ERC2 Controller-Integrated Type

Controller-Integrated Type
Extract of ROBO CYLINDER
General Catalog 2007
ROBO CYLINDER LINE UP CATALOG
ROBO Cylinder General Catalog 2007
Controller-Integrated Type
www.robocylinder.de
E RC2
1 Controller-Integrated
Type

Controller -
Integrated Type
Slider
Type
ERC2
ROBO Cylinder
Controller-Integrated
ERC2-SA6C
Type, Slider Type, Actuator Width 58mm, Pulse Motor, Straight
Rod
Type
Arm / Flat
Type
Model Specification Items
ERC2 SA6C
Series
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Encoder type Motor type Lead Stroke I/O type Cable length Options
I:Incremental PM: Pulse motor 12 : 12mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
(NPN) type S : 3m M : 5m
6 : 6mm
X : Specified length NM : Reversed-home
PN : PIO
W : Cable with connectors
specification
3 : 3mm
600:600mm (PNP) type
on both ends
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 3 or the
actuator is operated vertically). This is the maximum acceleration.
Load Capacity (kg) Load Capacity (kg)
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
35
30
Horizontal
25
20
15 Lead 3 Lead 6
12
10
6 Lead 12
5
2
0 0 100 200 300 400 500 600 700
Speed (mm/sec)
14
12
10
8
6
Lead 3
Vertical
4
3 Lead 6
2
1.5 Lead 12 2.5
1
0
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-SA6C-I-PM-6- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
ERC2-SA6C-I-PM-12- 1 - 2 - 3 - 4
ERC2-SA6C-I-PM-3- 1 - 2 - 3 - 4
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
Lead
(mm)
12
6 12 ~3
3
Maximum load capacity (Note 1)
Horizontal (kg) Vertical (kg)
~6 ~1.5
12
~6
Stroke
(mm)
50 ~ 600
(Set in 50-mm steps)
Stroke and Maximum Speed
Lead
12
6
3
Stroke
50 ~ 600
(Set in 50-mm steps)
600
300
150
600
(mm)
515
255
125
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Reversed-home specification
Model
B
NM
Page
P381
P385
Item
Drive method
Positioning repeatability
Backlash
Allowable load moment
Overhang load length
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø10mm, rolled C10
±0.05mm
0.1mm or less
Ma : 8.9N • m Mb : 12.7N • m Mc : 18.6N • m
Ma direction: 150mm or less, Mb/Mc directions: 150mm or less
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
3 ERC2-SA6C
L

Dimensions
ERC2
ROBO Cylinder
Controller -
Integrated Type
You can download CAD
drawings from our website.
www.intelligentactuator.com
Slider
Type
80.6
Reference
surface
1.5
2D
CAD
*3Reference position
for calculating
Ma moment
59
50
48.5
4.5
A
32
ø8
ø4.5
4.5
4
55
58
* With the reversed-home specification, the dimension
on the motor side (distance from the ME to the home)
and that on the counter-motor side are reversed.
60
5 50 5
9 32±0.02
9
Offset reference position
for Ma moment *3
36
30
Detail view of A
(mounting hole and reference surface)
22
31
37.4
(Reamer pitch
tolerance ±0.02)
L
10 49.1
2.3
Stroke 60
M.E. S.E.
Home
P
50 B 50
A
4-M5, depth 10
2-ø5H7 reamed, depth 10
50.9 13.5 118.5
2.5
M.E. *2
S-4.5 drilled, ø8 deep counterbore, depth 4.5
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300 350 400 450 500 550 600
L
A
B
N
S
Weight (kg)
352
210
10
1
6
1.9
402
260
60
1
6
2.0
452
310
10
2
8
2.1
502
360
60
2
8
2.3
(300)
Ensure 100
or more.
552
410
10
3
10
2.4
Cable joint
connector *1
*1 Connect the power
& I/O cable. Refer to
p. 304 for details on
the cables.
SE: Stroke end
ME: Mechanical end
37.5
25
602
460
60
3
10
2.6
(6)
External view of brake specification
* Models of the brake specification have their overall
length extended by 43.5 mm and weight increased by
0.5 kg compared to the standard specification.
13.5 43.5 118.5
652
510
10
4
12
2.7
PIO type
702
560
60
4
12
2.8
Teaching port
25
Brake unit
*2 The slider moves to
the ME during home return.
Pay attention to prevent
contact between the slider
and surrounding parts.
(6)
752
610
10
5
14
3.0
* The SIO type has
no teaching port.
802
660
60
5
14
3.1
SIO type
852
710
10
6
16
3.3
902
760
60
6
16
3.4
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-SA6C-I-PM- - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-SA6C-I-PM- - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pulse
Motor
20w
SIO
type
ERC2-SA6C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-SA6C 4
100w
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
ERC2
ROBO Cylinder
ERC2-SA7C
Model Specification Items
ERC2
Series
SA7C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Slider Type, Actuator Width 68mm, Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 16: 16mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
8: 8mm
(NPN) type S : 3m M : 5m
X : Specified length NM : Reversed-home
4: 4mm
PN : PIO
W : Cable with connectors
specification
600:600mm (PNP) type
on both ends
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Load Capacity (kg)
35
30
25
20
15
10
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
Lead 4
Lead 16
Lead 8
Horizontal
5
0 0 100 200
Speed (mm/sec)
3.5 2
300 400 500 600 700
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 4 or the
actuator is operated vertically). This is the maximum acceleration.
Load Capacity (kg)
14
12
Vertical
10
Lead 4
8
6 5 Lead 8
4
2.5 Lead 16
2
0.5 0.5
0
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
Model
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
Lead Maximum load capacity (Note 1)
(mm) Horizontal (kg) Vertical (kg)
ERC2-SA7C-I-PM-16- 1 - 2 - 3 - 4
16
~10
ERC2-SA7C-I-PM-8- 1 - 2 - 3 - 4
8
~20
ERC2-SA7C-I-PM-4- 1 - 2 - 3 - 4 4
20
Stroke
(mm)
Stroke and Maximum Speed
Explanation of numbers 1 Stroke 2 I/O type 3 Cable length 4 Options * The figure in < > applies when the actuator is used vertically. (Unit: mm/s)
~2.5
~5
~10
50 ~ 600
(Set in 50-mm steps)
Lead
16
8
4
Stroke
50 ~ 600
(Set in 50-mm steps)
450
250
125
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Reversed-home specification
Model
B
NM
Page
P381
P385
Item
Drive method
Positioning repeatability
Backlash
Allowable load moment
Overhang load length
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø10mm, rolled C10
±0.05mm
0.1mm or less
Ma : 13.8N • m Mb : 19.7N • m Mc : 29.0N • m
Ma direction: 150mm or less, Mb/Mc directions: 150mm or less
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
5 ERC2-SA7C
L

Dimensions
ERC2
ROBO Cylinder
Controller -
Integrated Type
You can download CAD
drawings from our website.
www.intelligentactuator.com
Slider
Type
92.1
2D
CAD
*3Reference position
for calculating
Ma moment
66.5
60
58.5
Reference
surface
2.5
A
4
34.5
ø8
ø4.5
63
68
4 4.5
* With the reversed-home specification, the dimension
on the motor side (distance from the ME to the home)
and that on the counter-motor side are reversed.
75
5 65 5
9 47 ±0.02 9 4-M5, depth 10
Offset reference position
for Ma moment *3
46
40
Detail view of A
(mounting hole and reference surface)
L
10 49.8 Stroke 75 55.2
3
2.5
M.E. S.E.
Home M.E.
50 B
A
32
40
47.4
(Reamer pitch
tolerance ±0.02)
Nx100 P
2-ø5H7 reamed, depth 10
16
118.5
S-4.5 drilled, ø8 deep counterbore, depth 4.5
50
(300)
Ensure 100
or more.
51.5
22.5
Cable joint
connector *1
*1 Connect the power
& I/O cable. Refer to
p. 304 for details on
the cables.
SE: Stroke end
ME: Mechanical end
(3.5)
PIO type
Te aching port
22.5
*2 The slider moves to
the ME during home return.
Pay attention to prevent
contact between the slider
and surrounding parts.
(3.5)
SIO type
* The SIO type has
no teaching port.
External view of brake specification
* Models of the brake specification have their overall
length extended by 43.5 mm and weight increased
0.5 kg compared to the standard specification.
16 49
118.5
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300 350 400 450 500 550 600
L
A
B
N
S
Weight (kg)
374.5
230
30
1
6
3.1
424.5
280
80
1
6
3.2
474.5
330
30
2
8
3.4
524.5
380
80
2
8
3.6
574.5
430
30
3
10
3.7
624.5
480
80
3
10
3.9
674.5
530
30
4
12
4.0
Brake unit
724.5
580
80
4
12
4.2
774.5
630
30
5
14
4.3
824.5
680
80
5
14
4.5
874.5
730
30
6
16
4.6
924.5
780
80
6
16
4.8
68
mm
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
Simple control
PIO type
type capable of
(NPN ERC2-SA7C-I-PM- - -NP- - positioning to a
16
specification)
maximum of 16
points
PIO type
PNP I/O type
(PNP ERC2-SA7C-I-PM- - -PN- -
16
popular overseas
specification)
DC24V
2A max.
P295
Pulse
Motor
20w
SIO
type
ERC2-SA7C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-SA7C 6
100w
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RA6C
Model Specification Items
ERC2
Series
RA6C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type, Actuator Width 58mm, Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 12: 12mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
6: 6mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
3: 3mm
PN : PIO
W : Cable with connectors NM : Reversed-home
300:300mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 3 or the actuator
is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
70
60
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
50
Lead 3
40
Lead 6
30
25
20
10
12 Lead 12
0 0 100 200
Speed (mm/sec)
2.5
300 400 500 600 700
35
30
25
Lead 3
20
18
Horizontal
Vertical
15
12
Lead 6
10
4.5
Lead 12
5
4
0
2.5 0.5
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RA6C-I-PM-12- 1 - 2 - 3 - 4
ERC2-RA6C-I-PM-6- 1 - 2 - 3 - 4
ERC2-RA6C-I-PM-3- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
Lead
(mm)
12
Stroke 2 I/O type 3 Cable length 4 Options
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
6
3
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
Stroke
(mm)
~25 ~4.5 78
~40
40
~12
~18
157
304
50 ~ 300
(Set in 50-mm steps)
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
12
6
3
Stroke
50 ~ 600
(Set in 50-mm steps)
600
300
150
600
(mm)
500
255
125
(Unit: mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P383
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø10mm, rolled C10
±0.05mm
0.1mm or less
ø22mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
7 ERC2-RA6C
L

20
Dimensions
ERC2
ROBO Cylinder
Integrated Type
You can download CAD
drawings from our website.
2D
CAD
4-ø5.5
www.intelligentactuator.com
Note
Do not apply an external force on the rod in any direction other than
the moving direction of the rod.
If the rod receives an external force from the right-angle direction or
rotating direction, the detent may be damaged.
Stroke
Home
2
M.E. *2
B
L
(300)
Cable joint
connector *1
*1 Connect the power & I/O cable.
Refer to p. 304 for details on the
cables.
*2 The slider moves to the ME during
home return.
Pay attention to prevent contact
between the slider
and surrounding parts.
ME: Mechanical end
Type Type Type Rotary Type
M8 x 1.25 nut, 3 types
Te aching port
13 (width
across flats)
1
27
44
54
75.6
5
44
54
58
(Note) The actual angle of the across
flats surface is slightly different.
ø40h7
Rod diameter ø22
7
18
2
31.7
8
C
49.7 A
118.5
Ensure 100
or more.
External view of brake specification
* Models of the brake specification have their overall
length extended by 43.5 mm and weight increased by
0.5 kg compared to the standard specification.
37.5
20
PIO type
20
SIO type
* The SIO type has
no teaching port.
Type
Proof Type
Controller
43.5 118.5
Brake unit
5
m
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
L
A
B
C
Weight (kg)
293.5
175
393.2
91
1.6
343.5
225
493.2
141
1.7
393.5
275
593.2
191
1.8
443.5
325
693.2
241
2.0
493.5
375
793.2
291
2.1
543.5
425
893.2
341
2.2
6
m
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RA6C-I-PM- - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RA6C-I-PM- - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pu
Mo
SIO
type
ERC2-RA6C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30
60
ERC2-RA6C 8
100
150

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RA7C
Model Specification Items
ERC2
Series
RA7C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type, Actuator Width 68mm, Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 16: 16mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
8: 8mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
4: 4mm
PN : PIO
W : Cable with connectors NM : Reversed-home
600:600mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 4 or the
actuator is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
70
Lead 4
60 55
50
40
30
20
10
0 0 100 200
Speed (mm/sec)
3.5 2
300 400 500 600 700
35
30
25
20
15
10
Lead 4
17.5
25
Lead 8
Horizontal
Lead 8
Lead 16
Vertical
5
Lead 16
2 1 0.5
0
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RA7C-I-PM-16- 1 - 2 - 3 - 4
ERC2-RA7C-I-PM-8- 1 - 2 - 3 - 4
ERC2-RA7C-I-PM-4- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
Lead
(mm)
16
8
4
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
~40
~50
~5
~17.5
~55 ~25
220
441
873
Stroke
(mm)
50 ~ 300
(Set in 50-mm steps)
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
12
6
Stroke
50 ~ 600
(Set in 50-mm steps)
450
250
3
125
* The figure in < > applies when the actuator is used vertically.
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P384
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø12mm, rolled C10
±0.05mm
0.1mm or less
ø30mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
9 ERC2-RA7C
L

Dimensions
ERC2
ROBO Cylinder
Controller -
Integrated Type
You can download CAD
drawings from our website.
www.intelligentactuator.com
Slider
Type
17 (width
across flats)
2D
CAD
50
64
68
4-ø6.6
1
32
7 50
64
89.6
(Note) The actual angle of the across
flats surface is slightly different.
Note
Do not apply an external force on the rod in any direction other than
the moving direction of the rod.
If the rod receives an external force from the right-angle direction or
rotating direction, the detent may be damaged.
Stroke
ø45h7
Rod diameter ø30
Home
4
M.E. *2
9 2
21 40
61
M10 x 1.5 nut, 3 types
8.5
B
C
L
A 118.5
(300)
Ensure 100
or more.
51.5
20
External view of brake specification
* Models of the brake specification have their overall
length extended by 43.5 mm and weight increased by
0.5 kg compared to the standard specification.
Cable joint
connector *1
*1 Connect the power & I/O cable.
Refer to p. 304 for details on the
cables.
*2 The slider moves to the ME during
home return.
Pay attention to prevent contact
between the slider
and surrounding parts.
ME: Mechanical end
PIO type
Te aching port
20
SIO type
* The SIO type has
no teaching port.
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
49
118.5
Brake unit
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
L
A
B
C
Weight (kg)
312.5
194
423.5
106
2.7
362.5
244
523.5
156
2.9
412.5
294
623.5
206
3.0
462.5
344
723.5
256
3.2
512.5
394
823.5
306
3.3
562.5
444
923.5
356
3.5
58
mm
68
mm
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RA6C-I-PM- - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RA6C-I-PM- - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pulse
Motor
20w
SIO
type
ERC2-RA6C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-RA7C 10
100w
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RGS6C
Model Specification Items
ERC2
Series
RGS6C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type with Single Guide, Actuator Width 58mm
Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 12: 12mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
6: 6mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
3: 3mm
PN : PIO
W : Cable with connectors NM : Reversed-home
600:600mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire. Subtract the guide weight (refer to the facing page) from the load capacity.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 3 or the
actuator is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
70
60
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
50
40
Lead 3 Lead 6
30
Lead 12
25
20
12
10
0 0 100 200
Speed (mm/sec)
2.5
300 400 500 600 700
35
30
25
Lead 3
20
18
Horizontal
Vertical
15
12
Lead 6
10
5
4.5
Lead 12
4
0
2.5
0.5
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RGS6C-I-PM-6- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
ERC2-RGS6C-I-PM-12- 1 - 2 - 3 - 4
ERC2-RGS6C-I-PM-3- 1 - 2 - 3 - 4
Lead
(mm)
12
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
6
3
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
~25
~40 ~12
40
~4.5
78
157
Stroke
(mm)
50 ~ 300
(Set in 50-mm steps)
~18 304
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
12
6
3
Stroke
50 ~ 250
(Set in 50-mm steps)
600
300
150
300
(mm)
500
250
125
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P383
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø10mm, rolled C10
±0.05mm
0.1mm or less
ø22mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
11 ERC2-RGS6C
L

Dimensions
You can download CAD
drawings from our website.
www.intelligentactuator.com
ERC2 ROBO Cylinder
Controller -
Integrated Type
Slider
Type
2D
CAD
Rod
Type
Arm / Flat
Type
106.5
54
Gripper /
Rotary Type
52
30
20
2
Home M.E.
ST 51.7 ST+58.3
6-M5 M.E. : Mechanical end 20 23.7 8 55
ST+3.3
12.5
12.5
Cleanroom
Type
Splash
Proof Type
24
3
54
57
13
22.5
10
ø34
ø10
Controller
7
40
37
91
54
58
3
• Refer to p. 8 for the actuator dimentions.
58
mm
68
mm
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
Guide weight (kg) 0.2 0.2 0.3 0.3 0.3 0.4
Guide + actuator weight (kg) 1.8 1.9 2.1 2.3 2.4 2.6
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RGS6C-I-PM - - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RGS6C-I-PM - - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pulse
Motor
20w
SIO
type
ERC2-RGS6C-I-PM - - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-RGS6C 12
100w
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RGS7C
Model Specification Items
ERC2
Series
RGS7C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type with Single Guide, Actuator Width 68mm
Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 16: 16mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
8: 8mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
4: 4mm
PN : PIO
W : Cable with connectors NM : Reversed-home
600:600mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire. Subtract the guide weight (refer to the facing page) from the load capacity.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 4 or the
actuator is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
70
Lead 4
60 55
50
40
30
20
10
0 0 100 200
Speed (mm/sec)
3.5
2
300 400 500 600 700
35
30
25
20 17.5
15
10
Lead 4
25
Lead 8
Lead 8
Horizontal
Lead 16
Vertical
5
Lead 16
2 1
0.5
0
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RGS7C-I-PM-8- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
ERC2-RGS7C-I-PM-16- 1 - 2 - 3 - 4
ERC2-RGS7C-I-PM-4- 1 - 2 - 3 - 4
Lead
(mm)
16
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
8
4
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
~40
~50 ~17.5
~55
~5
220
441
Stroke
(mm)
50 ~ 300
(Set in 50-mm steps)
~25 873
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
16
8
4
Stroke
50 ~ 300
(Set in 50-mm steps)
450
250
125
* The figure in < > applies when the actuator is used vertically.
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P384
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø12mm, rolled C10
±0.05mm
0.1mm or less
ø30mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
13 ERC2-RGS7C
L

Arm / Flat
Type
20w
Dimensions
ERC2
ROBO Cylinder
Controller -
Integrated Type
You can download CAD
drawings from our website.
www.intelligentactuator.com
Slider
Type
2D
CAD
Rod
Type
4
64
Gripper /
Rotary Type
62
34
25
6-M6
12.5
Home M.E.
ST 62 ST+61
M.E. : Mechanical end
22 30 10 57.5
ST+3.5
12.5
Cleanroom
Type
Splash
Proof Type
22.5
37.5
10
ø36
12.5
ø12
Controller
29
50
64
117
7
101.5
62.5
64
68
3
3
• Refer to p. 10 for the actuator dimentions.
58
mm
68
mm
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
Guide weight (kg) 0.3 0.3 0.4 0.4 0.5 0.5
Guide + actuator weight (kg) 3.0 3.2 3.4 3.6 3.8 4.0
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RGS7C-I-PM - - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RGS7C-I-PM - - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pul
Mot
SIO
type
ERC2-RGS7C-I-PM - - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-RGS7C 14
100
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RGD6C
Model Specification Items
ERC2
Series
RGD6C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type with Double Guide, Actuator Width 58mm
Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:Pulse motor 12: 12mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
6: 6mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
3: 3mm
PN : PIO
W : Cable with connectors NM : Reversed-home
600:600mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire. Subtract the guide weight (refer to the facing page) from the load capacity.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 3 or the
actuator is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
70
60
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
50
40
Lead 3 Lead 6
30
Lead 12
25
20
12
10
0 0 100 200
Speed (mm/sec)
2.5
300 400 500 600 700
35
30
25
Lead 3
20
18
Horizontal
Vertical
15
12
Lead 6
10
5
4.5
Lead 12
4
0
2.5
0.5
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RGD6C-I-PM-6- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
ERC2-RGD6C-I-PM-12- 1 - 2 - 3 - 4
ERC2-RGD6C-I-PM-3- 1 - 2 - 3 - 4
Lead
(mm)
12
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
6
3
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
~25
~40 ~12
40
~4.5
78
157
Stroke
(mm)
50 ~ 300
(Set in 50-mm steps)
~18 304
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
12
6
3
Stroke
50 ~ 250
(Set in 50-mm steps)
600
300
150
300
(mm)
500
250
125
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P383
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø10mm, rolled C10
±0.05mm
0.1mm or less
ø22mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
15 ERC2-RGD6C
L

Dimensions
ERC2
ROBO Cylinder
Controller -
Integrated Type
You can download CAD
drawings from our website.
www.intelligentactuator.com
Slider
Type
2D
CAD
Rod
Type
53
52
42
30
20
4-M5
8-M5
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
M.E. : Mechanical end
20
23.7
54
145
114
54
159
134
114
ø34
13 54
ø10
Splash
Proof Type
8
55
ST+3.3
Controller
ST
Home
2
M.E.
51.7
ST+58.3
58
mm
• Refer to p. 8 for the actuator dimentions.
68
mm
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
Guide weight (kg) 0.4 0.4 0.5 0.6 0.6 0.7
Guide + actuator weight (kg) 2.0 2.1 2.3 2.6 2.7 2.9
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RGD6C-I-PM- - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RGD6C-I-PM- - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
Pulse
Motor
20w
SIO
type
ERC2-RGD6C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
30w
60w
ERC2-RGD6C 16
100w
150w

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
ROBO Cylinder
ERC2-RGD7C
Model Specification Items
ERC2
Series
RGD7C
Type
* Refer to p. 31 of the front matter for details on the model specification items.
I
PM
Controller-Integrated Type, Rod Type, Actuator Width 68mm, Pulse Motor, Straight
Encoder type Motor type Lead Stroke I/O type Cable length Options
I: Incremental PM:P ulse motor 16: 16mm 50:50mm NP : PIO
N : No cable P : 1m B : Brake
specification
8: 8mm
(NPN) type S : 3m M : 5m
X : Specified length FT : Foot bracket
4: 4mm
PN : PIO
W : Cable with connectors NM : Reversed-home
600:600mm (PNP) type
on both ends specification
(Set in 50-mm steps)
SE : SIOtype R : Robot cable
RW : Robot cable with connectors on both ends
~
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
58
mm
68
mm
(1) When the stroke increases, the maximum speed will drop to prevent the ball screw from reaching a critical
speed. Use the actuator specification table below to check the maximum speed at the stroke you desire.
(2) The ERC2 series uses a pulse motor, so the load capacity will decrease as the speed increases. Use the
correlation diagram of speed and load capacity on the right to check the load capacity corresponding to
the speed you desire. Subtract the guide weight (refer to the facing page) from the load capacity.
(3) The load capacity is based on operation at an acceleration of 0.3 G (or 0.2 G if the lead is 4 or the
actuator is operated vertically). This is the maximum acceleration.
(4) The horizontal load capacity assumes use of an external guide.
Load Capacity (kg) Load Capacity (kg)
Correlation Diagram of Speed and Load Capacity
With the RCP2 series, the load capacity will decrease as the
speed increases due to the characteristics of the pulse motor
used in the actuator. Use the table below to check if the
desired speed and load capacity are satisfied.
70
Lead 4
60 55
50
40
30
20
10
0 0 100 200
Speed (mm/sec)
3.5
2
300 400 500 600 700
35
30
25
20 17.5
15
10
Lead 4
25
Lead 8
Lead 8
Horizontal
Lead 16
Vertical
5
Lead 16
2 1
0.5
0
0 100 200 300 400 500 600 700
Speed (mm/sec)
Actuator Specifications
Lead and Load Capacity
ERC2-RGD7C-I-PM-8- 1 - 2 - 3 - 4
Explanation of numbers 1
Model
ERC2-RGD7C-I-PM-16- 1 - 2 - 3 - 4
ERC2-RGD7C-I-PM-4- 1 - 2 - 3 - 4
Lead
(mm)
16
Stroke 2 I/O type 3 Cable length 4 Options
(Unit:
(Note 1) Take note that the maximum load capacity will decrease as the speed increases.
8
4
Maximum load capacity (Note 1) Maximum push
Horizontal (kg) Vertical (kg) force (N) (Note 2)
~40
~50 ~17.5
~55
~5
220
441
Stroke
(mm)
50 ~ 300
(Set in 50-mm steps)
~25 873
(Note 2) Refer to p. 406 for the graph of push force.
Stroke and Maximum Speed
Lead
16
8
4
Stroke
50 ~ 300
(Set in 50-mm steps)
450
250
125
* The figure in < > applies when the actuator is used vertically.
mm/s)
Pulse
Motor
Options
Actuator Specifications
20w
30w
60w
Name
Brake
Foot bracket
Reversed-home specification
Model
B
FT
NM
Page
P381
P384
P385
Item
Drive method
Positioning repeatability
Backlash
Rod diameter
Rod non-rotation accuracy
Ambient operating temperature, humidity
Direction of allowable load moment
Description
Ball screw ø12mm, rolled C10
±0.05mm
0.1mm or less
ø30mm, dedicated SUS pipe
±1.5°
0~40°C, 85% RH or below (non-condensing)
Overhang load length
100w
Ma
L
Mb Mc Ma
Mc
150w
17 ERC2-RGD7C
L

2
Dimensions
ERC2
ROBO Cylinder
Integrated Type
You can download CAD
drawings from our website.
2D
CAD
www.intelligentactuator.com
63
62
52
34
25
4-M6
8-M6
Type Type Type Rotary Type
64
ø36
ø12
12.5
158
125
65
170
145
125
64
Type
Proof Type
22
30
10
57.5
ST+3.5
Controller
4
Home M.E.
ST 62 ST+61
M.E. : Mechanical end
• Refer to p. 10 for the actuator dimentions.
Dimensions and Weight by Stroke
Stroke 50 100 150 200 250 300
Guide weight (kg) 0.5 0.6 0.7 0.8 0.9 1.0
Guide + actuator weight (kg) 3.2 3.5 3.7 4.0 4.2 4.5
I/O Type (Actuator with Built-In Controller)
I/O Type
You can select a desired built-in controller of the ERC2 series from among the following three types, each adopting different external input/output (I/O) specifications. Choose the type that best suits your
specific purpose.
Name External view Model
Features Maximum number of positioning points Input power supply Power-supply capacity
Reference page
PIO type
(NPN
specification)
ERC2-RGD7C-I-PM- - -NP- -
Simple control
type capable of
positioning to a
maximum of 16
points
16
PIO type
(PNP
specification)
ERC2-RGD7C-I-PM- - -PN- -
PNP I/O type
popular overseas
16
DC24V
2A max.
P295
P
M
SIO
type
ERC2-RGD7C-I-PM- - -SE- -
Dedicated field
network connection
type (using a
gateway unit)
64
3
6
ERC2-RGD7C 18
10
15

Controller
Controller
E R C 2
285 Controller

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Controller
Gateway Unit
The gateway unit is a conversion unit for connecting a ROBO Cylinder controller to a field network such as DeviceNet
or ProfiBus. Connect a gateway unit to your field network, and link the gateway unit and each controller via serial
communication (RS485). Numerical data such as coordinates, speeds, accelerations and current values can be sent
and received between the network master (PLC) and controller by means of I/O-level communication.
Features
Cleanroom
Type
1. Move the actuator by specifying positions from a PLC
via network.
PLC
Splash
Proof Type
Controller
2. Perform push-motion operation via network.
3. Operate the actuator by directly sending the target
position, speed, acceleration/deceleration and
positioning band as numerical values from a PLC.
4. Read the current actuator position and various signals
using a PLC.
Position number
Target position
Speed
Acceleration/deceleration
Positioning band
Push band
Current-limiting value
Others
RUN
G.ER
C.ER
T.ER
I A I
Current position
Completed position number
Position complete
Home return complete
Zone signal
Position zone signal
Alarm
Others
5. Connectable to a maximum of 16 axes.
TxD
RxD
DR
1
2
32
16
8
4
2
1
NA
3
2
4
Controller
Models
SW1
1
MS
NS
PORT IN
PORT N
SDA
SDB
GND
FG
OFF
PORT
ON
Gateway
unit
T.P.
S2 S1 N 24V
PSEL SCON ACON PCON ERC2 PS-24
XSEL SSEL ASEL
Functions
One of the following three operation modes can be selected.
(1) Position-number specification mode
Input target positions, speeds, accelerations/decelerations, positioning bands and other settings to the
controller in advance as position data, and specify a desired position number via network, just like you do with
PIO signals, to move the actuator. A maximum of 64 positioning points can be set. Various status signals can
be read using a PLC.
(2) Positioning-data specification mode
Specify a desired target position, speed, acceleration/deceleration, positioning band, push band, currentlimiting
value, etc., directly as numerical values to move the actuator or cause it to perform push-motion
operation. Various status signals can be input/output and current position data read using a PLC.
(3) Simple direct/position-number specification mode
Call desired position data except for a target position (by specifying an applicable position number), and specify
only a target position as a numerical value, to move the actuator. A maximum of 512 positioning points can be
set.
289 Controller

System Configuration Diagram
PLC
Controller
Controller -
Integrated Type
Slider
Type
Rod
Type
Field network
Arm / Flat
Type
Gateway unit
DeviceNet specification
ProfiBus specification
RUN
G.ER
C.ER
T.ER
I A I
Teaching pendant
Gripper /
Rotary Type
Cleanroom
Type
TxD
RxD
DR
1
2
32
16
8
4
2
1
NA
Splash
Proof Type
3
2
4
SW1
OFF
1
MS
NS
PORT IN
PORT N
SDA
SDB
GND
FG
PORT
ON
T.P.
Data stored in all controllers connected
to the gateway unit can be rewritten.
Controller
* The customer must
provide the wiring
between the gateway
unit and controller.
S2 S1 N 24V
DC24V
* Each controller link cable comes with an e-CON connector,
a junction and a terminal resistor.
e-CON connector (AMP 4-1473562-4)
Junction (AMP 5-1473574-4)
Controller
Models
Gateway
unit
- - - - - - -
R=220Ω
PS-24
0.2m 0.2m 0.2m
Controller link cable
Model CB-RCB-CTL002
* The customer must provide
the wiring between the gateway
unit and controller.
ERC2
PCON
Controller 1
Controller 2 Controller 16
Connectable Controllers ERC2 / PCON / ACON / SCON (*1)
(*1) SCON will communicate at the I/O level when connected to the field network even if the gateway unit is not used.
It is necessary to use the gateway unit when communicating positional data.
ACON
SCON
n Controller link cable
PSEL
(Comes with e-CON connector, junction and terminal resistor)
Model CB-RCB-CTL002
e-CON connector
0.2m
Color Signal
Yellow SGA
Orange SGB
Blue GND
No.
1
2
3
4
No.
1
2
3
4
5
6
7
8
Signal
SGA
SGB
+5V
ENBL
EMGA
+24V
GND
EMGB
Color
Yellow
Orange
Blue
Controller 290
ASEL SSEL XSEL

~
~
Controller -
Integrated Type
ERC2 Controller
Slider
Type
Rod
Type
Arm / Flat
Type
ERC2
n Model NP / PN / SE
Controller module of controller-integrated actuator
Gripper /
Rotary Type
Type List
Cleanroom
Type
I/O type
Name
NP
PIO type (NPN specification)
PN
PIO type (PNP specification)
SE
Serial communication type
Splash
Proof Type
External view
Gateway
unit
Controller
Models
Controller
Description
Move the actuator by specifying
position numbers from PLC via PIO
PNP specification of the NP type
(overseas specification)
Connected to a field network via a
gateway unit
Number of position points
16 points
16 points
64 points
PSEL SCON ACON PCON ERC2 PS-24
XSEL SSEL ASEL
Model
ERC2 I PM
Series Type Encoder type Motor type Lead Stroke I/O type Cable length Options
SA6C
SA7C
RA6C
RA7C
RGS6C
RGS7C
RGD6C
RGD7C
295 ERC2
Slider type (width 52mm)
Slider type (width 58mm)
Rod type (width 52mm)
Rod type (width 58mm)
Rod type with single guide
(width 52mm)
Rod type with single guide
(width 58mm)
Rod type with double guides
(width 52mm)
Rod type with double guides
(width 58mm)
PM
I Incremental
Pulse motor
16 16mm
12 12mm
8 8mm
6 6mm
4 4mm
3 3mm
50 50mm
(Set in 50-mm steps)
600 600mm
NP
PN
SE
PIO type
(NPN specification)
PIO type
(PNP specification)
SIO type
N
P
S
M
B
NM
FT
Brake
Reversed-home
specification
Foot bracket
No cable
1m
3m
5m
X Specified length
R
Robot cable
W Cable with connectors
on both ends
RW Robot cable with
connectors on both ends

System Configuration
ERC2 Controller
Controller -
Integrated Type
PLC
Slider
Type
Rod
Type
Field network
Arm / Flat
Type
Power & I/O cable for PIO type
Standard length 1m / 3m / 5m
Refer to p. 304 for a replacement cable.
Gateway unit
(Refer to p. 289)
DeviceNet specification
CC-Link specification
Gripper /
Rotary Type
Cleanroom
Type
Controller
PIO type
(Type code NP/PN)
Teaching pendant/
PC cable
SIO type
(Type code SE)
* The SIO type has
no teaching port.
* You can connect a
teaching-pendant or PC cable to
the gateway unit to rewrite data for
all connected axes.
Network cable
(Supplied with the power &
I/O cable for SIO type)
Refer to p. 304
Power & I/O cable for SIO type
Standard length 1m / 3m / 5m
Refer to p. 304
for a replacement cable.
Splash
Proof Type
Controller
Controller
Models
Gateway
unit
24-VDC power supply
(Refer to p. 293)
PC software
(Refer to p. 303)
(RS232 version)
(USB version)
Teaching pendant
(Refer to p. 303)
PS-24
ERC2
* The PC software comes with a cable.
5m
PCON
ACON
PC Connection Diagram
Use the following cables to connect the SIO type directly to a PC.
PC communication cable
SCON
PSEL
SIO type (Type code SE)
Power & I/O cable for SIO type
2m
Conversion adapter
ASEL
SSEL
ERC2 296
XSEL

Controller -
Integrated Type
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
ERC2 Controller
I/O Specifications (PIO Type)
n Input Part External input specifications
Item
Number of input points
Input voltage
Input current
Leak current
Operating voltage
NPN specification
External
power
supply
DC24V
PNP specification
External
power
supply
DC24V
Specification
6 points
24VDC ± 10%
4mA/circuit
1mA max./point
ON voltage: 18V min. (3.5mA)
OFF voltage: 6V max. (1mA)
CN1
3A
FUSE
+
5.6KΩ
GND
Each input
4B, 5B
CN1
4B, 5B
3A
Each input
+
GND
GND
Each input
Each input
GND
FUSE
5.6KΩ
GND
ERC2
Power supply (VP24)
ERC2
GND
Internal
circuit
Power supply (VP24)
GND
Internal
circuit
n Output Part External output specifications
Item
Number of input points
Rated load voltage
Maximum current
Residual voltage
Short-circuit, reverse-voltage protection
NPN specification
ERC2
FUSE
Power supply (VP24)
+
4 output points
Internal circuit
PNP specification
ERC2
FUSE
Power supply (VP24) +
GND
4 output points
Internal circuit
GND
Specification
4 points
DC24V
60mA/point
2V max.
Fuse resistance (27Ω0.1W)
GND
Fuse resistance
27Ω 0.1W
CN1
3A
Each output
Power MOS FET
Each output
GND
Power MOS FET
Fuse resistance
27Ω 0.1W
GND
4B, 5B
CN1
3A
Each output
Each output
4B, 5B
Load
Load
Load
Load
External
power
supply
DC24V
External
power
supply
DC24V
Controller
Models
I/O Signal Table (PIO Type)
Gateway
unit
PSEL SCON ACON PCON ERC2 PS-24
XSEL SSEL ASEL
Parameter
(PIO pattern selection)
0
1
2
3
1A
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
PIO pattern
8-point type
3-point type
(solenoid valve type)
16-point type
(zone signal type)
16-point type
(position zone signal type)
Pin number Category Wire color
SIO
24V
0V
24V
0V
24V
0V
24V
0V
Input
Output
Orange (red 1)
Orange (black 1)
Light blue (red 1)
Light blue (black 1)
White (red 1)
White (black 1)
Yellow (red 1)
Yellow (black 1)
Pink (red 1)
Pink (black 1)
Orange (red 2)
Orange (black 2)
Light blue (red 2)
Light blue (black 2)
White (red 2)
White (black 2)
Yellow (red 2)
Yellow (black 2)
Pink (red 2)
Pink (black 2)
(Note) The signals denoted by an asterisk (*) (ALM/STP) are negative-logic signals that always remain ON.
297 ERC2
Pin number
A standard specification providing eight positioning points, plus a home return signal, zone signal,
etc. (The parameter has been set to this pattern prior to the shipment.)
Simply turn ON three signals of ST0 to ST2 to move the actuator to the corresponding positions (0
to 2), just like you do with solenoid valves. (This allows for easy conversion from air cylinders.)
Up to 16 positioning points can be set.
(Same as the 8-point type, except that this pattern provides no home return signal.)
A 16-point pattern with a position zone signal instead of a zone signal.
Parameter (PIO pattern selection)
0 1
2
3-point type
16-point type
Conventional type
(solenoid valve type) (zone signal type)
SGA
SGB
EMS1
EMS2
24V
BLK
MPI
GND
MPI
GND
PC1
PC2
PC4
HOME
CSTR
*STP
PEND
HEND
ZONE
ST0
ST1
ST2
−
RES
*STP
PE0
PE1
PE2
*ALM
PC1
PC2
PC4
PC8
CSTR
*STP
PEND
HEND
ZONE
3
16-point type
(position zone signal type)
PC1
PC2
PC4
PC8
CSTR
*STP
PEND
HEND
PZONE

System Configuration
ERC2 Controller
Controller -
Integrated Type
Category
SIO
24V
0V
Input
Output
Signal name
Serial communication
Emergency stop
Brake release
Command position number
Position movement
Home return
Start
Pause
Position complete
Completed position number
Home return complete
Zone
Position zone
Alarm
Abbreviation
SGA
SGB
EMS1
EMS2
BKR
PC1
PC2
PC4
PC8
ST0
ST1
ST2
HOME
CSTR
*STP
PEND
PE0
PE1
PE2
HEND
ZONE
PZONE
*ALM
Function overview
Used in serial communication.
These signals are wired to enable the emergency stop switch on the teaching
pendant. (Refer to p. 301)
Connection to 0 V forcibly releases the brake. (150 mA is required)
Specify a target position number using 4-bit binary signals (or 3-bit binary
signals if the 8-point PIO pattern is selected).
(Example) Position 3 → Input PC1 and PC2.
Position 7 → Input PC1, PC2 and PC4.
Turn the ST0 signal ON to move the actuator to position 0. Same for ST1 and ST2.
(Operation can be started with these signals alone. No need to input a start
signal.)
Home-return operation starts at the leading edge of this signal.
Input a command position number signal and turn this signal ON, and the
actuator will start moving to the specified position.
This signal is always ON while the actuator is operating normally (negative logic).
The actuator starts to decelerate to a stop at the ON → OFF leading edge of this signal.
This signal turns ON once the actuator has moved to the target position and
completed the positioning by entering the specified positioning band.
Used to determine if positioning has completed.
PE0 is output upon completion of movement to position 0. Same for PE1 and PE2.
(These signals are valid only when the 3-point PIO pattern is selected.))
This signal turns ON upon completion of home return.
This signal turns ON upon entry into the zone signal range set by parameters.
This signal turns ON upon entry into the zone signal range set by position data.
This signal remain ON in normal conditions and turns OFF upon generation of
an alarm (negative logic).
Synchronized with the LED at the top of the motor cover. (A green light stays on
in normal conditions, and a red light comes on upon generation of an alarm.)
Slider
Type
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
(Note) The signals denoted by an asterisk (*) (ALM/STP) are negative-logic signals that always remain ON.
Specification Table
Specification item
Type
Control method
Positioning command
Position numbers
Backup memory
PIO
Electromagnetic brake
2-color LED indicator
I/F power supply (Note 1)
Serial communication
Absolute function
Forced release of electromagnetic brake
Environment
Cable length
Dielectric strength voltage
EMC
Power-supply voltage
Power-supply current
Ambient operating temperature
Ambient operating humidity
Operating ambience
Protection class
Description
PIO specification (NP/PN)
SIO specification (SE)
Field-weakening vector control (patent pending)
Position number specification
Position number specification/direct numerical specification
Maximum 16 points
Maximum 64 points
Position number data and parameters are stored in nonvolatile memory.
Serial EEPROM with a rewrite life of 100,000 times.
6 dedicated input points / 4 dedicated output points None
Built-in circuit, 24VDC ± 10%, 0.15A max.
Servo ON (green), alarm/motor drive-power cutoff (red)
Same as the control power supply (not insulated)
RS485, 1 channel (terminated externally)
None
Forcibly released upon connection to 0V (NP) or 24V (PN) Forcibly released upon connection to 24V
I/F cable: 10m max.
SIO connector communication cable: 5m max.
DC500V 10MΩ
EN55011 Class A Group1 (3m)
24V±10%
2A max.
0~40˚C
85% RH or below (non-condensing)
Free from corrosive gases
IP20
(Note 1) Use an insulated PIO terminal block (optional, refer to p. 302) to insulate the I/F power supply.
Controller
Models
Gateway
unit
PS-24
ERC2
PCON
ACON
SCON
PSEL
ASEL
SSEL
ERC2 298
XSEL

Controller -
Integrated Type
ERC2 Controller
I/O Wiring Diagram
Slider
Type
PIO Type NP (NPN Specification)
ERC2 PIO type
Rod
Type
EMG signal
CN1
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Input power
supply
(2A min.)
24V
0V
FG
MC
Brake forced-release
switch (Note)
* Light blue (red 1)
60mA Max * Light blue (black 1)
Yellow (red 1)
Yellow (black 1)
Pink (red 1)
Pink (black 1)
White (red 1)
White (black 1)
2A
2B
4A
4B
5A
5B
3A
3B
EMS1
EMS2
MPI
GND
MPI
GND
24V
BKR
Output for teachingpendant
EMG switch
contacts
Motor drive power
Control power
Normally OFF, ON
when released
(models with brake)
Splash
Proof Type
Controller
Controller
Models
* With a robot cable, the colors change as follows.
Wire color
Grey (red 1)
Grey (black 1)
Grey (red 2)
Grey (black 2)
Pin No.
2A
2B
7A
7B
Host system
< PLC >
(Note) To forcibly release the brake, connect a switch between BKR and 0V
and turn on the switch.
Output
side
Input
side
(Not used)
Orange (red 2)
Orange (black 2)
* Light blue (red 2)
* Light blue (black 2)
White (red 2)
White (black 2)
Yellow (red 2)
Yellow (black 2)
Pink (red 2)
Pink (black 2)
CN2
FG
Orange (red 1)
Orange (black 1)
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
1A
1B
I/O interface
(Refer to I/O connections under
each PIO pattern)
SGA
SGB
Serial communication
Drain wire
Gateway
unit
PIO Type NP (PNP Specification)
ERC2 PIO type
PSEL SCON ACON PCON ERC2 PS-24
XSEL SSEL ASEL
* With a robot cable, the colors change as follows.
Wire color
Grey (red 1)
Grey (black 1)
Grey (red 2)
Grey (black 2)
Input power
supply
(2A min.)
24V
Pin No.
2A
2B
7A
7B
(Note) To forcibly release the brake, connect a switch between BKR and 24V
and turn on the switch.
0V
FG
EMG signal
Host system
< PLC >
MC
60mA Max * Light blue (black 1)
Brake forced-release
switch (Note)
Output
side
Input
side
(Not used)
CN2
FG
* Light blue (red 1)
Yellow (red 1)
Yellow (black 1)
Pink (red 1)
Pink (black 1)
White (red 1)
White (black 1)
Orange (red 2)
Orange (black 2)
* Light blue (red 2)
* Light blue (black 2)
White (red 2)
White (black 2)
Yellow (red 2)
Yellow (black 2)
Pink (red 2)
Pink (black 2)
Orange (red 1)
Orange (black 1)
CN1
2A
2B
4A
4B
5A
5B
3A
3B
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
1A
1B
EMS1
EMS2
MPI
GND
MPI
GND
24V
BKR
SGA
SGB
Output for teachingpendant
EMG switch
contacts
Motor drive power
Control power
Normally OFF, ON
when released
(models with brake)
I/O interface
(Refer to I/O connections under
each PIO pattern)
Serial communication
Drain wire
299 ERC2

ERC2 Controller
Controller -
Integrated Type
SIO Type SE
Slider
Type
ERC2 SIO type
Connected to a junction
Input power
supply
(2A min.)
24V
e-CON connector
0V
FG
Network cable
(CB-ERC2-CTL001)
EMG signal
Orange (blue)
Blue (yellow)
Brown (red)
Green (black)
Red (purple)
Grey (grey)
Brake forced-release
switch (Note)
1
2
3
4
5
6
SGA
SGB
5V
GND
24V
BKR
Serial communication
Control power
Normally OFF, ON
when released
(models with brake)
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
MC
Controller
* The colors in ( ) apply to a robot cable.
Yellow (green)
Yellow (orange)
7
8
MPI
GND
Motor drive power
(Note) To forcibly release the brake, connect a switch between BKR and 24V
and turn on the switch.
FG
Drain wire
Controller
Models
Detailed connection diagram
Gateway
unit
Gateway unit
PORT IN
PORT N
SDA
2-pair shield cable
Recommended:
Taiyo Electric Wire & Cable
HK-SB/20276XL
2PXAWG22
1
4-way junction (AMP : 5-1473574-4)
1
PS-24
ERC2
SDB
GND
FG
2
3
4
2
3
4
e-CON connector (AMP: 4-1473562-4)
Housing color: Green
PCON
ACON
Network cable
CB-ERC2-CTL001 (0.1m)
SCON
SGA
1
Orange
1
1
Orange
1
SGA
PSEL
To power & I/O cable
SGB
2
Blue
2
2
Blue
2
SGB
3
Green
3
3
Green
3
ASEL
GND
4
4
4
4
GND
e-CON connector (AMP : 3-1473562-4)
Housing color: Green
SSEL
ERC2 300
XSEL

Controller -
Integrated Type
ERC2 Controller
Emergency Stop Circuit
Slider
Type
The ERC2 series has no built-in emergency stop circuit, so the customer must provide an emergency stop circuit based on the logic
explained below. (The circuit below is simplified for explanation purpose. Provide a ready circuit, etc., according to your specification.)
Rod
Type
Single Axis
To provide an emergency stop circuit for a single-axis configuration, operate a relay using the EMS1 and EMS2
contacts of the power & I/O cable to cut off MPI (motor power).
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
Controller
External
EMG reset
switch
External
EMG
switch
Motor drive source
Connection
detection
relay
Controller
Motor power
power
Teaching pendant
EMG
switch
Power supply
* The circuit shown to
the left applies to the
PIO specification. With
the SIO specification,
c u t o f f t h e m o t o r
drive source using an
external emergency
stop circuit because
a teaching pendant
cannot be connected.
Controller
Models
Gateway
unit
Multiple Axes
To provide an emergency stop circuit for a multiple-axis configuration, operate a relay using the EMG1 and
EMG2 contacts of the SIO converter to cut off MPI (motor power) for each axis.
(Emergency stop signal)
SIO converter
Model: RCB-TU-SIO-A (B)
Teaching pendant
PSEL SCON ACON PCON ERC2 PS-24
24V (Main power)
MPI (Motor power)
24V (Main power)
MPI (Motor power)
XSEL SSEL ASEL
301 ERC2
24V (Main power)
MPI (Motor power)

Options
ERC2 Controller
Controller -
Integrated Type
Insulated PIO Terminal Block
This terminal block is used to insulate the I/O power or simplify the wiring with a PLC.
* When a terminal block is used, the optional power & I/O cable with connectors on both ends must be used.
Features • The input/output ports are non-polar, so the I/O specification of the PLC can be either NPN or PNP.
• An input/output-signal monitor LED is equipped to check the ON/OFF status of signals.
Slider
Type
Rod
Type
Specifications
Item
Power-supply voltage
Ambient operating temperature,
humidity
Input
part
Output
Number of input points
Input voltage
Input current
Allowable leak current
Operating voltage
(with respect to ground)
Number of output points
Rated load voltage
Maximum current
Specification
DC24V±10%
0~55°C, 85% RH or below
(non-condensing)
6 points
DC24V±10%
7mA/circuit (bipolar)
1mA/point (approx. 2mA at normal temperature)
Input ON: Min16V (4.5mA)
Input OFF: Max5V (1.3mA)
4 points
DC24V
60mA/point
Note
If you are using the
E R C 2 - P N ( P N P
specification), use
the RCB-TU-PIO-AP/
BP (compatible with
PNP specification).
■ Vertical Specification
Model: RCB-TU-PIO-A/AP
■ Horizontal Specification
Model: RCB-TU-PIO-B/BP
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Splash
Proof Type
part
Residual voltage
Short-circuit,
overcurrent protection
2V max./60mA
Fuse resistance (27Ω, 0.1W)
Controller
Wiring Diagram
Teaching pendant or
PC software
(PIO type)
Emergency stop circuit
Power & I/O cable
(connectors on both ends) (optional)
Standard 1m / 3m / 5m
PIO terminal block (optional)
Model: RCB-TU-PIO-A (B)
(Parallel communication)
Controller
Models
SIO Converter
This converter permits RS232 communication by connecting the serial communication line (SGA,
SGB) of the power & I/O cable and using a D-sub, 9-pin crossing cable for PC connection.
Features • The connection port for teaching-pendant or PC cable can be installed at any position
away from the actuator.
• Multiple axes can be connected and operated from a PC via serial communication.
■ Vertical Specification
Model: RCB-TU-SIO-A
Gateway
unit
PS-24
ERC2
Specifications
Item
Specification
■ Horizontal Specification
Model: RCB-TU-SIO-B
PCON
Power-supply voltage
DC24V±10%
Ambient operating
temperature, humidity
Terminal resistor
0~55°C, 85% RH or below
(non-condensing)
120Ω(built-in)
ACON
Wiring Diagram
Emergency stop circuit
Teaching
pendant
SCON
PSEL
Power & I/O cable
(No connector at end) (required option)
*1
Standard 1m / 3m / 5m
SIO converter (optional)
Model: RCB-TU-SIO-A (B)
*1 With the SIO specification, a network cable is used to connect to a SIO converter.
D-sub, 9-pin crossing cable
(provided by the customer)
* The PC software cable
cannot be used.
PC
ASEL
SSEL
ERC2 302
XSEL

Controller -
Integrated Type
Slider
Type
ERC2 Controller
Options
n Teaching Pendant
An input device that provides all functions you need for trial operation and adjustment, such as position data input,
test operation, as well as monitoring of current axis positions and input/output signals.
Name
Teaching Pendant
Simple teaching pendant
Data setting unit
Rod
Type
Model
RCM-T (standard specification)
RCM-TD (with deadman switch *1)
RCM-E
RCM-P
Arm / Flat
Type
Standard price — — —
Gripper /
Rotary Type
External view
Cleanroom
Type
Splash
Proof Type
Features
Display
A standard, user-friendly teaching pendant
equipped with a large LCD screen.
A deadman switch type ensuring added safety
is also available.
21 characters x 16 lines on LCD
An economical type offering the same
functions as the RCA-T at a substantially lower
price.
16 characters x 2 lines on LCD
An affordable data setting unit that provides all
editing functions other than those relating to
axis operation.
* This unit does not support operations relating to axis movement.
16 characters x 2 lines on LCD
Controller
Weight
Cable length
Approx. 550g
5m
Approx. 400g
5m
Approx. 360g
5m
Ambient operating
temperature, humidity
Temperature: 0~40°C, Humidity: 85% RH or below
105 32.5 7.5
(113.5)
15.1
26.2
6.3
86
23
Controller
Models
External
dimensions
249.5
148.5
Gateway
unit
80
ø4.8
*1 The deadman switch is a safety switch that cuts off the drive source when released to disable operation.
PSEL SCON ACON PCON ERC2 PS-24
n PC Software
n RS232
Communication Type
Model RCM-101-MW
PC software (CD-ROM),
PC cable
(communication cable +
RS232 conversion unit)
A software program that helps input position data and perform test operation.
It significantly facilitates debugging operation by offering wide-ranging functions including jogging, inching, step
operation and continuous operation.
n USB
Communication Type
Model RCM-101-USB
PC software (CD-ROM),
PC cable
(communication cable + USB
conversion unit + USB cable)
XSEL SSEL ASEL
43
23.5
140
21
7 72.5 (34)
303 ERC2

Cables and Spare Parts
ERC2 Controller
Controller -
Integrated Type
Power & I/O Cable / Power & I/O Robot Cable for PIO Type
Model CB-ERC-PWBIO c c c /CB-ERC-PWBIO c c c -RB
* c c c indicates the cable length (L). Lengths up
to 10 m can be specified. Example) 080 = 8 m
Slider
Type
* Round terminal at end
(V0.5-3 by JST)
(Unit: mm)
Color
Orange (red 1)
Orange (black 1)
Signal
Twisted pair cable
Wire color
Signal
Standard cable Robot cable
Orange (red 1)
Orange (black 1)
Light blue (red 1) Grey (red 1)
Light blue (black 1) Grey (black 1)
White (red 1)
White (black 1)
Yellow (red 1)
Yellow (black 1)
Pink (red 1)
Pink (black 1)
Orange (red 2)
Orange (black 2)
Light blue (red 2) Grey (red 2)
Light blue (black 2) Grey (black 2)
White (red 2)
White (black 2)
Yellow (red 2)
Yellow (black 2)
Pink (red 2)
Pink (black 2)
Rod
Type
Arm / Flat
Type
Gripper /
Rotary Type
Cleanroom
Type
Power & I/O Cable / Power & I/O Robot Cable (Connectors on Both Ends)
Model CB-ERC-PWBIO c c c -H6/CB-ERC-PWBIO c c c -RB-H6
Drain wire
Signal
Shield wire
* c c c indicates the cable length (L). Lengths up
to 10 m can be specified. Example) 080 = 8 m
Signal
Splash
Proof Type
Controller
(Unit: mm)
Receptacle housing: 1-1318118-9 (AMP)
Receptacle contact: 1318108-1 (AMP)
IN1
IN2
IN3
IN4
IN5
IN6
OUT1
OUT2
OUT3
OUT4
IN1
IN2
IN3
IN4
IN5
IN6
OUT1
OUT2
OUT3
OUT4
Controller
Models
Power & I/O Cable / Power & I/O Robot Cable for SIO Type
Model CB-ERC2-PWBIO c c c /CB-ERC2-PWBIO c c c -RB
CN2
Manufacturer : JST
Housing : PAP-04V-Sx1
Contact : SPHD-001T-P0.5x4
No connector
Manufacturer: JST
Model: V0.5-3
Network Cable
Model CB-ERC2-CTL001
L
Twisted pair cable
Drain wire
Wire Color
Orange
Signal
SGA
AWG26
Blue SGB
Brown 5V
Green GND
No.
1
2
3
4
Twisted
CN1
pair cable
Manufacturer : JST
Drain wire
Plug housing : YLP-09Vx1
Plug contact : SYF-01T-P0.5Ax9
No.
1
2
3
4
Shield wire
* c c c indicates the cable length (L). Lengths up
to 10 m can be specified. Example) 080 = 8 m
Signal
SGA
SGB
5V
GND
5 Control power
6 Brake
7 MPI
8 GND
9 Shield
Wire color
Standard cable Robot cable
Orange Blue
Blue Yellow
Brown Red
Green Black
Red Purple
Grey Grey
Yellow Green
Black Orange
Shield Shielded
Gateway
unit
PS-24
ERC2
PCON
ACON
CN2
Manufacturer: AMP
e-CON connector plug type 4 (green)
Model : 4-1473562-4
1
2
3
4
PC Communication Cable
Model CB-ERC2-SIO020
CN2
Japan Chain Terminal
Modular plug : NTC-66R
Wire : UL1007 #22AWG
100mm
2m
T/20379-SP 6x28AWG
1
2
3
4
Wire Color Signal No.
No. Signal Color Wire
CN2
AWG22
Orange
Blue
Green
SGA
SGB
GND
NC
1
2
3
4
1
2
3
4
SGA
SGB
5V
GND
Orange
Blue
—
Green
CN1
AWG22
CN1
Manufacturer: JST
Housing : PALR-04VFx1
Contact : SPAL-001T-P0.5x4
1
2
3
4
CN1
Manufacturer : JST
Housing : PALR-04VFX1
Contact : SPAL-001T-P0.5X4
Wire Color
Brown
Signal
5V
No.
1
No.
1
Signal
SGA
Color
Yellow
Wire
Yellow SGA 2
2 SGB Orange
AWG28
Red GND 3
3 5V Brown
AWG28
Orange SGB 4
4 GND Red
NC GND 5
NC 5V 6
ERC2 304
SCON PSEL ASEL SSEL XSEL

ERC2 Series
Extract Cat. No. 0307-E
The information contained in this catalog is
subject to change without notice for the pupose
of product inprovement
Providing quality products
since 1986
IAI Industrieroboter GmbH
Ober der Röth 4
D-65824 Schwalbach / Frankfurt
Germany
Tel.:+49-6196-8895-0
Fax:+49-6196-8895-24
E-Mail: info@IAI-GmbH.de
Internet: http://www.eu.IAI-GmbH.de
IAI America Inc.
2690 W. 237th Street, Torrance, CA 90505, U.S.A
Tel.: +1-310-891-6015 Fax: +1-310-891-0815
IAI CORPORATION
645-1 Shimizu Hirose, Shizuoka 424-0102, Japan
Tel.: +81-543-64-5105 Fax: +81-543-64-5182
IAI, the IAI-logo, RoboCylinder, the RoboCylinder-logo, IntelligentActuator and the IntelligentActuator-logo are trademarks or productnames of IAI Corporation or of the subsidiaries in USA or Germany