mm/s]
mm/s 0: [1.0mm/s] C7-68
(Only Direct Indication Mode) 1: [0.1mm/s]

Internal communication retry count − 0 to 6 2 C7-68

0: valid
MON Signal − 0: valid C7-69
1: invalid
0: invalid
RIC function − 1: valid C7-69
1: valid

Delay time of driver reclosing [ms] ms 0 to 65,535 5 C7-69

Power supply unit connection retry

− 0 to 7 3 C7-70
times

Power supply unit monitor type − 0 to 6 0: Output voltage C7-70

Number of power supply units 0: not in use

− 0: Not in use C7-71
connected 1 to 5
Waiting time for initialization internal
Chapter 7 Parameter

− 0 to 65,535 0 C7-71
process communication
0: invalid
Enable SW − 0: invalid C7-71
1: valid
0: invalid
BYTE swap − 0: invalid C7-72
1: valid
0: invalid
Double-word data swapping − 0: invalid C7-72
1: valid
0.0.0.0 to
Gateway IP address − 192.168.0.1 C7-73
255.255.255.255
-0.0.0.0 to
Gateway subnet mask − 255.255.255.0 C7-73
255.255.255.255

Port Number for UDP Search − 49,152 to 65,535 49,152 C7-73

RCON-EC JOG switch − 0: invalid 0: invalid C7-74

C7-67 ME0384-7C
 7.4 RCON Gateway Parameter

7.4.4 Details of special parameters

(1) Latch in ERR_C

Name Unit Input range Default initial value setting

0: invalid
Latch in ERR_C − 0: invalid
1: valid

Operation Section
Selects whether to continue the error in recoverable state after ERR_C (Field network
communication error) occur.
If ERR_C occurs while the parameter is enabled, the status of ERR_C would not be canceled
even after the communication line gets recovered. Set it disabled and ERR_C can be
recovered.

(2) SERVO-OFF in ERR_C

Name Unit Input range Default initial value setting

0: invalid
SERVO-OFF in ERR_C − 0: invalid
1: valid

Selects whether to turn the servo of the connected axis OFF when ERR_C (Field network
communication error) is generated. When ERR_C occurs while the parameter is enabled, the
connected axis should turn the servo off.

(3) Unit velocity (Only Direct Indication Mode)

Chapter 7 Parameter
Name Unit Input range Default initial value setting

Unit velocity 0: [1.0mm/s]

mm/s 0: [1.0mm/s]
(Only Direct Indication Mode) 1: [0.1mm/s]

Selects the speed unit from 1.0 mm/s or 0.1 mm/s.

Unit calculation should be performed in the gateway as set in the parameter and the data should
be transferred to the driver unit via the internal communication.

(4) Internal communication retry count

Name Unit Input range Default initial value setting

Internal communication retry count − 0 to 6 0

In AUTO, this is used to set the number of communication retries with the connected axis.
The gateway should generate Slave Axis Communication Error (ERR_T) when communication
cannot be established for number of times set in this count in a row.

ME0384-7C C7-68
 7.4 RCON Gateway Parameter

(5) MON Signal

Name Unit Input range Default initial value setting

0: valid
MON Signal − 0: valid
1: invalid

MON Signal should be switched over between enable and disable.

Select whether to use MON signal to control enable/disable of the PLC → gateway unit
Operation Section

commands.
For details of MON Signal, refer to [Operation Section 2, 2.1 Address Configuration (page C2-1)].

(6) RIC function

Name Unit Input range Default initial value setting

0: invalid
RIC function − 1: valid
1: valid

Selects whether to set an alarm or not when the time setting disappears.

(7) Delay time of driver reclosing [ms]

Name Unit Input range Default initial value setting

Delay time of driver reclosing [ms] ms 0 to 65,535 5

The latency (interval) setting when supplying power in order to each driver unit should be
Chapter 7 Parameter

established.
It is used for the purpose of reducing inrush current by shifting the timing of power supplied to
each axis.
This feature should become disable when "0" is set in Driver shut-down release delay time.

ドライバシャットダウン解除遅延時間
Delay time of driver reclosing

24V
24V

MP24V
MP24V

0V
0V

シャットダウン
Shut-down
Shut-down
シャットダウン
状態
status
Shutdown
シャットダウン
解除
canceled

(Delay time of driver reclosing) × (Driver number）

(ドライバシャットダウン解除遅延パラメータ)×(ドライバ番号)

C7-69 ME0384-7C
 7.4 RCON Gateway Parameter

(8) Power supply unit connection retry times

Name Unit Input range Default initial value setting

Power supply unit connection

− 0 to 7 3
retry times

Set up the communication retry count with the power supply unit when set to Auto.
It generates an alarm when communication error continues after retries for the set count

Operation Section
between the gateway unit and the power supply unit.

(9) Power supply unit monitor type

Name Unit Input range Default initial value setting

Power supply unit monitor type − 0 to 6 0: Output voltage

Select the monitoring item for the power supply unit.

An item available for monitoring is either one in the items shown in the table below.

Set value Item Content

This power supply can vary the output voltage according to

the load.
0 Output voltage
The output voltage monitoring value changes, but this is not
abnormal.
Control power supply voltage inside the power supply unit.
Auxiliary winding
1 As with the output voltage, it changes according to the load

Chapter 7 Parameter
wire voltage
on the output voltage side.

2 Output current Instantaneous value of output current.

3 Peak hold current Peak value of output current.

Ratio of integral value of output current and rated output

current.
4 Load factor
If this value exceeds 100%, the output voltage is cut off as
an overload error.

5 FAN rotation speed It is the speed of the fan rotation.

Temperature in the vicinity of the output capacitor on the

6 PCB temperature
secondary side.

ME0384-7C C7-70
 7.4 RCON Gateway Parameter

(10) Number of power supply units connected

Name Unit Input range Default initial value setting

Number of power supply units 0: Not to Use

− 0: Not to Use
connected 1 to 5

Set up the number of power supply units (PSA-24(L)) connected and communicated with the
gateway unit.
Operation Section

Set it to "0 (Not to Use)" when using the gateway unit without connecting to the power supply
unit.

[e.g. Connecting communication with 5 units of PSA-24]

Set "5" as there are five units of PSA-24.

(11) Waiting time for initialization internal process communication

Name Unit Input range Default initial value setting

Waiting time for initialization

− 0 to 65,535 0
internal process communication
Chapter 7 Parameter

Sets additional wait time until the driver unit starts internal communication.

(12) Enable SW

Name Unit Input range Default initial value setting

0: invalid
Enable SW − 0: invalid
1: valid

Switchover of enabled/disabled of the enable when a touch panel teaching pendant is

connected should be performed.
Set it to disabled when using a teaching pendant with no enable switch or the enable feature is
not to be used.

Touch panel teaching pendant

Enable Switch

C7-71 ME0384-7C
 7.4 RCON Gateway Parameter

(13) BYTE swap

Name Unit Input range Default initial value setting

0: invalid
BYTE swap − 0: invalid
1: valid

Set the byte swap.

The transferred data can be swapped between upper and lower in the unit of byte.

Operation Section
Set according to the master to be connected as necessary.

Input
register

data

data

Output
register

data

data

(14) Double-word data swapping

Chapter 7 Parameter
Name Unit Input range Default initial value setting

0: invalid
Double-word data swapping − 0: invalid
1: valid

Sets whether the Double-word size data is to be swapped in word size.

Swaps the upper and lower levels of word-sized send / receive data on a word-by-word basis.
Set according to the master to be connected as necessary.

Input
register

data

data

Output
register

data

data

ME0384-7C C7-72
 7.4 RCON Gateway Parameter

(15) Gateway IP address

Name Unit Input range Default initial value setting

0.0.0.0 to
Gateway IP address − 192.168.1.1
255.255.255.255

Set up the IP address of the Ethernet communication port.

Operation Section

Considering the setting in the host device to be used, set up "Gateway IP address" and
"Gateway Subnet Mask".

(16) Gateway subnet mask

Name Unit Input range Default initial value setting

0.0.0.0 to
Gateway subnet mask − 255.255.255.0
255.255.255.255

Set numbers to identify the network address and host address in the IP address.
Set the same numbers as those for the master unit and other slaves (on the same network).
The subnet mask should be 255.255.255.0.

(17) Port Number for UDP Search

Name Unit Input range Default initial value setting

Port Number for UDP Search − 49,152 to 65,535 49,152

Chapter 7 Parameter

UDP is an abbreviation for User Datagram Protocol, which is capable of the connectionless
communication.
The port number to search the IP address in IA-OS is to be set up.
There is basically no need of changing the setting.

C7-73 ME0384-7C
 7.4 RCON Gateway Parameter

(18) RCON-EC JOG switch

Name Unit Input range Default initial value setting

0: invalid
RCON-EC JOG switch − 0: invalid
1: valid

The transferred data can be swapped between upper and lower in the unit of byte.

Operation Section
J OG- JO G+

Set it to disabled and an actuator would not operate even if operating the jog switch.
The jog switch should get disabled also when a screen that is able to operate actuators with a
teaching tool or the parameter edit screen is open.

JO G- JO G+

Chapter 7 Parameter

ME0384-7C C7-74
 7.5 Parameter List for ELECYLINDER

7.5 Parameter List for ELECYLINDER

Default setting Reference

No. Name Unit Input range
at shipping Page
Operation range
1 mm 0 to 9,999.69 Maximum stroke C7-76
adjustment
Operation Section

Auto switch According to

Actuator Depended
2 "LS" signal detection mm ELECYLINDER C7-77
to 9,999.99
range adjustment specifications
According to
Change home return
3 − Reverse, forward ELECYLINDER C7-78
direction
specifications
According to
Home position
4 mm 0 to 9,999.99 ELECYLINDER C7-79
adjustment
specifications
Smooth
5 − Disabled, enabled Disabled C7-80
accel/decel setting
Disabled:
Current control Powerful stop
6 − Disabled C7-81
setting at stop Enabled:
Energy-saving stop
Wireless
7 − Disabled, enabled Enabled C7-82
function setting
Chapter 7 Parameter

8 Power-saving setting − Disabled, enabled Disabled C7-82

Select
Double
Electromagnetic
9 − Double, Single (Not Available for ----
Valve System
Change)
(Operation System)
LED lighting system
10 automatic switch − Disabled, enabled Disabled C7-83
setting

Caution
 No. 1/3/4 default factory settings differ according to ELECYLINDER specifications.
 No. 7 Wireless function setting parameter is not displayed on ELECYLINDERs without
wireless circuit boards (no WL, WL2 in the Option model number).
 Do not attempt to change No. 9 Select Electromagnetic Valve System (Operation
System) parameter from Double.
 No.10 “LED lighting system automatic switch setting” is a parameter that can be set
only for ultra-small ELECYLINDERs (EC-SL3□, GDS3L, GDB□, T3□).
Any other ELECYLINDER cannot use this feature.

C7-75 ME0384-7C
 7.6 Parameter Details of ELECYLINDER

7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Operation range adjustment (Parameter No. 1)]

No. Name Unit Input range Default initial value setting

Operation Section
1 Operation range adjustment mm 0 to 9,999.69 0

● The ELECYLINDER operation range can be adjusted to suit your system.

● The minimum setting unit is 0.01 mm.
● Set to your desired stroke length.
The controller automatically adds 0.30 mm and controls/monitors the operation range.

(Configuration example)
Set the operating stroke between 0 and 80 mm Parameter No.1:
by changing "Parameter No.1" to "80.00 mm". 80.00 mm

0.30 mm 80.00 mm (Stroke to be used) 0.30 mm

Chapter 7 Parameter
Caution
 Set within the ELECYLINDER movable range.
Setting to a value that exceeds the maximum stroke will result in collision with the
forward side mechanical stopper and damage the ELECYLINDER, workpiece or
peripheral devices.

ME0384-7C C7-76
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only

[Auto switch "LS" signal detection range adjustment (Parameter No. 2)]

No. Name Unit Input range Default initial value setting

Auto switch "LS" signal Actuator Depended

2 mm 0.10
detection range adjustment to 9999.99
Operation Section

● Sets the backward complete/forward complete ON trigger range relative to the

backward end/forward end.
● When the ELECYLINDER enters the detection range, the backward complete or
forward complete signal turns ON.
● The minimum setting unit is 0.01 mm.

(Configuration example)
The LS signal detection range for
the conditions below is shown
in the figure.

Backward end: 0.00 mm

Forward end: 100.00 mm
Parameter No.2 : 0.10 mm

Backward end
Chapter 7 Parameter

Forward end
0.00 mm 100.00 mm

[LS0 detection range] [LS1 detection range]

-0.10 to 0.10 mm 99.90 to 100.10 mm

Caution
 A value smaller than the minimum resolution cannot be set.
Minimum resolution [mm/p] = ball screw lead [mm/r] ÷ 800 [p/r]

C7-77 ME0384-7C
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Change home return direction (Parameter No. 3)]

No. Name Unit Input range Default initial value setting

Change home return According to ELECYLINDER

3 − Reverse, forward
direction specifications

Operation Section
● Setting is established at delivery based on the ELECYLINDER specifications. It is not
necessary to adjust the setting in normal use.
● The home return operation direction can be selected.
● To set the opposite direction, switch to the opposite setting value.
("Forward" → "Reverse" or "Reverse" → "Forward")
● For standard specification, the motor side is home.

(Configuration example)

If "Parameter No.3" is "Forward" Home position: motor side

Home position: non-motor side

If "Parameter No.3" is "Reverse"

Caution Chapter 7 Parameter

 Changing the home return direction reverses the operation direction.
 After changing this parameter, always perform home return reset (absolute reset).
 Even if the operation direction is reversed, check that the moving parts do not interfere
with any other objects.
If the moving parts collide, they may damage the ELECYLINDER, workpiece or
peripheral devices.
 Changing the home return direction after purchasing will cause a mismatch with the
ELECYLINDER model number. Make sure to change parameters again if the controller
or body is replaced

ME0384-7C C7-78
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Home position adjustment (Parameter No. 4)]

No. Name Unit Input range Default initial value setting

According to ELECYLINDER
4 Home position adjustment mm 0 to 9999.99
specifications
Operation Section

● Setting is established at delivery based on the ELECYLINDER specifications. It is not

necessary to adjust the setting in normal use.
● Sets the distance between the home side mechanical stopper and the home position.
● The minimum setting unit is 0.01 mm.
● Adjustment with this parameter is possible in the following situations.
(1) To match the ELECYLINDER home position and the mechanical home position
after assembly into equipment.
(2) To adjust the new home position upon reversing the default home return direction
after purchase.
(3) To eliminate a slight deviation from the previous home position generated after
replacing the ELECYLINDER.

(Configuration example)
If "Parameter No.4" is "0.30 mm",
the relationship between mechanical stopper and home position is as follows.
Parameter No.4: 0.30mm Home position
Chapter 7 Parameter

0.30 mm 80.00 mm (Stroke to be used) 0.30 mm

Caution
 If adjusting Parameter No.4, simultaneously adjust Parameter No.1.
"Parameter No.1: Operation range adjustment" uses the home position as the datum.
 Do not set Parameter No.4 to a value smaller than the default setting at shipping.
This may result in abnormal home return operation, alarm triggering or abnormal
operation. If the value must be set small, please contact IAI.
 After changing this parameter, always perform home return reset (absolute reset).

C7-79 ME0384-7C
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Smooth accel/decel setting (Parameter No. 5)]

No. Name Unit Input range Default initial value setting

5 Smooth accel/decel setting − Disabled, enabled Disabled

Operation Section
● The movement waveform for ELECYLINDER operation can be selected.
● When "Enabled", accel/decel operation becomes smoother (less abrupt).
This softens the shocks of acceleration/deceleration without delaying the operation time.
● If "Disabled", the above functionality is not enabled.

Acceleration/deceleration
Setting Operation waveform image
pattern
Speed

Disabled Trapezoid

Time
Speed

Enabled S-motion

Chapter 7 Parameter
Time

Caution
 For operation in which the acceleration time or deceleration time exceeds 2 seconds,
do not "Enable" "Smooth accel/decel setting". Normal operation will not be possible.
 Avoid momentary stops during acceleration or deceleration operation.
Sudden changes (acceleration) will occur, which may be dangerous.

ME0384-7C C7-80
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Current control setting at stop (Parameter No. 6)]

No. Name Unit Input range Default initial value setting

Current control setting at Disabled : Powerful stop

6 − Disabled
stop Enabled : Energy-saving stop
Operation Section

● The control method for ELECYLINDER stop can be selected.

● If "Disabled", a constant current value will be transmitted to the motor,
stopping it. This limits fine vibration when stopping, bringing the unit to a complete stop.
● If "Enabled", a current appropriate to the load will be transmitted to the motor,
stopping it. This limits the amount of power consumed while stopping.
● If abnormal noise or vibration occurs during a gradual stop, setting to "Enabled"
may fix the issue. Moreover, setting to "Enabled" can also fix issues in which the
command position cannot quite be attained.

Caution
 If "Disabled", even if a pulse deviation within ± 2 from the target position remains,
movement towards the target position will not continue.
 If "Enabled", if a pulse deviation of ±1 or more from the target position remains,
movement towards the target position will continue.
Chapter 7 Parameter

C7-81 ME0384-7C
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[Wireless function setting (Parameter No. 7)]

No. Name Unit Input range Default initial value setting

7 Wireless function setting − Disabled, Enabled Enabled

Operation Section
● Either Enabled or Disabled can be selected for the ELECYLINDER wireless function.
● When "Enabled" is selected, wireless communication between the ELECYLINDER and
the Touch Panel Teaching Pendant (TB-03) is possible.
● When "Disabled" is selected, wireless communication between the ELECYLINDER and
the Touch Panel Teaching Pendant (TB-03) is not possible. There is no transmission or
reception of wireless communication radio waves.

Caution
 This parameter is not displayed on ELECYLINDERs without wireless circuit boards
(no WL, WL2 in the Option model number).

ELECYLINDER only
[Power-saving setting (Parameter No. 8)]

No. Name Unit Input range Default initial value setting

Chapter 7 Parameter
8 Power-saving setting − Disabled, Enabled Disabled

● Either Enabled or Disabled can be selected for the ELECYLINDER power-saving

setting.
● When "Enabled," the power capacity can be reduced up to 40% compared to
"Disabled" mode, but the maximum speed, maximum acceleration/deceleration, and
payload decrease in comparison.
For details, refer to each ELECYLINDER instruction manual of [Lead and Payload
(Power-saving: Enabled)], [Stroke and Max. Speed (Power-saving: Enabled)], and
[Payload by Speed/Acceleration (Power-saving: Enabled)].
● When "Disabled," the maximum speed, maximum acceleration/deceleration, and
payload increase compared to "Enabled" mode.
For details, refer to each ELECYLINDER instruction manual of [Lead and Payload
(Power-saving: Disabled)], [Stroke and Max. Speed (Power-saving: Disabled)], and
[Payload by Speed/Acceleration (Power-saving: Disabled)].

ME0384-7C C7-82
 7.6 Parameter Details of ELECYLINDER

ELECYLINDER only
[LED lighting system automatic switch setting (Parameter No. 10)]

No. Name Unit Input range Default initial value setting

LED lighting system

10 − Disabled, enabled Disabled
automatic switch setting

● In addition to the existing operation status display of an actuator, the display of LED lamps
Operation Section

on the main unit of ELECYLINDER can display the forward end / backward end like the
automatic switch on an air cylinder does.
● Set it to "Disable (default setting on delivery from factory)" and the ordinary status LED
display (servo-on/off, emergency stop, alarms, wireless status, etc.) should be performed.
● Set it to "Enable" and "Forward End / Backward End", "Pressing Complete" and "Miss-
Pressing Detected" should be shown in addition to the ordinary status LED displays.

LED2 LED1

Set it to "Disable" Set it to "Enabled"

LED2 LED1 color Operation status LED2 LED1 color Operation status

Power OFF In addition to LED displays in "Disable", following displays

× × -
Chapter 7 Parameter

Servo OFF are to be added.

● ● Orange In Initializing at Startup ● × Orange Backward End [LS0]

★ × Green In Wireless Connection × ● Orange Forward End [LS1]
Wireless Hardware
★ × Red ★ × Orange
Pressing Complete in
Error Backward End Direction [PE0]
× Alarm Pressing Complete in Forward
● Red × ★ Orange
End Direction [PE1]
× In Emergency Stop
Miss-Pressing Detected in
Green, Minor malfunction ● × Orange
× ★⇔★ Backward End Direction
Red alarm
”の設定は反映されません。 Miss-Pressing Detected in
× ● Orange
× ● Green Servo ON Forward End Direction
●: Light ON, ★: Blinking、×: Light OFF

Caution
 No.10 “LED lighting system automatic switch setting” is a parameter that can be set
only for ultra-small ELECYLINDERs (EC-SL3 □, GDS3L, GDB □, T3 □).
 When Connecting Interface Box:
The LED display on the interface box should be the one in "Disable" regardless of the
parameter setting.
 Settings of "Enable" should not be reflected while in wireless connection.

C7-83 ME0384-7C
 7.7 Operation Noise Tuning

7.7 Operation Noise Tuning

The operation noise of ELECYLINDER can be tuned.

When there is abnormal noise, especially when during stop or in low speed (50mm/s or less),
there is extreme high noise, the abnormal noise may get improved by raising the setting level.
Also, by pulling down the setting level, low operation noise may be able to be reduced.

Operation Section
Levels from 0 to 14 (1 to 9 for extra small ELECYLINDER) are available for setting in the
operation noise tuning screen.
However, setting the level too high may cause vibration.

Below, explains how to set it up.

1. Select Gateway Unit in the status bar in

the left of the IA-OS screen and right-click
on it.

Chapter 7 Parameter
Right click

2. The right-click menu pops up.

Click Maintenance data .

Click

ME0384-7C C7-84
 7.7 Operation Noise Tuning

3. Click Operation noise tuning .

The warning screen comes up next,
Click OK .
Operation Section

4. Setting the level up and down to tune

the operation noise.
Click to up the setting level
and to down it.
Decide the setting level and then click OK .

(Note) Operation noise should be tuned

by shifting level one by one.
Chapter 7 Parameter

Window of Operational Noise Tuning

A window on the right should appear when for Ultra Small ELECYLINDER

connected to extra small ELECYLINDER.

C7-85 ME0384-7C
 7.7 Operation Noise Tuning

5. Follow the procedures below to transfer parameters.

Once the confirmation screen for transfer
to the controller appears, click OK .
Once the transfer is completed, click OK .

Operation Section
6. Click OK on the confirmation
screen, and the software reset
should start.
Once the software reset is
completed, click OK .

Chapter 7 Parameter
Caution
● Changing parameters only should not enable the changes made.
● Conduct reboot of the power or software reset after a change is made.
After ELECYLINDER is started up, the parameter changes should become enable.
● Do not attempt to turn the power off while the parameters are being overwritten.
Doing so may damage the controller.

ME0384-7C C7-86
 7.7 Operation Noise Tuning
Operation Section
Chapter 7 Parameter

C7-87 ME0384-7C
 Maintenance
Section

Chapter 1
Maintenance and
Inspection
1.1 Periodic Inspection ·············································· D1-1
1.1.1 Periodic inspection items········································ D1-2

1.2 Requests When Replacing Units····························· D1-4

1.3 Consumable Parts ··············································· D1-5

1.4 Replace Procedure ·············································· D1-6

1.4.1 Fan unit replacement············································· D1-6
1.4.2 Absolute battery replacement ·································· D1-9

1.5 Absolute Reset Procedure ····································· D1-12

ME0384-7C
 1.1 Periodic Inspection

1.1 Periodic Inspection

In order to use the RCON system functions in the best possible condition, it is necessary to
perform daily or periodic inspections.
Refer to an instruction manual for [each actuator for the maintenance for actuator].

Danger
Maintenance Section

 Do not touch the terminal while live. This may result in electric shock.
 Connect the absolute battery correctly. Do not charge, disassemble, heat, throw into
fire, short-circuit or solder. Incorrect handling of the absolute battery may cause injury
or fire due to heating, rupturing or ignition.
 Always shut off the RCON system power supply before cleaning or
assembling/disassembling the unit. Electric shocks may result if the power is not shut off.
 Malfunctions may result if the unit connections are tightened loosely.

Caution
Chapter 1 Maintenance and Inspection

 Do not disassemble or modify any unit. This may result in breakdowns, malfunctions,
injury or fire.
 Always shut off the RCON system power supply before attaching or removing modules
or motor/encoder cables. If not shut off, module breakdowns or malfunctions may
result.
 Do not apply shocks to or drop the absolute battery.
Drops and shocks can damage the absolute battery, causing the liquid inside to leak.
If the absolute battery is dropped or suffers impact, do not use and instead discard.
 Before touching a unit, always touch a grounded metallic part to discharge any static
electricity accumulated on the body. If static electricity is not discharged, module
breakdowns or malfunctions may result.

D1-1 ME0384-7C
 1.1 Periodic Inspection

1.1.1 Periodic inspection items

The RCON systems contain electronic components that may degrade due to the operating
environment and require periodic inspection.
It is standard to conduct periodic inspection once every 6 months to one year, but the interval
should be shortened in accordance with operating environment.
Inspection
No. Inspection details Judgment criteria Countermeasures
items
Measure between the Within voltage Adjust so that the power supply

Maintenance Section
power supply terminal fluctuation range voltage falls within the judgment
Power block to check that the 24V DC ±10% criteria.
1
supply voltage fluctuation is Adjust so that the power supply
within the reference 200 to 230V AC
voltage falls within the judgment
range ±10%
criteria.
Measure the operating temperature
Ambient temperature
with a thermometer and adjust the
(If used in a panel, the
environment so that it falls within the
panel temperature is 0 to 55°C
ambient operating temperature.
the ambient
However, simple absolute units and
temperature)
SCON-CB controllers are 0 to 40°C.
Measure the operating humidity with

Chapter 1 Maintenance and Inspection

Operating humidity 5%RH to 85%RH
a hygrometer and adjust the
(Panel humidity if using Non-condensing or
environment so that it falls within the
in a panel) freezing
ambient operating humidity.
No corrosive or
Check with an odor or gas sensor.
flammable gas
No splatters of
Operating water, oil, or Remove and shield.
2
environment Atmosphere chemicals

No accumulated
dust, debris, salt, or Remove and shield.
metal powder

Directly exposed to
Out of direct sunlight Shield.
sunlight?
Vibration damping
Subjected to direct and shock-resistant Install a cushion, etc., for vibration
vibrations or impacts? specifications should damping and shock resistance.
be within the range
Close to a noise Move the noise source further away
None
source? or take shielding countermeasures.

Mounting Mounting state on each No slack in unit

3 Re-attach and lock.
status DIN rail mounting

ME0384-7C D1-2
 1.1 Periodic Inspection

Inspection
No. Inspection details Judgment criteria Countermeasures
items
The connector
Units firmly connected? should be tightened Tighten so that it is no longer loose.
firmly
Wiring connectors
loose? (Motor encoder
cable, field network
cable, stop circuit,
connection cable
No looseness Insert until the lock engages.
4 Connection between SCON
Maintenance Section

status extension unit and

SCON, cable between
simple absolute unit
and driver unit, etc.)

No visual Check visually and replace the

Wiring cable frayed?
abnormalities cable.

The expiry date is 3

Simple absolute unit's years and should
absolute battery (AB-7) not exceed the date
beyond expiry date or written on a sticker Even if the absolute battery is free
Chapter 1 Maintenance and Inspection

lifespan? adhered to the of errors, replace it if the expiry date

battery body has passed.
Absolute Two years after use
5
battery (when controller left Refer to [Maintenance Section
without electrically Chapter 1, 1.4.2 Absolute battery
Absolute backup conducted) replacement (page D1-9)] for how to
battery (AB-5) Four years after use make replacement.
(when controller
with electrically
conducted by 50%)
For countermeasures, refer to [6.1
Preventive/
Preventive/predictive Preventive Maintenance Function
predictive
6 maintenance alarms No alarm generated (page C6-1)] [6.2 Predictive
maintenan
generated? Maintenance Function (page C6-10)]
ce function
in Operation Section, Chapter 6.

D1-3 ME0384-7C
 1.2 Requests When Replacing Units

1.2 Requests When Replacing Units

Pay attention to the following precautions when replacing units after discovering a fault during
inspection.
• Unit replacement should be conducted with the power off.
• After replacement, check that the new unit does not have any errors.
• If returning a faulty unit for repairs, write out the nature of the error in as much detail as
possible and attach it to the product.

Maintenance Section
• Be sure to back up position data, parameters and PLC data just in case something goes wrong.

[Items for Reference]

• How to Replace Absolute Battery
Refer to [Maintenance Section Chapter 1, 1.4.2 Absolute battery replacement (page D1-9)].
• How to Replace Fan Unit
● 24V Driver Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-6)].
● 200V Power Supply Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-7)].

Chapter 1 Maintenance and Inspection

● 200V Driver Unit
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan unit replacement (page D1-8)].

[Absolute Battery Handling]

Always observe the following safety precautions.
(1) Do not disassemble under any circumstances. The electrolyte is a strong alkali solution.
It is harmful to skin and clothing.
(2) Never short the electrodes out (never directly connect + and - electrodes). Devices may
be damaged, or the generated heat may cause burns.
(3) Never place into fire, as it may burst.
Also do not submerge underwater, as the battery will cease to function.
(4) Do not solder directly.
The safety mechanism may explode due to damage to the safety valve in the battery cap.
(5) If the power remains shut OFF for an extended period of time with the connector
connected, deep discharge will take place, leakage may occur and the performance/life of
the battery may be significantly lowered.
Unplug the connector when shutting OFF the power for extended periods of time due to
equipment relocation, remodeling, etc.
(6) When disposing, take measures such as the use of an appropriate collection box installed
at a recycling center.

ME0384-7C D1-4
 1.3 Consumable Parts

1.3 Consumable Parts

The life of components used in the RCON system is as follows. Refer to [Operation Section
Chapter 6, "6.1 Preventive Maintenance Function (page C6-1)" and "6.2 Predictive Maintenance
Function (page C6-10)"] for information about preventive and predictive maintenance.

Preventative Predictive
Guidelines
Item maintenance maintenance Condition
for life
function function
Maintenance Section

Ambient temperature 40°C,

Electrolytic capacitor 5 years  −
rated operating mode
12 h/day ON time at 40°C
Backup capacitor for environment
5 years  −
calendar functions 12 h 20°C environment when
stopped (power OFF)
Simple absolute battery
3 years − − Ambient temperature 40°C
(AB-7)
Absolute battery
4 years − − Ambient temperature 40°C
(AB-5)

Fan unit 3 years −  Ambient temperature 40°C

Chapter 1 Maintenance and Inspection

D1-5 ME0384-7C
 1.4 Replace Procedure

1.4 Replace Procedure

1.4.1 Fan unit replacement

[Replace Fan Unit for 24V Driver】

<Detaching Fan Unit>

1) Insert a slotted screwdriver to the cutout

Maintenance Section
(circled in red in figure on the right) on
the fan unit and pull up the fan unit
upwards to detach it.
1) Pull fan unit
off upwards

<Attaching Fan Unit>

New Fan Unit
2) Adjust the installation orientation of the

Chapter 1 Maintenance and Inspection

RCON system and new fan unit.

Hook the claw of the fan unit to the driver

unit as shown in the figure on the right. 2) Hook the claw of
RCON system front the fan unit to the
driver unit

3) Pull down the fan unit to the front of the

3) Pull down the fan
RCON system. unit to the front

4)
4) Press the fan unit from the top and
snap in.
RCON system front

ME0384-7C D1-6
 1.4 Replace Procedure

[Replace Fan Unit for 200V Power Supply]

<Detaching Fan Unit>

Insert a slotted screwdriver to the cutout
(circled in red in figure on the right) on the
fan unit and pull up the fan unit upwards to
detach it.

Pull fan unit off

upwards
Maintenance Section

<Attaching Fan Unit>

1) Hook the claw of the fan unit to the driver
unit as shown in the figure on the right. New Fan Unit

1) Hook the claw of the

fan unit to the driver
unit
Chapter 1 Maintenance and Inspection

2) Pull down the fan unit to the front of the

RCON system.
2) Tilt the fan unit
towards front
3) Push it from top to
put it in
3) Press the fan unit from the top and
snap in.

RCON system front

D1-7 ME0384-7C
 1.4 Replace Procedure

[Replace Fan Unit for 200V Driver Unit]

<Detaching Fan Unit>

Insert a slotted screwdriver to the cutout
(circled in red in figure on the right) on the
fan unit and pull up the fan unit upwards to
detach it.

Maintenance Section
Pull fan unit off
upwards

<Attaching Fan Unit>

1) Hook the claw of the fan unit to the driver
unit as shown in the figure on the right. New Fan Unit

1) Hook the claw of the

Chapter 1 Maintenance and Inspection

fan unit to the driver
unit

2) Pull down the fan unit to the front of the

RCON system.

2) Tilt the fan unit

towards front
3) Push it from top to
3) Press the fan unit from the top and put it in
snap in.

RCON system front

ME0384-7C D1-8
 1.4 Replace Procedure

1.4.2 Absolute battery replacement

[Replace the absolute battery of the simple absolute unit]

In here, explains how to replace an absolute battery.
When you replace a battery, keep the power to the controller on during replacement work.
If you have the power off during replacement, the encoder position data would not be retained.
Also, the work can be performed with the cables left joined to the connectors on the simple
absolute unit.
Maintenance Section

1) Press and hold down the snap feature on 1)

the front cover of the simple absolute unit,
and pull the cover up towards you to take
it off.

Hold snap
feature on front
cover down
Chapter 1 Maintenance and Inspection

Pull up cover
to take it off

2) Take the battery out of the simple 2)

absolute unit, and take off the connector
on the battery. Take battery
out

Take connector off

D1-9 ME0384-7C
 1.4 Replace Procedure

3) Join the connector on a new battery to 3)

the PC board and put the battery in the
simple absolute unit.

Join
connectors

Maintenance Section
Put battery
inside

4)

Chapter 1 Maintenance and Inspection

4) Put the cover on.

Hang snap
feature on
cover

Lay cover down

towards front to
snap it in

This is the end of the absolute battery replacement work.

ME0384-7C D1-10
 1.4 Replace Procedure

[Replace Absolute Battery of SCON]

Replacement of battery should be held while the power supplied to the controller kept on.
Detach the battery connector and replace the battery stored in the battery holder.
In case of having the power supplied to the controller off, it is necessary to complete the
replacement work in 15 minutes after the battery is detached. Exceeding 15 minutes may lose
the absolute data.

* The example below is how to replace a battery for SCON-CB. The way to replace a battery
should be the same for SCON2.
Maintenance Section

<Removal> Pull off the connector and the battery.

Chapter 1 Maintenance and Inspection

<Attachment> Insert the connector to the absolute battery connector and store the battery in
the battery holder.

D1-11 ME0384-7C
 1.5 Absolute Reset Procedure

1.5 Absolute Reset Procedure

The simple absolute specification and battery-less absolute specification retain the encoder
position information even when the power is turned off. With these specifications, there is no
need to perform home return every time at startup.

For simple absolute specification, home must be registered (absolute reset) in the following
cases (1) to (3).

Maintenance Section
(1) Initial startup
(2) When the power of RCON system is turned off and the battery of the simple absolute unit
is replaced
(3) When the motor/encoder cable is removed from the simple absolute unit

For battery-less absolute specification, home must be registered in the following cases (1) and (2).

(1) When replacing motor

(2) When absolute error occurs

Chapter 1 Maintenance and Inspection

Absolute reset is performed by operating a teaching tool such as PC software or issuing a
command from the host PLC. Each procedure is shown below.

ME0384-7C D1-12
 1.5 Absolute Reset Procedure

[Absolute reset procedure from teaching tool]

1) Connect the driver unit and actuator.
2) For the simple absolute specification, connect the simple absolute unit between the driver
unit and actuator.
3) Connect the teaching tool and turn on the RCON system power.
4) When absolute encoder error is displayed on the teaching tool, reset the alarm.
5) Perform home return. When home return is completed, the home position is memorized at
the same time as it is established.
Maintenance Section

Each procedure by teaching tool is shown below

[For PC software (RCM-101-*-*)]

1. Select the position data from the main screen and press the Alarm .
Chapter 1 Maintenance and Inspection

2. After turning the servo ON with the Servo , press the Home .

D1-13 ME0384-7C
 1.5 Absolute Reset Procedure

[For PC Teaching Software (IA-OS)]

Refer to [Fast Step Guide (ME0391) for how to install the PC teaching software IA-OS]

1. Open Position data edit screen and click .

Position data edit screen

Maintenance Section
Click

2. Click located on the right of "Alarm" in Position data edit screen.

Position data edit screen

Click

Chapter 1 Maintenance and Inspection

3. The alarm should be reset.
Click located on the right of "Servo-on Status".

Click

4. The servo on the actuator should turn on.

(The lamp at Servo-on Status should turn on in "green".)
Click located on the right of "Homing".

Click

5. The confirmation screen for the home-return operation

should be displayed. Click .
The actuator should start the home-return operation.

6. The lamp at Homing Complete should turn on in

"green" once the actuator completes the home-return
operation in the normal condition.

Turns on in green
Home-return operation completed

ME0384-7C D1-14
 1.5 Absolute Reset Procedure

[For teaching pendant (TB-02/TB-03)]

1. Touch Alarm reset .

Maintenance Section

2. Touch Trial operation on the Menu

1 screen.
Chapter 1 Maintenance and Inspection

3. On the test run screen, touch

Jog inching .

4. On the jog/inching screen, turn the

servo on by touching Servo ,
then touch Homing .

D1-15 ME0384-7C
 1.5 Absolute Reset Procedure

[When performing absolute reset from host]

Perform the following procedure.
1) Supply the control power and motor power (24V DC / 3-phase/single-phase 200V).
2) Turn on the STOP signal input to cancel the drive shutoff status and set to conductive
status.
3) Confirm that the absolute encoder error alarm is output.
(Confirm that the alarm signal "ALM" is ON.)
4) Input the reset signal "RES" and reset the alarm.
The RES signal is processed with ON edge, but if the cause of the other alarm is not

Maintenance Section
removed, the alarm (ALM signal ON) will recur. Check the causes of the other alarms and
take appropriate actions.
5) After confirming that the ALM signal is OFF, input the servo ON signal "SON".
6) After confirming that the operation ready signal "SV" is ON, input the home return signal
"HOME". Home return motion begins. When home return is completed, the home return
complete signal HEND is output.
For the EC connection unit, confirm that the gateway status signal 0 "RUN" and operation
standby complete signals "E0RD" to "E3RD" are turned on, and then input either forward
or backward signal "ST0/ST1". The home-return operation starts. Once the home-return

Chapter 1 Maintenance and Inspection

operation ends and moved to the backward (or forward) end, the forward/backward signal
"LS0/LS1" should be output.

Note: For the EC connection unit, the alarm signal "*ALM" turns on in normal condition and
turns off when an alarm is generated. Also, there is no "LNK*" or "SON" signal for the
EC connection unit. Once the power is supplied, the servo on ELECYLINDER
automatically turns on.

ME0384-7C D1-16
 1.5 Absolute Reset Procedure

Control power [Input] 1)

(24V DC)

Motor power [Input]

(24V DC / 200V AC)

2)
Safety circuit status (Drive-source cutoff status) ON (Drive-source cutoff cancel)
（STOP）
Maintenance Section

Gateway status signal 0

RUN [Output]
2)

Gateway status signal 1

LNK* [Output]

Reset signal 4)
RES [Input]

Alarm signal
ALM [Output] 3) ON OFF
Chapter 1 Maintenance and Inspection

(Normal Condition: On, Alarm

Generated: Off for EC Connection Unit)
5)
Servo ON signal
SON [Input]

Operation ready signal

SV (E0RD to E3RD) [Output]
Driver unit
SYS lit green
6)
Home return signal Home return
HOME (ST0/ST1) [Input]

Home return complete

HEND (LS0/LS1) [Output]
EC Connection Unit Backward 20ms (TYP)
(Forward) End Turns Green Light on

Actuator operation

Home position
(ELECYLINDER moves from the home
position to backward (forward) end)

D1-17 ME0384-7C
 Maintenance
Section

Chapter 2
Troubleshooting
2.1 Troubleshooting ·················································· D2-1

2.2 Failure Diagnostics ·············································· D2-2

2.2.1 Operation failure ··················································· D2-2
2.2.2 Low positioning and velocity accuracy (incorrect operation) ··· D2-3
2.2.3 Generation of abnormal noise or vibration ················· D2-4
2.2.4 Communication failure ··········································· D2-4

2.3 Gateway Unit Alarm Causes and Countermeasures ···· D2-5

2.3.1 Alarm levels ························································ D2-5
2.3.2 Causes and countermeasures of individual alarms ······ D2-6

2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures D2-11
2.4.1 Alarm levels ························································ D2-11
2.4.2 Simple alarm codes ·············································· D2-12
2.4.3 Alarm code list ····················································· D2-14
2.4.4 Causes and countermeasures of individual alarms ······ D2-17

2.5 Causes and Countermeasures for ELECYLINDER Alarms··· D2-35

2.5.1 ELECYLINDER alarm group ··································· D2-35
2.5.2 Troubleshooting for ELECYLINDER alarm groups ······· D2-36

ME0384-7C
 2.1 Troubleshooting

2.1 Troubleshooting

If a problem occurs, check the following points first in order to ensure quick recovery and prevent
recurrence of the problem.

(1) Check the status LED (SV/ALM LED) of each RCON system device
Check the SCON controller LED status for each gateway unit, driver unit, simple absolute unit
or SCON extension unit connected.
Maintenance Section

(2) Check for abnormality in the host device (PLC, etc.)

(3) Check the control power supply, motor power supply and field network power supply voltages
Check for momentary power failure, voltage drop, power failure, etc.
(4) Confirm the generated alarm
Check the alarm information with the teaching tool.
(5) Check the connectors for disconnection or incomplete connection
(6) Check the cables for connection error, disconnection or snagging.
Cut off the main power supply of the equipment (to avoid electric shock) and remove the
cables around the measurement point (to avoid conductivity through the surrounding circuit)
before checking the conductivity.
(7) Check the network terminal resistor mounting status and resistance
Chapter 2 Troubleshooting

(8) Check the I/O signals

Use a teaching pendant to check for inconsistency or abnormality in the input/output signal
status of the host device and RCON system.
(9) Check the noise elimination measures (grounding, connection of noise suppressor, etc.)
(10) Check the events leading to the occurrence of the problem, as well as the operating
conditions at the time of occurrence
(11) Analyze the cause
(12) Countermeasures

Caution
● When proceeding with troubleshooting, exclude normally functioning parts from the
targets to narrow down the causes.
● First, check (1) to (12) so that countermeasures can be taken swiftly.

D2-1 ME0384-7C
 2.2 Failure Diagnostics

2.2 Failure Diagnostics

Abnormal conditions can be roughly divided into the following four types.
● Operation failure
● Low positioning and velocity accuracy (incorrect operation)
● Generation of abnormal noise or vibration
● Failure to communicate

Maintenance Section
2.2.1 Operation failure

Situation Possible cause Confirmation/countermeasure

Gateway unit SYS LED (1) Alarm generated. (1) Connect a teaching tool and check the
light glows orange at (2) In the process of drive-source cutoff. error code, then refer to the alarm list to
power ON, STOP LED 1) Stop switch has been pressed. resolve the cause.
glows red, or driver unit 2) System I/O connector STOP- is Refer to [Maintenance Section 2.3
SYSI/SYSII LED light not connected. (page D2-5) and 2.4 (page D2-11)]
glows red. 3) Safety category specification is (2) 1) Release the stop switch.
used but dummy plug is not 2) Check the system I/O connector
attached. (STOP-) wiring connections.
Refer to [Startup Section Chapter 2,

Chapter 2 Troubleshooting
2.3.1 Stop circuit / Drive cutoff circuit
(page B2-48)]
3) Insert dummy plug (model number:
DP-5) into SIO connector.

Actuator does not 1) Servo OFF status 1) Is the LED light (SYSI/SYSII) for the
operate even though 2) Pause signal is ON driver unit connected to the operating
position No. and start 3) Executed positioning command in axis glowing green?
signal have been input. the stopped position. Refer to [Specifications Section Chapter
4) No positioning data is set in the 4, "4.5 Part Names/Functions (page
commanded position No. A4-5)"]
5) For direct numerical control mode, Turn ON Servo ON signal SON.
the information writing region is 2) Operation is possible when pause signal
incorrect. STP is OFF, pausing when ON. Turn
OFF.
3) Check the sequence or position table
setting.
4) Alarm 0A2 "Position Data Error"
appears. Set position data table.
5) Confirm that the writing range is correct.

ME0384-7C D2-2
 2.2 Failure Diagnostics

Situation Possible cause Confirmation/countermeasure

Unable to operate even 1) Stop due to the influence of circuits 1) Supply 24 VDC to STOP- terminal of the
though teaching tool is throughout the facility. system I/O connector.
connected and gateway 2) Operation mode is AUTO, or is
unit motor and control MANU but in monitor mode. Warning
power are supplied. 3) Servo OFF status. When using the process in 1), return to
(Stop switch is in the original status immediately after
release status on the adjustment. If operated as is, the
teaching tool) disabled stop could lead to a serious
accident.
2) Turn AUTO/MANU switch on the front
panel of the gateway unit to MANU, and
Maintenance Section

select teaching mode with the teaching

tool.
3) Turn the servo ON with the teaching tool.

2.2.2 Low positioning and velocity accuracy (incorrect operation)

Situation Possible cause Confirmation/countermeasure

Motion is completed in The standard IAI home return motion 1) Reduce the load.
the middle of home specification is a positioning stop at 2) Remove the interfering object.
return operation. the home position after pushing 3) Try loosening the fixing bolt and check if
against the mechanical end and the slider part moves smoothly.
Chapter 2 Troubleshooting

reversing. When the load is If it moves smoothly, check for distortion

excessive or the unit encounters an of the mounting surface, etc., and
obstacle, it may determine that the remount the unit according to the
mechanical end has been reached, mounting method shown in the actuator
without actually having done so. instruction manual.
1) Weight exceeding the rated load is 4) Contact IAI.
loaded.
2) The unit is striking an obstacle
while traveling.
3) The guide has torsional stress due to
the securing method of the actuator
or uneven tightening of bolts.
4) The sliding resistance of the
actuator itself is excessive.

There is a shock when Acceleration/deceleration setting is Lower the acceleration/deceleration

starting or stopping. too high. setting.

Overshooting occurs Load inertia is excessive.

Lower the deceleration setting.
during decelerating stop. Deceleration setting is too high.

Positioning accuracy is
insufficient.

Uneven speed when traveling.

Refer to [Operation Section Chapter 7, 7.3 Servo Gain Adjustment (page C7-53)]
Unable to smoothly
accelerate/decelerate
(speed response is
insufficient).

Positioning completes but Positioning start signal CSTR has not CSTR signal must be turned OFF before
positioning complete signal been turned OFF. positioning complete, by turning OFF
PEND is not output. PEND signal, etc., after traveling starts.

D2-3 ME0384-7C
 2.2 Failure Diagnostics

2.2.3 Generation of abnormal noise or vibration

Situation Possible cause Confirmation/countermeasure

Generation of abnormal Possible causes of abnormal In some cases, servo adjustment can
noise or vibration from including load condition, actuator improve the situation.
the actuator itself. mounting condition, rigidity of the Refer to [Operation Section Chapter 7, 7.3
device on which the actuator is Servo Gain Adjustment (page C7-53)]
mounted, etc.

Vibration of load. 1) Acceleration/deceleration setting is 1) Lower the acceleration/deceleration

too high. setting.

Maintenance Section
2) Mounting structure or load 2) Review the mounting structure or load.
susceptible to
acceleration/deceleration is
mounted.

2.2.4 Communication failure

Situation Possible cause Confirmation/countermeasure

Unable to connect to 1) Communication speed is 1) Match the setting with the host device.
host device. mismatched. Refer to [Host device instruction manual]

Chapter 2 Troubleshooting
2) Machine number (station number) 2) Revise machine number (station
setting is duplicated with another number) setting.
device, or value is outside range. Machine number (station number) differs
3) Faulty wiring or disconnection, depending on the communication
etc., of communication cables. method. Refer to field network
specification address map and host
device instruction manual for details.
3) Review wiring.
Confirm that the terminal resistor is
connected correctly to the network
terminal.
For DeviceNet specification, confirm that
communication power is supplied
correctly.
Refer to [Host device instruction manual]

ME0384-7C D2-4
 2.3 Gateway Unit Alarm Causes and Countermeasures

2.3 Gateway Unit Alarm Causes and Countermeasures

2.3.1 Alarm levels

Alarms are classified into 2 levels depending on the content of the error.

Operation from the

Alarm level SYS LED ALM signal
teaching tool

Light Malfunction Green ON Outputs Can

Maintenance Section

Critical malfunction Orange ON Outputs Cannot

Caution
 Clear alarms only after investigating and resolving the cause in all cases.
If the cause of the alarm cannot be resolved or the alarm cannot be cleared after
resolving the cause, contact IAI.
 If the same error occurs again after clearing the alarm, the cause of the alarm has not
been resolved.
Chapter 2 Troubleshooting

D2-5 ME0384-7C
 2.3 Gateway Unit Alarm Causes and Countermeasures

2.3.2 Causes and countermeasures of individual alarms

The alarm codes will be read out in gateway status signal 0 ALMC1 to 128 (b0 to b7).
For details, refer to [Operation Section Chapter 2, 2.2.1 Fixed area control/status signals (page
C2-22)].
(Note) Alarm codes displayed on the gateway parameter configuration tool have "8" added at
the beginning of the alarm codes listed below. (Example) If the alarm code is 43, it will
be displayed as 843.

Maintenance Section
Alarm
Alarm name Causes / Countermeasure
code
4A Real-time clock Cause: Time data was lost.
(84A) vibration stop detection Time data can be retained for about 10 days after turning
gateway unit power OFF.
Countermeasure: Set the time again from the gateway parameter.
4B Real-time clock Cause: RCON internal error. Retrieval of internal time data failed.
(84B) access error Countermeasure: Reboot the power.
4C Estimated life of backup Cause: Gateway interior capacitor capacitance has dropped by 50%.
(84C) capacitor for calendar Countermeasure: Replace the gateway unit as soon as possible.
function exceeded
50 Field network Cause: Field network link error. If a latch is set with the gateway

Chapter 2 Troubleshooting
(850) communication error parameter configuration tool while this error is generated,
(ERR-C) actuator operation will stop in error status and commands will
be ignored until the cancel signal is received.
Countermeasure: 1) Check if the host device (such as PLC9 is in
RUN condition (operational condition) or
monitoring condition.
2) Check field network settings (node address,
communication speed, etc.), wiring, etc.
61 Dependent axis internal Cause: RCON internal communication error. Communication failure
(861) communication error with driver unit connecting actuator axes.
(transmission) Countermeasure: Reboot the power.
62 Dependent axis internal Cause: RCON internal communication error. Communication failure
(862) communication error with driver unit connecting actuator axes.
(reception) Countermeasure: Reboot the power. If it occurs again, contact IAI.
6D Power supply unit Cause: It is a communication error between the gateway unit and IAI
(86D) communication error 24V DC power supply unit (model code: PSA-24 (L)).
1) Communication cable disconnection or connector contact
failure
2) Incorrect setting of number of power supply units
connected
3) The address setting on the rotary switch on the power
supply unit is inappropriate.
4) A communication line on one unit of the power supply unit
is connected to multiple gateway units.
5) Influence from noise
Countermeasure: 1) Check the cable and connector.
2) Confirm with gateway setting tool.
3) Confirm whether address is duplicated.
4) A communication line on one unit of the power
supply unit is to be connected to one gateway
unit.
5) Take measures against noise.

ME0384-7C D2-6
 2.3 Gateway Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes / Countermeasure
code

6E Failure in Driver Cause: It should be generated when there is an error in the

(86E) Parameter Readout parameter readout communication for initialization between
the gateway unit and driver unit.
When this alarm is being generated, the gateway unit cannot
read out the parameters in the driver unit.
The causes of this alarm are as stated below.
1) Joining error / contact error of joint connector between
gateway unit and driver unit
2) Contact error or the connector on the connection cable
between SCON extension unit or SCON controller is
Maintenance Section

loosened.
3) There is a concern of SCON extension unit malfunction,
SCON malfunction or the connection cable between
SCON extension unit and SCON is broken.
4) There is influence of noise from a peripheral device.
5) Malfunction of driver unit
6) Malfunction of gateway unit
Countermeasure: 1) Connect the gateway and driver unit again to
see if the alarm happens again.
2) Check if the connectors on the connection cable
between SCON extension unit and SCON
controller are loosened, or the terminal unit is
inserted.
3) Take the gateway unit off the SCON extension
Chapter 2 Troubleshooting

unit. Change the number of connected axes in

the gateway parameter. Check if the alarm
happens again after turning the power supply
on again.
•Alarm canceled: It may be a concern of SCON
extension unit malfunction, SCON malfunction
or breakage of connection cable between
SCON extension unit and SCON. Replace the
concerned unit.
•Alarm continued: check another measure.
4) Cut off the power supply to the peripheral
devices, operate IAI controllers and actuators
only to check if this alarm would happen again.
In case it does not happen again, there is a
concern of influence of noise from peripheral
devices. Revise the noise measures for the
peripheral devices.
5) Replace the driver unit.
6) Replace the gateway unit.

* In this alarm, describes the bit patterns that the axes numbers with
a readout communication error can be determined in the detail
codes.
Example of Display)
When readout failed in Axis Number 0: 0001H
When readout failed in Axis Number 3 and 4: 0018H
When readout failed in Axis Number 0 and 8: 0101H
80 Gateway parameter error Cause: Gateway parameters are abnormal.
(880) Countermeasure: Check connected axes, operation mode, etc. with
gateway parameter configuration tool.

D2-7 ME0384-7C
 2.3 Gateway Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes / Countermeasure
code

81 Parameter check sum Cause: RCON internal memory data may be damaged.
(881) error Countermeasure: Reset with the gateway parameter configuration
tool or write the backup data.
9B Field network Cause: Field network module failure is possible.
(89B) module error Countermeasure: Replace the gateway unit if this reoccurs even after
turning ON the power again.
9C Field network module Cause: Communication circuit board for field network could not be
(89C) undetected confirmed.
1) Communication circuit board is not inserted.

Maintenance Section
2) Malfunction of communication circuit board
Countermeasure: Reboot the power. If it occurs again, replace the
gateway unit.
9D Field network module Cause: Initialization of field network module did not complete after a
(89D) initialization timeout given period of time.
Countermeasure: Reboot the power. If it occurs again, replace the
gateway unit.
A0 Excessive control power Cause: Control power supply voltage exceeded the overvoltage
(8A0) supply voltage judgment value (120% of 24 V DC = 28.8 V).
1) 24 V DC power supply voltage is high
2) Remote sensing feature is used with the power supply with
no margin in the current amperage
3) Malfunction of parts inside the gateway unit

Chapter 2 Troubleshooting
Countermeasure: 1) Check power supply voltage.
2) Consider using a power supply with sufficient
current capacity, or avoid using the remote
sensing function.
3) Replace the gateway unit.
A1 Control power supply Cause: Control power supply voltage went below the voltage drop
(8A1) voltage drop judgment value (70% of 24 V DC = 16.8 V).
1) 24 V DC power supply voltage is low
2) Malfunction of parts inside the gateway unit
Countermeasure: Check power supply voltage.
If voltage value is normal, replace the gateway
unit.
A7 External wiring power Cause: Gateway unit control power supply voltage has dropped to or
(8A7) supply voltage drop below 16.8 V (70% of 24 V DC).
1) Control power supply voltage drop
2) Malfunction of parts inside the gateway unit
Countermeasure: 1) Confirm that voltage of 24 V DC ±10% is being
applied to the gateway unit control power
connector. If the voltage is low, the 24 V DC
power supply may have failed.
2) Replace the gateway unit.

ME0384-7C D2-8
 2.3 Gateway Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes / Countermeasure
code

B9 Driver Parameter Cause: A readout of a parameter from a driver unit failed.

(8B9) Readout Error during 1) A readout of a parameter from a driver unit failed.
Initialization 2) Contact error
3) Influence of noise
Motion 4) Malfunction of driver unit
compatible 5) Malfunction of gateway unit
GW
dedicated
Countermeasure: 1) Version update necessary. Contact IAI.
2) Disconnect then connect the gateway unit,
driver unit, etc. again to check if the alarm gets
generated again.
Maintenance Section

3) Take measures against noise.

4) Replace the driver unit.
5) Replace the gateway unit.
BA Number of Cause: 1) Number of axes set with gateway parameters does not
(8BA) axes/operation mode match the number of axes calculated from the operation
mismatch mode set for the gateway.
2) Driver units of 17 axes or more are connected.
Countermeasure: 1) As the parameter set value is incorrect, reset the
gateway parameters.
2) Reduce the driver units to 16 axes or fewer and
set the appropriate gateway parameters.
BC Attached axis Cause: Communication error generated at total frame
(8BC) communication error communication initial communication.
Chapter 2 Troubleshooting

1) Connector or SCON cable connector is not correctly

connected.
2) Interior signal line or SCON connection cable is
disconnected.
3) Terminal unit or terminal connector (for SCON) has not
been mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected
together. Disconnect the units and then connect
them again. Contact IAI if this reoccurs even
after turning ON the power again.
3) Mount the terminal unit or terminal connector.
4) Take measures against noise.
BE Option Unit Initial Cause: There was a communication error occurred at initial
(8BE) Communication Error communication of the total frame communication to the
option unit (EC connection unit).
1) Connector is not correctly connected.
2) Interior signal line cable is disconnected.
3) Terminal unit has not been mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit
4) Take measures against noise.
D0 Option Unit Connected Cause: The number of units connected to the option unit (EC
(8D0) Number of Units Error connection unit) differs from the number of connected units
set in the gateway parameter.
Countermeasure: Align the number of option units in the setting to the
number of connected units.

D2-9 ME0384-7C
 2.3 Gateway Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes / Countermeasure
code

D1 Inapplicable Option Unit Cause: An option unit not applicable was connected.
(8D1) Connected Countermeasure: Connect an option unit that is applicable.
DD Unit connection check Cause: Units may not be correctly connected.
(8DD) signal error 1) Connector or SCON cable connector is not correctly
connected.
2) Interior signal line or SCON connection cable is
disconnected.
3) Terminal unit or terminal connector (for SCON) has not
been mounted.
Countermeasure: 1) 2) Confirm that units are firmly connected

Maintenance Section
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit or terminal connector.
DE Driver unit Cause: Communication error generated in total frame
(8DE) communication error communication.
1) Connector or SCON cable connector is not correctly
connected.
2) Interior signal line or SCON connection cable is
disconnected.
3) Terminal unit or terminal connector (for SCON) has not
been mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected

Chapter 2 Troubleshooting
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit or terminal connector.
4) Take measures against noise.
DF Option Unit Cause: There was a communication error occurred in the total frame
(8DF) Communication Error communication between the gateway unit and the option unit
(EC connection unit).
1) Connector is not correctly connected.
2) Interior signal line cable is disconnected.
3) Terminal unit has not been mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit
4) Take measures against noise.
F0 Ethernet Initializing Cause: The initialization of the Ethernet circuit finished in an error.
(8F0) Process Error Countermeasure: Reboot the power. There should be a concern of
malfunction of the gateway unit if the same
phenomenon occurs again.
FA CPU error Cause: 1) Abnormal reset detected in gateway board interior CPU.
(8FA) 2) A communication line on one unit of a 24V DC power
supply unit supplied by IAI (model code: PSA-24) is
connected to multiple gateway units.
Countermeasure: 1) Reboot the power.
2) A communication line on one unit of the power
supply unit is to be connected to one gateway
unit.

FFF Power ON log A log created when power is turned ON (not an error)

ME0384-7C D2-10
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

2.4.1 Alarm levels

Alarms are classified into 3 levels depending on the content of the error.

Situation
Alarm SYS LED
ALM signal when Alarm content and cancellation method
level I/II
generated
Maintenance Section

Message Green ON No output Does not stop Alarm reset will cancel maintenance output
such as overload warning or low battery
voltage, or minor issues alarms, including
teaching tools.
Refer to [Instruction Manual for Each Tool] for
the cancellation method.
Operation Red ON Outputs After Medium-level issue.
cancel decelerating Alarm can be canceled with alarm reset via
stop PIO or teaching tools.
Servo OFF
Cold Red ON Outputs After Perform software reset with the teaching tool,
start decelerating or by turning the power ON again.
stop Home return is required for any actuators of
Chapter 2 Troubleshooting

Servo OFF incremental specification.

Caution
 Clear alarms only after investigating and resolving the cause in all cases.
If the cause of the alarm cannot be resolved or the alarm cannot be cleared after
resolving the cause, contact IAI.
 If the same error occurs again after clearing the alarm, the cause of the alarm has not
been resolved.

D2-11 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

2.4.2 Simple alarm codes

When an alarm is generated, the simple alarm code is read by the complete position register
(PM8 to PM1) in each mode: simple direct, positioner 1, positioner 2, and positioner 5.

: ON : OFF
ALM8 ALM4 ALM2 ALM1 Binary
ALM Contents: ( ) indicates alarm code
(PM8) (PM4) (PM2) (PM1) Code

     − Normal

Maintenance Section
     1 Collision detection (0DF)
Software reset in servo ON status (090)
Position No. error during teaching (091)
     2 PWRT signal detected while traveling (092)
PWRT signal detected in homing incomplete status (093)
Servo ON command after encoder FRAM read/write (09C)
Travel command in servo OFF status (080)
Position command in homing incomplete status (082)
Absolute position travel command in homing
incomplete status (083)
     3
Travel command during home return execution (084)
Position No. error during travel (085)
Position command information data error (0A3)

Chapter 2 Troubleshooting
Command deceleration error (0A7)
Fan error detection (0D6)
     4
PCB mismatch (0F4)
Internal communication error (09B)
     5
Cyclic synchronization error (09F)
Parameter data error (0A1)
     6 Position data error (0A2)
Motor/encoder type not supported (0A8)
Z-phase position error (0B5)
Z-phase detection timeout (0B6)
Magnetic pole uncertain (0B7)
     7 Excitation detection error (0B8)
Home sensor not detected (0BA)
Home return timeout (0BE)
Creep sensor not detected (0BF)
Excessive actual speed (0C0)
     8
Overrun sensor detected (0C2)

ME0384-7C D2-12
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

: ON : OFF
ALM8 ALM4 ALM2 ALM1 Binary
ALM Contents: ( ) indicates alarm code
(PM8) (PM4) (PM2) (PM1) Code

Overcurrent (0C8)
Overvoltage (0C9)
Overheating (0CA)
Current sensor offset adjustment error (0CB)
     9
Control power supply voltage error (0CC)
Drive Cutoff Relay Welded Detection Error (0CD)
Control power supply voltage drop (0CE)
Maintenance Section

Drive source error (0D4)

Deviation counter in homing incomplete status
overflow (0D5)
     11 Deviation overflow (0D8)
Software stroke limit over error (0D9)
Push-motion operation range over error (0DC)
Electrical angle mismatch (0B4)
Servo error (0C1)
Exceeded allowable time of exceeding torque allowing
continuous pressing (0C4)
Unauthorized control system transition command (0C5)
     12
Excessive motor power supply voltage (0D2)
Motor power supply voltage low (0D3)
Belt breaking sensor detected (0D7)
Chapter 2 Troubleshooting

Overload (0E0)
Driver logic error (0F0)
Linear spurious absolute error (0B3)
Encoder transmission error (0E4)
Encoder reception error (0E5)
Encoder count error (0E6)
A, B, Z-phase disconnection (0E7)
     13 A, B-phase disconnection (0E8)
BLA encoder error detection (0EB)
PS-phase disconnection (0EC)
Absolute encoder error detection 1 (0ED)
Absolute encoder error detection 2 (0EE)
Absolute encoder error detection 3 (0EF)
CPU error (0FA)
     14
Logic error (0FC)
Non-volatile memory write verify error (0F5)
     15 Non-volatile memory write timeout (0F6)
Non-volatile memory data destruction (0F8)

D2-13 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

2.4.3 Alarm code list

If corresponding driver units are limited, a symbol for the type of the corresponding driver unit is
indicated in the alarm code column. Alarm codes with no symbols indicated are common to all
driver units.

P: Stepper motor ················ RCP Series

A: 24V AC Servo motor ······· RCA Series and RCL Series
D: DC brush-less motor ······· RCD Series

Maintenance Section
S: 200V AC Servo motor ······ RCS Series, IS Series and NS Series etc.

Alarm List (Code order)

Alarm Applicable driver Reference

Alarm name Alarm level
code P A D S Page
047 Deviation exceeded warning Message level    − D2-17
048 Driver overload warning Message level     D2-17
049 Collision warning Message level  − − − D2-17
04A Estimated life exceeded warning Message level     D2-17
04C Low Fan rotation speed Message level     D2-17

Chapter 2 Troubleshooting
04D Fan total running time exceeded Message level     D2-17
04E Travel count target value exceeded Message level     D2-17
04F Travel distance target value exceeded Message level     D2-17
068 SRAM access error Message level − − −  D2-18
06B Maintenance information data error Message level     D2-18
080 Travel command during servo OFF Operation cancel level     D2-19
Position travel command in homing
082 Operation cancel level     D2-19
incomplete status
Numerical command with homing
083 Operation cancel level     D2-19
incomplete
Travel command during home return
084 Operation cancel level     D2-19
execution
085 Position No. error during travel Operation cancel level     D2-19
Movement commands when pulse train
086 Operation cancel level     D2-19
input enabled
Software reset command in servo ON
090 Operation cancel level     D2-19
status
091 Position No. error during teaching Operation cancel level     D2-19
092 PWRT signal detected while traveling Operation cancel level     D2-19
Homing incomplete status PWRT signal
093 Operation cancel level     D2-19
detected
096 Home-Return Operation Error Operation cancel level   −  D2-20
09B Internal communication error Cold start level     D2-27
09F Cyclic synchronization error Operation cancel level     D2-20
0A1 Parameter data error Cold start level     D2-27
0A2 Position data error Operation cancel level     D2-20

ME0384-7C D2-14
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm Applicable driver Reference

Alarm name Alarm level
code P A D S Page
Position command information data
0A3 Operation cancel level     D2-21
error
0A7 Command deceleration error Operation cancel level     D2-21
0A8 Motor/encoder type not supported Cold start level     D2-27
0AB Command speed error Operation cancel level     D2-21
0AC Estimated life over error Operation cancel level     D2-21
0B3 Linear spurious absolute error Cold start level − − −  D2-27
0B4 Electrical angle mismatch Cold start level −  −  D2-28
Maintenance Section

0B5 Z-phase position error Operation cancel level −  −  D2-21

0B6 Z-phase detection timeout Operation cancel level −  − − D2-22
0B7 Magnetic pole uncertain Cold start level −  −  D2-28
0B8 Excitation detection error Cold start level  − − − D2-28
0BA Home sensor not detected Operation cancel level     D2-22
0BE Home return timeout Operation cancel level     D2-22
0BF Creep sensor not detected Operation cancel level − − −  D2-22
0C0 Excessive actual speed Operation cancel level     D2-23
0C1 Servo error Operation cancel level     D2-23
0C2 Overrun sensor detected Operation cancel level − − −  D2-23
Exceeded allowable time of exceeding
Chapter 2 Troubleshooting

0C4 Cold start level − − −  D2-29

torque allowing continuous pressing
Unauthorized control system transition
0C5 Operation cancel level −  −  D2-24
command
0C8 Overcurrent Cold start level     D2-29
0C9 Overvoltage Cold start level  − − − D2-29
0CA Overheating Cold start level     D2-29
0CB Current sensor offset adjustment error Cold start level     D2-29
0CC Control power supply voltage error Cold start level D2-30
Drive Cutoff Relay Welded Detection
0CD Cold start level − − −  D2-30
Error
0CE Control power supply voltage drop Operation cancel level     D2-24
0D2 Excessive motor power supply voltage Operation cancel level −    D2-24
0D3 Motor power supply voltage low Cold start level − − −  D2-30
0D4 Drive source error Cold start level    − D2-30
Deviation counter overflow in homing
0D5 Cold start level  − − − D2-30
incomplete status
0D6 Fan error detection Operation cancel level     D2-24
0D7 Belt breaking sensor detected Cold start level − − −  D2-31
0D8 Deviation overflow Operation cancel level     D2-25
0D9 Software stroke limit over error Operation cancel level     D2-25
Push-motion operation range exceeded
0DC Operation cancel level     D2-25
error
0DF Collision detection Operation cancel level  − − − D2-25
0E0 Overload Cold start level     D2-31
0E4 Encoder transmission error Cold start level   −  D2-31

D2-15 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm Applicable driver Reference

Alarm name Alarm level
code P A D S Page
0E5 Encoder reception error Cold start level   −  D2-32
0E6 Encoder count error Cold start level   −  D2-32
0E7 A-, B- and Z-phase wire breaking Cold start level − − −  D2-32
0E8 A-, B-phase disconnection Cold start level    − D2-33
Battery-less Absolute Encoder error
0EB Cold start level   −  D2-33
detected
0EC PS-phase disconnection Cold start level − − ● − D2-33
0ED Absolute encoder error detection 1 Operation cancel level   − − D2-25

Maintenance Section
0EE Absolute encoder error detection 2 Operation cancel level   −  D2-26
0EF Absolute encoder error detection 3 Operation cancel level   − − D2-26
0F0 Driver logic error Cold start level −    D2-33
0F4 PCB mismatch Cold start level   − − D2-33
0F5 Non-volatile memory write verify error Cold start level − − −  D2-33
0F5 Non-volatile memory write verify error Operation cancel level    − D2-26
0F6 Non-volatile memory write timeout Cold start level     D2-33
0F8 Non-volatile memory data destruction Cold start level     D2-34
0FA CPU error Cold start level     D2-34
0FC Logic error (Controller part error) Cold start level     D2-34
100~1FF Teaching tool alarm Message level − − − − D2-18

Chapter 2 Troubleshooting
200~2FF Teaching tool alarm Operation cancel level − − − − D2-26
300~3FF Teaching tool alarm Cold start level − − − − D2-34

ME0384-7C D2-16
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

2.4.4 Causes and countermeasures of individual alarms

(1) Message level

Alarm
Alarm name Causes/countermeasures
code
047 Deviation exceeded Cause: Present operating conditions or high actuator sliding resistance
P, A, D warning may be causing excess deviation.
Driver Countermeasure: Lower the acceleration/deceleration setting.
limited Perform maintenance such as greasing, etc.
Maintenance Section

048 Driver overload warning Cause: The motor rising temperature calculated from the load current
has exceeded the setting in Parameter No. 143 "Overload
Level Ratio".
Countermeasure: 1) Reduce the load to the actuator.
2) Lower the acceleration/deceleration setting.
3) Increase the pause ratio.
049 Collision warning Cause: The current value of the motor reached the detection current
value set by the collision detection function.
P Countermeasure: Remove the cause of the collision.
Driver For an unexpected detection, readjust the collision
limited detection function. Refer to [Operation Section
Chapter 5, 5.2 Collision Detection Function (page
C5-8)]
Chapter 2 Troubleshooting

04A Estimated life exceeded Cause: The capacitance of the motor power supply capacitor for the
warning driver unit has exceeded its calculated life.
Countermeasure: Replace the driver unit as soon as possible.
04C Low Fan rotation speed Cause: 1) The number of revolution of the fan in the fan unit mounted
on the driver unit has dropped by 30%.
2) The number of revolution of the fan unit mounted on the
200V system power supply unit has dropped by 30%.
(When detail code is 0001H in the alarm list in the teaching
tool)
* The detail code should represent 0002H when the revolution
of the driver unit and the fan unit on the 200V power supply
unit dropped by 30% at the same time.
Countermeasure: Replace the fan unit as soon as possible.
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan
unit replacement (page D1-6)] for how to make
replacement.
04D Fan total running time Cause: Fan total running time has exceeded the replacement
exceeded guidelines.
Countermeasure: The alarm can be canceled without replacing the fan
unit, but we recommend replacing the fan unit
before it breaks down as an aspect of preventive
maintenance.
Refer to [Maintenance Section Chapter 1, 1.4.1 Fan
unit replacement (page D1-6)] for how to make
replacement.
04E Travel count target value Cause: The total travel count set by Parameter No.147 "Total Travel
exceeded Count Target Value" has been exceeded.
04F Travel distance target Cause: The total travel distance set by Parameter No.148 "Total Travel
value exceeded Distance Target Value" has been exceeded.

D2-17 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code
068 SRAM access error Cause: Servo monitor is not operated in the normal condition because
of noise or malfunction of consisting parts.
S Countermeasure: 1) Take proper measures against noise.
Driver 2) When the servo monitoring function is not used,
limited set parameter No.112 "Monitoring mode" to "0".
06B Maintenance information Cause: Maintenance information (total travel count, total travel
data error distance) has been lost.
Countermeasure: Consider to replace the controller when the
maintenance information is used
100~ Teaching tool alarm Refer to [Teaching tool instruction manual]

Maintenance Section
1FF

Chapter 2 Troubleshooting

ME0384-7C D2-18
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

(2) Operation cancel level

Alarm
code Alarm name Causes/countermeasures

080 Travel command during Cause: Travel command was issued in servo OFF status.
servo OFF Countermeasure: Execute travel commands after confirming servo ON
status (servo ON signal SV or positioning complete
signal PEND is ON).

082 Position travel command Cause: Position travel command was input with home return status
in homing incomplete incomplete.
status Countermeasure: Execute travel commands after confirming the home
Maintenance Section

return complete signal HEND is ON.

083 Numerical command with Cause: Absolute position direct numerical command was issued in
homing incomplete incomplete home return status.
(Direct numerical command via field network, etc.)
Countermeasure: Perform home return motion, confirm the home
return complete signal HEND, and then perform
direct numerical command.

084 Travel command during Cause: Travel command was issued during home return execution.
home return execution Countermeasure: Perform home return motion, confirm the home
return complete signal HEND, and then perform
travel command.

085 Position No. error during Cause: Position number that does not exist (invalid) in positioner mode
travel was specified.
Chapter 2 Troubleshooting

Countermeasure: Check the position table again and specify a valid

position number.

086 Movement commands Cause: An actuator operation command was issued from the serial
when pulse train input communication while the motion command is enabled.
enabled Countermeasure: Do not attempt to issue any actuator operation
command from the serial communication in the
motion mode.

090 Software reset command Cause: A software reset command was issued in servo ON status.
in servo ON status Countermeasure: Check that servo is in OFF status (SV signal is OFF
status) and issue a software reset command.

091 Position No. error during Cause: A position number out of the range was indicated in the current
teaching position writing command. Or, the teaching command was
issued to a position of the one-line comment.
Countermeasure: 1) Set the specified position number to 128 or less in
positioner 1/2/3 mode, or 15 or less in positioner 5
mode.
2) Revise the position data or PLC ladder so the
current position writing command would not be
issued to a position of the one-line comment.

092 PWRT signal detected Cause: Input was performed while the present position write signal
while traveling PWRT was carrying out actuator operation.
Countermeasure: Input after making sure the unit has stopped
(moving signal MOVE is OFF).

093 Homing incomplete status Cause: The present position write signal PWRT was input while home
PWRT signal detected return was incomplete.
Countermeasure: Input the home return signal HOME first, perform
home return, confirm that home return is complete
(HEND signal is ON) and then input the signal.

D2-19 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

096 Home-Return Operation Cause: 1) The home-return operation was attempted while the
Error actuator was not stopped.
P/A/S 2) The actuator was moved by an external force during the
Driver home-return operation.
limited Countermeasure: Have the home-return operation conducted while
the actuator is stopped.

09F Cyclic synchronization Cause: Communication error generated in total frame communication.
error 1) Connector or SCON cable connector is not correctly
connected.
2) Interior signal line or SCON connection cable is

Maintenance Section
disconnected.
3) Terminal unit or terminal connector (for SCON) has not been
mounted.
4) Communication error due to noise
Countermeasure: 1) 2) Confirm that units are firmly connected
together. Disconnect the units and then connect
them again.
3) Mount the terminal unit or terminal connector.
4) Take measures against noise.

0A2 Position data error Cause: 1) A movement command was attempted to an empty position.
2) Target position value in "Position" field exceeds Parameter
No. 3, 4 "Soft Limit Setting Value".
3) Push-motion operation was specified while the damping
control function was enabled.

Chapter 2 Troubleshooting
4) A movement command was attempted to a position of the
one-line comment.
5) A linkage was indicated to the same position as that for the
absolute value position indication.
6) The position data was crushed in the position data check at
the startup.
Countermeasure: 1) Set the position data.
2) Bring the target position value within the software
limit set value.
3) The damping control function and push-motion
operation cannot be used at the same time. Set
so that only one of the functions is enabled.
4) Do not attempt to issue a movement command to
a position of the one-line comment.
5) Do not attempt to indicate a linkage to the same
position as that for the absolute value position
indication.
6) Contact IAI.

ME0384-7C D2-20
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0A3 Position command Cause: 1) The command value at direct numerical command exceeds
information data error the set maximum value.
2) Push-motion operation was specified while the damping
control function was enabled.
Countermeasure: 1) The code of the command item exceeding the
detailed address is displayed. Refer to these
values and enter the appropriate values.
Detailed address
(Command item code) Command item
0F00 Target position
0F02 Command speed
Maintenance Section

0F04 Acceleration
0F06 Deceleration
0F08 Positioning width
0F0C Pushing current limit value
0F0D Control signal

2) The damping control function and push-motion

operation cannot be used at the same time. Set
so that only one of the functions is enabled.

0A7 Command deceleration Cause: Insufficient deceleration distance when deceleration has been
error reduced during travel. The software limit has been exceeded
when decelerating from the current position after the change.

Deceleration start position when

Chapter 2 Troubleshooting

software limit is not exceeded Commands given at this position

will exceed the software limit

Software limit

This occurs because the timing of the next travel command

when changing the speed during travel is delayed.
Countermeasure: Set the travel command timing for deceleration
change faster.

0AB Command speed error Cause: A command from PLC exceeds the maximum velocity of an
actuator in the motion network.
Countermeasure: Revise the parameters and programs in PLC.

0AC Estimated life over error Cause: The motor power supply capacitor for the driver unit has
exceeded its calculated life.
Countermeasure: Replace the driver unit as soon as possible.

0B5 Z-phase position error Cause: The Z-phase could not be defected after reversed at the
A/S mechanical end and moved for the specified distance in the
Driver home-return operation.
limited Countermeasure: Contact IAI.

D2-21 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0B6 Z-phase detection timeout Cause: With simple absolute specification, Z-phase could not be detected
at the first servo ON or home return after turning the power on.
A 1) Contact failure or disconnection of the connector part of the
Driver actuator connecting cable.
limited 2) For models with brake, the brake cannot be released.
3) External force is applied and the motor cannot perform detection.
4) The sliding resistance of the actuator itself is excessive.
Countermeasure: 1) Check the wiring status of the actuator connecting cable.
2) Check the wiring condition of the brake cable and
whether the brake part makes "clicking" sounds
when toggling the brake release switch. If not,

Maintenance Section
confirm that power is supplied to the brake.
3) Confirm that there are no assembly errors.
4) If the loading weight is normal, turn OFF the power and
then move by hand to check the sliding resistance.

0BA Home sensor not Cause: Indicates that the home return motion of an actuator with home
detected sensor has not completed normally.
1) The workpiece interferes with the surroundings during home return.
2) The sliding resistance of the actuator is excessive.
3) Poor mounting, malfunction, or disconnection of the home sensor.
Countermeasure: 1) Remove the interfering workpiece.
2) If the workpiece does not interfere with the
surroundings, 2) and 3) should be considered.
Contact IAI.

Chapter 2 Troubleshooting
0BE Home return timeout Cause: 1) Home return motion has not completed within a given period
of time from the start.
2) The home sensor is always detecting due to malfunction of
the home sensor.
Detailed code Target operation
01 Home return motion timeout
02 LS retreat operation timeout

Countermeasure: This does not occur in normal operation. The

combination of driver unit and actuator may be
incorrect. Contact IAI.

0BF Creep sensor not Cause: This indicates the actuator detected the creep sensor (option)
detected before detecting the origin sensor (option except for rotary
S actuator), or the actuator reached the mechanical end, or the
Driver actuator cannot move anymore because the load is too large.
limited 1) The position to apply the creep sensor is not appropriate.
2) The creep sensor is faulty.
3) The cable is disconnected or the connector is not plugged in
properly.
4) The actuator cannot move due to heavy load caused by
interference.
Countermeasure: 1) Readjust the sensor installation position.
2) Replace the creep sensor.
3) Perform continuity check to see if the connector is
plugged in properly.
4) Check the interference and the transportable
weight and make sure there is no external force
applied.

ME0384-7C D2-22
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0C0 Excessive actual speed Cause: Motor rotation speed exceeded the allowable rotation speed.
1) The sliding resistance of the actuator is locally excessive.
2) External force is applied momentarily.
A sudden speed increase may have occurred before
detecting the servo error.
Countermeasure: This does not occur in normal operation, so confirm
that there are no assembly errors. Also, confirm
whether external force is applied in the direction of
travel.

0C1 Servo error Cause: 2 or more seconds have passed without being able to move
Maintenance Section

after receiving the travel command.

1) Connection failure or disconnection of the actuator connecting cable.
2) The brake cannot be released (for models with brake).
3) The load on the motor is large due to external force.
4) The sliding resistance of the actuator is excessive.
Countermeasure: 1) Check the wiring status of the actuator connecting cable.
2) If there is no problem with the 24 VDC power
supplied to the control power connector of the
gateway unit, the RCON system may be faulty.
3) Confirm that there are no assembly errors in
machine components.
4) If the load weight is within the specifications, turn
OFF the power supply and manually check the
sliding resistance.
Chapter 2 Troubleshooting

0C2 Overrun sensor detected Cause: This indicates that a signal from the OT sensor (option)
installed at the mechanical end is detected.
S 1) The actuator was moved by hand or received external force
Driver while the servo was OFF (normal detection).
limited 2) A jog operation was made under a condition that the home
coordinates are not established and the soft stroke limit
would not work properly.
3) The home position achieved by home return is not correct,
or in the case of an absolute type controller the coordinates
have shifted due to an inappropriate absolute reset position.
4) There is a mismatch between the sensor characteristics and
the setting in Parameter No.19 “Overrun sensor input
polarity”, or the wiring layout is wrong.
5) There is a mistake in the combination of the controller and
actuators, or the setting in Parameter No. 3 and 4 "Soft
Limit" or Parameter No. 77 "Ball Screw Lead Length" is
inappropriate.
Countermeasure: If 1) or 2) is suspected, move the actuator in the
opposite direction by hand.
If this error occurred inside the effective stroke
range, 3), 4), or 5) is a likely cause.
If 3) is suspected, check the home position.
Conduct the absolute reset again if it is the absolute
type.
If 4) or 5) is suspected, please contact IAI.

D2-23 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0C5 Unauthorized control Cause: 1) Operation was switched to normal position control operation
system transition during "damping control" operation.
A/S command 2) Operation was switched to "damping control" operation
Driver during normal position control operation.
limited 3) The anti-vibration number has been switched over during
operation in "Anti-Vibration Control".
Countermeasure: For each, change the sequence so that the next
operation is performed after confirming that
positioning complete signal PEND is ON.

0CE Control power supply Cause: Gateway unit control power supply voltage has dropped to or

Maintenance Section
voltage drop below 16.8V (70% of 24 VDC).
1) Control power supply voltage drop
2) Malfunction of parts inside the RCON system
Countermeasure: 1) Confirm that voltage of 24 VDC ±10% is being
applied to the gateway unit control power
connector. If the voltage is low, the 24 VDC power
supply may have failed.
When the power source is used for the control
power supply and the motor power supply, the
current amperage necessary for the actuator
operation is not secured. Check the necessary
current amperage in the instruction manual, and
replace the 24V DC power source.
2) Contact IAI.

Chapter 2 Troubleshooting
0D2 Excessive motor power Cause: There is a possibility of component failure inside the RCON
A/D/S supply voltage system.
Driver Countermeasure: If it occurs frequently, the probability of RCON
limited system failure is high.

0D6 Fan error detection Cause: 1) The number of revolution of the fan in the fan unit mounted
on the driver unit has dropped by 50%.
2) The number of revolution of the fan unit mounted on the
200V system power supply unit has dropped by 50%.
(When detail code is 0001H in the alarm list in the teaching
tool)
* The detail code should represent 0002H when the revolution
of the driver unit and the fan unit on the 200V power supply
unit dropped by 50% at the same time.
Countermeasure: 1) 2) Replace the fan unit.
Refer to [Maintenance Section Chapter 1, 1.4.1
Fan unit replacement (page D1-6)] for how to make
replacement.

ME0384-7C D2-24
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0D8 Deviation overflow Cause: The position deviation counter overflowed.

1) The unit decelerated or stopped due to the influence of
external force or overload during travel.
2) The excitation detection operation after power ON is
unstable.
3) The power supply voltage has dropped.
4) The servo gain number is too low.
Countermeasure: This occurs when the actuator cannot operate
according to commands.
1) Check the load condition, such as whether the
workpiece is interfering with surrounding objects,
Maintenance Section

whether the brake is released, etc., and resolve

the cause.
2) Revise the payload as overloading is concerned,
and reboot the power supply.
3) Check power supply voltage.
4) Adjust the servo gain number.

0D9 Software stroke limit over Cause: The present position of the actuator exceeds the software
error stroke limit
Countermeasure: Return to the software stroke limit range.

0DC Push-motion operation Cause: 1) The push-back force was too strong after pushing was
range exceeded error completed, pushing back to the push-motion start setting
position.
Countermeasures: 1) Re-set and reduce the push-back force.
Chapter 2 Troubleshooting

0DF Collision detection Cause: Collision of the actuator was detected.

Countermeasure: Remove the cause of the collision.
P For an unexpected detection, readjust the collision
Driver detection function. Refer to [Operation Section
limited Chapter 5, 5.2 Collision Detection Function (page
C5-8)]

0ED Absolute encoder error Cause: The present position changed while reading or saving absolute
P/A detection 1 data.
Driver Countermeasures: Do not apply vibration to the actuator.
limited

D2-25 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
code Alarm name Causes/countermeasures

0EE Absolute encoder error Cause: The encoder cannot detect position information normally with
detection 2 battery-less absolute specification or simple absolute
P/A/S specification.
Driver 1) The first time power is turned ON after replacing the motor
limited with battery-less absolute specification, or with simplified
absolute specification. (Before executing absolute reset)
2) Absolute battery voltage drop. (Simple absolute
specification) (When the detail code in the teaching tool
alarm list is 0001H)
3) Disconnection of the actuator connection cable, actuator
side attached cable, connector connection failure, or cable

Maintenance Section
insertion/removal. (Detail code 0002H)
4) Driver unit parameters have been changed.
Countermeasure: 2) After supplying power for 72 hours or more,
charge the battery, then perform absolute reset.
If it seems to occur frequently even when
sufficiently charged, the battery life may be the
problem. Replace the battery.
Refer to [Maintenance Section Chapter 1, 1.4.2
Absolute battery replacement (page D1-9)] for
how to make replacement.
For 1), 3), and 4), perform absolute reset.
Refer to [Maintenance Section Chapter 1, 1.5
Absolute Reset Procedure (page D1-12)]

Chapter 2 Troubleshooting
0EF Absolute encoder error Cause: The encoder cannot detect position information normally with
detection 3 simple absolute specification. (Encoder overspeed error)
P/A The present position changed at a speed higher than the
Driver rotation speed setting due to an external factor at power cutoff.
limited Countermeasure: Set the rotation speed setting so that it supports
higher rotation speeds than the current rotation
speed setting. If it occurs again, absolute reset is
required.
Refer to [Maintenance Section Chapter 1, 1.5
Absolute Reset Procedure (page D1-12)]

0F5 Non-volatile memory write Cause: When data is written to the non-volatile memory, comparison
verify error (verification) is performed to confirm whether the data in the
P/A/S memory matches the write data. At this time, a mismatch was
Driver detected. (Failure of non-volatile memory)
limited Countermeasure: If this reoccurs even after turning ON the power
again, replace the driver unit.

200~ Teaching tool alarm Refer to [Teaching tool instruction manual]

2FF

ME0384-7C D2-26
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

(3) Cold start level

Alarm
Alarm name Causes/countermeasures
code
09B Internal communication Cause: There was an internal communication error occurred between
error the gateway unit and driver unit.
1) Installation error or contact error on the link connector
between gateway unit and driver unit.
2) Influence of noise generated by a peripheral device
3) Malfunction of gateway unit or driver unit
Countermeasure: 1) Disconnect and then connect the link between the gateway
unit and driver unit to see if the alarm gets generated. If it
Maintenance Section

does, check 2) and 3).

2) Shut down the power on peripheral devices and operate
only with the controller and actuators to see if this alarm
gets generated again. If the alarm does not get generated,
there is a concern of influence of noise from a peripheral
device. Revise the noise prevention on peripheral devices
such as grounding and electrostatic shielding.
3) Replace the gateway unit or driver unit. The driver unit
number to be replaced can be checked in the table below
based on the detail address displayed in the alarm list.
Detail driver unit Detail driver unit
address number address number
0001 0 0801 8
0101 1 0901 9
0201 2 0A01 10
Chapter 2 Troubleshooting

0301 3 0B01 11
0401 4 0C01 12
0501 5 0D01 13
0601 6 0E01 14
0701 7 0F01 15

0A1 Parameter data error Cause: Data input range of parameter domain is not appropriate.
(Example 1) This error occurs when the magnitude correlation
is obviously inappropriate, such as when 300 mm
was incorrectly input as the value of the software
limit negative side while the value of the software
limit positive side was 200.3 mm.
(Example 2) It occurs when the initial positioning band value is
smaller than the minimum positioning band width when
an actuator in RCP2, RCP3, RCP4 or RCP5 Series is
connected. Set the initial positioning band value to the
minimum positioning band width (lead length ÷ number
of encoder pulse: 800) × 3 or more. Refer to [Operation
Section Chapter7 Parameter]
Countermeasure: Change to an appropriate value.
0A8 Motor/encoder type not Cause: The types of the motor and the encoder set to the parameter is
supported not defined.
Countermeasure: Contact IAI if this alarm is generated with an actuator
being controlled, or in case it reoccurs even after reboot.
0B3 Linear spurious absolute Cause: Home-return operation was not performed properly.
error 1) Work is interfering with peripheral equipment in the middle
S of home return.
Driver 2) Encoder Error
limited Countermeasure: 1) Remove the interference.
2) It is necessary to replace the motor.

D2-27 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code
0B4 Electrical angle mismatch Cause: An error was detected during the electromagnetic phase
(inconsistency) detection operation when the servo was turned on after the
A/S power was supplied.
Driver <When detail code is 0000H>
limited Position deviation counter has overflown before Z-axis was detected.
1) Operation unable due to external force
2) Sliding resistance on actuator itself is high
<When detail code is 0001H>
Z-phase was detected two times before the motor makes one turn.
3) Malfunction of encoder
Countermeasure: 1) Check if there is any failure in actuator installation.

Maintenance Section
2) If the payload is in normal condition, shut off the
power and move the slider manually with hand to
see the sliding resistance.
3) The motor requires to be replaced. Contact IAI.
0B7 Magnetic pole uncertain Cause: When magnetic pole phase detection (carried out even with
simple absolute specification) was performed in the first servo
A/S ON process after power ON, magnetic pole phase could not be
Driver detected after a given period of time.
limited 1) Contact failure or disconnection of the connector part of the
actuator connecting cable.
2) For models with brake, the brake cannot be released.
3) External force is applied and the motor cannot perform detection.
4) The sliding resistance of the actuator itself is excessive.
Countermeasure: 1) Check the wiring status of the actuator connecting cable.
2) Check the wiring condition of the brake cable and

Chapter 2 Troubleshooting
whether the brake part makes "clicking" sounds
when toggling the brake release switch. If not,
confirm that power is supplied to the brake.
3) Confirm that there are no assembly errors.
4) If the loading weight is normal, turn OFF the
power and then move by hand to check the
sliding resistance.
0B8 Excitation detection error Cause: When excitation detection was performed in the first servo ON
process after power ON, excitation detection operation did not
P complete after a given period of time.
Driver 1) Connection failure or disconnection of the actuator
limited connecting cable.
2) The brake cannot be released (for models with brake).
3) The load on the motor is large due to external force.
4) The power was turned ON while in contact with the
mechanical end.
5) The sliding resistance of the actuator is excessive.
Countermeasure: 1) Check the wiring status of the actuator connecting cable.
2) If there is no problem with the 24 VDC power
supplied to the control power connector of the
gateway unit, the RCON system may be faulty.
3) Confirm that there are no assembly errors in
machine components.
4) Move the slider or the rod tip to a point where it will
not hit the mechanical end and reboot the power.
5) If the load weight is within the specifications, turn
OFF the power supply and manually check the
sliding resistance.

ME0384-7C D2-28
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code

0C4 Exceeded allowable time Cause: The time of continuous pressing with the pressing setting
of exceeding torque above 70% has exceeded the time set in Parameter No. 89
S allowing continuous "Continuous Pressing Applicable Torque Exceeding Allowable
Driver pressing Time".
limited Countermeasure: Check the sequence again and set the pressing time
to be within the setting time.

0C8 Overcurrent Cause: The output current of the power supply circuit was abnormally high.
Countermeasure: This does not normally occur. There may be
insulation deterioration of the motor coil, RCON
system failure, etc.
Maintenance Section

Caution
Before resuming operation, make sure to remove the cause of the
error. Turning the power on and off repeatedly without removing the
cause could burnout of the motor coil.

0C9 Overvoltage Cause: The power regenerative circuit voltage reached the judgment
P value or higher.
Driver Countermeasure: There may be an RCON system failure.
limited

0CA Overheating Cause: The temperature of the controller internal parts has exceeded
the temperature defined for each actuator.
1) Operating with load
conditions exceeding
Chapter 2 Troubleshooting

the specified range.

Operating duty [%]

2) The ambient
temperature is high.
3) The load on the With fan
Without fan
motor is large due to
external force.
4) Defective parts inside
the RCON system. Usage temperature environment [°C]
(When detail code is 0008H or 0009H in the alarm list in the
teaching tool, it is an error of the 200V power supply unit)
Countermeasure: 1) Revise the operation conditions, such as
decreasing the acceleration/deceleration speed.
2) Lower the ambient temperature of the RCON system.
3) Confirm that there are no assembly errors in
machine components.
Note: This error does not normally occur. If it occurs,
confirm that it is not 1) to 3) above. If the same
problem reoccurs, there may be an RCON
system failure.
Caution
Before resuming operation, make sure to remove the cause of the
error. Turning the power on and off repeatedly without removing the
cause could burnout of the motor coil.

0CB Current sensor offset Cause: During the current detection sensor status check conducted in
adjustment error the startup initialization process, a sensor error was found.
1) Failure of the current detection sensor and peripheral components.
Countermeasure: In case this occurs again even after the power
supply is rebooted, replace the driver unit.

D2-29 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code

0CC Control power supply Cause: Driver unit control power supply voltage has increased to or
voltage error above 28.8V (120% of 24V DC).
1) Control power supply voltage rise
2) Malfunction of parts inside the RCON system
Countermeasure: 1) Confirm that voltage of 24V DC ±10% is being
applied to the gateway unit control power
connector. If the voltage is low, the 24V DC power
supply may have failed.
2) Contact IAI.

0CD Drive Cutoff Relay Cause: The drive cutoff relay inside the controller has crushed.

Maintenance Section
S Welded Detection Error Countermeasure: The controller must be replaced.
Driver
limited

0D3 Motor power supply Cause: 1) If the power source is shut off in the controller external
voltage low circuit, servo-on command was made during the power is
S shut.
Driver 2) Overcurrent occurred on the 200V motor power supply line.
limited 3) There is a concern of a malfunction of the controller internal
components.
Countermeasure: 1) Check the controller external circuit.
2) Check the wiring between actuators and the
driver unit.
3) If this error occurs often, there is a concern of a
controller malfunction.

Chapter 2 Troubleshooting
0D4 Drive source error Cause: 1) 24V Motor power input voltage (input to MPI terminal) is
excessive. During acceleration/deceleration or servo ON,
P/A/D etc, consumption current rises momentarily. When remote
Driver sensing function is used with power of barely sufficient
limited capacity, overvoltage may occur in response to the current
change.
2) Overcurrent generated in 24V motor power line.
Countermeasure: 1) Check power supply voltage being input to MPI
terminal. Consider using a power supply with
sufficient capacity, or avoid using the remote
sensing function.
2) Check the wiring between the actuator and the
driver unit.

0D5 Deviation counter Cause: The position deviation counter overflowed.

overflow in homing 1) Impact of external force, etc. or collision with mechanical
P incomplete status end during JOG operation, or overload during travel caused
Driver the unit to decelerate or stop.
limited 2) The excitation detection operation after power ON is
unstable.
Countermeasure: 1) This occurs when the actuator cannot operate
according to commands. Check the load
condition, such as whether the workpiece is
interfering with surrounding objects, whether the
brake is released, etc., and resolve the cause.
2) There may be an overload, so review the
payload.

ME0384-7C D2-30
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code

0D7 Belt breaking sensor Cause: The belt at the motor reversed part has broken on the
S detected actuators below.
Driver RCS2-RA13R, RCS3-RA15R, RCS3-RA20R
limited Countermeasure: Belt must be replaced.

0E0 Overload Cause: 1) The workpiece weight exceeds the rated weight, or an
external force is applied and the load increased.
2) The brake is not released. (With brake)
3) The sliding resistance of the actuator is locally excessive.
Countermeasure: 1) Review the workpiece and its surroundings and
remove the cause.
Maintenance Section

2) If there is no problem with the 24 VDC power

supplied to the control power connector of the
gateway unit, the RCON system may be faulty. If
not released, there may be brake failure, cable
disconnection, or RCON system failure. Contact
IAI.
3) Move the workpiece by hand if possible and
check for any location with excessive sliding
resistance.
Check for any distortions on the mounting
surface. If this error occurs even with a single
actuator, contact IAI.

Caution
Chapter 2 Troubleshooting

Make sure to resolve the cause before resuming operation.

If you cannot judge whether the cause has been fully resolved, wait
at least 30 minutes before switching the power ON to prevent motor
coil burnout.

0E4 Encoder transmission Cause: Data transmission and reception between the driver unit and
error encoder is conducted by serial communication. This error
P/A/S indicates that the data sent from the driver unit was not
Driver received properly at the encoder side.
limited 1) Encoder cable is partially disconnected, or connector is not
connected properly.
2) Influence from noise.
3) Failure of communication IC mounted on the encoder circuit
board.
4) Failure of communication IC mounted on the driver unit
circuit board.
Countermeasure: 1) Confirm that there is no failure in the cable and
connector coupler.
2) Try turning OFF power to all peripheral devices
and moving only the driver unit and actuator. If no
error is generated, the culprit may be noise. Take
measures against noise.
If 3) or 4) is the case, replace the encoder or driver
unit.

D2-31 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code
0E5 Encoder reception error Cause: Data from the encoder was not normally received by the driver
unit.
P/A/S 1) Encoder cable line breakage or connector connection failure
Driver * When P/A driver: Detail code 0002H
limited When S driver: Detail code 0001H
2) Influence from noise
* When P/A driver: Detail code 0002H
When S driver: Detail code 0001H
3) Actuator internal part malfunction (communication part).
4) Driver unit internal part malfunction (communication part).
[Only for P Driver]

Maintenance Section
5) Initialization of battery-less absolute encoder incomplete
(Detail code 000AH)
6) Communication error occurred to battery-less absolute
encoder
(Detail code 000CH)
7) [For P/A Driver Only]
When the simple absolute unit is used, communication with
the driver unit is not appropriately established.
Countermeasure: 1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
2) Try turning OFF power to all peripheral devices
and moving only the driver unit and actuator. If no
error is generated, the culprit may be noise. Take
measures against noise.
In case of 3), 4) or 5), replace the actuator (motor

Chapter 2 Troubleshooting
part) and/or the driver unit.
6) Check the encoder cable line breakage and
connection at connectors. For the high-resolution
battery-less absolute encoder, check the capacity
of the 24V DC power source and connection at
the power supply cables.
Contact IAI if the cause cannot be determined.
7) Check the condition of connection between the
driver unit and the simple absolute unit (if there is
any mistake in cable insertion and so on).
0E6 Encoder count error Cause: The encoder cannot detect location information properly.
1) Disconnection of the encoder relay cable or actuator side
P/A/S attached cable, or connector connection failure.
Driver 2) Failure of the encoder itself.
limited 3) Influence from noise.
Countermeasure: 1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
If there is no cable malfunction, encoder failure may
be possible. Contact IAI.
0E7 A-, B- and Z-phase wire Cause: Encoder signals cannot be detected correctly.
breaking 1) The encoder relay cable or supplied actuator cable is
S disconnected or its connector is not plugged in correctly.
Driver 2) The encoder itself is faulty.
limited Countermeasure: 1) Check if any wire breakage on a connector and
the condition of wire connections.
If the cables are normal, faulty encoder is
suspected. Please contact IAI.

ME0384-7C D2-32
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code
0E8 A-, B-phase Cause: The encoder signal cannot be detected normally.
disconnection 1) Disconnection of the actuator connection cable, actuator
P/A/D side attached cable, or connector connection failure.
Driver 2) Failure of the encoder itself.
limited 3) Disconnected axis parameter No. 158 "Enabled/Disabled
Axis Select" is 0: Enabled.
Countermeasure: 1) Check for any wire breakage on a connector and
inspect the condition of the wire connections.
2) If there is no cable malfunction, encoder failure
may be possible.
3) Parameter No. 158 "Enabled/Disabled Axis
Maintenance Section

Select" 1: Disabled.
* When the actuator is not connected, this alarm is
generated just by setting the reserved axis in the
gateway parameter configuration tool or setting
the driver unit to "Not set".

0EB Battery-less Absolute Cause: Battery-less absolute encoder cannot detect location
Encoder error detected information normally.
P/A/S Countermeasure: Check for any wire breakage on a connector and
Driver inspect the condition of the wire connections.
limited If there is no cable malfunction, encoder failure may
be possible. Contact IAI.

0EC PS-phase disconnection Cause: There is a concern of looseness or line breakage at the
connectors of the actuator connection cables.
D Countermeasure: Check the conditions of connectivity on the actuator
Chapter 2 Troubleshooting

Driver connection cables and have a conductivity check on

limited them. Consult with IAI if they are in the normal
conditions.

0F0 Driver logic error Cause: CPU is not working properly.

A/D/S 1) Malfunction of CPU
Driver 2) Operation error due to noise
limited Countermeasure: Consult with IAI if the same phenomenon occurs
even after reboot of the power.

0F4 PCB mismatch Cause: <RCON-PC>

P/A The circuit board is not supported by the connection motor at
Driver startup check.
limited There may be a mismatch between the actuator and driver
unit. Check the model numbers.
<RCON-AC>
The simple absolute unit was connected when the encoder
type set in the parameter was at a value that the simple
absolute unit is not available.
Countermeasure: Contact IAI if this error occurs.

0F5 Non-volatile memory write Cause: When data is written to the non-volatile memory, comparison
verify error (verification) is performed to confirm whether the data in the
S memory matches the write data. At this time, a mismatch was
Driver detected. (Failure of non-volatile memory)
limited Countermeasure: Contact IAI if this reoccurs even after turning ON the
power again.

0F6 Non-volatile memory write Cause: There is no response within the specified time during the data
timeout writing to the non-volatile memory. (Failure of non-volatile
memory)
Countermeasure: Contact IAI if this reoccurs even after turning ON the
power again.

D2-33 ME0384-7C
 2.4 Driver Unit/Simple Absolute Unit Alarm Causes and Countermeasures

Alarm
Alarm name Causes/countermeasures
code

0F8 Non-volatile memory data Cause: Abnormal data was detected by non-volatile memory check at
destruction startup. (Failure of non-volatile memory)
Countermeasure: Contact IAI if this reoccurs even after turning ON the
power again.

0FA CPU error Cause: CPU is not operating normally.

1) CPU malfunction.
2) Malfunction caused by noise.
Countermeasure: Contact IAI if this reoccurs even after turning ON the
power again.

Maintenance Section
0FC Logic error Cause: RCON system interior is not working properly.
(Controller part error) 1) CPU malfunction.
2) Malfunction caused by noise.
Countermeasure: Reboot the power.
If the error occurs again, check for presence of
noise.
If a spare driver unit is available, replace it and try
again. A recurring error with the spare controller
suggests presence of noise.
Contact IAI if the cause cannot be determined.

300~ Teaching tool alarm Refer to the [instruction manual of each teaching tool].
3FF

Chapter 2 Troubleshooting

ME0384-7C D2-34
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

2.5 Causes and Countermeasures for ELECYLINDER Alarms

2.5.1 ELECYLINDER alarm group

The alarm groups and warnings occurred in ELECYLINDER are as show below.
For details and countermeasures, refer to the next section, [Troubleshooting by alarm groups].

Alarm
Content Main content and typical countermeasures
Maintenance Section

group
[Content] Moving parts stopped abnormally.
A Overload alarm [Countermeasure] Make sure that there are no obstructions or
obstacles.

Motor [Content] Motor abnormality occurred.

B
error alarm [Countermeasure] Replace the motor or controller.

ELECYLINDER [Content] ELECYLINDER control unit abnormality

C control unit occurred.
error alarm [Countermeasure] Replace the ELECYLINDER control unit.
[Content] An abnormality occurred between the
ELECYLINDER ELECYLINDER control unit and encoder.
Chapter 2 Troubleshooting

control unit-encoder [Countermeasure] Turn the power off and then on again.
D
abnormality If the unit still does not recover,
alarm replace the motor or ELECYLINDER
control unit.
Power supply [Content] ELECYLINDER control unit abnormality
voltage/Power supply occurred.
E
capacity [Countermeasure] Check the power supply voltage for any
error alarm abnormality.

Alarm
Content Main content and typical countermeasures
group
[Content] The "maintenance period" has come to an
Maintenance
Warning end.
warning
[Countermeasure] Perform maintenance for the unit.

D2-35 ME0384-7C
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

2.5.2 Troubleshooting for ELECYLINDER alarm groups

ELECYLINDER alarms are classified into "alarms" and "warnings" depending on the content.
"Alarms" are grouped into 5 types.

Situation
Alarm SV/ALM * ALM
when Clearing method
level LED signal generated
Cleared by resetting the alarm.
Servo OFF

Maintenance Section
If it cannot be cleared by resetting the
Alarm Red ON OFF after gradual
alarm, turn off the power, then turn it on
stop
again.

● Maintenance Warnings 1/2

(Total travel count/Total travel
distance) are cleared by updating the
Red/green
Continued set values in the maintenance
Warning alternate ON
operation information window.
blinking
● Maintenance Warning 3 (Overload
warning) is cleared by resetting the
alarm.

Chapter 2 Troubleshooting
Caution
 Clear alarms only after investigating and resolving the cause.
 If the same alarm recurs after clearance, it is highly probable that the cause of the alarm
has not been resolved.
 If the cause of the alarm cannot be resolved or the alarm cannot be cleared after
resolving the cause, contact IAI.
 Set to the disable status on the deadman’s switch in the teaching pendant, and
ELECYLINDER gets to the motor voltage drop condition (teaching pendant alarm: 203).

ME0384-7C D2-36
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Alarm group A: Overload alarm]

Moving parts of ELECYLINDER stopped abnormally while moving to the target position.

No. Cause Countermeasure

1 Operation may not be possible due to contact with Remove any external obstacles or other external
or snagging on external obstacles. loads.
2 The ELECYLINDER may be being used under Check the specification values such as payload,
conditions exceeding the specifications described acceleration/deceleration and speed, and adjust
in the catalog. them appropriately.
3 Causes may include foreign matter, brake failure or Visually check for the depletion of grease on the
Maintenance Section

motor failure. ball screw/guide inside the ELECYLINDER,

intrusion of foreign matter, etc.
If this is the case, clean the inside of the
ELECYLINDER and replenish the grease.
Remove the motor and check the sliding movement
of the ELECYLINDER body.
If there is no abnormality in the sliding motion,
there is a possibility of motor or brake failure.
Replacement of the motor is recommended.
4 The base may have been distorted when mounting The ELECYLINDER mounting surface should be a
the ELECYLINDER, increasing the sliding machined surface or a plane with similar accuracy,
resistance of the guide. with flatness within 0.05mm/m.
Refer to the [instruction manual of each
Chapter 2 Troubleshooting

ELECYLINDER] for the recommended tightening

torque of the bolt for fixing the base.
5 For 24V power supply drive: Use a power supply with peak current of 4.2 A or
The peak power capacity of the 24V power supply higher (per axis).
is less than 4.2A.
6 For 200V servo motor: Check the power voltage to 100V AC (or 200V AC).
The power voltage to the 100V AC (or 200V AC) If it is dropped, take a measure to bring the power
has dropped. voltage in the specification.
It the cable is AWG14 or lower, use a cable with
AWG14.
7 As there is a contact error at the terminals on the Check if there is any looseness, contact error or
EC connection unit cable, the peak current would line breakage on the terminals or connectors of the
not flow. EC connection unit cable.
8 The deceleration distance was insufficient and the Adjust the timing of the "next movement command"
calculation result of the arrival position exceeded so that the command will be given after the first
the operation range of the ELECYLINDER due to movement is completed.
the "next movement command" being issued too
soon during operation with "Smooth accel/decel
setting" enabled.
9 24V power was turned ON while the moving parts Resolve the state of immobilization.
of the ELECYLINDER were immobilized or If the unit is pressed against the mechanical
pressed against the mechanical stopper. stopper, move it at least 5 mm away, then turn on
the power again.

D2-37 ME0384-7C
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Alarm group B: Motor abnormality alarm]

Motor abnormality occurred.

No. Cause Countermeasure

1 The internal temperature of the motor may be Improve the surrounding environment of the
too high. motor so that the ambient temperature is 40 °C or
less.
If the abnormality is resolved upon turning the
power back on after the ambient temperature is
lowered, the internal temperature may have been

Maintenance Section
excessive.
[Countermeasure examples]
Remove the heat source/turn OFF the heat
source/install a fan/install a temperature
shield/improve thermal conductivity of the
base/install a heat dissipation fin, etc.
2 The ELECYLINDER may be being used under Check the specification values such as payload,
conditions exceeding the specifications acceleration/deceleration and speed, and adjust
described in the catalog. them appropriately.
3 If this alarm recurs after performing the Replacement of the motor is required.
inspection above and improving the power For the replacement method, refer to the
supply environment, it is highly likely that the [instruction manual for each ELECYLINDER].
motor has failed. * For some models, the motor cannot be
replaced by the customer. In that case, please

Chapter 2 Troubleshooting
contact IAI.

[Alarm group C: ELECYLINDER control unit abnormality alarm]

ELECYLINDER control unit abnormality occurred.

No. Cause Countermeasure

1 The ELECYLINDER control unit is affected by Shut down the power supply of the peripheral
the noise of a peripheral device and cannot device and operate only with the ELECYLINDER,
operate normally. then check to see whether this alarm persists.
If it does not, there is a possibility that the
ELECYLINDER is affected by the noise from the
peripheral device.
Reconsider the noise countermeasures
(grounding, power line wiring, electrostatic
shielding, etc.) for the peripheral device.
2 If this alarm recurs after performing the Replace the controller cover assembly of the
inspection above and improving the power ELECYLINDER.
supply environment, it is highly likely that the For the replacement method, refer to the
ELECYLINDER control unit has failed. [instruction manual for each ELECYLINDER].

ME0384-7C D2-38
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Alarm group D: ELECYLINDER control unit-encoder abnormality alarm]

An abnormality occurred between the ELECYLINDER control unit and encoder.

No. Cause Countermeasure

1 In case the alarm gets generated even after Shut the power down and take off the connectors
rebooting the power, it could be concerned that on the cable inside ELECYLINDER, and insert
there is a contact error at a connector on the again firmly till it stops.
cable between the ELECYLINDER control part If this does not improve the situation, the cable
and the motor. may be disconnected, in which case the
connection cable should be replaced.
Maintenance Section

2 The specifications of the replaced Cut off the power supply and make sure that the
ELECYLINDER control unit and the motor may specifications of the replaced motor and
not match. ELECYLINDER control unit are both
[Example] "battery-less absolute specification" or
An incremental-type motor and battery-less "incremental specification".
absolute spec ELECYLINDER control unit have For the replacement method, refer to the
been combined by mistake [instruction manual for each ELECYLINDER].
3 The communication between the ELECYLINDER Shut down the power supply of the peripheral
control unit and encoder is affected by the noise device and operate only with the
of a peripheral device and cannot operate ELECYLINDER, then check to see whether this
normally. alarm persists.
If it does not, there is a possibility that the
ELECYLINDER is affected by the noise from the
peripheral device.
Chapter 2 Troubleshooting

Reconsider the noise countermeasures (grounding

protection, power line wiring, electrostatic shielding,
etc.) for the peripheral device.
4 If this alarm recurs after performing the Replace the motor or ELECYLINDER controller
inspection above and improving the power cover assembly. For some models, the motor
supply environment, it is highly likely that the cannot be replaced by the customer. In that
motor or ELECYLINDER control unit has failed. case, please contact IAI.
For the replacement method, refer to the
[instruction manual for each ELECYLINDER].
5 For battery-less absolute specifications: Have the home-return operation conducted after
Change made to Parameter No. 3 or No. 4. the alarm reset.

[Alarm group E: Supply voltage/power capacity abnormality alarm]

An abnormality occurred in the power supply voltage and capacity supplied to the rear of the
ELECYLINDER.

No. Cause Countermeasure

1 The ELECYLINDER may be being used under Check the specification values such as payload,
conditions exceeding the specifications acceleration/deceleration and speed, and adjust
described in the catalog. them appropriately.
2 The power supply voltage has been detected Inspect with a tester to see whether the power
outside the range of 21.6V to 26.4V. supply voltage is in the range of 21.6 V to 26.4 V.
If it is out of range, the 24VDC power supply
voltage has insufficient capacity.
Refer to our catalog for the required capacity and
improve the power supply environment.
3 If this alarm recurs after performing the Replace the controller cover assembly of the
inspection above and improving the power ELECYLINDER.
supply environment, it is highly likely that the For the replacement method, refer to the
ELECYLINDER control unit has failed. [instruction manual for each ELECYLINDER].

D2-39 ME0384-7C
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Alarms in motor drive DC power supply PSA-200]

There was an error occurred on the motor drive DC power supply PSA-200.

No. Alarm Cause Countermeasure

1 Motor power supply voltage The output voltage has dropped 1) Check the motor drive DC
drop below the threshold. power supply PSA-200.
(Check power voltage and so
on)
2) There is a concern of
malfunction of motor drive DC

Maintenance Section
power supply PSA-200.
2 Fan error detected The fan revolution has dropped 1) Check the connection of the
or stopped. fan unit.
2) Replace the fan unit.

3 Regenerative discharge The regenerative discharge of 1) Add a regenerative resistor

excess power the internal regenerative resistor unit.
has risen above the threshold.
4 Motor power excess voltage The output voltage has risen 1) Check the motor drive DC
above the threshold. power supply PSA-200.
(Check power voltage and so
on)
2) Add a regenerative resistor
unit.
5 PCB temperature error The temperature sensor on the 1) Check the total wattage of the

Chapter 2 Troubleshooting
PC board has detected overheat. connected actuators.
2) Check the ambient
environmental temperature.
3) Add a regenerative resistor
unit.
6 Power device overheated The temperature sensor on the 1) Check the total wattage of the
PC board has detected overheat. connected actuators.
2) Check the ambient
environmental temperature.
3) Add a regenerative resistor
unit.
7 Critical malfunction An error out of those from No. 1 Replace the motor drive DC
to No. 6 that is unavailable to power supply unit.
recover has been detected.

ME0384-7C D2-40
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Warning: Maintenance warning 1]

This is an alert that the target value of the "total travel count" set by the customer has been
reached.

No. Cause Countermeasure

1 For safe use and long service life of the [Countermeasure 1]
ELECYLINDER, periodic lubrication is Perform maintenance and inspection such as
recommended. greasing.
→ For how to grease, refer to the [instruction
* To disable this warning, change the target manual for each ELECYLINDER].
Maintenance Section

value to 0. [Countermeasure 2]
When updating this function, be sure to set the
target value to a value larger than the current
value.
* For details on the maintenance warning settings, see [Operation Section Chapter 6, 6.1.3
Maintenance information (page C6-2)].

[Warning: Maintenance warning 2]

This is an alert that the target value of the "total travel distance" set by the customer has been
reached.

No. Cause Countermeasure

Chapter 2 Troubleshooting

1 For safe use and long service life of the [Countermeasure 1]

ELECYLINDER, periodic lubrication is Perform maintenance and inspection such as
recommended. greasing.
→ For how to grease, refer to the [instruction
* To disable this warning, change the target manual for each ELECYLINDER].
value to 0. [Countermeasure 2]
When updating this function, be sure to set the
target value to a value larger than the current
value.
* For details on the maintenance warning settings, see [Operation Section Chapter 6, 6.1.3
Maintenance information (page C6-2)].

D2-41 ME0384-7C
 2.5 Causes and Countermeasures for ELECYLINDER Alarms

[Warning: Maintenance warning 3]

This is an alert that the target value of the "overload warning level" set by the customer has been
reached.

No. Content Causes and countermeasures

1 Before the ELECYLINDER stops operation due [Causes]
to the "overload alarm", follow the The warning may be caused by the depletion of
troubleshooting procedure and conduct visual grease on the ball screw/guide inside the
inspection and maintenance. ELECYLINDER, intrusion of foreign matter,
brake failure, motor failure, contact with

Maintenance Section
* To disable this warning, change the "overload peripheral equipment, etc.
warning level" in "Maintenance Information" to [Countermeasure 1]
100%. Visually check for the depletion of grease on the
ball screw/guide inside the ELECYLINDER,
intrusion of foreign matter, etc.
If this is the case, clean the inside of the
ELECYLINDER and replenish the grease.
→ Refer to the [instruction manual of each
ELECYLINDER] for the cleaning method.
[Countermeasure 2]
Remove the motor and check the sliding
movement of the ELECYLINDER body.
If there is no abnormality in the sliding motion,
there is a possibility of motor or brake failure.

Chapter 2 Troubleshooting
Replacement of the motor is recommended.
(For some models, the motor cannot be replaced
by the customer.)
* For details on the maintenance warning settings, see [Operation Section Chapter 6, 6.1.3
Maintenance information (page C6-2)].

[Warning: Maintenance warning 4] (Dedicated for EC 200V type)

This is an alert that the target value of the “overload warning level” set by the customer has been
reached.

No. Content Causes and countermeasures

1 The capacitor mounted on the controller PC It is not that the capacity of the capacitor is zero
board has reached its life. (dry-up) when the alarm has occurred, but it is
recommended to replace the controller PC board
as soon as possible.

ME0384-7C D2-42
 2.5 Causes and Countermeasures for ELECYLINDER Alarms
Maintenance Section
Chapter 2 Troubleshooting

D2-43 ME0384-7C
 Appendix

Chapter 1
Gateway Parameter
Configuration Tool
1.1 Installing Gateway Parameter Configuration Tool ······· E1-1
1.2 Tool Startup························································ E1-5
1.3 Function Description ············································ E1-6
1.3.1 Menu descriptions ················································ E1-6
1.3.2 Special parameter setting function descriptions ·········· E1-8
1.3.3 Explanations of monitoring menu features ················· E1-14

1.4 Various Settings ·················································· E1-16

1.4.1 Operation mode setting·········································· E1-16
1.4.2 Operation mode individual setting ···························· E1-18
1.4.3 Axis number assignment change ····························· E1-19
1.4.4 Editing driver unit configuration································ E1-20

1.5 Connection Setting Using Ethernet Port ··················· E1-33

1.6 How to Check Operations Occupied Size of The Network ···· E1-37

ME0384-7C
 1.1 Installing Gateway Parameter Configuration Tool

1.1 Installing Gateway Parameter Configuration Tool

● Items to prepare
RCON system / PC / IA-OS DVD-ROM / cable

This section describes the operating environment on a PC with Windows 10.

1. Insert the IA-OS DVD-ROM into the optical drive

of the PC.
Appendix

IA-OS
DVD-ROM

2. The Tool for installation screen will be displayed.

Chapter 1 Gateway Parameter Configuration Tool

Select "English" and click .

3. The software installation screen is displayed.

Click .

E1-1 ME0384-7C
 1.1 Installing Gateway Parameter Configuration Tool

4. Click .

Wait for a while as a message "The installer is

Appendix
running" appears.

5. When installation preparation is started, the

Chapter 1 Gateway Parameter Configuration Tool

Parameter Configuration Tool - InstallShield
Wizard screen will be displayed.

After the screen switches, click .

ME0384-7C E1-2
 1.1 Installing Gateway Parameter Configuration Tool

6. Input "User Name" and "Orgarization", and then

click .
Appendix

7. Click .

* When the domain to install the gateway

parameter setting tool is to be changed, click
and set up the domain to install.
Chapter 1 Gateway Parameter Configuration Tool

8. Click
.

E1-3 ME0384-7C
 1.1 Installing Gateway Parameter Configuration Tool

9. The installation of the gateway parameter

configuration tool starts.

Appendix
When the screen on the bottom right appears,
the installation of the gateway parameter
configuration tool is completed.
Click .

Chapter 1 Gateway Parameter Configuration Tool

10. Make sure the shortcut for "Parameter
Configuration Tool" is displayed.

This concludes the installation of the gateway parameter configuration tool.

ME0384-7C E1-4
 1.2 Tool Startup

1.2 Tool Startup

Use the gateway parameter configuration tool to select the operation mode of the RCON system
and to set various functions. The screen design differs slightly depending on the OS of the PC.

1. After turning on the RCON system, starting the gateway parameter configuration tool will
display the following screen. Select "RCON" and press OK button.
Appendix

2. The main screen will be displayed. Even if the gateway unit cannot be detected, the main
Chapter 1 Gateway Parameter Configuration Tool

screen will be displayed. When you press Read button on this screen, parameters will be
imported from the detected gateway unit.
Press the Write button to transfer the parameters. However, note that they cannot be
transferred if the address or communication speed is not selected.

Main screen (initial state)

Caution
 If the actual number of connected axes of the RCON system does not match the
number of axes set and transferred in the gateway parameter configuration tool,
the PC software cannot be connected.
 Set and transfer the gateway parameters suitably according to the actual unit
configuration and the number of connected axes.

E1-5 ME0384-7C
 1.3 Function Description

1.3 Function Description

1.3.1 Menu descriptions

[File menu]

Appendix
On the main screen, click on the file menu on the upper left to display the menu items as
shown above.
• New file : Creates a new network parameter and operation mode parameter.
• Open... : Opens the saved parameter file and reflects it to the main screen.
• Save : Saves the parameters held by the tool to a file.

Chapter 1 Gateway Parameter Configuration Tool

• Exit : Terminates the tool.

[Settings menu]

Click the Setting menu in the upper left of the main screen to display the settings menu
items.
• Specialty Parameter : Sets parameters related to gateway unit processing.
Refer to [GW parameters /2/3, GW mode Select (page E1-8 to 10)]
• Port Config : Sets the communication speed between the tool and PC and the COM
port number.
• TimeSetting(T) : Sets the time to be held in the gateway unit.
Refer to [Time Setting (page E1-13)]

ME0384-7C E1-6
 1.3 Function Description

[Monitor menu]

Click the Monitor menu in the upper left of the main screen to display the monitor menu
Appendix

items.
(Note) Monitor cannot be selected before reading in the parameters.

• I/O data : Displays the communication contents between the host PLC and
gateway unit.
Refer to [I/O data (Register Monitor) (page E1-14)]
• Diagnostic Information : Displays the number of ERRT and ERRC generated, number of
stops and scan time.
Chapter 1 Gateway Parameter Configuration Tool

Refer to [Diagnostic Information (page E1-15)]

• AlarmList(L) : Imports and displays the alarm list held in the gateway unit.
Refer to [Alarm List (page E1-15)]

E1-7 ME0384-7C
 1.3 Function Description

1.3.2 Special parameter setting function descriptions

[GW-Param]

Appendix
• Latch in ERR_C : Selects whether to continue the error in recoverable
state after ERRT and ERRC occur.
• SERVO-OFF in ERR_C : Selects whether to turn the servo of the connected axis
OFF when ERRC is generated.
• unit velocity : Selects the speed unit from 1.0 mm/s or 0.1 mm/s.
(Only Direct Indication Mode)
• Internal communication retry count : In AUTO, this is used to set the number of

Chapter 1 Gateway Parameter Configuration Tool

communication retries with the connected axis.
• MON Signal : Select whether to use MON signal to control
enable/disable of the PLC → gateway unit commands.

[GW-Param2]

• RTC function : Selects whether to set an alarm or not when the time setting disappears.

ME0384-7C E1-8
 1.3 Function Description

[GW-Param3]

• Delay time of driver reclosing [msec] : Sets the delay time (interval) when sequentially
Appendix

supplying power to each axis of the driver unit.

It is used for the purpose of reducing inrush current
by shifting the timing of power supplied to each axis.
The initial value for the latency is 5 ms for each axis.
However, the minimum latency of the 200 V driver
unit is 50 ms. Setting to a value less than 50 ms
should automatically be pulled up to 50 ms.
Also, for the EC connection unit, the release timing
Chapter 1 Gateway Parameter Configuration Tool

of the drive cutoff circuit for each unit (four axes)

should get misaligned.
• Number of power supply units connected : Sets the number of IAI power supply units (Model:
PSA-24) that are connected to the gateway unit.
Up to 5 units can be connected.
• Power supply unit monitor type : Select the monitoring item for the IAI power supply
unit (PSA-24).
One item of those in the following page table can be
monitored.

E1-9 ME0384-7C
 1.3 Function Description

Item Description
This power supply can vary the output voltage according to the load.
Output voltage
The output voltage monitoring value changes, but this is not abnormal.
Auxiliary winding wire Control power supply voltage inside the power supply unit. As with the
voltage output voltage, it changes according to the load on the output voltage side.
Output current Instantaneous value of output current.
Peak hold current Peak value of output current.
Ratio of integral value of output current and rated output current. If this
Load factor
value exceeds 100%, the output voltage is cut off as an overload error.
FAN rotation speed It is the speed of the fan rotation.

Appendix
Internal temperature: Temperature in the vicinity of the output capacitor
PCB temperature
on the secondary side.

• Power supply unit connection retry times : Sets the number of retries when a communication
error occurs.
• Waiting time for initialization : Sets additional wait time until the driver unit starts
internal process communication [msec] internal communication.

Chapter 1 Gateway Parameter Configuration Tool

[GWmode Select]

• Enable SW : Selects whether to enable/disable the enable switch of the TP.

• BYTE swap : Set the byte swap. Refer to [Byte swap (page C7-72)]
• WORD swap in D-WORD Data : Sets whether the W word size data is to be swapped in
word size. Refer to [Double-word data swapping (page
C7-72)]

ME0384-7C E1-10
 1.3 Function Description

Byte swap : Swaps the master and slave bytes of transmitted/received data.
Set according to the master to be connected as necessary.

Input
●: ON
register
○: OFF
ON/OFF
Hexadecimal
data

PLC:
RWwnn

ON/OFF
Hexadecimal
data
Appendix

Output
register

ON/OFF
Hexadecimal
data

PLC:
RWrnn

ON/OFF
Hexadecimal
data
Chapter 1 Gateway Parameter Configuration Tool

Word swap in D-WORD Data : Swaps the master and slave of transmitted/received data of
W word size in word unit.
Set according to the master to be connected as necessary.

Input ●: ON
register
○: OFF
ON/OFF
Hexadecimal
data

PLC:
RWwnn

ON/OFF
Hexadecimal
data

Output
register

ON/OFF
Hexadecimal
data

PLC:
RWrnn

ON/OFF
Hexadecimal
data

E1-11 ME0384-7C
 1.3 Function Description

[Option Unit Parameter]

Appendix
• RCON-EC JOG switch : Select whether to enable/disable the jog switch on the EC
connection unit (RCON-EC).
The setting to enable/disable should be reflected to all the units
of the EC connection unit that are connected to the gateway
unit.
Whether to enable/disable the jog switch is to be set in
Parameter No. 194 "Jog Switch".

Chapter 1 Gateway Parameter Configuration Tool

ME0384-7C E1-12
 1.3 Function Description

[TimeSetting]
Appendix

When PC-Time is selected, the current time of the PC is acquired and set to the gateway unit.
Once manual setting is selected, set any time set in the time editing on the screen to the
gateway unit.
By pressing Write , time is transferred and written to the gateway unit.
When Confirm is pressed, the time data currently held in the gateway unit will be read out
and displayed.
Chapter 1 Gateway Parameter Configuration Tool

Caution
The clock (calendar) function of the gateway unit is effective for about 10 days from the
time gateway unit is turned off, given that the capacitor is sufficiently charged.
When the time data is lost, the current time will be the time elapsed from 2000/1/1 0:00:00
as the time when the power is turned on.

E1-13 ME0384-7C
 1.3 Function Description

1.3.3 Explanations of monitoring menu features

[I/O data (Register Monitor)]

Appendix
Chapter 1 Gateway Parameter Configuration Tool
Data reading cycle Display switch Synchronous scroll

The data that the gateway received from the master and transmission data returned to the
master are displayed on this register monitor screen.
• Data reading cycle : Select the update cycle of the display data between 100 and 500 ms
• Display switch : Select either binary or hexadecimal display
• SYNC Scroll : When checked, the transmitted/received data will be scrolled at the
same time

ME0384-7C E1-14
 1.3 Function Description

[Diagnostic Information]
Appendix

The scan time of the driver unit, the number of communication errors (ERRC, ERRT) and the
number of stops (EMG) detected can be counted.
When there is an option unit connected, the scan time and the number of communication errors
of the option unit should be displayed.
Chapter 1 Gateway Parameter Configuration Tool

[Alarm List]

Press Refresh button to read out the alarm list again from the gateway unit.
Press Clear button to delete all alarm lists held by the gateway unit.
Press Save button to save the alarm list held by the gateway unit in CSV format.
For the alarm details, refer to [Maintenance Section Chapter 2, 2.3 Gateway Unit Alarm
Causes and Countermeasures (page D2-5)].

E1-15 ME0384-7C
 1.4 Various Settings

1.4 Various Settings

1.4.1 Operation mode setting

The operation after main screen reading is as follows.

1)

2)
3)
4)

Appendix
1) Read

Chapter 1 Gateway Parameter Configuration Tool

For the first connection, the following dialog will be displayed.
Press Yes to transfer the parameters that match the current configuration.

2) Axis Type
Sets the number of axes of the actuator to be controlled
3) Option units
Set the number of the units of the EC connection unit to be connected.
4) Operation mode setting
Sets all operation modes of all driver units connected to this gateway unit at once.
The operation mode options are as follows.

No. Operation mode setting No. Operation mode setting

1 Positioner 1 (size: 4 W) 5 Direct numerical control (size: 8 W)

2 Positioner 2 (size: 2 W) 6 Simple direct (size: 4 W)

3 Positioner 3 (size: 1 W) 7 Individual setting [refer to (5)]

4 Positioner 5 (size: 2 W)

ME0384-7C E1-16
 1.4 Various Settings

5)
6)
7)
Appendix

5) Detailed setting display

When you press Detail setting button, the following buttons will be displayed.
 Operation mode individual setting button 6)
 Axis No. assgnmt / unit config setting button and automatic/manual axis number
assignment switching 7)
6) Operation mode individual setting
Chapter 1 Gateway Parameter Configuration Tool

When you press "Operation mode individual setting", the "Operation mode individual setting
screen" will be displayed.
For details on the individual setting screen, refer to [Startup Section Chapter 4, 4.2.2
Operation mode individual setting (page B4-6)].
7) Axis No. assgnmt / unit config setting
When you press Change button in axis number assignment, the "Axis number assignment
change screen" will be displayed. For the axis number assignment change method, refer to
[Startup Section Chapter 4, 4.2.3 Axis number assignment change (page B4-7)].
Operation for automatic assignment and manual assignment is as follows.

"Change" button
Axis number
for axis number assignment
Automatic
Disabled Serial numbers
assignment
Manual Values set on the axis number
Enabled
assignment assignment change screen

E1-17 ME0384-7C
 1.4 Various Settings

1.4.2 Operation mode individual setting

The operation for operation mode individual setting is as follows.

1)
2)

Appendix
3)

1) Axis number assignment confirmation

When Axis number allocation number confirmation button is pressed, the "Axis No.

Chapter 1 Gateway Parameter Configuration Tool

assignment / unit configuration confirmation screen" opens. Note that axis numbers cannot
be edited on this screen.

2) Operation mode individual setting

Set in order to set the operation mode for each axis.
3) OK
It confirms the change and returns to the main screen. If the operation mode of each axis is
not the same, the display on the main screen will be individually set.

ME0384-7C E1-18
 1.4 Various Settings

1.4.3 Axis number assignment change

The operation of axis number assignment change is as follows.

1)

2) 3)
Appendix

1) Hardware configuration (reference information)

Displays the driver unit configuration connected to the gateway unit. When creating or editing,
Chapter 1 Gateway Parameter Configuration Tool

if the configuration cannot be read due to a communication error, the following screen will be
displayed.

2) Setting status
The axis number assignment can be changed on this screen.
The unit configuration shows the setting of the previous transfer.
3) Unit configuration edit button
Displays various screens for editing the driver unit configuration displayed in 2). For details on
editing the unit configuration, refer to [Startup Section Chapter 4, 4.2.4 Editing driver unit
configuration (page B4-8)].

E1-19 ME0384-7C
 1.4 Various Settings

1.4.4 Editing driver unit configuration

The driver unit configuration editing method is as follows.

1. Reflect the current driver unit configuration

1) On the "Axis No. assgnmt / unit config setting screen", press Hardware config reflctn .

Appendix
Chapter 1 Gateway Parameter Configuration Tool
2) The configuration of the actual driver unit will be imported.

1)

2)

3) 4)

3) Confirm the unit configuration and press Complete .

It will be reflected in the "Axis No. assgnmt / unit config setting screen".

ME0384-7C E1-20
 1.4 Various Settings

[When Connecting 200V Driver Unit (RCON-SC)]

When the 200V driver unit is connected, set "Axis No. assgnmt / unit config setting" to "Auto",
and the 200V driver unit should get assigned to the last of the 24V driver units
(RCON-PC/PCF/AC/DC).
When SCON is connected using the SCON extension unit (RCON-EXT, RCON-NP/PN-EXT),
the 200V driver unit should be assigned before SCON.
Also, the 24V driver units cannot be moved or added after the 200V driver unit.
Appendix
Chapter 1 Gateway Parameter Configuration Tool

E1-21 ME0384-7C
 1.4 Various Settings

[When connecting SCON]

When SCON is connected using an SCON extension unit (RCON-EXT), set “Axis No. assgnmt /
unit config setting” to "Auto", and SCON should be assigned to the last of all the driver units.
Also, no other driver unit (RCON-PC/PCF/AC/DC/SC) can be moved or added after SCON.

SCON-CB

Appendix
Chapter 1 Gateway Parameter Configuration Tool

ME0384-7C E1-22
 1.4 Various Settings

[When Connecting EC Connection Unit or Option Unit]

When the EC connection unit (RCON-EC) or option unit (RCON-EXT-NP/PN, RCONNP/PN) is
connected, set the number of connection units to be connected in "Option units".

The axis numbers for the EC connection unit should be assigned after each driver unit
(RCON-PC/PCF/AC/DC/SC) and SCON. Also, no other unit can be moved or added after the
EC connection unit.
The EC connection unit can be connected for four units at maximum, however, it cannot be
connected if the top axis number exceeds 15.
Appendix

1 Unit
Chapter 1 Gateway Parameter Configuration Tool

Set the number of

EC connection units
to be connected

Caution
 If the actual number of connected axes of the RCON system does not match the
number of axes set and transferred in the gateway parameter configuration tool,
the PC software cannot be connected.
 Set and transfer the gateway parameters suitably according to the actual unit
configuration and the number of connected axes.

E1-23 ME0384-7C
 1.4 Various Settings

2. Edit the settings of the specific driver unit

1) On the "Axis No. assgnmt / unit config setting screen", press Editing unit .

Appendix
2) "Editing target selection screen" opens.

Chapter 1 Gateway Parameter Configuration Tool

Select the driver units to be edited and press Next .

ME0384-7C E1-24
 1.4 Various Settings

3) "Unit type change screen" opens.

Select the unit type from the following 6 types and press Next .
Appendix

Unit type

PC, PCF, AC, DC, SC, SCON, reserved

4) "Axis configuration change screen" opens.

Chapter 1 Gateway Parameter Configuration Tool

First, select the number of axes to be used in the driver unit.

Number of axes of selected driver unit Selection item

1 *1

1-axis 2 (add to Drv0)

2 (add to Drv1)

1 (delete Drv0)

2-axis 1 (delete Drv1)

*1: Since PCF, SC and SCON are 1 unit 1 axis, the selection item will be only 1.

E1-25 ME0384-7C
 1.4 Various Settings

5) Next, set the axis number after adding/deleting.

Select from the following selection items and press Complete .

Appendix
Number of Axes Selection item Axis number setting change results
Shifts the axis number of the added drivers from
Shift
before.
When adding
Unallocated number Sets unassigned number to the added driver.

Shifts the axis number of the deleted driver from

Chapter 1 Gateway Parameter Configuration Tool

Shift
before.
When deleting
Adds the reserved unit after the edited unit and
Keep as reserved unit
leaves the axis number.

<When Drv1 is added to Unit1 and "Shift" is selected>

<When Drv1 is added to Unit1 and "Unallocated number" is selected>

ME0384-7C E1-26
 1.4 Various Settings

<When Drv1 is deleted from Unit1 and "Shift" is selected>

Appendix

<When Drv1 is deleted from Unit1 and "Keep as reserved unit" is selected>
Chapter 1 Gateway Parameter Configuration Tool

3. Add the driver unit

1) In "Axis No. assgnmt / unit config setting screen", press Adding unit .

E1-27 ME0384-7C
 1.4 Various Settings

2) "Additional location screen" opens.

Select the position to which the driver unit is to be added and press Next .

Appendix
3) "Adding unit screen" opens.
Select the unit type from the following 6 types and select the number of axes,
then press Next .

Chapter 1 Gateway Parameter Configuration Tool

Unit type

PC, PCF, AC, DC, SC, SCON, reserved

ME0384-7C E1-28
 1.4 Various Settings

4) "Axis configuration change screen" opens.

First, select the number of axes to be used in the driver unit.
Appendix

Selection item Axis number setting change results

Unallocated number Sets unassigned number.

Shift Shifts the axis number of the added drivers from before.
Chapter 1 Gateway Parameter Configuration Tool

<When the reserved unit is added to Unit1-Unit2 and " Unallocated number" is selected>

<When the reserved unit is added to Unit1-Unit2 and "Shift" is selected>

E1-29 ME0384-7C
 1.4 Various Settings

4. Move the driver unit

1) On the "Axis No. assgnmt / unit config setting screen", press Moving unit .

Appendix
2) "Moving unit screen" opens.

Chapter 1 Gateway Parameter Configuration Tool

Select the driver unit to be moved and its position, and press Complete .

ME0384-7C E1-30
 1.4 Various Settings

5. Delete the driver unit

1) On the "Axis No. assgnmt / unit config setting screen", press Deleting unit .
Appendix

2) "Deleting unit screen" opens.

Chapter 1 Gateway Parameter Configuration Tool

Select the driver units to be deleted and press Complete .

E1-31 ME0384-7C
 1.4 Various Settings

Parameter data should be set and adjustment appropriately according to the application
requirements.
As it gives crucial impacts to operation, setting them up wrongly could cause wrong operation.

Also, when a change is required, make sure to back up the data before the change so the
settings can be returned anytime.
The data after change should also have a backup.
It comes necessary when studying a cause of malfunction or replacing ELECYLINDER.

Appendix
Caution
Understand very well about the control logic if making a change or performing a setting
suitable to the system and application.
Contact IAI if anything is unclear.

Chapter 1 Gateway Parameter Configuration Tool

ME0384-7C E1-32
 1.5 Connection Setting Using Ethernet Port

1.5 Connection Setting Using Ethernet Port

For those equipped with an Ethernet port (Option: ET), here explains how to Ethernet in the
gateway parameter setting tool.

[Setting RCON gateway parameters]

Items to prepare
RCON system / PC / RCM-101 supplied cable

1. Start up the gateway parameter configuration tool.

Appendix

1) Double click the Gateway

parameter configuration tool icon.

Double-click

2) Select and click "RCON" from

Chapter 1 Gateway Parameter Configuration Tool

SelectGwType screen.

Select

Click

3) Clicking will open the Parameter Configuration Tool for IAI GateWay Unit
main screen.

SelectGwType screen Parameter Configuration Tool for IAI GateWay Unit main screen

Click

E1-33 ME0384-7C
 1.5 Connection Setting Using Ethernet Port

4) Click Setting , and then

Ethernet Connect Setting to
Parameter Configuration Tool for IAI GateWay Unit main screen
open Ethernet Setting screen.

Appendix
Click

Click

Ethernet Setting screen

Chapter 1 Gateway Parameter Configuration Tool

ME0384-7C E1-34
 1.5 Connection Setting Using Ethernet Port

2. In Ethernet Setting screen the following parameter settings should be shown.

Straight after the window opens, it should be shown the current setting values input.

Ethernet Setting screen

Appendix

Ethernet Connection Setting Parameters

Chapter 1 Gateway Parameter Configuration Tool

No. Parameter Name Explanation of Parameter

1 IP Address Ethernet Communication Port IP Address
2 Subnet Mask Ethernet Communication Port Subnet Mask
3 UDP Port Number Port Number for IP Address Search with IA-OS
MAC Address for Ethernet Communication Port (Not available for
change)
4 MAC Address
When it is not available to acquire such as in file edit, each item
should get hidden.

E1-35 ME0384-7C
 1.5 Connection Setting Using Ethernet Port

3. Click OK to confirm the change

"Ethernet Setting" screen
when a change is made to the
settings. Close the setting window
by clicking the [] when it
* Close the setting screen by is required not to reflect
the change.
clicking the  but on when it
is required not to reflect the
change.

Appendix
Click to
confirm

4. When there is a change made to the "Confirmation" screen

setting, "Confirmation" screen should
open after "Ethernet Setting" screen
is finished.
Click Yes to transfer the changed

Chapter 1 Gateway Parameter Configuration Tool

contents to the gateway unit.
* The change can also be
transferred by clicking the Write
in the main screen of "Parameter
Click
Or,
Configuration Tool for IAI Gateway
Unit". "Parameter Configuration Tool for IAI GateWay Unit" main screen

Click

ME0384-7C E1-36
 1.6 How to Check Operations Occupied Size of The Network

1.6 How to Check Operations Occupied Size of The Network

Here explains how to check the occupied number towards the PLC for the product using the
gateway parameter setting tool.
It is applicable even when there is no actual unit in the RCON system.

● Items to prepare
RCON system / PC / IA-OS-C supplied cable

1. Start up the gateway parameter configuration tool.

Appendix

1) Double click the Gateway

parameter configuration tool icon.

Double-click

2) Select and click "RCON" from

SelectGwType screen
Chapter 1 Gateway Parameter Configuration Tool

SelectGwType screen.

Select

Click

3) Clicking will open the Parameter Configuration Tool for IAI GateWay Unit
main screen.

SelectGwType screen Parameter Configuration Tool for IAI GateWay Unit main screen

Click

E1-37 ME0384-7C
 1.6 How to Check Operations Occupied Size of The Network

2. Setting up Network Type

1) Click Create New on the top left in "Parameter Configuration Tool for IAI GateWay Unit" screen
the gateway parameter setting tool
window.

1)
Click

Appendix
"NewFile" screen
2) The New File screen will be displayed.
Select the network to be used in the
pulldown list in the network type box.

* In this example, CC-Link is selected.

2)

Chapter 1 Gateway Parameter Configuration Tool

Click

3) Click . "NewFile" screen

3)
Click

ME0384-7C E1-38
 1.6 How to Check Operations Occupied Size of The Network

3. How to check condition setting and occupancy information

In this example,
 Number of Axes Setting: 4
 Number of Option Units: 1
 Mode Setting:
* In the example, drivers for
”Direct Numerical Command" four axes are connected.
RCON-PC-2 × 1

RCON-SC-1 × 1

RCON System
Appendix

SCON-CB-RC × 1

RCON-EC-4 × 1

* In the example, one unit of

option unit is connected.
Option Unit:
It is the EC connection unit connected
Chapter 1 Gateway Parameter Configuration Tool

in the RCON system.

1) Establish the settings in "Number of Axes Setting", "Number of Option Units" and
"Operation Mode" in the gateway parameter setting tool window.

Parameter Configuration Tool for IAI GateWay Unit screen

Set

Set

Set

E1-39 ME0384-7C
 1.6 How to Check Operations Occupied Size of The Network

Complement
Click in the detail setting, and the operation mode
can be set up for each axes.

Click

Appendix
Click

Once the setup is completed, click .

Chapter 1 Gateway Parameter Configuration Tool

For details, refer to [Appendix Chapter 1, 1.4.1 Operation mode setting (page E1-16)].

2) Check in the Occupation Information box.

Parameter Configuration Tool for IAI GateWay Unit screen

"Occupation Data"
is necessary for the
PLC setting.

ME0384-7C E1-40
 1.6 How to Check Operations Occupied Size of The Network
Appendix
Chapter 1 Gateway Parameter Configuration Tool

E1-41 ME0384-7C
 Appendix

Chapter 2
Connectable Actuators
2.1 List of Actuator Specifications ································ E2-1
Specifications for Pulse Motor Type Actuator························ E2-1
Specifications for 24V AC Servo Motor Type Actuator ············ E2-41
Specifications for Brushless DC Electric Motor Actuator ········· E2-46
Specifications for 200V AC Servo Motor Type Actuator ·········· E2-47

2.2 Correlation Diagrams of Speed and Payload ············· E2-100

RCP6 slider type (High output effective) ······························ E2-100
RCP6 slider type (High output effective / Motor-reversing type) ···· E2-101
RCP6 wide slider type (High output effective) ······················· E2-102
RCP6 wide slider type (High output effective / Motor-reversing type)·· E2-103
RCP6 rod type (High output effective)································· E2-104
RCP6 rod type (High output effective / Motor-reversing type) ·· E2-105
RCP6 radial cylinder type (High output effective) ·················· E2-106
RCP6 radial cylinder type (High output effective / Motor-reversing type) ·· E2-107
RCP6 wide radial cylinder type (High output effective) ··········· E2-108
RCP6 wide radial cylinder type (High output effective / Motor-reversing type) ·· E2-109
RCP6W dust and drip proof rod type (High output effective) ···· E2-110

ME0384-7C
 RCP6W dust and drip proof rod type (High output effective / Motor-reversing type) ·· E2-112
RCP6W dust and drip proof radial cylinder type (High output effective) ··· E2-114
RCP6W dust and drip proof radial cylinder type (High output effective / Motor-reversing type)··· E2-116
RCP6W dust and drip proof wide radial cylinder type (High output effective)··· E2-118
RCP6W dust and drip proof wide radial cylinder type (High output effective / Motor-reversing type) ·· E2-120
RCP6 table type (High output effective) ······························ E2-122
RCP6 table type (High output effective / Motor-reversing type) ···· E2-123
RCP6 table type (High output effective) ······························ E2-124
RCP6 table type (High output effective / Motor-reversing type) ···· E2-125
RCP5 slider type (High output effective) ······························ E2-126
RCP5 slider type (High output effective / Motor-reversing type) ···· E2-127
RCP5 belt type (High output effective) ································ E2-128
RCP5 rod type (High output effective)································· E2-128
RCP5 rod type ······························································· E2-129
RCP5 rod type (High output effective / Motor-reversing type) ·· E2-130
RCP5 rod type (Motor-reversing type) ································ E2-131
RCP5W dust and drip proof rod type (High output effective) ···· E2-131
RCP5W dust and drip proof rod type ·································· E2-132
RCP4 slider type (High output effective) ······························ E2-134
RCP4 slider type (High output effective / Motor-reversing type) ···· E2-135
RCP4W dust and drip proof slider type ······························· E2-136
RCP4 rod type (High output effective)································· E2-137
RCP4 rod type (High output effective / Motor-reversing type) ·· E2-138
RCP4W dust and drip proof rod type (High output effective) ···· E2-139
RCP3 slider type ···························································· E2-140
RCP3 slider type (Motor-reversing type) ····························· E2-142
RCP3 rod type ······························································· E2-143
RCP3 table type ····························································· E2-144
RCP2 slider type ···························································· E2-145
RCP2 slider type (Motor-reversing type) ····························· E2-147
RCP2 rod type ······························································· E2-149
RCP2 rod short type (Standard / Equipped with Guide) ·········· E2-151
RCP2W dust and drip proof type ······································· E2-153

2.3 Push Force / Gripping Force and Current Limit Value ··· E2-154
RCP6 Series (Slider type / Rod type / Table type) ················· E2-154
RCP6 Series (Gripper type) ·············································· E2-155
RCP5 Series (Slider type / Rod type)·································· E2-157

ME0384-7C
 RCP4 Series (Slider type / Rod type)·································· E2-158
RCP4 Series (Gripper type) ·············································· E2-159
RCP3 Series (Slider type / Table type) ································ E2-160
RCP3 Series (Slim, compact rod type) RA2AC/RA2BC/RA2AR/RA2BR ·· E2-161
RCP2 Series (Slider type / Rod type)·································· E2-161
RCP2 Series (2-finger gripper type) ··································· E2-163
RCP2 Series (3-finger gripper type) ··································· E2-164
RCL Series ··································································· E2-164
RCD Series ··································································· E2-164
RCS2 Series ································································· E2-165

2.4 Rotational Speed and Output Torque / Allowable Inertial Moment ···· E2-166
RCP2 Series (Rotary type) ··············································· E2-166

ME0384-7C
 2.1 List of Actuator Specifications

2.1 List of Actuator Specifications

The specifications included in this list are limited to those needed to set operating conditions and
parameters. For other detailed specifications, refer to the catalog or operation manual for your
actuator.
Also, refer to an instruction manual of each ELECYLINDER for the ELECYLINDER specifications.

Caution
 The push force is based on the rated push speed (factory setting) indicated in the list,
and provides only a guideline.
Appendix

 Make sure the actual push force is equal to or greater than the minimum push force.
If not, the push force will not stabilize.
 Do not change the setting of push speed (parameter No.34). If you must change the
push speed, consult IAI.
 If, among the operating conditions, the positioning speed is set to a value equal to or
smaller than the push speed, the push speed will become the set speed and the
specified push force will not generate.
Chapter 2 Connectable Actuators

Specifications for Pulse Motor Type Actuator

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
1260 (at 50 to 400st)
Horizontal 1060 (at 450st) 1
875 (at 500st)
SA4C:
1260 (at 50 to 400st)
16 20 1060 (at 450st) 21 48
RCP6 875 (at 500st)
RCP6CR Vertical 0.5
SA4R:
(Slider [Standard]
SA4C 1120 (at 50 to 400st)
type)
SA4R Ball 1060 (at 450st)
8192 875 (at 500st) 20
Standard screw
[Cleanroom] 785 (at 50 to 400st)
type Horizontal 1
SA4C 10 13 675 (at 450st) 22 77
/ Cleanroom
Vertical 555 (at 500st) 0.5
type
Horizontal 390 (at 50 to 400st) 1
5 7 330 (at 450st) 44 155
Vertical 275 (at 500st) 0.5

Horizontal 195 (at 50 to 400st) 1

2.5 4 165 (at 450st) 89 310
Vertical 135 (at 500st) 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-1 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
SA6C:
1440 (at 50 to 450st)
1335 (at 500st)
1130 (at 550st)
970 (at 600st)
840 (at 650st)
735 (at 700st)
650 (at 750st)
Horizontal 575 (at 800st) 1
SA6R:
1280 (at 50 to 500st)
1130 (at 550st)
970 (at 600st)
840 (at 650st)

Appendix
735 (at 700st)
650 (at 750st)
20 25 16 56
575 (at 800st)
SA6C:
1280 (at 50 to 500st)
1130 (at 550st)
970 (at 600st)
840 (at 650st)
735 (at 700st)
650 (at 750st)
Vertical 575 (at 800st) 0.5
SA6R:
RCP6 1120 (at 50 to 550st)
RCP6CR 970 (at 600st)
[Standard]

Chapter 2 Connectable Actuators

(Slider
SA6C 840 (at 650st)
type)
SA6R Ball 735 (at 700st)
8192 20
screw 650 (at 750st)
Standard
[Cleanroom] 575 (at 800st)
type
SA6C 900 (at 50 to 400st)
/ Cleanroom
type 885 (at 450st)
735 (at 500st)
620 (at 550st)
Horizontal 535 (at 600st) 1 27 93
460 (at 650st)
405 (at 700st)
355 (at 750st)
315 (at 800st)
SA6C:
900 (at 50 to 400st)
885 (at 450st)
735 (at 500st)
620 (at 550st)
12 15
535 (at 600st)
460 (at 650st)
405 (at 700st)
355 (at 750st)
Vertical 315 (at 800st) 0.5 27 93
SA6R:
800 (at 50 to 450st)
735 (at 500st)
620 (at 550st)
535 (at 600st)
460 (at 650st)
405 (at 700st)
355 (at 750st)
315 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-2
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
450 (at 50 to 400st)
435 (at 450st)
Horizontal 365 (at 500st) 1
305 (at 550st)
6 8 265 (at 600st) 53 185
230 (at 650st)
[Standard] Vertical 200 (at 700st) 0.5
SA6C 175 (at 750st)
SA6R Ball 155 (at 800st)
8192 20
screw 225 (at 50 to 400st)
[Cleanroom] 215 (at 450st)
SA6C Horizontal 180 (at 500st) 1
150 (at 550st)
3 4 130 (at 600st) 106 370
Appendix

115 (at 650st)

Vertical 100 (at 700st) 0.5
85 (at 750st)
75 (at 800st)
SA7C:
1200 (at 50 to 600st)
Horizontal 1095 (at 650st) 1
965 (at 700st)
850 (at 750st)
24 30 760 (at 800st) 40 139
RCP6
SA7R:
RCP6CR
1080 (at 50 to 650st)
(Slider Vertical 0.5
965 (at 700st)
type)
850 (at 750st)
Chapter 2 Connectable Actuators

760 (at 800st)

Standard
type SA7C:
/ Cleanroom 980 (at 50 to 500st)
type 965 (at 550st)
830 (at 600st)
720 (at 650st)
[Standard] 635 (at 700st)
SA7C 560 (at 750st)
SA7R Ball Horizontal 500 (at 800st) 1
8192 20
screw SA7R:
[Cleanroom] 840 (at 50 to 550st)
SA7C 830 (at 600st)
720 (at 650st)
635 (at 700st)
16 20 560 (at 750st) 60 209
500 (at 800st)
SA7C:
840 (at 50 to 550st)
830 (at 600st)
720 (at 650st)
635 (at 700st)
560 (at 750st)
Vertical 0.5
500 (at 800st)
SA7R:
700 (at 50 to 650st)
635 (at 700st)
560 (at 750st)
500 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-3 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
SA7C:
490 (at 50 to 500st)
475 (at 550st)
Horizontal 410 (at 600st) 1
355 (at 650st)
315 (at 700st)
275 (at 750st)
8 10 245 (at 800st) 119 418
SA7R:
420 (at 50 to 550st)
410 (at 600st)
Vertical 355 (at 650st) 0.5
315 (at 700st)
275 (at 750st)

Appendix
245 (at 800st)
[Standard] SA7C:
SA7C 245 (at 50 to 500st)
SA7R Ball 235 (at 550st)
8192 20
screw 205 (at 600st)
[Cleanroom] 175 (at 650st)
SA7C 155 (at 700st)
135 (at 750st)
Horizontal 120 (at 800st) 1
SA7R:
210 (at 50 to 550st)
RCP6 4 5 205 (at 600st) 239 836
RCP6CR 175 (at 650st)
(Slider 155 (at 700st)

Chapter 2 Connectable Actuators

type) 135 (at 750st)
120 (at 800st)
Standard
210 (at 50 to 550st)
type
205 (at 600st)
/ Cleanroom
175 (at 650st)
type Vertical 0.5
155 (at 700st)
135 (at 750st)
120 (at 800st)
1200 (at 50 to 750st)
1155 (at 800st)
1040 (at 850st)
940 (at 900st)
Horizontal 1
855 (at 950st)
780 (at 1000st)
30 38 46 159
715 (at 1050st)
660 (at 1100st)
[Standard] 850 (at 50 to 950st)
SA8C 780 (at 1000st)
Vertical 0.5
SA8R Ball 715 (at 1050st)
8192 20
screw 660 (at 1100st)
[Cleanroom] 1000 (at 50 to 650st)
SA8C 950 (at 700st)
860 (at 750st)
770 (at 800st)
695 (at 850st)
20 Horizontal 25 1 68 239
630 (at 900st)
570 (at 950st)
520 (at 1000st)
480 (at 1050st)
440 (at 1100st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-4
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
800 (at 50 to 750st)
770 (at 800st)
695 (at 850st)
630 (at 900st)
20 Vertical 25 0.5 68 239
570 (at 950st)
520 (at 1000st)
480 (at 1050st)
440 (at 1100st)
500 (at 50 to 650st)
480 (at 700st)
Horizontal 430 (at 750st) 1
385 (at 800st)
345 (at 850st)
10 13 137 478
310 (at 900st)
Appendix

285 (at 950st)

RCP6
Vertical 260 (at 1000st) 0.5
RCP6CR
[Standard] 235 (at 1050st)
(Slider
SA8C 220 (at 1100st)
type)
SA8R Ball SA8C:
8192 20
screw 250 (at 50 to 650st)
Standard
[Cleanroom] 240 (at 700st)
type 215 (at 750st)
SA8C
/ Cleanroom 190 (at 800st)
type Horizontal 175 (at 850st) 1
155 (at 900st)
140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
Chapter 2 Connectable Actuators

5 7 273 956
SA8R:
250 (at 50 to 650st)
240 (at 700st)
215 (at 750st)
190 (at 800st)
Vertical 175 (at 850st) 0.5
155 (at 900st)
145 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
1280 (at 50 to 500st)
1090 (at 550st)
940 (at 600st)
Horizontal 815 (at 650st)
715 (at 700st)
630 (at 750st)
560 (at 800st)
20 25 0.5 19 67
1120 (at 50 to 500st)
1090 (at 550st)
RCP6 940 (at 600st)
High Vertical 815 (at 650st)
Ball
Stiffness HSA6C 8192 715 (at 700st) 20
screw
(Slider 630 (at 750st)
type) 560 (at 800st)
900 (at 50 to 400st)
845 (at 450st)
Horizontal 705 (at 500st)
585 (at 550st)
12 15 515 (at 600st) 0.5 32 112
445 (at 650st)
390 (at 700st)
Vertical
345 (at 750st)
305 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-5 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
450 (at 50 to 400st)
415 (at 450st)
Horizontal 350 (at 500st)
295 (at 550st)
6 8 255 (at 600st) 0.5 64 224
220 (at 650st)
190 (at 700st)
Vertical
170 (at 750st)
Ball 140 (at 800st)
HSA6C 8192
screw 225 (at 50 to 400st)
205 (at 450st)
Horizontal 170 (at 500st)
145 (at 550st)
3 4 125 (at 600st) 0.5 128 449

Appendix
110 (at 650st)
95 (at 700st)
Vertical
85 (at 750st)
70 (at 800st)
1230 (at 50 to 600st)
1085 (at 650st)
Horizontal 950 (at 700st)
RCP6
840 (at 750st)
High
750 (at 800st)
Stiffness 24 30 1 40 139 20
1080 (at 50 to 600st)
(Slider
1085 (at 650st)
type)
Vertical 950 (at 700st)
840 (at 750st)
750 (at 800st)

Chapter 2 Connectable Actuators

840 (at 50 to 550st)
Horizontal 820 (at 600st)
715 (at 650st)
16 20 1 60 209
Ball 625 (at 700st)
HSA7C 8192
screw Vertical 555 (at 750st)
495 (at 800st)
420 (at 50 to 550st)
Horizontal 405 (at 600st)
350 (at 650st)
8 10 1 119 420
310 (at 700st)
Vertical 275 (at 750st)
245 (at 800st)
210 (at 50 to 550st)
Horizontal 195 (at 600st)
1750 (at 650st)
4 5 1 239 836
150 (at 700st)
Vertical 135 (at 750st)
120 (at 800st)
RCP6 840 (at 50 to 400st)
RCP6CR 16 Horizontal 20 775 (at 450st) 1 21 48
(Wide [Standard] 660 (at 500st)
slider WSA10C
type) WSA10R Ball
8192 610 (at 50 to 350st) 20
screw
590 (at 400st)
Standard [Cleanroom] 10 Horizontal 13 1 22 77
490 (at 450st)
type WSA10C
415 (at 500st)
/ Cleanroom
type
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-6
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
390 (at 50 to 300st)
355 (at 350st)
Horizontal 290 (at 400st) 1
245 (at 450st)
205 (at 500st)
WSA10C:
350 (at 50 to 350st)
5 7 290 (at 400st) 44 155
245 (at 450st)
[Standard] 205 (at 500st)
Vertical 0.5
WSA10C WSA10R:
WSA10R Ball 305 (at 50 to 350st)
8192 290 (at 400st) 20
screw
245 (at 450st)
[Cleanroom]
205 (at 500st)
Appendix

WSA10C
195 (at 50 to 300st)
175 (at 350st)
Horizontal 145 (at 400st) 1
120 (at 450st)
2.5 4 100 (at 500st) 89 310
175 (at 50 to 350st)
145 (at 400st)
Vertical 0.5
120 (at 450st)
100 (at 500st)
800 (at 50 to 600st)
740 (at 650st)
20 Horizontal 25 650 (at 700st) 1 16 56
580 (at 750st)
RCP6
Chapter 2 Connectable Actuators

520 (at 800st)

RCP6CR
(Wide 600 (at 50 to 500st)
slider 535 (at 550st)
type) 465 (at 600st)
12 Horizontal 15 405 (at 650st) 1 27 93
Standard 355 (at 700st)
type 315 (at 750st)
/ Cleanroom 285 (at 800st)
type 450 (at 50 to 350st)
435 (at 400st)
365 (at 450st)
310 (at 500st)
265 (at 550st)
Horizontal 1
[Standard] 230 (at 600st)
WSA12C 200 (at 650st)
WSA12R Ball 175 (at 700st)
8192 20
screw 155 (at 750st)
[Cleanroom] 6 8 140 (at 800st) 53 185
WSA12C 400 (at 50 to 400st)
365 (at 450st)
310 (at 500st)
265 (at 550st)
Vertical 230 (at 600st) 0.5
200 (at 650st)
175 (at 700st)
155 (at 750st)
140 (at 800st)
225 (at 50 to 350st)
215 (at 400st)
Horizontal 180 (at 450st) 1
150 (at 500st)
130 (at 550st)
3 4 106 370
115 (at 600st)
100 (at 650st)
Vertical 85 (at 700st) 0.5
75 (at 750st)
70 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-7 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
700 (at 50 to 750st)
24 Horizontal 30 1 40 139
665 (at 800st)
560 (at 50 to 650st)
550 (at 700st)
16 Horizontal 20 1 60 209
490 (at 750st)
440 (at 800st)
420 (at 50 to 500st)
400 (at 550st)
350 (at 600st)
Horizontal 305 (at 650st) 1 119
270 (at 700st)
240 (at 750st)
8 10 418
215 (at 800st)

Appendix
350 (at 50 to 600st)
305 (at 650st)
Vertical 270 (at 700st) 0.5
240 (at 750st)
[Standard]
215 (at 800st)
WSA14C
WSA14R Ball WSA14C:
8192 210 (at 50 to 500st) 20
screw
[Cleanroom] 200 (at 550st)
WSA14C 170 (at 600st)
150 (at 650st)
135 (at 700st)
120 (at 750st)
RCP6 Horizontal 105 (at 800st) 1
RCP6CR WSA14R:

Chapter 2 Connectable Actuators

(Wide 175 (at 50 to 550st)
slider 4 5 170 (at 600st) 239 836
type) 150 (at 650st)
135 (at 700st)
Standard 120 (at 750st)
type 105 (at 800st)
/ Cleanroom 175 (at 50 to 550st)
type 170 (at 600st)
150 (at 650st)
Vertical 0.5
135 (at 700st)
120 (at 750st)
105 (at 800st)
720 (at 50 to 750st)
715 (at 800st)
645 (at 850st)
590 (at 900st)
20 Horizontal 25 1 68 239
535 (at 950st)
490 (at 1000st)
450 (at 1050st)
415 (at 1100st)
450 (at 50 to 650st)
[Standard] 440 (at 700st)
Ball
[Cleanroom] 8192 395 (at 750st) 20
screw
WSA16C 355 (at 800st)
320 (at 850st)
Horizontal 1
290 (at 900st)
10 13 265 (at 950st) 137 478
240 (at 1000st)
225 (at 1050st)
205 (at 1100st)
240 (at 50 to 1000st)
Vertical 225 (at 1050st) 0.5
205 (at 1100st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-8
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
195 (at 50 to 750st)
175 (at 800st)
160 (at 850st)
RCP6
145 (at 900st)
RCP6CR Horizontal 1
130 (at 950st)
(Wide
120 (at 1000st)
slider
[Standard] 110 (at 1050st)
type) Ball
[Cleanroom] 8192 5 7 100 (at 1100st) 273 956 20
screw
WSA16C 170 (at 50 to 800st)
Standard
160 (at 850st)
type
145 (at 900st)
/ Cleanroom
Vertical 130 (at 950st) 0.5
type
120 (at 1000st)
110 (at 1050st)
Appendix

100 (at 1100st)

600 (at 50 to 850st)
590 (at 900st)
535 (at 950st)
20 Horizontal 25 1 68 239
490 (at 1000st)
450 (at 1050st)
415 (at 1100st)
365 (at 50 to 750st)
355 (at 800st)
320 (at 850st)
290 (at 900st)
Horizontal 1
265 (at 950st)
10 13 240 (at 1000st) 137 478
RCP6 225 (at 1050st)
205 (at 1100st)
Chapter 2 Connectable Actuators

(Wide [Standard] Ball

8192 20
slider WSA16R screw 210 (at 50 to 1050st)
Vertical 0.5
type) 205 (at 1100st)
170 (at 50 to 800st)
160 (at 850st)
145 (at 900st)
Horizontal 130 (at 950st) 1
120 (at 1000st)
110 (at 1050st)
5 7 100 (at 1100st) 273 956
145 (at 50 to 900st)
130 (at 950st)
Vertical 120 (at 1000st) 0.5
110 (at 1050st)
100 (at 1100st)
Horizontal 1
16 20 840 21 48
Vertical 0.5
Horizontal RA4C: 700 1
10 13 22 77
RA4C Ball Vertical RA4R: 610 0.5
8192 20
RA4R screw Horizontal 1
5 7 350 44 155
Vertical 0.5
Horizontal 1
2.5 4 175 88 310
RCP6 Vertical 0.5
(Rod type) Horizontal 1
20 25 800 16 56
Vertical 0.5
Horizontal 1
12 15 700 26 93
RA6C Ball Vertical 0.5
8192 20
RA6R screw Horizontal 1
6 8 450 53 185
Vertical 0.5
Horizontal 1
3 4 225 106 370
Vertical 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-9 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
RA7C: 860
Horizontal 1
24 30 RA7R: 800 52 182
Vertical 640 0.5
RA7C: 700
Horizontal 1
16 20 RA7R: 560 78 273
RA7C Ball
8192 Vertical 560 0.5 20
RA7R screw
Horizontal 420 1
8 10 156 547
Vertical 350 0.5
RA7C: 210
Horizontal 1
4 5 RA7R: 175 312 1094
RCP6
Vertical 175 0.5
(Rod type)
RA8C: 600
Horizontal
RA8R: 400

Appendix
20 25 0.2 167 500
RA8C: 450
Vertical
RA8R: 400
RA8C Ball RA8C: 300
8192 Horizontal 10
RA8R screw RA8R: 200
10 13 0.2 333 1000
RA8C: 250
Vertical
RA8R: 200
Horizontal RA8C: 150
5 7 0.1 667 2000
Vertical RA8R: 100
RRA4C:
Horizontal 1120 (at 60 to 360st) 1
16 20 1080 (at 410st) 21 48
Vertical RRA4R: 0.5
840

Chapter 2 Connectable Actuators

RRA4C:
Horizontal 700 (at 60 to 360st) 1
RRA4C Ball
8192 10 13 685 (at 410st) 22 77 20
RRA4R screw
Vertical RRA4R: 0.5
610
Horizontal 350 (at 60 to 360st) 1
5 7 44 155
Vertical 340 (at 410st) 0.5
Horizontal 175 (at 60 to 360st) 1
2.5 4 89 310
Vertical 170 (at 410st) 0.5
Horizontal 1
20 25 800 16 56
RCP6 Vertical 0.5
(Radial Horizontal 1
cylinder) 12 15 700 26 93
RRA6C Ball Vertical 0.5
8192 20
RRA6R screw Horizontal 1
6 8 450 53 185
Vertical 0.5
Horizontal 225 (at 65 to 365st) 1
3 4 106 370
Vertical 220 (at 415st) 0.5
Horizontal 860 1
24 30 52 182
Vertical 640 0.5
RRA7C: 700
Horizontal 1
16 20 RRA7R: 560 78 273
RRA7C Ball Vertical 560 0.5
8192 20
RRA7R screw Horizontal 420 1
8 10 RRA7C: 420 156 547
Vertical 0.5
RRA7R: 350
Horizontal RRA7C: 210 1
4 5 312 1094
Vertical RRA7R: 175 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-10
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
280 (at 50st)
405 (at 100st)
505 (at 150st)
585 (at 200st)
600 (at 250 to 350st)
520 (at 400st)
Horizontal
440 (at 450st)
360 (at 500st)
320 (at 550st)
280 (at 600st)
20 25 240 (at 650st) 0.2 167 500
220 (at 700st)
280 (at 50st)
405 (at 100st)
Appendix

450 (at 150 to 400st)

440 (at 450st)
Vertical 360 (at 500st)
320 (at 550st)
280 (at 600st)
240 (at 650st)
220 (at 700st)
280 (at 50st)
Ball
RRA8C 8192 300 (at 100 to 350st) 10
screw
260 (at 400st)
220 (at 450st)
Horizontal 180 (at 500st)
160 (at 550st)
140 (at 600st)
Chapter 2 Connectable Actuators

RCP6 120 (at 650st)

(Radial 10 13 0.2 333 1000
110 (at 700st)
cylinder)
250 (at 50 to 400st)
220 (at 450st)
180 (at 500st)
Vertical 160 (at 550st)
140 (at 600st)
120 (at 650st)
110 (at 700st)
150 (at 50 to 350st)
130 (at 400st)
110 (at 450st)
Horizontal 90 (at 500st)
5 7 0.1 667 2000
/vertical 80 (at 550st)
70 (at 600st)
60 (at 650st)
55 (at 700st)
280 (at 50st)
400 (at 100 to 450st)
360 (at 500st)
Horizontal
20 25 320 (at 550st) 0.2 167 500
/vertical
280 (at 600st)
240 (at 650st)
Ball
RRA8R 8192 220 (at 700st) 10
screw
200 (at 50 to 450st)
180 (at 500st)
Horizontal 160 (at 550st)
10 13 0.2 333 1000
/vertical 140 (at 600st)
120 (at 650st)
110 (at 700st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-11 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
100 (at 50 to 450st)
90 (at 500st)
RCP6
Ball Horizontal 80 (at 550st)
(Radial RRA8R 8192 5 7 0.1 667 2000 10
screw /vertical 70 (at 600st)
cylinder)
60 (at 650st)
55 (at 700st)
WRA10C: 1
16 Horizontal 20 700 21 48
WRA10R: 0.7
525 (at 50 to 450st)
10 Horizontal 13 1 22 77
490 (at 500st)
350 (at 50 to 400st)
Horizontal 290 (at 450st) 1
5 7 240 (at 500st) 44 155

Appendix
260 (at 50 to 450st)
Vertical 0.5
240 (at 500st)
WRA10C Ball 175 (at 50 to 400st)
8192 20
WRA10R screw Horizontal 145 (at 450st) 1
120 (at 500st)
WRA10C:
175 (at 50 to 400st)
2.5 4 145 (at 450st) 89 310
120 (at 500st)
Vertical 0.5
WRA10R:
150 (at 50 to 400st)
145 (at 450st)
120 (at 500st)
20 Horizontal 25 800 1 16 56

Chapter 2 Connectable Actuators

RCP6 12 Horizontal 15 560 1 26 93
(Wide
400 (at 50 to 450st)
radial Horizontal 1
375 (at 500st)
cylinder) 6 8 53 185
WRA12C: 340
WRA12C Ball Vertical 0.5
8192 WRA12R: 280 20
WRA12R screw
225 (at 50 to 400st)
Horizontal 220 (at 450st) 1
3 4 185 (at 500st) 106 370
200 (at 50 to 450st)
Vertical 0.5
185 (at 500st)
24 Horizontal 30 630 1 52 182
16 Horizontal 20 560 1 78 273
WRA14C:
420 (at 50 to 550st)
Horizontal 395 (at 600st) 1
8 10 156 547
WRA14R:
WRA14C Ball 350
8192 20
WRA14R screw Vertical 210 0.5
WRA14C:
210 (at 50 to 550st)
Horizontal 195 (at 600st) 1
4 5 312 1094
WRA14R:
175
Vertical 130 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-12
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
WRA16C:
280 (at 50st)
405 (at 100st)
450 (at 150 to 450st)
400 (at 500st)
340 (at 550st)
295 (at 600st)
260 (at 650st)
225 (at 700st)
200 (at 750st)
180 (at 800st)
20 Horizontal 25 0.2 167 500
WRA16R:
280 (at 50st)
405 (at 100st)
Appendix

420 (at 150 to 450st)

400 (at 500st)
340 (at 550st)
295 (at 600st)
260 (at 650st)
225 (at 700st)
200 (at 750st)
180 (at 800st)
240 (at 50 to 400st)
230 (at 450st)
195 (at 500st)
165 (at 550st)
Horizontal 145 (at 600st)
125 (at 650st)
Chapter 2 Connectable Actuators

RCP6
110 (at 700st)
(Wide WRA16C Ball
8192 100 (at 750st) 10
radial WRA16R screw
90 (at 800st)
cylinder)
WRA16C:
200 (at 50 to 450st)
195 (at 500st)
165 (at 550st)
10 13 145 (at 600st) 0.2 333 1000
125 (at 650st)
110 (at 700st)
100 (at 750st)
90 (at 800st)
Vertical
WRA16R:
180 (at 50 to 450st)
195 (at 500st)
165 (at 550st)
145 (at 600st)
125 (at 650st)
110 (at 700st)
100 (at 750st)
90 (at 800st)
WRA16C:
130 (at 50 to 400st)
115 (at 450st)
95 (at 500st)
80 (at 550st)
5 Horizontal 7 0.1 667 2000
70 (at 600st)
60 (at 650st)
55 (at 700st)
50 (at 750st)
45 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-13 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
WRA16R:
120 (at 50 to 400st)
115 (at 450st)
95 (at 500st)
80 (at 550st)
Horizontal
70 (at 600st)
60 (at 650st)
RCP6 55 (at 700st)
(Wide WRA16C Ball 50 (at 750st)
8192 5 7 0.1 667 2000 10
radial WRA16R screw 45 (at 800st)
cylinder) 100 (at 50 to 450st)
95 (at 500st)
80 (at 550st)
70 (at 600st)

Appendix
Vertical
60 (at 650st)
55 (at 700st)
50 (at 750st)
45 (at 800st)
Horizontal 525 1
Vertical 435 0.5
10 13 33 77
Horizontal 435 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
350
RA4C Ball Vertical 0.5
8192 5 7 66 155 20
RA4R screw Horizontal 260 1
Vertical (In ambient temp. 5degC or lower) 0.5

Chapter 2 Connectable Actuators

Horizontal 175 1
Vertical 150 0.5
2.5 4 133 310
Horizontal 130 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 630 1
Vertical 525 0.5
12 15 40 93
Horizontal 525 1
Vertical (In ambient temp. 5degC or lower) 0.5
RCP6W Horizontal 420 1
(Dust and RA6C Ball Vertical 370 0.5
8192 6 8 79 185 20
drip proof RA6R screw Horizontal 315 1
rod type) Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
210
Vertical 0.5
3 4 159 370
Horizontal 105 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
420
Vertical 0.5
16 20 117 273
Horizontal 280 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 350 1
RA7C Ball Vertical 280 0.5
8192 8 10 234 547 20
RA7R screw Horizontal 140 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
140
Vertical 0.5
4 5 469 1094
Horizontal 105 1
Vertical (In ambient temp. 5degC or lower) 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-14
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 350
Vertical 330
20 25 0.2 250 500
Horizontal 300
/vertical (In ambient temp. 5degC or lower)
RCP6W Horizontal
200
(Dust and RA8C Ball /vertical
8192 10 13 0.2 500 1000 10
drip proof RA8R screw Horizontal 170
rod type) /vertical (In ambient temp. 5degC or lower)
Horizontal
100
/vertical
5 7 0.1 1000 2000
Horizontal 80
/vertical (In ambient temp. 5degC or lower)
Horizontal 525 1
Appendix

Vertical 435 0.5

10 13 33 77
Horizontal 435 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 350(at 50 to 350st) 1
Vertical 340(at 400st) 0.5
RRA4C Ball 5 7 66 155
8192 Horizontal 260 1 20
RRA4R screw
Vertical (In ambient temp. 5degC or lower) 0.5
175(at 50 to 350st)
Horizontal 1
170(at 400st)
2.5 Vertical 4 150 0.5 133 310
Horizontal 105 1
Vertical (In ambient temp. 5degC or lower) 0.5
Chapter 2 Connectable Actuators

Horizontal 630 1
Vertical 525 0.5
12 15 40 93
Horizontal 525 1
Vertical (In ambient temp. 5degC or lower) 0.5
RCP6W
(Dust and Horizontal 420 1
drip proof RRA6C Ball Vertical 370 0.5
8192 6 8 79 185 20
radial RRA6R screw Horizontal 315 1
cylinder) Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
210
Vertical 0.5
3 4 159 370
Horizontal 105 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
420
Vertical 0.5
16 20 117 273
Horizontal 280 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 350 1
RRA7C Ball Vertical 280 0.5
8192 8 10 234 547 20
RRA7R screw Horizontal 140 1
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
140
Vertical 0.5
4 5 469 1094
Horizontal 105 1
Vertical (In ambient temp. 5degC or lower) 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-15 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
280 (at 50st)
350 (at 100 to 500st)
320 (at 550st)
Horizontal
280 (at 600st)
240 (at 650st)
220 (at 700st)
280 (at 50st)
20 25 0.2 250 500
330 (at 100 to 500st)
320 (at 550st)
Vertical
280 (at 600st)
240 (at 650st)
220 (at 700st)
Horizontal 210
/vertical (In ambient temp. 5degC or lower)

Appendix
RCP6W 200 (at 50 to 450st)
(Dust and 180 (at 500st)
RRA8C Ball
drip proof 8192 160 (at 550st) 10
RRA8R screw
radial 140 (at 600st)
cylinder) Horizontal 120 (at 650st)
10 13 0.2 500 1000
/vertical 110 (at 700st)
130 (at 50 to 600st)
120 (at 650st)
110 (at 700st)
(In ambient temp. 5degC or lower)
100 (at 50 to 450st)
90 (at 500st)
80 (at 550st)

Chapter 2 Connectable Actuators

70 (at 600st)
Horizontal
5 7 60 (at 650st) 0.1 1000 2000
/vertical
55 (at 700st)
60 (at 50 to 650st)
55 (at 700st)
(In ambient temp. 5degC or lower)
525 (at 50 to 450st)
490 (at 500st)
10 Horizontal 13 1 33 77
350
(In ambient temp. 5degC or lower)
350 (at 50 to 400st)
Horizontal 290 (at 450st) 1
240 (at 500st)
5 7 66 155
Vertical 215 0.5
RCP6W WRA10C Ball Horizontal 215 1
8192 20
(Dust and WRA10R screw Vertical (In ambient temp. 5degC or lower) 0.5
drip proof 175 (at 50 to 400st)
wide radial Horizontal 145 (at 450st) 1
cylinder) 120 (at 500st)
150 (at 50 to 400st)
2.5 4 133 310
Vertical 145 (at 450st) 0.5
120 (at 500st)
Horizontal 65 1
Vertical (In ambient temp. 5degC or lower) 0.5
560
WRA12C Ball
8192 12 Horizontal 15 320 1 40 93 20
WRA12R screw
(In ambient temp. 5degC or lower)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-16
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
400 (at 50 to 450st)
Horizontal 1
375 (at 500st)
6 Vertical 8 220 0.5 79 185
Horizontal 220 1
Vertical (In ambient temp. 5degC or lower) 0.5
WRA12C Ball
8192 225 (at 50 to 400st) 20
WRA12R screw
Horizontal 220 (at 450st) 1
185 (at 500st)
3 4 159 370
Vertical 140 0.5
Horizontal 80 1
Vertical (In ambient temp. 5degC or lower) 0.5
420
16 Horizontal 20 1 117 273
Appendix

280
(In ambient temp. 5degC or lower)
Horizontal 280 1
Vertical 210 0.5
WRA14C Ball 8 10 234 547
8192 Horizontal 140 1 20
WRA14R screw
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
130
Vertical 0.5
4 5 469 1094
Horizontal 70 1
Vertical (In ambient temp. 5degC or lower) 0.5
280 (at 50st)
360 (at 100 to 500st)
RCP6W
340 (at 550st)
(Dust and
Chapter 2 Connectable Actuators

295 (at 600st)

drip proof
260 (at 650st)
wide radial
225 (at 700st)
cylinder)
20 Horizontal 25 200 (at 750st) 0.2 250 500
180 (at 800st)
240 (at 50 to 650st)
225 (at 700st)
200 (at 750st)
180 (at 800st)
(In ambient temp. 5degC or lower)
220 (at 50 to 450st)
195 (at 500st)
WRA16C Ball 165 (at 550st)
8192 10
WRA16R screw 145 (at 600st)
Horizontal
125 (at 650st)
110 (at 700st)
100 (at 750st)
90 (at 800st)
160 (at 50 to 550st)
10 13 145 (at 600st) 0.2 500 1000
125 (at 650st)
Vertical
110 (at 700st)
100 (at 750st)
90 (at 800st)
120 (at 50 to 650st)
110 (at 700st)
Horizontal
100 (at 750st)
/vertical
90 (at 800st)
(In ambient temp. 5degC or lower)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-17 ME0384-7C
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
110 (at 50 to 450st)
95 (at 500st)
80 (at 550st)
70 (at 600st)
Horizontal
60 (at 650st)
55 (at 700st)
50 (at 750st)
45 (at 800st)
90 (at 50 to 500st)
RCP6W
80 (at 550st)
(Dust and
WRA16C Ball 70 (at 600st)
drip proof 8192 5 7 0.1 1000 2000 10
WRA16R screw Vertical 60 (at 650st)
wide radial
55 (at 700st)
cylinder)
50 (at 750st)

Appendix
45 (at 800st)
80 (at 50 to 550st)
70 (at 600st)
60 (at 650st)
Horizontal
55 (at 700st)
/vertical
50 (at 750st)
45 (at 800st)
(In ambient temp. 5degC or lower)
Horizontal 980 1
16 20 21 48
Vertical 700 0.5
TA4C Horizontal 785 1
TA4R 10 13 22 77
Ball Vertical 700 0.5
(Single 8192 20
screw Horizontal 1

Chapter 2 Connectable Actuators

Block 5 7 390 44 155
Type) Vertical 0.5
Horizontal 1
2.5 4 195 89 310
Vertical 0.5
TA4C:
785 (at 40 to 190st)
680 (at 240st)
Horizontal 1
TA4R:
700 (at 40 to 190st)
10 13 680 (at 240st) 22 77
TA4C
TA4R TA4C:
RCP6 Ball 700 (at 40 to 190st)
(Double 8192 20
(Table screw Vertical 680 (at 240st) 0.5
Block
type) TA4R:
Type)
525
Horizontal 390 (at 40 to 190st) 1
5 7 44 155
Vertical 340 (at 240st) 0.5
Horizontal 195 (at 40 to 190st) 1
2.5 4 89 310
Vertical 170 (at 240st) 0.5
Horizontal 1120 1
20 25 16 56
Vertical 800 0.5
TA6C Horizontal 800 1
TA6R 12 15 TA6C: 800 26 93
Ball Vertical 0.5
(Single 8192 TA6R: 680 20
screw
Block Horizontal 1
Type) 6 8 400 53 185
Vertical 0.5
Horizontal 1
3 4 200 106 370
Vertical 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-18
 2.1 List of Actuator Specifications

RCP6 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
800 (at 45 to 220st)
Horizontal 735 (at 270st) 1
12 15 575 (at 320st) 26 93
TA6C 680 (at 45 to 270st)
Vertical 0.5
TA6R 575 (at 320st)
Ball
(Double 8192 Horizontal 400 (at 45 to 220st) 1 20
screw
Block 6 8 365 (at 270st) 53 185
Type) Vertical 285 (at 320st) 0.5

Horizontal 200 (at 45 to 220st) 1

3 4 185 (at 270st) 106 370
Vertical 140 (at 320st) 0.5
Horizontal 1080 1
24 30 40 139
Vertical 860 0.5
Appendix

TA7C Horizontal 700 1

RCP6 TA7R 16 20 60 209
Ball Vertical 560 0.5
(Table (Single 8192 20
screw Horizontal 420 1
type) Block 8 10 119 418
Type) Vertical 350 0.5
Horizontal 1
4 5 210 239 836
Vertical 0.5
700 (at 40 to 340st)
Horizontal 1
16 20 600 (at 390st) 60 209
Vertical 560 0.5
TA7C 420 (at 40 to 290st)
TA7R Horizontal 365 (at 340st) 1
Ball
(Double 8192 8 10 300 (at 390st) 119 418 20
screw
Block 350 (at 40 to 340st)
Chapter 2 Connectable Actuators

Vertical 0.5
Type) 300 (at 390st)
Horizontal 210 (at 40 to 290st) 1
4 5 180 (at 340st) 239 836
Vertical 150 (at 390st) 0.5

1 34 120
GRT7A 1.25 75
(Note 1) (Both Ends) (Both Ends)
1.6
(Note 1) 42 150
(Gear Ratio 2 120
- 8192 - 0.3 (Both Ends) (Both Ends) ５
Pattern 1)
GRT7B
0.8
(Note 1) 86 300
(Gear Ratio 1 60
RCP6 (Both Ends) (Both Ends)
Pattern 2)
(Gripper
30 110
type) 8 10 180
GRST6C (Both Ends) (Both Ends)
GRST6R 110 310
Trapezoid 2 5 45
(Both Ends) (Both Ends) Lead 8: 10
thread on
8192 - 180 0.3
right and 100 340
8 10 140 Lead 2: 5
GRST7C left (Both Ends) (Both Ends)
(In ambient temp. 5degC or lower)
GRST7R
330 880
2 5 45
(Both Ends) (Both Ends)
RCP6 12 deg
15
(Rotary RTFML - 8192 (Gear Ratio - 800 (deg/s) 0.7 － － －
(deg/s)
type) 1/30)
RTCKSPE
90 deg
RTCKSPI 113
RCP6 - 8192 (Gear Ratio - 1800 (deg/s) 3 － － －
RTCKSRE (deg/s)
(Rotary 1/4)
RTCKSRI
Chuck)
RTCKMPE
72 deg
* Rotary RTCKMPI 90
part - 8192 (Gear Ratio - 1800 (deg/s) 3 － － －
RTCKMRE (deg/s)
1/5)
RTCKMRI
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP6/RCP6CR/RCP6W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)
Note 1 It is the lead length converted value including the pulley gear ratio.

E2-19 ME0384-7C
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 1260 (at 50 to 400st) 1.0
16 20 1060 (at 450st) 21 48
Vertical 875 (at 500st) 0.5

[Standard] Horizontal 785 (at 50 to 400st) 1.0

SA4C 10 13 675 (at 450st) 22 77
SA4R Ball Vertical 555 (at 500st) 0.5
800 20
screw Horizontal 390 (at 50 to 400st) 1.0
[Cleanroom] 5 7 330 (at 450st) 44 155
SA4C Vertical 275 (at 500st) 0.5

Horizontal 195 (at 50 to 400st) 1.0

2.5 4 165 (at 450st) 88 310
Vertical 135 (at 500st) 0.5
SA6C:

Appendix
1440 (at 50 to 450st)
1335 (at 500st)
1130 (at 550st)
970 (at 600st)
840 (at 650st)
735 (at 700st)
650 (at 750st)
Horizontal 575 (at 800st) 1.0
SA6R:
1280 (at 50 to 500st)
1130 (at 550st)
20 25 970 (at 600st) 16 56
840 (at 650st)
735 (at 700st)
RCP5 650 (at 750st)

Chapter 2 Connectable Actuators

RCP5CR 575 (at 800st)
(Slider 1280 (at 50 to 500st)
type) 1130 (at 550st)
970 (at 600st)
Standard Vertical 840 (at 650st) 0.5
type 735 (at 700st)
/ Cleanroom 650 (at 750st)
[Standard] 575 (at 800st)
type
SA6C 900 (at 50 to 400st)
SA6R Ball 885 (at 450st)
800 20
screw 735 (at 500st)
[Cleanroom] 620 (at 550st)
SA6C Horizontal 535 (at 600st) 1.0
460 (at 650st)
405 (at 700st)
355 (at 750st)
315 (at 800st)
SA6C:
900 (at 50 to 400st)
885 (at 450st)
735 (at 500st)
12 15 620 (at 550st) 26 93
535 (at 600st)
460 (at 650st)
405 (at 700st)
355 (at 750st)
Vertical 315 (at 800st) 0.5
SA6R:
800 (at 50 to 450st)
735 (at 500st)
620 (at 550st)
535 (at 600st)
460 (at 650st)
405 (at 700st)
355 (at 750st)
315 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-20
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
450 (at 50 to 400st)
435 (at 450st)
Horizontal 365 (at 500st) 1.0
305 (at 550st)
6 8 265 (at 600st) 53 185
230 (at 650st)
[Standard] Vertical 200 (at 700st) 0.5
SA6C 175 (at 750st)
SA6R Ball 155 (at 800st)
800 20
screw 225 (at 50 to 400st)
[Cleanroom] 215 (at 450st)
SA6C Horizontal 180 (at 500st) 1.0
150 (at 550st)
3 4 130 (at 600st) 106 370
Appendix

115 (at 650st)

Vertical 100 (at 700st) 0.5
85 (at 750st)
75 (at 800st)
SA7C:
1200 (at 50 to 600st)
Horizontal 1145 (at 650st) 1.0
1000 (at 700st)
885 (at 750st)
24 30 40 139
785 (at 800st)
SA7R:
Vertical 1000 (at 50 to 700st) 0.5
885 (at 750st)
RCP5 785 (at 800st)
Chapter 2 Connectable Actuators

RCP5CR
SA7C:
(Slider 980 (at 50 to 550st)
type) 875 (at 600st)
755 (at 650st)
Standard 660 (at 700st)
type 585 (at 750st)
/ Cleanroom Horizontal 520 (at 800st) 1.0
type SA7R:
840 (at 50 to 600st)
755 (at 650st)
[Standard] 660 (at 700st)
585 (at 750st)
SA7C 16 20 60 209
520 (at 800st)
SA7R Ball
800 SA7C: 20
screw
840 (at 50 to 600st)
[Cleanroom]
755 (at 650st)
SA7C
660 (at 700st)
585 (at 750st)
Vertical 520 (at 800st) 0.5
SA7R:
700 (at 50 to 650st)
660 (at 700st)
585 (at 750st)
520 (at 800st)
SA7C:
490 (at 50 to 550st)
430 (at 600st)
Horizontal 1.0
375 (at 650st)
325 (at 700st)
290 (at 750st)
8 10 255 (at 800st) 119 418
SA7R:
420 (at 50 to 600st)
375 (at 650st)
Vertical 0.5
325 (at 700st)
290 (at 750st)
255 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-21 ME0384-7C
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
SA7C:
245 (at 50 to 550st)
215 (at 600st)
185 (at 650st)
160 (at 700st)
RCP5
140 (at 750st)
RCP5CR
[Standard] Horizontal 125 (at 800st) 1.0
(Slider
SA7C SA7R:
type)
SA7R Ball 210 (at 50 to 600st)
800 4 5 239 836 20
screw 185 (at 650st)
Standard
[Cleanroom] 160 (at 700st)
type
SA7C 140 (at 750st)
/ Cleanroom
125 (at 800st)
type
210 (at 50 to 600st)

Appendix
185 (at 650st)
Vertical 160 (at 700st) 0.5
140 (at 750st)
125 (at 800st)
RA4C:
Horizontal 1120 (at 60 to 360st) 1.0
16 20 1080 (at 410st) 21 48
Vertical RA4R: 0.5
840
RA4C:
Horizontal 700 (at 60 to 360st) 1.0
RA4C Ball
800 10 13 685 (at 410st) 22 77 20
RA4R screw
Vertical RA4R: 0.5
610

Chapter 2 Connectable Actuators

Horizontal 350 (at 60 to 360st) 1.0
5 7 44 155
Vertical 340 (at 410st) 0.5
Horizontal 175 (at 60 to 360st) 1.0
2.5 4 88 310
Vertical 170 (at 410st) 0.5
Horizontal 1.0
20 25 800 16 56
RCP5 Vertical 0.5
(Rod type) Horizontal 1.0
12 15 700 26 93
RA6C Ball Vertical 0.5
800 20
RA6R screw Horizontal 1.0
6 8 450 53 185
Vertical 0.5
Horizontal 225 (at 65 to 365st) 1.0
3 4 106 370
Vertical 220 (at 415st) 0.5
Horizontal 800 1.0
24 30 52 182
Vertical 600 0.5
RA7C: 700
Horizontal 1.0
16 20 RA7R: 560 78 273
RA7C Ball
800 Vertical 560 0.5 20
RA7R screw
Horizontal RA7C: 420 1.0
8 10 156 547
Vertical RA7R: 350 0.5
Horizontal RA7C: 210 1.0
4 5 312 1094
Vertical RA7R: 175 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-22
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
RA8C:
280 (at 50)
405 (at 100st)
505 (at 150st)
585 (at 200st)
600 (at 250 to 350st)
520 (at 400st)
440 (at 450st)
360 (at 500st)
320 (at 550st)
Horizontal 280 (at 600st)
240 (at 650st)
220 (at 700st)
RA8R:
280 (at 50)
Appendix

400 (at 100 to 450st)

360 (at 500st)
320 (at 550st)
280 (at 600st)
240 (at 650st)
20 25 0.2 167 500
220 (at 700st)
RA8C:
280 (at 50)
405 (at 100st)
450 (at 150 to 400st)
440 (at 450st)
360 (at 500st)
320 (at 550st)
280 (at 600st)
Chapter 2 Connectable Actuators

240 (at 650st)

Vertical
220 (at 700st)
RA8R:
RCP5 RA8C Ball
800 280 (at 50) 10
(Rod type) RA8R screw
400 (at 100 to 450st)
360 (at 500st)
320 (at 550st)
280 (at 600st)
240 (at 650st)
220 (at 700st)
RA8C:
280 (at 50)
300 (at 100 to 350st)
260 (at 400st)
220 (at 450st)
180 (at 500st)
160 (at 550st)
140 (at 600st)
Horizontal 120 (at 650st)
110 (at 700st)
RA8R:
200 (at 50 to 450st)
10 13 180 (at 500st) 0.2 333 1000
160 (at 550st)
140 (at 600st)
120 (at 650st)
110 (at 700st)
RA8C:
250 (at 50 to 400st)
220 (at 450st)
180 (at 500st)
Vertical
160 (at 550st)
140 (at 600st)
120 (at 650st)
110 (at700st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-23 ME0384-7C
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
RA8R:
200 (at 50 to 450st)
180 (at 500st)
10 Vertical 13 160 (at 550st) 0.2 333 1000
140 (at 600st)
120 (at 650st)
110 (at 700st)
RA8C:
150 (at 50 to 350st)
130 (at 400st)
110 (at 450st)
RA8C Ball
800 90 (at 500st) 10
RA8R screw
80 (at 550st)
70 (at 600st)

Appendix
Horizontal 60 (at 650st)
5 7 0.1 667 2000
/vertical 55 (at 700st)
RA8R:
100 (at 50 to 450st)
90 (at 500st)
80 (at 550st)
70 (at 600st)
60 (at 650st)
55 (at 700st)
RA10C:
117 (at 50st)
167 (at 100st)
200 (at 150st)
250 (at 200 to 500st)
220 (at 550st)

Chapter 2 Connectable Actuators

200 (at 600st)
180 (at 650st)
RCP5 160 (at 700st)
(Rod type) Horizontal 140 (at 750st)
120 (at 800st)
RA10R:
117 (at 50st)
167 (at 100st)
10 13 200 (at 150 to 600st) 0.04 429 1500
180 (at 650st)
160 (at 700st)
140 (at 750st)
120 (at 800st)
RA10C:
RA10C Ball
800 117 (at 50st) 10
RA10R screw
167 (at 100 to 650st)
160 (at 700st)
140 (at 750st)
Vertical
120 (at 800st)
RA10R:
117 (at 50st)
140 (at 100 to 750st)
120 (at 800st)
RA10C: 3000
83 (at 50st) (at 550st)
2900
125 (at 100 to 400st)
(at 600st)
110 (at 450st)
2500
90 (at 500st)
Horizontal (at 650st)
5 7 80 (at 550st) 0.02 857
/vertical 2200
70 (at 600st)
(at 700st)
60 (at 650st) 2000
55 (at 700st) (at 750st)
50 (at 750st) 1800
45 (at 800st) (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-24
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
3000
RA10R:
(at 550st)
83 (at 50st) 2900
100 (at 100 to 450st) (at 600st)
90 (at 500st) 2500
Horizontal 80 (at 550st) (at 650st)
5 7 0.02 857
/vertical 70 (at 600st) 2200
60 (at 650st) (at 700st)
55 (at 700st) 2000
(at 750st)
50 (at 750st)
1800
45 (at 800st)
(at 800st)
RCP5 RA10C Ball RA10C:
800 63 (at 50 to 500st) 10
(Rod type) RA10R screw
55 (at 550st)
Appendix

50 (at 600st)
45 (at 650st) 6000
40 (at 700st) (at 700st)
Horizontal 35 (at 750st) 5900
2.5 4 0.01 1714
/vertical 30 (at 800st) (at 750st)
RA10R: 5400
50 (at 50 to 600st) (at 800st)
45 (at 650st)
40 (at 700st)
35 (at 750st)
30 (at 800st)
500 (at 50st)
Horizontal 1
560 (at 100 to 400st)
Vertical 500 0.5
Chapter 2 Connectable Actuators

12 15 450 40 93
Horizontal 1
(In ambient temp. 5degC or lower)
400
Vertical 0.5
(In ambient temp. 5degC or lower)
Horizontal 1
360
Vertical 0.5
Ball 6 7.5 79 185
RA6C 800 Horizontal 300 1 20
screw
Vertical (In ambient temp. 5degC or lower) 0.5
Horizontal 1
180
Vertical 0.5
3 3.75 159 370
Horizontal 150 1
Vertical (In ambient temp. 5degC or lower) 0.5
RCP5W 3
(Dust and (Motor
Vertical 3.75 70 0.5 354 590
Type:
drip proof
42SP)
rod type)
500 (at 50st)
Horizontal 1
560 (at 100 to 500st)
500 (at 50st)
Vertical 0.5
400 (at 100 to 500st)
16 20 94 219
450
Horizontal 1
(In ambient temp. 5degC or lower)
300
Vertical 0.5
Ball (In ambient temp. 5degC or lower)
RA7C 800 20
screw Horizontal 340 1
Vertical 280 0.5
300
8 Horizontal 10 1 187 437
(In ambient temp. 5degC or lower)
250
Vertical 0.5
(In ambient temp. 5degC or lower)
Horizontal 170 1
4 5 375 875
Vertical 140 0.5
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-25 ME0384-7C
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
150
Horizontal 1
(In ambient temp. 5degC or lower)
4 5 375 875
125
Ball Vertical 0.5
RA7C 800 (In ambient temp. 5degC or lower) 20
screw
4
(Motor
Vertical 5 80 0.5 515 1030
Type:
56SP)
280 (at 50st)
405 (at 100st)
480 (at 150 to 400st)
440 (at 450st)
Horizontal 360 (at 500st)
320 (at 550st)

Appendix
280 (at 600st)
20 25 240 (at 650st) 0.2 167 500
220 (at 700st)
280 (at 50st)
360 (at 100 to 500st)
320 (at 550st)
Vertical
280 (at 600st)
240 (at 650st)
220 (at 700st)
240 (at 50 to 400st)
220 (at 450st)
180 (at 500st)
Horizontal 160 (at 550st)
140 (at 600st)

Chapter 2 Connectable Actuators

120 (at 650st)
RCP5W 110 (at 700st)
(Dust and 200 (at 50 to 450st)
drip proof 180 (at 500st)
rod type) 160 (at 550st)
Vertical
140 (at 600st)
Ball 120 (at 650st)
RA8C 800 10
screw 110 (at 700st)
10 13 0.2 333 1000
210 (at 50 to 450st)
180 (at 500st)
160 (at 550st)
Horizontal 140 (at 600st)
120 (at 650st)
110 (at 700st)
(In ambient temp. 5degC or lower)
175 (at 50 to 500st)
160 (at 550st)
140 (at 600st)
Vertical
120 (at 650st)
110 (at 700st)
(In ambient temp. 5degC or lower)
120 (at 50 to 400st)
110 (at 450st)
90 (at 500st)
Horizontal 80 (at 550st)
70 (at 600st)
60 (at 650st)
5 7 55 (at 700st) 0.1 667 2000
100 (at 50 to 450st)
90 (at 500st)
80 (at 550st)
Vertical
70 (at 600st)
60 (at 650st)
55 (at 700st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-26
 2.1 List of Actuator Specifications

RCP5 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
100 (at 50 to 450st)
90 (at 500st)
80 (at 550st)
Horizontal 70 (at 600st)
60 (at 650st)
Ball 55 (at 700st)
RA8C 800 5 7 0.1 667 2000 10
screw (In ambient temp. 5degC or lower)
75 (at 50 to 550st)
70 (at 600st)
Vertical 60 (at 650st)
55 (at 700st)
(In ambient temp. 5degC or lower)
117 (at 50st)
167 (at 100st)
Appendix

200 (at 150 to 600st)

Horizontal 180 (at 650st)
160 (at 700st)
10 13 0.04 429 1500
140 (at 750st)
RCP5W 120 (at 800st)
(Dust and 117 (at 50st)
drip proof Vertical 130 (at 100 to 750st)
rod type) 120 (at 800st)
3000
(at 550st)
83 (at 50st)
2900
100 (at 100 to 450st)
Ball (at 600st)
RA10C 800 90 (at 500st) 10
screw 2500
80 (at 550st)
Chapter 2 Connectable Actuators

Horizontal (at 650st)

5 7 70 (at 600st) 0.02 857
/vertical 2200
60 (at 650st)
(at 700st)
55 (at 700st)
2000
50 (at 750st)
(at 750st)
45 (at 800st)
1800
(at 800st)
6000
50 (at 50 to 600st)
(at 700st)
45 (at 650st)
Horizontal 5900
2.5 4 40 (at 700st) 0.01 1714
/vertical (at 750st)
35 (at 750st)
5400
30 (at 800st)
(at 800st)
890 (at 300st)
1040 (at 400st)
BA4 Equivalent
Belt 800 Horizontal 150 1120 (at 500st) 0.5 - - -
BA4U to 48
1160 (at 600st)
1200 (at 700 to 1200st)
890 (at 300st)
1070 (at 400st)
1220 (at 500st)
BA6 Equivalent
Belt 800 Horizontal 60 1340 (at 600st) 0.5 - - -
BA6U to 48
RCP5 1400 (at 700st)
(Belt type) 1440 (at 800st)
1500 (at 900 to 2200st)
890 (at 300st)
1070 (at 400st)
1220 (at 500st)
BA7 Equivalent 1340 (at 600st)
Belt 800 Horizontal 100 0.5 - - -
BA7U to 48 1450 (at 700st)
1520 (at 800st)
1550 (at 900st)
1600 (at 1000 to 2600st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP5/RCP5CR/RCP5W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-27 ME0384-7C
 2.1 List of Actuator Specifications

RCP4 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 1.0
[Standard] 6 8 420 16 58
SA3C Vertical 0.5
SA3R Ball Horizontal 1.0
800 4 5 280 25 86 20
screw Vertical 0.5
[Cleanroom] Horizontal 1.0
SA3C 2 3 140 49 173
Vertical 0.5
1440 (at 50 to 500st)
1225 (at 550st)
1045 (at 600st)
Horizontal 900 (at 650st) 1.0
785 (at 700st)
690 (at 750st)
610 (at 800st)

Appendix
SA5C:
1280 (at 50 to 500st)
1225 (at 550st)
1045 (at 600st)
20 25 16 56
900 (at 650st)
785 (at 700st)
690 (at 750st)
Vertical 610 (at 800st) 0.5
SA5R:
1120 (at 50 to 550st)
1045 (at 600st)
900 (at 650st)
785 (at 700st)
RCP4 690 (at 750st)
RCP4CR 610 (at 800st)

Chapter 2 Connectable Actuators

(Slider 900 (at 50 to 450st)
type) 795 (at 500st)
665 (at 550st)
Standard [Standard] 570 (at 600st)
Horizontal 1.0
type SA5C 490 (at 650st)
/ Cleanroom SA5R Ball 425 (at 700st)
800 375 (at 750st) 20
type screw
[Cleanroom] 330 (at 800st)
SA5C SA5C:
900 (at 50 to 450st)
795 (at 500st)
665 (at 550st)
570 (at 600st)
12 15 26 93
490 (at 650st)
425 (at 700st)
375 (at 750st)
330 (at 800st)
Vertical 0.5
SA5R:
800 (at 50 to 450st)
795 (at 500st)
665 (at 550st)
570 (at 600st)
490 (at 650st)
425 (at 700st)
375 (at 750st)
330 (at 800st)
450 (at 50 to 450st)
395 (at 500st)
Horizontal 1.0
335 (at 550st)
285 (at 600st)
6 8 53 185
245 (at 650st)
215 (at 700st)
Vertical 185 (at 750st) 0.5
165 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP4/RCP4CR/RCP4W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-28
 2.1 List of Actuator Specifications

RCP4 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
225 (at 50 to 450st)
[Standard] 195 (at 500st)
Horizontal 1.0
SA5C 165 (at 550st)
SA5R Ball 140 (at 600st)
800 3 4 106 370 20
screw 120 (at 650st)
[Cleanroom] 105 (at 700st)
Vertical 90 (at 750st) 0.5
SA5C
80 (at 800st)
SA6C:
1440 (at 50 to 500st)
1230 (at 550st)
1045 (at 600st)
905 (at 650st)
785 (at 700st)
Appendix

690 (at 750st)

615 (at 800st)
Horizontal 1.0
SA6R:
1280 (at 50 to 500st)
1230 (at 550st)
1045 (at 600st)
905 (at 650st)
785 (at 700st)
690 (at 750st)
20 25 615 (at 800st) 16 56
SA6C:
1280 (at 50 to 500st)
1230 (at 550st)
RCP4 1045 (at 600st)
905 (at 650st)
Chapter 2 Connectable Actuators

RCP4CR
785 (at 700st)
(Slider
690 (at 750st)
type)
Vertical 615 (at 800st) 0.5
SA6R:
Standard
[Standard] 1120 (at 50 to 550st)
type
SA6C 1045 (at 600st)
/ Cleanroom 905 (at 650st)
SA6R Ball
type 800 785 (at 700st) 20
screw
690 (at 750st)
[Cleanroom]
615 (at 800st)
SA6C
900 (at 50 to 450st)
795 (at 500st)
Horizontal 1.0
670 (at 550st)
570 (at 600st)
12 15 26 93
490 (at 650st)
430 (at 700st)
Vertical 375 (at 750st) 0.5
335 (at 800st)

450 (at 50 to 450st)

395 (at 500st)
Horizontal 1.0
335 (at 550st)
285 (at 600st)
6 8 53 185
245 (at 650st)
215 (at 700st)
Vertical 185 (at 750st) 0.5
165 (at 800st)

225 (at 50 to 450st)

195 (at 500st)
Horizontal 1.0
165 (at 550st)
140 (at 600st)
3 4 106 370
120 (at 650st)
105 (at 700st)
Vertical 90 (at 750st) 0.5
80 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP4/RCP4CR/RCP4W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-29 ME0384-7C
 2.1 List of Actuator Specifications

RCP4 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
SA7C:
1200 (at 50 to 600st)
Horizontal 1155 (at 650st) 1.0
1010 (at 700st)
890 (at 750st)
24 30 40 139
790 (at 800st)
SA7R:
Vertical 1000 (at 50 to 700st) 0.5
890 (at 750st)
790 (at 800st)
SA7C:
980 (at 50 to 550st)
865 (at 600st)
750 (at 650st)

Appendix
655 (at 700st)
580 (at 750st)
Horizontal 515 (at 800st) 1.0
SA7R:
840 (at 50 to 600st)
750 (at 650st)
655 (at 700st)
580 (at 750st)
16 20 515 (at 800st) 60 209
SA7C:
840 (at 50 to 600st)
750 (at 650st)
655 (at 700st)
580 (at 750st)
RCP4 Vertical 515 (at 800st) 0.5
RCP4CR SA7R:

Chapter 2 Connectable Actuators

[Standard]
(Slider 700 (at 50 to 650st)
SA7C 655 (at 700st)
type)
SA7R Ball 580 (at 750st)
800 20
screw 515 (at 800st)
Standard
[Cleanroom]
type SA7C:
SA7C
/ Cleanroom 490 (at 50 to 550st)
type 430 (at 600st)
Horizontal 1.0
375 (at 650st)
325 (at 700st)
290 (at 750st)
8 10 255 (at 800st) 119 418
SA7R:
420 (at 50 to 600st)
375 (at 650st)
Vertical 0.5
325 (at 700st)
290 (at 750st)
255 (at 800st)
SA7C:
245 (at 50 to 550st)
215 (at 600st)
185 (at 650st)
160 (at 700st)
145 (at 750st)
Horizontal 125 (at 800st) 1.0
SA7R:
210 (at 50 to 600st)
4 5 185 (at 650st) 239 836
160 (at 700st)
145 (at 750st)
125 (at 800st)
210 (at 50 to 600st)
185 (at 650st)
Vertical 160 (at 700st) 0.5
145 (at 750st)
125 (at 800st)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP4/RCP4CR/RCP4W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-30
 2.1 List of Actuator Specifications

RCP4 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Ball 10 Horizontal 13 330 38.2 66.9
RCP4W SA5C 800 0.6 20
screw 5 Horizontal 7 165 42.3 147.9
(Dust and
Ball 12 Horizontal 15 400 35.5 82.8
drip proof SA6C 800 0.6 20
screw 6 Horizontal 8 200 51.3 179.5
slider
type) Ball 16 Horizontal 20 530 60 209
SA7C 800 0.6 20
screw 8 Horizontal 10 265 119 418
Horizontal 1.0
16 20 1120 15 36
Vertical 0.5
Horizontal 1.0
10 13 700 16 57
RA3C Ball Vertical 0.5
800 20
RA3R screw Horizontal 1.0
5 7 350 33 114
Vertical 0.5
Appendix

Horizontal 1.0
2.5 4 175 65 229
Vertical 0.5
Horizontal 1.0
20 25 800 16 56
Vertical 0.5
Horizontal 1.0
12 15 700 26 93
Vertical 0.5

RA5C Ball Horizontal 1.0

800 6 8 450 53 185 20
RA5R screw Vertical 0.5

RCP4 Horizontal 1.0

3 4 225 106 370
(Rod type) Vertical 0.5
3
(Motor Type: Vertical 4 80 0.5 370 750
42SP)
Chapter 2 Connectable Actuators

Horizontal 800 1.0

24 30 52 182
Vertical 600 0.5
RA6C: 700
Horizontal 1.0
16 20 RA6R: 560 78 273
Vertical 560 0.5

RA6C Ball Horizontal 420 1.0

800 8 10 156 547 20
RA6R screw RA6C: 420
Vertical 0.5
RA6R: 350
Horizontal RA6C: 210 1.0
4 5 312 1094
Vertical RA6R: 175 0.5
4
(Motor Type: Vertical 5 90 0.5 470 1106
56SP)

500 (at 50st)

Horizontal 1.0
560 (at 100 to 400st)
Vertical 500 0.5
12 15 450 40 93
Horizontal 1.0
(In ambient temp. 5degC or lower)
400
Vertical 0.5
(In ambient temp. 5degC or lower)
RCP4W Horizontal 1.0
360
(Dust and Ball Vertical 0.5
RA6C 800 6 8 79 185 20
drip proof screw Horizontal 300 1.0
rod type) (In ambient temp. 5degC or lower)
Vertical 0.5
Horizontal 1.0
180
Vertical 0.5
3 4 159 370
Horizontal 150 1.0
Vertical (In ambient temp. 5degC or lower) 0.5
3
(Motor Type: Vertical 4 70 0.5 354 590
42SP)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP4/RCP4CR/RCP4W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

E2-31 ME0384-7C
 2.1 List of Actuator Specifications

RCP4 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
500 (at 50st)
Horizontal 1.0
560 (at 100 to 500st)
500 (at 50st)
Vertical 0.5
400 (at 100 to 500st)
16 20 94 219
450
Horizontal 1.0
(In ambient temp. 5degC or lower)
300
Vertical 0.5
(In ambient temp. 5degC or lower)
Horizontal 340 1.0
Vertical 280 0.5
RCP4W
(Dust and Ball 300
8 Horizontal 10 1.0 187 437
RA7C 800 (In ambient temp. 5degC or lower) 20
drip proof screw
rod type) 250

Appendix
Vertical 0.5
(In ambient temp. 5degC or lower)
Horizontal 170 1.0
Vertical 140 0.5
150
4 Horizontal 5 1.0 375 875
(In ambient temp. 5degC or lower)
125
Vertical 0.5
(In ambient temp. 5degC or lower)
4
(Motor Type: Vertical 5 80 0.5 515 1030
56SP)

25 87
GRSML 1.88 5 94
(Both Ends) (Both Ends)
40 140
GRSLL 2.52 5 125

Chapter 2 Connectable Actuators

(Both Ends) (Both Ends)
50 220
RCP4 GRSWL 3.14 5 157
(Both Ends) (Both Ends)
(Gripper - 800 - 0.3 5
20 10 35
type) GRLM 12 600 (deg/s)
(deg/s) (Both Ends) (Both Ends)
20 10 60
GRLL 12 600 (deg/s)
(deg/s) (Both Ends) (Both Ends)
20 23 90
GRLW 12.86 643 (deg/s)
(deg/s)) (Both Ends) (Both Ends)
Note The values of the maximum velocity and maximum acceleration/deceleration for RCP4/RCP4CR/RCP4W are the ones when the high-output
feature is activated. (There are also some models that are not related to the high-output setting.)

ME0384-7C E2-32
 2.1 List of Actuator Specifications

RCP3 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
180 (at 25st)
4 5
SA2AC Lead 200 (at 50 to 100st)
800 Horizontal 0.2 - - -
SA2AR screw 2 3 100
1 2 50
180 (at 25st)
6 8 280 (at 50st)
SA2BC Lead 300 (at 75 to 150st)
800 Horizontal 0.2 - - -
SA2BR screw 180 (at 25st)
4 5
200 (at 50 to 150st)
2 3 100
Horizontal 0.3
6 8 300 16 30
Vertical 0.2
SA3C Ball Horizontal 0.3
Appendix

800 4 5 200 25 45 20
SA3R screw Vertical 0.2
Horizontal
2 3 100 0.2 50 90
/vertical
Horizontal 0.7
10 13 500 25 40
Vertical 0.3
SA4C Ball Horizontal 0.7
800 5 7 250 50 80 20
SA4R screw Vertical 0.3
Horizontal 0.7
2.5 4 125 100 160
Vertical 0.3
1000 (at 50 to 600st)
20 Horizontal 910 (at 650st) 0.7
(Only for 25 790 (at 700st) 20 34
Chapter 2 Connectable Actuators

SA5C) Vertical 690 (at 750st) 0.2

RCP3
610 (at 800st)
(Slider
600 (at 50 to 550st)
type)
Horizontal 570 (at 600st) 0.7
490 (at 650st)
12 15 40 58
425 (at 700st)
Vertical 370 (at 750st) 0.3
330 (at 800st)
SA5C Ball
800 300 (at 50 to 550st) 20
SA5R screw
Horizontal 285 (at 600st) 0.7
245 (at 650st)
6 8 80 115
210 (at 700st)
Vertical 185 (at 750st) 0.3
165 (at 800st)
150 (at 50 to 550st)
Horizontal 140 (at 600st) 0.7
120 (at 650st)
3 4 160 230
105 (at 700st)
Vertical 90 (at 750st) 0.3
80 (at 800st)
1000 (at 50 to 600st)
20 Horizontal 910 (at 650st) 0.7
(Only for 25 790 (at 700st) 20 34
SA6C) Vertical 690 (at 750st) 0.2
610 (at 800st)
SA6C Ball
800 600 (at 50 to 550st) 20
SA6R screw
Horizontal 570 (at 600st) 0.7
490 (at 650st)
12 15 40 58
425 (at 700st)
Vertical 370 (at 750st) 0.3
330 (at 800st)

E2-33 ME0384-7C
 2.1 List of Actuator Specifications

RCP3 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
300 (at 50 to 550st)
Horizontal 285 (at 600st) 0.7
245 (at 650st)
6 8 80 115
210 (at 700st)
Vertical 185 (at 750st) 0.3
RCP3
SA6C Ball 165 (at 800st)
(Slider 800 20
SA6R screw 150 (at 50 to 550st)
type)
Horizontal 140 (at 600st) 0.7
120 (at 650st)
3 4 160 230
105 (at 700st)
Vertical 90 (at 750st) 0.3
80 (at 800st)
180 (at 25st)
4 5 0.9 6.6

Appendix
Lead Horizontal 200 (at 50 to 100st)
0.2
screw 2 /vertical 3 100 1.9 13.2
1 2 50 3.8 26.4
Horizontal 180 (at 25st) 0.3
4 5 3.6 12.6
Ball Vertical 200 (at 50 to 100st) 0.2
screw Horizontal 0.3
2 3 100 7.2 25.2
RA2AC Standard Vertical 0.2
type 800 5
RA2AR Horizontal 0.3
1 2 50 14.4 50.4
Vertical 0.2
Horizontal 180 (at 25st) 0.3
Ball 4 5 6.6 23.1
Vertical 200 (at 50 to 100st) 0.2
screw
Horizontal 0.3
High 2 3 100 13.2 46.2
Vertical 0.2

Chapter 2 Connectable Actuators

thrust
type Horizontal 0.3
1 2 50 26.4 92.4
Vertical 0.2
180 (at 25st)
6 8 280 (at 50st) 0.6 4.4
Lead Horizontal 300 (at 75 to 150st)
0.2
RCP3 screw /vertical 180 (at 25st)
4 5 0.9 6.6
(Rod type) 200 (at 50 to 150st)
2 3 100 1.9 13.2
Horizontal 180 (at 25st) 0.3
6 8 280 (at 50st) 1.8 6.3
Vertical 300 (at 75 to 150st) 0.2
Ball Horizontal 180 (at 25st) 0.3
screw 4 5 3.6 12.6
Vertical 200 (at 50 to 150st) 0.2
Standard
RA2BC Horizontal 0.3
type 800 2 3 100 7.2 25.2 5
RA2BR Vertical 0.2
Horizontal 0.3
1 2 50 14.4 50.4
Vertical 0.2
Horizontal 180 (at 25st) 0.3
6 8 280 (at 50st) 4.4 15.4
Vertical 300 (at 75 to 150st) 0.2
Ball
screw Horizontal 180 (at 25st) 0.3
4 5 6.6 23.1
High Vertical 200 (at 50 to 150st) 0.2
thrust Horizontal 0.3
2 3 100 13.2 46.2
type Vertical 0.2
Horizontal 0.3
1 2 50 26.4 92.4
Vertical 0.2

ME0384-7C E2-34
 2.1 List of Actuator Specifications

RCP3 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 300 0.3
6 8 10 15
Vertical 200 0.2
TA3C Ball Horizontal 200 0.3
800 4 5 15 22 20
TA3R screw Vertical 133 0.2
Horizontal 100
2 3 0.2 30 45
Vertical 67
Horizontal 0.3
6 8 300 15 25
Vertical 0.2
TA4C Ball Horizontal 0.3
800 4 5 200 22 37 20
TA4R screw Vertical 0.2
Horizontal
2 3 100 0.2 45 75
/vertical
Appendix

Horizontal 465 0.3

10 13 21 34
Vertical 400 0.2
RCP3
TA5C Ball Horizontal 0.3
(Table 800 5 7 250 41 68 20
TA5R screw Vertical 0.2
type)
Horizontal
2.5 4 125 0.2 82 136
/vertical
Horizontal 560 0.3
12 15 35 60
Vertical 500 0.2
TA6C Ball Horizontal 0.3
800 6 8 300 70 110 20
TA6R screw Vertical 0.2
Horizontal
3 4 150 0.2 140 189
/vertical
Horizontal 600 0.3
Chapter 2 Connectable Actuators

12 15 35 60
Vertical 580 0.2
TA7C Ball Horizontal 0.3
800 6 8 300 70 110 20
TA7R screw Vertical 0.2
Horizontal
3 4 150 0.2 140 189
/vertical

E2-35 ME0384-7C
 2.1 List of Actuator Specifications

RCP2 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
Horizontal 0.7
1000 (at 350 to 550st)
980 (at 600st)
850 (at 650st)
740 (at 700st)
20 25 11 39
650 (at 750st)
580 (at 800st)
380 (at 50st)
540 (at 100st)

Appendix
660 (at 150st)
770 (at 200st)
Vertical 0.2
800 (at 250 to 600st)
740 (at 700st)
Ball 650 (at 750st)
SA5C 800 580 (at 800st) 20
screw
600 (at 50 to 550st)
Horizontal 540 (at 600st) 0.7
460 (at 650st)
12 15 40 115
400 (at 700st)
Vertical 360 (at 750st) 0.3
300 (at 800st)
300 (at 50 to 550st)
RCP2
Horizontal 270 (at 600st) 0.7

Chapter 2 Connectable Actuators

(Slider
230 (at 650st)
type) 6 8 70 210
200 (at 700st)
Vertical 180 (at 750st) 0.3
150 (at 800st)
150 (at 50 to 550st)
Horizontal 135 (at 600st) 0.7
115 (at 650st)
3 4 140 330
100 (at 700st)
Vertical 90 (at 750st) 0.3
75 (at 800st)
600 (at 50 to 550st)
Horizontal 540 (at 600st) 0.3
460 (at 650st)
12 15
400 (at 700st)
Vertical 360 (at 750st) 0.2
300 (at 800st)
300 (at 50 to 550st)
Horizontal 270 (at 600st) 0.3
Ball 230 (at 650st)
SA5R 800 6 8 - - -
screw 200 (at 700st)
Vertical 180 (at 750st) 0.2
150 (at 800st)
150 (at 50 to 550st)
135 (at 600st)
Horizontal 115 (at 650st)
3 4 0.2
/vertical 100 (at 700st)
90 (at 750st)
75 (at 800st)

ME0384-7C E2-36
 2.1 List of Actuator Specifications

RCP2 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
380 (at 50st)
540 (at 100st)
660 (at 150st)
770 (at 200st)
860 (at 250st)
940 (at 300st)
Horizontal 0.7
1000 (at 350 to 550st)
980 (at 600st)
850 (at 650st)
740 (at 700st)
20 25 11 39
650 (at 750st)
580 (at 800st)
380 (at 50st)
540 (at 100st)
Appendix

660 (at 150st)

770 (at 200st)
Vertical 0.2
800 (at 250 to 600st)
740 (at 700st)
Ball 650 (at 750st)
SA6C 800 580 (at 800st) 20
screw
600 (at 50 to 550st)
Horizontal 540 (at 600st) 0.7
460 (at 650st)
12 15 40 115
400 (at 700st)
Vertical 360 (at 750st) 0.3
300 (at 800st)
300 (at 50 to 550st)
RCP2
Horizontal 270 (at 600st) 0.7
Chapter 2 Connectable Actuators

(Slider
230 (at 650st)
type) 6 8 70 210
200 (at 700st)
Vertical 180 (at 750st) 0.3
150 (at 800st)
150 (at 50 to 550st)
Horizontal 135 (at 600st) 0.7
115 (at 650st)
3 4 140 330
100 (at 700st)
Vertical 90 (at 750st) 0.3
75 (at 800st)
600 (at 50 to 550st)
Horizontal 540 (at 600st) 0.3
460 (at 650st)
12 15
400 (at 700st)
Vertical 360 (at 750st) 0.2
300 (at 800st)
300 (at 50 to 550st)
Horizontal 270 (at 600st) 0.3
Ball 230 (at 650st)
SA6R 800 6 8 - - -
screw 200 (at 700st)
Vertical 180 (at 750st) 0.2
150 (at 800st)
150 (at 50 to 550st)
135 (at 600st)
Horizontal 115 (at 650st)
3 4 0.2
/vertical 100 (at 700st)
90 (at 750st)
75 (at 800st)

E2-37 ME0384-7C
 2.1 List of Actuator Specifications

RCP2 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 533 (at 50 to 700st) 0.3
16 20 90 250
Vertical 480 (at 800st) 0.2
Ball Horizontal 266 (at 50 to 700st) 0.3
SA7C 800 8 10 150 500 20
screw Vertical 240 (at 800st) 0.2
Horizontal 133 (at 50 to 700st)
4 5 0.2 280 800
/vertical 120 (at 800st)
533 (at 50 to 700st)
Horizontal 0.3
16 20 480 (at 800st)
Vertical 400 0.2
Ball
SA7R 800 Horizontal 266 (at 50 to 700st) 0.3 - - -
screw 8 10
Vertical 240 (at 800st) 0.2
Horizontal 133 (at 50 to 700st)
4 5 0.2

Appendix
/vertical 120 (at 800st)
Horizontal 600 (at 50 to 500st) 0.3
12 15 40 115
Vertical 470 (at 600st) 0.2
Ball Horizontal 300 (at 50 to 500st) 0.3
SS7C 800 6 8 70 210 20
screw Vertical 230 (at 600st) 0.2
Horizontal 150 (at 50 to 500st)
3 4 0.2 140 330
/vertical 115 (at 600st)
600 (at 50 to 500st)
Horizontal 0.3
12 15 470 (at 600st)
Vertical 440 0.2
Ball
SS7R 800 Horizontal 250 (at 50 to 500st) 0.3 - - -
screw 6 8
Vertical 230 (at 600st) 0.2
Horizontal
3 4 105 0.2

Chapter 2 Connectable Actuators

/vertical
RCP2
666 (at 50 to 800st)
(Slider
Horizontal 625 (at 900st) 0.3
type)
20 25 515 (at 1000st) 50 180
600 (at 50 to 900st)
Vertical 0.2
515 (at 1000st)
333 (at 50 to 800st)
Horizontal 310 (at 900st) 0.3
Ball
SS8C 800 10 13 255 (at 1000st) 95 320 20
screw
300 (at 50 to 900st)
Vertical 0.2
255 (at 1000st)
165 (at 50 to 800st)
Horizontal 155 (at 900st)
5 7 125 (at 1000st) 0.2 180 630
150 (at 50 to 900st)
Vertical
125 (at 1000st)
600 (at 50 to 900st)
Horizontal 0.3
20 25 515 (at 1000st)
Vertical 333 0.2
300 (at 50 to 900st)
Horizontal 0.3
Ball 10 13 255 (at 1000st)
SS8R 800 - - -
screw Vertical 250 0.2
160 (at 50 to 800st)
Horizontal 155 (at 900st)
5 7 0.2
125 (at 1000st)
Vertical 140
1200 (at 50 to 800st)
HS8C Ball Horizontal 1000 (at 900st) 0.5
800 30 100 - - -
HS8R screw 800 (at 1000st)
Vertical 750 0.2

ME0384-7C E2-38
 2.1 List of Actuator Specifications

RCP2 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
RCP2W
8 10 180
(Dust and Ball
SA16C 800 Horizontal 0.2 - - -
drip proof screw
4 5 133
slider type)
BA6 Equivalent
Belt 800 Horizontal 100 1000 0.5 - - -
RCP2 BA6U to 54
(Belt type) BA7 Equivalent
Belt 800 Horizontal 100 1500 0.5 - - -
BA7U to 54
RA2C Ball Horizontal
800 1 2 25 0.05 50 100 3
(注 1) screw /vertical
Horizontal
5 7 187 21 73.5
Ball /vertical
RA3C 800 0.2 20
screw Horizontal
Appendix

2.5 4 114 50 156.8

/vertical
Horizontal
5 7 187 21 73.5
Ball /vertical
RGD3C 800 0.2 20
screw Horizontal 114
2.5 4 50 156.8
Vertical 93
Horizontal 458 (at 50 to 250st)
10 13 30 150
/vertical 350 (at 300st)
250 (at 50 to 200st)
Horizontal
5 7 237 (at 250st) 75 284
RA4C /vertical
Ball 175 (at 300st)
RGS4C 800 0.2 20
screw 125 (at 50 to 200st)
RGD4C
Horizontal 118 (at 250st)
2.5 4 87 (at 300st) 150 358
Chapter 2 Connectable Actuators

114 (at 50 to 250st)

Vertical
RCP2 87 (at 300st)
(Rod type) Horizontal 450
16 20 75 240
Vertical 400
RA6C
Ball Horizontal
RGS6C 800 8 10 210 0.2 130 470 20
screw /vertical
RGD6C
Horizontal
4 5 130 300 800
/vertical
Horizontal RA8C: 300
10 13 0.2 286 1000
RA8C Ball /vertical RA8R: 200
800 10
RA8R screw Horizontal RA8C: 150
5 7 0.1 571 2000
/vertical RA8R: 100
Horizontal 250
10 10 0.04 500 1500
Vertical 167
Ball Horizontal
RA10C 800 5 5 125 0.02 1000 3000 10
screw /vertical
Horizontal
2.5 1 63 0.01 3100 6000
/vertical
Horizontal 0.3
SRA4R 5 7 250 32 112
Ball Vertical 0.2
SRGS4R 800 20
screw Horizontal
SRGD4R 2.5 4 125 0.2 64 224
/vertical
450 (at 50 to 250st)
Horizontal
10 13 350 (at 300st) 30 150
Vertical 250
RCP2W Horizontal 190 (at 50 to 250st)
5 7 75 284
(Dust and Ball /vertical 175 (at 300st)
RA4C 800 0.2 20
drip proof screw 125 (at 50 to 200st)
rod type) Horizontal 115 (at 250st)
2.5 4 85 (at 300st) 150 358
115 (at 50 to 250st)
Vertical
85 (at 300st)
Note 1 For RCP2-RA2C, a ball screw with its lead length 1mm and a speed reducer with its gear ratio 1/2 are joined directly.

E2-39 ME0384-7C
 2.1 List of Actuator Specifications

RCP2 Series
No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 320
16 20 75 240
Vertical 265
Ball Horizontal
RA6C 800 8 10 200 0.2 130 470 20
screw /vertical
RCP2W Horizontal
4 5 100 300 800
(Dust and /vertical
drip proof Horizontal 250
rod type) 10 10 0.04 500 1500
Vertical 167
Ball Horizontal
RA10C 800 5 5 125 0.02 1000 3000 10
screw /vertical
Horizontal
2.5 1 63 0.01 3100 6000
/vertical
4 14

Appendix
GRSS 1.57 5 78 5
(Both Ends) (Both Ends)
5 1.8 6.4 20
GRLS 12 600 [deg/s]
[deg/s] (Both Ends) (Both Ends) [deg/s]
9 21
GRS 1 5 33 5
(Both Ends) (Both Ends)
23 80
GRM 1.1 5 36 5
(Both Ends) (Both Ends)
25 125
GRHM 2 5 100 5
(Both Ends) (Both Ends)
60 200
RCP2 GRHB 2 5 100 5
(Both Ends) (Both Ends)
(Gripper - 800 - -
15 40
type) 1.05 5 34 (Standard Type) 5
(Both Ends) (Both Ends)
GRST

Chapter 2 Connectable Actuators

7.5 20
2.27 5 75 (High Speed Type) 5
(Both Ends) (Both Ends)
7 22
GR3SS 2.5 5 40 5
(Both Ends) (Both Ends)
30 102
GR3SM 3 5 50 5
(Both Ends) (Both Ends)
5 5 18 20
GR3LS 12 200 [deg/s]
[deg/s] (Both Ends) (Both Ends) [deg/s]
5 15 51 20
GR3LM 12 200 [deg/s]
[deg/s] (Both Ends) (Both Ends) [deg/s]
4 14
GRSS 1.57 2 78 5
(Both Ends) (Both Ends)
15 1.8 6.4
RCP2CR GRLS 12 600 [deg/s] 5 [deg/s]
[deg/s] (Both Ends) (Both Ends)
RCP2W
9 21
(Cleanroom GRS 1 2 33 5
(Both Ends) (Both Ends)
type - 800 - -
23 80
/ Dust and GRM 1.1 2 36 5
(Both Ends) (Both Ends)
drip proof
gripper type) 7 22
GR3SS 2.5 4 40 5
(Both Ends) (Both Ends)
30 102
GR3SM 3 4 50 5
(Both Ends) (Both Ends)

RCP2 12deg 15
RTBS (Gear ratio: 400 [deg/s]
RCP2CR [deg/s]
RTBSL 1/30)
RCP2W - 800 - - - - -
RTCS 8deg
(Rotary 10
RTCSL (Gear ratio: 266 [deg/s]
type) 1/45)
[deg/s]

RTB
Standard RTBL 18deg 23
type (Gear ratio: 600 [deg/s]
RTC 1/20)
[deg/s]
/ Cleanroom RTCL
type - 800 - - - - -
RTBB
/ Dust and RTBBL 12deg 15
drip proof (Gear ratio: 400 [deg/s]
RTCB [deg/s]
1/30)
type RTCBL

ME0384-7C E2-40
 2.1 List of Actuator Specifications

Specifications for 24V AC Servo Motor Type Actuator

RCA2 Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 0.3
6 8 300
Vertical 0.2
SA3C Ball Horizontal 0.3
10 800 4 5 200 - - -
SA3R screw Vertical 0.2
Horizontal
2 3 100 0.2
/vertical
Horizontal 0.3
10 13 500
Vertical 0.2
SA4C Ball Horizontal 0.3
20 800 5 7 250 - - -
Appendix

SA4R screw Vertical 0.2

Horizontal
2.5 4 125 0.2
/vertical
1000 (at 50 to 600st)
910 (at 650st)
Horizontal 790 (at 700st) 0.3
20
690 (at 750st)
(Only
25 610 (at 800st)
for
800 (at 50 to 650st)
SA5C)
790 (at 700st)
Vertical 0.2
690 (at 750st)
610 (at 800st)
600 (at 50 to 550st)
Horizontal 570 (at 600st) 0.3
Chapter 2 Connectable Actuators

490 (at 650st)

12 15
425 (at 700st)
SA5C Ball
RCA2 20 800 Vertical 370 (at 750st) 0.2 - - -
SA5R screw
(Slider 330 (at 800st)
type) 300 (at 50 to 550st)
Horizontal 285 (at 600st) 0.3
245 (at 650st)
6 8
210 (at 700st)
Vertical 185 (at 750st) 0.2
165 (at 800st)
150 (at 50 to 550st)
140 (at 600st)
Horizontal 120 (at 650st)
3 4 0.2
/vertical 105 (at 700st)
90 (at 750st)
80 (at 800st)
1000 (at 50 to 600st)
910 (at 650st)
Horizontal 790 (at 700st) 0.3
20
690 (at 750st)
(Only
25 610 (at 800st)
for
800 (at 50 to 650st)
SA6C)
790 (at 700st)
SA6C Ball Vertical 0.2
30 800 690 (at 750st) - - -
SA6R screw
610 (at 800st)
600 (at 50 to 550st)
Horizontal 570 (at 600st) 0.3
490 (at 650st)
12 15
425 (at 700st)
Vertical 370 (at 750st) 0.2
330 (at 800st)

E2-41 ME0384-7C
 2.1 List of Actuator Specifications

RCA2 Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
300 (at 50 to 550st)
Horizontal 285 (at 600st) 0.3
245 (at 650st)
6 8
210 (at 700st)
Vertical 185 (at 750st) 0.2
RCA2
SA6C Ball 165 (at 800st)
(Slider 30 800 - - -
SA6R screw 150 (at 50 to 550st)
type)
140 (at 600st)
Horizontal 120 (at 650st)
3 4 0.2
/vertical 105 (at 700st)
90 (at 750st)
80 (at 800st)
[Standard] Horizontal 0.3
4 4 200

Appendix
RN3NA Vertical 0.2
RP3NA Horizontal 0.3
Ball
GS3NA 2 2 100
screw Vertical 0.2
GD3NA
Horizontal
SD3NA 1 1 50 0.2
Vertical
[Cleanroom] 10 1048 - - -
Lead
[Dust and 4 4 200
drip proof] screw
RN3NB (Available
2 Horizontal 2 100
RP3NB to Select 0.2
/vertical
GS3NB Only in

GD3NB Standard
1 1 50
SD3NB Type)

270 (at 30st)

Chapter 2 Connectable Actuators

Horizontal 0.3
300 (at 50st)
[Standard] 6 6
220 (at 30st)
RCA2 RN4NA Vertical 0.2
Ball 300 (at 50st)
RCA2CR RP4NA
RCA2W screw Horizontal 0.3
GS4NA 4 4 200
(Rod type) GD4NA Vertical 0.2
Horizontal
20 1048 2 2 100 0.2 - - -
Standard [Cleanroom] /vertical
type [Dust and
Lead Horizontal 220 (at 30st)
drip proof] 6 6
/ Cleanroom screw /vertical 300 (at 50st)
RN4NB
type
RP4NB (Available Horizontal
/ Dust and 4 4 200 0.2
GS4NB to Select Vertical
drip proof Only in
GD4NB
type Standard Horizontal
2 2 100
Type) /vertical

240 (at 25st)

Horizontal 0.3
300 (at 50 to 75st)
6 6
200 (at 25st)
Vertical 0.2
Ball 300 (at 50 to 75st)
screw Horizontal 0.3
[Standard] 4 4 200
SD4NA Vertical 0.2
Horizontal
20 1048 2 2 100 0.2 - - -
[Cleanroom] /vertical
[Dust and
Lead 200 (at 25st)
drip proof] 6 6
SD4NB screw 300 (at 50 to 75st)
(Available
4 Horizontal/ 4 200
to Select 0.2
vertical
Only in
Standard 2 2 100
Type)

ME0384-7C E2-42
 2.1 List of Actuator Specifications

RCA2 Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 0.3
4 4 200
Vertical 0.2
Ball Horizontal 0.3
2 2 100
TCA3NA screw Vertical 0.2
TWA3NA 10 1048 Horizontal - - -
1 1 50 0.2
TFA3NA /vertical
4 4 200
Lead Horizontal
2 2 100 0.2
screw /vertical
1 1 50
270 (at 30st)
Horizontal 0.3
300 (at 50st)
6 6
220 (at 30st)
Vertical 0.2
Appendix

Ball 300 (at 50st)

screw Horizontal 0.3
TCA4NA 4 4 200
Vertical 0.2
TWA4NA 20 1048 - - -
Horizontal
TFA4NA 2 2 100 0.2
/vertical
220 (at 30st)
6 6
Lead Horizontal 300 (at 50st)
0.2
screw 4 /vertical 4 200
2 2 100
RCA2 Horizontal 0.3
6 8 300
(Table Vertical 0.2
type) TA4C Ball Horizontal 0.3
10 800 4 5 200 - - -
TA4R screw Vertical 0.2
Chapter 2 Connectable Actuators

Horizontal
2 3 100 0.2
/vertical
Horizontal 465 0.3
10 13
Vertical 400 0.2
TA5C Ball Horizontal 0.3
20 800 5 7 250 - - -
TA5R screw Vertical 0.2
Horizontal
2.5 4 125 0.2
/vertical
Horizontal 560 0.3
12 15
Vertical 500 0.2
TA6C Ball Horizontal 0.3
20 800 6 8 300 - - -
TA6R screw Vertical 0.2
Horizontal
3 4 150 0.2
/vertical
Horizontal 600 0.3
12 15
Vertical 580 0.2
TA7C Ball Horizontal 0.3
30 800 6 8 300 - - -
TA7R screw Vertical 0.2
Horizontal
3 4 150 0.2
/vertical

E2-43 ME0384-7C
 2.1 List of Actuator Specifications

RCA Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
Incremental 13
10 (Note 1)
665 0.3 / 1.0 (Note 2)
800
[Standard]
Ball Horizontal 7
[Cleanroom] 20 5 330 0.3 / 1.0 (Note 2) - - -
screw Battery-less /vertical (Note 1)
SA4C
Absolute 4
16384 2.5 (Note1)
165 0.2

Incremental 10 13 665 0.3

[Standard] Ball Horizontal
20 800 5 7 330 0.3 - - -
SA4D screw (Note 3)
/vertical
2.5 4 165 0.2
Incremental 13
10 (Note 1)
665 0.3
800
[Standard] Ball Horizontal 7
20 5 330 0.3 - - -
SA4R screw Battery-less /vertical (Note 1)

Appendix
Absolute 4
16384 2.5 (Note 1)
165 0.2

Horizontal 25 1300 0.3 / 0.8 (Note 2)

20 (Note 1)
Incremental Vertical 800 0.2
800 15 800 (at 50 to 450st)
[Standard] 12 0.3 / 0.8 (Note 2)
Ball (Note 1)
760 (at 500st)
[Cleanroom] 20 - - -
screw Battery-less Horizontal 8 400 (at 50 to 450st)
SA5C 6 0.3 / 0.8 (Note 2)
Absolute /vertical (Note 1)
380 (at 500st)
RCA 16384 4 200 (at 50 to 450st)
RCACR 3 0.2
(Note 1)
190 (at 500st)
(Slider 800 (at 50 to 450st)
type) 12 15 0.3
760 (at 500st)
Incremental
[Standard] Ball Horizontal 400 (at 50 to 450st)

Chapter 2 Connectable Actuators

Standard 20 800 6 8 0.3 - - -
SA5D screw (Note 3)
/vertical 380 (at 500st)
type
200 (at 50 to 450st)
/ Cleanroom 3 4 0.2
190 (at 500st)
type
Incremental 15 800 (at 50 to 450st)
12 0.3
800
(Note 1)
760 (at 500st)
[Standard] Ball Horizontal 8 400 (at 50 to 450st)
20 6 0.3 - - -
SA5R screw Battery-less /vertical (Note 1)
380 (at 500st)
Absolute 4 200 (at 50 to 450st)
16384 3 0.2
(Note 1)
190 (at 500st)
1300 (at 50 to 500st)
Horizontal 25 1160 (at 550st) 0.3 / 1.0 (Note 2)
20 (Note 1) 990 (at 600st)
Vertical 800 0.2
800 (at 50 to 450st)
Incremental 15 760 (at 500st)
12 0.3 / 1.0 (Note 2)
800 (Note 1)
640 (at 550st)
[Standard]
Ball 540 (at 600st)
[Cleanroom] 30 - - -
screw Battery-less 400 (at 50 to 450st)
SA6C
Absolute Horizontal 8 380 (at 500st)
16384 6 0.3 / 1.0 (Note 2)
/vertical (Note 1)
320 (at 550st)
270 (at 600st)
200 (at 50 to 450st)
4 190 (at 500st)
3 0.2
(Note 1)
160 (at 550st)
135 (at 600st)
The models with the type column shaded are applicable for offboard tuning function. (However, high-acceleration/deceleration type, power-saving type,
cleanroom type, dust and drip proof type and slider-roller type are not applicable for offboard tuning.)
For offboard tuning function, refer to the instruction manual of PC software.
Note 1 It is the velocity with the incremental encoder.
Note 2 It is the maximum acceleration/deceleration when the option "High Acceleration/Deceleration Application (Model code: HA)" which is available
to select only in the standard type is added.
Note 3 Connection is available only with Incremental Type.

ME0384-7C E2-44
 2.1 List of Actuator Specifications

RCA Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
800 (at 50 to 450st)
760 (at 500st)
12 15 0.3
640 (at 550st)
540 (at 600st)
400 (at 50 to 450st)
[Standard] Incremental
Ball Horizontal 380 (at 500st)
[Cleanroom] 30 800 6 8 0.3 - - -
screw /vertical 320 (at 550st)
SA6D (Note 3)
270 (at 600st)
RCA
200 (at 50 to 450st)
RCACR
190 (at 500st)
(Slider 3 4 0.2
160 (at 550st)
type)
135 (at 600st)
800 (at 50 to 450st)
Standard
Appendix

15 760 (at 500st)

type 12 0.3
(Note 1)
640 (at 550st)
/ Cleanroom
Incremental 540 (at 600st)
type
800 400 (at 50 to 450st)
[Standard] Ball Horizontal 8 380 (at 500st)
30 6 0.3 - - -
SA6R screw Battery-less /vertical (Note 1)
320 (at 550st)
Absolute 270 (at 600st)
16384 200 (at 50 to 450st)
4 190 (at 500st)
3 0.2
(Note 1)
160 (at 550st)
135 (at 600st)
[Standard] 10 13 500 0.3 / 1.0 (Note 2)
[Dust and Ball Horizontal
drip proof] 20 800 5 7 250 0.3 / 1.0 (Note 2) - - -
screw /vertical
RA3C 2.5 4 125 0.2
Chapter 2 Connectable Actuators

[Standard] 10 13 500 0.3 / 1.0 (Note 2)

Ball Horizontal
RGS3C 20 800 5 7 250 0.3 / 1.0 (Note 2) - - -
screw /vertical
RGD3C 2.5 4 125 0.2
[Standard]
[Dust and 10 13 500 0.3
drip proof]
RA3D
RA3R Ball 5 Horizontal 7 250 0.3
20 800 - - -
RCA screw /vertical
[Standard]
RCAW
RGS3D
(Rod type) 2.5 4 125 0.2
RGD3D
RGD3R
Standard
[Standard] Incremental 12 15 600 0.3 / 1.0 (Note 2)
type [Dust and Ball 20 Horizontal
/ Dust and drip proof] 800 6 8 300 0.3 / 1.0 (Note 2) - - -
screw 30 (Note 3)
/vertical
drip proof RA4C 3 4 150 0.2
type [Standard] Incremental 12 15 600 0.3 / 1.0 (Note 2)
Ball 20 Horizontal
RGS4C 800 6 8 300 0.3 / 1.0 (Note 2) - - -
screw 30 /vertical
RGD4C (Note 3)
3 4 150 0.2
[Standard]
[Dust and 12 15 600 0.3
drip proof]
RA4D Incremental
RA4R Ball 20 6 Horizontal 8 300 0.3
800 - - -
[Standard] screw 30 (Note 3)
/vertical
RGS4D
RGD4D 3 4 150 0.2
RGD4R
The models with the type column shaded are applicable for offboard tuning function. (However, high-acceleration/deceleration type, power-saving type,
cleanroom type, dust and drip proof type and slider-roller type are not applicable for offboard tuning.)
For offboard tuning function, refer to the instruction manual of PC software.
Note 1 It is the velocity with the incremental encoder.
Note 2 It is the maximum acceleration/deceleration when the option "High Acceleration/Deceleration Application (Model code: HA)" which is available
to select only in the standard type is added.
Note 3 Connection is available only with Incremental Type.

E2-45 ME0384-7C
 2.1 List of Actuator Specifications

RCA Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal 0.3
SRA4R 5 7 250
RCA Ball Vertical 0.2
SRGS4R 20 800 - - -
(Rod type) screw Horizontal
SRGD4R 2.5 4 125 0.2
/vertical
Ball 10 Horizontal 13 330
A4R 20 800 0.2 - - -
screw 5 /vertical 7 165
RCA
Ball 12 Horizontal 15 400
(Arm type) A5R 20 800 0.2 - - -
screw 6 /vertical 8 200
(Note 3)
Ball 12 Horizontal 15 400
A6R 30 800 0.2 - - -
screw 6 /vertical 8 200
Note 3 Connection is available only with Incremental Type.

Appendix
RCL Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
RA1L 715 300 0.75 2
Horizontal Horizontal: 2G
RA2L 855 340 1.5 4 20
/vertical Vertical: 1G
RA3L 1145 450 3 8
SA1L 715 420
SA2L 855 460

RCL SA3L Linear - 1145 - 42 600

Chapter 2 Connectable Actuators

SA4L
715 1200
SM4L Horizontal 2 - - -
SA5L
855 1400
SM5L
SA6L
1145 1600
SM6L

Specifications for Brushless DC Electric Motor Actuator

RCD Series
Motor No. of Minimum Maximum acceleration Minimum Maximum Rated push
Actuator Feed Lead Mounting Maximum speed
Type output encoder speed /deceleration push force push force speed
series screw [mm] direction [mm/s]
[W] pulses [mm/s] [G] [N] [N] [mm/s]
Horizontal
RA1DA 480 300 0.41 2.6
Lead /vertical
RCD 3 2 5 1 5
screw Horizontal 10
GRSNA 480 67 2.1
/vertical (Both Ends)

ME0384-7C E2-46
 2.1 List of Actuator Specifications

Specifications for 200V AC Servo Motor Type Actuator

Shown below is a list of the actuator specifications connectable to the 200V driver unit.
Refer to the [Instruction manual of SCON2 (ME0458)] for the actuator specifications connectable
to SCON2 Controller (RCON connection type).
Refer to the [instruction manual of SCON-CB (ME0340)] for the actuator specifications
connectable to SCON-CB Controller (RCON connection type).

Note In case of the following 200V servomotor actuators and the case that the maximum
wattage exceeds the following, it is not available to establish connectivity to 200V driver
Appendix

unit.
(1) Motor types other than those from 60W to 750W
(2) Encoder types other than battery-less absolute, incremental, spurious absolute or index
absolute type
(3) For 3-Phase 200V ········· Combination that exceeds 2,400W for total wattage of
actuators connected to 200V driver unit
(4) For Single-Phase 200V ·· Combination that exceeds 1,600W for total wattage of
actuators connected to 200V driver unit
(5) Servo press type
Chapter 2 Connectable Actuators

(6) SCARA robot

(7) CT4 series
(8) ZR series
Use PIO/SIO/SCON extension unit or SCON extension unit and SCON2 in case of (2) to (4)
above.
When (1) to (4), use SCON extension unit and SCON-CB (RCON connection specifications).
Also, DD/DDA and LSA-W21S are not applicable for the single-phase 200V.

E2-47 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
960 (at 50 to 450st) SA4C:1.2
16
875 (at 500st) SA4R:1
600 (at 50 to 450st) SA4C:1.2
10
SA4C Horizontal/ 555 (at 500st) SA4R:1
60 16384 － － －
SA4R Vertical 300 (at 50 to 450st)
5 1
275 (at 500st)
150 (at 50 to 450st)
2.5 0.7
135 (at 500st)
1600 (at 50 to 550st)
1450 (at 600st)
1260 (at 650st) SA6C:1.2
30 － － －
1100 (at 700st) SA6R:1

Appendix
970 (at 750st)
860 (at 800st)
1200 (at 50 to 500st)
1130 (at 550st)
970 (at 600st)
SA6C:1.2
20 840 (at 650st) － － －
SA6R:1
735 (at 700st)
650 (at 750st)
RCS4 575 (at 800st)
(Slider type)
720 (at 50 to 500st)
620 (at 550st)
535 (at 600st)
SA6C:1.2
SA6C 12 Horizontal/ 460 (at 650st) － － －
100 16384 SA6R:1
SA6R Vertical 405 (at 700st)

Chapter 2 Connectable Actuators

355 (at 750st)
315 (at 800st)
360 (at 50 to 500st)
305 (at 550st)
265 (at 600st)
6 230 (at 650st) 1 － － －
200 (at 700st)
175 (at 750st)
155 (at 800st)
180 (at 50 to 500st)
150 (at 550st)
130 (at 600st)
3 115 (at 650st) 0.7 － － －
100 (at 700st)
85 (at 750st)
75 (at 800st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

ME0384-7C E2-48
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 50 to 600st)
1620 (at 650st)
SA7C:1.2
36 1420 (at 700st) － － －
SA7R:1
1260 (at 750st)
1120 (at 800st)
1500 (at 50 to 500st)
1440 (at 550st)
1240 (at 600st)
SA7C:1.2
24 1095 (at 650st) － － －
SA7R:1
965 (at 700st)
850 (at 750st)
760 (at 800st)
1000 (at 50 to 500st)
Appendix

965 (at 550st)

830 (at 600st)
SA7C:1.2
16 720 (at 650st) － － －
SA7C Horizontal/ SA7R:1
200 16384 635 (at 700st)
SA7R Vertical
560 (at 750st)
500 (at 800st)
500 (at 50 to 500st)
475 (at 550st)
410 (at 600st)
8 355 (at 650st) 1 － － －
315 (at 700st)
275 (at 750st)
245 (at 800st)
RCS4
Chapter 2 Connectable Actuators

(Slider type) 240 (at 50 to 500st)

235 (at 550st)
205 (at 600st)
4 175 (at 650st) 0.7 － － －
155 (at 700st)
135 (at 750st)
120 (at 800st)
2200 (at 50 to 700st)
2180 (at 750st)
1950 (at 800st)
1760 (at 850st)
48 Horizontal 1590 (at 900st) 1.2 － － －
1450 (at 950st)
1320 (at 1000st)
1210 (at 1050st)
1110 (at 1100st)
1800 (at 50 to 600st)
SA8C 400 16384
1640 (at 650st)
1440 (at 700st)
1280 (at 750st)
1155 (at 800st)
Horizontal/
30 1040 (at 850st) 1.2 － － －
Vertical
940 (at 900st)
855 (at 950st)
780 (at 1000st)
715 (at 1050st)
660 (at 1100st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

E2-49 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 50 to 600st)
1090 (at 650st)
960 (at 700st)
860 (at 750st)
770 (at 800st)
20 695 (at 850st) 1.2 － － －
630 (at 900st)
570 (at 950st)
520 (at 1000st)
480 (at 1050st)
440 (at 1100st)
600 (at 50 to 600st)
540 (at 650st)

Appendix
480 (at 700st)
430 (at 750st)
385 (at 800st)
Horizontal/
SA8C 400 16384 10 345 (at 850st) 1 － － －
Vertical
310 (at 900st)
285 (at 950st)
260 (at 1000st)
235 (at 1050st)
220 (at 1100st)
300 (at 50 to 600st)
270 (at 650st)
240 (at 700st)
RCS4 215 (at 750st)
(Slider type) 190 (at 800st)

Chapter 2 Connectable Actuators

5 175 (at 850st) 0.7 － － －
155 (at 900st)
140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
2100 (at 50 to 750st)
1950 (at 800st)
1760 (at 850st)
1590 (at 900st)
48 Horizontal 1 － － －
1450 (at 950st)
1320 (at 1000st)
1210 (at 1050st)
1110 (at 1100st)
1800 (at 50 to 600st)
SA8R 400 16384 1640 (at 650st)
1440 (at 700st)
1280 (at 750st)
1155 (at 800st)
Horizontal/
30 1040 (at 850st) 1 － － －
Vertical
940 (at 900st)
855 (at 950st)
780 (at 1000st)
715 (at 1050st)
660 (at 1100st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

ME0384-7C E2-50
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 50 to 600st)
1090 (at 650st)
960 (at 700st)
860 (at 750st)
770 (at 800st)
20 695 (at 850st) 1 － － －
630 (at 900st)
570 (at 950st)
520 (at 1000st)
480 (at 1050st)
440 (at 1100st)
600 (at 50 to 600st)
540 (at 650st)
Appendix

480 (at 700st)

430 (at 750st)
385 (at 800st)
RCS4 Horizontal/
SA8R 400 16384 10 345 (at 850st) 1 － － －
(Slider type) Vertical
310 (at 900st)
285 (at 950st)
260 (at 1000st)
235 (at 1050st)
220 (at 1100st)
300 (at 50 to 600st)
270 (at 650st)
240 (at 700st)
215 (at 750st)
190 (at 800st)
Chapter 2 Connectable Actuators

5 175 (at 850st) 0.7 － － －

155 (at 900st)
140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
960 (at 50 to 450st)
16 1.2
875 (at 500st)
600 (at 50 to 450st)
10 1.2
Horizontal/ 555 (at 500st)
SA4C 60 16384 － － －
Vertical 300 (at 50 to 450st)
5 1
275 (at 500st)
150 (at 50 to 450st)
2.5 0.7
135 (at 500st)
1200 (at 50 to 500st)
[Cleanroom 1130 (at 550st)
type] 970 (at 600st)
RCS4CR 20 840 (at 650st) 1.2 － － －
(Slider type) 735 (at 700st)
650 (at 750st)
Horizontal/ 575 (at 800st)
SA6C 100 16384
Vertical 720 (at 50 to 500st)
620 (at 550st)
535 (at 600st)
12 460 (at 650st) 1.2 － － －
405 (at 700st)
355 (at 750st)
315 (at 800st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

E2-51 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
360 (at 50 to 500st)
305 (at 550st)
265 (at 600st)
6 230 (at 650st) 1 － － －
200 (at 700st)
175 (at 750st)
Horizontal/ 155 (at 800st)
SA6C 100 16384
Vertical 180 (at 50 to 500st)
150 (at 550st)
130 (at 600st)
3 115 (at 650st) 0.7 － － －
100 (at 700st)
85 (at 750st)

Appendix
75 (at 800st)
1500 (at 50 to 500st)
1440 (at 550st)
1240 (at 600st)
24 1095 (at 650st) 1.2 － － －
965 (at 700st)
850 (at 750st)
760 (at 800st)
1000 (at 50 to 500st)
965 (at 550st)
830 (at 600st)
16 720 (at 650st) 1.2 － － －
[Cleanroom
635 (at 700st)
type]
560 (at 750st)

Chapter 2 Connectable Actuators

RCS4CR
Horizontal/ 500 (at 800st)
(Slider type) SA7C 200 16384
Vertical 500 (at 50 to 500st)
475 (at 550st)
410 (at 600st)
8 355 (at 650st) 1 － － －
315 (at 700st)
275 (at 750st)
245 (at 800st)
240 (at 50 to 500st)
235 (at 550st)
205 (at 600st)
4 175 (at 650st) 0.7 － － －
155 (at 700st)
135 (at 750st)
120 (at 800st)
1200 (at 50 to 600st)
1090 (at 650st)
960 (at 700st)
860 (at 750st)
770 (at 800st)
Horizontal/
SA8C 400 16384 20 695 (at 850st) 1.2 － － －
Vertical
630 (at 900st)
570 (at 950st)
520 (at 1000st)
480 (at 1050st)
440 (at 1100st)

ME0384-7C E2-52
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
600 (at 50 to 600st)
540 (at 650st)
480 (at 700st)
430 (at 750st)
385 (at 800st)
10 345 (at 850st) 1 － － －
310 (at 900st)
285 (at 950st)
260 (at 1000st)
[Cleanroom 235 (at 1050st)
type] Horizontal/ 220 (at 1100st)
SA8C 400 16384
RCS4CR Vertical 300 (at 50 to 600st)
(Slider type) 270 (at 650st)
Appendix

240 (at 700st)

215 (at 750st)
190 (at 800st)
5 175 (at 850st) 0.7 － － －
155 (at 900st)
140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
1500 (at 50 to 500st)
1440 (at 550st)
1240 (at 600st)
24 1095 (at 650st) 1.2 － － －
965 (at 700st)
Chapter 2 Connectable Actuators

850 (at 750st)

760 (at 800st)
1000 (at 50 to 500st)
965 (at 550st)
830 (at 600st)
16 750 (at 650st) 1.2 － － －
635 (at 700st)
560 (at 750st)
Horizontal/ 500 (at 800s)
HSA6C 100 16384
Vertical 500 (at 50 to 500st)
475 (at 550st)
410 (at 600st)
RCS4 8 355 (at 650st) 1 － － －
(High Stiffness 315 (at 700st)
Slider type) 275 (at 750st)
245 (at 800st)
240 (at 50 to 500st)
135 (at 550st)
205 (at 600st)
4 175 (at 650st) 0.7 － － －
155 (at 700st)
135 (at 750st)
120 (at 800st)
1800 (at 50 to 600st)
1640 (at 650st)
1440 (at 700st)
1280 (at 750st)
Horizontal/
HSA7C 200 16384 30 1155 (at 800st) 1.2 － － －
Vertical 1040 (at 850st)
940 (at 900st)
855 (at 950st)
780 (at 1000st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

E2-53 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 50 to 600st)
1090 (at 650st)
960 (at 700st)
860 (at 750st)
20 770 (at 800st) 1.2 － － －
695 (at 850st)
630 (at 900st)
570 (at 950st)
520 (at 1000st)
600 (at 50~600st)
540 (at 650st)
480 (at 700st)
RCS4 430 (at 750st)
Horizontal/
(High Stiffness HSA7C 200 16384 10 385 (at 800st) 1 － － －
Vertical

Appendix
Slider type) 345 (at 850st)
310 (at 900st)
285 (at 950st)
260 (at 1000st
300 (at 50~600st)
270 (at 650st)
240 (at 700st)
215 (at 750st)
5 190 (at 800st) 0.7 － － －
175 (at 850st)
155 (at 900st)
140 (at 950st)
130 (at 1000st)
960 (at 50 to 350st)
930 (at 400st) WSA10C:1.2
16 Horizontal － － －

Chapter 2 Connectable Actuators

775 (at 450st) WSA10R:1
660 (at 500st)
600 (at 50 to 350st)
590 (at 400st) WSA10C:1.2
10 － － －
490 (at 450st) WSA10R:1
WSA10C 415 (at 500st)
60 16384
WSA10R 300 (at 50 to 350st)
Horizontal/ 290 (at 400st)
5 1 － － －
Vertical 245 (at 450st)
205 (at 500st)
150 (at 50 to 350st)
145 (at 400st)
2.5 0.7 － － －
RCS4 120 (at 450st)
(Wide slider 100 (at 500st)
type) 1600 (at 50 to 500st)
1450 (at 550st)
1260 (at 600st)
WSA12C:1.2
30 Horizontal 1100 (at 650st) － － －
WSA12R:1
970 (at 700st)
860 (at 750st)
770 (at 800st)
WSA12C
100 16384 1200 (at 50 to 450st)
WSA12R
1130 (at 500st)
970 (at 550st)
Horizontal/ 840 (at 600st) WSA12C:1.2
20 － － －
Vertical 740 (at 650st) WSA12R:1
650 (at 700st)
580 (at 750st)
520 (at 800st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

ME0384-7C E2-54
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
720 (at 50 to 450st)
610 (at 500st)
535 (at 550st)
465 (at 600st) WSA12C:1.2
12 － － －
405 (at 650st) WSA12R:1
355 (at 700st)
315 (at 750st)
285 (at 800st)
360 (at 50 to 450st)
310 (at 500st)
265 (at 550st)
WSA12C Horizontal/ 230 (at 600st)
100 16384 6 1 － － －
WSA12R Vertical 200 (at 650st)
Appendix

175 (at 700st)

155 (at 750st)
140 (at 800st)
180 (at 50 to 450st)
150 (at 500st)
130 (at 550st)
115 (at 600st)
3 0.7 － － －
100 (at 650st)
85 (at 700st)
75 (at 750st)
70 (at 800st)
WSA14C:
1800 (at 50 to 550st)
RCS4
1590 (at 600st)
Chapter 2 Connectable Actuators

(Wide slider
1400 (at 650st) － － －
type)
1240 (at 700st)
1110 (at 750st)
990 (at 800st) WSA14C:1.2
36 Horizontal
WSA14R: WSA14R:1
1710 (at 50 to 550st)
1590 (at 600st)
1400 (at 650st) － － －
1240 (at 700st)
1110 (at 750st)
990 (at 800st)
WSA14C 1440 (at 50 to 450st)
200 16384
WSA14R 1420 (at 500st)
1220 (at 550st)
1060 (at 600st) WSA14C:1.2
24 － － －
930 (at 650st) WSA14R:1
830 (at 700st)
740 (at 750st)
Horizontal/ 665 (at 800st)
Vertical 960 (at 50 to 450st)
920 (at 500st)
790 (at 550st)
690 (at 600st) WSA14C:1.2
16 － － －
610 (at 650st) WSA14R:1
550 (at 700st)
490 (at 750st)
440 (at 800st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

E2-55 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
480 (at 50 to 450st)
460 (at 500st)
400 (at 550st)
350 (at 600st)
8 1 － － －
305 (at 650st)
270 (at 700st)
240 (at 750st)
WSA14C Horizontal/ 215 (at 800st)
200 16384
WSA14R Vertical 240 (at 50 to 450st)
230 (at 500st)
200 (at 550st)
170 (at 600st)
4 0.7 － － －
150 (at 650st)

Appendix
135 (at 700st)
120 (at 750st)
105 (at 800st)
1800 (at 50 to 550st)
1680 (at 600st)
1480 (at 650st)
1320 (at 700st)
1180 (at 750st)
1060 (at 800st) WSA16C:1.2
30 － － －
960 (at 850st) WSA16R:1
870 (at 900st)
790 (at 950st)
RCS4
730 (at 1000st)
(Wide slider
670 (at 1050st)

Chapter 2 Connectable Actuators

type)
620 (at 1100st)
1200 (at 50 to 550st)
1120 (at 600st)
990 (at 650st)
880 (at 700st)
780 (at 750st)
WSA16C Horizontal/ 715 (at 800st) WSA16C:1.2
400 16384 20 － － －
WSA16R Vertical 645 (at 850st) WSA16R:1
590 (at 900st)
535 (at 950st)
490 (at 1000st)
450 (at 1050st)
415 (at 1100st)
600 (at 50 to 550st)
560 (at 600st)
490 (at 650st)
440 (at 700st)
395 (at 750st)
355 (at 800st)
10 1 － － －
320 (at 850st)
290 (at 900st)
265 (at 950st)
240 (at 1000st)
225 (at 1050st)
205 (at 1100st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

ME0384-7C E2-56
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
300 (at 50 to 550st)
280 (at 600st)
240 (at 650st)
220 (at 700st)
195 (at 750st)
RCS4
WSA16C Horizontal/ 175 (at 800st)
(Wide slider 400 16384 5 0.7 － － －
WSA16R Vertical 160 (at 850st)
type)
145 (at 900st)
130 (at 950st)
120 (at 1000st)
110 (at 1050st)
100 (at 1100st)
960 (at 50 to 350st)
Appendix

930 (at 400st)

16 Horizontal 1.2 － － －
775 (at 450st)
660 (at 500st)
600 (at 50 to 350st)
590 (at 400st)
10 1.2 － － －
490 (at 450st)
415 (at 500st)
WSA10C 60 16384
300 (at 50 to 350st)
Horizontal/ 290 (at 400st)
5 1 － － －
Vertical 245 (at 450st)
205 (at 500st)
150 (at 50 to 350st)
145 (at 400st)
2.5 0.7 － － －
Chapter 2 Connectable Actuators

120 (at 450st)

100 (at 500st)
1200 (at 50 to 450st)
1130 (at 500st)
970 (at 550st)
840 (at 600st)
20 1.2 － － －
740 (at 650st)
650 (at 700st)
[Cleanroom
580 (at 750st)
type]
520 (at 800st)
RCS4CR
(Wide slider 720 (at 50 to 450st)
type) 610 (at 500st)
535 (at 550st)
465 (at 600st)
12 1.2 － － －
405 (at 650st)
355 (at 700st)
315 (at 750st)
Horizontal/ 285 (at 800st)
WSA12C 100 16384
Vertical 360 (at 50 to 450st)
310 (at 500st)
265 (at 550st)
230 (at 600st)
6 1 － － －
200 (at 650st)
175 (at 700st)
155 (at 750st)
140 (at 800st)
180 (at 50 to 450st)
150 (at 500st)
130 (at 550st)
115 (at 600st)
3 0.7 － － －
100 (at 650st)
85 (at 700st)
75 (at 750st)
70 (at 800st)
(Note) The models with the type shaded are applicable for the offboard tuning feature. (Except, if there is a setting applicable for the high acceleration,
it is to be excluded.)
For the offboard tuning feature, refer to the instruction manual Of the PC teaching software.

E2-57 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1440 (at 50 to 450st)
1420 (at 500st)
1220 (at 550st)
1060 (at 600st)
24 1.2 － － －
930 (at 650st)
830 (at 700st)
740 (at 750st)
665 (at 800st)
960 (at 50 to 450st)
920 (at 500st)
790 (at 550st)
690 (at 600st)
16 1.2 － － －
610 (at 650st)

Appendix
550 (at 700st)
490 (at 750st)
Horizontal/ 440 (at 800st)
WSA14C 200 16384
Vertical 480 (at 50 to 450st)
460 (at 500st)
400 (at 550st)
350 (at 600st)
8 1 － － －
305 (at 650st)
270 (at 700st)
240 (at 750st)
215 (at 800st)
240 (at 50 to 450st)
230 (at 500st)
[Cleanroom
200 (at 550st)

Chapter 2 Connectable Actuators

type]
170 (at 600st)
RCS4CR 4 0.7 － － －
150 (at 650st)
(Wide slider
135 (at 700st)
type)
120 (at 750st)
105 (at 800st)
1200 (at 50 to 550st)
1120 (at 600st)
990 (at 650st)
880 (at 700st)
780 (at 750st)
715 (at 800st)
20 1.2 － － －
645 (at 850st)
590 (at 900st)
535 (at 950st)
490 (at 1000st)
450 (at 1050st)
Horizontal/ 415 (at 1100st)
WSA16C 400 16384
Vertical 600 (at 50 to 550st)
560 (at 600st)
490 (at 650st)
440 (at 700st)
395 (at 750st)
355 (at 800st)
10 1 － － －
320 (at 850st)
290 (at 900st)
265 (at 950st)
240 (at 1000st)
225 (at 1050st)
205 (at 1100st)

ME0384-7C E2-58
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
300 (at 50 to 550st)
280 (at 600st)
240 (at 650st)
220 (at 700st)
[Cleanroom
195 (at 750st)
type]
Horizontal/ 175 (at 800st)
RCS4CR WSA16C 400 16384 5 0.7 － － －
Vertical 160 (at 850st)
(Wide slider
145 (at 900st)
type)
130 (at 950st)
120 (at 1000st)
110 (at 1050st)
100 (at 1100st)
RA4C:1.2
Appendix

16 800
RA4R:1
RA4C Horizontal/ RA4C:1.2
60 16384 10 500 － － －
RA4R Vertical RA4R:1
5 250 1
2.5 125 0.7
RA6C:1.2
20 1000
RA6R:1
RA6C Horizontal/ RA6C:1.2
100 16384 12 600 － － －
RA6R Vertical RA6R:1

RCS4 6 300 1
(Rod type) 3 150 0.7
RA7C:1.2
24 1200
Chapter 2 Connectable Actuators

RA7R:1
RA7C Horizontal/ RA7C:1.2
200 16384 16 800 － － －
RA7R Vertical RA7R:1
8 400 1
4 200 0.7
RA8C:1.2
20 1000
RA8C Horizontal/ RA8R:1
400 16384 － － －
RA8R 10 Vertical 500 1
5 250 0.7
RRA4C:1.2
16 960
RRA4R:1
RRA4C Horizontal/ RRA4C:1.2
60 16384 10 600 － － －
RRA4R Vertical RRA4R:1
5 300 1
2.5 150 0.7
RRA6C:1.2
20 1200
RRA6R:1
RCS4
RRA6C Horizontal/ RRA6C:1.2
(Radial 100 16384 12 720 － － －
RRA6R Vertical RRA6R:1
cylinder)
6 360 1
3 180 0.7
RRA7C:1.2
24 1440
RRA7R:1
RRA7C Horizontal/ RRA7C:1.2
200 16384 16 960 － － －
RRA7R Vertical RRA7R:1
8 480 1
4 240 0.7

E2-59 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1500 (at 50 to 300st)
1230 (at 350st)
970 (at 400st)
790 (at 450st)
30 650 (at 500st) 1.2 － － －
540 (at 550st)
460 (at 600st)
400 (at 650st)
350 (at 700st)
1100 (at 50 to 250st)
1070 (at 300st)
820 (at 350st)
650 (at 400st)

Appendix
520 (at 450st)
20 1.2 － － －
430 (at 500st)
360 (at 550st)
310 (at 600st)
260 (at 650st)
230 (at 700st)
Horizontal/
RRA8C 400 16384 550 (at 50 to 250st)
Vertical
520 (at 300st)
400 (at 350st)
310 (at 400st)
250 (at 450st)
10 1 － － －
210 (at 500st)
180 (at 550st)
150 (at 600st)

Chapter 2 Connectable Actuators

RCS4 130 (at 650st)
(Radial 110 (at 700st)
cylinder) 275 (at 50 to 250st)
250 (at 300st)
190 (at 350st)
150 (at 400st)
120 (at 450st)
5 0.7 － － －
100 (at 500st)
80 (at 550st)
70 (at 600st)
60 (at 650st)
55 (at 700st)
1300 (at 50 to 300st)
1230 (at 350st)
970 (at 400st)
790 (at 450st)
30 650 (at 500st) 1 － － －
540 (at 550st)
460 (at 600st)
400 (at 650st)
Horizontal/ 350 (at 700st)
RRA8R 400 16384
Vertical 1000 (at 50 to 300st)
820 (at 350st)
650 (at 400st)
520 (at 450st)
20 430 (at 500st) 1 － － －
360 (at 550st)
310 (at 600st)
260 (at 650st)
230 (at 700st)

ME0384-7C E2-60
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
550 (at 50 to 250st)
520 (at 300st)
400 (at 350st)
310 (at 400st)
250 (at 450st)
10 1 － － －
210 (at 500st)
180 (at 550st)
150 (at 600st)
130 (at 650st)
RCS4
Horizontal/ 110 (at 700st)
(Radial RRA8R 400 16384
Vertical 275 (at 50 to 250st)
cylinder)
250 (at 300st)
190 (at 350st)
Appendix

150 (at 400st)

120 (at 450st)
5 0.7 － － －
100 (at 500st)
80 (at 550st)
70 (at 600st)
60 (at 650st)
55 (at 700st)
800 (at 50 to 450st) WRA10C:1.2
16 Horizontal － － －
770 (at 500st) WRA10R:1
600 (at 50 to 400st)
WRA10C:1.2
10 580 (at 450st) － － －
WRA10R:1
490 (at 500st)
WRA10C
60 16384 300 (at 50 to 400st)
WRA10R Horizontal/
Chapter 2 Connectable Actuators

5 290 (at 450st) 1 － － －

Vertical
240 (at 500st)
150 (at 50 to 400st)
2.5 145 (at 450st) 0.7 － － －
120 (at 500st)
WRA12C:1.2
20 1000
WRA12R:1
WRA12C Horizontal/ WRA12C:1.2
100 16384 12 720 － － －
WRA12R Vertical WRA12R:1
6 360 1
3 180 0.7
RCS4 WRA14C:1.2
24 1200
(Wide radial WRA14R:1
cylinder) WRA14C:1.2
16 800
WRA14R:1
WRA14C Horizontal/ 480 (at 50 to 500st)
200 16384 － － －
WRA14R 8 Vertical 450 (at 550st) 1
390 (at 600st)
240 (at 50 to 500st)
4 220 (at 550st) 0.7
190 (at 600st)
1300 (at 50 to 300st)
1050 (at 350st)
860 (at 400st)
710 (at 450st)
600 (at 500st)
WRA16C Horizontal/ WRA16C:1.2
400 16384 30 510 (at 550st) － － －
WRA16R Vertical WRA16R:1
440 (at 600st)
390 (at 650st)
340 (at 700st)
300 (at 750st)
270 (at 800st)

E2-61 ME0384-7C
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1000 (at 50 to 250st)
880 (at 300st)
700 (at 350st)
570 (at 400st)
470 (at 450st)
400 (at 500st) WRA16C:1.2
20 － － －
340 (at 550st) WRA16R:1
295 (at 600st)
260 (at 650st)
225 (at 700st)
200 (at 750st)
180 (at 800st)
500 (at 50 to 250st)

Appendix
430 (at 300st)
340 (at 350st)
280 (at 400st)
230 (at 450st)
RCS4
WRA16C Horizontal/ 195 (at 500st)
(Wide radial 400 16384 10 1 － － －
WRA16R Vertical 165 (at 550st)
cylinder)
145 (at 600st)
125 (at 650st)
110 (at 700st)
100 (at 750st)
90 (at 800st)
250 (at 50 to 250st)
210 (at 300st)
170 (at 350st)

Chapter 2 Connectable Actuators

130 (at 400st)
115 (at 450st)
95 (at 500st)
5 0.7 － － －
80 (at 550st)
70 (at 600st)
60 (at 650st)
55 (at 700st)
50 (at 750st)
45 (at 800st)
16 900 1.2
TA4C
10 Horizontal/ 600 1.2
(Single 60 16384 － － －
5 Vertical 300 1
Block Type)
2.5 150 0.7
TA4C 10 600 1.2
(Double Horizontal/
60 16384 5 300 1 － － －
Block Vertical
Type) 2.5 150 0.7
20 1100 1.2
TA6C
12 Horizontal/ 720 1.2
(Single 100 16384 － － －
RCS4 6 Vertical 360 1
Block Type)
(Table type) 3 180 0.7
720 (at 45 to 270st)
12 1.2
TA6C 575 (at 320st)
(Double Horizontal/ 360 (at 45 to 270st)
100 16384 6 1 － － －
Block Vertical 285 (at 320st)
Type) 180 (at 45 to 270st)
3 0.7
140 (at 320st)
24 1300 1.2
TA7C
16 Horizontal/ 960 1.2
(Single 200 16384 － － －
8 Vertical 480 1
Block Type)
4 240 0.7

ME0384-7C E2-62
 2.1 List of Actuator Specifications

RCS4 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
960 (at 40 to 290st)
16 730 (at 340st) 1.2
600 (at 390st)
TA7C
480 (at 40 to 290st)
(Double Horizontal/
200 16384 8 365 (at 340st) 1 － － －
Block Vertical
300 (at 390st)
Type)
240 (at 40 to 290st)
4 180 (at 340st) 0.7
150 (at 390st)
16 800 1
TA4R
10 Horizontal/ 600 1
(Single 60 16384 － － －
5 Vertical 300 1
Block Type)
Appendix

2.5 150 0.7

TA4R 10 600 1
(Double Horizontal/
60 16384 5 300 1 － － －
Block Vertical
Type) 2.5 150 0.7
20 1000 1
TA6R
12 Horizontal/ 720 1
(Single 100 16384 － － －
RCS4 6 Vertical 360 1
Block Type)
(Table type) 3 180 0.7
720 (at 45 to 270st)
12 1
TA6R 575 (at 320st)
(Double Horizontal/ 360 (at 45 to 270st)
100 16384 6 1 － － －
Chapter 2 Connectable Actuators

Block Vertical 285 (at 320st)

Type) 180 (at 45 to 270st)
3 0.7
140 (at 320st)
24 1200 1
TA7R
16 Horizontal/ 960 1
(Single 200 16384 － － －
8 Vertical 480 1
Block Type)
4 240 0.7
960 (at 40 to 290st)
16 730 (at 340st) 1
600 (at 390st)
TA7R
480 (at 40 to 290st)
(Double Horizontal/
200 16384 8 365 (at 340st) 1 － － －
Block Vertical
300 (at 390st)
Type)
240 (at 40 to 290st)
4 180 (at 340st) 0.7
150 (at 390st)

E2-63 ME0384-7C
 2.1 List of Actuator Specifications

RCS3 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 50 to 650st)
1610 (at 700st)
1420 (at 750st)
1260 (at 800st)
1120 (at 850st) Horizontal:1
30 － － －
1010 (at 900st) Vertical:0.7
910 (at 950st)
830 (at 1000st)
760 (at 1050st)
690 (at 1100st)
1200 (at 50 to 650st)
1070 (at 700st)
940 (at 750st)

Appendix
840 (at 800st)
750 (at 850st)
20 0.7 － － －
670 (at 900st)
610 (at 950st)
550 (at 1000st)
500 (at 1050st)
SA8C
100 Horizontal/ 460 (at 1100st)
SA8R 16384
(Note)
150 Vertical 600 (at 50 to 650st)
530 (at 700st)
470 (at 750st)
RCS3/ 410 (at 800st)
RCS3P 370 (at 850st)
10 0.5 － － －
(Slider type) 340 (at 900st)
310 (at 950st)

Chapter 2 Connectable Actuators

270 (at 1000st)
250 (at 1050st)
230 (at 1100st)
300 (at 50 to 650st)
260 (at 700st)
230 (at 750st)
5 200 (at 800st)
(Only 180 (at 850st)
0.3 － － －
for 170 (at 900st)
100W) 150 (at 950st)
135 (at 1000st)
120 (at 1050st)
110 (at 1100st)
1800 (at 50 to 600st)
1660 (at 650st)
1460 (at 700st)
SS8C 1295 (at 750st)
100 Horizontal/ Horizontal:1
SS8R 16384 30 1155 (at 800st) － － －
150 Vertical Vertical:0.7
(Note)
1035 (at 850st)
935 (at 900st)
850 (at 950st)
775 (at 1000st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleratio
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-64
 2.1 List of Actuator Specifications

RCS3 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 50 to 600st)
1105 (at 650st)
970 (at 700st)
860 (at 750st)
20 770 (at 800st) 0.7 － － －
690 (at 850st)
625 (at 900st)
565 (at 950st)
515 (at 1000st)
600 (at 50 to 600st)
550 (at 650st)
485 (at 700st)
RCS3/ SS8C 430 (at 750st)
Appendix

100 Horizontal/
RCS3P SS8R 16384 10 385 (at 800st) 0.5 － － －
150 Vertical
(Slider type) (Note)
345 (at 850st)
310 (at 900st)
280 (at 950st)
255 (at 1000st)
300 (at 50 to 600st)
275 (at 650st)
240 (at 700st)
5
215 (at 750st)
(Only
190 (at 800st) 0.3 － － －
for
170 (at 850st)
100W)
150 (at 900st)
140 (at 950st)
125 (at 1000st)
Chapter 2 Connectable Actuators

1800 (at 50 to 650st)

1510 (at 700st)
1340 (at 750st)
1190 (at 800st)
1070 (at 850st) Horizontal:1
30 － － －
960 (at 900st) Vertical:0.7
870 (at 950st)
790 (at 1000st)
720 (at 1050st)
660 (at 1100st)
1200 (at 50 to 650st)
1010 (at 700st)
890 (at 750st)
[Cleanroom
790 (at 800st)
type]
SA8C 100 Horizontal/ 710 (at 850st)
RCS3CR/ 16384 20 0.7 － － －
(Note)
150 Vertical 640 (at 900st)
RCS3PCR
580 (at 950st)
(Slider type)
530 (at 1000st)
480 (at 1050st)
440 (at 1100st)
600 (at 50 to 650st)
500 (at 700st)
440 (at 750st)
390 (at 800st)
350 (at 850st)
10 0.5 － － －
320 (at 900st)
290 (at 950st)
260 (at 1000st)
240 (at 1050st)
220 (at 1100st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleratio
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-65 ME0384-7C
 2.1 List of Actuator Specifications

RCS3 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
300 (at 50 to 650st)
250 (at 700st)
220 (at 750st)
5 190 (at 800st)
SA8C 100 (Only Horizontal/ 170 (at 850st)
16384 0.3 － － －
(Note)
150 for Vertical 160 (at 900st)
100W) 140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
1800 (at 50 to 600st)
1660 (at 650st)
1460 (at 700st)

Appendix
1295 (at 750st)
Horizontal:1
30 1155 (at 800st) － － －
Vertical:0.7
1035 (at 850st)
935 (at 900st)
850 (at 950st)
775 (at 1000st)
1200 (at 50 to 600st)
1105 (at 650st)
[Cleanroom
970 (at 700st)
type]
860 (at 750st)
RCS3CR/
20 770 (at 800st) 0.7 － － －
RCS3PCR
690 (at 850st)
(Slider type)
625 (at 900st)
565 (at 950st)

Chapter 2 Connectable Actuators

SS8C 100 Horizontal/ 515 (at 1000st)
16384
(Note)
150 Vertical 600 (at 50 to 600st)
550 (at 650st)
485 (at 700st)
430 (at 750st)
10 385 (at 800st) 0.5 － － －
345 (at 850st)
310 (at 900st)
280 (at 950st)
255 (at 1000st)
300 (at 50 to 600st)
275 (at 650st)
240 (at 700st)
5
215 (at 750st)
(Only
190 (at 800st) 0.3 － － －
for
170 (at 850st)
100W)
150 (at 900st)
140 (at 950st)
125 (at 1000st)
RCS3 Horizontal/
CTZ5C 60 16384 10 833 3.2 － － －
(High-speed Vertical
type) CT8C 400 16384 30 Horizontal 2500 3.2 － － －
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleratio
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-66
 2.1 List of Actuator Specifications

RCS2 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 50 to 600st)
0.3
1150 (at 650st)
High Acceleration/
24 960 (at 700st) － － －
Deceleration
890 (at 750st)
Application:0.8
720 (at 800st)
800 (at 50 to 600st)
0.3
745 (at 650st)
High Acceleration/
16 640 (at 700st) － － －
Deceleration
575 (at 750st)
Application:1
SA7C Horizontal/ 480 (at 800st)
60 16384
(Note)
Vertical 400 (at 50 to 600st)
0.3
370 (at 650st)
High Acceleration/
8 320 (at 700st) － － －
Appendix

Deceleration
285 (at 750st)
Application:0.8
240 (at 800st)
200 (at 50 to 600st)
185 (at 650st)
4 160 (at 700st) 0.2 － － －
140 (at 750st)
120 (at 800st)
800 (at 50 to 600st)
745 (at 650st)
16 640 (at 700st) 0.3 － － －
575 (at 750st)
RCS2 480 (at 800st)
(Slider type)
400 (at 50 to 600st)
Chapter 2 Connectable Actuators

370 (at 650st)

SA7R Horizontal/
60 16384 8 320 (at 700st) 0.3 － － －
(Note)
Vertical
285 (at 750st)
240 (at 800st)
200 (at 50 to 600st)
185 (at 650st)
4 160 (at 700st) 0.2 － － －
140 (at 750st)
120 (at 800st)
1000 (at 50 to 550st)
20 0.3
830 (at 600st)
600 (at 50 to 500st)
SS7C 12 Horizontal/ 580 (at 550st) 0.3
60 16384 － － －
(Note)
Vertical 470 (at 600st)
300 (at 50 to 500st)
6 290 (at 550st) 0.3
230 (at 600st)
600 (at 50 to 500st)
12 580 (at 550st) 0.3
SS7R Horizontal/ 470 (at 600st)
60 16384 － － －
(Note)
Vertical 300 (at 50 to 500st)
6 290 (at 550st) 0.3
230 (at 600st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleratio
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-67 ME0384-7C
 2.1 List of Actuator Specifications

RCS2 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1000 (at 50 to 600st)
960 (at 700st)
20 765 (at 800st) 0.3
625 (at 900st)
100 Horizontal/ 515 (at 1000st)
SS8C 16384 － － －
150 Vertical 500 (at 50 to 600st)
480 (at 700st)
10 380 (at 800st) 0.3
310 (at 900st)
RCS2 255 (at 1000st)
(Slider type) 1000 (at 50 to 600st)
960 (at 700st)
20 765 (at 800st) 0.3

Appendix
625 (at 900st)
100 Horizontal/ 515 (at 1000st)
SS8R 16384 － － －
150 Vertical 500 (at 50 to 600st)
480 (at 700st)
10 380 (at 800st) 0.3
310 (at 900st)
255 (at 1000st)
800 (at 50 to 250st)
16 0.3
755 (at 300st)
400 (at 50 to 250st)
60 8 0.3 － － －
377 (at 300st)
200 (at 50 to 250st)
4 0.2
188 (at 300st)

Chapter 2 Connectable Actuators

0.3
RA5C Horizontal/ 800 (at 50 to 250st) High Acceleration/
16384 16
(Note)
Vertical 755 (at 300st) Deceleration
Application:1
0.3
100 － － －
400 (at 50 to 250st) High Acceleration/
8
377 (at 300st) Deceleration
Application:1
200 (at 50 to 250st)
4 0.2
188 (at 300st)
800 (at 50 to 250st)
16 0.3
755 (at 300st)
RCS2 400 (at 50 to 250st)
60 8 0.3 － － －
(Rod type) 377 (at 300st)
200 (at 50 to 250st)
4 0.2
188 (at 300st)
0.3
RGS5C Horizontal/ 800 (at 50 to 250st) High Acceleration/
16384 16
RGD5C Vertical 755 (at 300st) Deceleration
Application:1
0.3
100 － － －
400 (at 50 to 250st) High Acceleration/
8
377 (at 300st) Deceleration
Application:1
200 (at 50 to 250st)
4 0.2
188 (at 300st)
800 (at 50 to 250st)
16 0.3
755 (at 300st)
Horizontal/ 400 (at 50 to 250st)
RA5R 60 16384 8 0.3 － － －
Vertical 377 (at 300st)
200 (at 50 to 250st)
4 0.2
188 (at 300st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleratio
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-68
 2.1 List of Actuator Specifications

RCS2 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
380 (at 75st)
Horizontal 0.3
280 (at 50st)
10
330 (at 75st)
RN5N Vertical 0.2
230 (at 50st)
RP5N Incremental
60 Horizontal 250 0.3 － － －
GS5N 1600
5 250 (at 75st)
GD5N Vertical 0.2
230 (at 50st)
Horizontal/
2.5 125 0.2
Vertical
380 (at 75st)
Horizontal 0.3
280 (at 50st)
10
330 (at 75st)
Vertical 0.2
Appendix

230 (at 50st)

SD5N 60 1600 Horizontal 250 0.3 － － －
5 250 (at 75st)
Vertical 0.2
230 (at 50st)
Horizontal/
2.5 125 0.2
Vertical
RCS2 600 (at 50 to 250st)
12 0.15
(Rod type) 505 (at 300st)
300 (at 50 to 250st)
60 6 0.1
250 (at 300st)
RA7AD
Horizontal/ 150 (at 50 to 250st)
RGS7AD 3072 3 0.05 － － －
Vertical 125 (at 300st)
RGD7AD
600 (at 50 to 250st)
12 0.2
Chapter 2 Connectable Actuators

505 (at 300st)

100
300 (at 50 to 250st)
6 0.1
250 (at 300st)
16 800 0.35
60 8 400 0.25
SRA7BD
4 Horizontal/ 200 0.15
SRGS7BD 3072 － － －
16 Vertical 800 0.4
SRGD7BD 100
8 400 0.3
150
4 200 0.2
85 (at 50st)
2.5 Horizontal/ 120 (at 100st) 0.02 1000 9800 10
RA13R 750 16384
Vertical 125 (at 150 to 200st)
1.25 62 0.01 2000 19600 10
380 (at 75st)
Horizontal 0.3
[Cleanroom 280 (at 50st)
10
type] RN5NB 330 (at 75st)
Vertical 0.2
[Dust and drip RP5NB 230 (at 50st)
Incremental
proof type] GS5NB 60 Horizontal 250 0.3 － － －
1600
RCS2CR/ GD5NB 5 250 (at 75st)
RCS2W SD5NB Vertical 0.2
230 (at 50st)
(Rod type) Horizontal/
2.5 125 0.2
Vertical
380 (at 75st)
Horizontal 0.3
280 (at 50st)
10
330 (at 75st)
Vertical 0.2
TCA5N 230 (at 50st)
RCS2 Incremental
TWA5N 60 Horizontal 250 0.3 － － －
(Table type) 1600
TFA5N 5 250 (at 75st)
Vertical 0.2
230 (at 50st)
Horizontal/
2.5 125 0.2
Vertical

E2-69 ME0384-7C
 2.1 List of Actuator Specifications

RCS2 Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
Deceleration
RCS2
GR8 60 16384 ratio － 400 0.3 － － －
(Gripper type)
1/5
16 800 0.3
RCS2 60 Horizontal/
F5D 16384 8 400 0.3 － － －
(Flat type) 100 Vertical
4 200 0.2
Deceleration
RT6 60 16384 ratio － 500 deg/s － － － －
1/18
Deceleration
RT6R 60 16384 ratio － 500 deg/s － － － －
1/18

Appendix
Deceleration
RT7R 60 16384 ratio － 500 deg/s － － － －
1/4
Deceleration
RCS2
ratio 1200 deg/s
(Rotary type)
1/15
RTC10L 60 16384 － 0.3 － － －
Deceleration
ratio 750 deg/s
1/24
Deceleration
ratio 800 deg/s
1/18
RTC12L 150 16384 － 0.3 － － －
Deceleration

Chapter 2 Connectable Actuators

ratio 600 deg/s
1/30

ME0384-7C E2-70
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
960 (at 100 to 600st)
655 (at 700st) Horizontal:1.2
16 － － －
515 (at 800st) Vertical:0.8
Battery-less 415 (at 900st)
Absolute 480 (at 100 to 600st)
131072 330 (at 700st) Horizontal:0.7
60 8 － － －
260 (at 800st) Vertical:0.6
Incremental 210 (at 900st)
16384 240 (at 100 to 600st)
165 (at 700st) Horizontal:0.5
4 － － －
130 (at 800st) Vertical:0.4
100 (at 900st)
Appendix

1100 (at 100st)

1425 (at 150st)
SXM Horizontal/ 1700 (at 200st)
(Note)
Vertical 1925 (at 250st)
2075 (at 300st)
2125 (at 350st)
2160 (at 400 to 550st)
2000 (at 600st)
100
1740 (at 650st) Horizontal:2
(Only for 131072 36 － － －
1520 (at 700st) Vertical:1.6
ISB)
1340 (at 750st)
1190 (at 800st)
1065 (at 850st)
960 (at 900st)
865 (at 950st)
Chapter 2 Connectable Actuators

790 (at 1000st)

721 (at 1050st)
ISB/ISPB
660 (at 1100st)
(Slider type)
960 (at 130 to 580st)
655 (at 680st)
16 1.2 － － －
515 (at 780st)
Battery-less 415 (at 880st)
Absolute 480 (at 130 to 580st)
131072 330 (at 680st)
60 8 0.7 － － －
260 (at 780st)
Incremental 210 (at 880st)
16384 240 (at 130 to 580st)
165 (at 680st)
4 0.5 － － －
130 (at 780st)
100 (at 880st)
1425 (at 130st)
SXL Horizontal/ 1700 (at 180st)
(Note)
Vertical 1925 (at 230st)
2075 (at 280st)
2125 (at 330st)
2160 (at 380 to 530st)
2000 (at 580st)
100 1740 (at 630st)
Horizontal:2
(Only for 131072 36 1520 (at 680st) － － －
Vertical:1.6
ISB) 1340 (at 730st)
1190 (at 780st)
1065 (at 830st)
960 (at 880st)
865 (at 930st)
790 (at 980st)
721 (at 1030st)
660 (at 1080st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-71 ME0384-7C
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 100 to 700st)
1290 (at 800st)
30 1045 (at 900st) 1.2 － － －
860 (at 1000st)
690 (at 1100st)
1200 (at 100 to 700st)
860 (at 800st)
Horizontal:1.2
Battery-less 20 695 (at 900st) － － －
Vertical:1
Absolute 570 (at 1000st)
100 131072 460 (at 1100st)
200 600 (at 100 to 700st)
Incremental 430 (at 800st)
Horizontal:0.7
16384 10 345 (at 900st) － － －

Appendix
Vertical:0.6
280 (at 1000st)
230 (at 1100st)
300 (at 100 to 700st)
215 (at 800st)
Horizontal:0.5
5 170 (at 900st) － － －
Vertical:0.4
140 (at 1000st)
ISB/ISPB MXM Horizontal/ 115 (at 1100st)
(Slider type) (Note)
Vertical 1025 (at 100st)
1325 (at 150st)
1575 (at 200st)
1825 (at 250st)
2025 (at 300st)
2200 (at 350st)
2350 (at 400st)

Chapter 2 Connectable Actuators

2400 (at 450st)
2500 (at 500 to 700st)
400 2270 (at 750st)
Horizontal:2
(Only for 131072 48 2030 (at 800st) － － －
Vertical:1.6
ISB) 1825 (at 850st)
1645 (at 900st)
1495 (at 950st)
1365 (at 1000st)
1250 (at 1050st)
1150 (at 1100st)
1060 (at 1150st)
980 (at 1200st)
910 (at 1250st)
845 (at 1300st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-72
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 120 to 670st)
1290 (at 770st)
30 1045 (at 870st) 1.2 － － －
860 (at 970st)
690 (at 1070st)
1200 (at 120 to 670st)
860 (at 770st)
Horizontal:1.2
Battery-less 20 695 (at 870st) － － －
Vertical:1
Absolute 570 (at 970st)
100 131072 460 (at 1070st)
200 600 (at 120 to 670st)
Incremental 430 (at 770st)
Horizontal:0.7
16384 10 345 (at 870st) － － －
Appendix

Vertical:0.6
280 (at 970st)
230 (at 1070st)
300 (at 120 to 670st)
215 (at 770st)
Horizontal:0.5
5 170 (at 870st) － － －
Vertical:0.4
140 (at 970st)
ISB/ISPB MXL Horizontal/ 115 (at 1070st)
(Slider type) (Note)
Vertical
1325 (at 120st)
1575 (at 170st)
1825 (at 220st)
2025 (at 270st)
2200 (at 320st)
2350 (at 370st)
2400 (at 420st)
Chapter 2 Connectable Actuators

2500 (at 470 to 670st)

2270 (at 720st)
400
2030 (at 770st) Horizontal:2
(Only for 131072 48 － － －
1825 (at 820st) Vertical:1.6
ISB)
1645 (at 870st)
1495 (at 920st)
1365 (at 970st)
1250 (at 1020st)
1150 (at 1070st)
1060 (at 1120st)
980 (at 1170st)
910 (at 1220st)
845 (at 1270st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-73 ME0384-7C
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 800 to 1100st)
1650 (at 1150st)
1500 (at 1250st)
1425 (at 1350st)
1200 (at 1450st)
30 0.4 － － －
1050 (at 1550st)
900 (at 1650st)
Battery-less 825 (at 1750st)
Absolute 750 (at 1850st)
131072 675 (at 1950st)
200
1200 (at 800 to 1100st)
Incremental 1100 (at 1150st)
16384 1000 (at 1250st)

Appendix
950 (at 1350st)
800 (at 1450st)
20 0.4 － － －
700 (at 1550st)
600 (at 1650st)
550 (at 1750st)
500 (at 1850st)
450 (at 1950st)
1700 (at 800st)
ISB/ISPB 1750 (at 850st)
MXMX Horizontal 1800 (at 900st)
(Slider type)
1850 (at 950st)
1900 (at 1000st)
1950 (at 1050st)
2000 (at 1100st)

Chapter 2 Connectable Actuators

2050 (at 1150st)
2100 (at 1200st)
2150 (at 1250st)
2200 (at 1300st)
400 2065 (at 1350st)
(Only for 131072 48 1925 (at 1400st) 0.4 － － －
ISB) 1805 (at 1450st)
1690 (at 1500st)
1590 (at 1550st)
1495 (at 1600st)
1410 (at 1650st)
1335 (at 1700st)
1265 (at 1750st)
1195 (at 1800st)
1135 (at 1850st)
1080 (at 1900st)
1025 (at 1950st)
980 (at 2000st)

ME0384-7C E2-74
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2400 (at 100 to 800st)
1840 (at 900st)
1530 (at 1000st)
40 1.2 － － －
1290 (at 1100st)
1100 (at 1200st)
880 (at 1300st)
Battery-less 1200 (at 100 to 800st)
Absolute 920 (at 900st)
LXM 200 131072 Horizontal/ 765 (at 1000st) Horizontal:1.2
20 － － －
(Note)
400 Vertical 645 (at 1100st) Vertical:1
Incremental 550 (at 1200st)
16384 440 (at 1300st)
600 (at 100 to 800st)
Appendix

460 (at 900st)

380 (at 1000st) Horizontal:0.7
10 － － －
320 (at 1100st) Vertical:0.6
270 (at 1200st)
ISB/ISPB 220 (at 1300st)
(Slider type) 2400 (at 120 to 770st)
1840 (at 870st)
1530 (at 970st)
40 1.2 － － －
1290 (at 1070st)
1100 (at 1170st)
880 (at 1270st)
Battery-less 1200 (at 120 to 770st)
Absolute 920 (at 870st)
Chapter 2 Connectable Actuators

LXL 200 131072 Horizontal/ 765 (at 970st) Horizontal:1.2

20 － － －
(Note)
400 Vertical 645 (at 1070st) Vertical:1
Incremental 550 (at 1170st)
16384 440 (at 1270st)
600 (at 120 to 770st)
460 (at 870st)
380 (at 970st) Horizontal:0.7
10 － － －
320 (at 1070st) Vertical:0.6
270 (at 1170st)
220 (at 1270st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-75 ME0384-7C
 2.1 List of Actuator Specifications

ISB/ISPB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2400 (at 1000 to 1200st)
2300 (at 1300st)
2000 (at 1400st)
1900 (at 1500st)
1660 (at 1600st)
1480 (at 1700st)
1300 (at 1800st)
400 40 Horizontal 0.4 － － －
1180 (at 1900st)
1080 (at 2000st)
980 (at 2100st)
900 (at 2200st)
Battery-less 820 (at 2300st)
Absolute 740 (at 2400st)

Appendix
131072 680 (at 2500st)
LXMX
1200 (at 1000 to 1200st)
Incremental 1150 (at 1300st)
16384 1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
200 650 (at 1800st)
20 Horizontal 0.4 － － －
400 590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
460 (at 2200st)
410 (at 2300st)
370 (at 2400st)

Chapter 2 Connectable Actuators

ISB/ISPB 340 (at 2500st)
(Slider type) 2400 (at 1000 to 1200st)
2300 (at 1300st)
2000 (at 1400st)
1900 (at 1500st)
1660 (at 1600st)
1480 (at 1700st)
1300 (at 1800st)
400 40 Horizontal 0.4 － － －
1180 (at 1900st)
1080 (at 2000st)
980 (at 2100st)
880 (at 2200st)
Battery-less 840 (at 2300st)
Absolute 740 (at 2400st)
131072 680 (at 2500st)
LXUWX
1200 (at 1000 to 1200st)
Incremental 1150 (at 1300st)
16384 1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
200 650 (at 1800st)
20 Horizontal 0.4 － － －
400 590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
440 (at 2200st)
430 (at 2300st)
370 (at 2400st)
340 (at 2500st)

ME0384-7C E2-76
 2.1 List of Actuator Specifications

ISB-W Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2500 (at 100 to 900st)
2260 (at 1000st)
Horizontal:1.2
50 1840 (at 1100st) － － －
Vertical:1.0
1570 (at 1200st)
1360 (at 1300st)
1250 (at 100 to 900st)
1130 (at 1000st)
Horizontal:1.2
25 920 (at 1100st) － － －
Vertical:1.0
785 (at 1200st)
680 (at 1300st)
Horizontal/ 600 (at 100 to 800st)
WXM 750 131072
Vertical 460 (at 900st)
380 (at 1000st) Horizontal:0.6
Appendix

ISB/ISPB
10 － － －
(Slider type) 320 (at 1100st) Vertical:0.5
270 (at 1200st)
235 (at 1300st)
600 (at 100 to 800st)
10 460 (at 900st)
High 380 (at 1000st) Horizontal:0.6
－ － －
payload 320 (at 1100st) Vertical:0.5
setting 270 (at 1200st)
235 (at 1300st)
2500
50 1.2 － － －
(at 900 to 3000st)
WXMX 750 131072 Horizontal
1250
25 1.2 － － －
(at 900 to 3000st)
Chapter 2 Connectable Actuators

E2-77 ME0384-7C
 2.1 List of Actuator Specifications

ISDB/ISPDB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
960 (at 100 to 500st)
920 (at 550st)
795 (at 600st)
Horizontal:1
16 690 (at 650st) － － －
Vertical:0.8
610 (at 700st)
540 (at 750st)
480 (at 800st)
480 (at 100 to 500st)
Battery-less
460 (at 550st)
Absolute
400 (at 600st)
S 131072 Horizontal/ Horizontal:0.7
60 8 345 (at 650st) － － －
(Note)
Vertical Vertical:0.6
305 (at 700st)
Incremental
270 (at 750st)

Appendix
16384
240 (at 800st)
ISDB(CR)/
240 (at 100 to 500st)
ISPDB(CR)
230 (at 550st)
(Slider type)
200 (at 600st)
* Including Horizontal:0.5
4 170 (at 650st) － － －
cleanroom Vertical:0.4
150 (at 700st)
type
135 (at 750st)
120 (at 800st)
1075 (at 100st)
1370 (at 150st)
1620 (at 200st)
1830 (at 250st)
1940 (at 300st)
100
S Horizontal/ 1980 (at 350st) Horizontal:2

Chapter 2 Connectable Actuators

(Only for 131072 36 － － －
(Note)
Vertical 2000 (at 400 to 550st) Vertical:1.6
ISDB)
1825 (at 600st)
1590 (at 650st)
1400 (at 700st)
1240 (at 750st)
1105 (at 800st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-78
 2.1 List of Actuator Specifications

ISDB/ISPDB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 100 to 600st)
1630 (at 650st)
1440 (at 700st)
1280 (at 750st)
1150 (at 800st)
30 1035 (at 850st) 1 － － －
935 (at 900st)
850 (at 950st)
780 (at 1000st)
715 (at 1050st)
660 (at 1100st)
1200 (at 100 to 600st)
1085 (at 650st)
Appendix

960 (at 700st)

855 (at 750st)
765 (at 800st)
20 690 (at 850st) 1 － － －
625 (at 900st)
570 (at 950st)
ISDB(CR)/ Battery-less 520 (at 1000st)
ISPDB(CR) Absolute 475 (at 1050st)
(Slider type) M 100 131072 Horizontal/ 440 (at 1100st)
* Including (Note)
200 Vertical 600 (at 100 to 600st)
cleanroom Incremental 545 (at 650st)
type 16384 480 (at 700st)
430 (at 750st)
380 (at 800st)
Chapter 2 Connectable Actuators

Horizontal:0.7
10 345 (at 850st) － － －
Vertical:0.6
310 (at 900st)
285 (at 950st)
260 (at 1000st)
240 (at 1050st)
220 (at 1100st)
300 (at 100 to 600st)
270 (at 650st)
240 (at 700st)
215 (at 750st)
190 (at 800st)
Horizontal:0.5
5 170 (at 850st) － － －
Vertical:0.4
155 (at 900st)
140 (at 950st)
130 (at 1000st)
120 (at 1050st)
110 (at 1100st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-79 ME0384-7C
 2.1 List of Actuator Specifications

ISDB/ISPDB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
980 (at 100st)
1270 (at 150st)
1520 (at 200st)
1740 (at 250st)
1930 (at 300st)
2050 (at 350st)
2125 (at 400st)
400
M Horizontal/ 2200 (at 450 to 700st) Horizontal:1.8
(Only for 131072 48 － － －
(Note)
Vertical 2145 (at 750st) Vertical:1.6
ISDB)
1920 (at 800st)
1730 (at 850st)
1570 (at 900st)
1430 (at 950st)

Appendix
1305 (at 1000st)
1195 (at 1050st)
1105 (at 1100st)
1800 (at 800 to 1100st)
1650 (at 1200st)
1500 (at 1300st)
1425 (at 1400st)
1200 (at 1500st)
1050 (at 1600st)
30 0.4 － － －
at 1650st to :
cleanroom type only
900 (at 1700st)
Battery-less 825 (at 1800st)
ISDB(CR)/
Absolute 750 (at 1900st)

Chapter 2 Connectable Actuators

ISPDB(CR)
131072 675 (at 2000st)
(Slider type) MX 200 Horizontal
1200 (at 800 to 1100st)
* Including
Incremental 1100 (at 1200st)
cleanroom
16384 1000 (at 1300st)
type
950 (at 1400st)
800 (at 1500st)
700 (at 1600st)
20 0.4 － － －
at 1650st to :
cleanroom type only
600 (at 1700st)
550 (at 1800st)
500 (at 1900st)
450 (at 2000st)
1700 (at 800st)
1750 (at 850st)
1800 (at 900st)
1850 (at 950st)
1900 (at 1000st)
1950 (at 1050st)
2000 (at 1100st)
400 2050 (at 1150st)
MX (Only for 131072 48 Horizontal 2100 (at 1200st) 0.4 － － －
ISDB) 2150 (at 1250st)
2200 (at 1300st)
1990 (at 1350st)
1860 (at 1400st)
1745 (at 1450st)
1640 (at 1500st)
1540 (at 1550st)
1450 (at 1600st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-80
 2.1 List of Actuator Specifications

ISDB/ISPDB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 100 to 800st)
1700 (at 850st)
1540 (at 900st)
1410 (at 950st)
1290 (at 1000st)
40 1185 (at 1050st) 1 － － －
1095 (at 1100st)
1015 (at 1150st)
940 (at 1200st)
875 (at 1250st)
815 (at 1300st)
1200 (at 100 to 650st)
1165 (at 700st)
Appendix

1045 (at 750st)

940 (at 800st)
850 (at 850st)
770 (at 900st)
ISDB(CR)/ Battery-less
705 (at 950st)
ISPDB(CR) Absolute 20 1 － － －
645 (at 1000st)
(Slider type) L 200 131072 Horizontal/
595 (at 1050st)
* Including (Note)
400 Vertical
545 (at 1100st)
cleanroom Incremental
505 (at 1150st)
type 16384
470 (at 1200st)
440 (at 1250st)
410 (at 1300st)
600 (at 100 to 650st)
585 (at 700st)
Chapter 2 Connectable Actuators

520 (at 750st)

470 (at 800st)
425 (at 850st)
385 (at 900st)
350 (at 950st) Horizontal:0.7
10 － － －
320 (at 1000st) Vertical:0.6
295 (at 1050st)
275 (at 1100st)
255 (at 1150st)
235 (at 1200st)
220 (at 1250st)
205 (at 1300st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-81 ME0384-7C
 2.1 List of Actuator Specifications

ISDB/ISPDB Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 1000 to 1500st)
1660 (at 1600st)
at 1650st to :
cleanroom type only
1480 (at 1700st)
1300 (at 1800st)
40 1180 (at 1900st) 0.4 － － －
1080 (at 2000st)
980 (at 2100st)
880 (at 2200st)
820 (at 2300st)
740 (at 2400st)
ISDB(CR)/ Battery-less
680 (at 2500st)

Appendix
ISPDB(CR) Absolute
1200 (at 1000 to 1200st)
(Slider type) 200 131072
LX Horizontal 1150 (at 1300st)
* Including 400
1000 (at 1400st)
cleanroom Incremental
950 (at 1500st)
type 16384
830 (at 1600st)
at 1650st to :
cleanroom type only
740 (at 1700st)
20 0.4 － － －
650 (at 1800st)
590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
440 (at 2200st)
410 (at 2300st)

Chapter 2 Connectable Actuators

370 (at 2400st)
340 (at 2500st)

ME0384-7C E2-82
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
Horizontal:1
16 960
Vertical:0.7
SXM Horizontal/ Horizontal:0.6
60 16384 8 480 － － －
SYM Vertical Vertical:0.5
Horizontal:0.5
4 240
Vertical:0.3
8 480 0.3
SZM 60 16384 Vertical － － －
4 240 0.3
1800 (at 100 to 700st)
1290 (at 800st)
30 Horizontal 1 － － －
1045 (at 900st)
860 (at 1000st)
Appendix

1200 (at 100 to 700st)

860 (at 800st) Horizontal:1
20 － － －
695 (at 900st) Vertical:0.8
570 (at 1000st)
100 16384
600 (at 100 to 700st)
Horizontal/ 430 (at 800st) Horizontal:0.6
10 － － －
Vertical 345 (at 900st) Vertical:0.5
280 (at 1000st)
300 (at 100 to 700st)
ISA/ISPA MXM 215 (at 800st) Horizontal:0.5
(Slider type) 5 － － －
MYM 170 (at 900st) Vertical:0.3
140 (at 1000st)
1800 (at 100 to 700st)
Chapter 2 Connectable Actuators

1290 (at 800st)

30 1 － － －
1045 (at 900st)
860 (at 1000st)
1200 (at 100 to 700st)
Horizontal/ 860 (at 800st) Horizontal:1
200 16384 20 － － －
Vertical 695 (at 900st) Vertical:0.8
570 (at 1000st)
600 (at 100 to 700st)
430 (at 800st) Horizontal:0.6
10 － － －
345 (at 900st) Vertical:0.5
280 (at 1000st)
600 (at 100 to 700st)
430 (at 800st)
10 0.5
345 (at 900st)
100 280 (at 1000st)
MZM 16384 Vertical － － －
200 300 (at 100 to 700st)
5
215 (at 800st)
(Only for 0.3
170 (at 900st)
100W)
140 (at 1000st)

E2-83 ME0384-7C
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 800 to 1100st)
1650 (at 1200st)
1500 (at 1300st)
1425 (at 1400st)
1200 (at 1500st)
30 0.3 － － －
1050 (at 1600st)
900 (at 1700st)
825 (at 1800st)
750 (at 1900st)
675 (at 2000st)
MXMX 200 16384 Horizontal
1200 (at 800 to 1100st)
1100 (at 1200st)
1000 (at 1300st)

Appendix
950 (at 1400st)
800 (at 1500st)
20 0.3 － － －
700 (at 1600st)
600 (at 1700st)
550 (at 1800st)
500 (at 1900st)
450 (at 2000st)
1200 (at 100 to 800st)
920 (at 900st)
ISA/ISPA Horizontal:1
20 765 (at 1000st)
(Slider type) Vertical:0.8
645 (at 1100st)
Horizontal/ 550 (at 1200st)
200 16384 － － －
Vertical 600 (at 100 to 800st)
460 (at 900st)

Chapter 2 Connectable Actuators

Horizontal:0.6
10 380 (at 1000st)
Vertical:0.5
320 (at 1100st)
LXM 270 (at 1200st)
LYM 2400 (at 100 to 800st)
1840 (at 900st)
40 1530 (at 1000st) 1
1290 (at 1100st)
Horizontal/ 1100 (at 1200st)
400 16384 － － －
Vertical 1200 (at 100 to 800st)
920 (at 900st)
Horizontal:1
20 765 (at 1000st)
Vertical:0.8
645 (at 1100st)
550 (at 1200st)
600 (at 100 to 800st)
460 (at 900st)
200
LZM 16384 10 Vertical 380 (at 1000st) 0.5 － － －
400
320 (at 1100st)
270 (at 1200st)

ME0384-7C E2-84
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 1000 to 1200st)
1150 (at 1300st)
1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
650 (at 1800st)
200 16384 20 Horizontal 0.3 － － －
590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
460 (at 2200st)
410 (at 2300st)
370 (at 2400st)
Appendix

340 (at 2500st)

2400 (at 1000 to 1200st)
2300 (at 1300st)
2000 (at 1400st)
1900 (at 1500st)
1660 (at 1600st)
1480 (at 1700st)
ISA/ISPA 1300 (at 1800st)
LXMX 40 0.3 － － －
(Slider type) 1180 (at 1900st)
1080 (at 2000st)
980 (at 2100st)
900 (at 2200st)
820 (at 2300st)
740 (at 2400st)
Chapter 2 Connectable Actuators

680 (at 2500st)

400 16384 Horizontal
1200 (at 1000 to 1200st)
1150 (at 1300st)
1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
650 (at 1800st)
20 0.3 － － －
590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
460 (at 2200st)
410 (at 2300st)
370 (at 2400st)
340 (at 2500st)

E2-85 ME0384-7C
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1200 (at 1000 to 1200st)
1150 (at 1300st)
1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
650 (at 1800st)
200 16384 20 Horizontal 0.3 － － －
590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
440 (at 2200st)
430 (at 2300st)
370 (at 2400st)

Appendix
340 (at 2500st)
2400 (at 1000 to 1200st)
2300 (at 1300st)
2000 (at 1400st)
1900 (at 1500st)
1660 (at 1600st)
1480 (at 1700st)
ISA/ISPA 1300 (at 1800st)
LXUWX 40 0.3 － － －
(Slider type) 1180 (at 1900st)
1080 (at 2000st)
980 (at 2100st)
880 (at 2200st)
840 (at 2300st)
740 (at 2400st)

Chapter 2 Connectable Actuators

680 (at 2500st)
400 16384 Horizontal
1200 (at 1000 to 1200st)
1150 (at 1300st)
1000 (at 1400st)
950 (at 1500st)
830 (at 1600st)
740 (at 1700st)
650 (at 1800st)
20 0.3 － － －
590 (at 1900st)
540 (at 2000st)
490 (at 2100st)
440 (at 2200st)
430 (at 2300st)
370 (at 2400st)
340 (at 2500st)

ME0384-7C E2-86
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2400 (at 100 to 800st)
1840 (at 900st)
1530 (at 1000st)
40 1 － － －
1290 (at 1100st)
1100 (at 1200st)
950 (at 1300st)
1200 (at 100 to 800st)
920 (at 900st)
Horizontal/ 765 (at 1000st) Horizontal:1
600 16384 20 － － －
Vertical 645 (at 1100st) Vertical:0.8
550 (at 1200st)
475 (at 1300st)
600 (at 100 to 800st)
Appendix

WXM 460 (at 900st)

380 (at 1000st) Horizontal:0.6
10 － － －
320 (at 1100st) Vertical:0.5
270 (at 1200st)
235 (at 1300st)
2000 (at 100 to 1000st)
1840 (at 1100st)
50 1 － － －
1570 (at 1200st)
1360 (at 1300st)
Horizontal/
750 16384 1250 (at 100 to 900st)
Vertical
1090 (at 1000st)
Horizontal:1
25 920 (at 1100st) － － －
Vertical:0.8
785 (at 1200st)
Chapter 2 Connectable Actuators

ISA/ISPA 680 (at 1300st)

(Slider type) 2400 (at 900 to 1200st)
2200 (at 1300st)
1965 (at 1400st)
1725 (at 1500st)
1530 (at 1600st)
1365 (at 1700st)
1225 (at 1800st)
40 0.3 － － －
1110 (at 1900st)
1005 (at 2000st)
915 (at 2100st)
840 (at 2200st)
770 (at 2300st)
710 (at 2400st)
695 (at 2500st)
WXMX 600 16384 Horizontal
1200 (at 900 to 1200st)
1100 (at 1300st)
980 (at 1400st)
860 (at 1500st)
765 (at 1600st)
680 (at 1700st)
610 (at 1800st)
20 0.3 － － －
555 (at 1900st)
500 (at 2000st)
455 (at 2100st)
420 (at 2200st)
385 (at 2300st)
355 (at 2400st)
325 (at 2500st)

E2-87 ME0384-7C
 2.1 List of Actuator Specifications

ISA/ISPA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2000 (at 900 to 1700st)
1930 (at 1800st)
1740 (at 1900st)
1580 (at 2000st)
50 1440 (at 2100st) 0.3 － － －
1320 (at 2200st)
1210 (at 2300st)
1115 (at 2400st)
1035 (at 2500st)
ISA/ISPA 1250 (at 900 to 1500st)
WXMX 750 16384 Horizontal
(Slider type) 1200 (at 1600st)
1075 (at 1700st)
965 (at 1800st)

Appendix
870 (at 1900st)
25 790 (at 2000st) 0.3 － － －
720 (at 2100st)
660 (at 2200st)
605 (at 2300st)
555 (at 2400st)
515 (at 2500st)

Chapter 2 Connectable Actuators

ME0384-7C E2-88
 2.1 List of Actuator Specifications

ISDA/ISPDA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
800 (at 100 to 500st) Horizontal:1
16
760 (at 600st) Vertical:0.7
Horizontal/ 400 (at 100 to 500st) Horizontal:0.6
S 60 16384 8 － － －
Vertical 380 (at 600st) Vertical:0.5
200 (at 100 to 500st) Horizontal:0.5
4
190 (at 600st) Vertical:0.3
1000 (at 100 to 600st)
915 (at 700st)
Horizontal:1
20 735 (at 800st) － － －
Vertical:0.8
600 (at 900st)
500 (at 1000st)
500 (at 100 to 600st)
Appendix

455 (at 700st)

Horizontal/ Horizontal:0.6
100 16384 10 365 (at 800st) － － －
Vertical Vertical:0.5
300 (at 900st)
250 (at 1000st)
250 (at 100 to 600st)
225 (at 700st)
Horizontal:0.5
M 5 180 (at 800st) － － －
Vertical:0.3
150 (at 900st)
125 (at 1000st)
1000 (at 100 to 600st)
915 (at 700st)
Horizontal:1
20 735 (at 800st) － － －
Vertical:0.8
600 (at 900st)
ISDA(CR)/ Horizontal/ 500 (at 1000st)
200 16384
Chapter 2 Connectable Actuators

ISPDA(CR) Vertical 500 (at 100 to 600st)

(Slider type) 455 (at 700st)
* Including Horizontal:0.6
10 365 (at 800st) － － －
cleanroom Vertical:0.5
300 (at 900st)
type 250 (at 1000st)
1000 (at 800 to 1300st)
950 (at 1400st)
MX 200 16384 20 Horizontal 0.3 － － －
800 (at 1500st)
700 (at 1600st)
1000 (at 100 to 700st)
930 (at 800st)
765 (at 900st) Horizontal:1
20 － － －
640 (at 1000st) Vertical:0.8
545 (at 1100st)
Horizontal/ 465 (at 1200st)
200 16384
Vertical 500 (at 100 to 700st)
465 (at 800st)
380 (at 900st) Horizontal:0.6
L 10 － － －
320 (at 1000st) Vertical:0.5
270 (at 1100st)
230 (at 1200st)
1000 (at 100 to 700st)
930 (at 800st)
Horizontal/ 765 (at 900st) Horizontal:1
400 16384 20 － － －
Vertical 640 (at 1000st) Vertical:0.8
545 (at 1100st)
465 (at 1200st)
1000 (at 1000 to 1400st)
200
LX 16384 20 Horizontal 950 (at 1500st) 0.3 － － －
400
830 (at 1600st)

E2-89 ME0384-7C
 2.1 List of Actuator Specifications

ISDA/ISPDA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2000 (at 100 to 700st)
1965 (at 800st)
1605 (at 900st)
40 1335 (at 1000st) 1 － － －
1130 (at 1100st)
970 (at 1200st)
840 (at 1300st)
1000 (at 100 to 700st)
980 (at 800st)
800 (at 900st)
Horizontal/ Horizontal:1
600 16384 20 665 (at 1000st) － － －
Vertical Vertical:0.8
565 (at 1100st)
485 (at 1200st)

Appendix
420 (at 1300st)
500 (at 100 to 700st)
W
490 (at 800st)
400 (at 900st)
Horizontal:0.6
10 330 (at 1000st) － － －
Vertical:0.5
280 (at 1100st)
240 (at 1200st)
210 (at 1300st)
2000 (at 100 to 1000st)
1780 (at 1100st)
50 1 － － －
1525 (at 1200st)
1320 (at 1300st)
Horizontal/
[Cleanroom 750 16384 1250 (at 100 to 900st)
Vertical
type]

Chapter 2 Connectable Actuators

1050 (at 1000st)
Horizontal:1
25 890 (at 1100st) － － －
ISDACR/ Vertical:0.8
760 (at 1200st)
ISPDACR 660 (at 1300st)
(Slider type)
2000 (at 900 to 1300st)
1965 (at 1400st)
1725 (at 1500st)
1530 (at 1600st)
1365 (at 1700st)
1225 (at 1800st)
40 1110 (at 1900st) 0.3 － － －
1005 (at 2000st)
915 (at 2100st)
840 (at 2200st)
770 (at 2300st)
710 (at 2400st)
655 (at 2500st)
WX 600 16384 Horizontal
1000 (at 900 to 1300st)
980 (at 1400st)
860 (at 1500st)
765 (at 1600st)
680 (at 1700st)
610 (at 1800st)
20 555 (at 1900st) 0.3 － － －
500 (at 2000st)
455 (at 2100st)
420 (at 2200st)
385 (at 2300st)
355 (at 2400st)
325 (at 2500st)

ME0384-7C E2-90
 2.1 List of Actuator Specifications

ISDA/ISPDA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2000 (at 900 to 1700st)
1930 (at 1800st)
1740 (at 1900st)
1580 (at 2000st)
50 1440 (at 2100st) 0.3 － － －
1320 (at 2200st)
1210 (at 2300st)
[Cleanroom 1115 (at 2400st)
type] 1035 (at 2500st)
1250 (at 900 to 1500st)
WX 750 16384 Horizontal
ISDACR/ 1200 (at 1600st)
ISPDACR 1075 (at 1700st)
(Slider type) 965 (at 1800st)
Appendix

870 (at 1900st)

25 790 (at 2000st) 0.3 － － －
720 (at 2100st)
660 (at 2200st)
605 (at 2300st)
555 (at 2400st)
515 (at 2500st)
Chapter 2 Connectable Actuators

E2-91 ME0384-7C
 2.1 List of Actuator Specifications

ISWA/ISPWA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
800 (at 100 to 500st)
16 0.3
760 (at 600st)
400 (at 100 to 500st)
S 60 16384 8 Horizontal 0.3 － － －
380 (at 600st)
200 (at 100 to 500st)
4 0.15
190 (at 600st)
500 (at 100 to 600st)
455 (at 700st)
10 365 (at 800st) 0.3 － － －
300 (at 900st)
250 (at 1000st)
100 16384 Horizontal
250 (at 100 to 600st)

Appendix
225 (at 700st)
5 180 (at 800st) 0.15 － － －
150 (at 900st)
125 (at 1000st)
M
1000 (at 100 to 600st)
915 (at 700st)
20 735 (at 800st) 0.3 － － －
[Dust and 600 (at 900st)
drip proof 500 (at 1000st)
type] 200 16384 Horizontal
500 (at 100 to 600st)
ISWA/ 455 (at 700st)
ISPWA 10 365 (at 800st) 0.3 － － －
(Slider type) 300 (at 900st)
250 (at 1000st)

Chapter 2 Connectable Actuators

1000 (at 100 to 700st)
930 (at 800st)
765 (at 900st)
20 0.3 － － －
640 (at 1000st)
545 (at 1100st)
465 (at 1200st)
200 16384 Horizontal
500 (at 100 to 700st)
465 (at 800st)
380 (at 900st)
L 10 0.3 － － －
320 (at 1000st)
270 (at 1100st)
230 (at 1200st)
1000 (at 100 to 700st)
930 (at 800st)
765 (at 900st)
400 16384 20 Horizontal 0.3 － － －
640 (at 1000st)
545 (at 1100st)
465 (at 1200st)

ME0384-7C E2-92
 2.1 List of Actuator Specifications

SSPA/SSPADACR/IF/FS/RS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1800 (at 100 to 600st)
1680 (at 650st)
1480 (at 700st)
1320 (at 750st)
1180 (at 800st)
30 1060 (at 850st) 1.2 － － －
960 (at 900st)
870 (at 950st)
790 (at 1000st)
730 (at 1050st)
670 (at 1100st)
1200 (at 100 to 600st)
1120 (at 650st)
Appendix

990 (at 700st)

880 (at 750st)
780 (at 800st)
SSPA SXM Horizontal/
200 16384 20 710 (at 850st) 1 － － －
(Slider type) (Note)
Vertical
640 (at 900st)
580 (at 950st)
530 (at 1000st)
480 (at 1050st)
440 (at 1100st)
600 (at 100 to 600st)
560 (at 650st)
490 (at 700st)
440 (at 750st)
390 (at 800st)
Chapter 2 Connectable Actuators

Horizontal:0.7
10 350 (at 850st) － － －
Vertical:0.6
320 (at 900st)
290 (at 950st)
260 (at 1000st)
240 (at 1050st)
220 (at 1100st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-93 ME0384-7C
 2.1 List of Actuator Specifications

SSPA/SSPADACR/IF/FS/RS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
2400 (at 100 to 700st)
2150 (at 750st)
1930 (at 800st)
1740 (at 850st)
1580 (at 900st)
1440 (at 950st)
40 1320 (at 1000st) 1.2 － － －
1210 (at 1050st)
1120 (at 1100st)
1030 (at 1150st)
960 (at 1200st)
890 (at 1250st)
830 (at 1300st)

Appendix
1200 (at 100 to 700st)
1070 (at 750st)
960 (at 800st)
870 (at 850st)
790 (at 900st)
720 (at 950st)
MXM Horizontal/
400 16384 20 660 (at 1000st) 1 － － －
(Note)
Vertical
600 (at 1050st)
560 (at 1100st)
510 (at 1150st)
480 (at 1200st)
440 (at 1250st)
410 (at 1300st)
SSPA
600 (at 100 to 700st)

Chapter 2 Connectable Actuators

(Slider type)
530 (at 750st)
480 (at 800st)
430 (at 850st)
390 (at 900st)
360 (at 950st)
Horizontal:0.7
10 330 (at 1000st) － － －
Vertical:0.6
300 (at 1050st)
280 (at 1100st)
250 (at 1150st)
240 (at 1200st)
220 (at 1250st)
200 (at 1300st)
2500 (at 100 to 900st)
2320 (at 1000st)
1950 (at 1100st)
50 1660 (at 1200st) 1.2 － － －
1440 (at 1300st)
1250 (at 1400st)
LXM Horizontal/ 1100 (at 1500st)
750 16384
(Note)
Vertical 1250 (at 100 to 900st)
1160 (at 1000st)
970 (at 1100st)
25 830 (at 1200st) 1.2 － － －
720 (at 1300st)
620 (at 1400st)
550 (at 1500st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-94
 2.1 List of Actuator Specifications

SSPA/SSPADACR/IF/FS/RS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1600 (at 100 to 600st)
1450 (at 650st)
1290 (at 700st)
1160 (at 750st)
1040 (at 800st)
30 940 (at 850st) 1.2 － － －
860 (at 900st)
780 (at 950st)
720 (at 1000st)
660 (at 1050st)
610 (at 1100st)
1100 (at 100 to 550st)
1090 (at 600st)
Appendix

970 (at 650st)

860 (at 700st)
770 (at 750st)
[Cleanroom 690 (at 800st)
S 20 Horizontal/ 1 － － －
type] 200 16384 630 (at 850st)
(Note)
Vertical
SSPDACR 570 (at 900st)
520 (at 950st)
480 (at 1000st)
440 (at 1050st)
400 (at 1100st)
600 (at 100 to 550st)
540 (at 600st)
480 (at 650st)
430 (at 700st)
Chapter 2 Connectable Actuators

380 (at 750st)

340 (at 800st) Horizontal:0.7
10 － － －
310 (at 850st) Vertical:0.6
280 (at 900st)
260 (at 950st)
240 (at 1000st)
220 (at 1050st)
200 (at 1100st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

E2-95 ME0384-7C
 2.1 List of Actuator Specifications

SSPA/SSPADACR/IF/FS/RS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
1600 (at 100 to 800st)
1540 (at 850st)
1410 (at 900st)
1290 (at 950st)
1180 (at 1000st)
40 1100 (at 1050st) 1.2 － － －
1010 (at 1100st)
940 (at 1150st)
880 (at 1200st)
820 (at 1250st)
760 (at 1300st)
1100 (at 100 to 650st)
1040 (at 700st)

Appendix
940 (at 750st)
850 (at 800st)
770 (at 850st)
700 (at 900st)
640 (at 950st)
20 1 － － －
590 (at 1000st)
M Horizontal/ 550 (at 1050st)
400 16384
(Note)
Vertical 500 (at 1100st)
470 (at 1150st)
440 (at 1200st)
410 (at 1250st)
380 (at 1300st)
[Cleanroom
600 (at 100 to 600st)
type]
580 (at 650st)

Chapter 2 Connectable Actuators

SSPDACR
520 (at 700st)
470 (at 750st)
420 (at 800st)
380 (at 850st)
350 (at 900st)
Horizontal:0.7
10 320 (at 950st) － － －
Vertical:0.6
290 (at 1000st)
270 (at 1050st)
250 (at 1100st)
230 (at 1150st)
220 (at 1200st)
200 (at 1250st)
190 (at 1300st)
1600 (at 100 to 1100st)
1550 (at 1200st)
50 1340 (at 1300st) 1.2 － － －
1170 (at 1400st)
1040 (at 1500st)
L Horizontal/ 1100 (at 100 to 900st)
750 16384
(Note)
Vertical 1060 (at 1000st)
900 (at 1100st)
25 770 (at 1200st) 1.2 － － －
670 (at 1300st)
580 (at 1400st)
520 (at 1500st)
(Note) The models with the type column shaded are applicable for offboard tuning function. (However, if there is a setting that high-acceleration/deceleration
application, it is excluded.)
For offboard tuning function, refer to the instruction manual of PC software.

ME0384-7C E2-96
 2.1 List of Actuator Specifications

SSPA/SSPADACR/IF/FS/RS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
60
SA 16384 35 Horizontal 1750 0.3
100
IF － － －
200
MA 16384 35 Horizontal 1750 0.3
400
Equivalent
SA 100 131072 Horizontal 2000 2.0
to 28
IFA － － －
200 Equivalent
MA 131072 Horizontal 3000 2.0
400 to 42
60
NM 16384 25 Horizontal 1250 0.3
100
100
FS WM 16384 25 Horizontal 1250 0.3 － － －
200
Appendix

LM 400 16384 25 Horizontal 1250 1

HM 400 16384 40 Horizontal 2000 0.3
Deceleration
ratio 360
1/50 Horizontal/
30 30 16384 0.2
Deceleration Vertical
ratio 180
1/100
RS － － －
Deceleration
ratio 360
1/50 Horizontal/
60 60 16384 0.2
Deceleration Vertical
ratio 180
Chapter 2 Connectable Actuators

1/100

NS/NSA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
SXMS Incremental
60 12 Horizontal 720 0.8 － － －
SXMM 2400
SZMS Incremental
60 12 Vertical 600 0.7 － － －
SZMM 2400
MXMS 30 1800 1
200 16384 Horizontal － － －
MXMM 20 1200 0.8
30 1800 0.3
MXMXS 200 16384 Horizontal － － －
20 1200 0.3
NS
MZMS
200 16384 20 Vertical 1000 0.5 － － －
MZMM
LXMS 40 2400 1
400 16384 Horizontal － － －
LXMM 20 1300 1
40 2400 0.3
LXMXS 400 16384 Horizontal － － －
20 1300 0.3
LZMS
400 16384 20 Vertical 1000 0.8 － － －
LZMM
MXMS 30 1800 0.5
200 131072 Horizontal － － －
MXMM 20 1200 0.6
LXMS 40 2400 0.8
NSA 400 131072 Horizontal － － －
LXMM 20 1300 0.9
WXMS 50 2500 0.9
750 131072 Horizontal － － －
WXMM 25 1300 1

E2-97 ME0384-7C
 2.1 List of Actuator Specifications

LSA/LSAS Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
S6SS
100 48000 48 Horizontal 2500 3 － － －
S6SM
S8SS
S8SM
100 60000 60 Horizontal 2500 3 － － －
S8HS
S8HM
S10SS
200 90000 90 Horizontal 2500 3 － － －
S10SM
S10HS
200S 90000 90 Horizontal 2500 3 － － －
S10HM
H8SS
H8SM
200 50000 50 Horizontal 2500 3 － － －

Appendix
H8HS
LSA
H8HM
N10SS
100S 50000 50 Horizontal 2500 3 － － －
N10SM
L15SS
200 50000 50 Horizontal 2500 3 － － －
L15SM
N15SS
N15SM
200S 50000 50 Horizontal 2500 3 － － －
N15HS
N15HM
N19SS
300S 72000 72 Horizontal 2500 3 － － －
N19SM
W21SS
400 45000 45 Horizontal 2500 3 － － －
W21SM

Chapter 2 Connectable Actuators

N10SS
100S 50000 50 Horizontal 2500 3 － － －
N10SM
N15SS
LSAS
N15SM
200S 50000 50 Horizontal 2500 3 － － －
N15HS
N15HM

ME0384-7C E2-98
 2.1 List of Actuator Specifications

DD/DDA Series
Maximum
Motor No. of Minimum Maximum Rated push
Actuator Lead Mounting Maximum speed acceleration
Type output encoder push force push force speed
series [mm] direction [mm/s] /deceleration
[W] pulses [N] [N] [mm/s]
[G]
Deceleration
LT18S
200 131072 ratio 1800 deg/s － － － －
LT18CS
1/1
Deceleration
DD(CR) LT18P
200 1048576 ratio 1800 deg/s － － － －
* Including LT18CP
1/1 Horizontal/
cleanroom
Deceleration Vertical
type LH18S
(Note) 600 131072 ratio 1440 deg/s － － － －
LH18CS
1/1
Deceleration
LH18P
600 1048576 ratio 1440 deg/s － － － －
LH18CP
1/1
Appendix

DDA(CR) LT18CS 131072

200 1800 deg/s 9.99 － － －
* Including LT18CP 1048576 Deceleration
Horizontal/
cleanroom ratio
LH18CS 131072 Vertical
type 600 1/1 1440 deg/s 9.99 － － －
(Note) LH18CP 1048576

[Dust and LH18CS 131072

drip proof Deceleration
Horizontal/
type] 600 ratio 1440 deg/s 9.99 － － －
LH18CP 1048576 Vertical
DDW 1/1
(Note)

(Note) The 200V driver unit (RCON-SC) is applicable only to the index absolute type (encoder type: AI).
Chapter 2 Connectable Actuators

E2-99 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 slider type (High
output effective)
* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-100
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 slider type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-101 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 wide slider type
(High output effective)
* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-102
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 wide slider type
(High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-103 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 rod type (High
output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-104
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 rod type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-105 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 radial cylinder type
(High output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-106
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 radial cylinder type
(High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-107 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 wide radial cylinder
type (High output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-108
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 wide radial cylinder
type (High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-109 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof rod type (High output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-110
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof rod type (High output effective)
Appendix
Chapter 2 Connectable Actuators

E2-111 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof rod type (High output effective / Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-112
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof rod type (High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-113 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof radial cylinder type (High output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-114
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof radial cylinder type (High output effective)
Appendix
Chapter 2 Connectable Actuators

E2-115 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof radial cylinder type (High output effective / Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-116
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof radial cylinder type (High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-117 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof wide radial cylinder type (High output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-118
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip
proof wide radial cylinder type (High output effective)
Appendix
Chapter 2 Connectable Actuators

E2-119 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip proof
wide radial cylinder type (High output effective / Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-120
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6W dust and drip proof
wide radial cylinder type (High output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-121 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 table type (High
output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-122
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 table type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-123 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 table type (High
output effective)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-124
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP6 table type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-125 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 slider type (High
output effective)
* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-126
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 slider type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-127 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 belt type (High
output effective)

Appendix
Chapter 2 Connectable Actuators
Correlation diagram of speed and payload for the RCP5 rod type (High
output effective)

ME0384-7C E2-128
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 rod type (High
output effective)
Appendix
Chapter 2 Connectable Actuators

Correlation diagram of speed and payload for the RCP5 rod type

E2-129 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 rod type (High
output effective / Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-130
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5 rod type
(Motor-reversing type)
Appendix

Correlation diagram of speed and payload for the RCP5W dust and drip
Chapter 2 Connectable Actuators

proof rod type (High output effective)

E2-131 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5W dust and drip
proof rod type (High output effective)

Appendix
Chapter 2 Connectable Actuators
Correlation diagram of speed and payload for the RCP5W dust and drip
proof rod type

ME0384-7C E2-132
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP5W dust and drip
proof rod type
Appendix
Chapter 2 Connectable Actuators

E2-133 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4 slider type (High
output effective)
* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-134
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4 slider type (High
output effective / Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-135 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4W dust and drip
proof slider type
* The payload of the slider type in RCP4W series should be constant even if the velocity
gets increased.
Note that, however, the payload decreases when acceleration gets increased.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-136
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4 rod type (High
output effective)
Appendix
Chapter 2 Connectable Actuators

E2-137 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4 rod type (High
output effective / Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-138
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP4W dust and drip
proof rod type (High output effective)
Appendix
Chapter 2 Connectable Actuators

E2-139 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP3 slider type
* Characteristics should be the same for reversed type (SA2AR/SA2BR).

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-140
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP3 slider type
Appendix
Chapter 2 Connectable Actuators

E2-141 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP3 slider type
(Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-142
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP3 rod type
Appendix
Chapter 2 Connectable Actuators

E2-143 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP3 table type
* Characteristics should be the same for reversed type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-144
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 slider type
Appendix
Chapter 2 Connectable Actuators

E2-145 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 slider type

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-146
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 slider type
(Motor-reversing type)
Appendix
Chapter 2 Connectable Actuators

E2-147 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 slider type
(Motor-reversing type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-148
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the standard RCP2 rod type
Appendix
Chapter 2 Connectable Actuators

E2-149 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the standard RCP2 rod type

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-150
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 rod short type
(Standard / Equipped with Guide)
Appendix
Chapter 2 Connectable Actuators

E2-151 ME0384-7C
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2 rod short type
(Standard / Equipped with Guide)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-152
 2.2 Correlation Diagrams of Speed and Payload

Correlation diagram of speed and payload for the RCP2W dust and drip
proof type
* RCP2W-SA16C is dedicated for installation in standard horizontal orientation only.
Appendix
Chapter 2 Connectable Actuators

E2-153 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

2.3 Push Force / Gripping Force and Current Limit Value

Caution
● The correlation of the push force and the current limit value is the rated push speed (in
the setting at the delivery) and is a reference value.
● Use the actuator with the setting above the minimum push force value. The push force will
be unstable if it is below the minimum push force value.
● If the positioning speed setting in the operation condition is made lower than the push
speed, the push speed will follow that speed, thus cannot perform the expected push

Appendix
force.

RCP6 Series (Slider type / Rod type / Table type)

* Characteristics should be the same for Cleanroom/Dust and drip proof type.

Chapter 2 Connectable Actuators

ME0384-7C E2-154
 2.3 Push Force / Gripping Force and Current Limit Value

RCP6 Series (Slider type / Rod type / Table type)

* Characteristics should be the same for Cleanroom/Dust and drip proof type.
Appendix

RCP6 Series (Gripper type)

Chapter 2 Connectable Actuators

* The grip force shows the total amount of two fingers.

E2-155 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

RCP6 Series (Gripper type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-156
 2.3 Push Force / Gripping Force and Current Limit Value

RCP5 Series (Slider type / Rod type)

● RCP5 * Characteristics should be the same for Cleanroom type.
Appendix

● RCP5W
Chapter 2 Connectable Actuators

● RCP5/RCP5W

E2-157 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

RCP4 Series (Slider type / Rod type)

* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-158
 2.3 Push Force / Gripping Force and Current Limit Value

RCP4 Series (Gripper type)

Appendix
Chapter 2 Connectable Actuators

E2-159 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

RCP3 Series (Slider type / Table type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-160
 2.3 Push Force / Gripping Force and Current Limit Value

RCP3 Series (Slim, compact rod type) RA2AC/RA2BC/RA2AR/RA2BR

Appendix
Chapter 2 Connectable Actuators

RCP2 Series (Slider type / Rod type)

E2-161 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

RCP2 Series (Slider type / Rod type)

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-162
 2.3 Push Force / Gripping Force and Current Limit Value

RCP2 Series (2-finger gripper type)

* Characteristics should be the same for Cleanroom type / Dust and drip proof type.
* The grip force shows the total amount of two fingers.
Appendix
Chapter 2 Connectable Actuators

E2-163 ME0384-7C
 2.3 Push Force / Gripping Force and Current Limit Value

RCP2 Series (3-finger gripper type)

* Characteristics should be the same for Cleanroom type / Dust and drip proof type.
* The grip force may differ depending on the distance to the gripping point.
Refer to the instruction manual of each actuator for detail.

Appendix
Chapter 2 Connectable Actuators
RCL Series

RCD Series

ME0384-7C E2-164
 2.3 Push Force / Gripping Force and Current Limit Value

RCS2 Series
Appendix

* Check the operating conditions and way to select described in RCS2-RA13R Instruction
Manual to make sure it is used in the specification range.
Chapter 2 Connectable Actuators

E2-165 ME0384-7C
 2.4 Rotational Speed and Output Torque / Allowable Inertial Moment

2.4 Rotational Speed and Output Torque / Allowable Inertial Moment

RCP2 Series (Rotary type)

* Characteristics should be the same for Cleanroom type.

Appendix
Chapter 2 Connectable Actuators

ME0384-7C E2-166
 2.4 Rotational Speed and Output Torque / Allowable Inertial Moment

RCP2 Series (Rotary type)

* Characteristics should be the same for Cleanroom type.
Appendix
Chapter 2 Connectable Actuators

E2-167 ME0384-7C
Click a letter or page to jump to that page. Index

Index
Basic specifications
System Configuration and Specifications ·················· A2-17
Number
6 types of operation modes ·········································· A1-3 Simple Absolute Unit ·············································· A9-5
Brake release switch
200V AC Input Connector
24V Driver Unit ······················································ A4-9
200V Power Supply Unit ········································A5-11
A 200V Driver Unit ···················································· A6-9
EC Connection Unit················································ A8-8
About UL/cUL ······················································· Intro-17
Absolute Battery
C

Absolute Battery Charging ······································· A9-5 Causes and countermeasures of individual alarms
Driver Unit/Simple Absolute Unit ····························· D2-11
Absolute Battery Specifications································· A9-5
Gateway Unit ························································ D2-6
Absolute Battery Voltage Drop Detection ···················· A9-6
Absolute battery replacement ······································· D1-9 Caution when connecting EC connection unit
Initializing Communication when EC Connection Unit
Absolute Reset Procedure
Existed Together ················································ C3-29
Absolute reset procedure from teaching tool·············· D1-13

Index
For PC software (RCM-101-*-*) ······························ D1-13 Caution when Connecting Terminal Unit ····················· Intro-13
CC-Link Setting
For PC Teaching Software (IA-OS) ·························· D1-14
RCON Setting: CC-Link ········································ B4-23
For teaching pendant (TB-02/TB-03) ······················· D1-15
When performing absolute reset from host ················ D1-16 Checking inter-unit communication status ················· B4-31
Setting RCON gateway parameters························· B4-23
Actuator cable connector/driver unit cable connector
Transferring and writing parameters ························ B4-29
Simple Absolute Unit ·············································· A9-8
Actuator Coordinate System ···································· Intro-20 Checking the Product
EC Connection Unit················································ B1-3
Actuator wiring
Other peripheral equipment (Option)·························· B1-6
Checking actuator and controller model numbers ······· B2-16
Connecting motor/encoder cable ···························· B2-17 PIO/SIO/SCON Extension Unit ································· B1-5
PIO Unit ······························································· B1-5
Address Configuration
RCON 24V Driver Unit ·········································· B1-2
Direct numerical control mode data region configuration
······································································ C2-5 RCON 200V Driver Unit ········································ B1-2
RCON 200V Power Supply Unit ····························· B1-3
EC connection unit data region configuration ··············· C2-5
RCON Gateway Unit ·············································· B1-1
Fixed region configuration······································ C2-23
Positioner 1 mode data region configuration ················ C2-5 SCON Extension Unit ············································· B1-4
Collision Detection Function
Positioner 2 mode data region configuration ················ C2-5
Adjustment ························································· C5-10
Positioner 3 mode data region configuration ················ C2-5
Positioner 5 mode data region configuration ················ C2-5 Collision Judgment ················································· C5-8
Setting ································································· C5-9
Simple direct mode data region configuration ·············· C2-5
Components
Alarm Group
ELECYLINDER ··················································· D2-35 24V Driver Unit ······················································ A4-4
200V Driver unit····················································· A6-5
Alarm levels
200V Power Supply Unit ········································· A5-5
Driver Unit/Simple Absolute Unit ····························· D2-11
Assignment of EC connection unit ······························· C2-48 EC Connection Unit················································ A8-4
Gateway Unit ························································ A3-5
I/O Signal List······················································ C2-49
SCON Extension Unit ············································· A7-7
AUTO/MANU mode switching circuit wiring ··················· B2-60
AUTO/MANU switch Simple Absolute Unit ·············································· A9-4
Configuration Unit List················································A2-11
Gateway Unit ························································ A3-9
Conforming to Safety Category
Axis number assignment change ·································· B4-7
B System configuration ············································ B2-62
Connecting motor/encoder cable
Basic Operations of ELECYLINDER
Connection between 200V AC Servo-motor Actuator and
Basic timing chart ················································ C4-29
Home return operation/positioning operation ············· C4-28 200V Driver Unit················································· B2-18
Connection between ELECYLINDER and EC Connection Unit
Pressing operation ··············································· C4-31
···································································· B2-22

ME0384-7C Post-1
 Index Click a letter or page to jump to that page.

Connecting RCON and RCP/RCA Series other than Driver Stop Connector
the above ························································· B2-17 200V Driver Unit ···················································A6-11
Connecting RCP6 (other than high thrust) / RCP5 (other than Driver unit
high thrust) / RCD series to RCON························· B2-17 Preventive Maintenance Function ····························· C6-1
Connection Diagrams Driver unit I/O signals
AUTO/MANU mode switching circuit wiring ··············· B2-60 Alarm (ALM) ························································· C3-2
Driver stop circuit ················································· B2-56 Command complete signal (MEND) ························ C3-22
Field network wiring·············································· B2-39 CON mode push·················································· C3-21
Stop circuit / Drive cutoff circuit ······························· B2-48 Controller ready (CRDY) ········································· C3-2
Connectors Emergency stop (EMGS) ········································ C3-2
24V Driver Unit ···················································· A4-15 For linear axis ····················································· C3-13
200V Driver Unit ···················································A6-11 For rotary actuator of multi-rotation specification
200V Power Supply Unit ······································· A5-10 in index mode ···················································· C3-13
EC Connection Unit···············································A8-11 Forced brake release (BKRL) ································· C3-20
Index

Gateway Unit ······················································ A3-15 Home return (HOME) ············································· C3-4

SCON Extension Units·········································· A7-18 Home return complete (HEND) ································· C3-4
Connection setup using Ethernet port (Option) Home return operation of gripper ······························ C3-8
Setting RCON gateway parameters························· B4-20 Home return operation of rotary actuator
Connectors for EC Connection [330° rotation specification]····································· C3-6
EC Connection Unit················································ A8-9 Home return operation of rotary actuator
Consumable Parts1···················································· D1-5 [Multi-rotation Specification] ···································· C3-7
Control power connector Home return operation of slider type/rod type/
Gateway Unit ······················································ A3-14 table type actuator ················································ C3-5
Controller wiring Inching (incremental) operation······························· C3-15
24V power supply wiring to RCON system ················ B2-12 Incremental specification (INC) ······························· C3-23
200V Power Supply Wiring to RCON System ············ B2-13 Jog operation ······················································ C3-14
Electric wire diameter used for RCON Jog speed / inching distance switching (JVEL) ··········· C3-16
24V power supply wiring ······································ B2-12 Jog/inching switching (JISL) ··································· C3-17
Electric wire diameter used for RCON Load output judgment signal ·································· C3-24
200V power supply wiring ···································· B2-15 Load output judgment status (LOAD) ······················· C3-24
Wiring method to 24V power connector ···················· B2-12 Minor malfunction alarm (ALML) ····························· C3-23
Correlation Diagrams of Speed and Payload ················E2-100 Pause (STP) ······················································· C3-10
D Position data import command (PWRT) ··················· C3-19
DIN rail mounting ······················································B2-11 Position data import complete (WEND) ···················· C3-19
Direct numerical control mode assignment ···················· C2-28 Position zone (PZONE) ········································· C3-11
I/O Signal List······················································ C2-30 Position zone signal (PZONE) ································ C3-12
Drive source shutoff connector Positioning complete (PEND) ·················· C3-3, C3-4, C3-9
24V Driver Unit ···················································· A4-14 Positioning start (CSTR) ·········································· C3-9
EC Connection Unit·············································· A8-10 Pressing operation commanded torque level
Driver Stop Circuit detection signal ·················································· C3-24
Connector Position ··············································· B2-56 Push direction specification (DIR)···························· C3-22
Driver Stop Connector (Cable Side)························· B2-59 Push-motion contactless (PSFL) ····························· C3-22
Dummy Plug for Driver Stop Connector···················· B2-59 Push-motion specification (PUSH) ·························· C3-21
Electrical Specifications········································· B2-57 Reset (RES) ························································· C3-3
Example for Wiring ··············································· B2-56 SEP mode push ·················································· C3-21
Operation in malfunction········································ B2-58 Servo ON command (SON) ····································· C3-3
Operating Sequence ············································ B2-58 Servo ON status (SV) ············································· C3-3
Signals on Driver Stop Connector ··························· B2-57 Set value and signal output range ··························· C3-13
Test Pulse of Stop Input Signal ······························· B2-57 Teaching mode command (MODE) ························· C3-18
Teaching mode signal (MODES) ····························· C3-18

Post-2 ME0384-7C
Click a letter or page to jump to that page. Index

Traveling (MOVE) ··········································C3-4, C3-9 200V Power Supply Unit ······································· A5-10
Zone 1 (ZONE1) ·················································· C3-11 200V Driver Unit ···················································A6-11
Zone 2 (ZONE2) ·················································· C3-11 Fan rotation speed monitoring ···································· C6-10
Zone signal (ZONE1, ZONE2) ································ C3-12 Fan unit
+ Jog (JOG+) ······················································ C3-14 24V Driver Unit ···················································· A4-16
- Jog (JOG -)······················································· C3-14 200V Power Supply Unit ········································A5-11
E Fan Unit Replacement ············································ D1-6
EC connection unit I/O signals ···································· C3-26 Fan Unit for 200V Driver Unit
Editing driver unit configuration ··································· E1-20 200V driver unit ··················································· A6-12
ELECYLINDER position table Fan Unit for 200V Driver Unit Replacement ················· D1-8
Simple Data Setting Window ·································· C1-20 Failure Diagnostics
Simple Data Setting Window Communication failure ············································ D2-4
Acceleration / Velocity / Deceleration ······················ C1-21 Generation of abnormal noise or vibration··················· D2-4
Simple Data Setting Window Low positioning and velocity accuracy (incorrect operation)

Index
Backward End / Forward End [mm]························ C1-21 ······································································ D2-3
Simple Data Setting Window Operation failure ···················································· D2-2
Pressing / Pressing Start Point / Pressing Force ······· C1-22 Features ·································································· A1-2
Encoder connector Features of input and output signals for EC connection unit
200V Driver Specifications Section Unit ···················· A6-10 Alarm clear input (RES)········································· C3-27
Enhanced preventive and Alarm output (*ALM) ············································· C3-28
predictive maintenance functions ································· A1-3 Movement command input backward end/forward end
Ethernet connector (ST0/ST1) ························································· C3-26
Gateway Unit ························································ A3-9 Operation ready (E*RD) ········································ C3-28
Examples of safety circuits Position detection output backward end/forward end
Safety category 1 ················································· B2-65 (LS0/LS1) ························································· C3-27
Safety category 2 ················································· B2-68 Pressing complete output backward end/forward end
Safety category 3 ················································· B2-71 (PE0/PE1) ························································ C3-28
Safety category 4 ················································· B2-74 Field network connector
Explanations of Monitoring Menu Features Gateway Unit ······················································ A3-15
Alarm list ···························································· B4-33 Field network operation mode ······································ C1-2
Diagnostic information ·········································· B4-33 Field Network General Specifications
I/O data (register monitor) ······································ B4-32 CC-Link ····························································· A3-19
External dimensions CC-Link IE Field ·················································· A3-20
24V Driver unit ···················································· A4-18 DeviceNet ·························································· A3-21
200V Power Supply Unit (RCON-PS2) ····················· A5-13 EtherCAT ··························································· A3-22
200V Driver Unit ·················································· A6-13 EtherNet/IP························································· A3-23
EC Connection Unit·············································· A8-12 PROFIBUS-DP ··················································· A3-24
Fan unit (RCON-FU) ············································ A4-19 PROFINET IO ····················································· A3-25
Fan Unit for 200V Driver Unit·································· A6-14 Motion network ···················································· A3-26
Gateway Unit ······················································ A3-17 Field network wiring
SCON Extension Units·········································· A7-19 CC-Link ····························································· B2-39
Simple Absolute Unit ·············································· A9-9 CC-Link IE Field ·················································· B2-40
Terminal Unit for 200V (RCON-GW-TRS) ················· A5-14 DeviceNet ·························································· B2-41
External regenerative resistor connector EtherCAT ··························································· B2-42
200V Power Supply Unit ········································· A5-8 EtherNet/IP························································· B2-43
F PROFIBUS-DP ··················································· B2-44
Fan PROFINET IO ····················································· B2-45
Predictive Maintenance Function ···························· C6-10 G
Fan connector Gateway control/status signals ··································· C2-22
24V Driver Unit ···················································· A4-15

ME0384-7C Post-3
 Index Click a letter or page to jump to that page.

Gateway Parameter Configuration Tool Installing USB Connection Driver for RCON ·················· B4-14
Axis number assignment change ······························ B4-7 International Standard Compliance···························· Intro-16
Editing driver unit configuration ································· B4-8 J
Explanations of Monitoring Menu Features ··············· B4-32 Jog switch
Menu descriptions ·················································· E1-6 24V Driver Unit ······················································ A4-8
Operation mode individual setting ····························· B4-6 200V Driver Unit ···················································· A6-8
Special parameter setting function descriptions············ E1-8 EC Connection Unit················································ A8-7
Tool startup ··························································· E1-5 Jog travel
Gateway unit Operation Confirmation with PC Software ··················· B5-8
Preventive Maintenance Function ····························· C6-1 L
General Specifications ················································ A1-4 LED display
Grounded at positive terminal ··································· Intro-14 24V Driver Unit ······················································ A4-7
H 200V Driver Unit ···················································· A6-7
High performance ······················································ A1-3 EC Connection Unit················································ A8-6
Index

Home return Gateway Unit ························································ A3-8

Operation Confirmation with PC Software ··················· B5-6 Simple Absolute Unit ·············································· A9-8
How to Read the Model Number List of Actuator Specifications
24V Driver unit model ············································· A4-3 24V AC Servo Motor Type ····································· E2-41
EC Connection Unit model······································· A8-3 200V AC Servo Motor Type···································· E2-47
Gateway Unit ························································ A3-4 Brushless DC Electric Motor ·································· E2-46
Model Code for 200V Driver Unit······························· A6-4 Pulse Motor Type ··················································· E2-1
Model Code for 200V Power Supply Unit ···················· A5-4 List of functions by operation mode
SCON Extension Units············································ A7-5 Operation Overview ··············································· C1-3
Simple Absolute Unit ·············································· A9-3 M
How to read the model nameplate Maintenance Information
24V Driver unit ······················································ A4-2 For driver unit ························································ C6-2
200V Driver Unit ···················································· A6-3 In case of EC connection unit (ELECYLINDER) ··········· C6-3
200V Power Supply Unit ········································· A5-3 Maintenance Information Setting in Teaching Tool ········ C6-4
EC Connection Unit················································ A8-2 Master Side Setting (CC-Link)
Gateway Unit ························································ A3-3 Confirming CC-Link communication status················ B4-45
Terminal Unit for 200V ············································ A5-3 Connection between PLC and PC software ·············· B4-34
SCON Extension Units············································ A7-4 Saving network parameters ··································· B4-42
Simple Absolute Unit ·············································· A9-2 Setting network parameters ··································· B4-36
Terminal Unit ························································· A3-3 Menu descriptions
I File menu ····························································· E1-6
Improved usability ······················································ A1-3 Monitor menu ························································ E1-7
Inrush current ·························································· A2-34 Settings menu ······················································· E1-6
Installation Modular connections with excellent expansibility ·············· A1-2
Installation and mounting ········································· B2-2 Motor connector
Installation Environment ·········································· B2-1 200V Driver Unit ···················································· A6-9
Noise countermeasures and mounting method ············ B2-3 Motor power connector
Installation conditions Gateway Unit ······················································ A3-13
Installation and mounting ········································· B2-2 Motor/encoder connector
Installation Environment ·········································· B2-1 24V Driver Unit ···················································· A4-10
Noise countermeasures and mounting method N
200V 3-Phase Type ·············································· B2-3 Noise countermeasures and mounting method ················ B2-3
Noise countermeasures and mounting method 24V DC································································ B2-3
200V Single-Phase Type ······································· B2-3 200V 3-Phase Type················································ B2-3
Noise sources and noise prevention ·························· B2-4 200V Single-Phase Type ········································· B2-3
Notes on wiring method ·········································· B2-4

Post-4 ME0384-7C
Click a letter or page to jump to that page. Index

O How to Change to Simple Absolute Type in IA-OS

Operation Check of ELECYLINDER (Parameter Setting) ·············································· B3-5
Caution when Connecting ELECYLINDER ··············· B5-14 Part names
Operating Condition Setting and Adjustment ············· B5-17 24V Driver Unit ······················································ A4-5
Operation Confirmation with PC Software ··················· B5-1 200V Power Supply Unit ········································· A5-6
Pressing Operation Setting ···································· B5-19 200V Driver Unit ···················································· A6-6
Stop Position Setting and Adjustment ······················ B5-16 EC Connection Unit················································ A8-5
Stop Position / Operating Condition Setting / Gateway Unit ························································ A3-6
Adjustment························································ B5-15 PIO/SIO/SCON Extension Unit ······························· A7-10
Operation mode individual setting ································· B4-6 SCON Extension Unit ··········································· A7-10
Operation of ELECYLINDER········································ C1-4 Simple Absolute Unit ·············································· A9-7
Operating temperature range ····································· A2-36 Terminal Unit for 200V ·········································· A5-12
Operation Confirmation with PC Software ······················· B5-1 Part Names/Functions ········································ A4-5, A5-6
Registration of Position (Target Position) ···················· B5-9 PC software

Index
Switching edit position data screen ···························· B5-5 Installing ···························································· B4-42
Other basic operations Periodic Inspection ····················································· D1-1
Operation at Different Acceleration/ Periodic inspection items ············································· D1-2
Deceleration Speeds··········································· C4-21 Position table ···························································· C1-5
Operation by Specifying Relative Coordinates ··········· C4-22 1-line comment···················································· C1-19
Pausing ····························································· C4-18 Acceleration/deceleration mode S-motion··············· C1-11
Pressing····························································· C4-10 Acceleration/deceleration mode First-order delay filter
Shortcut control of multi-rotation specification rotary actuator ···································································· C1-12
···································································· C4-26 Acceleration/deceleration mode Trapezoid pattern ··· C1-11
Speed changes while traveling ······························· C4-19 Acceleration/deceleration [G] ··································· C1-7
Overload warning Comment ··························································· C1-19
In case of EC connection unit (ELECYLINDER) ········· C6-12 Link No. ····························································· C1-18
Minor Trouble Alarm Output Select ·························· C6-12 Link No. Precaution AUTO/MANU mode ·············· C1-18
Overload Load Level Ratio ···································· C6-12 Link No. Precaution Gateway operation mode······· C1-18
Predictive Maintenance Function ···························· C6-10 Link No. Precaution Position linking operation ······· C1-18
Overall address configuration example Drive torque limit [%] / Push speed [mm/s] ················ C1-17
For CC-Link ·························································· C2-6 ELECYLINDER position table ································ C1-20
For CC-Link IE Field ············································· C2-10 Incremental ························································ C1-13
For DeviceNet ····················································· C2-13 No.······································································ C1-6
For PROFIBUS-DP, EtherNet/IP, EtherCAT ··············· C2-16 Payload/Gain set Payload ··································· C1-13
For PROFINET-IO ··············································· C2-19 Payload/Gain set Gain set ··································· C1-14
Overview ·································································· A1-1 Position [mm] ························································ C1-6
24V Driver Unit ······················································ A4-1 Positioning band [mm] Positioning operation ············· C1-9
200V Driver Unit ···················································· A6-1 Positioning band [mm] Push-motion Operation ·········· C1-9
200V Power Supply Unit ········································· A5-1 Standby time [s]··················································· C1-19
EC Connection Unit················································ A8-1 Stop mode·························································· C1-15
Features ······················································ A4-1, A5-1 Stop mode Full servo control method····················· C1-16
Gateway Unit ························································ A3-1 Velocity [mm/s] ······················································ C1-6
SCON Extension Unit ············································· A7-1 Vibration damping No. ·········································· C1-16
Simple Absolute Unit ·············································· A9-1 Zone +/- [mm] ····················································· C1-10
P Position travel
Parameter Details ······················································ C7-6 Test run speed ···················································· B5-13
Parameter List··························································· C7-1 Positioner 1 mode assignment···································· C2-38
Parameter Setting I/O Signal List······················································ C2-39
Absolute Unit (Parameter No.83) ······························ B3-4 Positioner 2 mode assignment···································· C2-41
I/O Signal List······················································ C2-39

ME0384-7C Post-5
 Index Click a letter or page to jump to that page.

Positioner 3 mode assignment···································· C2-42 Predictive Maintenance Function ································ C6-10

I/O Signal List······················································ C2-43 Preventive Maintenance Function ································· C6-1
Positioner 5 mode assignment···································· C2-45 Maintenance Information ········································· C6-2
I/O Signal List······················································ C2-46 PSA-24 Status Data Monitor
Positioning································································ C4-1 How to Establish Connection···································· C6-6
Operation in direct numerical control mode ················· C4-4 Status data ··························································· C6-9
Operation in positioner 2, 3, and 5 modes ··················· C4-8 Push Force / Gripping Force and Current Limit Value ·····E2-154
Simple direct mode/positioner 1 operation ·················· C4-6 R
Power ON Sequence················································ C1-28 RCON configuration example ····································· A2-12
Power-saving function··············································· C5-11 RCON Connection Cable List
Auto current down function ···································· C5-15 24V Driver Unit Connection Cable ··························· B2-19
AUTO Servo OFF and Full Servo Function ··············· C5-11 200V Driver Unit Connection Cable ························· B2-21
Setting of Power-saving Method ····························· C5-13 EC Connection Unit Cable (Common for All Types) ···· B2-32
Setting Time until Automatic Servo OFF ··················· C5-12 Requests When Replacing Units··································· D1-4
Index

Status of Positioning Complete Signal Rotational speed and Allowable inertial moment············E2-166
when AUTO Servo OFF Selected ·························· C5-14 Rotational speed and Output torque ···························E2-166
Power supply capacity S
Driver/Option/Absolute Unit Control Power ·············· A2-29 Safety Guide ··························································· Intro-1
ELECYLINDER Control Power Capacity ·················· A2-30 SCON cable connector
Gateway Unit Control Power ································ A2-28 SCON Extension Units·········································· A7-13
24V Driver Unit Motor Power Supply························ A2-29 Servo Gain Adjustment ············································· C7-53
24V Specification ELECYLINDER Control Power ····· A2-30 Simple Absolute Unit General Specifications ················· A9-5
24V System Motor Power Supply ···························· A2-33 Simple Absolute Unit Precautions ······························· B3-6
200V Driver Unit Motor Power Supply ······················ A2-30 Simple Absolute Unit Wiring ········································· B3-1
200V Specification ELECYLINDER Control Power ···· A2-31 RCON Connection Cable List (RCP/RCA series) ········· B3-2
200V Specification ELECYLINDER Motor Power Supply Simple alarm codes
···································································· A2-31 Driver Unit/Simple Absolute Unit ····························· D2-12
200V System Motor Power Supply ·························· A2-33 Simple direct mode assignment ·································· C2-34
Control power ····················································· A2-32 I/O Signal List······················································ C2-35
For 24V System··················································· A2-26 SIO connector
For 200V System ················································· A2-26 Gateway Unit ······················································ A3-10
In-Rush Current of IAI Power Supply Unit PSA-24 ······ A2-26 Special parameter setting function descriptions
Power supply unit (PSA-24) status signal GW mode selection ·············································· E1-10
Address configuration For CC-Link and CC-Link IE Field GW parameters ····················································· E1-8
···································································· C2-24 GW parameters 2 ·················································· E1-8
Address configuration For DeviceNet····················· C2-24 GW parameters 3 ·················································· E1-9
Address configuration For PROFIBUS-DP, EtherNet/IP, Option Unit Parameter ·········································· E1-12
and EtherCAT ···················································· C2-25 Time setting ························································ E1-13
Address configuration For PROFINET-IO ··············· C2-25 Specifications ·························································· A2-17
I/O signal···························································· C2-25 Startup Procedure ···················································· B1-10
Precautions for Absolute Battery Stop Circuit / Drive Cutoff Circuit
Absolute Battery handling ········································ D1-4 Example of Circuit ················································ B2-50
Precautions when changing parameters ····················· B3-6 For 24V System Driver Unit (RCON-PC/PCF/AC/DC) · B2-48
Precautions for gripper type ······································· C1-26 For 200V System Driver Unit (RCON-SC)················· B2-48
Precautions for Handling ··········································· Intro-8 For EC Connection Unit (RCON-EC) ······················· B2-48
Precautions for rotary type ········································· C1-23 Electrical Specifications········································· B2-49
Precautions when changing parameters ························· B3-6 System Configuration ················································· A2-1
Precautions when selecting a motor/encoder cable ·········· A2-2 System I/O connector
Gateway Unit ······················································ A3-12

Post-6 ME0384-7C
Click a letter or page to jump to that page. Index

T W
Terminal unit Warranty ······························································ Intro-18
Gateway Unit ·················································· A3-16 Wiring ···································································· B2-12
Timing of I/O signals ··················································· C3-1 Wiring and setting of safety circuit
Maximum response time (ms) ·································· C3-1 Specification of system I/O connector for TP adapter ·· B2-63
Tool startup ······························································· E1-5 Connection of Dummy Plug on TP Adapter ··············· B2-64
Tools to Use Power supply ······················································ B2-63
Gateway parameter configuration tool ························ B1-7 Wiring for external regenerative resistor unit ·················· B2-33
PC software ·························································· B1-7
Teaching pendant ·················································· B1-7
TP Adapter and Related Parts
Connection cable ················································· B2-78
Dummy plug ······················································· B2-79
TP Adapter ························································· B2-77

Index
Troubleshooting ························································· D2-1
Troubleshooting for alarm groups
Alarm group A: Overload alarm ······························· D2-37
Alarm group B: Motor abnormality alarm··················· D2-38
Alarm group C: ELECYLINDER control unit
abnormality alarm ··············································· D2-38
Alarm group D: ELECYLINDER control unit-
encoder abnormality alarm ··································· D2-39
Alarms in motor drive DC power supply PSA-200 ······· D2-40
ELECYLINDER ··················································· D2-35
Warning: Maintenance warning 1 ···························· D2-41
Warning: Maintenance warning 2 ···························· D2-41
Warning: Maintenance warning 3 ···························· D2-42
Warning: Maintenance warning 4]
(Dedicated for EC 200V type ································ D2-42
U
Ultra-compact size ····················································· A1-3
Unit connection ························································· B2-5
Unit connection restrictions
Number of Connectable Units of Driver Unit and
EC Connection Unit ············································ A2-15
Unit arrangement ················································· A2-14
USB connector
Gateway Unit ·······················································A3-11
V
Vibration Damping Control Function ······························ C5-1
Damping Characteristics Coefficient 1, 2 ···················· C5-5
Natural Frequency [1/1,000Hz] ································· C5-5
Notch Filter Gain···················································· C5-6
Operational Image of the Function····························· C5-1
Parameter Setting for Vibration Damping Control ········· C5-5
Position Data Setting ·············································· C5-7
Setting Procedure ·················································· C5-4
Stop Method during SrvOFF ···································· C5-6
Vibration Suppression No. Initial Value ······················· C5-6

ME0384-7C Post-7
 Revision history

Revision history
Revision date Revised content

2018.04 First Edition

2018.05 Edition 1B
・Drive source cutoff issues reviewed (Specifications Section 2-8, 3-11, 3-41;
Startup Section 4-62)
・Actuator connection cable issues reviewed
(Specifications Section 2-29 to 31, 5-2, 5-4; Startup Section 3-2, 3-4)
・Periodic inspection items changed (Maintenance Section 1-3)
・Errata corrected
2018.07 Edition 1C
・Added maximum number of connectable axes (Specification Section 1-1,
1-2, 1-6, 2-6, 2-20, 3-1, 3-62, 4-47)
・Described supported standards for CC-Link IE (Intro-12, Specification
Section 1-1, 3-1, 3-2)
Revision history

・Corrected errata (Intro-19; Specification Section 2-10, 3-40; Startup Section

4-61)
2018.09 Edition 1D
・Connectable actuators reviewed (Appendix Chapter 1)
2018.11 Edition 1E
・Text garbling corrected in Edit 1D
2019.01 Second Edition
・Complied with UL Certification
(Intro-15; Specifications Section 1-6, 2-6, 3-3, 4-3, 5-3, 6-2)
・Correction made to time related to Timing of I/O Signals
(Specifications Section 1-3, 3-81)
・Descriptions revised for current amperage
(Specifications Section 2-10)
・Descriptions revised for points related to connection cable
(Specifications Section 2-30, 2-31, 5-2; Startup Section 3-3, 3-4)
・Descriptions revised for sections of power supply unit monitor
(Specifications Section 3-44, 3-132; Startup Section 4-65)
・Correction made to assignment for Positioner 1 Mode
(Specifications Section 3-71)
・Descriptions revised for points related to fan unit
(Specifications Section 4-15; Maintenance Section 2-19)
・Descriptions revised in Precautions for Rotary Type and Precautions for
Gripper Type (Specifications Section 3-86, 3-87, 4-74 to 4-77)
・Correction made to parameter values, explanation revised, "Symbol"
deleted from items in table
(Specifications Section Chapter 2 to 4, 7; Startup Section Chapter 3, 5）
・Connectable actuators reviewed (Appendix Chapter 1)
・Terms unified (Specifications Section 2-2, 4-24, 4-25),
correction made (Intro -18; Specifications Section 4-27, 4-32, 4-72)

Post-8 ME0384-7C
 Revision history

Revision date Revised content

2019.07 Edition 2B
・Note added for present current value
(Specifications Section 1-2, 3-6; Startup Section 4-4)
・Examples of circuit revised and added for drive cutoff circuit
(Specifications Section 2-7, 2-26 to 2-28)
・References added regarding Selection of Circuit Breaker
(Specifications Section 2-9)
・RCON connection cable list added
(Specifications Section 2-31 to 2-32; Startup Section 3-3 to 3-4)
・Correction made to CC-Link connector model codes
(Specifications Section 2-35; Startup Section 1-1)
・Explanations revised in input and output signal list
(Specifications Section 3-7)
・Explanations revised and added in section of “Threshold [%]”

Revision history
(Specifications Section 3-48)
・Explanations revised in emergency stop (EMGS ) signal
(Specifications Section 3-82)
・Explanations revised in load output judgment status (LOAD) signal
(Specifications Section 3-104)
・Explanations added for Pressing Operation Command Torque Level Detection
(Specifications Section 3-118)
・Explanation added for Axis Number Assignment / Unit Configuration Setting
when SCON-CB connected
(Specifications Section 3-143)
・How to Replace Fan Unit added (Specifications Section 4-16)
・Correction made to parameters and explanations revised
(Specifications Section 4-5; Startup Section 5-2)
・How to Replace Absolute Battery added (Specifications Section 5-7 to 5-8)
・Items added in PSA-24 Status Data Monitor
(Specifications Section 7-2 to 7-4)
・Items added in “Installing USB Connection Driver for RCON”
(Startup Section 4-14 to 4-16)
・Alarm code :09B (Internal communication error) added
(Maintenance Section 2-10, 2-18)
・Explanations revised and added for Alarm Codes: 09C, 0A3, 0A1, 0B4, 0E5
(Maintenance Section 2.4)
・Connectable actuators reviewed (Appendix Chapter 1)
・Terms unified, correction made
2019.08 Edition 2C
・Explanations revised in timing chart for I/O signals
(Specifications Section 3-81, 3-108, 3-110, 3-112)
・Change made in caution note Electric wire diameter used for power supply
wiring (Startup Section 2-8)
・Correction made

ME0384-7C Post-9
 Revision history

Revision date Revised content

2019.09 Third Edition

・Conforming to Safety Category added (Appendix Chapter 1)
・Connectable Actuators moved (Appendix Chapter 2)

2020.02 Fourth Edition

・Structure of chapters revised
・200V driver unit, 200V power supply unit and EC connection unit added
・Expression of page numbers changed

2020.07 Edition 4B
・Added of Quick Start Guide
・Heat output of RCON-GW added (Specifications Section A2-7)
・Change made to ambient humidity for use to 5%RH to 85%RH
(Specifications Section A2-7, A2-21, Startup Section B2-1)
Revision history

・EtherNet port (option) added to SIO Interface (Specifications Section A2-9)

・Correction made to motor wattage for calculation for 200V system
(Specifications Section A2-14)
・Correction made to AC power supply input diagram for 200V three-phase
and single phase types
(Specifications Section A2-23, Startup Section B2-3)
・Correction made to connector diagram for EtherNet/IP and PROFINET IO
(Specifications Section A2-53, A3-23, A3-25)
・RTE added in 13 in Gateway Control Signal 0
(Specifications Section A3-32, A3-34)
・Contents related to actuator data control features deleted
(Specifications Section A3-181 to 186, Startup Section B6-5, B6-53,
Appendix D2-165 to 167)
・Change made to cable colors for CC-Link cables
DB: Yellow → White, DG: White → Yellow (Startup Section B2-16)
・Parameter No. 75 Electromagnetic Brake Power Supply Monitor added
(Startup Section B6-3, B6-30）
・Inspection describing only cable between simple absolute drivers delete
from regular inspection section (Maintenance Section C1-2)
・200V power supply unit added in cause/countermeasure for Alarm Code
04C (Maintenance Section C2-13)
・Description added in Alarm Codes 04C and 0D6 stating detail code is
0002H when fan rotation in driver unit and 200V power supply unit are
dropped (Maintenance Section C2-13, C2-20)
・Correction made partly to figures, tables, wrong descriptions, etc.
・Added Index

Post-10 ME0384-7C
 Revision history

Revision date Revised content

2020.12 Fifth Edition

・Added Configuration of manuals related to RCON system
・Safety Guide 14. Handling and Caution of Internal Drive Cutoff Solid-
State Relay added
・Specifications Section 1.1, 1.3, 2.2, 2.5, 3.1, 3.2
Contents related to EtherCAT Motion, MECHATROLINK-III, SSCNET III/H
added
・Specifications Section 2.5 Cable for Driver Stop Feature added
・Specifications Section 3.7 Address configuration revised and light
malfunction maintenance feature added
・Specifications Section 5.4 Table for single-phase 200V PIN numbers
added
・Startup Section 6.1 Parameter list, Parameter details

Revision history
No.195, No.196 added
・Maintenance Section 2.3 Gateway Unit Alarm added
Alarm B9
・Maintenance Section 2.4 Driver Unit/Simple Absolute Unit Alarm
[Addition]
Alarm 086, 096, 0A, 0AC
[Delete]
Alarm 096
Change made to [Causes and countermeasures]
Alarm 048, 091, 0A2, 0B5, 0BE, 0C5, 0CE, 0D8, 0A8, 0B3
0C4, 0CD, 0D7, 0E6, 0EC, 0F0, 0F4, 0FC
・Appendix 1.1 Addition and change made to Appendix 1.1 Confirming to
safety category
・Appendix 2.1 List of Actuator Specifications
Application for RCS4 offboard tuning added
・Correction made partly to figures, tables, wrong descriptions

2020.12 Edition 5B
・Description added stating ELECYLINDER is available for operation only in
double solenoid system
・Precautions for Handling 14. Handling of Built-in Drive Cutoff Relay and
Cautions in Caution in Handling
・Specifications Section 1.2, 3,6 Field network operation mode
Description added stating motion network is not applicable
・Contents revised for Specifications Section 2.2 Configuration Unit List -
RCON configuration example (3)
・Correction made to control numbers in Specifications Section 2.5, 3.5
Motion Network Instruction Manual

ME0384-7C Post-11
 Revision history

Revision date Revised content

2020.12 ・Startup Section 4.4 Address configuration revised and light malfunction
maintenance feature added
・Startup Section 6.1 No. 9 added in ELECYLINDER Parameter List
・Maintenance Section 1.4 Caution notes added for PSA-24 status data
monitor
・Maintenance Section 2.3 Content of alarms (6D and FA) added for
gateway unit
・Correction made

2021.02 Edition 5C
・Note added for Precautions for Handling, Specifications Section 3.7 Address
Configuration MON signal
・Actuator Coordinate System Change made to actuator illustration
・Specifications Section 2.3 Specifications Addition and change made to
Revision history

ELECYLINDER Power supply capacity

・Specifications Section 2.5 Cable for Driver Stop Feature Correction
made to Cable type
・Specifications Section 3.7 Address Configuration Contents changed for
current velocity in direct numerical mode
・Specifications Section 3.7, Startup Section 1.2 Change made to description
regarding items to refer to
・Startup Section 1.1 Checking the Product SCON Extension Unit
Connection cable correction made to remarks
・Startup Section 4.4 Descriptions revised in how to select power supply
unit (PSA-24) monitored items
・Startup Section 6.1 Correction made to Parameter No. 26, 47, 52, 166
・General Contents added regarding IA-OS
・Terms unified

2021.07 Edition 5D
・Prelims: International Standard Compliance
Contents in table changed in accordance with RCON-SC-1,
RCON-PS2-3 and RCON-EC-4 complying with UL
About UL/cUL of model nameplate and detail page added

2022.06 Sixth Edition

・Revised Entirely
Option unit added :
・PIO/SIO/SCON Extension Unit
・PIO Unit

ELECYLINDER model added

・ELECYLINDER Extra small type
・ELECYLINDER Rotary type (EC-RTC18)

Post-12 ME0384-7C
 Revision history

Revision date Revised content

2022.08 Edition 6B
・Specifications Section
1.3 General Specifications added
2.3.3 Power supply capacity function added (EC-S18□/S18X□/EC-S18LP/S18XLP)
・Startup Section
2.2.3 Maximum Heat Generation Value on regenerative resistor unit added
2.3.1 Caution note added for when cutting off driving source
GND of system I/O connector deleted from example of circuit in
Stop Circuit / Drive Cutoff Circuit (3)
2.3.2 Correction made to the [Example for Wiring] of the Driver stop circuit
・Operation Section
1.4.3 Address assignment order Correction made to the assignment order
3.1.2 Function of I/O signals [5] Note about PEND added

Revision history
5.2 Collision Detection Function [Collision Judgment] explanation added
・Maintenance Section
1.5 Absolute Reset Procedure
Revised the time chart notation of [When performing absolute reset
from host]
2.3.2 Causes and countermeasures of individual alarms
Causes/countermeasures to added (Applicable alarm code : 50 (850))
2.4.4 Causes and countermeasures of individual alarms
Causes/countermeasures to added (Applicable alarm code : 0E5)
2.5.2 Troubleshooting for ELECYLINDER alarm groups
・[Alarm group A: Overload alarm] : No.6
・[Alarm group D: ELECYLINDER control unit-encoder abnormality
alarm] : No.5
・Alarm group E: Supply voltage/power capacity abnormality alarm] :
No.2 [Countermeasure 2]
・[Alarms in motor drive DC power supply PSA-200]
・[Warning: Maintenance warning 4] (Dedicated for EC 200V type)
・Appendix
2.1 List of actuator specifications Type 30 to RS added

ME0384-7C Post-13
 Revision history

Revision date Revised content

2023.01 Seventh Edition

Structure of chapters revised

・Operation Section
1.4 Power ON Sequence (Moved from Operation section Chapter 2)
Chapter 2 Address Configuration and Signal Assignment (Moved from
Operation Section 1.4 and renamed)
Section added
・Specifications Section
2.3.6 Specifications for Field Network
Correction and addition
・Specifications Section
1.3, 3.5.8, 3.5.9 Addition of note on power voltage drop
7.1 Addition of note on PIO connector
Revision history

・Startup Section
2.3.1 Corrected description [For 200V System Driver Unit
(RCON-SC)]
2.3.2 Added note on how to release and stop the driver stop circuit
2.3.3 Changed description and illustration of AUTO/MANU mode
switching circuit wiring
4.2.4 Revised wording regarding axis assignment
・Operation Section
4.1, 4.2 Correction made the time chart
7.2 Corrected description [Stop Mode Initial Value (Parameter No.
53)]
7.6 Parameter No. 53: Detailed description of stop mode added.
・Maintenance Section
4.1, 4.2 Alarm code 0E5: Correction made of detail code

2023.05 Edition 7B
・Startup Section
2.3.2 Caution notes added for driver stop circuit
・There may be a possibility of detecting overcurrent unexpectedly
depending on timing of stop release signal
・It is not certified by STO

2023.08 Edition 7C
・Description revised related to addition of SCON2 Controller
・Intro Precautions for Handling
Contents described in Section 15 revised and behavior when STOP Signal
is used added
About "ACR" Option added in Section 16
・Specifications Section
2.1.1 Note - Contents revised

Post-14 ME0384-7C
 Revision history

Revision date Revised content

2023.08 2.3.1 Encoder Resolution - IFA added

Connection count and protocol added in SIO interface Ethernet
type
2.3.2 [2] High-Thrust EC - Model codes added
2.3.3 [3] About Limitation to Number of Axes Connectable to RCON-SC-1 -
IS(P)B-WXM(X) added
3.4 System I/O Connector - Correction made to single unit model code
3.5.7 Connector Name on Cable Side - Correction made
・Startup Section
2.1.3 Description that fan unit is equipped on delivery for RCON-PS2-3
and RCON-SC-1
2.3.1 Effect of using STOP Signal together when cutting off drive power
supply added for RCON-SC-1 (RCON-RS2-3)

Revision history
Correction made and explanation added to example of system I/O
and drive cutoff circuit
2.3.2 Correction made to content in note for driver stop circuit
・Operation Section
"Positioning Command" in Direct Numerical Indication Mode changed to
DSTR
2.2.2 GSL0 and GSL1 added and CSTR and DSTR added in Input and
Output Signal List
3.2 [15] Content revised in warnings
[17] Correction made to images
[23] Select Servo Gain Parameter Set (GSL0, GSL1) added
[24] Positioning Command (DSTR) added
・Maintenance Section
2.3.2
Alarm code 60 (860) "Slave Axis Communication Error (ERR-T)" deleted
Correction made to Cause/Countermeasure box in Alarm Code 6D (86D)
Alarm code 6E (86E) ”Driver Parameter Readout Failed" added
・Appendix
2.1 Following products added to connectable actuators
RCP6 High Stiffness Slider Type (RCP6-HSA6C/HS7C)
RCS4 High Stiffness Slider Type (RCS4-HSA6C/HS7C)

ME0384-7C Post-15