Controller

Controller 


P S - 2 4 

E R C 2 

P CO N 

ACO N 

P S E L 

A S E L 

S S E L 

X S E L 

S CO N 

285 Controller

Gateway unit 


DeviceNet/CC-Link unit RCM-GW-DV/CC 289 

Controller - 

Integrated Type 

Slider 

Type 

P S - 2 4 

E R C 2 

P CO N 

ACO N 

24-VDC power supply for ROBO Cylinder PS-241/242 293 

Controller module of ERC2 ERC2 295 

Position controller for RCP2 series PCON-C / CG / CY / PL / PO / SE 305 

Position controller for RCA series ACON-C / CG / CY / PL / PO / SE 315 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


S CO N 

Position controller for RCS2 series SCON-C 325 

P S E L 

A S E L 

Program controller for RCP2 series PSEL-C 335 

Program controller for RCA series ASEL-C 345 


Models 

Gateway 

unit 

PS-24 

S S E L 

Program controller for RCS2 series SSEL-C 355 

ERC2 

X S E L 

Multi-axis program controller for RCS2 series X-SEL-J / K / P / Q 365 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

Controller 286 

XSEL



Slider 

Type 

Rod 

Type 


List of Controller Models by Function 

Series 

Type 

Features 

Applicable actuator 

Page 

ERC2 

ERC2 

→P295 

PCON 

RCP2 

→P305 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Positioner type 

T h e a c t u a t o r i s m o v e d b y 

specifying a target position 

number. 

Suitable for controlling simple 

movements to many positions. 

External view 

Type code 

Maximum number of connectable axes 

Maximum number of positioning points 

Input power supply 

PN/NP 

(—) 

16 points 

DC24V 

C 

1 axis 

512 points 

DC24V 


Splash 

Proof Type 

Solenoid valve 

type 

The actuator is moved only by 

ON/OFF of signals, just like an air 

cylinder with solenoid valve. 

Ideal for positioning operation 

involving two to three points. 

External view 

Type code 




PN/NP 

(—) 

3 points 

DC24V 

CY 

1 axis 

3 points 

DC24V 


Models 

Gateway 

unit 

PSEL SCON ACON PCON ERC2 PS-24 

XSEL SSEL ASEL 

The user can control actuator 

operation (via pulses) without 

Pulse-train input 

using position data. 

type 

Use this type if you wish to control 

everything with pulses. 

Serial Connectable to a field network, 

communication such as DeviceNet or CC-Link, 

type using a gateway unit. 

Programs input to the controller 

are used to perform various tasks 

such as operating the actuator 

Program type and communicating with external 

equipment. 

Ideal for small systems where a 

PLC is not required. 

287 Controller-Integrated Type 

External view 

Type code 




External view 

Type code 




External view 

Type code 




(Not supported) 

— 

— 

— 

— 

SE 

(—) 

64 points 

DC24V 


— 

— 

— 

— 

PL/PO 

1 axis 

(—) 

DC24V 

SE 

1 axis 

64 points 

DC24V 


— 

— 

— 

—

For enquiries, 

call 0800-888-0088 (toll-free). 




ACON SCON PSEL ASEL SSEL XSEL 

RCA RCS2 RCP2 RCA RCS2 RCS2 

→P315 →P325 →P335 →P345 →P355 →P365 

Slider 

Type 

Rod 

Type 


Arm / Flat 

Type 

C 

1 axis 

512 points 

DC24V 

C 

1 axis 

512 points 

AC100/200V 

C 

2 axes 

1500 points 

DC24V 

C 

2 axes 

1500 points 

DC24V 

C 

2 axes 

1500 points 

AC100/200V 

— 

— 

— 

— 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

(Not supported) (Not supported) (Not supported) (Not supported) 


CY 

1 axis 

3 points 

DC24V 

C 

1 axis 

7 points 

AC100/200V 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

(Not supported) (Not supported) (Not supported) 



Models 

Gateway 

unit 

PL/PO 

1 axis 

(—) 

DC24V 

C 

1 axis 

(—) 

AC100/200V 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

PS-24 

ERC2 

(Not supported) (Not supported) (Not supported) 

PCON 

SE 

1 axis 

64 points 

DC24V 

* Gateway unit not required. 

Directly connectable to a network. 

C 

1 axis 

512 points 

AC100/200V 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

— 

* Gateway unit not required. 

Directly connectable to a network. 

J/K/P/Q 

6 axes 

4000 points 

AC100/200V 

ACON 

SCON 



PSEL 

ASEL 

— 

— 

— 

— 

— 

— 

— 

— 

C 

2 axes 

1500 points 

DC24V 

C 

2 axes 

1500 points 

DC24V 

C 

2 axes 

1500 points 

J/K/P/Q 

6 axes 

4000 points 

AC100/200V AC100/200V 

Controller-Integrated Type 288 

SSEL 

XSEL



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 


Gateway Unit 

The gateway unit is a conversion unit for connecting a ROBO Cylinder controller to a field network such as DeviceNet 

or CC-Link. 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 


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 


Models 

SW1 

1 

MS 

NS 

PORT IN 

PORT N 

SDA 

SDB 

GND 

FG 

OFF 

PORT 

ON 

Gateway 

unit 

T.P. 

S2 S1 N 24V 



Functions 

One of the following three operation modes can be selected. 

(1) Position-number specification mode 

289 Controller-Integrated 

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. 

Type

System Configuration Diagram 


call 0800-888-0088 (toll-free). 




PLC 

Slider 

Type 

Rod 

Type 

Field network 

Arm / Flat 

Type 

Gateway unit 

DeviceNet specification 

 

CC-Link 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. 


* 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) 


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 

ACON 

SCON 

n Controller link cable 

PSEL 

(Comes with e-CON connector, junction and terminal resistor) 

Model CB-RCB-CTL002 

0.2m 

e-CON connector 

Color 

 

 

 

Signal 

SGA 

SGB 

GND 

No. 

1 

2 

3 

4 

No. Signal Color 

1 

2 

3 

SGA 

SGB 

+5V 

 

 

4 ENBL 

5 EMGA 

6 +24V 

7 GND 

8 EMGB 


ASEL SSEL XSEL



Slider 

Type 

Rod 

Type 


DeviceNet Gateway Unit 

n Model RCM-GW-DV 

Arm / Flat 

Type 

Operation Modes and Key Functions 

Key functions 

Movement by position data specification 

Direct speed & acceleration/deceleration specification 

Push-motion operation 

Current position read 

Position number specification 

Completed position number read 

Position-number 

specification 

mode 

x 

x 

x 

Positioning-data 

specification 

mode 

x 

x 

Simple direct/ 

position-number 

specification mode 

Various status signal read 

Number of connectable axes 

Maximum specifiable position data 

16 

Set as position data 

16 

999.99 

16 

999.99 

External Dimensions 

17.5 17.5 

68.1 

ø5 

178.5 

170.5 (installed dimension) 

161 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

Gateway 

unit 





Models 

Specifications 

5 

Item 


Power supply DC24V ±10% 

Current consumption 300mA max. 

Communication 

standard 

Interface module certified under DeviceNet 2.0 

Group 2 only server 

Insulated node operating on network power supply 

DeviceNet specifications 

Communication 

specifications 

Baud rate 

Communication 

cable length (*1) 

Master slave connection Bit strobe 

Polling 

Cyclic 

500k/250k/125kbps (switched using DIP switches) 

Baud rate Maximum network length Maximum branch length Total branch length 

500kbps 

250kbps 

125kbps 

100m 

250m 

500m 

*1 If you wish to use T-junction communication, refer to the operation 

manual for your master unit or PLC used. 

*2 CRC: Cyclic Redundancy Check. A data error detection method widely 

used in synchronous transmission. 


6m 

Note) When a large-size DeviceNet cable is used. 

Number of occupied nodes 500m 

39m 

78m 

156m 

Item 


Transmission path configuration IAI’s original multi-drop differential communication 

Communication method Half-duplex 

Synchronization method Asynchronous 

Transmission path type EIA RS485, 2 wires 

Baud rate 

230.4kbps 

Error control method No parity bit, CRC (*2) 

Communication cable length Total cable length 100m max. 

Number of connected units Up to 16 axes 

Communication cable 2-pair twisted pair shield cable (Recommended: Taiyo 

Electric Wire & Cable HK-SB/20276xL 2PxAWG22) 

Ambient operating temperature 0~40˚C 

Ambient operating humidity 85% RH or below (non-condensing) 

Operating ambience Free from corrosive dust, flammable gases, oil mist or powder dust 

Storage temperature –10~65˚C 

Storage humidity 90% RH or below (non-condensing) 

Vibration resistance 4.9m/s 2 (0.5G) 

Protection class IP20 

Weight 

480g or less 

SIO communication specifications Environmental conditions

CC-Link Gateway Unit 


call 0800-888-0088 (toll-free). 




Slider 

Type 

n Model RCM-GW-CC 

Operation Modes and Key Functions 

Key functions 

Movement by position data specification 

Direct speed & acceleration/deceleration specification 

Push-motion operation 

Current position read 


Completed position number read 

Various status signal read 

Number of connectable axes 

Maximum specifiable position data 

Position-number 

specification 

mode 

x 

x 

x 

14 

Set as position data 

Position-data 

only specification 

mode 

x 

x 

x 

x 

14 

327.67 

Positioning-data specification mode 

Normal positioning mode Push-motion operation mode 

x 

x 

x 

7 

327.67 

x 

x 

3 

999.99 

Simple direct/ 

position-number 

specification mode 

16 

999.99 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


17.5 17.5 

ø5 

68.1 


178.5 

170.5 (installed dimension) 

161 


Models 

Gateway 

unit 

PS-24 


5 

ERC2 

Item 


Power supply DC24V ±10% 

Current consumption 300mA max. 

Communication standard CC-Link Ver1.10 (*1) 

Baud rate 10M/5M/2.5M/625k/156kbps (switched using a rotary switch) 

Communication method Broadcast polling method 

Synchronization method Frame synchronization method 

Encoding method NRZI 

Transmission path type Bus type (conforming to EIA RS485) 

Transmission format Conforming to HDLC 

Error control method CRC(X 16 +X 12 +X 5 +1) 

Number of occupied stations Total cable length 

CC-Link specifications 

Communication 

cable length (*2) 

Communication cable 

Baud rate (bps) 10M 5M 2.5M 625k 156k 

Total cable length(m) 100 160 400 900 1200 

CC-Link cable 

*1 Already certified. 

*2 If you wish to use T-junction communication, refer to the operation 

manual for your master unit or PLC used. 

*3 CRC: Cyclic Redundancy Check. A data error detection method widely 

used in synchronous transmission. 

Item 


Transmission path configuration IAI’s original multi-drop differential communication 

Communication method Half-duplex 

Synchronization method Asynchronous 

Transmission path type EIA RS485, 2 wires 

Baud rate 

230.4kbps 

Error control method No parity bit, CRC (*2) 

Communication cable length Total cable length 100m max. 

Number of connected units Up to 3/7/14/16 axes (The exact number varies depending on the operation mode) 

Communication cable 2-pair twisted pair shield cable (Recommended: Taiyo 

Electric Wire & Cable HK-SB/20276xL 2PxAWG22) 

Ambient operating temperature 0~40˚C 


Operating ambience Free from corrosive dust, flammable gases, oil mist or powder dust 

Storage temperature –10~65˚C 

Storage humidity 90% RH or below (non-condensing) 

Vibration resistance 4.9m/s 2 (0.5G) 


Weight 

480g or less 

SIO communication specifications Environmental conditions 


PCON ACON SCON PSEL ASEL SSEL XSEL



PS-24 Controller 

Slider 

Type 

Rod 

Type 

PS-24 

Arm / Flat 

Type 

Rated output current 8.5A 

Maximum momentary output current 17A 

Gripper / 

Rotary Type 

Features 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 



1 Maximum Momentary Output of 17 A 

While the rated output current is 8.5 A, maximum momentary 

output current of up to 17 A is supported. This lets you select an 

appropriate power-supply capacity based on the total rated current 

of actuators, without having to consider the maximum momentary 

current that may be generated by the actuators during acceleration. 

Because you no longer need to use an expensive high-capacity 

power supply, cost can be reduced substantially. 

* The maximum momentary output current must be considered if the 

actuator operating conditions are tight. For details, refer to “Selection 

Guide” on the right. 

2 Supporting Parallel Operation 

Up to five units can be operated in 

parallel. Even if any one unit is found 

short of power-supply capacity, 

all you need is to simply add one 

more unit without replacing the unit 

in question with a larger-capacity 

model. 

3 Load Detection 

Function 

The load factor can be detected 

using the RDY (ready) indicator 

lamp and RDY output signal. 

Name of Each Part 

3 

4 

5 

6 

7 

8 

9 

10 

11 


2 1 

Type 

+ 

+ 

Power supply 1 Power supply 2 

– – 

RDY indicator 

RDY output 

+ 

Power supply 3 

– 

Load 

1 Ready indicator (RDY) 

Selection Guide: Number of Actuators Connected 

When selecting a power-supply unit for operating multiple actuators, normally a unit 

with a capacity equal to or exceeding the total maximum current of all actuators is 

chosen. However, actuators generate their maximum current only momentarily 

during acceleration, etc., and in many cases the power-supply is over-specified. 

On the other hand, the PS-24 power supply provides the following advantages: 

1. Supporting maximum momentary current of up to twice the rated current. 

2. If you need more power-supply capacity, you can simply add an extra unit or units. 

The above features let you select an optimal power-supply capacity. 

Number of Power-Supply Units 

Basically, how many power-supply units you need should be determined in such a 

way that the total rated current of all actuators will remain within the rated current 

of the PS-24. 

If the load condition is tight, however, the power-supply capacity may still become 

inadequate. In such cases, add an extra power supply or supplies. 

Examples of Tight Load Condition 

Large load (close to the rated load capacity of the actuator) 

High acceleration/deceleration 

High speed 

Simultaneous operation of multiple axes 

Use of the RB75 series (Structurally these actuators allow maximum current to flow for a longer period.) 

Table 1. Rated Current of PS-24 and Allowable Maximum Momentary Current 

Number of connected units 

1 unit 

2 unit 

3 unit 

4 unit 

5 unit 

Rated current [A] 

8.5 

15.3 

22.95 

30.6 

38.25 

Maximum momentary current [A] 

17 

30.6 

45.9 

61.2 

76.5 

Note) Consider a safety factor (loss) of 10% for the second and subsequent units. 

Table 1. Relationship of Actuator and Power-Supply Current 

Controller type Actuator type Power-supply current [A] 

Number of connected axes 

per PS-24 (reference) *1 

ERC2 

PCON 

PSEL 

ACON 

ASEL 

2 Overload-detection level setting 

dial (LF.DET) 

* This dial has been set to an appropriate value prior 

to the shipment. 

3 Ready output signal (RDYOUT) 

4 5 +24-V output terminals (+24V) 

* [4] and [5] are connected internally. 

6 7 0-V output terminals (0V) 

* [6] and [7] are connected internally. 

ERC2 

All RCP2 models 

SA4, SA5 (20W) 

SA6 (30W) 

RA3 (20W) 

RA4 (20W) 

RA4 (30W) 

Rating 

(= Max.) 2A 

Rating 

Max. 

Rating 

Max. 

Rating 

Max. 

Rating 

Max. 

Rating 

1.3A 

3.7A 

1.3A 

4.2A 

1.7A 

5A 

1.3A 

3.7A 

1.3A 

Max. 4.2A 

*1 The figures under “Number of connected axes per PS-24 (reference)” are calculated based on the assumption of “Rated 

current of axis x Number of axes < Rated current of PS-24 (8.5 A)” [or “Rated current of axis x Number of axes < Maximum 

momentary current of PS-24 (17 A) for ERC2 and RCP2]. 

8 Frame ground terminal (FG) 

A grounding terminal. 

9 AC input terminal (AC(N)) 

10AC (100-VAC) input terminal (AC100(L)) 

11AC (200-VAC) input terminal (AC200(L)) 

* Connect the power source between [9] and [10] for a 

100-VAC input specification, or between [9] and [11] for 

a 200-VAC specification. The terminals are not common 

between the two power input specifications. 

8 

6 

6 

5 

6 

6

Specification Table 

Item 

Rated DC output voltage 

Rated DC output current 

Maximum momentary DC output current 

Rated output capacity 

Efficiency 

Rated input voltage (frequency) 

Input voltage range 

Input current 

Output retention time 

Protective circuit 

Parallel operation 

Ambient operating temperature 

Ambient operating humidity 

Cooling method 

Breakdown voltage 

Insulation resistance 

Circuit method 

Weight 


call 0800-888-0088 (toll-free). 

PS-241 

24V±10% (Varies depending on the load) 

8.5A 

17A 

204W 

PS-24 Controller 

PS-242 

80% 80% 

AC100~115V (50/60Hz) 

AC85~125V 

AC200~230V (50/60Hz) 

AC170~250V 

3.5A (100VAC, full load) 1.8A (200VAC, full load) 

20 [msec] (at ambient temperature of 25°C and rated input/output conditions) 

Overcurrent protection, overvoltage protection, overheat protection, overload protection 

Supported 

0~50°C (subject to derating) 

30~85% RH (non-condensing) 

Natural air cooling 

Between input and output --- 2.0kVA, 1 minute (20mA) 

Between input and enclosure --- 2.0kVA, 1 minute (20mA) 

Between output and enclosure --- 100MΩ min. at 500VDC 

Externally excited fly-back converter 

Approx. 0.9kg 



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



24-VDC Power Supply 

PS-24 

5 

64.5 

31.5 33 

ø5 (for mounting) 

10 

139.7 


Models 

Gateway 

unit 

13 

PS-24 

M3.5 terminal screw 

ERC2 

PCON 

10 

158 

148±0.5 

138 

8 

R2.5 (for mounting) 

10 

5 

31.5 

5 

33 

ACON 

SCON 

Note 

• The PS-24 is not a constant-voltage power supply. Its output voltage changes in accordance with the load (the voltage will 

drop in accordance with the load factor). Therefore, do not connect the PS-24 to equipment other than IAI’s actuators. 

• Keep the maximum number of actuators operated in parallel to five. Do not use PS-24 and other power supplies together 

for parallel operation. 

• Take note that the PS-24 does not support series operation. 

• If multiple units are used side by side, provide a minimum clearance of approx. 20 mm between the adjacent units. 

• The PS-24 is naturally cooled by air. Accordingly, when installing the PS-24 give full consideration to ensuring natural 

convection in order to prevent heat from collecting around the power supply. 

• The enclosure of this product also serves as heat sink. Since the surface may be heated to very high temperatures, once 

the unit has been installed do not touch the enclosure to prevent burns. 

PSEL 

ASEL 

SSEL 


XSEL

~ 

~ 



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 


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 


Models 

Gateway 

unit 

Number of position points 

SA6C 

SA7C 

RA6C 

RA7C 

RGS6C 

RGS7C 

RGD6C 

RGD7C 

16 points 

16 points 

64 points 



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 

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) 

I Incremental 

Type 

PM 

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 


call 0800-888-0088 (toll-free). 




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 


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 teachingpendant 

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 



Models 

Gateway 

unit 

24-VDC power supply 


 

 

PC software 


(RS232 version) 

 

(USB version) 

 



 

 

 

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 


XSEL



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



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 


GND 

Internal 

circuit 

n Output Part External output specifications 

Item 


Rated load voltage 

Maximum current 

Residual voltage 

Short-circuit, reverse-voltage protection 


ERC2 

FUSE 


+ 

4 output points 

Internal circuit 


ERC2 

FUSE 

Power supply (VP24) + 

GND 

4 output points 


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 


Models 

I/O Signal Table (PIO Type) 

Gateway 

unit 



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 

橙 ( 赤 1) 

橙 ( 黒 1) 

空 ( 赤 1) 

空 ( 黒 1) 

白 ( 赤 1) 

白 ( 黒 1) 

黄 ( 赤 1) 

黄 ( 黒 1) 

桃 ( 赤 1) 

桃 ( 黒 1) 

橙 ( 赤 2) 

橙 ( 黒 2) 

空 ( 赤 2) 

空 ( 黒 2) 

白 ( 赤 2) 

白 ( 黒 2) 

黄 ( 赤 2) 

黄 ( 黒 2) 

桃 ( 赤 2) 

桃 ( 黒 2) 

(Note) The signals denoted by an asterisk (*) (ALM/STP) are negative-logic signals that always remain ON. 


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 

− 

− 

*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



call 0800-888-0088 (toll-free). 




Category 

SIO 

24V 

0V 

Input 

Output 

Signal name 

Serial communication 

Emergency stop 

Brake release 

Command position number 

Position movement 

Home return 

Start 

Pause 


Completed position number 


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 


(Note) The signals denoted by an asterisk (*) (ALM/STP) are negative-logic signals that always remain ON. 


Specification item 

Description 

Type 

Control method 

Positioning command 

Position numbers 

PIO specification (NP/PN) 

Field-weakening vector control (patent pending) 


Maximum 16 points 

SIO specification (SE) 

Position number specification/direct numerical specification 

Maximum 64 points 

Backup memory 

Position number data and parameters are stored in nonvolatile memory. 

Serial EEPROM with a rewrite life of 100,000 times. 

PIO 

Electromagnetic brake 

6 dedicated input points / 4 dedicated output points 

Built-in circuit, 24VDC ± 10%, 0.15A max. 

None 

2-color LED indicator 

I/F power supply (Note 1) 


Absolute function 

Servo ON (green), alarm/motor drive-power cutoff (red) 

Same as the control power supply (not insulated) 

RS485, 1 channel (terminated externally) 

None 

Forced release of electromagnetic brake 

Cable length 

Dielectric strength voltage 

EMC 

Power-supply voltage 

Power-supply current 


Forcibly released upon connection to 0V (NP) or 24V (PN) 

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 

Forcibly released upon connection to 24V 


Operating ambience Free from corrosive gases 


(Note 1) Use an insulated PIO terminal block (optional, refer to p. 302) to insulate the I/F power supply. 

Environment 


Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 


XSEL




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 

 

 

2A 

60mA Max 

 

2B 

 

 

 

 

 

 

Brake forced-release 

switch (Note) 

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 



Models 

Gateway 

unit 

* With a robot cable, the colors change as follows. 

 

 

 

 

 

 

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. 

PIO Type NP (PNP Specification) 

Output 

side 

Input 

side 

(Not used) 

 

6A 

 

6B 

 

 

7A 

CN2 

FG 

 

 

7B 

 

8A 

 

8B 

 

9A 

 

9B 

 

10A 

 

 

 

10B 

1A 

1B 

I/O interface 

(Refer to I/O connections under 

each PIO pattern) 

SGA 

SGB 


Drain wire 

ERC2 PIO type 



* With a robot cable, the colors change as follows. 

 

 

 

 

 

Input power 

supply 

(2A min.) 

24V 

 

2A 

2B 

7A 

7B 




0V 

FG 

EMG signal 

Host system 

< PLC > 

MC 

CN1 

 

2A 

4A 

4B 

5A 

5B 

3A 

3B 

 

6A 

 

6B 

 

 

7A 

 

7B 

 

8A 

 

8B 

 

9A 

 

9B 

 

10A 

10B 

1A 

1B 

EMS1 

60mA Max 

 

2B EMS2 

(Not used) 

CN2 

FG 

 


switch (Note) 

Output 

side 

Input 

side 

 

 

 

 

 

 

 

 

 

 

MPI 

GND 

MPI 

 

 

 

SGA 

SGB 

Output for teachingpendant 

EMG switch 

contacts 


Control power 


when released 


I/O interface 

(Refer to I/O connections under 

each PIO pattern) 


Drain wire


call 0800-888-0088 (toll-free). 




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) 


switch (Note) 

EMG signal 

 

 

 

 

 

 

1 

2 

3 

4 

5 

6 

SGA 

SGB 

5V 

GND 

24V 

BKR 


Control power 


when released 


Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

MC 


* The colors in ( ) apply to a robot cable. 

 

 

7 

8 

MPI 

GND 




FG 

Drain wire 


Models 

Detailed connection diagram 

Gateway 

unit 

Gateway unit 

PORT IN 

PORT N 

SDA 

2-pair shield cable 

Recommended: 

Taiyo Electric Wire & Cable 

HK-SB/20276L 

2PAWG22 

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 

 

1 

1 

 

1 

SGA 

PSEL 

To power & I/O cable 

SGB 

2 

 

2 

2 

 

2 

SGB 

3 

 

3 

3 

 

3 

ASEL 

GND 

4 

4 

4 

4 

GND 

e-CON connector (AMP: 3-1473562-4 

Housing color: Green 

SSEL 


XSEL




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 


External 

EMG reset 

switch 

External 

EMG 

switch 

Motor drive source 

Connection 

detection 

relay 


Motor power 

power 


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. 


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) 



24V (Main power) 

MPI (Motor power) 


MPI (Motor power) 



Type 


MPI (Motor power)

Options 


call 0800-888-0088 (toll-free). 




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 


Item 


Ambient operating temperature, 

humidity 


Input voltage 

Input Input current 

part Allowable leak current 

Operating voltage 

(with respect to ground) 

Number of output points 

Rated load voltage 

Output 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). 

nVertical Specification 

Model: RCB-TU-PIO-A/AP 

nHorizontal Specification 

Model: RCB-TU-PIO-B/BP 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

part 


Short-circuit, 

overcurrent protection 

2V max./60mA 

Fuse resistance (27Ω, 0.1W) 


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) 


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. 

nVertical Specification 

Model: RCB-TU-SIO-A 

Gateway 

unit 

PS-24 

ERC2 


Item 

Specification 

nHorizontal Specification 

Model: RCB-TU-SIO-B 

PCON 


DC24V±10% 

Ambient operating 

temperature, humidity 

Terminal resistor 

0~55°C, 85% RH or below 

(non-condensing) 

120Ω(built-in) 

ACON 


Emergency stop circuit 

Teaching 

pendant 

SCON 

PSEL 

Power & I/O cable 

(No connector at end) (required option) 

 

*1 


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 


XSEL



Slider 

Type 


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. 


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. 



Weight 

Cable length 

Approx. 550g 

5m 

Approx. 400g 

5m 

Approx. 360g 

5m 



Temperature: 0~40°C, Humidity: 85% RH or below 

105 32.5 7.5 

(113.5) 

15.1 

26.2 

6.3 

86 

23 


Models 

43 

23.5 

21 

External 

dimensions 

249.5 

148.5 

140 

Gateway 

unit 

80 

ø4.8 

7 72.5 (34) 

*1 The deadman switch is a safety switch that cuts off the drive source when released to disable operation. 


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 


Model RCM-101-USB 


PC cable 

(communication cable + USB 

conversion unit + USB cable) 



Type

Cables and Spare Parts 


call 0800-888-0088 (toll-free). 




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 

* Round terminal at end 

(V0.5-3 by JST) 

Color 

Signal 

* c c c indicates the cable length (L). Lengths up 

to 10 m can be specified. Example) 080 = 8 m 

Wire color 

Signal 

Standard cable Robot cable 

Slider 

Type 

Rod 

Type 

(Unit: mm) 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Power & I/O Cable / Power & I/O Robot Cable (Connectors on Both Ends) 

Model 

Twisted pair cable 

Color 

Drain wire 

CB-ERC-PWBIO c c c -H6/CB-ERC-PWBIO c c c -RB-H6 

Signal 

Shield wire 



Signal 

Cleanroom 

Type 

Splash 

Proof Type 


(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 


Models 

Power & I/O Cable / Power & I/O Robot Cable for SIO Type 

Model 

CN2 

Manufacturer: JST 

HousingPAP-04V-Sx1 

ContactSPHD-001T-P0.5x4 

No connector 


Model: V0.5-3 

 

Wire 

AWG26 

Twisted pair cable 

Drain wire 

CB-ERC2-PWBIO c c c /CB-ERC2-PWBIO c c c -RB 

Network Cable 

Model 

CB-ERC2-CTL001 

Color 

 

Twisted 

CN1 

pair cable 


Drain wire 

Plug housingYLP-09Vx1 

Plug contactSYF-01T-P0.5Ax9 

 

 

 

 

 

 

Signal 

SGA 

SGB 

5V 

GND 

No. 

1 

2 

3 

4 

Shield wire 



No. Signal 

Wire color 

Standard cable Robot cable 

1 SGA 

2 

3 

4 

SGB 

5V 

GND 

 

 

 

 

 

 

5 Control power 

6 Brake 

7 MPI 

8 GND 

9 Shield Shield Shield wire 

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 

WireUL1007 #22AWG 

100mm 

CB-ERC2-SIO020 

CN2 

Japan Chain Terminal 

Modular plugNTC-66R 

2m 

T/20379-SP 6x28AWG 

1 

2 

3 

4 

Wire Color Signal No. 

No. Signal Color Wire 

SGA 1 

1 SGA 

CN2 SGB 2 

2 SGB CN1 

AWG22 GND 3 

3 5V — AWG22 

NC 4 

4 GND 

CN1 


HousingPALR-04VFx1 

ContactSPAL-001T-P0.5x4 

1 

2 

3 

4 

CN1 


HousingPALR-04VF1 

ContactSPAL-001T-P0.54 

Wire Color 

 

Signal 

5V 

No. 

1 

No. 

1 

Signal 

SGA 

Color 

 

Wire 

SGA 2 

2 SGB 

AWG28 

GND 3 

3 5V 

AWG28 

SGB 4 

4 GND 

NC GND 5 

NC 5V 6 


SCON PSEL ASEL SSEL XSEL



PCON Controller 

Rod 

Type 

Arm / Flat 

Type 

Slider 

Type 

Gripper / 

Rotary Type 

n Model C / CG / CY / PL / PO / SE 

Position controller 

for RCP2 series 

C/CG CY PL/PO SE 

Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Position controller capable of operating RCP2 series actuator. Select from five types each supporting a different 

control mode. 

Type 

C 

CG 

CY 

PL / PO 

SE 


Name 


Safety category type 

Solenoid valve type 

Pulse-train control type 


External 

view 


Models 

Gateway 

unit 

Description 

Number of 

position points 

Positioner supporting up 

to 512 positioning points 

512 points 

— 

C type conforming to 

safety category 

512 points 

— 

Same control actions as 

those used on air cylinders 

3 points 

— 

Controller for pulse-train 

control 

— 

— 

Network controller 

64 points 

— 



Model 


PCON I 

0 

C 

CG 

CY 

SE 

PL 

PO 

Series Type Motor type Encoder type Standard I/O I/O cable length Power-supply voltage 






(differential receiver type) 


(open collector type) 

20P 

28P 

42P 

56P 

Type 

20 square pulse motor type 




I Incremental 

NP 

PN 

NPN specification (standard) 


0 No cable 

2 2m 

3 3m 

5 5m 

0 DC24V 

* If SE (serial communication type) is 

specified, “0” is automatically specified 

for the I/O cable option (no cable).



call 0800-888-0088 (toll-free). 




PLC 

Slider 

Type 

Rod 

Type 

Field network 

Arm / Flat 

Type 

I/O cable for 

positioner type 

CB-PAC-PIO020 

Cable length 

Standard 2m 

(Supplied with the controller) 

Refer to p. 314 for a 

replacement cable. 

I/O cable for 

solenoid valve type 

CB-PACY-PIO020 

Cable length 

Standard 2m 




I/O cable for 

pulse-train control type 

CB-PACPU-PIO020 

Cable length 

Standard 2m 




Gateway unit 


DeviceNet type 

 

CC-Link type 

 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 





 


Models 

PCON-C / CG 


Peripherals are common to all controllers. 

PCON-CY 


PCON-PL / PO 


PCON-SE 


Gateway 

unit 

PS-24 



 

 

PC software 


RS232 version 

 

USB version 

 




 

 

 

ERC2 

PCON 

ACON 

SCON 

Motor cable 

 


(Supplied with the actuator) 


PSEL 

ASEL 

Actuator RCP2 series 

Encoder cable 

 





SSEL 

XSEL




I/O Specifications 

Slider 

Type 

Rod 

Type 


Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Item 

Input voltage 

Input current 

Leak current 

Insulation method 


External 

power 

supply 

+24V 

P24V 

Specification 

24VDC ± 10% 

4mA/circuit 


Photocoupler 

Input terminal 

Each input 

R=680Ω 

R=5.6kΩ 



Item 

Load voltage 

Maximum load current 




Internal 

circuit 

Specification 

DC24V 

50mA/point 

2V max. 

Photocoupler 

P24 

Each output 

R=22Ω 

N 

Load 

External 

power 

supply 

+24V 




Models 

External 

power 

supply 

+24V 

N 

R=680Ω 


Each input R=5.6kΩ 


Internal 

circuit 

P24V 

R=22Ω 

Each output 

Load 

External 

power 

supply 

+24V 

Gateway 

unit 

N 




The four controller types (C/CG, CY, PL/PO and SE) are differentiated by their I/O specifications. Since the positioner 

type and solenoid valve type allow the I/O signal settings to be changed through the controller, multiple functions can 

be provided for selection as needed. 

n Controller Functions by Type 

Type 

Name 

Positioner mode 


C / CG 


Type 

CY 


PL / PO 

Pulse-train 

control type 

x 

SE 

Serial 

communication type 

Teaching mode x x x 


mode 

x x 

Pulse train 

mode 

x x x 

Network support 

x 

x 

Features 

A basic operation mode in which the 

actuator is operated by specifying a position 

number and then inputting a start signal. 

In this mode, the slider (rod) can be moved 

by means of an external signal to store the 

achieved position as position data. 

The actuator can be moved simply by ON/OFF of position 

signals. This mode supports the same control actions you 

are already familiar with on solenoid valves of air cylinders. 

In this mode, you can operate the actuator 

freely using pulse trains without inputting 

position data. 

The controller can be connected to a 

DeviceNet or CC-Link network using a 

gateway unit.

Explanation of I/O Signal Functions 


call 0800-888-0088 (toll-free). 


The table below explains the functions assigned to the respective I/O signals of the controller. 

Since the signals that can be used vary depending on the controller type and settings, check the signal table for each 

controller to confirm the available functions. 



Slider 

Type 


Rod 

Type 

Category 

Input 

Abbreviation 

CSTR 

Signal name 

PTP strobe signal (start signal) 

Input this signal to cause the actuator to start moving to the position set by the 

command position number signal. 

PC1~PC256 Command position number signal This signal is used to input a target position number (binary input). 

BKRL Brake forced-release signal This signal forcibly releases the brake. 

RMOD 

Running mode switching signal 

* STP Pause signal 

RES 

MODE 

Reset signal 

Teaching mode signal 

Function description 

This signal can switch the running mode when the MODE switch on the controller is 

set to AUTO (AUTO when this signal is OFF, or MANU when the signal is ON). 

Turning this signal OFF causes the moving actuator to decelerate to a stop. The actuator 

will resume the remaining movement if the signal is turned OFF during the pause. 

Turning this signal ON resets the alarms that are present. If this signal is turned ON 

while the actuator is paused (*STP is OFF), the remaining movement can be cancelled. 

SON Servo ON signal The servo remains on while this signal is ON, or off while the signal is OFF. 

HOME Home return signal Turning this signal ON performs home-return operation. 

JISL 

Jog/inching switching signal 

Turning this signal ON switches the controller to the teaching mode (provided that 

CSTR, JOG+ and JOG- are all OFF and the actuator is not moving). 

The actuator can be jogged with JOG+ and JOG- while this signal is OFF. The 

actuator performs inching operation with JOG+ and JOG- while this signal is ON. 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


JOG+ JOG– ------ ---- 

PWRT 

ST0~ST6 

TL 

Start position command 

Torque limit selection signal 

Turning this signal ON in the solenoid valve mode causes the actuator to move to the 

specified position. (Start signal is not required.) 

While this signal is ON, torque is limited by the value set by a parameter. The TLR 

signal turns ON if torque has reached the specified value. 

DCLR Deviation counter clear signal The position deviation counter is continuously cleared while this signal is ON. 

PEND/INP 

PM1~PM256 

Teaching signal 

Position complete signal 

Completed position number signal 

In the teaching mode, specify a desired position number and then turn this signal ON 

for at least 20 ms to write the current position under the specified position number. 

This signal turns ON when the actuator has entered the positioning band after 

movement. If the actuator has exceeded the positioning band, PEND does not turn 

OFF, but INP does. PEND and INP can be swapped using a parameter. 

This signal is used to output the position number achieved at completion of 

positioning (binary output). 

HEND Home return complete signal This signal turns ON upon completion of home return. 

ZONE1 

PZONE 

Zone signal 


This signal turns ON when the current actuator position has entered the range 

specified by parameters. 


specified by position data during position movement. PZONE can be used together 

with ZONE1, but PZONE is valid only during movement to a specified position. 


Models 

Gateway 

unit 

PS-24 

ERC2 

Output 

RMDS Running mode status signal This signal is used to output the running mode status. 

* ALM Controller alarm status signal 

MOVE 

SV 

Servo ON status signal 

* EMGS Emergency stop status signal 

MODES 

WEND 

PE0~PE6 

TLR 

LSO~LS2 

TRQS 

Moving signal 

Mode status signal 

Write complete signal 

Current position number signal 

Torque limiting signal 

Limit switch output signal 

--- 

This signal remains ON while the controller is normal, and turns OFF if an alarm has 

generated. 

This signal remains ON while the actuator is moving (including the periods during 

home return and push-motion operation). 

This signal remains ON while the servo is on. 

This signal remains ON while the controller is not in the emergency stop mode, and 

turns OFF once an emergency stop has been actuated. 

This signal turns ON when the controller has switched to the teaching mode via 

MODE signal input. It turns OFF upon returning to the normal mode. 

This signal remains OFF after the controller has switched to the teaching mode. It 

turns ON upon completion of data write using the PWRT signal. If the PWRT signal is 

turned OFF, this signal also turns OFF. 

This signal turns ON after the controller has completed moving to the target position 

in the solenoid valve mode. 

This signal turns ON once the motor torque has reached the specified value in a 

condition where torque is being limited by the TL signal. 

Each signal turns ON when the current actuator position has entered the positioning band 

before or after the target position. If the actuator has already completed home return, these 

signals are output even before a movement command is issued or while the servo is OFF. 

-------- 





Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 




I/O Signal Table 

n Positioner type (PCON-C / CG) 

Pin 

number 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

8B 

9B 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B 

18B 

19B 

20B 

Category 

24V 

24V 

− 

− 

Input 

Output 

− 

− 

0V 

0V 

Number of positioning points 

Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 

( 注 ) 上記信号名の( )の中は、原点復帰前の機能となります。 

0 

Positioning mode 

64 points 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

n Solenoid valve type (PCON-CY) 

Parameter (PIO pattern) selection 

0 

Pin 

Solenoid valve mode 0 

Category 

number 

Number of positioning points 3 points 

Zone signal x 

P zone signal x 

1 24V 

2 0V 

3 

IN0 

ST0 

4 

IN1 

ST1(JOG) 

Input 

5 

IN2 

ST2(−) 

6 

IN3 

SON 

7 

OUT0 

LS0 

8 

OUT1 LS1(TRQS) 

9 

OUT2 

LS2(−) 

Output 

10 

OUT3 

SV 

11 

OUT4 

HEND 

12 

OUT5 

* ALM 


− 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 

1 

Teaching mode 

64 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

MODE 

JISL 

JOG+ 

JOG- 

RMOD 

HOME 

* STP 

CSTR/PWRT 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

MODES 

PZONE 

RMDS 

HEND 

PEND/WEND 

SV 

* EMGS 

* ALM 

1 


3 points 

x 

ST0 

ST1(JOG) 

ST2(−) 

SON 

PE0 

PE1(TRQS) 

PE2(−) 

PZONE 

HEND 

* ALM 


− 


2 

256-point mode 

256 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 

n Pulse-train type (PCON-PL/PO) 

Pin 

number 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

P24 

P24 

NC 

NC 

NC 

NC 

N 

N 

Category 

24V 

0V 

Input 

Output 

Input 

3 


512 points 

x 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

PC256 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PM256 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 


Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

4 

5 

Solenoid valve mode 1 Solenoid valve mode 2 

7 points 

3 points 

ST0 

ST1 

ST2 

ST3 

ST4 

ST5 

ST6 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

− 

RES 

SON 

PE0 

PE1 

PE2 

PE3 

PE4 

PE5 

PE6 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 


0 

1 

Standard mode Push mode 

− 

x 

x 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

* PP 

PP 

* NP 

NP 

ST0 

ST1 (JOG+) 

ST2 (–) 

− 

− 

− 

− 

− 

− 

BKRL 

RMOD 

− 

− 

− 

RES 

SON 

LSO 

LS1 (TRQS) 

LS2(–) 

− 

− 

− 

− 

ZONE1 

PZONE 

RMDS 

HEND 

− 

SV 

* EMGS 

* ALM 

− 

− 

x 

x 

SON 

TL 

HOME 

RES/DCLR 

SV 

INP/TLR 

HEND 

* ALM 

* PP 

PP 

* NP 

NP

Wiring Diagram for Pulse-Train Input Type 


call 0800-888-0088 (toll-free). 




n Differential Receiver Method (PCON-PL) 

Maximum input pulse frequency : MAX 200kpps 

Cable length 

: MAX 10m 

Slider 

Type 

Rod 

Type 

PIO connector 

Pin number Category Signal name 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

External 24 V 

External 0 V 

Input 

Input 

Input 

Input 

Output 

Output 

Output 

Output 

24V 

0V 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

/PP 

12 

PP 

Differential input 

13 

/NP 

14 

NP 

Shield 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Mountingplate 

FG 

* The shield of the twisted pair cable connected to the PULSE connector must be connected to the mounting plate. 

n Open Collector Method (PCON-PO) 


Cable length 

: MAX 2m 


Models 

Gateway 

unit 

PIO connector 


1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

External 24 V 

External 0 V 

Input 

Input 

Input 

Input 

Output 

Output 

Output 

Output 

N.C 

Open collector input 

N.C 


24V 

0V 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

/PP 

PP 

/NP 

NP 

Shield 

DC24V±10% 

PS-24 ERC2 PCON ACON SCON PSEL 

Mountingplate 

FG 

ASEL 


* Connect the external 0-V pin (common) to the ground for controller power. 

SSEL 

PCON 310 

XSEL



Slider 

Type 


Command Pulse Input Patterns 

Command pulse train pattern Input terminal Forward Reverse 

Forward pulse train 

PP • /PP 

Rod 

Type 

Reverse pulse train 

NP • /NP 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Negative logic Positive logic 

Forward pulse trains and reverse pulse trains indicate the motor revolutions in forward direction and reverse direction, respectively. 

Pulse train 

PP • /PP 

Sign 

NP • /NP 

Low 

High 

Command pulses indicate the motor revolutions, while the sign of the command indicates the rotating direction. 

PP • /PP 

Phase-A/B pulse train 

NP • /NP 

Phase-A/B (x4) pulses with a 90° phase difference specify both the revolutions and rotating direction. 


PP • /PP 


NP • /NP 

Pulse train 

PP • /PP 

Sign 

NP • /NP 

High 

Low 


Models 


PP • /PP 

NP • /NP 

Gateway 

unit 




Item 

Controller type 

Connectable actuators 

Number of controlled axes 

Operation method 


Backup memory 

I/O connector 

Number of I/O points 

I/O power supply 


Peripheral communication cable 

Command pulse-train input method 

Maximum input pulse frequency (Note 2) 

Position detection method 

Drive-source cutoff relay at emergency stop 


Motor cable 

Encoder cable 


Power-supply capacity 


Vibration resistance 



Operating ambience 

Protection class 

Weight 

311 PCON 

Specification 

C CG CY PL PO SE 

RCP2 series actuator (Note 1) 

1 axis 


Solenoid valve type Pulse-train control type Serial communication type 

512 points 3 points 

— 64 points 

EEPROM 

40-pin connector 12-pin connector 14-pin connector None 

16 input points / 16 output points 4 input points / 6 output points 4 input points / 4 output points None 

Externally supplied 24VDC ± 10% 

— 

RS485 1ch 

CB-PAC-PIO ccc CB-PACY-PIO ccc CB-PACPU-PIO ccc CB-RCB-CTL002 

— 

Differential line driver Open collector — 

— Max 200kpps Max 60kpps — 

Incremental encoder 

Built-in 

External 

Brake release switch ON/OFF 

BK-release terminal signal ON/OFF on power connector 

CB-RCP2-MA ccc (20m max.) 

CB-RCP2-PA ccc (20m max.) 

DC24V±10% 

2A max. 

DC500V 1MΩ 

XYZ directions 10~57Hz One-side amplitude 0.035mm (continuous), 0.075mm (intermittent) 

58~150Hz 4.9m/s2 (continuous), 9.8m/s2 (intermittent) 

0~40˚C 

10~95% (non-condensing) 

Free from corrosive gases 

IP20 

Approx. 300g 

Approx. 130g 

(Note 1) The high-thrust type (RFA), high-speed type (HS8C/HS8R) and waterproof type (RCP2W-SA16) cannot be operated. 

(Note 2) With the open collector specification, keep the maximum input frequency to 60 kpps or below to prevent malfunction.



call 0800-888-0088 (toll-free). 




PCON-C / CG 

35 

ø5 

84 

68.1 

PCON-CY / PL / PO / SE 

35 

ø5 68.1 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

178.5 

170.5 

120 

112 

Gripper / 

Rotary Type 

Cleanroom 

Type 


1 

5 

68.1 

ø5 

2 

Blinking (green) LED indicators 

5 

ø5 68.1 

35 

These LED indicate the condition of the controller. 

84 

68.1 

Unlit Servo on Lit (red) Alarm present Lit (green) Servo off 1 Automatic servo-off mode 

Splash 

Proof Type 


3 

5 

7 

9 

170.5 

178.5 

1 

5 

C / CG type 

4 

6 

8 

2 PIO connector 

Connect a cable for communicating with a PLC or 

other external equipment. 

120 

3 Address-setting rotary switch 

This switch is used to set the address of each 

controller when multiple controllers are linked. 

4 Mode switch 

This switch is used to switch between teaching 

operation (MANU) and automatic operation (AUTO). 

Operation details 

MANU 

AUTO 

112 

I/O commands are not accepted. Data 

can be written from a teaching pendant. 

I/O commands are valid, while operations 

from a teaching pendant are not accepted. 

Monitoring is possible. 

6 Encoder/brake connector 

Connect the encoder/brake cables of the actuator. 

7 Brake release switc 

A switch to forcibly release the brake 

8 Motor connector 

Connect the motor cable of the actuator. 

5 

9 Power terminal block 

Supplies the main controller power and actuates an 

emergency stop. 

C/CG types 

Pin 

number 

Signal 

Name 

Name 


Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

CY / PL / PO 

type 

* PIO connector pins 

CY: 12 pins 

PL/PO: 14 pins 

2 

5 

6 

8 

9 

SE 

type 

5 SIO connector 

Connect a teaching-pendant or PC cable, or a 

controller to connect to a gateway unit. 


Pin 

number 

Signal Pin Remarks 

1 SGA RS485 differential signal+ 

2 

3 

4 

5 

6 

7 

8 

9 

SGB 

5V 

ENBL 

EMGA 

24V 

0V 

EMGB 

0V 

RS485 differential signal- 

+5-V output 

Enable signal 

EMG line connection to 

external equipment 

24-V power for T/P 

Ground 



Ground for EMG line connection 

to external equipment 

For RS232/485 

conversion 

For T/P 

7 S1 TP_EMG external drive-source 

6 S2 cutoff terminal 

5 

4 

3 

2 

1 

Pin 

number 

6 

5 

4 

3 

2 

1 

MPI 

MPO 

24V 

0V 

EMG 

CY / PL / PO / SE types 

Signal 

Name 

BK 

MPI 

MPO 

24V 

0V 

EMG 

Motor drive-source cutoff terminal 


Positive side of the 24-V power supply 

Negative side of the 24-V power supply 

EMG signal (application of 24 V) 

Brake release 

Name 






PCON 312 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



Slider 

Type 


Options 




Rod 

Type 

Name 

Model 





RCM-E 


RCM-P 

Arm / Flat 

Type 


Gripper / 

Rotary Type 

External view 

Cleanroom 

Type 

Splash 

Proof Type 

Features 

Display 








price. 








Weight 

Cable length 

Approx. 550g 

5m 

Approx. 400g 

5m 

Approx. 360g 

5m 




105 32.5 7.5 

(113.5) 

15.1 26.2 

6.3 

86 

23 

43 

23.5 

21 


Models 

External 

dimensions 

249.5 

148.5 

140 

Gateway 

unit 

80 

ø4.8 

7 72.5 (34) 



n PC Software 

n RS232 




PC cable 






n USB 




PC cable 




313 PCON

(15) 

Spare Parts 

Motor Cable 

Model CB-RCP2-MA c c c 

(8) 

(Front view) 

Controller end 

(20) 

CN3 

(ø8) 


call 0800-888-0088 (toll-free). 

* The standard motor cable is 

a robot cable. 

Encoder Cable / Encoder Robot Cable 

Model CB-RCP2-PA c c c /CB-RCP2-PA c c c -RB 

(18) 

L 

(28) 

C 

N 

1 

(20) 

(14) 

(14) 

(Front view) 

(5) (8) (13) (15) 

(Front view) 


CN4 

(ø9) 

L 

L 

(35) 

Actuator end 

C 

N 

2 

(Front view) 

(25) 

Actuator end 

I-1318119-3 

(AMP) 

CN4 

PHDR-16VS 

(JST) 

 

 

 

 

 

 

Cable Signal 

color name 

– (BAT2) 

– (BAT1) 

BK+ 

 

 

 

 

 

 

 

 

 

– 

– 

– 

Drain 

CN3 

A A1 

VMM A2 

B A3 

A B1 

VMM B2 

B B3 


Should you require spare parts after the purchase of your product for replacing the original cables, etc., refer to the model names specified below. 

I/O Cable for Positioner Type (PCON-C/CG) 

Model CB-PAC-PIO c c c 

No connector 

No connector 

I/O Cable for Solenoid Valve Type (PCON-CY) 

Model CB-PACY-PIO c c c 

No connector 

No connector 

Flat cable (20 cores) x 2 

I/O Cable for Pulse-Train Control Type (PCON-PL/PO) 

Model CB-PACPU-PIO c c c 

L 

L 

B 

A 

* The standard encoder cable is a normal cable. 

A robot cable can be specified as an option. 

20A 

1A 

20B 

1B 

Half-pitch MIL socket: 

HIF6 – 40D – 1.27R (Hirose) 

12 

Housing: 51353–1200 (MOLEX) 

Contact: 56134–9000 (MOLEX) 

2 

11 

Single wire (UL1007, AWG24, green) 

110 

Round terminal: 0.5-5 (JST) 

1 



* c c c indicates the cable length (L). Lengths up to 

20 m can be specified. Example) 080 = 8 m 

BK– 

ENA 

ENA 

ENB 

ENB 

– 

VPS 

VBB 

GND 

(N.C) 

(N.C) 

(N.C) 

F.G 

Pin 

number 

16 

15 

14 

13 

12 

11 

10 

9 

8 

7 

6 

5 

4 

3 

2 

1 

HIF6 – 40D – 1.27R 

Signal 

No. 

name 

Cable 

color 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

24V 

24V 

— 

— 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

M cable 

Shield wire 

Drain wire 

CN1 

 

 

 

 

 

 

A 

VMM 

A 

B 

VMM 

B 

 

 

 

 

 

 

SLP-06V 

(JST) 



51353-1200 (MOLEX) 

No. Signal 

name 

Cable 

color 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

24V 

0V 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

 

 

 

 

 

 

 

 

 

 

 

 

Pin Signal Cable 

number name color 

CN2 

1 ENA 

2 ENA 

3 ENB 

4 ENB 

5 – – 

6 – – 

7 – – 

8 – – 

9 GND 

10 VBB 

11 VPS 

12 – – 

13 – – 

14 – – 

15 – – 

16 BK+ 

17 BK– 

18 F.G Drain 

Wire 

XMP-18V 

(JST) 





 

 

 

 

 

 

 

No 

connector 

end 

 

 

 

 

 

Wire 

Flat cable A 

(pressure-welded) 

Signal 

No. name 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

8B 

9B 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B 

18B 

19B 

20B 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 

OUT15 

— 

— 

0V 

0V 

Cable 

color 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Flat cable 


AWG28 



51353-1400 (MOLEX) 

Signal 

No. 

name 

Cable 

color 

Wire 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

IO_24V 

IO_24G 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

PP 

PG 

NP 

NG 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

0.2sq 

0.5-5 (JST) 

Wire 

Flat cable B 


AWG28 

1 FG AWG24 

PCON 314 



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



ACON Controller 

Rod 

Type 

Arm / Flat 

Type 

Slider 

Type 

Gripper / 

Rotary Type 

n Model C / CG / CY / PL / PO / SE 


for RCA series C/CG CY PL/PO SE 

Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Position controller capable of operating RCP2 series actuator. Select from five types each supporting a different 

control mode. 

Type 

C 

CG 

CY 

PL / PO 

SE 


Name 






External 

view 


Models 

Description 



C type conforming to 

safety category 




control 

Network controller 

Gateway 

unit 

Number of 


512 points 

— 

512 points 

— 

3 points 

— 

(Unlimited) 

— 

64 points 

— 



Model 

ACO N I 

0 

C 

CG 

CY 

SE 

PL 

PO 






(differential receiver type) 


(open collector type) 

315 ACON 

Series Type Motor type Encoder type Standard I/O I/O cable length Power-supply voltage 

20S 

20-W motor (RA3 only) 

20 20-W motor (other than RA3) 

30 30-W motor 

I 

Incremental 

NP 

PN 

N 


(standard) 


No I/O (SE type) 

0 

2 

3 

5 

0 

No cable 

2m 

3m 

4m 

DC24V 

* If SE (serial communication type) 

is specified, “0” is automatically 

specified for the I/O cable option 

(no cable).



call 0800-888-0088 (toll-free). 




PLC 

Slider 

Type 

Rod 

Type 

Field network 

Arm / Flat 

Type 

I/O cable for 

positioner type 

CB-PAC-PIO020 

Cable length 

Standard 2m 




I/O cable for 

solenoid valve type 

CB-PACY-PIO020 

Cable length 

Standard 2m 




I/O cable for 



Cable length 

Standard 2m 




Gateway unit 


DeviceNet type 

 

CC-Link type 

 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 




 


Models 

ACON-C / CG 


Peripherals are common to all controllers. 

ACON-CY 


ACON-PL / PO 


ACON-SE 


Gateway 

unit 



 

 

PC software 


RS232 version 

 

USB version 

 




 

 

 

PS-24 

ERC2 

PCON 

5m 

ACON 

Motor cable 

 



SCON 

PSEL 

Actuator RCA series 

Encoder cable 

 



ASEL 

SSEL 

ACON 316 

XSEL




I/O 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 


Splash 

Proof Type 


Item 

Input voltage 

Input current 

Leak current 



External 

power 

supply 

+24V 

P24V 


Each input 

Specification 

24VDC ± 10% 

4mA/circuit 


Photocoupler 

R=680Ω 

R=5.6kΩ 



Item 

Load voltage 





Internal 

circuit 

Specification 

DC24V 

50mA/point 

2V max. 

Photocoupler 

P24V 

Each output 

R=22Ω 

N 

Load 

External 

power 

supply 

+24V 




Models 

External 

power 

supply 

+24V 

N 

R=680Ω 




Internal 

circuit 

P24V 

R=22Ω 

Each output 

Load 

External 

power 

supply 

+24V 

Gateway 

unit 

N 




The four controller types (C/CG, CY, PL/PO and SE) are differentiated by their I/O specifications. Since the positioner 

type and solenoid valve type allow the I/O signal settings to be changed through the controller, multiple functions can 

be provided for selection as needed. 


Type 

Name 


317 ACON 

C / CG 


CY 


PL / PO 

Pulse-train 

control type 

x 

SE 

Serial 

communication type 

Teaching mode x x x 


mode 

x x 

Pulse train 

mode 

x x x 


x 

x 

Features 








number signals. This mode makes it easy to convert 

applications previously using air cylinders with solenoid valves. 

You can operate the actuator freely 

according to your control needs, without 

inputting position data. 

The controller can be connected to a 

network via a gateway unit and serial 

communication function.



call 0800-888-0088 (toll-free). 








Slider 

Type 

Rod 

Type 

Category 

Input 

Abbreviation 

CSTR 

Signal name 






RMOD 



RES 

MODE 

Reset signal 











JISL 






Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


JOG+ JOG– ------ ---- 

PWRT 

ST0~ST6 

TL 








PEND/INP 

PM1~PM256 












ZONE1 

PZONE 

Zone signal 








Models 

Gateway 

unit 

PS-24 

ERC2 

Output 



MOVE 

SV 



MODES 

WEND 

PE0~PE6 

TLR 

LSO~LS2 

TRQS 

Moving signal 






--- 


generated. 


















-------- 

ACON 318 




Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 





n Positioner type (ACON-C / CG) 

Pin 

number 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

8B 

9B 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B 

18B 

19B 

20B 


n Solenoid valve type (ACON-CY) 

Pin 

number 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

Category 

24V 

24V 

319 ACON 

− 

− 

Input 

Output 

− 

− 

0V 

0V 

Category 

24V 

0V 

Input 

Output 


Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 


Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

0 


64 points 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

− 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 


0 


3 points 

x 

x 

ST0 

ST1(JOG) 

ST2(−) 

SON 

LS0 

LS1(TRQS) 

LS2(−) 

SV 

HEND 

* ALM 

1 

Teaching mode 

64 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

MODE 

JISL 

JOG+ 

JOG- 

RMOD 

HOME 

* STP 

CSTR/PWRT 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

MODES 

PZONE 

RMDS 

HEND 

PEND/WEND 

SV 

* EMGS 

* ALM 

− 

1 


3 points 

x 

ST0 

ST1(JOG) 

ST2(−) 

SON 

PE0 

PE1(TRQS) 

PE2(−) 

PZONE 

HEND 

* ALM 



2 


256 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 

n Pulse-train type (ACON-PL/PO) 

Pin 

number 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

P24 

P24 

NC 

NC 

NC 

NC 

N 

N 

Category 

24V 

0V 

Input 

Output 

Input 

3 


512 points 

x 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

PC256 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PM256 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 


Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

4 

5 

Solenoid valve mode 1 Solenoid valve mode 2 

7 points 

3 points 

ST0 

ST1 

ST2 

ST3 

ST4 

ST5 

ST6 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

− 

RES 

SON 

PE0 

PE1 

PE2 

PE3 

PE4 

PE5 

PE6 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

− 


0 

1 

Standard mode Push mode 

− 

x 

x 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

* PP 

PP 

* NP 

NP 

ST0 

ST1 (JOG+) 

ST2 (–) 

− 

− 

− 

− 

− 

− 

BKRL 

RMOD 

− 

− 

− 

RES 

SON 

LSO 

LS1 (TRQS) 

LS2(–) 

− 

− 

− 

− 

ZONE1 

PZONE 

RMDS 

HEND 

− 

SV 

* EMGS 

* ALM 

− 

− 

x 

x 

SON 

TL 

HOME 

RES/DCLR 

SV 

INP/TLR 

HEND 

* ALM 

* PP 

PP 

* NP 

NP

Wiring Diagram for Pulse-Train Input Type 


call 0800-888-0088 (toll-free). 




n Differential Receiver Method (ACON-PL) 


Cable length 

: MAX 10m 

Slider 

Type 

Rod 

Type 

PIO connector 


1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

External 24 V 

External 0 V 

Input 

Input 

Input 

Input 

Output 

Output 

Output 

Output 

24V 

0V 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

/PP 

12 

PP 

Differential input 

13 

/NP 

14 

NP 

Shield 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Mounting plate 

FG 



Models 

n Open Collector Method (ACON-PO) 


Cable length 

: MAX 2m 

Gateway 

unit 

PS-24 

PIO connector 


1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

External 24 V 

External 0 V 

Input 

Input 

Input 

Input 

Output 

Output 

Output 

Output 

N.C 


N.C 


24V 

0V 

SON 

TL 

HOME 

RES 

SV 

INP 

HEND 

* ALM 

/PP 

PP 

/NP 

NP 

Shield 

DC24V±10% 

ERC2 PCON ACON SCON PSEL ASEL 

Mounting plate 

FG 


* Connect the external 0-V pin (common) to the ground for controller power. 

SSEL 

ACON 320 

XSEL




Command Pulse Input Patterns 

Slider 

Type 

Command pulse train pattern Input terminal Forward Reverse 


PP • /PP 

Rod 

Type 


NP • /NP 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Negative logic Positive logic 

Forward pulse trains and reverse pulse trains indicate the motor revolutions in forward direction and reverse direction, respectively. 

Pulse train 

PP • /PP 

Sign 

NP • /NP 

Low 

High 

Command pulses indicate the motor revolutions, while the sign of the command indicates the rotating direction. 

PP • /PP 


NP • /NP 

Phase-A/B (x4) pulses with a 90° phase difference specify both the revolutions and rotating direction. 


PP • /PP 


NP • /NP 

Pulse train 

PP • /PP 

Sign 

NP • /NP 

High 

Low 


Models 

Gateway 

unit 





PP • /PP 

NP • /NP 

Item 

Specification 

Controller type 

C CG CY PL PO SE 


RCA series actuator 


1 axis 



Solenoid valve type Pulse-train control type Serial communication type 


512 points 3 points 

— 64 points 

Backup memory 

EEPROM 

I/O connector 

40-pin connector 12-pin connector 14-pin connector None 


16 input points / 16 output points 4 input points / 6 output points 4 input points / 4 output points None 



— 


RS485 1ch 

Peripheral communication cable CB-PAC-PIO ccc CB-PACY-PIO ccc CB-PACPU-PIO ccc CB-RCB-CTL002 


— 

Differential line driver Open collector — 

Maximum input pulse frequency (Note 1) 

— Max 200kpps Max 60kpps — 



Drive-source cutoff relay at emergency stop Built-in 

External 

Forced release of electromagnetic brake Brake release switch ON/OFF 

BK-release terminal signal ON/OFF on power connector 

Motor cable 

CB-ACS-MA ccc (20m max.) 

Encoder cable 

CB-ACS-PA ccc (20m max.) 


DC24V±10% 

SA4 • SA5 20W (Rating 1.3A / Peak 3.7A) 

SA6 30W (Rating 1.3A / Peak 4.2A) 


RA3 20W (Rating 1.7A / Peak 5A) 

RA4 20W (Rating 1.3A / Peak 3.7A) 

RA4 30W (Rating 1.3A / Peak 4.2A) 


DC500V 1MΩ 





0~40˚C 






IP20 

Weight 

Approx. 300g 

Approx. 130g 

(Note 1) With the open collector specification, keep the maximum input frequency to 60 kpps or below to prevent malfunction. Use a differential line driver if 60 kpps is exceeded. 

321 ACON



call 0800-888-0088 (toll-free). 




ACON-C / CG 

35 

ø5 

84 

68.1 

ACON-CY / PL / PO / SE 

35 

ø5 

68.1 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

178.5 

170.5 

120 

112 

Gripper / 

Rotary Type 

Cleanroom 

Type 


1 

5 

68.1 

ø5 

2 

Blinking (green) LED indicators 

5 

ø5 68.1 

35 


84 

68.1 

Unlit Servo on Lit (red) Alarm present Lit (green) Servo off 1 Automatic servo-off mode 

Splash 

Proof Type 


3 

5 

7 

9 

170.5 

178.5 

1 

5 

C / CG type 

4 

6 

8 


Connect a cable for communicating with a PLC or 

other external equipment. 

120 

3 Address-setting rotary switch 

This switch is used to set the address of each 


4 Mode switch 

This switch is used to switch between teaching 

operation (MANU) and automatic operation (AUTO). 


MANU 

AUTO 

112 

I/O commands are not accepted. Data 

can be written from a teaching pendant. 

I/O commands are valid, while operations 

from a teaching pendant are not accepted. 

Monitoring is possible. 

6 Encoder/brake connector 

Connect the encoder/brake cables of the actuator. 


A switch to forcibly release the brake 


Connect the motor cable of the actuator. 

5 

9 Power terminal block 

Supplies the main controller power and actuates an 

emergency stop. 

C/CG types 

Pin 

number 

Signal 

Name 

Name 


Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

CY / PL / PO 

type 

* PIO connector pins 

CY: 12 pins 

PL/PO: 14 pins 

2 

5 

6 

8 

9 

SE 

type 


Connect a teaching-pendant or PC cable, or a 

controller to connect to a gateway unit. 


Pin 

number 

Signal Pin Remarks 

1 SGA RS485 differential signal+ 

2 

3 

4 

5 

6 

7 

8 

9 

SGB 

5V 

ENBL 

EMGA 

24V 

0V 

EMGB 

0V 

RS485 differential signal- 

+5-V output 

Enable signal 



24-V power for T/P 

Ground 



Ground for EMG line connection 

to external equipment 

For RS232/485 

conversion 

For T/P 

7 S1 TP_EMG external drive-source 

6 S2 cutoff terminal 

5 

4 

3 

2 

1 

Pin 

number 

6 

5 

4 

3 

2 

1 

MPI 

MPO 

24V 

0V 

EMG 

CY / PL / PO / SE types 

Signal 

Name 

BK 

MPI 

MPO 

24V 

0V 

EMG 






Brake release 

Name 






ACON 322 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



Slider 

Type 


Options 




Name 




Rod 

Type 

Model 



RCM-E 

RCM-P 

Arm / Flat 

Type 


Gripper / 

Rotary Type 

External view 

Cleanroom 

Type 

Splash 

Proof Type 

Features 

Display 








price. 








Weight 

Cable length 

Approx. 550g 

5m 

Approx. 400g 

5m 

Approx. 360g 

5m 




105 32.5 7.5 

(113.5) 

15.1 26.2 

6.3 

86 

23 


Models 

External 

dimensions 

249.5 

148.5 

Gateway 

unit 

80 

ø4.8 



n PC Software 

n RS232 




PC cable 






n USB 




PC cable 




43 

140 

23.5 

21 

7 72.5 (34) 

323 ACON

Spare Parts 

Motor Cable 

Model CB-ACS-MA c c c 

L 


call 0800-888-0088 (toll-free). 







Slider 

Type 

Rod 

Type 

1 

1 Wire Color Signal 

Signal Color Wire 

3 3 AWG22 

U 1 

1 U 

AWG22 

(crimped) 

V 2 

2 V 


Actuator end 

(crimped) 

W 3 3 W 


Model CB-ACS-PA c c c /CB-ACS-PA c c c -RB 

18 17 

2 1 


I/O Cable for Positioner Type (ACON-C/CG) 


No connector 

No connector 

No connector 


I/O Cable for Solenoid Valve Type (ACON-CY) 

Model CB-PACY-PIO c c c 

L 

L 

L 

B 

A 

2 



20A 

1A 

1 

10 

9 18 

Actuator end 

20B 

1B 


HIF6 – 40D – 1.27R (Hirose) 

12 



2 


LS+ 18 

LS– 17 

BK+ 16 

BK– 15 

A+ 14 

A– 13 

AWG26 B+ 12 

(crimped) B– 11 

SD/Z+ 10 

SD/Z– 9 

BAT+ 8 

BAT– 7 

VCC 6 

GND 5 

— — 4 

— — 3 

— — 2 

Drain FG 1 

HIF6 – 40D – 1.27R 

Signal 

No. 

name 

Cable 

color 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

24V 

24V 

— 

— 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

11 

1 



No. 

Signal 

Color 

ABZ Serial 

Wire 

1 A+ — 

2 A– — 

3 B+ — 

4 B– — 

5 

6 

— 

— 

— 

— 

— 

— 

7 LS+ LS+ 

8 — — — AWG26 

9 FG FG Drain (crimped) 

10 Z+ SD+ 

11 Z– SD– 

12 — BAT+ 

13 /PS BAT– 

14 VCC VCC 

15 GND GND 

 

 

16 LS– LS– 

17 BK– BK– 

18 BK+ BK+ 

(“White/blue” and other designations 

under “Wire color” indicate the band 

color/insulator color.) 

* c c c indicates the cable length (L). Lengths up to 20 

m can be specified. Example) 080 = 8 m 

Wire 

Flat cable A 


Signal 

No. name 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

8B 

9B 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B 

18B 

19B 

20B 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 

OUT15 

— 

— 

0V 

0V 

Cable 

color 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 



51353-1200 (MOLEX) 

No. Signal 

name 

Cable 

color 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

24V 

0V 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

 

 

 

 

 

 

 

 

 

 

 

 

Wire 

Flat cable B 


AWG28 

Wire 

Flat cable 


AWG28 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

I/O Cable for Pulse-Train Control Type (ACON-PL/PO) 

Model CB-PACPU-PIO c c c 



SCON 

No connector 

L 

Single wire (UL1007, AWG24, green) 

110 

Round terminal: 0.5-5 (JST) 



No 

connector 

end 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

51353-1400 (MOLEX) 

No. Signal Cable 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

1 

name 

IO_24V 

IO_24G 

IN0 

IN1 

IN2 

IN3 

OUT0 

OUT1 

OUT2 

OUT3 

PP 

PG 

NP 

NG 

color 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

0.5-5 (JST) 

FG 

 

Wire 

0.2sq 

AWG24 

ACON 324 

PSEL ASEL SSEL XSEL



SCON Controller 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Rod 

Type 

Slider 

Type 


for RCS2 series 

Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Position controller capable of operating RCP2 series actuator. Various control functions are combined into a single 

unit. 


Type 

Name 


Solenoid valve mode 

C 

Pulse-train control mode Network specification (DeviceNet) 

Network specification (CC-Link) 

External 

view 


Models 

Description 

Number of 


Kind of I/O 



512 points 



7 points 

NP/PN 


control 

(–) 

DeviceNet connection 

specification (optional) 

512 points 

DV 

CC-Link connection 

specification (optional) 

512 points 

CC 

Gateway 

unit 

Model 



S CO N 

C 

Standard type 

C 

Series Type Motor type Encoder type I/O type I/O cable length Power-supply voltage 

20 20-W motor 

30D 30-W motor (RCS2) 

30R 30-W motor (RS) 

60 60-W motor 

100 100-W motor 

150 150-W motor 

200 200-W motor 

300 300-W motor 

400 400-W motor 

600 600-W motor 

750 750-W motor 

I 

A 

Incremental 

Absolute 

NP 

PN 

DV 

CC 

PIO NPN specification 

(standard) 

PIO PNP specification 

DeviceNet connection 

specification 

CC-Link connection 

specification 

0 

2 

3 

5 

No cable 

2m 

3m 

5m 

1 Single-phase 100VAC 


325 SCON



call 0800-888-0088 (toll-free). 




PLC 

I/O cable for 



Cable length 

Standard 2m 


Slider 

Type 

Rod 

Type 

Field network 

* If command pulse 

trains are of open 

collector specification, 

always use the pulse 

converter AK-04 

(optional). 

I/O flat cable 

 

Cable length 

Standard 2m 


Refer to p. 334 for details on a 


Arm / Flat 

Type 

Gripper / 

Rotary Type 

Plug + shell for 

pulse-train control 

(Supplied with the 

controller) 

Pulse-train control cable 

 

(optional) 

* Models of the network specification 

(optional) can be connected directly 

to a network. 

* Always use a noise filter when 

connecting a power supply. 

Main 

power Single-phase 100VAC 

supply Single-phase 200VAC 

Recommended model: MC1210 (Manufacturer: Densei-Lambda) 

(You can purchase this through IAI. Contact us for details.) 

Cleanroom 

Type 

Splash 

Proof Type 


PC software 


RS232 version 

 

USB version 

 




 

 

 


Models 

Gateway 

unit 

PS-24 


RCS2 series / Single-axis robot / Linear servo actuator 

Motor cable 

 



Encoder cable 

 



ERC2 

PCON 

ACON 

Pulse Converter AK-04 (Optional) 

Content: Pulse converter (AK-04) + e-CON input/output connector 

Use this converter if pulses output from the host controller are of open collector specification. 

This converter is used to convert the open-collector command pulses output 

from the host controller to differential pulses. Converting open collector pulses 

to differential pulses improves noise resistance. 

Two phases of differential pulses equivalent to those from the line driver 26C31 

are output. 

The e-CON connector is used as an input/output connector to simplify the field wiring. 

Basic specifications 

• Input power supply: DC24V±10% (Max 50mA) 

• Input pulses: Open collector (collector current 12mA max.) 

• Input frequency: 200kHz max. 

• Output pulses: 26C31-equivalent differential output (Max 10mA) 

( Applicable wire: AWG 24~26, 0.14~0.3 mm2 (max.) 

Outer diameter of finished wire ø1.0~1.2mm 

) 

50 

10 18 

SCON 326 






Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 


Item 

Input voltage 

Input current 

ON/OFF voltage 



+24V 

Specification 

24VDC ± 10% 

4mA/point 

ON voltage ... Min DC18.0V (3.5mA) 

OFF voltage ... Max DC6.0V (1mA) 

Photocoupler 


Item 

Load voltage 





Specification 

DC24V 

100mA/point 400mA/8 points 

Max 0.1mA/point 

Photocoupler 

Cleanroom 

Type 

Splash 

Proof Type 

0V 

Each input 

Each input 

5.6kΩ 

Logic 

circuit 

Internal 

circuit 

Internal 

circuit 

Logic 

circuit 

10Ω 

Load 

Each output 

Load 

Each output 




+24V 


Models 

Each input 

Each input 

0V 

5.6kΩ 

Logic 

circuit 

Internal 

circuit 

Internal 

circuit 

Logic 

circuit 

10Ω 

Load 

Each output 

Load 

Each 

output 

Gateway 

unit 




The SCON-C supports all of the control methods shown below. 

It supports a maximum of 512 positioning points in the positioner mode and up to seven points in the solenoid valve 

mode. 


Type SCON-C Features 


Teaching mode 


mode 

Pulse train 

mode 


327 SCON 








signals. This mode supports the same control actions you 

are already familiar with on solenoid valves of air cylinders. 

In this mode, you can operate the actuator 

freely using pulse trains without inputting 

position data. 

The controller can be connected directly to 

a field network by selecting an applicable 

network option.



call 0800-888-0088 (toll-free). 







Slider 

Type 


Rod 

Type 

Category 

Input 

Abbreviation 

CSTR 

Signal name 






RMOD 



RES 

MODE 

Reset signal 











JISL 






Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


JOG+ JOG– ------ ---- 

PWRT 

ST0~ST6 

TL 








PEND/INP 

PM1~PM256 












ZONE1 

PZONE 

Zone signal 








Models 

Gateway 

unit 

PS-24 

ERC2 

Output 



MOVE 

SV 



MODES 

WEND 

PE0~PE6 

TLR 

LSO~LS2 

TRQS 

Moving signal 






--- 


generated. 


















-------- 

SCON 328 






Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 


Pin 

number Category 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

8B 

9B 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B 

18B 

19B 

20B 

24V 

24V 

− 

− 

Input 

Output 

0V 

0V 

Number of 

positioning points 

Zone signal 

P zone signal 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

OUT7 

OUT8 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 

OUT15 

0 


64 points 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

− 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

* BLM 

1 

Teaching mode 

64 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

MODE 

JISL 

JOG+ 

JOG- 

RMOD 

HOME 

* STP 

CSTR/PWRT 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

MOVE 

MODES 

PZONE 

RMDS 

HEND 

PEND/WEND 

SV 

* EMGS 

* ALM 

* BLM 


2 


256 points 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

− 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

* BLM 

3 


P24 

P24 

NC 

NC 

– 

– 

N 

N 

512 points 

x 

x 

PC1 

PC2 

PC4 

PC8 

PC16 

PC32 

PC64 

PC128 

PC256 

BKRL 

RMOD 

HOME 

* STP 

CSTR 

RES 

SON 

PM1 

PM2 

PM4 

PM8 

PM16 

PM32 

PM64 

PM128 

PM256 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

* BLM 

4 


7 points 

ST0 

ST1 

ST2 

ST3 

ST4 

ST5 

ST6 

− 

− 

BKRL 

RMOD 

HOME 

* STP 

− 

RES 

SON 

PE0 

PE1 

PE2 

PE3 

PE4 

PE5 

PE6 

ZONE1 

PZONE 

RMDS 

HEND 

PEND 

SV 

* EMGS 

* ALM 

* BLM 

5 


3 points 

ST0 

ST1 (JOG+) 

ST2 (–) 

− 

− 

− 

− 

− 

− 

BKRL 

RMOD 

− 

− 

− 

RES 

SON 

LSO 

LS1 (TRQS) 

LS2(–) 

− 

− 

− 

− 

ZONE1 

PZONE 

RMDS 

HEND 

− 

SV 

* EMGS 

* ALM 

* BLM 

Pulse train mode 

0 

Pulse train mode 

– 

x 

x 

P24 

P24 

NC 

NC 

SON 

RES 

HOME 

TL 

CSTP 

DCLR 

BKRL 

RMOD 

− 

– 

– 

− 

− 

− 

– 

– 

PWR 

SV 

INP 

HEND 

TLR 

* ALM 

* EMGS 

RMDS 

ALM1 

ALM2 

ALM4 

ALM8 

– 

– 

– 

− 

– 

– 

N 

N 


329 SCON



call 0800-888-0088 (toll-free). 




n Connection Diagram for Positioner Mode 

PIO connector (NPN) 


1A Power 24V 

2A supply 24V 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

— 

— 

Not used 

Not used 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

12A 

Input 

IN7 

13A 

IN8 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

1B 

2B 

3B 

4B 

5B 

6B 

7B 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

OUT0 

OUT1 

OUT2 

OUT3 

OUT4 

OUT5 

OUT6 

8B Output OUT7 

9B 

OUT8 

10B 

11B 

12B 

13B 

14B 

15B 

16B 

17B — 

OUT9 

OUT10 

OUT11 

OUT12 

OUT13 

OUT14 

OUT15 

Not used 

18B — Not used 

DC24V±10% 

19B Power 0V 

20B supply 0V 

* Connect 24V between pins 1A and 2A, and 0V between pins 19B and 20B. 

n Connection Diagram for Pulse-Train Control Mode 

(Differential Output) 

PULSE connector (NPN) 


1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

Shell 

Input 

Output 

Ground 

Shield 

Not used 

Not used 

PP 

/PP 

NP 

/NP 

AFB 

/AFB 

BFB 

/BFB 

ZFB 

/ZFB 

GND 

GND 

Shield 

PIO connector (NPN) 


1A Power 24V 

2A supply 24V 

3A 

Not used 

4A 

Not used 

5A 

SON 

6A 

RES 

7A 

HOME 

8A 

TL 

Input 

9A 

CSTP 

10A 

DCLR 

11A 

BKRL 

12A 

RMOD 

13A~20A — Not used 

1B 

PWR 

2B 

SV 

3B 

INP 

4B 

HEND 

5B 

TLR 

6B 

*ALM 

Output 

7B 

*EMGS 

8B 

RMDS 

9B 

ALM1 

10B 

ALM2 

11B 

ALM4 

12B 

ALM8 

13B~18B — Not used 

19B Power 0V 

20B supply 0V 

Twisted pair 

Shield 

DC24V±10% 

* The shield of the twisted pair cable connected to the PULSE connector must 

be connected to the shell. Keep the cable length to 10 m or less. 

* Connect 24V between pins 1A and 2A, and 0V between pins 19B and 20B. 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

Input/Output Specifications of Pulse-Train Control Type (Differential Line Driver Specifications) 

PS-24 

n Input Part 

Maximum input pulses: Line driver interface 500kpps 

Open collector interface 200kpps (AK-04 is needed) 

Insulation method: Photocoupler insulation 

n Output Part 

Output method: Line driver output 

Insulated/not insulated: Not insulated 

ERC2 

PCON 

26C31 

or equivalent 

3.PP 

4./PP 

5.NP 

6./NP 

SCON 

180Ω 

180Ω 

Internal 

circuit 

Internal 

circuit 

26C32 

or equivalent 

GND 

SCON 

7.AFB 

8./AFB 

9.BFB 

10./BFB 

11.ZFB 

12./ZFB 

13.GND 

14.GND 

GND 

Internal 

circuit 

Internal 

circuit 

Internal 

circuit 

ACON SCON PSEL ASEL 

SSEL 

SCON 330 

XSEL




Input/Output Specifications of Pulse-Train Control Type (Open Collector Specifications) 

Slider 

Type 


Splash 

Proof Type 

SCON 

Rod 

Type 

N24 

(0V) 

P24 

(+DC24V) 

Pulse converter 

AK-04 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Host controller 

1 24V 

2 GND 

3 PP 

PP 1 

/PP 2 

NP 3 

3 

4 

5 

PP 

/PP 

NP 

Cleanroom 

Type 

4 NP 

/NP 4 

6 

/NP 

N24 (0V) 

* Use the PIO interface power supply as the 24-VDC power supply to be connected to the AK-04. 

* Minimize the cable length between the pulse output unit (PLC) and AK-04. Also keep the cable length between the AK-04 and PULSE connector to 2 m or less. 


Models 

Gateway 

unit 




Item 

Specification 

Motor capacity 

Less than 400W 

400W or more 





Backup memory 

I/O connector 




Peripheral communication cable 


Maximum input pulse frequency 


Emergency stop function 


Motor cable 

Encoder cable 

RCS2 series actuator / Single-axis robot / Linear servo actuator 

1 axis 

Positioner type / Pulse-train control type 

512 points 

EEPROM 

40-pin connector 

16 input points / 16 output points 


RS485 1ch 

CB-PAC-PIO ccc 

Differential line driver method / Open collector method (Conversion of open collector pulses to differential pulses using a pulse converter (Note 1)) 

Differentia line driver method: 500kpps max. / Open collector method (with a pulse converter): 200kpps max. 

Incremental encoder / Absolute encoder 

Available (built-in relay) 

Brake release switch ON/OFF 

CB-RCC-MA ccc (20m max.) 

CB-RCS2-PA ccc (20m max.) 


Single-phase 100~115VAC±10% 



20W / 74VA 30W / 94VA 

400W / 844VA 


60W / 186VA 

150W / 376VA 

100W / 282VA 

200W / 469VA 

600W / 1212VA 

750W / 1569VA 



DC500V 100MΩ or more 







Weight 

External dimensions 

Approx. 800g (+25g for absolute specification) 

58mm (W) )×194mm (H) ×121mm (D) 

0~40˚C 



IP20 

Approx. 1.1kg 

72mm (W) )×194mm (H) ×121mm (D) 

(Note 1) For the command-pulse input method, use the differential line driver method offering higher noise resistance. If the open collector method must be used, use an optional pulse converter (AK-04) 

to convert open collector pulses to differential pulses. 

331 SCON



call 0800-888-0088 (toll-free). 




Less than 400W 

58 

29 121 

ø4.2 

400W or more 

72 

43 121 

ø4.2 

Slider 

Type 

Rod 

Type 

184 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

4.2 

5 

194 

(200.5) 


When the absolute-data backup battery is installed 

4.2 

5 

184 

194 

(200.5) 

1 

2 

3 

4 

5 

6 

7 

8 

17 

9 

10 

11 

12 

13 

14 

15 

16 

1 LED indicators 


Name Color Description 

PWR 

SV 

ALM 

EMG 

緑 

緑 

橙 

赤 

This LED comes on when the system becomes ready (= the CPU 

is functioning properly after the power has been turned on). 

This LED comes on when the servo turns on. 

This LED remains lit while an alarm is present. 

This LED remains lit while an emergency stop is actuated. 

2 Rotary switch 

This switch sets an address to identify each 


3 Piano switches 

Controller system switches. 

Name 

1 

2 

Description 

Operation mode selector switch 

OFF: Positioner mode, ON: Pulse-train control mode 

* The setting will become effective after the power is 

reconnected. 

Remote update switch (normally set to OFF) 

OFF: Normal operation mode, ON: Update mode 

* The setting will become effective after the power 

is reconnected or following a software reset. 

4 System I/O connector 

A connector for the emergency stop switch, etc. 

5 Regenerative unit connector 

A connector for the resistor unit that absorbs 

regenerative current produced when the actuator 

decelerates to a stop. 


(compatible with XSEL, ECON and RCS) 

A connector for the actuator’s motor cable. 

7 Power-supply connector 

An AC power-supply connector. Divided into the 

control power input and motor power input. 

8 Grounding screw 

A screw for protective grounding. Always connect 

this screw to ground. 

When the absolute-data backup battery is installed 

9 Dedicated pulse-train control connector 

A connector used to operate the controller in the 

pulse-train control mode. It remains unconnected if 

the controller is operated in the positioner mode. 


A connector for a cable used to perform parallel 

communication with a PLC and other peripherals. 

11 Running mode selector switch 

Name 

MANU 

AUTO 

Description 

Do not accept PI commands. 

Accept PI commands. 

* The emergency stop switch on the teaching pendant becomes 

effective when the line is connected, regardless of whether this 

switch is set to AUTO or MANU. Take note that an emergency stop 

will be actuated momentarily when the teaching-pendant or SIO 

communication cable is disconnected. This is a normal phenomenon 

and does not indicate an error. 


A connector for a teaching-pendant or PC 

communication cable. 


A switch to forcibly release the electromagnetic brake 

equipped on the actuator. 

* A 24-VDC power supply for driving the brake must be connected. 

14 Brake power-supply connector 

A connector for supplying 24-VDC brake power. 

(Required only when an actuator with brake is 

connected.) 

15 E n c o d e r / s e n s o r c o n n e c t o r 

(compatible with XSEL-P/Q) 

A connector for the encoder/sensor cables. 

16 Absolute-data backup battery connector 

A connector for the absolute-data backup battery. 

(Required only when an absolute-encoder actuator is 

used.) 

17 Absolute-data backup battery holder 

A battery holder into which the absolute-data backup 

battery is set. 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

SCON 332 

XSEL



Slider 

Type 


Options 




Rod 

Type 

Arm / Flat 

Type 

Name 

Model 





RCM-E 



RCM-P 

Gripper / 

Rotary Type 

External view 

Cleanroom 

Type 

Features 







price. 





Splash 

Proof Type 

Display 

Weight 


Approx. 550g 


Approx. 400g 


Approx. 360g 


Cable length 



5m 

5m 


5m 

105 32.5 7.5 

(113.5) 

15.1 26.2 

6.3 

86 

23 

43 

23.5 


Models 

21 

External 

dimensions 

249.5 

148.5 

140 

Gateway 

unit 



n PC Software 

n RS232 




PC cable 



n PC Software 

333 SCON 

80 

ø4.8 

7 72.5 (34) 





 

 

 

 

 

 

 

 

 

 

 

 

 

 

n USB 




PC cable 



 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

n PC Software

Spare Parts 


call 0800-888-0088 (toll-free). 



Motor Cable / Motor Robot Cable 

Model CB-RCC-MA c c c /CB-RCC-MA c c c -RB 

(41) 

(16) 

(Front view) 

4 

1 



(ø9) 

L 

(21) 

1 

(20) 

(10) 

(18) 

4 (Front view) 

Actuator end 

Model CB-RCS2-PA c c c /CB-X2-PA c c c 


PE 1 

0.75sq 

U 2 

V 3 

W 4 



No. 

1 

2 

3 

4 

Signal 

U 

V 

W 

PE 

Color 

 

 

 

 

Wire 

0.75sq 

(crimped) 





Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

(37) 

(13) 

14 

26 

1 

13 

(Front view) 

(41) 

L 

(14) 


Actuator end 

(15) 

1 

10 

(25) 

9 18 

(Front view) 

Encoder Cable / Encoder Robot Cable for RCS2-RT6/RT6R/RT7 

Model CB-RCS2-PLA c c c /CB-X2-PLA c c c 


– – 10 

– – 11 

– E24V 12 

/ 0V 13 

/ LS 26 

– CLEEP 25 

– OT 24 

– RSV 23 

– – 9 

AWG26 – – 18 

(soldered) – – 19 

A+ 1 

A- 2 

B+ 3 

/ B- 4 

/ Z+ 5 

/ Z- 6 

SRD+ 7 

SRD- 8 

BAT+ 14 

BAT– 15 

VCC 16 

GND 17 

BKR- 20 

BKR+ 21 

– – 22 

Connect the shield to the hood via a clamp. 

Note 3 

Note 4 Note 1 

Drain wire and braided shield wire 

Note 2 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

Signal 

A 

A 

B 

B 

Z 

Z 

LS+ 

– 

FG 

SD 

SD 

BAT+ 

BAT– 

VCC 

GND 

LS– 

BK– 

BK+ 

Color 

 

 

 

/ 

/ 

/ 

/ 

– 

Drain 

 

 

 

 

 

 

/ 

 

 

Wire 

AWG26 

(crimped) 



Cleanroom 

Type 

Splash 

Proof Type 


(37) 

(13) 

14 

26 

 

13 

(Front view) Controller end 

I/O Flat Cable 

SCON Pulse-Train Control Cable 

Model CB-SC-PIOS c c c 

 

(41) L 

(14) 


No connector 

No connector 


L 

 

B 

A 

LS end 

Actuator end 

(8) 

1 

9 

1 

6 

(15) 

10 

18 

(18) 

(25) 

20A 

1A 


– – 10 

– – 11 

E24V 12 

0V 13 

LS 26 

CLEEP 25 

OT 24 

RSV 23 

– – 9 

– – 18 

– – 19 

A+ 1 

AWG26 A– 2 

 

(soldered) 

B+ 3 

B– 4 

Z+ 5 

Z– 6 

SRD+ 7 

SRD– 8 

BAT+ 14 

BAT– 15 

VCC 16 

GND 17 

BKR– 20 

BKR+ 21 

– – 22 



(“White/blue” and other designations under “Wire color” indicate the band color/insulator color.) 

20B 

1B 


HIF6 – 40D – 1.27R (Hirose) 

Plug: 10114—300PE (Sumitomo 3M) 

Shell: 10314—52F0—008 (Sumitomo 3M) 

HIF6 – 40D – 1.27R 

Signal 

No. 

name 

Cable 

color 

1A 

2A 

3A 

4A 

5A 

6A 

7A 

8A 

9A 

10A 

11A 

12A 

13A 

14A 

15A 

16A 

17A 

18A 

19A 

20A 

24V 

24V 

— 

— 

IN0 

IN1 

IN2 

IN3 

IN4 

IN5 

IN6 

IN7 

IN8 

IN9 

IN10 

IN11 

IN12 

IN13 

IN14 

IN15 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Shield 



Shield 

No. 

1 

2 

3 

4 

5 

6 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 


 

 

PP 

 

 

 

 

 

/PP 

NP 

/NP 

AFB 

/AFB 

BFB 

/BFB 

ZFB 

/ZFB 

GND 

GND 

Signal 

E24V 

0V 

LS 

CLEEP 

OT 

RSV 

Signal 

A 

A 

B 

B 

Z 

Z 

– 

– 

FG 

SD 

SD 

BAT+ 

BAT– 

VCC 

GND 

– 

BK– 

BK+ 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

 

 

 

 

 

14 

Connect the shield to a cable clamp. 

Color 

 

 

 

 

 

 

Color 

 

 

 

 

 

 

– 

– 

Drain 

 

 

 

 

 

 

 

 

 

Wire 

AWG26 

(crimped) 

Wire 

AWG26 

(crimped) 



Wire 

Flat cable A 


Signal 

No. name 

1B OUT0 

2B OUT1 

3B OUT2 

4B OUT3 

5B OUT4 

6B OUT5 

7B OUT6 

8B OUT7 

9B OUT8 

10B OUT9 

11B OUT10 

12B OUT11 

13B OUT12 

14B OUT13 

15B OUT14 

16B OUT15 

17B — 

18B — 

19B 0V 

20B 0V 

Cable 

color 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Wire 

Flat cable B 


AWG28 

SCON 334 


Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



PSEL Controller 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Rod 

Type 

Slider 

Type 

Program controller 

for RCP2 series 

Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Program controller capable of operating RCP2 series actuator. Various control functions are combined into a single 

unit. 


Type 

Name 

Program mode 

C 


External 

view 


Models 

Gateway 

unit 

Description 


Both actuator operation and communication with external 

equipment can be handled by a single controller. 

When two axes are connected, arc interpolation and path 

operation can be performed. 

1500 points 

Up to 1,500 positioning points are supported. Push-motion 

operation and teaching operation are also possible. 



Model 

P S E L C I ( I ) 

C 

1 

2 

335 PSEL 

20P 

28P 

42P 

56P 

I 

Incremental 




B 

Brake 

20P 

28P 

42P 

56P 

I 

* With a 1-axis specification, the section denoted by (Axis 2) need not be specified. 

Series Type 

Number of 

I/O cable length Power-supply 

connected axes (Axis 1) (Axis 2) 

I/O type 

voltage 

Motor type Encoder type Options Motor type Encoder type Options 

Standard type 

1-axis specification 



Incremental 





B 

NP 

PN 

Brake 

0 

2 

3 

5 

0 

No cable 

2m 

3m 

5m 

DC24V 

0 

PIO NPN specification 

(standard) 

PIO PNP specification



call 0800-888-0088 (toll-free). 




Slider 

Type 

Teaching pendant (Refer to p. 343) 

Model: IA-T-X / XD / XA 

(optional) 

PLC 

Rod 

Type 


Model: CB-DS-PIO020 


Refer to p. 344 for details on 

a replacement cable. 

2m 

Panel unit 


Model: PU-1 

(optional) 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

RS232C cable 

Model: CB-ST- 

E1MW050-EB 

(Supplied with 

the PC software 

IA-101-X-MW) 

4m 

5m 

0.2m 

Conversion cable (Refer to p. 344) 

Model: CB-SEL-SJ002 

(optional) 

1m 

USB cable (Refer to p. 344) 

Model: CB-ST-USB010 

(Supplied with the PC software 

IA-101-X-USB) 

PC software (Refer to p. 343) 

Model: IA-101-X-MW (Comes with a RS232C cable) 

IA-101-X-USB (Comes with a USB cable) 

3m 

System-memory backup battery (Refer to p. 344) 

Model: AB-5-CS (with case) 

AB-5 (battery only) 

(optional) *1 

*1 The system-memory backup battery is 

an option required if you wish to retain 

flags and other data used in the 

programs even after the power is 

turned off. 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 



 

 

(optional) 

PS-24 

ERC2 


Motor cable 

 




Encoder cable 

 



PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

PSEL 336 

XSEL





Slider 

Type 

Rod 

Type 


Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


Item 

Input voltage 

Input current 




 

 

 

 

Specification 

24VDC ± 10% 

7mA/circuit 

ON voltage (Min) NPN: DC16V / PNP / DC8V 

OFF voltage (Max) NPN: DC5V / PNP / DC19V 

Photocoupler 

 

 

 

 


Item 

Load voltage 





Internal 

circuit 

Specification 

DC24V 

100mA/point 400mA/8 points 

Max 0.1mA/point 

Photocoupler 

P24 

Each output 

N 

Load 

External 

power 

supply 

+24V 




Models 

 

 

 

 

 

 

 

Internal 

circuit 

P24 

Each output 

Load 

External 

power 

supply 

+24V 

Gateway 

unit 

N 


Explanation of I/O Functions 

The PSEL controller lets you select either the “program mode” in which the actuator is operated by programs input to 

the controller, or the “positioner mode” in which the actuator moves to the positions specified by PLC signals received 

from the host. 

The positioner mode provides the following five input patterns each supporting different applications. 


Operation mode 

Program mode 

Standard mode 

Product-type 

switchover mode 

Features 

Various operations including linear/arc interpolation operation, path operation ideal for coating processes, etc., 

arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you 

program complex control actions using simple commands. 

A basic operation mode in which a position number is specified and then a start signal is input to start operation. 

Push-motion operation and 2-axis linear interpolation operation are also supported. 

Multiple works of the same shape with slightly different hole positions can be handled using movement 

commands to the same position numbers by simply changing the product type number. 



337 PSEL 

2-axis 

independent mode 

Teaching mode 

DS-S-C1 

compatible mode 

With a 2-axis controller, each axis can be commanded and operated separately. 

The slider (rod) can be moved via an external signal to store the achieved position as position data. 

If you were using a DS-S-C1 controller before, you can replace it with a PSEL controller without having to 

change the host programs. * This mode does not ensure actuator compatibility.



call 0800-888-0088 (toll-free). 




Program Mode 

Slider 

Type 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Program Mode 

24-V input 

Program No. 1 selection 







CPU reset 

Start 

General-purpose input 















Alarm 

Ready 

General-purpose output 






0-V input 

Connect 24V. 

Function 

These signals are used to select the program to be started. 

(BCD input using ports 016 to 022) 

This signal is used to reset the system to create the same condition after power reconnection. 

This signal is used to start the program selected by port Nos. 016 to 022. 

These signals are used with a program command to wait for external input. 

This signal is output upon an alarm. (Contact B) 

This signal is output once the controller has started properly and entered a ready state. 

These signals can be turned ON/OFF freely using program commands. 

Connect 0V. 

Wiring diagram 

OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Positioner, Standard Mode 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Positioner, 

Standard Mode 

24-V input 

Position input 10 




— 

— 

— 

Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 

Interpolation setting 










Alarm 

Ready 



Servo ON output 

Push motion complete 

System-memory backup battery error 

Absolute-data backup battery error 

0-V input 

Function 

Connect 24V. 

Port Nos. 007 to 019 are used to specify a target position number. 

Numbers can be specified either as BCD or binary codes. 

— 

— 

— 

This signal is used to reset minor errors. (The power must be reconnected to reset serious errors.) 

This signal is used to cause the actuator to start moving to the selected position. 

This signal is used to perform home return. 

This signal is used to switch the servo on/off. 

This signal is used to perform push-motion operation. 

When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume and complete the remaining operation. 

When this signal is turned OFF while the actuator is moving, the actuator will stop and the remaining operation will be cancelled. 

With a 2-axis specification, turning ON this signal causes the actuator to move via linear interpolation. 





This signal is output upon completion of movement to the specified position. 

This signal is output upon completion of home return. 

This signal is output while the servo is on. 

This signal is output upon completion of push-motion operation. 

This signal is output when the system-memory backup battery voltage has dropped (to the warning level). 

This signal is output when the absolute-data backup battery voltage has dropped (to the warning level). 

Connect 0V. 


OV 24 

PSEL 338 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL





Slider 

Type 

Positioner, Product-Type Switchover Mode 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Positioner, 

Product-Type 

Switchover Mode 

24-V input 

Position/product type input 10 







Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 











Alarm 

Ready 







0-V input 

Connect 24V. 

Function 

Port Nos. 007 to 022 are used to specify a target position number 

and a product type number. 

Position numbers and product type numbers are assigned by 

parameter settings. 











and a product type number. 

Position numbers and product type numbers are assigned by 











Connect 0V. 


OV 24 

Gateway 

unit 



Positioner, 2-axis Independent Mode 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

339 PSEL 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Positioner, 

Product-Type 


24-V input 








Error reset 

Start 1 

Home return 1 

Servo ON 1 

Pause 1 

Cancellation 1 

Start 2 

Home return 2 

Servo ON 2 

Pause 2 








Alarm 

Ready 

Position complete 1 

Home return complete 1 

Servo ON output 1 




0-V input 

Connect 24V. 

Function 


Position numbers for axis 1 and those for axis 2 



This signal is used to cause axis 1 to start moving to the selected position. 

This signal is used to move axis 1 to the home. 

This signal is used to switch on/off the servo for axis 1. 

This signal is used to perform push-motion operation with axis 1. 

This signal is used to cancel the movement of axis 1. 







Position numbers for axis 1 and those for axis 2 




This signal is output upon completion of movement of axis 1 to the specified position. 

This signal is output upon completion of home return of axis 1. 

This signal is output while the servo for axis 1 is on. 




Connect 0V. 


OV 24



call 0800-888-0088 (toll-free). 




Positioner, Teaching Mode 

Slider 

Type 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Positioner, 

Product-Type 


24-V input 

Axis 1 JOG- 

Axis 1 JOG+ 

Axis 2 JOG- 

Inching specification (0.01mm) 



Inching specification (1mm) 

Error reset 

Start 

Servo ON 

Pause 












Teaching mode specification 

Axis 1 JOG+ 

Alarm 

Ready 




— 



0-V input 

Function 

Connect 24V. 

While this signal is input, axis 1 moves in the negative direction. 

While this signal is input, axis 2 moves in the positive direction. 


These signals are used to specify an inching travel distance. 

(The travel distance is the sum of values specified by port Nos. 019 to 022.) 






and a position number under which to input the current position. 

When the teaching mode specification signal at port No. 014 is ON, 

the current value will be written under the specified position number 

upon turning ON of the start signal at port No. 000. 






— 



Connect 0V. 


OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Positioner, DS-S-C1 Compatible Mode 

Pin 

number 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Category 

P24 

Input 

Output 

N 

Port 

number 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Positioner, 

Standard Mode 

24-V input 

Position No. 1000 

— 

— 

— 

— 

— 

— 

CPU reset 

Start 

Hold (pause) 

Cancellation 














Alarm 

Ready 


— 

— 

— 



0-V input 

Connect 24V. 

(Same as port Nos. 004 to 015) 

— 

— 

— 

— 

— 

— 

Function 



When this signal is turned OFF while the actuator is moving, the actuator will pause. When the signal is turned ON, the actuator will resume the remaining operation. 




Numbers can be specified as BCD. 

This signal is output upon an alarm. (Contact A) 



— 

— 

— 



Connect 0V. 


OV 24 

PSEL 340 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL





Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 


Control 


Program Communication 

General 


Item 





Breakdown resistance 

Rush current 



Maximum total output of connected axes 


Speed setting 

Acceleration setting 


Programming language 

Number of programs 

Number of program steps 

Number of multi-tasking programs 


Data storage device 

Data input method 



PIO cable 

Serial communication function 

Field network 

Motor cable 

Encoder cable 

Protective functions 

Ambient operating temperature, humidity 



Weight 


Specification 

RCA series actuatorRCP2シリーズアクチュエータ( 注 1) 

MoDC24V ±10% 

5.5A max. 最大 5.5A 

500VDC, 10MΩ or aboveDC500V 10MΩ 以上 

500VAC, 1 minuteAC500V 1 分間 

30A max. 最大 30A 

XYZ directions One-side amplitude 0.035 mm (continuous), (intermittent) 

XYZ 各方向 10〜57Hz 片側幅 0.035mm( 連続 )、0.075mm( 断続 ) 

1 axis/2 axes 

– 


From 1mm/s. The maximum limit varies depending on the actuator. 

From 0.01G. The maximum limit varies depending on the actuator. 

Program operation / Positioner operation (switchable) 

Super SEL language 

64 programs 

2,000 steps 

8 programs 

1,500 points 

Flash ROM (A system-memory backup battery can be added as an option) 

Teaching pendant or PC software 

24 input points / 8 output points (NPN or PNP selectable) 


CB-DS-PIO□□□ (supplied with the controller) 

RS232C (D-sub, half-pitch connector) / USB connector 

(To be supported in the future) 

CB-RCP2-MA□□□ (20m max.) 

MoCB-RCP2-PA□□□ (20m max.) 

Motor overcurrent, motor driver temperature check, overload check, encoder open-circuit check, soft limit 

over, system error, battery error, etc. 

0~40°C, 10~95% (non-condensing) 

Free from corrosive gases. In particular, there shall be no significant powder dust. 

IP20 

Approx. 450g 

Mo43mm(W)×159mm(H)×110mm(D) 

(Note 1) The high-thrust type (RA10C), high-speed type (HS8C/HS8R) and waterproof type (RCP2W-SA16) cannot be operated. 



PSEL 1-axis controller 

159 

151 

137 

43 

ø5 

5 

(80) 110 

3 

PSEL 2-axis controller 

159 

151 

137 

43 

ø5 

5 

(80) 110 

3 


341 PSEL



call 0800-888-0088 (toll-free). 




Slider 

Type 

9 

10 

11 

12 

13 

14 15 

1 

2 

3 

4 

5 

6 

7 

8 

1 Motor connector for axis 1 

Connect the motor cable of the axis 1 actuator. 



3 Brake switch for axis 1 

This switch is used to release the axis brake. Setting 

it to the left position (RLS side) forcibly releases the 

brake, while setting it to the right position (NOM side) 

causes the controller to automatically control the brake. 

4 Encoder connector for axis 1 

Connect the encoder cable of the axis 1 actuator. 


This switch is used to release the axis brake. Setting 

it to the left position (RLS side) forcibly releases the 

brake, while setting it to the right position (NOM side) 

causes the controller to automatically control the brake. 



7 Status indicator LEDs 

These LEDs are used to indicate the operating 

condition of the controller. 

Indication details are as follows: 

PWR: This LED indicates that the controller is 

receiving power. 

RDY: This LED indicates that the controller is 

ready to perform program operation. 

ALM: This LED indicates that the controller is 

abnormal. 

EMG: This LED indicates that an emergency 

stop is actuated and the drive source is 

cut off. 

SV1: This LED indicates that the axis 1 actuator 

servo is on. 

SV2: This LED indicates that the axis 2 actuator 

servo is on. 

8 Panel unit connector 

A connector for the panel unit (optional) that displays 

the controller status and error numbers. 

9 I/O connector 

A connector for interface I/Os. 

A 34-pin flat connector is used for the DIO (24 IN/8 

OUT) interface. 

The I/O power is also supplied to the controller 

through this connector (pins 1 and 34). 

10 Mode switch 

This switch is used to specify the running mode of 

the controller. 

The left position indicates the MANU (manual 

operation) mode, while the right position indicates 

the AUTO (automatic operation) mode. Teaching 

can only be performed as manual operation, and 

automatic operation using external I/Os is not 

possible in the MANU mode. 

11 USB connector 

A connector for PC connection via USB. If the USB 

connector is connected, the TP connector is disabled 

and all communication inputs to the TP connector 

are cut off. 

12 Teaching pendant (TP) connector 

A half-pitch I/O 26-pin connector that connects a 

teaching pendant when the running mode is MANU. 

A special conversion cable is needed to connect a 

conventional D-sub, 25-pin connector. 

13 System-memory backup battery connector 

If you wish to retain the various data recorded in the SRAM 

of the controller even after the power is cut off, connect 

the necessary battery to this connector. This battery is 

installed externally to the unit. The controller does not come 

standard with the battery (it must be specified as an option). 

14 Motor power input connector 

This connector is used to input the motor power. It 

consists of a 2-pin, 2-piece connector by Phoenix 

Contact. 

15 Control power/system input connector 

This connector is used to connect the control power 

input, emergency stop switch, and enable switch. It 

consists of a 6-pin, 2-piece connector by Phoenix 

Contact. 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

PSEL 342 

XSEL




Options 

Slider 

Type 


Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Features A teaching device providing program/ 

position input function, test operation 

function, monitoring function, and more. 

Model 

Model 

IA—T—X—J 

IA—T—X 

IA—T—XD—J 

IA—T—XD 

IA—T—XA—J 

IA—T—XA 

Description 

Standard type with 

connector conversion cable 

Standard type 

Deadman switch type with 


Deadman switch type 

ANSI type with 


ANSI type 

— 

— 

— 

— 

— 

— 

IA—T—X/XD 

120 

90 

265 

45 

28 

255 

IA—T—XA 

133 

80 

58.3 

46.7 

Splash 

Proof Type 



Models 

Gateway 

unit 



Configuration 

PC Software (Windows Only) 

IA—101—X—MW—J 

(with RS232C Cable + Connector Conversion Cable) 

PC software (CD) 

343 PSEL 

IA—T—X/XD:4m 

IA—T—XA:5m 

Note 

The PSEL controller is supported by 

version 1.40 or later (or 1.30 or later 

with the ANSI type). 

Conversion cable: CB—SEL—SJ002 

5m 

0.2m 

RS232C cable 

CB—ST—E1MW050—EB 

IA—101—X—USB (with USB Cable) 

PC software (CD) 

1m 

Dummy plug 

DP—3 

USB cable 

CB—SEL—USB010 

0.2m 

Connector 

conversion cable: 

CB—SEL—SJ002 


Features A startup support software program offering program/position input 

function, test operation function, monitoring function, and more. 

The functions needed for debugging have been enhanced to help 

reduced the startup time. 

Model 

Configuration 

Model 

Configuration 

Item IA—T—X/XD IA—T—XA 




Weight 

Cable length 

Display 

Temperature 0~40∞C, Humidity 85% RH or below 

Free from corrosive gases. In particular, 

there shall be no significant powder dust. 

Protective structure 

conforming to IP54 

Approx. 650g 

Approx. 600g 

(excluding cable) 

4m 

LCD with 

20 characters x 4 lines 

5m 

LCD with 32 characters 

x 8 lines 

Note 


version 7.0.0.0 or later.

Options 


call 0800-888-0088 (toll-free). 




Panel Unit 

Features A display for checking controller error 

codes and active program numbers. 

Model PU—1 (Cable Length 3m) 

ø3.2 17 

43 

System-Memory Backup Battery 

Features 

Model 

If your programs use global flags, etc., 

you need this battery to retain data 

even after the power is turned off. 

AB—5—CS (with Case) 

AB—5 (Battery Only) 

Dummy plug 

Features 

Model DP—3 

When connecting your PSEL controller 

to a PC using a USB cable, install this 

plug on the teaching port to cut off the 

enable circuit. (This plug comes with 

the PC software IA-101-X-USB.) 

Slider 

Type 

Rod 

Type 

114 

Arm / Flat 

Type 

USB Cable 

Features Use this cable to connect your controller 

with USB port to a PC. If your controller 

has no USB port (XSEL), connect a 

RS232C cable to a USB cable via a USB 

conversion adapter and connect the USB 

cable to the USB port on the PC. 

(Refer to the PC software IA-101-X-USBMW.) 

Model CB—SEL—USB010 (Cable Length 1m) 

Connector Conversion Cable 

This conversion cable is used to connect 

Features 

a D-sub, 25-pin connector for teaching 

pendant or PC software to the teaching 

connector (half-pitch) on the PSEL controller. 

Model CB—SEL—SJ002 (Cable Length 0.2m) 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


(15) 

Spare Parts 


Motor Cable 

Model CB-RCP2-MA c c c 

(8) 

(Front view) 


(18) 

(20) 

CN3 

CN4 

(ø8) 


Model CB-RCP2-PA c c c /CB-RCP2-PA c c c -RB 

L 

L 

* The standard motor cable is a 

robot cable. 

(28) 

C 

N 

1 

(20) 

(14) 

(14) 

(Front view) 

Actuator end 

(5) (8) (13) (15) 

(Front view) 



Model CB-DS-PIO c c c 

1B 

17B 

1A 

17A 

(ø9) 

2m 

Flat cable, AWG28 (34 cores) 

(35) 

No connector 

C 

N 

2 

(Front view) 

(25) 

Actuator end 

I-1318119-3 

(AMP) 

CN4 

PHDR-16VS 

(JST) 

No. Color Wire No. Color 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

 

 

 

 

 

 

 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

 

 

 

 

 

 

 

4B Flat 13A 

5A 

cable 13B 

5B 

(pressure- 

14A 

welded) 

6A 14B 

6B 

7A 

7B 

8A 

8B 

9A 

 

 

 

 

 

 

15A 

15B 

16A 

16B 

17A 

17B 

 

 

 

 

 

 

 

 

 

 

 

 



Cable 

color 

– 

– 

1 

 

 

 

 

 

 

 

 

 

– 

– 

– 

Drain 

Wire 

Flat 

cable 

(pressurewelded) 



CN3 

A A1 

VMM A2 

B A3 

A B1 

VMM B2 

B B3 

Signal 

name number 

Pin 

(BAT2) 16 

(BAT1) 15 

BK+ 14 

BK– 13 

ENA 12 

ENA 11 

ENB 10 

ENB 9 

– 8 

VPS 7 

VBB 6 

GND 5 

(N.C) 4 

(N.C) 3 

(N.C) 2 

F.G 1 

M cable 

Shield wire 

Drain wire 

CN1 

1 

2 

3 

4 

5 

6 

A 

VMM 

A 

B 

VMM 

B 

number 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

 

 

 

 

 

 

name 

ENA 

ENA 

ENB 

ENB 

– 

– 

– 

– 

GND 

VBB 

VPS 

– 

– 

– 

– 

BK+ 

BK– 

F.G 

SLP-06V 

(JST) 



Pin Signal Cable 

color 

 

 

 

 

– 

– 

– 

– 

 

 

 

– 

– 

– 

– 

 

 

Drain 

CN2 

XMP-18V 

(JST) 



PSEL 344 


Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



ASEL 


Rod 

Type 

Slider 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Position controller for RCA series 


Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Program controller capable of operating RCA series actuator. Various control functions are combined into a single unit. 


Type 

Name 

Program mode 

C 


External view 


Models 

Gateway 

unit 


Model 

A S E L C 

( ) 

C 

Description 

Series 

Standard type 

1 1-axis specification 

2 2-axes specification 

Both actuator operation and communication with external equipment 

can be handled by a single controller. When two axes are connected, 

arc interpolation and path operation can be performed. 

Number of position points 1500 

Type 

20S 

20 


20-W motor (other than RA3) 

30 30-W motor 

I 

A 

Incremental 

Absolute 

20S 

20 

I 

A 


20-W motor (other than RA3) 

30 30-W motor 

Up to 1,500 positioning points are supported. 

Push-motion operation and teaching operation are also possible. 

Incremental 

Absolute 


Number of 

connected axes (1-axis ) (Axes 2) 

I/O type I/O cable length Power-supply 

voltage 

Motor type Encoder type Option Motor type Encoder type Option 

NP 

0 DC24V 

0 No cable 

2 2m 

3 3m 

5 5m 

PIO NPN specification (standard) 

0 

B 

Brake 

PN 

PIO PNP specification 


H 

Home sensor type 

B 

H 

Brake 

Home sensor type 

345 ASEL



call 0800-888-0088 (toll-free). 

ASEL 




Slider 

Type 



(Option) 

PLC 

Rod 

Type 


Model CB-PAC-PIO020 




2m 

Panel unit 


Model: PU-1 

(Option) 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

4m 

0.2m 

Cleanroom 

Type 

RS232C cable 

Model: CB-ST-E1MW050-EB 


PC software IA-101-X-MW) 

5m 

Conversion cable 



(Option) 

1m 




PC software IA-101-X-USB) 


Model: IA-101-X-MW (with RS232 cable) 

Model: IA-101-X-USB (with USB cable) 

3m 




(Option) *1 

*1 The system-memory backup battery 

is an option required if you wish to 

retain flags and other data used in 

the programs even after the power 

is turned off. 

Absolute-data backup battery 


Model: AB-5 

(Supplied with an absolute-type controller) 

Splash 

Proof Type 



Models 

Gateway 

unit 



 

 

PS-24 

ERC2 

Motor cable 

 



PCON 

ACON 

Actuator RCA series 

Encoder cable 

 



SCON 

PSEL 

ASEL 

SSEL 

ASEL 346 

XSEL



ASEL 



Slider 

Type 

Input Part External input specifications 

Output Part 

External output specifications. 

Rod 

Type 

Arm / Flat 

Type 

Item 

Input voltage 

Input current 




Specification 

DC24V 10% 

7mA/1circuit 

ON voltage (Min.) NPN:DC16V/PNP:DC8V 

OFF voltage (Max.) NPN:DC5V/PNP:DC19V 

Photocoupler 

Item 

Load voltage 

Max. load current 

Leak current 



Specification 

DC24V 

1mA/point 400mA/8point total 

Max. 0.1mA/1point 

Photocoupler 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

External 

power supply 

+24V 

P24V 

R=560Ω 



I n t e r n a l c i r c u i t 

I n t e r n a l 

c i r c u i t 

P24 

Each output 

N 

L o a d 

External 

power supply 

+24V 





Models 

External 

power supply 

+24V 

 

R=560 


Each input R=3.3k 


I n t e r n a l 

c i r c u i t 

P24V 

Each output 

 

L o a d 

External 

power supply 

+ 2 4 v 

Gateway 

unit 



The ASEL controller lets you select either the “program mode” in which the actuator is operated by programs input to the 

controller, or the “positioner mode” in which the actuator moves to the positions specified by PLC signals received from the host. 


Controller Functions by Type 



Program mode 

Standard mode 

Product-type 


2-axis independent 

mode 

Features 


arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you program 

complex control actions using simple commands. 

A basic operation mode in which a position number is specified and then a start signal is input to start operation. Pushmotion 

operation and 2-axis linear interpolation operation are also supported. 

Multiple works of the same shape with slightly different hole positions can be handled using movement commands to 

the same position numbers by simply changing the product type number. 



Teaching mode 

DS-S-C1 



If you were using a DS-S-C1 controller before, you can replace it with a PSEL controller without having to change the 

host programs. * This mode does not ensure actuator compatibility. 

347 ASEL



call 0800-888-0088 (toll-free). 

ASEL 




Program mode 

Slider 

Type 

Pin number 

Category 

Port number 

Program 

mode 

Function 


1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 








CPU reset 

Start 
















Alarm 

Ready 







0-V input 

Connect 24V. 









Connect 0V. 

OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 


Pin 


Port 

number 

Positioner, 

standard mode 

Function 


Gateway 

unit 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 





- 

- 

- 

Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 











Alarm 

Ready 







0-V input 

Connect 24V. 



- 

- 

- 



















Connect 0V. 

PS-24 ERC2 PCON ACON SCON PSEL ASEL SSEL 

OV 24 

ASEL 346 

XSEL



Slider 

Type 

ASEL 




Pin number Category Port number 

Positioner, 

standard mode 

Function 


Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 








Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 











Alarm 

Ready 







0-V input 

Connect 24V. 

Port Nos. 007 to 022 are used to specify a target position number and a 

product type number. 

Position numbers and product type numbers are assigned by parameter 

settings. 


This signal is used to reset minor errors. (The power must be reconnected to reset serious errors 











settings. 










Connect 0V. 

OV 24 

Gateway 

unit 


Pin number 

Category 

Port number 

Positioner, 

standard mode 

Function 




1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

349 ASEL 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 








Error reset 

Start 1 

Home return 1 

Servo ON 1 

Pause 1 


Start 2 

Home return 2 

Servo ON 2 

Pause 2 








Alarm 

Ready 






0-V input 

Connect 24V. 


Position numbers for axis 1 and those for axis 2 are assigned by parameter 

settings. 















settings. 










Connect 0V. 

OV 24



call 0800-888-0088 (toll-free). 

ASEL 





Slider 

Type 

Pin number 

Category 

Port number 

Positioner, 

standard mode 

Function 


 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

24-V input 

Axis 1 JOG- 

Axis 2 JOG+ 

Axis 2 JOG- 





Error reset 

Start 

Servo ON 

Pause 













Axis 1 JOG+ 

Alarm 

Ready 




- 



0-V input 

Connect 24V. 








 



position number under which to input the current position. 

When the teaching mode specification signal at port No. 014 is ON, the 

current value will be written under the specified position number upon 

turning ON of the start signal at port No. 000. 

 






Connect 0V. 

 



OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 


Pin number 

Category 

Port number 

Positioner, 

standard mode 

Function 


Gateway 

unit 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 

Position No.1000 

- 

- 

- 

- 

- 

- 

CPU reset 

Start 

Hold (pause) 

Cancellation 


Position No.1 

Position No.2 

Position No.4 

Position No.8 









Alarm 

Ready 


- 

- 

- 



0-V input 

Connect 24V. 


- 

- 

- 

- 

- 

- 


This signal is used to cause the actuator to start moving to the selected position.T 









- 

- 

- 



Connect 0V. 

OV 24 

ASEL 350 

PS-24 ERC2 PCON ACON SCON PSEL ASEL SSEL XSEL



ASEL 



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

Control 

Communication Program 



General 


Item 






Rush current 





Speed setting 












PIO cable 


Field network 

Motor cable 

Encoder cable 





Weight 


XYZ directions 

Specification 

RCA series actuator 

DC24V ±10% 

Control power: 1.2A max. 

Motor power: Rating 1.7A / Peak 5A (per axis) 

500VDC, 10MΩ or above 

500VAC, 1 minute 

30A max. 

One-side amplitude 0.035 mm (continuous), 0.075 ç 

4.9m/s2 (continuous), 0.8m/s2 (continuous) 

1 axis/2 axes 

60W (30W+30W) 






64 programs 

2,000 steps 

8 programs 

1,500 points 





CB-DS-PIO (supplied with the controller) 



CB-ACS-MA (20m max.) 

CB-ACS-PA (20m max.) 

Motor overcurrent, motor driver temperature check, overload check, encoder open-circuit check, 

soft limit over, system error, battery error, etc. 

0~40ºC 10~95% (non-condensing) 


IP20 

Approx. 450g 

43mm (W) ×159mm (H) ×110mm (D) 



ASEL 1-axis controller 

159 

151 

137 

43 

ø5 

5 

(80) 110 

3 


159 

151 

137 

43 

ø5 

5 

(80) 110 

3 


351 ASEL



call 0800-888-0088 (toll-free). 

ASEL 




Slider 

Type 

9 

10 

11 

12 

1 

2 

3 

4 

5 

6 

7 

8 






This switch is used to release the axis brake. Setting it to the left 

position (RLS side) forcibly releases the brake, while setting it to the 

right position (NOM side) causes the controller to automatically control 

the brake. 




This switch is used to specify the running mode of the controller. 

The left position indicates the MANU (manual operation) mode, 

while the right position indicates the AUTO (automatic operation) mode. 

Teaching can only be performed as manual operation, and automatic 

operation using external I/Os is not possible in the MANU mode. 



connector is connected, the TP connector is disabled and 

all communication inputs to the TP connector are cut off. 


A half-pitch I/O 26-pin connector that connects a 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

13 


This switch is used to release the axis brake. Setting it to the 

left position (RLS side) forcibly releases the brake, while setting it to 

teaching pendant when the running mode is MANU. 

A special conversion cable is needed to connect a 

conventional D-sub, 25-pin connector. 

Splash 

Proof Type 

the right position (NOM side) causes the controller to automatically 

control the brake. 



If you wish to retain the various data recorded in the SRAM of 

the controller even after the power is cut off, connect the necessary 



battery to this connector. 

This battery is installed externally to the unit. The controller does not 


These LEDs are used to indicate the operating 

condition of the controller. 


PWR: This LED indicates that the controller is receiving 

power. 

RDY: This LED indicates that the controller is ready to perform 

come standard with the battery (it must be specified as an option). 

14 Motor power input connector 

This connector is used to input the motor power. It 

consists of a 2-pin, 2-piece connector by Phoenix Contact. 


Models 

program operation. 

ALM: This LED indicates that the controller is abnormal. 

EMG: This LED indicates that an emergency stop is 

actuated and the drive source is cut off. 

SV1: This LED indicates that the axis 1 actuator servo is on. 


15 External regenerative resistor connector 

A connector for the regenerative resistor that must be connected 

when the built-in regenerative resistor alone does not offer sufficient 

capacity in high-acceleration/high-load operation, etc. 

Whether or not an external regenerative resistor is necessary depends 

on the conditions of your specific application such as the axis configuration. 

Gateway 

unit 

PS-24 

16 Control power/system input connector 

14 15 16 

This connector is used to connect the control power 

input, emergency stop switch, and enable switch. 

ERC2 


It consists of a 6-pin, 2-piece connector by Phoenix Contact. 

A connector for the panel unit (optional) that displays 

the controller status and error numbers. 

17 Absolute-data backup battery connector for axis 1 

A connector for the battery that backs up absolute 

PCON 

data when the actuator uses an absolute encoder. Secure 

18 

17 


installation of the battery is the customer’s responsibility. 

ACON 


A 34-pin flat connector is used for the DIO (24 IN/8 OUT) interface. 

The I/O power is also supplied to the controller through this 


A connector for the battery that backs up absolute 

data when the actuator uses an absolute encoder. Secure 

SCON 

connector (pins 1 and 34). 


PSEL 

ASEL 

SSEL 

ASEL 352 

XSEL



Slider 

Type 

ASEL 

Options 



Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Features 

Model 

Model 

IA-T-X-J 

IA-T-X 

IA-T-XD-J 

A teaching device providing program/position input function, 

test operation function, monitoring function, and more. 

Description 



Standard type 


with connector conversion cable 

IA-T-X/XD 

120 

265 

45 

28 

255 

IA-T-XA 

133 

58.3 

46.7 

Cleanroom 

Type 

IA-T-XD 

IA-T-XA-J 

IA-T-XA 


ANSI type 


ANSI type 

90 

80 

Splash 

Proof Type 

Configuration 


Item IA-T-X/XD IA-T-XA 



Models 

Gateway 

unit 


IA-T-X/XD:4m 

IA-T-XA:5m 

NOTE 


version 1.40 or later (or 1.30 or later with 

the ANSI type). 

Conversion cable:CB-SEL-SJ002 

A startup support software program offering program/position input 

function, test operation function, monitoring function, and more. The 

functions needed for debugging have been enhanced to help reduced the 

startup time. 

IA-101-X-MW-J (with RS232C Cable + Connector Conversion Cable) 

5m 

0.2m 


Features 

Model 

Configuration 

Model 

PC software 

RS232C cable 

CB-ST-E1MW050-EB 

IA-101-X-USB (with USB Cable) 

0.2m 

Connector Conversion Cable: 

CB-SEL-SJ002 



Weight 

Cable length 

Display 

Temperature 0~40°C, Humidity 85% RH or below 



Approx. 650g 

4m 

LCD with 20 characters x 4 lines 

Protective structure conforming to IP54 

Approx. 600g (excluding cable) 

5m 


NOTE 

The SSEL controller is supported by 

version 7.0.0.0 or later. 


Configuration 

PC software 

353 ASEL 

1m 

USB cable 

CB-SEL-USB010 

Dummy plug 

DP-3

Options 


call 0800-888-0088 (toll-free). 

ASEL 




Panel Unit Absolute-Data Backup Battery System-Memory Backup Battery 

Slider 

Type 

Features 

Model 

A display for checking controller error 


PU-1(Cable Length 3m) 

ø3.2 17 

43 

Features 

Model 

This battery backs up absolute data when 

an absolute-type actuator is operated. 

Same as the system-memory backup 

battery. 

AB-5 

Features 

Model 


you need this battery to retain data even 

after the power is turned off. 

AB-5-CS (with Case) 

AB-5 (Battery Only) 

Rod 

Type 

114 

Arm / Flat 

Type 

Dummy plug USB cable Connector conversion cable 

Gripper / 

Rotary Type 

Features 

Model 

When connecting your SSEL controller to a 

PC using a USB cable, install this plug on 

the teaching port to cut off the enable 

circuit. (This plug comes with the PC 

software IA-101-X-USB.) 

DP-3 

Features 

Model 

Use this cable to connect your controller with USB 

port to a PC. 

If your controller has no USB port (XSEL), connect a 

RS232C cable to a USB cable via a USB conversion 

adapter and connect the USB cable to the USB port 

on the PC. 


CB-SEL-USB010 (Cable Length 1m) 

Features 

Model 

This conversion cable is used to connect a D-sub, 

25-pin connector for teaching pendant or PC 

software to the teaching connector (half-pitch) on the 

ASEL controller. 

CB-SEL-SJ002 (Cable Length 0.2m) 

Cleanroom 

Type 

Splash 

Proof Type 


Spare Parts 


Motor Cable 

Model CB-ACS-MA 

L 

* indicates the cable length (L). Lengths up to 20 m can be specified. 

* The standard motor cable is a robot cable. 

Example) 080 = 8 m 


Models 

DF1E-3S-2.5C 

SLP-03V 

1 

1 Wire Color Signal No. 


3 3 AWG22 

Red U 1 1 U Red 

AWG22 

(crimped) White V 2 

2 V White 

Controller End 

Actuator end 

(crimped) 

Black W 3 3 W Black 

Encoder Cable/ Encoder Robot Cable 

Model CB-ACS-PA / CB-ACS-PA -RB 

18 17 

2 1 


L 

* The standard encoder cable is a normal cable * indicates the cable length (L). Lengths up to 20 m can be specified. 

A robot cable can be specified as an option. Example) 080 = 8 m 

20 

1 

10 

9 18 

Actuator end 

PHDR-18VR 

Wire Color Signal N0. 

AWG26 

(crimped) 

White/purple LS+ 

White/gray LS- 

Yellow BK+ 

Blue BK- 

White/blue A+ 

White/yellow A- 

White/red B+ 

White/black B- 

OrangeSD/Z+ 

Green SD/Z- 

Purple BAT+ 

Gray BAT- 

Red VCC 

Black GND 

- - 

- - 

- - 

Drain FG 

18 

17 

16 

15 

14 

13 

12 

11 

10 

9 

8 

7 

6 

5 

4 

3 

2 

1 

XMP-18V 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

Signal 

ABZ Serial 

A+ - 

A- - 

B+ - 

B- - 

- - 

- - 

LS+ LS+ 

- - 

FG FG 

Z+ 

Z- 

- 

/PS 

VCC 

Color 

White/blue 

White/yellow 

White/red 

White/black 

- 

- 

White/purple 

- 

Wire 

AWG26 

(crimped) 

Drain 

SD+ Orange 

SD- Green 

BAT+ Purple 

BAT- Gray 

14 VCC Red 

15 GND GND Black 

16 LS- LS- White/gray 

17 BK- BK- Blue 

18 BK+ BK+ Yellow 

(“White/blue” and other designations under 

“Wire color” indicate the band color/insulator color.) 


Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 


Model CB-DS-PIO 



SCON 

1B 

17B 

1A 

17A 

2m 

Flat cable AWG28 (34 cores) 

No connector 

No. Color Wire No. Color Wire 

1A Brown1 

9B Gray2 

1B Red1 

10A White2 

2A Orange1 10B Black2 

2B Yellow1 11A Brown-3 

3A Green1 11B Red3 

3B 

4A 

4B 

Blue1 

Purple1 

Gray1 

12A Orange3 

12B Yellow3 

Flat cable 13A Green3 Flat cable 

5A White1 pressure 13B Blue3 pressure 

5B Black1 -welded 14A Purple3 -welded 

6A Brown-2 14B Gray3 

6B Red2 

15A White3 




8B 

9A 

Blue2 

Purple2 

17A Orange4 

17B Yellow4 

ASEL 354 

PSEL ASEL SSEL XSEL



SSEL 


Rod 

Type 

Slider 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

RCS2 series 


Cleanroom 

Type 

Splash 

Proof Type 

Type List 

Program controller capable of operating RCS2 series actuator. Various control functions are combined into a single unit. 

Type 

C 


Name 

Program mode 


External view 


Models 

Description 


Both actuator operation and communication with external equipment 

can be handled by a single controller. When two axes are connected, arc 

interpolation and path operation can be performed. 

1,500 positions 

Up to 1,500 positioning points are supported. Push-motion operation 

and teaching operation are also possible. 

Gateway 

unit 



Model 

S S E L 

Series 

C 

Standard type 

355 SSEL 

20 20-W servo motor 200 200-W servo motor 

30D RCS2 30-W servo motor 300 300-W servo motor 

30R RS 30-W servo motor 400 400-W servo motor 



150 150-W servo motor 

C ( ) 

Type 

1 

2 

Number of 

connected axes 


2-axes specification 

(1-axis ) (Axes 2 to 6) 

Motor type Encoder type Option Motor type Encoder type Option 

I 

A 

B 

C Creep sensor 

L 

Brake 

Home sensor/LS type 

M Master axis specification 

Incremental 

Absolute 







I 

A 

Incremental 

Absolute 


B 


L 

Brake 

Home sensor/LS type 

S Slave axis specification 

I/O type 

I/O cable length 

1 

2 

0 

2 2m 

3 3m 

5 5m 

NP PIO NPN specification (standard) 

PN PIO PNP specification 

Power-supply 

voltage 

Single-phase 100VAC 


No cable



call 0800-888-0088 (toll-free). 

SSEL 




Slider 

Type 

Rod 

Type 



(Option) 

PLC 


Model CB-PAC-PIO020 




2m 

Regenerative resistor unit 

(Refer to p. 363) Panel unit 

Model: REU-2 (Refer to p. 364) 

(Option) 

Model: PU-1 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

RS232C cable 

Model: CB-ST-E1MW050-EB 


PC software IA-101-X-MW) 

4m 

5m 

0.2m 

Conversion cable 



(Option) 

1m 




PC software IA-101-X-USB) 


Model: IA-101-X-MW (with RS232 cable) 

Model: IA-101-X-USB (with USB cable) 

Absolute-data backup battery 


Model: AB-5 

(Supplied with an absolute-type controller) 

1m 

Regenerative resistor unit cable 

 

(Supplied with the regenerative 

resistor unit) 

3m 




(Option) *1 

*1 The system-memory backup battery 

is an option required if you wish to 

retain flags and other data used in 

the programs even after the power 

is turned off. 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

Actuator 

RCS2 series / Single-axis robot / Linear servo actuator 

Motor cable 

 



Encoder cable 

 



ACON 

SCON 

PSEL 

ASEL 

SSEL 

SSEL 356 

XSEL



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

SSEL 



Input Part External input specifications 

Item 

Input voltage 

Input current 




Specification 

DC24V 10% 

7mA/1circuit 

ON voltage (Min.) NPN:DC16V/PNP:DC8V 

OFF voltage (Max.) NPN:DC5V/PNP:DC19V 

Photocoupler 

Output Part External output specifications. 

Item 

Load voltage 

Max. load current 

Leak current 



Specification 

DC24V 

1mA/point 400mA/8point total 

Max. 0.1mA/1point 

Photocoupler 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 

External 

power supply 

+24V 

P24V 


Each input 

R=560Ω 

R=3.3kΩ 



P24 

Each output 

N 

L o a d 

External 

power supply 

+24V 




N 



P24V 

External 

power supply 

+24V Input terminal 

R=560Ω 

L o a d 

External 

power supply 

+24V 


Models 

Each input 

R=3.3kΩ 

Each output 

N 


Gateway 

unit 


The SSEL controller lets you select either the “program mode” in which the actuator is operated by programs input to the 

controller, or the “positioner mode” in which the actuator moves to the positions specified by PLC signals received from the host. 


Controller Functions by Type 



Program mode 

Standard mode 

Product-type 


2-axis independent 

mode 

Features 


arch-motion operation and palletizing operation can be performed using the Super SEL language that lets you program 

complex control actions using simple commands. 

A basic operation mode in which a position number is specified and then a start signal is input to start operation. Pushmotion 

operation and 2-axis linear interpolation operation are also supported. 

Multiple works of the same shape with slightly different hole positions can be handled using movement commands to 

the same position numbers by simply changing the product type number. 



Teaching mode 

DS-S-C1 



If you were using a DS-S-C1 controller before, you can replace it with a PSEL controller without having to change the 

host programs. * This mode does not ensure actuator compatibility. 

357 SSEL



call 0800-888-0088 (toll-free). 

SSEL 




Program mode 


Program 

mode 

Function 


Slider 

Type 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 








CPU reset 

Start 
















Alarm 

Ready 







0-V input 

Connect 24V. 









Connect 0V. 

OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 


Pin 


Port 

number 

Positioner, 

standard mode 

Function 


Gateway 

unit 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 





- 

- 

- 

Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 











Alarm 

Ready 







0-V input 

Connect 24V. 



- 

- 

- 



















Connect 0V. 

OV 24 

SSEL 358 




Slider 

Type 

SSEL 





Positioner, 

standard mode 

Function 


Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

Pin number 

P24 

Input 

Output 

N 

Category 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

Port number 

24-V input 








Error reset 

Start 

Home return 

Servo ON 

Push 

Pause 

Cancellation 











Alarm 

Ready 







0-V input 


Positioner, 

standard mode 

Connect 24V. 




settings. 


This signal is used to reset minor errors. (The power must be reconnected to reset serious errors 











settings. 










Connect 0V. 

Function 


OV 24 



1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

359 SSEL 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 








Error reset 

Start 1 

Home return 1 

Servo ON 1 

Pause 1 


Start 2 

Home return 2 

Servo ON 2 

Pause 2 








Alarm 

Ready 






0-V input 

Connect 24V. 



settings. 















settings. 










Connect 0V. 

OV 24



call 0800-888-0088 (toll-free). 

SSEL 





Slider 

Type 

Pin number 

Category 

Port number 

Positioner, 

standard mode 

Function 


 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

24-V input 

Axis 1 JOG- 

Axis 2 JOG+ 

Axis 2 JOG- 





Error reset 

Start 

Servo ON 

Pause 













Axis 1 JOG+ 

Alarm 

Ready 




- 



0-V input 

Connect 24V. 








 



position number under which to input the current position. 

When the teaching mode specification signal at port No. 014 is ON, the 

current value will be written under the specified position number upon 

turning ON of the start signal at port No. 000. 

 






 



Connect 0V. 

OV 24 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 


Pin number 

Category 

Port number 

Positioner, 

standard mode 

Function 


Gateway 

unit 

1A 

1B 

2A 

2B 

3A 

3B 

4A 

4B 

5A 

5B 

6A 

6B 

7A 

7B 

8A 

8B 

9A 

9B 

10A 

10B 

11A 

11B 

12A 

12B 

13A 

13B 

14A 

14B 

15A 

15B 

16A 

16B 

17A 

17B 

P24 

Input 

Output 

N 

016 

017 

018 

019 

020 

021 

022 

023 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

300 

301 

302 

303 

304 

305 

306 

307 

24-V input 


- 

- 

- 

- 

- 

- 

CPU reset 

Start 

Hold (pause) 

Cancellation 


Position No.1 

Position No.2 

Position No.4 

Position No.8 









Alarm 

Ready 


- 

- 

- 



0-V input 

Connect 24V. 


- 

- 

- 

- 

- 

- 


This signal is used to cause the actuator to start moving to the selected position.T 









- 

- 

- 



Connect 0V. 

OV 24 

SSEL 360 




Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

SSEL 

Control 

General 


Program 

Communication 





Item 






Rush current 





Speed setting 












PIO cable 


Field network 

Motor cable 

Encoder cable 





Weight 


Specification 

RCS2 series actuator / Single-axis robot / Linear servo actuator 

Single-phase 100VAC ± 10% 

Single-phase 200VAC ± 10% 

1,660VA max. (400W, 2 axes operated) 

500VDC, 10MΩ or above 

500VAC, 1 minute 

30A max. 

XYZ directions 

One-side amplitude 0.035 mm (continuous), 0.075 ç 

4.9m/s2 (continuous), 9.8m/s2 (continuous) 

1 axis/2 axes 

400W 

800W 






64 programs 

2,000 steps 

8 programs 

1,500 points 





CB-DS-PIO 

(supplied with the controller) 



CB-RCC-MA 

(20m max.) 

CB-RCS2-PA 

(20m max.) 

Motor overcurrent, motor driver temperature check, overload check, encoder open-circuit check, 

soft limit over, system error, battery error, etc. 

0~40ºC 10~95% (non-condensing) 


IP20 

1.4kg 

100mm (W) ×202.6mm (H) ×126mm (D) 



SSEL 1-axis controller 

(Note 1) 

(Note 1) Absolute-data backup battery. This battery is not 

installed on an incremental-type controller. 


(Note 1) 

(Note 1) Absolute-data backup battery. This battery is not 

installed on an incremental-type controller. 


361 SSEL



call 0800-888-0088 (toll-free). 

SSEL 




Slider 

Type 


10 Power-supply connector 

1 9 

10 

These LEDs are used to indicate the operating condition 

of the controller. 


An AC power-supply connector. Divided into the control 

power input and motor power input. 

Rod 

Type 

2 

3 

4 

5 

6 

7 

8 

11 

12 

13 

15 

16 

14 

17 

18 

PWR: This LED indicates that the controller is receiving 

power. 

RDY: This LED indicates that the controller is ready to perform 

program operation. 

ALM: This LED indicates that the controller is abnormal. 

EMG: This LED indicates that an emergency stop is 

actuated and the drive source is cut off. 




A connector for the emergency stop input, enable input, 

brake power input, etc. 


A half-pitch I/O 26-pin connector that connects a teaching 

pendant when the running mode is MANU. A special 

conversion cable is needed to connect a conventional D- 

sub, 25-pin connector. 

4 Mode switch 

11 Grounding screw 

A screw for protective grounding. Always connect this screw 

to ground. 

12 External regenerative resistor connector 

A connector for the regenerative resistor that must be connected 

when the built-in regenerative resistor alone does not offer sufficient 

capacity in high-acceleration/high-load operation, etc. 

Whether or not an external regenerative resistor is necessary 

depends 

on the conditions of your specific application such as the axis 

configuration. 





Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


19 

20 

8 

BAT1 

BAT2 

This switch is used to specify the running mode of the 

controller. 

The left position indicates the MANU (manual operation) 

mode, while the right position indicates the AUTO (automatic 

operation) mode. 

Teaching can only be performed as manual operation, and 

automatic operation using external I/Os is not possible in the 

MANU mode. 



connector is connected, the TP connector is disabled and 

all communication inputs to the TP connector are cut off. 


This switch is used to release the axis brake. Setting it 

to the left position (RLS side) forcibly releases the brake, 

while setting it to the right position (NOM side) causes the 

controller to automatically control the brake. 


This switch is used to release the axis brake. Setting it 

to the left position (RLS side) forcibly releases the brake, 

while setting it to the right position (NOM side) causes the 

controller to automatically control the brake. 


Models 

Gateway 

unit 

PS-24 

9 

21 

SBAT 



A 34-pin flat connector is used for the DIO (24 IN/8 OUT) 

interface. 

The I/O power is also supplied to the controller through this 

connector (pins 1 and 34). 


A connector for the panel unit (optional) that displays the 

controller status and error numbers. 






A connector for the battery that backs up absolute data 

when the actuator uses an absolute encoder. Secure 


ERC2 

PCON 

ACON 

SCON 

8 Absolute-data backup battery 

When an absolute-type axis is operated, this battery 

retains position data even after the power is cut off. 

9 System-memory backup battery (optional) 

This battery is needed if you wish to retain various data 

recorded in the SRAM of the controller even after the 

power is cut off. This battery is optional. Specify it if 

necessary. 


A connector for the battery that backs up absolute data 

when the actuator uses an absolute encoder. Secure 



A connector for the system-memory backup battery. 

SSEL 362 

PSEL 

ASEL 

SSEL 

XSEL



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 



SSEL 

Option 

Features 



Model 

IA-T-X-J 

IA-T-X 

Model 

IA-T-XD-J 

IA-T-XD 

IA-T-XA-J 

IA-T-XA 

Configuration 

A teaching device providing program/position 

input function, test operation function, monitoring 

function, and more. 


Features A startup support software program offering program/position input function, test operation 

function, monitoring function, and more. The functions needed for debugging have been 

enhanced to help reduced the startup time. 

Model 

Configuration 

Model 

Configuration 



Standard type 


ANSI type 

IA-T-X/XD:4m 

IA-T-XA:5m 

Conversion cable:CB-SEL-SJ002 

IA-T-X/XD 




Weight 

Cable length 

Display 

IA-101-X-MW-J (with RS232C Cable + Connector Conversion Cable) 

IA-101-X-MW (with RS232C Cable) 

PC software 

5m 

0.2m 

RS232C cable 


IA-101-X-USB (with USB Cable) 

PC software 

Description 



ANSI type 


NOTE 


version 1.30 or later (or 1.20 or later with 

the ANSI type). 

1m 

USB cable 

CB-SEL-USB010 

Regenerative Resistor Unit 

Panel Unit 

A display for checking controller error 


PU-1(Cable Length 3m) 

Dummy plug 

DP-3 

0.2m 

Connector Conversion Cable: 

CB-SEL-SJ002 

Features This unit converts to heat the regenerative current produced when the motor decelerates. Use 

the table shown to the right to check the total wattage of actuators operated by the controller, 

and purchase one or more regenerative resistor units if required. 

Model REU-2 (SCON/SSEL) 


Weight 

Built-in regenerative resistor 

Unit-controller 

connection cable (supplied) 

Features 

Model 

363 SSEL 

0.9kg 

220Ω 80W 

CB-SC-REU010 (SSEL) 

Applicable controller 

SSEL-C 

Absolute-Data Backup Battery 

Features 

Model 

265 

This battery backs up absolute data when 

an absolute-type actuator is operated. 

Same as the system-memory backup 

battery. 

AB-5 

45 

28 

IA-T-XA 





Approx. 650g 

4m 

Guide for Determining Necessary Number of Units 

Horizontal Vertical 

0 unit 

1 unit 

2 units 

~800W ~200W 

~600W 

~800W 

* More regenerative resistor units than the 

numbers specified above may be required 

depending on the operating conditions. 

133 




5m 

58.3 

46.7 


NOTE 


version 6.0.0.0 or later. 

System-Memory Backup Battery 

Features 

Model 


ø5 34 

195 

186 

175 

5 

16.6 126 


you need this battery to retain data even 

after the power is turned off. 

AB-5-CS (with Case) 

AB-5 (Battery Only)

Options 


call 0800-888-0088 (toll-free). 

SSEL 




Dummy plug 

USB cable 

Connector conversion cable 

Slider 

Type 

Features 

Model 

When connecting your SSEL controller to a 

PC using a USB cable, install this plug on 

the teaching port to cut off the enable 

circuit. (This plug comes with the PC 

software IA-101-X-USB.) 

DP-3 

Features 

Model 

Use this cable to connect your controller with USB 

port to a PC. 

If your controller has no USB port (XSEL), connect a 

RS232C cable to a USB cable via a USB conversion 

adapter and connect the USB cable to the USB port 

on the PC. 


CB-SEL-USB010 (Cable Length 1m) 

Features 

Model 

This conversion cable is used to connect a D-sub, 

25-pin connector for teaching pendant or PC 

software to the teaching connector (half-pitch) on 

the ASEL controller. 

CB-SEL-SJ002 (Cable Length 0.2m) 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Spare Parts 


Motor Cable/ Motor Robot Cable 

Model CB-RCC-MA / CB-RCC-MA -RB 

(41) 

(16) 

(Front view) 

4 

1 


I/O Flat Cable (SSEL Types) 

Model CB-DS-PIO 

1B 

17B 

(ø9) 


Model CB-RCS2-PA / CB-X2-PA 

(37) 

(13) 

26 

(Front view) 

13 

(41) L 

(14) 


1A 

17A 

L 

(21) 

Actuator end 

2m 

1 

4 

(20) 

Actuator end 

(15) 

(25) 

9 18 

(Front view) 

Flat cable AWG28 (34 cores) 

(10) 

(18) 

(Front view) 

Encoder Cable/ Encoder Robot Cable for RCS2-RT6/RT6R/RT7R 

Model CB-RCS2-PLA / CB-X2-PLA 

(37) 

(13) 

14 

26 

1 

13 

(Front view) Controller End 

(41) L 

(14) 

LS end 

Actuator end 

(8) 

1 

16 10 

(15) 

(18) 

9 18 

(25) 

No connector 




Green PE 1 

Red U 2 

0.75sq 

White V 3 

Black W 4 



No. Color Wire No. Color Wire 

1A Brown1 

9B Gray2 

1B Red1 

10A White2 




3B 

4A 

4B 

Blue1 

Purple1 

Gray1 

12A Orange3 

12B Yellow3 

Flat cable 13A Green3 Flat cable 

5A White1 pressure 13B Blue3 pressure 

5B Black1 -welded 14A Purple3 -welded 

6A Brown-2 14B Gray3 

6B Red2 

15A White3 




8B 

9A 

Blue2 

Purple2 

17A Orange4 

17B Yellow4 


1 

2 

3 

4 

U 

V 

W 

PE 

Red 

White 0.75sq 

Black(crimped) 

Green 



Note 3 

Note 1 


Note 2 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 



No. 

1 

2 

3 

4 

5 

6 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

Signal 

E24V 

0V 

LS 

CLEEP 

OT 

RSV 

Signal 


A Pink 

A 

Purple 

B White 

B Blue/red 

Z 

Orange/white 

Z Green/white AWG26 

LS+ Brown/white (crimped) 

- - 

FG Drain 

SD Blue 

SD 

Orange 

BAT+ Black 

BAT- Yellow 

VCC Green 

GND Brown 

LS- 

Gray/white 

BK- 

Gray 

BK+ Red 


- - 10 

- - 11 

- E24V 12 

Gray/white 0V 13 

Brown/white LS 

- CLEEP 

- OT 

- RSV 

- - 

AWG26 - - 

(soldered) - - 

Pink A+ 

Purple A- 

White B+ 

Blue/red B- 

Orange/white Z+ 

Green/white Z- 

Blue SRD+ 

Orange SRD- 

Black BAT+ 

Yellow BAT- 

Green VCC 

Brown GND 

Gray BKR- 

Red BKR+ 21 

- - 22 



- - 10 

- - 11 

White/orange E24V 12 

White/green 0V 13 

Brown/blue LS 26 

Brown/yellow 

Brown/re 

d 

CLEEP 

OT 

25 

24 

Brown/black RSV 23 

- - 9 

- - 18 

- - 19 

White/blue A+ 1 

AWG26 

(soldered) 

White/yellow 

White/re 

d 

A- 

B+ 

2 

3 

White/back B- 4 

White/purple Z+ 5 

White/gray Z- 6 

Orange SRD+ 7 

Green SRD- 8 

Purple BAT+ 14 

Gray BAT- 15 

Red VCC 16 

Black GND 17 

Blue BKR- 20 

Yellow BKR+ 21 

- - 22 




A 

A 

B 

B 

Z 

Z 

- 

- 

FG 

SD 

SD 

BAT+ 

BAT- 

VCC 

GND 

- 

BK- 

BK+ 

Color Wire 

White/blue 

White/yellow 

White/re 

d AWG26 

White/black (crimped) 

White/purple 

White/gray 

Color Wire 

White/blue 

White/yellow 

White/re 

d 

White/black AWG26 

White/purple 

White/gray 

(crimped) 

- 

- 

Drain 

Orange 

Green 

Purple 

Gray 

Red 

Black 

- 

Blue 

Yellow 

SSEL 364 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



XSEL 


Arm / Flat 

Type 

Rod 

Type 

Slider 

Type 

Gripper / 

Rotary Type 

RCS2 Series 


Cleanroom 

Type 

Splash 

Proof Type 


Type List 

Multi-axis program controller for RCS2 series actuator. Up to six axes can be controlled simultaneously. 

Type J K P Q 

Name 

Compact type General-purpose type Large-capacity type Large-capacity type (meeting safety category) 

External view 


Models 

Gateway 

unit 

Description 

Maximum number of 

controlled axes 


Total connectable wattage 

Power supply 

Safety category 

Safety standard 

Compact, low-cost type ideal 

for operating low-output 

actuators 

4 axes 

800W 

- 


B 

Standard type offering 

excellent expandability 

1600W 

Single-phase 100VAC / Single-phase 200VAC 

Large-capacity type capable of 

controlling up to six axes or 2,400 W 

- CE 

B 

6 axes 


2400W 

Three-phase 200VAC 

Large-capacity type conforming to 

safety category 4 

Conforming to safety category 4 

CE, ANSI 



Model 

X S E L ( ) 

Series 

J Compact type 

K General-purpose type 

P Large-capacity type 

Q 

Large-capacity type 

(meeting safety category) 

1 1-axis specification 



365 XSEL 

* To specify multiple options, enter them in alphabetical order. (Example: Brake + Home sensor BL) 

Number of 

Type connected axes (1-axis ) (Axes 2 to 6) 

(Slot 1) (Slot 2) (Slot 3) (Slot 4) I/O cable length Power-supply 

voltage 

Motor type Encoder type Option Motor type Encoder type Option Standard I/O Expansion I/O 










B Brake 


L Home sensor/LS type 



I Incremental 

A Absolute 

I Incremental 

A Absolute 

B Brake 


L Home sensor/LS type 









* Specification of the section denoted by (Axes 2 to 6) varies depending on the number of axes used. 

E Not used 

N1 Input 32 / Output 16 (NPN) 



P1 Input 32 / Output 16 (PNP) 



DV DeviceNet connection board 

CC CC-Link connection board 

PR ProfiBus connection board 

ET Ethernet connection board 



3 Three-phase 200VAC 

* The XSEL-J/K types supports 

both single-phase 100 VAC 

and single-phase 200 VAC, 

so you can select whichever 

power-supply voltage is 

appropriate. However, the 

XSEL-P/Q types only support 

three-phase 200 VAC. 

0 No cable 

2 2m 

3 3m 

5 5m

RB- 

RB+ 

RB OUT 

RB- 

RB+ 

RB IN 

RB- 

RB IN 

RB- 

RB+ 

RB+ 

RB OUT 



call 0800-888-0088 (toll-free). 

XSEL 




J (Compact) / K (General-Purpose) / KE (CE) Types 

Connectable Actuators 

High-speed, high-accuracy type ISPA series 

Standard type 

ISA series 

Dustproof type 

ISDA series 

Cleanroom specification ISDACR series 

Anti-static specification ISDACR ESD 

High-rigidity belt type IF series 

Slim belt type 

FS series 

Rotating axis 

RS series 

ROBO Cylinder 

RCS2 series 

External Equipment 

• Parts feeder 

• Solenoid valve 

• PLC 

I/O flat cable 2m 


(Refer to P374) 


Refer to P373 

PC software 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Motor cable, standard 3m / 5m (Refer to P374) 

Encoder cable, standard 3m / 5m (Refer to P374) 


Regenerative unit 

Regenerative unit cable 1m 

(Supplied with the regenerative unit) 


126 

Main Power Supply I/O Power Supply System I/O 



DC24V 

• Emergency stop 

• Enable 

• System ready 

4m 

RS232 cable 5m (Refer to P373) 

(Supplied with the PC software) 

Various Field Networks 

• Device Net (Refer to P372) 

• CC-Link (Refer to P372) 

• Profi Bus 

• Ethernet 

Serial Communication Unit 

• Expansion SIO board (Refer to P372) 

Compatible with 

RS232C/RS422/RS485 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

P (Large-Capacity) / Q (Large-Capacity Global) Types 

Connectable Actuators External Equipment 

Teaching pendant PC software 

High-speed, high-accuracy type ISPA series PLC, etc Various Field Networks 

Standard type 

ISA series 

• Device Net 

Dustproof type 

ISDA series 

Serial Communication Port 

• CC-Link 

Cleanroom specification ISDACR series 

Standard/RS232, 2 channels 

• Profi Bus 

Anti-static specification ISDACR ESD 

High-rigidity belt type IF series 

• Ethernet 

I/O flat cable 2m 

Slim belt type 

FS series 

Rotating axis 

RS series 

(Supplied with 

Refer to P373 

Linear servo 

LSA series the controller) 

ROBO Cylinder 

RCS2 series (Refer to P374) 

Gateway 

unit 

PS-24 

ERC2 

PCON 

Motor cable, standard 3m / 5m (Refer to P374) 

Encoder cable, standard 3m / 5m (Refer to P374) 


Regenerative unit cable 1m 

(Supplied with the regenerative unit) 

Regenerative unit 

Control Power Supply 



Motor Drive Power Supply System I/O 

Three-phase 200VAC (Q type) • Emergency stop 

• Enable 

• System ready 

Drive cutoff circuit 

(Provided by the customer) 

Required only for the Q type (not required for the P type). 

4m 

RS232 cable 5m (Refer to P373) 

(Supplied with the PC software) 

Expansion I/O 

• PIO board 

* The enclosure of the 

P/Q controller will change 

if an expansion I/O board 

is installed. 


XSEL 366 

ACON SCON PSEL ASEL SSEL XSEL



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 


XSEL 


I/O Wiring Diagram 

Input Part External input specifications (NPN specifications) 

Item 

Input voltage 

Input current 

ON/OF voltage 


Externally connected 

equipment 

[Input circuit] 

P24* 

External 

power supply 

24VDC 

±10% 

- 

+ 

Specification 

24VDC ±10% 

7mA / 1 circuit 

ON voltage…Min DC16.0V OFF voltage…Max DC5.0V 

Photocoupler insulation 

1 No-voltage contacts (minimum load of approx. 5VDC, 1mA) 

2 Photoelectric/proximity sensor (NPN type) 

3 Sequencer transistor output (open collector type) 

4 Sequencer contact output (minimum load of approx. 5VDC, 1mA) 


560øΩ 

3.3kΩ 


* 

P24 

K type 

IO 24-V 

connector 24VIN 

J/P/Q type 

I/O interface 

pin No. 1 

Input Part External input specifications (PNP specifications) 

Item 

Input voltage 

Input current 

ON/OF voltage 



equipment 

[Input circuit] 


Specification 

24VDC ±10% 


ON voltage…Min DC8V OFF voltage…Max DC19V 


1 No-voltage contacts (minimum load of approx. 5VDC, 1mA) 

2 Photoelectric/proximity sensor (PNP type) 

3 Sequencer transistor output (open collector type) 

4 Sequencer contact output (minimum load of approx. 5VDC, 1mA) 

Output Part External output specifications (NPN specifications) 

Item 

Load voltage 

Maximum 

load current 

Leak current 



equipment 

[Output circuit] 


Specification 

24VDC 

100mA / 1 circuit 400mA 

TD62084 (or equivalent) 

Peak (full current) 

Max 0.1mA / 1point 


1 Miniature relay 2 Sequencer input unit 

D 

P24* 

Surge absorber 

10Ω Load 

Output terminal 

+ 

- 

N* 

External 

* 

power supply 

24VDC 

±10% 

P24 

N 

K type 

IO 24-V 


IO 24-V 


J/P/Q type 

I/O interface 

pin No. 1 

I/O interface 

pin No. 50 

Output Part External output specifications (PNP specifications) 

Item 

Load voltage 

Maximum 

load current 

Leak current 



equipment 

[Output circuit] 

Specification 

24VDC 


TD62784 (or equivalent) 

400mA/8 ports (Note) 

Max 0.1mA / 1point 


1 Miniature relay 2 Sequencer input unit 

(Note) 400 mA represents the maximum total load current for each set of eight ports 

from output port No. 300. (The maximum total current output for output port Nos. 

300+n to No. 300+n+7 must be 400 mA, where n = 0 or a multiple of eight.) 

P24* 


Models 

External 

power supply 

24VDC 

±10% 

- 

+ 

N * 


560øΩ 

3.3kΩ 


* 

P24 

K type 

IO 24-V 


J/P/Q type 

I/O interface 

pin No. 1 


10Ω 

Surge absorber 

Output 

terminal 

Load 

N* 

+ 

- 

External 

power supply 

24VDC 

±10% 

* K type 

IO 24-V 

P24 


IO 24-V 

N 


J/P/Q type 

I/O interface 

pin No. 1 

I/O interface 

pin No. 50 

Gateway 

unit 



Standard I/O Signal Table (N1 or P1 Selected) 

Pin number 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

40 

41 

42 

43 

44 

45 

46 

47 

48 

49 

50 

Category 

Input 

Output 

Port number 

— 

000 

001 

002 

003 

004 

005 

006 

007 

008 

009 

010 

011 

012 

013 

014 

015 

016 

017 

018 

019 

020 

021 

022 

023 

024 

025 

026 

027 

028 

029 

030 

031 

300 

301 

302 

303 

304 

305 

306 

307 

308 

309 

310 

311 

312 

313 

314 

315 

— 

367 XSEL 

Standard setting 

(J/P/Q types: Connected to 24V / K type: NC) 

Program start 







Program specification (RPG No. 1) 

























Alarm output 

Ready output 

Emergency stop output 















Expansion I/O Signal Table (N1 or P1 Selected) 

Pin number Category 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 Input 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

32 

33 

34 

35 

36 

37 

38 

39 

40 

41 

42 Output 

43 

44 

45 

46 

47 

48 

49 

50 




















































Expansion I/O Signal Table (N1 or P1 Selected) 

Pin number Category 

1 

2 

3 

4 

5 

6 

7 

8 

9 Input 

10 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

21 

22 

23 

24 

25 

26 

27 

28 

29 

30 

31 

32 

33 

34 Output 

35 

36 

37 

38 

39 

40 

41 

42 

43 

44 

45 

46 

47 

48 

49 

50 


















































General-purpose inpu 

(J/P/Q types: Connected to 0V / K type: NC)


J (Compact) / K (General-Purpose) Types 

Item 

Controller series, type 


Motor output (W) 


Maximum output of 

connected axes (W) 

Input power 

supply 

Operating power-supply voltage range 

Power-supply frequency 



Speed setting 









Standard inputs/outputs 

Expansion inputs/outputs 


Other inputs/outputs 

Protective 

functions 



Weight 

Accessory 


call 0800-888-0088 (toll-free). 

XSEL 


Description 

J (compact) type 

K (general-purpose) type / KE (CE) type 

RCS2 / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS 

20 / 30 / 60 / 100 / 150 / 200 / 300 / 400 / 600 / 750 

1 axis 

2 axes 3 axes 4 axes 1 axis 2 axes 

3 axes 4 axes 

Max800(at power-supply voltage of 200V) 

Max 



800 


100-V specification: Single-phase 100~115VAC 

200-V specification: Single-phase 200~230VAC 

±10% 

50Hz/60Hz 

Max 1670VA 

Max 1720VA Max 1810VA Max 1670VA Max 3120VA Max 3220VA Max 3310VA 

Incremental encoder (wire-saving type) 

Absolute encoder with rotation data backup (wire-saving type) 




64 programs 

6,000 steps (total) 

16 programs 


Flash ROM + SRAM battery backup 


32 points (total of dedicated inputs + general-purpose inputs) / 16 points (total of dedicated outputs + general-purpose outputs) 

None 

48 points per unit (1 unit can be added) 48 points per unit (Up to 3 units can be added) 

RS232 port (D-sub, 25-pin) – Standard accessory 

Standard RS232 port + Expansion SIO board (optional) 

System I/Os (emergency stop input, enable input, system ready output) 

Motor overcurrent, overload, motor driver temperature check, overload check, encoder open-circuit check, soft limit over, 

system error, battery error, etc. 

Temperature 0~40°C, humidity 30~85% 


2.6kg 

3.3kg 5.0kg 6.0kg 7.0kg 


P (Large-Capacity) / Q (Large-Capacity Meeting Safety Category) Types 

Item 

Description 

Controller series, type 

P (standard) type 

Q (global) type 


Motor output (W) 

RCS2 / ISA / ISPA / ISP / ISDA / ISDACR / ISPDACR / IF / FS / RS / LSA 

20 / 30 / 60 / 100 / 150 / 200 / 300 / 400 / 600 / 750 


1 axis 2 axes 3 axes 4 axes 5 axes 6 axes 1 axis 2 axes 3 axes 4 axes 5 axes 6 axes 

Maximum output of connected axes (W) 

Max2400W 

Control power input 

Motor power input 

AC200 / 230 Single-phase -15%, +10% 

AC200 / 230 Three-phase -10%, +10% 

AC200 / 230 Single-phase -15%, +10% 

AC200 / 230 Three-phase -10%, +10% 

Power-supply frequency 


50 / 60Hz 

10MΩ or more (between the power-supply terminal and I/O terminals, and between all external terminals and case, at 500VDC) 

Breakdown voltage 

1,500VAC (1 minute) 

1,500VAC (1 minute) 



Max 1744VA Max 3266VA Max 4787VA Max 4878VA Max 4931VA Max 4998VA Max 1744VA Max 3266VA Max 4787VA Max 4878VA Max 4931VA Max 4998VA 

Incremental encoder (wire-saving type) 

Absolute encoder with rotation data backup (wire-saving type) 

Safety circuit configuration 

Drive-source cutoff method 

Enable input 

Redundancy not supported 

Internal cutoff relay 

Contact-B input (powered internally) 

Redundancy supported 

External safety circuit 

Contact-B input (powered externally, redundant) 

Speed setting 

Acceleration/deceleration setting 








Standard inputs/outputs 

Expansion inputs/outputs 


Protective 

functions 

Ambient operating temperature, humidity, operating ambience 




64 programs 


16 programs 


Flash ROM + SRAM battery backup 


PIO board with 48 input/output points (NPN/PNP) or PIO board with 96 input/output points (NPN/PNP) – 1 board can be installed 

PIO board with 48 input/output points (NPN/PNP) or PIO board with 96 input/output points (NPN/PNP) – Up to 3 boards can be installed 

Teaching port (D-sub, 25-pin) + 2-channel RS232C port (D-sub, 9-pin x 2) – Standard accessory 

Motor overcurrent, overload, motor driver temperature check, overload check, encoder open-circuit check, soft limit over, 

system error, battery error, etc. 

0~40°C, 10~95% (non-condensing). Free from corrosive gases. In particular, there shall be no significant powder dust. 

Weight (*2) 

5.2kg 

5.7kg 4.5kg 5kg 

Accessory 


*1 When the connected axes represent the maximum wattage. 

*2 Including the absolute-data backup battery, brake mechanism and expansion I/O box. 

XSEL 368 



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



Slider 

Type 

XSEL 



J (Compact) / K (General-Purpose) Types 

1-axis specification 2-axis specification 

3/4-axis specification Side view 

Rod 

Type 

159.4 

143.4 

120 

2-ø5 

191.9 

175.9 

120 

2-ø5 

35.9 

112.5 

296.8 

112.5 

35.9 

3-ø5 

Arm / Flat 

Type 

J type 

(Compact) 

186 

186 

186 

(80) 

125.3 

Gripper / 

Rotary Type 

5 

1/2-axis specification 

5 

3/4-axis specification 

5 

180 

195 

Cleanroom 

Type 

Splash 

Proof Type 

K type 

(General-Purpose) 

369.4 

3-ø5 

34.7 150 

150 34.7 

186 

77.2 

150 

454.4 

3-ø5 

150 

77.2 

186 

Battery box 

(absolute 

specification) 

(24) 


P (Large-Capacity Standard) / Q (Large-Capacity Global) Types 

5 

The XSEL-P/Q types have different shapes and dimensions in accordance with the controller specifications (encoder type, 

with/without brake, and with/without I/O expansion). 

The four possible shapes are shown below. Check the dimensions of the controller type and number of axes you desire. 

5 


Models 

Gateway 

unit 

XSEL-P 



Encoder 

Brake 

Basic shape 

(incremental specification) 

Incremental 

With I/O expansion With brake/absolute unit + 

With brake/absolute 

XSEL-Q 

unit 

base 

I/O expansion base 

Absolute Incremental Absolute 

Without With Without With 

I/O Standard only Standard only Standard + Expansion Standard + Expansion 

3-ø5 

75 

49.5 

75 

49.5 

3-ø5 

59.5 75 75 

59.5 

41 

120 

120 

3-ø5 

41 

51 

120 

120 

3-ø5 

51 

Side view 



P (Large- 

Capacity) 

Q (Large- 

Capacity 

Meeting 

Safety 

Category) 

1 to 4-axis 

specification 

5 to 6-axis 

specification 

1 to 4-axis 

specification 

5 to 6-axis 

specification 

369 XSEL 

195 

186 

180 

195 

186 

180 

22 

195 

186 

180 

195 

186 

180 

120 

249 

265 

120 

284 

300 

3-ø5 

28 75 75 

45.5 75 

206 

222 

3-ø5 

75 

241 

257 

3-ø5 

5 

28 

5 

45.5 

5 

22 

5 

195 

186 

180 

195 

186 

180 

42 

195 

186 

180 

195 

186 

180 

120 

269 

285 

120 

324 

340 

3-ø5 

38 75 75 

20.5 120 

226 

242 

120 

281 

297 

3-ø5 

3-ø5 

5 

38 

5 

42 

5 

20.5 

5 

195 

186 

180 

195 

186 

180 

58.5 

195 

186 

180 

195 

186 

180 

120 

64.5 75 

37 

120 

322 

338 

120 

357 

373 

3-ø5 

75 

279 

295 

314 

330 

3-ø5 

3-ø5 

120 

64.5 

5 

5 

58.5 

5 

37 

195 

186 

180 

195 

186 

180 

78.5 

195 

186 

180 

195 

186 

180 

120 

29.5 120 

57 

120 

342 

358 

397 

413 

299 

315 

120 

120 

5 

5 354 

370 

3-ø5 

3-ø5 

120 

3-ø5 

5 

78.5 

5 

29.5 

5 

57 

5 

180 

(80) 

Battery box 

(absolute 

specification) 

(24) 

125.3 

195



call 0800-888-0088 (toll-free). 

XSEL 




J Type (Compact) 

K Type (General-Purpose) 

Slider 

Type 

3 

5 10 13 4 3 5 10 11 12 

Rod 

Type 

8 

4 

6 

1 7 16 1 

6 7 8 9 16 17 

1 FG connection terminal 

11 

9 14 

15 2 

A terminal for connecting to the FG terminal on the enclosure. 

The PE at the AC input part is connected to the enclosure inside 

the controller. 

2 Fuse holder (K type only) 

A half-cut fuse holder provided for overcurrent protection of the 

AC input part. 

3 Main power input connector 

A connector for 100/200-VAC single-phase input. 

(The cable comes with a matching plug. Refer to the facing page.) 

4 Generative resistor unit connector 

A connector for the regenerative resistor unit (optional/REU-1) that must 

be connected when the built-in regenerative resistor alone does not offer 

sufficient capacity in high-acceleration/high-load operation, etc. 

5 Motor cable connector 

A connector for the motor power-supply cable of the actuator. 

6 Actuator sensor input connector 

A connector for axis sensors such as LS, CREEP and OT. 

7 Absolute-data backup battery 

A battery unit for backing up the encoder when an absolute encoder is 

used. This battery is not connected for a non-absolute axis. 

8 Brake release switch (brake specification only) 

An alternate switch with lock for releasing the axis brake. Pull the switch 

forward and then tilt it up or down. Set the switch to the top position (RLS) to 

forcibly release the brake, or to the bottom position (NOM) to have the brake 

automatically controlled by the controller. 

9 Axis driver status LEDs 

These LEDs are used to monitor the operating status of the driver CPU that 

controls the motor drive. 

The following three LEDs are available. 

Name 

ALM 

SVON 

BATT ALM 

Color 

Orange 

Green 

Orange 

Meaning when the LED is lit 

The driver has detected an error. 

The servo is on and the motor is driven. 

The absolute-data backup battery voltage is low. 

10 Encoder cable connector 

A 15-pin, D-sub connector for the actuator’s encoder cable. 


A connector for three input/output points including two inputs used to control 

controller operation, and one system status output. (The cable comes with a 

matching plug. Refer to the facing page.) 

Name 

EMG 

ENB 

RDY 

Emergency stop input 

Safety gate input 

System ready relay output 

12 I/O 24-V power-supply connector (K type only) 

If DIs and DOs are installed in the I/O boards ( 16 and 17 ), this connector 

is used to externally supply the I/O power for the insulated part. 

13 Panel window 

This window has a 4-digit, 7-segment LED and five LED lamps showing the 

system status. 


This alternate switch with lock is used to specify the running mode of the 

controller. Pull the switch forward and then tilt it up or down. The top position 

indicates the MANU (manual operation) mode, while the bottom position 

indicates the AUTO (automatic operation) mode. Teaching can only be 

performed as manual operation, and automatic operation using external 

I/Os is not possible in the MANU mode. 

15 Teaching connector 

A D-sub, 25-pin connector for connecting a teaching pendant or PC to input 

program positions. 

16 Standard I/O slot (slot 1) 

The controller comes standard with a PIO board offering 32 input points and 

16 output points. 

17 Expansion I/O slots (slot 2, slot 3, slot 4) 

Install an expansion I/O board in each of these slots. (Optional) 

13 

14 

15 

ON: The controller is ready. OFF: An emergency stop is actuated. 

ON: The controller is ready. OFF: The servo is off. 

This signal outputs the status of this controller. 

Cascade connection is supported. 

Shorted: Ready. Open: Not ready. 

XSEL 370 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

SCON 

PSEL 

ASEL 

SSEL 

XSEL



XSEL 


P type (Standard, 4 axes) 

Q type (Absolute brake unit + Expansion base, 6 axes) 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

4 

3 

5 6 10 

11 

12 

13 

14 

3 

2 

4 

5 6 10 11 12 

14 

16 

17 

18 

19 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 



2 

1 7 

1 FG connection terminal 

8 

A terminal for connecting to the FG terminal on the enclosure. 

The PE at the AC input part is connected to the enclosure inside the 

controller. 

2 External regenerative unit connector 

A connector for the regenerative resistor that must be connected when the 

built-in regenerative resistor alone does not offer sufficient capacity in highacceleration/high-load 

operation, etc. 

Whether or not an external regenerative resistor is necessary depends on 

the conditions of your specific application such as the axis configuration. 

3 AC power input connector 

A three-phase 200-VAC input connector. It consists of six terminals including 

motor power-supply, control power-supply and PE terminals. 

The controller only comes standard with a terminal block. 

Note Do not touch the connector while the power is supplied, as it may cause 

electric shock. 

11 Panel window 

This window consists of a 4-digit, 7-segment LED and five LED lamps 

showing the system status. 

9 

15 

4 Control power-supply monitor LED 

A green light illuminates while the control power supply is properly 

generating internal controller power. 

5 Enable/disable switch for absolute-data backup battery 

This switch is used to enable or disable encoder backup using the absolutedata 

backup battery. Encoder backup has been disabled prior to the 

shipment. After connecting the encoder/axis-sensor cables, turn on the 

power, and then set this switch to the top position. 

6 Encoder/axis-sensor connector 

A connector for axis sensors such as LS, CREEP and OT. 

* LS, CREEP and OT sensors are optional. 


A connector for driving the motor in the actuator. 

8 Teaching-pendant type selector switch 

This switch is used to select the type of the teaching pendant to be 

connected to the teaching connector ( 9 ). Specifically, you can switch 

between IAI’s standard teaching pendant and the ANSI teaching pendant. 

Operate the switch on the front face of the board in accordance with the 

teaching pendant used. 

9 Teaching connector 

This teaching interface is used to connect IAI’s teaching pendant or a PC 

(PC software) to operate/set the system, etc. 


An I/O connector that governs the safety operation functions of the 

controller. Controllers of the global specification let you configure a safety 

circuit conforming to safety categories of up to 4 using this connector and 

an external safety circuit. 

371 XSEL 

1 

Description of 5 LEDs 

Name 

RDY 

ALM 

EMG 

PSE 

CLK 


7 8 9 

15 

This alternate switch with lock is used to specify the running mode of the 

controller. Pull the switch forward and then tilt it up or down. The top position 

indicates the MANU (manual operation) mode, while the bottom position 

indicates the AUTO (automatic operation) mode. Teaching can only be 

performed as manual operation, and automatic operation using external 

I/Os is not possible in the MANU mode. 

13 

Status when the LED is lit 

The CPU is ready (program operation can be performed). 

A CPU alarm (system-shutdown level error) or CPU hardware error is present. 

An emergency stop is actuated or CPU hardware error or power-supply hardware error is present. 

A power-supply hardware error is present. 

A system clock error is present. 

13 Standard I/O connector 

A 50-pin flat connector constituting 32-input/16-output DIOs. 

Overview of standard I/O interface specifications 

Items 

Connector name 

Applicable connector 

Power supply 

Inputs 

Outputs 

Connected to 

Description 

I/O 

Flat connector, 50 pins 

Power is supplied from connector pin Nos. 1 and 50. 

32 points (including general-purpose and dedicated inputs) 

16 points (including general-purpose and dedicated outputs) 

External PLC, sensors, etc. 

14 General-purpose RS232C port connector 

A port for connecting general-purpose RS232 equipment. (Two channels 

are available.) 

15 Field network board slot 

A slot that accepts a fieldbus interface module. 

16 Expansion I/O board slots (optional) 

Slots that accept optional expansion I/O boards. 

17 Brake power input connector 

A power input connector for driving the actuator brake. 24 VDC must be 

supplied externally. If the specified power is not supplied, the actuator brake 

cannot be released. Always supply 24 VDC for an axis with brake. Use a 

shield cable as the brake power-supply cable and connect the shield on the 

24-V power supply side. 

18 Brake release switch connector 

A connector for the switch that releases the actuator brake externally to 

the controller. Shorting the COM terminal and BKMRL* terminal of this 

connector will release the brake. Use this method if you wish to manually 

operate the actuator after the controller has experienced a power failure or 

malfunction. 

19 Brake switch 

An alternate switch with lock for releasing the axis brake. Pull the switch 

forward and then tilt it up or down. Set the switch to the top position (RLS) to 

forcibly release the brake, or to the bottom position (NOM) to have the brake 

automatically controlled by the controller.

1 

1 

RB - 

RB + 

RB IN 

RB - 

RB + 

RB OUT 

Option 

Regenerative Resistor Unit 

Model 

REU-1 

Description 

This unit converts to heat the regenerative current produced when the motor 

decelerates. Although the controller has a built-in regenerative resistor, its 

capacity may not be enough if the axis is positioned vertically and the load is 

large. In this case, one or more regenerative units will be required. (Refer to the 

table shown to the right.) 


Item 

Specification 

Dimensions W34mm×H195mm×D126mm 

Weight 

0.9kg 

Built-in regenerative resistor 220Ω 80W 

Accessory 

Controller cable (model CB-ST-REU010) 1m 

Absolute-Data Retention Battery (XSEL-J/K/KE/KT/KET) 

Model 

Features 

Packaging 

IA-XAB-BT 

A battery that retains the data stored in an absolutetype 

controller. Replace the battery promptly once the 

controller generated a battery alarm. 

Sold individually. (One battery is needed for each axis. Specify a 

quantity corresponding to the number of axes used.) 

Absolute-Data Backup Battery 

Model 

Features 

AB-5 

A battery that backs up absolute 

data when an absolute-type 

actuator is operated. 

Expansion PIO Board 

Description 

An optional board for adding I/O (input/output) points. 

With the general-purpose and large-capacity types, up to three expansion PIO 

boards can be installed in the expansion slots. 

(With the compact types, only one expansion PIO board can be installed in the 

expansion slot provided that the controller is of 3 or 4-axis specification.) 


call 0800-888-0088 (toll-free). 

Installation Standard Determined by the total motor capacity of vertical axes connected. 

Horizontal application 

Motor wattage P/Q type J type K type 

~200W Not required Not required Not required 

~800W 1 unit Not required Not required 

~1000W 1 unit - Not required 

~1500W 2 unit - Not required 

~2000W 3 unit - - 

~2400W 4 unit - - 

Vertical application 

Motor wattage P/Q type J type K type 

~100W Not required Not required Not required 

~200W 1 unit Not required Not required 

~400W 1 unit 

1 unit Not required 

~600W 1 unit 

1 unit 

1 unit 

~800W 1 unit 

2 unit 

1 unit 

~1200W 2 unit - 

2 unit 

~1600W 3 unit - 

To be discussed separately 

~2000W 4 unit - - 

~2400W 5 unit - - 

ø5 

195 

186 

XSEL 

34 

175 

5 

16.6 126 

Expansion SIO Board General-Purpose Type Only) 

Model/ 

Specification 

Description 

Joint cable 1 Model:CB-ST-232J001 


 

XM2D-1501 


AWG24 

x 7 cores 

IA-105-X-MW-A (Board + 2 joint cables) 

IA-105-X-MW-B (Board + 1 joint cables) 

IA-105-X-MW-C (Board + 1 joint cables) 


A board for serial communication with external equipment. 

This board has two port channels and implements three 

communication modes using the supplied joint cable(s). 

100mm 

No. Signal 

SD 1 3 SD 

RD 2 

2 RD 

RS 3 

7 RS 

CS 4 

8 

ER 5 4 ER 

DR 6 

6 DR 

SG 7 

5 SG 

8 

9 

1 

9 

10 

11 

12 

13 

14 

15 

Cable connection end 

XM2A-0901 

Color Wire 

* The customer must provide 

the connection cable with 

the external equipment. 

AWG24 

x 7 cores 

Joint cable 2 Model : CB-ST-422J010 


1m (1000mm) 

50mm 

1 No connector 

Wire Dimensions 

XM2D-1501 


1 

2 

3 

4 

5 

AWG24 

6 

x 7 cores 

7 

8 

9 

10 

Orange Black Dot RD+ 11 

Orange Red Dot RD- 12 

White Black Dot TRM 13 

Gray Black Dot SD- 14 

Gray Red Dot SD+ 15 

Orange Black Dot 

Orange Red Dot 

White Black Dot 

Gray Black Dot 

Gray Red Dot 

* Connect to a terminal block, etc. 



Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

DeviceNet Connection Board 

A board for connecting the XSEL controller to DeviceNet. 

Item 

Specification 

Number of input/output points 1 board, 256 input points / 256 output points * Only 1 board can be installed. 

Communication Interface module certified under DeviceNet 2.0 (certification to be obtained) 

standard 

Group 2 only server 

Insulated node operating on network power supply 

Master slave connection Bit strobe 

Communication specifications 

Polling 

Cyclic 

Baud rate 500k/250k/125kbps (switched using DIP switches) 

Communication Baud rate Maximum network length Maximum branch length Total branch length 

cable length 500kbps 100m 

39m 

250kbps 250m 6m 78m 

125kbps 500m 

156m 

Note) When a large-size DeviceNet cable is used. 

Communication power supply 24VDC (supplied from DeviceNet) 

Communication power consumption 60mA min. 

Number of occupied nodes 1 node 

Connector MSTBA2.5/5-G.08AUM by Phoenix Contact (*1) 

(*1) The connector on the cable (SMSTB2.5/5-ST-5.08AU by Phoenix Contact) is a standard accessory. 

CC-LINK Connection Board 

A board for connecting the XSEL controller to CC-Link. 

Item 

Specification 

Number of Remote device 1 board, 256 input points / 256 output points * Only 1 board can be installed. 

input/output 

points Remote I/Os 1 board, 16 input points / 16 output points * Up to 3 boards can be installed (in expansion slots). 

Communication standard 

Baud rate 

Communication method 

Synchronization method 

Encoding method 

Transmission path type 

Transmission format 

Error control method 

Number of occupied stations 

CC-Link Version 1.10 (already certified) 

(switched using a rotary switch) 

Broadcast polling method 

Frame synchronization method 

NRZI 

Bus type (conforming to EIA RS485) 

Conforming to HDLC 

CRC(X 16 +X 12 +X 5 +X1) 

1 to 3 stations (remote device stations) 

Communication 

cable length 

Baud rate (bps) 

Cable length (m) 

10M 

100 

5M 

160 

2.5M 

400 

625k 

900 

156k 

1200 

Connector (controller end) MSTBA2.5/5-G.08AUM by Phoenix Contact (*1) 

(*1) The connector on the cable (SMSTB2.5/5-ST-5.08AU by Phoenix Contact) is a standard accessory. 

XSEL 372 




XSEL 

Option 


Slider 

Type 


Rod 

Type 

Features 

A teaching device providing program/position input 

function, test operation function, monitoring function, 

and more. 

IA-T-X/XD 

120 

45 

28 

IA-T-XA 

133 

58.3 

46.7 

Arm / Flat 

Type 

Model 

Model 

IA-T-X 

Description 

Standard type 

265 

255 

Gripper / 

Rotary Type 

IA-T-XD 

IA-T-XA 


ANSI type 

80 

Cleanroom 

Type 

Splash 

Proof Type 


Configuration 

IA-T-X/XD:4m 

IA-T-XA:5m 


XSEL-P/Q 

Conversion cable : CB-SEL-SJ002 





Weight 

Cable length 

Display 

90 





Approx. 650g 

4m 




5m 



Models 

Gateway 

unit 



Features 

Model 

Configuration 

Model 

Configuration 

Model 

Configuration 

Spare Parts 

A startup support software program offering program/position input function, test 

operation function, monitoring function, and more. The functions needed for 

debugging have been enhanced to help reduced the startup time. 

IA-101-X-MW(with RS232C Cable) 

PC software 

IA-101-XA-MW(with Safety Category 4 Cable) 

PC software 

IA-101-X-USBMW(with USB Conversion Adapter + Cable) 

PC software 

1m 

5m 

RS232C cable 


5m 

Safety category cable 

CB-ST-A1MW050-EB 

USB cable 

CB-SEL-USB010 

USB conversion adapter 

IA-CV-USB 


XSEL-P/PX 


XSEL-Q/QX 

5m 

RS232C cable 



XSEL-P/PX 


Motor Cable/ Motor Robot Cable 

Model CB-RCC-MA / CB-RCC-MA -RB 

(41) 

(16) (20) 

L 

(20) (10) 

1 

(Front view) 


373 XSEL 

4 

(ø9) 

(21) 

1 

(18) 

4 

(Front view) 

Actuator end 



Wire 

0.75sq 

Signal No. 

PE 1 

U 2 

V 3 

W 4 

No. 

1 

2 

3 

4 

Signal Wire 

U 

V 0.75sq 

W (crimped) 

PE

Spare Parts 


call 0800-888-0088 (toll-free). 

XSEL 




Motor Cable/ Motor Robot Cable (XSEL-J/K Types) 

Model CB-RCBC-PA / CB-RCBC-PA -RB 

(33) 

(16) 

(Front view) 

(57) L 

(14) (15) 


(ø8) 

Motor Cable/ Motor Robot Cable (XSEL-P/Q Types) 

Model CB-RCS2-PA / CB-X2-PA 

(37) 

(13) 

14 

26 

(Front view) 

1 

13 

(41) L 

(14) 


(36) 

Actuator end 

1,10 

(25) 

9,10 

(Front view) 

Actuator end 

(15) 

1 

10 

(25) 

9 18 

(Front view) 


Model CB-RCS2-PLA / CB-X2-PLA 

(37) 

(13) 

14 

26 

1 

13 

Actuator end Controller End 

(41) 

L 

(14) 

LS end 

Limit Switch Cable (XSEL-J/K Types) 

Model CB-X-LC 

(22) 

(12) 

(18) 

(Front view) 6 


1 

(ø6) 

L 

(30) 

Mechanical end 

(12) 

1 

6 

Actuator end 

(8) 

1 

16 10 

9 18 

(15) 

(18) 

(25) 

(18) 

(18) 

(Front view) 



Wire Signal No. 

0.15sq 

(crimped) 

A/U 

A/U 

B/V 

B/V 

Z/W 

Z/W 

SD 

SD 

BAT+ 

BAT- 

VCC 

GND 

BK- 

BK+ 

- 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 



No. Signal Wire 

1 A/U 

2 A/U 

3 B/V 

4 B/V 

5 Z/W 

6 Z/W 

7 - 

8 - 

9 

10 

FG 

SD 

0.15sq 

(crimped) 

11 SD 

12 BAT+ 

13 BAT- 

14 VCC 

15 GND 

16 - 

17 BK- 

18 BK+ 




- - 10 

- - 11 

- E24V 12 

Gray/white 0V 13 

Brown/white LS 26 

- CLEEP 25 

- OT 24 

- RSV 23 

- - 9 

Note 4 

AWG26 - - 18 

Note 1 

(soldered) - - 19 

Pink A+ 1 

Purple A- 2 

White B+ 3 

Blue/red B- 4 

Orange/white Z+ 5 

Green/white Z- 6 

Blue SRD+ 7 

Orange SRD- 8 

Black BAT+ 14 

Yellow BAT- 15 

Green VCC 16 

Brown GND 17 

Gray BKR- 20 

Red BKR+ 21 

- - 22 


Note 3 


Note 2 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 


A Pink 

A Purple 

B White 

B 

Z 

Blue/red 

Orange/white 

Z Green/white AWG26 

LS+ Brown/white (crimped) 

- - 

Drain 

FG 

SD Blue 

SD Orange 

BAT+ Black 

BAT- Yellow 

VCC Green 

GND Brown 

LS- Gray/white 

BK- 

BK+ 

Gray 

Red 




- - 10 

- - 11 

White/orange E24V 12 

White/green 0V 13 

Brown/blue LS 26 

Brown/yellow CLEEP 25 

Brown/red OT 24 

Brown/black RSV 23 

- - 9 

- - 18 

- - 19 

White/blue A+ 1 

AWG26 White/yellow A- 2 

(soldered) White/red B+ 3 

White/back B- 4 

White/purple Z+ 5 

White/gray Z- 6 

Orange SRD+ 7 

Green SRD- 8 

Purple BAT+ 14 

Gray BAT- 15 

Red VCC 16 

Black GND 17 

Blue BKR- 20 

Yellow BKR+ 21 

- - 22 




Wire 

AWG24 

No. 

1 

2 

3 

4 

5 

6 

No. 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

11 

12 

13 

14 

15 

16 

17 

18 

Signal 

E24V 

0V 

LS 

CLEEP 

OT 

RSV 

Signal 

A 

A 

B 

B 

Z 

Z 

- 

- 

FG 

SD 

SD 

BAT+ 

BAT- 

VCC 

GND 

- 

BK- 

BK+ 

Color Wire 

White/blue 

White/yellow 

White/red AWG26 

White/black (crimped) 

White/purple 

White/gray 

Color Wire 

White/blue 

White/yellow 

White/red 

White/black AWG26 

White/purple 

White/gray 

(crimped) 

- 

- 

Drain 

Orange 

Green 

Purple 

Gray 

Red 

Black 

- 

Blue 

Yellow 



Color Signal No. 

Blue 24VOUT 

Pink N 

Green LS 

Orange 

Gray 

1B/Blue 

CREEP 

OT 

RSV 

6 

5 

4 

3 

2 

1 

Note)“1B” indicates one black dot. 


24VOUT Blue 

N Pink 

LS Green AWG24 

Orange (crimped) 

1 

2 

3 

4 

5 

6 

CREEP 

OT 

RSV 

Gray 

1B/Blue 

Slider 

Type 

Rod 

Type 

Arm / Flat 

Type 

Gripper / 

Rotary Type 

Cleanroom 

Type 

Splash 

Proof Type 



Models 

Gateway 

unit 

PS-24 

ERC2 

PCON 

ACON 

I/O Flat Cable (XSEL-J/K/P/Q Types) 

Model CB-X-PIO 

2 1 

50 49 

L 

Flat cable (50 cores) 

No connector 



No. 

1 

Color 

Brown1 

Wire No. 

18 

Color 

Gray2 

Wire 

2 Red1 

19 White2 

3 Orange1 

20 Black2 

4 Yellow1 

21 Brown-3 

5 Green1 

22 Red3 

6 Blue1 

23 Orange3 

7 Purple1 

24 Yellow3 

8 

9 

Gray1 

White1 

Flat cable 

pressure-welded 

25 

26 

Green3 

Blue3 

Flat cable 


10 Black1 

27 Purple3 

11 Brown-2 

28 Gray3 

12 Red2 

29 White3 

13 Orange2 

30 Black3 

14 Yellow2 

31 Brown-4 

15 Green2 

32 Red4 

16 Blue2 

33 Orange4 

17 Purple2 

34 Yellow4 

No. 

35 

36 

37 

38 

39 

40 

41 

42 

43 

44 

45 

46 

47 

48 

49 

50 

Color 

Green4 

Blue4 

Purple4 

Gray4 

White4 

Black4 

Brown-5 

Red5 

Orange5 

Yellow5 

Green5 

Blue5 

Purple5 

Gray5 

White5 

Black5 

Wire 

Flat cable 


XSEL 374 


Technical Reference/Information 

/ Technical Reference / Information 

375 Technical 

Reference / Information

Technical Reference / Information 

Notes on Switching from Air Cylinders 

377 

Explanation of Moments 

379 

Technical 

Reference 

Explanation of Programs 

Explanation of Options 

Spare Parts 

Model Selection Information 

Correlation Diagrams of Speed and Load Capacity 

380 

381 

390 

393 

Correlation Diagrams of Push Force and Current-Limiting Value 

405 

Information on Guides 

413 

Information 

Factory / Support System 

Index 

421 

425 

Technical Reference / Information 376



Air Cylinder and ROBO Cylinder 

Air cylinders are used to push or hold works by means of 

supply and release of compressed air to/from the cylinder. Air 

cylinders are used widely in all industries, mainly for transfer 

equipment, assembly systems, various automation systems, 

etc. 

Air cylinders generally have diameters of 4 mm to 320 

mm, and their lengths (strokes) can also be set in fine steps. 

According to one source, there are several tens to hundreds 

of thousands of different air cylinder products, which makes 

it easy to select optimal models for a variety of applications. 

On the other hand, the complexity of product lines requires 

customers to examine multiple products having the same 

specifications, which prevents them from easily finding the 

model that best suits the exact specifications. 

Against this background, in many cases air cylinder 

products are selected based on experience and familiarity. 

ROBO Cylinders are motorized cylinders offering various 

functions not achievable with air cylinders, with easy-to-use 

operating methods. Also, the ROBO Cylinder family lets you 

easily select the model that best suits your specific application. 

However, ROBO Cylinders are different from air cylinders in 

terms of control and configuration. 

This section explains the key points to note when switching 

from air cylinders to ROBO Cylinders. 

Overview of Switching 

The following explains the basic items that should be 

checked when selecting a ROBO Cylinder and an air 

cylinder, respectively. 

Since both are direct-acting actuators, the items that must 

be considered regarding operation are similar. However, the 

different configuration and control mentioned above result in 

different designations and adjustment/check items between 

the two. A comparison is illustrated to the right. 

[Air Cylinder] 

Thrust (diameter) 

Mechanical stopper 

selection 

Absorber selection 

Piping diameter 

Installation space 

[ROBO Cylinder] 

Load capacity 

Maximum speed 

Deceleration, 

positioning accuracy 

Acceleration 

Installation space 

As shown above, the two have different mechanical 

viewpoints to be considered. 

Installation Space 

ROBO Cylinders are driven by a motor. Since they are 

bigger than air cylinders based on simple comparison, 

installation space requires careful attention when choosing a 

ROBO Cylinder. 

Home Return 

Unlike air cylinders, ROBO Cylinders are operated on 

“coordinates.” Specifically, their travel distances are always 

specified with respect to the home (zero point). Accordingly, 

ROBO Cylinders must perform home return at the beginning of 

each operation. 

In particular, exercise caution for incremental types, 

because these actuators are pushed against the stroke end in 

the initial operation performed after the power is turned on. 

Incremental specification: Home return must be performed after the power is turned on. 

Absolute specification: Absolute reset must be performed during the initialization. 

2 Move to the target position 

1 Home return 

Target position 

Home (0 mm) 

377 Technical 



Critical Rotating Speed 

The ball screw inevitably deflects due to bending force 

and dead weight. 

To operate ROBO Cylinders at high speed, their ball screw 

must be rotated faster. As the rotating speed increases, 

however, the screw deflection will also increase until the 

rotating axis is eventually damaged. Rotating speeds at 

which the rotating axis may suffer damage are called “critical 

speeds,” “whirling speeds” or “whipping speeds.” 

Ball-screw ROBO Cylinders perform linear motion as the 

ball screw is turned with its end supported by a bearing. 

Although the maximum speed is specified for each ROBO 

Cylinder in accordance with the actuator type, some models 

with certain strokes have their maximum speed set in 

consideration of the aforementioned critical rotating speeds. 

Pay careful attention to this point when selecting your ROBO 

Cylinder. 

General Utility (Types, Modes and Parameters) 

ROBO Cylinders offer the “air-cylinder specification (or aircylinder 

mode)” that allows the ROBO Cylinder to be used just 

like an air cylinder. If these models are used, you can operate 

the actuator simply by turning external signals ON/OFF, 

just like you do with air cylinders. Although selecting the aircylinder 

specification or mode is enough for simple conversion 

from an air-cylinder application, we also offer various other 

specifications for, and make certain parameters accessible 

by, customers who want more benefits out of their ROBO 

Cylinders. 

We can propose functions that meet the operating 

conditions and requirements of your specific system. Feel free 

to contact our customer center (0800-888-0088, toll-free) for 

consultation. 

Maintenance 

The key maintenance points of air cylinders and ROBO 

Cylinders are compared. 

Air cylinders require periodic maintenance in accordance 

with the frequency and condition of use. Although air cylinders 

offer a certain level of flexibility in that minor damage or 

malfunction can be ignored by means of increasing the source 

air pressure and moving the cylinder with a greater force, 

ignoring maintenance will inevitably shorten the service life of 

the air cylinder. 

On the other hand, ROBO Cylinders have a more complex 

structure and use a greater number of parts and are therefore 

seen as requiring cumbersome maintenance work. This is 

wrong. ROBO Cylinders are clearly easier to use and offer 

longer life than air cylinders. Of course, ROBO Cylinders also 

require lubrication of sliding parts just as air cylinders do. 

However, lubrication units (AQ seals) installed on the ball screw 

and guide ensure a long maintenance-free period (5,000 km of 

traveled distance, or three years). After the traveled distance 

has reached 5,000 km or three years have elapsed, the above 

parts should be greased once every six months to a year in 

accordance with the operation manual, in order to extend the 

life of the product significantly. 

Controllers combined with absolute-type actuators come 

with a battery to retain the current position. This battery is 

a consumable part and must be replaced periodically (the 

specific battery replacement interval varies depending on the 

product). 


[Air Cylinder] 

Greasing of sliding parts 

Gasket replacement 

Draining 

Absorber replacement 


Greasing of ball screw and guide 

(after AQ seals have been consumed) 

Battery replacement (absolute 

specification only) 

Operation 

Air cylinders are generally operated with the use of 

a direction control valve to determine the direction of 

reciprocating motion, as well as a flow control valve (speed 

controller) to determine the speed. Immediately after their 

system is started up, many users operate the air cylinder at 

low speed by restricting the flow control valve. Once safety is 

confirmed, the valve is opened wider to increase the speed to 

the required level. 

The same procedure is also recommended for ROBO 

Cylinders after the system is started up. With ROBO Cylinders, 

“speed setting” replaces the flow control valve. Operate your 

ROBO Cylinder at speeds where safety is ensured, and then 

change to the desired speed after safety is confirmed. 

Technical Reference/Information 378

Explanation of Moments 

Notes on Actuator Selection 

When selecting an actuator, you must consider the overhang load length and moment in addition to the stroke, 

speed and load capacity. 

Overhang Load Length 

An overhang load length is specified for a slider-type actuator to indicate the length of overhang (offset) from the 

actuator. 

L 

L 

The allowable overhang 

load length is determined 

by the slider length. 

L 

Any overhang exceeding the allowable overhang 

load length may cause vibration or increase the 

settling time. 

L/ = 5 or less 

 

 

 

 

L/ = 1.2 Machine tools 

L/ = 3 Measuring machines 

L/ = 5 Robots 

Allowable Load Moment 

The allowable load moment refers to the maximum offset load that can be applied to the slider, and is calculated 

from the traveling life of the guide. Forces applied to the guide are divided into three directions of Ma (pitching), 

Mb (yawing) and Mc (rolling), and an allowable value is set for each of these forces on each actuator. 

3 directions of forces applied to the guide (Ma, Mb, Mc) 

 

 

The allowable load moment 

is calculated from the 

service life of the guide. 

 

Rated moment (value indicated in the 

catalog) = Force is calculated from the 

service life of the guide. 

The traveling life decreases in proportion to 

the third power of moment. 

The allowable static moment (applicable 

Applying a moment exceeding the allowable 

 

value will reduce the service life of the actuator. 

The load moment is proportional to the distance 

from the center of rotation, and calculated by the formula below. 

MN•m=Wkg×Lm×9.8 

W (kg) indicates the weight at the center of gravity, 

while L (m) indicates the distance to the center of gravity. 

L m 

when the actuator is stationary) should be 

no more than three times the catalog value. 

M(N•m) 

W kg 

379 Technical 


About Programs 


PSEL, ASEL, SSEL and XSEL controllers are operated with programs created in IAI’s original Super SEL 

language. The Super SEL language lets you write programs only by arranging simple commands in sequence on 

a spreadsheet. This means that anyone who has never programmed before can create actuator programs with 

ease. 

A sample program for basic operation is shown below. 

We also have other sample programs covering commonly used patterns. If you are interested, feel free to contact IAI. 

Description 

Perform home return, and then operate the actuator to positions 1 through 3 at a speed of 100 mm/sec. 

Only one axis is used. 

Flowchart 

S t a r t 

H o m e r e t u r n 

S e t s p e e d 

M o v e t o P 1 

Home-return operation must be performed and a speed must be set 

before the actuator can be operated. 

The actuator moves to the position data coordinates specified by 

movement commands. 

P2 P3 P1 

P1 positioning completion signal turns ON 





E n d o f p r o g r a m 

Application Program Position Data 

STEP A/O N OP-CODE 

1 HOME 

2 

3 

4 

5 

6 

7 

8 

9 

10 

VEL 

MOVP 

BTON 

MOVP 

BTON 

MOVP 

BTON 

EXIT 

OPRND1 

1 

100 

1 

311 

2 

312 

3 

313 

OPRND2 POST Comment 

No X 

Home return of axis 

1 200 

Set speed 100mm/sec. 

Move to P1 

P1 movement complete signal ON 

Move tp P2 


Move tp P3 


End of program 

2 

3 

4 

5 

6 

7 

8 

9 

10 

0 

100 



Explanation of Actuator Options 

. Change of Cable Take-Out Direction 

Option Code A1, A2, A3 

Taken out from motor side (standard) 

Option not specified (blank) 

Applicable model RCS2-RA5C / RA5R / RA7AD / RA7BD 

Description 

Specify this option if you wish to change the direction from which to take out the actuator cable. 

Taken out from left 

Specified option A1 (RA7AD / RA7BD type) 

Taken out from rod side 

Specified option A2 (RA5C / RA7AD / RA7BD type) 

Taken out from right 

Specified option A1 (RA7AD / RA7BD type) 

Brake 

Option Code B, BE, BL, BR 

Applicable model All slider types (* Excluding RCP2-BA6/BA7) 

All rod types (* Excluding RCP2-RA2C and RCA built-in types) 

Description A retention mechanism used on an actuator positioned vertically to prevent the slider 

from dropping and damaging the installed load, etc., when the power or servo is turned off. 

Actuator Cover 

Option Code CO 

Applicable model RCP2W-SA16 

Description 

A cover to protect the guide or slider of a waterproof slider actuator. 

Flange Bracket 

Option Code FB 

Applicable model RCP2-GRS / GRM / GR3LS / GR3LM / GR3SS / GR3SM 

Description 

A bracket for affixing the gripper body. 

GRS type Unit model RCP2-FB-GRS 

2-ø3H7 ( +0.0012 ), depth 4 (back) 

M5 

0 

3-ø4.5 

+0.022 

ø10H8 ( 0 ) 

GRM type Unit model RCP2-FB-GRM 

M5 

2-ø3H7( 

+0.012 

0 

), depth 4 (back) 

3-ø4.5 

+0.022 

ø10H8 ( 0 ) 

36 

26.5 

28 

18 

36 

26.5 

28 

18 

5 

18 

±0.05 

10.5 

21 

28 

5 

18 

±0.05 

12 

24 

31 

381 Technical 



Flange 

Option Code FL 

Applicable model All rod types 

Description 

A bracket for affixing the actuator using bolts from the actuator side. 

RCP2-RA2C 

Unit model RCP2-FL-RA2 

25 

12.5 

12.5 

RCP2-RA3C 


44.5 

15 

25 

40 

50 

4-ø5 

20 

30 

M8 

25 

2.5 2.5 

(2.5) 

16 

Home 

45 

55 

4-ø4.5drilled, through 

24 

5.5 

35 

10 

(39) 

Home 

RCP2-RA4C 


RCP2-RA6C 


4-ø6.6drilled, through 

4-ø9drilled, through 

47 

34 

44.5 

50 

63.5 

60 

75 

5.25 

10 

(39) 

Home 

82 

99 

6.75 

12 

(52) 

Home 

RCP2 / RCP2W-RA10C 

Unit model 

RCP2-FL-RA10 

100 

97.5 

Be careful not to apply excessive external force 

on the actuator installed horizontally. 

2.5 

13.5(width across flats) 5 

RCA / RCAW-RA3 

Unit model RCA-FL-RA3 

M8x1.25 

(effective thread range: 16) 

ø16(diameter: 

outside rod) 

18 

M26x1.25 

(effective thread range: 15.5) 

18 

4 

100 

98 

70 

ø70h10 

120 4-9 drilled 

150 

Mounting flange weight: Approx. 2 kg 

(81) 

Home 

20 

(100) 

48.6 

40 

26 

70 

55 

3 

ME 

SE 

st 

3 

Home 

ME 

Nut C 

4-ø6.8 

14(width across flats) 

49 

8 

10 

Nut A 

32 (width across flats) 

Flange 

ø32 

RCA / RCS2-RA4 

RCAW / RCS2W-RA4 

Unit model RCA-FL-RA4 

52.8 

45 

31 

75 

60 

4-ø6.8 

M10×1.25 

(effective thread range: 20) 

ME 

SE 

3 

st 

3 

Home 

ME 

Nut 

19(effective 

thread range) 

ø20 

(Outside ø rod) 

56 

22 

Nut 

9 

M30×1.5 


4 

20 

L 

10 


Flange 

ø37 

RCS2-RA5 

Unit model RCS2-FL-RA5 

4-ø7 

54.5 

40 

(55) 

70 

85 

(55) 

(72.5) 

(52) 

Home 

12 

(55) (55) 


1 


RCS2-RA7 D 

Unit model RCS2-FL-RA7 

4-ø9 

RCP2W-RA4C 


9 

65.5 

68.5Incase rod ø 35 

Home 

4-ø9 drilled, through 

52 

66 

73 

56 

75 

4-ø9 drilled, through 

90 

106 

71 

85 

47 

38 

52 

14 

(41) 

Home 

RCP2W-RA6C 

Unit model RCP2W-FL-RA6 

86 

100 

14 

(52) 

Home 

Foot 

Option Code FT 

Applicable model Slider type RCA (RCACR) SA4C / SA5C / SA6C, 

RCS2 (RCS2CR) SA4C / SA5C / SA6C 

All rod types 

Description A bracket for affixing the actuator using bolts from the top side. 

With a slider type subject to large moment load, install foot brackets at all mounting holes in the actuator. 

If the number of foot brackets is not sufficient, the actuator may deflect, resulting in a shorter service life. 

RCA / RCACR-SA4C RCS2 / RCS2CR-SA4C 

Unit model RCA-FT-SA4 

* When the applicable option code (FT) is 

specified, the actuator will come with two foot 

brackets. To add more foot brackets, order the 

necessary quantity separately. 

Enlarged view of A 

20 

5 

4.5 

9.5 








20 

5 

4.5 

9.5 

n-long hole (for mounting actuator) 

A 

n-long hole (for mounting actuator) 

A 

9.5 

Actuator reference surface 

1 

(65) 

(ø3H7) 

(7) (5) 

47 

65 

52 

10.2 

End face of base 

M 

50 (st:50) 

m×100 P (st:other than 50) 61.8 


11 

Actuator 

reference 

surface 

1 

(ø4H7) 

(80) 

(8) (5) 

58 

80 

65 

10.2 


M 

50 (st : 50) 

m×100 P (st; other than 50) 

64.5 








12 

Actuator 

reference surface 

383 Technical 

(ø4H7) 

(90) 

n-long hole (for mounting actuator) A 

(9) (5) 

62 

90 

72 

10.2 8 M m×100 P 

8 



Reference / Information 


25 

5 

5.5 

10.5 

ERC2-RA6C / RGS6C / RGD6C 

Unit model ERC2-FT-RA6 

5 

74 

80 

94 

40 48.6 

ø40h7 

ø22 

45 

Stroke+25 

* The customer must provide mounting bolts (M6).


ERC2-RA7C / RGS7C / RGD7C 

Unit model ERC2-FT-RA7 

RCP2-RA2C 

Unit model RCP2-FT-RA2 

Stroke 

Location 

of dimension 

25 

B 

45 

50 

70 

75 

95 

100 

120 

83 

57.6 

ø45h7 

ø30 

53 

Stroke+30 

48 

42 

25 

25 

50 

40 

4-ø5 

5 5 

5 

90 

110 

45 

6 

Home position 

5 10 B 10 

1610 

RCP2-RA3C / RGD3C 


20 

4-ø6.6 drilled through 

RCP2-RA4C / RGS4C / RGD4C 


20 4-ø6.6 drilled, through 

38 

35 

66 

52 

25 

40ø9 drilled, through 

64 

87 

95 

79 

35 

10 

53 

68 

64 

100 

95 

25 

20 

137.5 

100 

120 

71 

57 

50 

45 

10 

47 

67.5 

T-slot range 

RCP2-RA6C / RGS6C / RGD6C 


RCP2-RA10C 


ø8.5 

12 

T-slot range 

Foot bracket weight: Approx. 1 kg (1 pc) 

20 ST+160 

RCA-RA3C / RGS3C / RGD3C 

Unit model RCA-FT-RA3 

RCA / RCS2-RA4C / RGS4C / RGD4C 


35 

70 

59.3 

3 

ME 

SE 

55 

18 

49 

10 

2-ø6.8 18 20 2-ø6.8 

L2 

st 

L1 17 85.5 

3 

Home 

14 

ME 

10 20 20 

L3 

10 9.5 

ø32 

55 

st L1 L2 L3 

50 

100 

150 

200 

132 

182 

232 

282 

283.5 

333.5 

383.5 

433.5 

168.8 

218.8 

268.8 

318.8 

40 66.4 60 

75 

22 

2-ø6.8 20 

L2 

22 2-ø6.8 

st 56 

L1 19 82.5 

3 3 

10 16 

ME Home 

SE ME 

ø37 

60 

10 20 20 10 

L3 

9.5 

st L1 L2 L3 

50 

100 

150 

200 

250 

300 

137 

187 

237 

287 

337 

487 

294.5 

344.5 

394.5 

444.5 

494.5 

544.5 

173.8 

223.8 

273.8 

323.8 

373.8 

423.8 

RCA / RA3R / RGS3R / RGD3R 


RCS2 / RCS2-RA4R / RGS4R / RGD4R 


35 98.2 ø32 

55 

34 

70 

55 

18 

2-ø6.8 18 18 2-ø6.8 

L2 

116.5 

42.4 

9.5 

85.5 25 

st 49 10 

3 3 

ME Home 

SE ME 

8 

10 20 

L1 31 

L3 20 10 

st L1 L2 L3 

50 

100 

150 

200 

120 

170 

220 

270 

218 

268 

318 

368 

191 

241 

291 

341 

113.2 

40 

50.5 

39 

75 

60 

22 

2-ø6.8 20 20 2-ø6.8 

L2 

st 

82.5 

115.5 

56 

26 

3 3 

9.5 

ME Home 

10 

SE ME Nut A 

9 

ø37 

L1 33 

10 

20 20 

L3 

10 

st L1 L2 L3 

50 

100 

150 

200 

250 

300 

125 

175 

225 

275 

325 

375 

234 

284 

334 

384 

434 

484 

198 

248 

298 

348 

398 

448 



RCS2-RA5C / RGS5C / RGD5C 

Unit model RCS2-FT-RA5 

20 

RCS2-RA7 D / RGS7 D / RGD7 D 

Unit model RCS2-FT-RA7 

20 

55 

55 

80 

84.5 68 

ø7 

75 

100 

88 

75 

107 

ø7 

15 

12 

Home Check Sensor 

Option Code 

HS 

Applicable model Slider type RCA (RCACR)-SA4C / SA5C / SA6C,RCS2 (RCS2CR)-SA4C / SA5C / SA6C 

RCA-SA4R / SA5R / SA6R, RCS2-SA4R / SA5R / SA6R 

Rod type RCA-RA3C / RA3R / RA4C / RA4R, RCS2-RA4C / RA4R 

Description 

A sensor for checking if the slider has definitely moved to the home position through home return. 

Limit Switch 

Option Code 

L 

Applicable model Rotary type RCS2-RT6 / RT6R / RT7R 

Description When home return is performed, the home will be determined after the actuator reverses 

following contact with the mechanical end. This optional sensor is used to detect this reversing. 

(This sensor comes standard on all rotary types.) 

Knuckle Joint 

Option Code NJ 

Applicable model Rod type 

RCA-RA3C / RA3D / RA3R / RA4C / RA4D / RA4R 

RCS2-RA4C / RA4D / RA4R 

Description 

A bracket that provides some degree of flexibility (rotation) to the movement 

of the tip of the actuator rod when a clevis or trunnion bracket is used. 

RCA-RA3 

type 

Unit model RCA-NJ-RA3 

RCA / RCS2-RA4 

Unit model RCA-NJ-RA4 

type 

M8 x 1.25, depth 11 

Joint pin 

Joint S 

Joint W 

Nut 

M10×1.25 depth13 

Joint pin 

Joint S 

Joint W 

Nut 

16 

20 

16 

25 25 10 

20 

30 30 11 

Reversed-Home Specification 

Option Code 

NM 

Applicable model All slider types 

All rod types (RCP2-RA2C / RA10C, RCS2-RA5C / RA5R / RA7AD / RA7BD those models are excluded) 

Description 

Normally the home position is set on the motor side for both slider and rod types. If the home must be set on the opposite side due to the layout 

of the system, etc., you can specify this option to reverse the home direction. (Since the home position is adjusted prior to the shipment, any 

385 Technical 

request for changing the home direction after the delivery will require the actuator to be returned to IAI for adjustment.) 



Clevis 

Option Code l 

QR 

Applicable model Rod type RCA-RA3R / RA4R 

RCS2-RA4R 

Description 

A bracket for aligning the cylinder movement when the load installed 

at the tip of the rod moves in a direction different from the rod. 

 

If the rod is to be moved with a clevis bracket attached to it, use a guide type or install 

an external guide 

to prevent the rod from receiving any load other than from its moving 

direction. 

RCA-RA3R 

Unit model RCA-QR-RA3 

18 18 

st 

3 3 

Home 

ME 

ME 

SE 

49 10 

Nut A 

8 

9.5 

L 

116.5 

85.5 

ø32 

ø35 

ø42 

31 

25 

27 

15 

Clevis 

M4 

42 

103.2 

Nut B 



r 

15 

55 

75 

40 

22.4 

42.4 

st 

50 

100 

150 

200 

120 

170 

220 

270 

L 

227 

277 

327 

377 

RCA / RCS2-RA4R 

Unit model RCA-QR-RA4 

22 

20 

9.5 

L 

115.5 

82.5 

33 

26 

16 

28 

ME 

st 

3 3 

Home 

ME 

SE 

Nut B 


ø20(Rod øoutside) 

9 10 

56 

Nut A 


ø37 

r 

ø42 

ø50 

15 

55 

75 

Clevis 

40 

M4 

26.4 

50.5 

48 

98.5 

st 

50 

100 

150 

200 

250 

300 

125 

175 

225 

275 

325 

375 

L 

242 

292 

342 

392 

442 

492 


C0.5 

C0.5 


Opposite Motor Reversing Direction 

Option Code 

R 

Applicable model Motor-reversing slider type RCA-SA4R / SA5R / SA6R 

RCS2-SA4R / SA5R / SA6R / SA7R / SS7R / SS8R 

Motor-reversing rod type RCS2-RA5R 

Description 

Change the motor reversing direction of a motor reversing type to the opposite side. 

Rear Mounting Plate 

Option Code 

RP 

Applicable model Motor-reversing slider type RCA-RA3R / RA4R, RCS2-RA4R 

Description 

A bracket (plate) for affixing the back of a motor-reversing rod type 

(RA3R/RA4R) to the system. 

RCA-RA3R type 

Unit model RCA-RP-RA3 

9.5 

116.5 

85.5 25 

RCA / RCS2-RA4R type 

Unit model RCA-RP-RA4 

9.5 82.5115.5 26 


Nut A 


Nut B 

ø16(Rod outer diameter) 

ø32 

ø35 

ø42 

0 

ø 26h9 (-0.052) 

84.4 

42 

4-M4 

ø34 

ME 

SE 

st 

Home 

3 

ME 

ø20 (Rod outer diameter) 

Nut A 


ø37 

ø42 

ø50 

0 

ø30h9 (-0.052) 

48 

98.5 

4-M4 

ø39 

3 3 

Home 

ME 

ME 

SE 

st 

8 10 

49 

L 

31 2.5 

42.4 

Nut B 


9 10 

56 

L 

33 2.5 50.5 

Shaft Adapter 

Option Code 

SA 

Combined with RCP2-RTB 

Unit model RCP2-SA-RT 

Combined with RCP2-RTC 

Unit model RCP2-SA-RT 

Applicable model Rotary type RCP2-RTB / RTC 

Description 

Unit diagram 

ø24 

−0.006 

ø11G6 ( −0.017 ) 

C0.5 

An adapter for installing a jig, etc., onto 

the rotating part of a rotary type. 

36.5 

(10) 26.5 

21 

(5.5) 20 

C1 

0 

ø10h7( −0.015 ) 

ø 11 

5-ø3.4 

ø 6 deep counterbore, depth 3.3 (5, evenly spaced) 

72° 

ø17 

±0.02 

8.5 

4-M4, depth 7 

110 

83.5 

82 

77 

20 

37 

30 26.5 

88 

ø 10h7 

ø 45h7 

71 

50 

81 

4-M4, depth 7 

81.5 

55 

53.5 

52 

20 

30 

37 

26.5 

88 

ø 10h7 

ø 45h7 

46 

+0.010 ø3H7( 0 )drilled, through 

Shaft Bracket 

Option Code SB 

Applicable model 

Description 

Gripper type RCP2-GRS / GRM 

An affixing bracket for installing the gripper body. 

RCP2-GRS type 

Unit model RCP2-SB-GRS 

30 

15 ±0.05 15 

4 

0 

( −0.022 ) 

ø 10h8 

2-ø3H7 reamed, through 

28 

21 

RCP2-GRM type 

Unit model RCP2-SB-GRM 

30 

15±0.05 

15 

4 

0 

( −0.022 ) 

ø10h8 

2-ø3H7 reamed, through 

31 

24 

ø 14 

28 

ø14 

28 

R0.2 or less 

R0.2 or less 

C0.5 

ø 42 

4-ø4.5 

10.5 ±0.05 

12±0.05 

C0.5 

21 

24 

ø45 

4-ø4.5 

387 Technical 



Slider Roller Specification 

Option Code 

SR 

Applicable model Slider type RCA-SA4 / SA5 / SA6 

RCS2-SA4 / SA5 / SA6 / SA7 / SS7 / SS8 

Description Change the slider structure of a standard slider type to a roller structure 

similar to the one adopted by cleanroom types. 

Slider Spacer 

Option Code 

SS 

Applicable model Slider type RCA-SA4C / SA4R, RCS2-SA4C / SA4R 

Description A spacer for raising the top face of the slider on the SA4 type to above the motor. 

This spacer is not required for non-SA4 types because the top face of the 

slider is above the motor on these actuators. 

RCA / RCS2-SA4 type 

Unit model RCA-SS-SA4 

60 

40 

20 20 

3 

35 

20 

2-ø3H7, depth 5 

2-ø3H7, depth 5 8-ø3M7, depth 5 

48 

40 8 

1 

Table Adapter 

Option Code 

TA 

Applicable model Rotary type RCP2-RTB / RTC 

Description An adapter for installing a jig, etc., onto the rotating part of a rotary type. 

RCP2-RTB type 

Unit model RCP2-TA-RT 

RCP2-RTC type 

Unit model RCP2-TA-RT 

8-M4 deep 7 

8-M4 deep 7.5 

Unit diagram 

ø44 

ø24H7 ( +0.021 

0 ) 

1 

(7.5) 

6.5 ±0.1 

1.5 

ø12 

ø24H7 ( +0.021 

0 ) 

72° 

45° 

ø34 

22.50° 

ø 17 

5-ø3.4 

ø6 deep counterbore, depth 3.3 

(5, evenly spaced) 

8-M drilled, through 

8.5 ±0.02 

4-M4 deep 7 

90 

42 

82 

77 

37 

30 26.5 

ø 45h7 

ø 44 

ø24H7 deep 1.5 

88 

71 

50 

61.5 

53.5 

52 81 

4-M4 deep 7 

37 

30 26.5 

ø 45h7 

ø 44 

ø24H7 deep 4.5 

5 

88 

46 

ø3H7 ( +0.010 

0 ) 



Front Trunnion 

Option Code 

TRF 

Applicable model Rod type RCA-RA3C / RA3D / RA4C / RA4D 

RCS2-RA4C / RA4D 

Description A bracket for aligning the cylinder movement when the load installed at the 

tip of the rod moves in a direction different from the rod. 

 

If the rod is to be moved with a trunnion bracket attached to it, use a guide type or install an external guide to 

prevent 

 

the rod from receiving any load other than from its moving direction. 

RCA-RA3 type 

Unit model 

64.3 

40 

Bracket A 

M8x1.25(effective thread range:16) 

60 

90 

RCA-TRF-RA3 

3 

ME 

SE 

Bracket B 

st 

3 

Home 

ME 

Nut C 


ø16 (Rod outer 

diameter) 

18 

2-ø6.8 

49 

5 

8 

10 

70 

M35x1.6 

(effective thread range:15.5) 

20 

40 

L2 

L1 17 85.5 

10 

14 

Nut A 

Ring 

Nut B 40 (width across flats) 


55 

ø32 

ø 42 

ø35 

9.5 

RCA / RCS2-RA4 type 

Unit model RCA-TRF-RA4 

66.4 

40 

Bracket B 

M10x1.25. (effective thread range: 20) 

64 

94 

3 

ME 

SE 

st 

3 

Home 

ME 

Nut C 

Bracket A 19(width across flats) 

22 

ø 20(Rod outer diameter) 

56 

5 

Ring 

9 

10 

40 

55 

74 

M40x1.5 

(effective thread range:17.5) 

22 

L1 L2 19 82.5 

10 

16 

Nut B 



ø 37 

ø 50 

ø 42 

9.5 

Rear Trunnion 

Option Code 

TRR 

Applicable model Rod type 

RCA-RA3C / RA3D / RA4C / RA4D 

RCS2-RA4C / RA4D 

Description 

A bracket for aligning the cylinder movement when the load installed at the tip of the 

rod moves in a direction different from the rod. 

 

 

If the rod is to be moved with a trunnion bracket attached to it, use a guide type or install an external guide to prevent the rod 

from receiving any load other than from its moving direction. 

RCA-RA3 type 

Unit model 

st 

3 3 

ME Home 

ME 

SE 

Nut C 


49 

8 

RCA-TRR-RA3 

Nut A 

M8X1.25 (effective thread range: 16) 

Ø16(ROD OUTER 

DIAMETER) 

18 

L2 

L1 17 85.5 

10 Ring 5 14 

Nut B 



ø 32 

10 

55 

ø 42 

ø 35 

M26x1.5 


9.5 

2-ø6.8 

Bracket A 

40 

73 

83 

103 

Bracket B 

40 

64.3 

RCA / RCS2-RA4 type 

Unit mode 

ME 

SE 

st 

3 

Home 

ME 

Nut C 


RCA-TRR-RA4 

M10x1.25 (effective thread range: 20) 

20 

L2 

56 L1 19 82.5 

10 Ring 5 16 

Nut B 


9 


Nut A 

ø37 

10 

22 

ø20 (Rod outer diameter) 

ø 50 

ø 42 

M30x1.5 


77 

9.5 107 

40 

40 87 

66.5 

Vacuum Joint on Opposite Side 

Option Code 

VR 

Applicable model All cleanroom types 

Description On standard specifications, the vacuum joint is installed on the left side of the actuator as viewed from the 

motor. This option changes the position of the vacuum joint to the opposite (right) side. 

389 Technical 


All cleanroom types 

Spare Parts 

* The models in ( ) apply to robot cables. 

Series Type Stainless sheet model 

ERC2 

Slider type 

ERC2 

Rod type 

RCP2 

Slider type 

RCA 

Slider type 

RCS2 

Slider type 

SA6C 

SA7C 

RA6C 

RA7C 

RGS6C 

RGS7C 

RGD6C 

RGD7C 

SA5C 

SA6C 

SA7C 

SS7C 

SS8C 

SA5R 

SA6R 

SA7R 

SS7R 

SS8R 

BA6 

BA7 

HS8C 

HS8R 

SA4C 

SA5C 

SA6C 

SA4D 

SA5D 

SA6D 

SS4D 

SS5D 

SS6D 

SA4R 

SA5R 

SA6R 

SA4C 

SA5C 

SA6C 

SA7C 

SS7C 

SS8C 

SA4D 

SA5D 

SA6D 

SA4R 

SA5R 

SA6R 

SA7R 

SS7R 

SS8R 

(Not available) 

ST-2A5- (stroke) 



ST-SS1- (stroke) 

ST-SM1- (stroke) 









ST-SA4- (stroke) 



























Motor cable model 

(motor robot cable model) 

Encoder cable model 

(encoder robot cable model) 

[Power & I/O cable (PIO specification) / Power & I/O cable (SIO specification)] 

CB-ERC-PWBIO / CB-ERC2-PWBIO 

(CB-ERC-PWBIO -RB / CB-ERC2-PWBIO -RB) 

[Power & I/O cable with connectors on both ends (PIO specification)] 

CB-ERC-PWBIO -H6 

(CB-ERC-PWBIO -RB-H6) 

CB-RCP2-MA 

* With the RCP2 series, the standard 

motor cable is a robot cable. 

CB-ACS-MA 

* With the RCA series, the standard 


CB-RCC-MA 

(CB-RCC-MA 

-RB) 

CB-RCP2-PA 

(CB-RCP2-PA 

CB-RFA-PA 

(CB-RFA-PA 

CB-ACS-PA 

(CB-ACS-PA 

-RB) 

[SCON/SSEL/XSEL-P.Q] 

CB-RCS2-PA 

(CB-X2-PA ) 

[XSEL-J.K] 

CB-RCBC-PA 

(CB-RCBC-PA 

-RB) 

-RB) 

-RB) 


Spare Parts 

List of Spare Part Models by Type 

RCP2 

Rod type 

RCA 

Rod type 

RCS2 

Rod type 


391 Technical 

RA2C 

RA3C 

RA4C 

RA6C 

RGS4C 

RGS6C 

RGD3C 

RGD4C 

RGD6C 

RA10C 

RA3C 

RA4C 

RA3D 

RA4D 

RA3R 

RA4R 

RGS3C 

RGS4C 

RGS3D 

RGS4D 

RGS3R 

RGS4R 

RGD3C 

RGD4C 

RGD3D 

RGD4D 

RGD3R 

RGD4R 

RA4C 

RA5C 

RA4D 

RA7AD 

RA7BD 

RA4R 

RA5R 

RGS4C 

RGS5C 

RGS4D 

RGS7AD 

RGS7BD 

RGS4R 

RGS5R 

RGD4C 

RGD5C 

RGD4D 

RGD7AD 

RGD7BD 

RGD4R 

RGD5R 





CB-RCP2-MA 



CB-ACS-MA 



CB-RCC-MA 

(CB-RCC-MA 

-RB) 



CB-RCP2-PA 

(CB-RCP2-PA 

CB-ACS-PA 

(CB-ACS-PA 

-RB) 

CB-RFA-PA (CB-RFA-PA -RB) 

-RB) 


CB-RCS2-PA 

(CB-X2-PA ) 

[XSEL-J.K] 

CB-RCBC-PA 

(CB-RCBC-PA 

-RB)

Spare Parts 

RCA 

Arm type 

RCS2 

Arm type 


RCS2 Flat type 

RCP2 

Gripper type 

RCS2 Gripper type 

RCP2CR 

Rotary type 

RCS2 

Rotary type 

RCP2CR 

Cleanroom type 

RCACR 


RCS2CR 


RCP2W 

Splash-proof type 

RCAW 

Splash-proof type 

RCS2WSplash-proof type 

A4R 

A5R 

A6R 

A4R 

A5R 

A6R 

F5D 

GRS 

GRM 

GR3LS 

GR3LM 

GR3SS 

GR3SM 

GR8 

RTB 

RTC 

RT6 

RT6R 

RT7R 

SA5C 

SA6C 

SA7C 

SS7C 

SS8C 

HS8C 

SA4C 

SA5C 

SA6C 

SA5D 

SA6D 

SA4C 

SA5C 

SA6C 

SA7C 

SS7C 

SS8C 

SA5D 

SA6D 

RA4C 

RA6C 

SA16C 

RA10C 

RA3? 

RA4? 

RA4? 


ST-2A5-(Stroke) 



ST-SS2-(Stroke) 

ST-SM2-(Stroke) 


ST-SA4-(Stroke) 
















CB-ACS-MA 



CB-RCC-MA 

(CB-RCC-MA 

-RB) 

CB-RCP2-MA 



CB-RCC-MA 

(CB-RCC-MA 

CB-RCP2-MA 



CB-RCC-MA 

(CB-RCC-MA 

-RB) 

CB-RCP2-MA 



CB-ACS-MA 

With the RCA series, the standard 


CB-RCC-MA 

(CB-RCC-MA 

-RB) 

-RB) 

CB-RCP2-MA 



CB-ACS-MA 



CB-RCC-MA 

(CB-RCC-MA 

-RB) 



CB-ACS-PA 

(CB-ACS-PA 


CB-RCS2-PA 

(CB-X2-PA ) 

[XSEL-J.K] 

CB-RCBC-PA 

(CB-RCBC-PA -RB) 

CB-RCP2-PA 

(CB-RCP2-PA 

CB-RCP2-PA 

(CB-RCP2-PA 

CB-RCP2-PA 

(CB-RCP2-PA 

CB-ACS-PA 

(CB-ACS-PA 

CB-RCP2-PA 

(CB-RCP2-PA 

CB-ACS-PA 

(CB-ACS-PA 

-RB) 

CB-RCS2-PA (CB-X2-PA ) 

CB-RCBC-PA (CB-RCBC-PA -RB) 


CB-RCS2-PA 

(CB-X2-PA ) 

[XSEL-J.K] 

CB-RCBC-PA 

(CB-RCBC-PA -RB) 

CB-RFA-PA 

(CB-RFA-PA 

-RB) 

-RB) 


CB-RCS2-PLA 

(CB-X2-PLA ) 

[XSEL-J.K(Set of 2 pcs)] 


CB-X-LC 

-RB) 

-RB) 

-RB) 

-RB) 

-RB) 

CB-RCS2-PA (CB-X2-PA ) 



Model Selection Information (Correlation Diagram of Speed and Load Capacity) 

Selection Guide (Correlation Diagram of Speed and Load Capacity) 

ERC2 Series 

Slider type 

Maximum 

speed 

Select horizontal or 

vertical installation 

Select the speed type based 

on the cycle time of the system 

Select the target type using 

the correlation diagrams of 

speed and load capacity below 

Horizontal installation 

Caution for Use 

If you will be using a slider type and the load installed on the 

slider will project significantly from the center, consider the 

load moment and overhang load length. 

Load moment 

Keep Ma/Mb/Mc load moments within their specified ranges. 

Ma Mb Mc 

Overhang load length 

When the center of gravity of the 

L 

installed load is L/2. If the load 

projects in Ma, Mb or Mc direction, 

keep the overhang load length 

within the specified range. 

On the SA6 type with a 600 stroke, the maximum speed is limited 

so as not to reach a critical speed. 600 stroke (lead 12: 515 mm/sec, 

lead 6: 255 mm/sec, lead 3: 125 mm/sec) 

Vertical installation 

L 

SA7C-16 

SA7C-16 

High-speed type 

Medium-speed type 

Load capacity (kg) 


SA6C-12 

SA7C-8 

SA6C-6 

Speed (mm/sec) 

Load capacity (kg) Load capacity (kg) 

SA6C-12 

SA7C-8 

SA6C-6 




SA7C-4 

SA7C-4 

Low-speed type 


SA6C-3 


SA6C-3 



393 Technical 


(Note) In the above diagrams, the figure after the type code indicates the lead.


ERC2 Series 

Standard Rod Type 









With rod types, no external force is considered other 

than the force applied from the moving direction of the rod. 

If the rod will receive any force in the right-angle direction 

or rotating direction, the customer should add a guide. 

The figures in the following diagrams under 

“Horizontal Installation” assume use of an external guide. 

On the RA6 type with a 300 stroke, the maximum speed 

is limited so as not to reach a critical speed. 

300 stroke (lead 12: 500 mm/sec, lead 6: 250 mm/sec, 

lead 3: 125 mm/sec) 

Maximum 

speed 



RA7C-16 

RA7C-16 

High-speed type Medium-speed type Low-speed type 




RA6C-12 

RA7C-8 

RA6C-6 

RA7C-4 

RA6C-3 






RA6C-12 

RA7C-8 

RA7C-4 

RA6C-3 


RA6C-6 




(Note) In the above diagrams, the figure after the type code indicates the lead. 




RCP2 Series 

Slider type (Motor Straight Type) 









Load moment 


Ma Mb Mc 






L 





L 

Maximum 

speed 

600 

mm/sec 



45 

6 

High-speed type 


40 

35 

30 

25 

20 

15 

10 

5 

SA7C-16 

SS7C-12 

SA6C-12 

SS8C-20 

SA5C-12 

0 

0 100 200 300 400 500 600 700 


SA7C-16 

5 

4 

3 

2 

SA6C-12 

1 

SA5C-12 

SS7C-12 

SS8C-20 

0 

0 100 200 300 400 500 600 700 

300 

mm/sec 



60 

14 

50 

SS8C-10 

12 

SS8C-10 

Medium-speed type 


40 

30 

20 

10 

SA7C-8 

SA6C-6 

SA5C-6 

SS7C-6 


10 

8 

6 

4 

2 

SA6C-6 

SS7C-6 

SA5C-6 

SA7C-8 

0 

0 50 100 150 200 250 300 350 


0 

0 50 100 150 200 250 300 350 


1 50 

mm/sec 

60 

25 

50 

20 

SS8C-5 



40 

30 

20 

10 

SA7C-4 

SS8C-5 

SS7C-3 

SA6C-3 

SA5C-3 


15 

10 

5 

SS7C-3 

SA6C-3 

SA5C-3 

SA7C-4 

0 

0 20 40 60 80 100 120 140 160 180 

0 

0 20 40 60 80 100 120 140 160 180 



395 Technical 




RCP2 Series 

Slider type (Motor Reversing Type) 









Load moment 


Ma Mb Mc 






L 





L 

Maximum 

speed 

600 

mm/sec 



30 

6 

300 

mm/sec 

1 50 

mm/sec 





25 

20 

15 

10 

40 

35 

30 

25 

20 

15 

10 

5 

60 

50 

40 

30 

20 

10 

5 

SA7R-16 

SS7R-12 

SA6R-12 

SA5R-12 

0 

0 100 200 300 400 500 600 700 

SA7R-8 

SS8R-10 

SS7R-6 

SA6R-6 

SA5R-6 

0 

0 50 100 150 200 250 300 350 

SS8R-5 

SA7R-4 

SS7R-3 

SA6R-3 

SA5R-3 

SS8R-20 



0 

0 20 40 60 80 100 120 140 160 180 




SA7R-16 

5 

SS7R-12 

4 

SS8R-20 

3 

2 

SA6R-12 

SA5R-12 

1 

0 

0 100 200 300 400 500 600 700 


12 

SA7R-8 

10 

8 

6 

SS7R-6 

4 

SA6R-6 

2 SA5R-6 

SS8R-10 

0 

0 50 100 150 200 250 300 350 


25 

SS8R-5 

20 

SA7R-4 

15 

SS7R-3 

10 

SA6R-3 

5 

SA5R-3 

0 

0 20 40 60 80 100 120 140 160 







RCP2 Series 

Belt Slider Type 

Select the target type using the correlation diagrams of speed and load capacity below. 


9 

8 

BA7/BA7U 

7 


6 

5 

4 

3 

BA6/BA6U 

2 

1 

0 

250 500 750 1000 1250 1500 


RCP2 Series 

High-Speed Ball-Screw Slider Type 



RCP2- 

HS8C 

RCP2- 

HS8R 



25 

HS8C0.3G 

20 

15 

HS8C0.5G 

10 

5 

0 

0 100 250 500 750 1000 1200 


25 

HS8R0.3G 

20 

15 

HS8R0.5G 

10 

5 

Load capacity (kg) Load capacity (kg) 

3.5 

HS8C0.2G 

3 

2.5 

2 

1.5 

1 

0.5 

0 

0 100 250 500 750 


3.5 

HS8R0.2G 

3 

2.5 

2 

1.5 

1 

0.5 

0 

0 100 250 500 750 1000 1200 

0 

0 100 250 500 750 



397 Technical 



RCP2 Series 

Standard Rod Type 






With rod types, no external force is considered 

other than the force applied from the moving 

direction of the rod. 

If the rod will receive any force in the right-angle 

direction or rotating direction, the customer 

should use a high-rigidity type or add a guide. 




Maximum 

speed 

500 

mm/sec 

(Note 1) 

Horizontal installation Vertical 

installation 

40 

12 

250 

mm/sec 

125 

mm/sec 

High-speed type Medium-speed type 





35 

30 

25 

20 

15 

10 

5 

50 

40 

30 

20 

10 

60 

50 

40 

30 

20 

10 

RA4C-10 

0 

0 100 200 300 400 500 600 

RA4C-5 

RA3C-5 

RA6C-8 

0 

0 50 100 150 200 250 300 

RA4C-2.5 

RA2C-1 

RA6C-4 

RA3C-2.5 

RA6C-16 






10 

8 

6 

RA6C-16 

RA4C-10 

4 

2 

0 

0 100 200 300 400 500 600 


25 

20 

RA6C-8 

15 

RA4C-5 

10 

RA3C-5 

5 

0 

0 50 100 150 200 250 300 


30 

RA6C-4 

25 

20 

RA4C-2.5 

15 

10 

5 

RA3C-2.5 

RA2C-1 

0 

0 20 40 60 80 100 120 140 

0 

0 20 40 60 80 100 120 140 




(Note 1) The figures in the diagrams under “Horizontal Installation” assume use of an external guide. 




RCP2 Series 

Single-Guide Type 











Maximum 

speed 

500 

mm/sec 

250 

mm/sec 

125 

mm/sec 





40 

35 

30 

25 

20 

15 

10 

5 

50 

40 

30 

20 

10 

60 

50 

40 

30 

20 

10 

RGS4C-10 

0 

0 100 200 300 400 500 600 

RGS4C-5 

(Note 1) 


0 

0 50 100 150 200 250 300 

RGS4C-2.5 

RGS6C-4 

RGS6C-16 


RGS6C-8 




installation 

4.5 

4 

3.5 

RGS6C-16 

3 

2.5 

RGS4C-10 

2 

1.5 

1 

0.5 

0 

0 100 200 300 400 500 600 


18 

16 

14 

RGS6C-8 

12 

10 

8 

6 

RGS4C-5 

4 

2 

0 

0 50 100 150 200 250 300 


30 

25 

RGS6C-4 

20 

RGS4C-2.5 

15 

10 

5 

0 

0 20 40 60 80 100 120 140 

0 

0 20 40 60 80 100 120 140 



399 Technical 



(Note 1) The figures in the diagrams under “Horizontal Installation” assume use of an external guide.


RCP2 Series 

Double-Guide Type 











Maximum 

speed 

500 

mm/sec 

(Note 1) 


installation 

40 

4.5 

250 

mm/sec 

125 

mm/sec 





35 

30 

25 

20 

15 

10 

5 

50 

40 

30 

20 

10 

60 

50 

40 

30 

20 

10 

RGD4C-10 

0 

0 100 200 300 400 500 600 

RGD4C-5 

RGD3C-5 

0 

0 50 100 150 200 250 300 

RGD4C-2.5 

RGD6C-4 

RGD3C-2.5 

RGD6C-16 



RGD6C-8 




4 

3.5 

3 

RGD6C-16 

2.5 

RGD4C-10 

2 

1.5 

1 

0.5 

0 

0 100 200 300 400 500 


18 

16 

RGD6C-8 

14 

12 

10 RGD4C-5 

8 

6 

4 

RGD3C-5 

2 

0 

0 50 100 150 200 250 300 


30 

25 

RGD6C-4 

20 

RGD4C-2.5 

15 

10 

RGD3C-2.5 

5 

0 

0 20 40 60 80 100 120 140 

0 

0 20 40 60 80 100 120 140 




(Note 1) The figures in the diagrams under “Horizontal Installation” assume use of an external guide. 




RCP2 Series 

High-Thrust Type 


With rod types, no external force is considered other 

than the force applied from the moving direction of the rod. 

If the rod will receive any force in the right-angle direction 

or rotating direction, the customer should add a guide. 







1000 

read 2.5mm 

1000 

read 2.5mm 

read 5mm 

read 5mm 

read 10mm 

read 10nn 

100 


100 


10 

10 

0 50 100 150 200 250 300 

1 

0 50 100 150 200 



401 Technical Reference/Information 



RCP2CR Series 

Belt Slider Type (Motor Reversing Type) 









Load moment 


Ma Mb Mc 






L 





L 

Maximum 

speed 

600 

mm/sec 



300 

mm/sec 

1 50 

mm/sec 





45 

40 

35 

30 

25 

20 

15 

10 

5 

SA5C-12 

0 

0 100 200 300 400 500 600 700 

60 

50 

40 

30 

20 

10 

SA6C-6 

SA5C-6 

0 

0 50 100 150 200 250 300 350 


60 

50 

40 

30 

20 

10 

SS8C-20 

SS7C-12 

SA7C-16 

SS8C-10 

SS8C-10 

SA6C-12 

SA7C-6 

SA7C-4 

SA6C-3 

SA5C-3 


SA7C-8 

SS7C-3 




6 

SA7C-16 

5 

4 

3 

2 

SA6C-12 

1 

SA5C-12 

SS8C-20 

SS7C-12 

0 

0 100 200 300 400 500 600 700 


14 

SS8C-10 

12 

SA7C-8 

10 

SS7C-6 

8 

6 

4 SA6C-6 

2 SA5C-6 

0 

0 50 100 150 200 250 300 350 


25 

SS8C-5 

20 

SA7C-4 

15 

SS7C-3 

10 

SA6C-3 

5 

SA5C-3 

0 

0 20 40 60 80 100 120 140 160 180 

0 

0 20 40 60 80 100 120 140 160 180 



(Note 1) If the actual load is equal to the maximum load capacity at the applicable speed, 

vibration overshoot may occur. Select a model that provides an allowance of approx. 70%. 





RCP2W Series Rod type 






With rod types, no external force is considered 

other than the force applied from the moving 

direction of the rod. 

If the rod will receive any force in the right-angle 

direction or rotating direction, the customer 

should use a high-rigidity type or add a guide. 




Maximum 

speed Horizontal installation (Note 1) Vertical installation 

500 

mm/sec 

40 

12 

250 

mm/sec 

125 

mm/sec 





35 

30 

25 

20 

15 

10 

5 

50 

40 

30 

20 

10 

60 

50 

RA4C-10 

RA6C-16 

0 

0 100 200 300 400 500 600 

RA4C-5 

RA6C-8 

0 

0 50 100 150 200 250 300 

RA4C-2.5 

40 

30 

20 

10 

RA6C-4 






10 

8 

6 

RA6C-16 

4 

RA4C-10 

2 

0 

0 100 200 300 400 500 600 

25 

20 

15 

10 

5 

RA6C-8 

RA4C-5 

0 

0 50 100 150 200 250 300 

30 

25 

20 

15 

10 

5 

RA6C-4 

RA4C-2.5 



0 

0 20 40 60 80 100 120 140 

0 

0 20 40 60 80 100 120 140 



(Note 1) If the actual load is equal to the maximum load capacity at the applicable speed, vibration overshoot may occur. 

Select a model that provides an allowance of approx. 70%. 

403 Technical Reference/Information


RCP2W Series 

Waterproof Slider Type 





Load moment 


Ma Mb Mc 





L 





L 


40 

35 

SA16-4 


30 

25 

20 

15 

SA16-8 

10 

5 

0 

25 50 75 100 125 150 175 200 


(Note) The RCP2W-SA16 is not available with brake, so it cannot be used vertically. 


(Note 1) If the actual load is equal to the maximum load capacity at the applicable speed, vibration overshoot may occur. Select a model that provides an allowance of approx. 70%. 


Model Selection Information (Push Force) 

Selection Guide Correlation (Diagrams of Push Force and Current-Limiting Value) 

ERC2 Series 

Slider type 

When performing push-motion operation using a slider type, limit the push current to prevent the reactive moment generated by the push force 

from exceeding 80% of the rated moment (Ma, Mb) specified in the catalog. 

The position where guide moment is applied is illustrated below to facilitate moment calculation. Calculate the moment by considering an offset 

required at the position where push force is applied. 

Since applying an excessive force exceeding the rated moment may damage the guide and shorten the service life of the actuator, set sufficient 

push current by considering a safety factor. 

SA6 : 36mm 

SA7 : 46mm 

Note 

The travel speed is fixed to 20 mm/s during 

push-motion operation. 

Position where moment is applied 

Calculation example) 

If a push force of 100 N is applied at the position shown to the right 

on the ERC2-SA7C type, the moment received by the guide is 

calculated as follows: Ma=(46+50)x100 

=9600(N•mm) 

=9.6(N•m) 

50mm 

Since the rated moment of the SA7 (Ma) is 13.8 (N-m), 

13.8 x 0.8 = 11.04 > 9.6. Accordingly, the requirement is satisfied. 

If Mb moment generates as a result of push motion, follow the same 

procedure to calculate the actual moment based on the overhang 

load and confirm that it is within 80% of the rated moment. 

Correlation Diagrams of Speed and Load Capacity 

SA6C type 

* The figures in the following diagrams are reference values and may differ slightly from actual values. 

SA7C type 

Push force (N) 

350 

300 

250 

200 

150 

100 

50 

SA6C-3 

SA6C-6 

SA6C-12 

0 

0 10 20 30 40 50 60 70 

Current-limiting value (%) 


900 

800 

700 

600 

500 

400 

300 

200 

100 

SA7C-4 

SA7C-8 

SA7C-16 

0 

0 10 20 30 40 50 60 70 






ERC2 Series 

Rod type 

The push force applied in push-motion operation can be 

changed freely by changing the current-limiting value in the 

controller. 

Since the maximum push force varies from one model to 

another, use the diagrams below to check the required push 

force and select a type that satisfies the force requirement. 


The relationships of push force and current-limiting 

value represent reference values and may differ slightly 

from actual values. 

If the current-limiting value is less than 20%, the push 

force may fluctuate. Keep the current-limiting value to 

20% or above. 

The travel speed is fixed to 20 mm/s during pushmotion 

operation. 

RA6C type 

RA7C type 





RA6C-12 

RA7C-16 



RA6C-6 

RA7C-8 

Current-limiting value (%) Current-limiting value (%) 

RA7C-4 

RA6C-3 









RCP2 Series 

Slider type 

When performing push-motion operation using a slider type, limit the push current to prevent the reactive moment generated by the push 

force from exceeding 80% of the rated moment (Ma, Mb) specified in the catalog. 

The position where guide moment is applied is illustrated below to facilitate moment calculation. Calculate the moment by considering an 

offset required at the position where push force is applied. 

Since applying an excessive force exceeding the rated moment may damage the guide and shorten the service life of the actuator, set 

sufficient push current by considering a safety factor. 

h 

SA5C:h=39mm 

SA6C:h=40mm 

SA7C:h=43mm 

SS7C:h=36mm 

SS8C:h=48mm 

Note 

Push-motion operation cannot be 

performed on belt types (BA6/BA7). 

The travel speed is fixed to 

20 mm/s during push-motion operation. 

Calculation example) 

If a push force of 100 N is applied at the position shown to the right 

on the RCP2-SS7C type, the moment received by the guide is 

calculated as follows: Ma=(36+50)x100 

=8600(N•mm) 

=8.6(N•m) 

50mm 

Since the rated moment of the SS7 (Ma) is 14.7 (N•m), 

14.7 x 0.8 = 11.76 > 8.6. Accordingly, the requirement is satisfied. 

If Mb moment generates as a result of push motion, follow the same 

procedure to calculate the actual moment based on the overhang 

load and confirm that it is within 80% of the rated moment. 

Correlation Diagrams of Push Force and Current-Limiting Value 

SA5C/SA6C/SS7C type 

* The figures in the following diagrams are reference values and may differ slightly from actual values. 

SA7C type 


350 

300 

250 

200 

150 

100 

50 

SA5C-3, SA6C-3, SS7C-3 

SA5C-6, SA6C-6, SS7C-6 

SA5C-12, SA6C-12, SS7C-12 


800 

700 

600 

500 

400 

300 

200 

100 

SA7C-4 

SA7C-8 

SA7C-16 

0 

0 10 20 30 40 50 60 70 


0 

0 10 20 30 40 50 60 70 


SS8C type 

800 

700 


600 

500 

400 

300 

200 

100 

SS8C-5 

SS8C-10 

SS8C-20 

0 

0 10 20 30 40 50 60 70 




RCP2 Series 

Rod type 

The push force applied in push-motion operation can be changed freely by changing the current-limiting value in the controller. 

Since the maximum push force varies from one model to another, use the diagrams below to check the required push force and select a type 

that satisfies the force requirement. 

RA2C type 


100 

RA2C-1 

80 

60 

40 

20 

0 

0 10 20 30 40 50 


* With the RPA type, the maximum push 

force is determined by the stroke. 

25-50 stroke : 100N 

75 stroke : 75N 

100 stroke : 55N 







20% or above. 

The travel speed is fixed to 20 mm/s during pushmotion 

operation. 

RA3C/RGD3C 

RA4C/RGS4C/RGD4C 

RA6C/RGS6C/RGD6C 




200 

180 

160 

140 

RA6C-16 

200 

RA4C-10 

RGS6C-16 

120 

RGS4C-10 

RGD6C-16 

0 0 

0 10 20 30 40 50 60 70 0 10 20 30 40 50 60 70 

100 

80 

60 

40 

RGD4C-10 

150 

100 

50 

20 

0 

0 10 20 30 40 50 60 70 


80 

300 

500 

70 

450 

250 

400 

60 

RA6C-8 

RA4C-5 

350 

200 

RGS6C-8 

50 

RA3C-5 

RGS4C-5 

RGD3C-5 

300 

RGD6C-8 

RGD4C-5 

40 

150 

250 

30 

200 

100 

150 

20 

100 

50 

10 

50 

200 

180 

160 

140 

120 

100 

80 

60 

40 

20 

RA3C-2.5 

RGD3C-2.5 

0 

0 10 20 30 40 50 60 70 



400 

350 

300 

250 

200 

150 

100 

50 

RA4C-2.5 

RGS4C-2.5 

RGD4C-2.5 

0 

0 10 20 30 40 50 60 70 

100 

300 

250 

800 

700 

600 

500 

400 

300 

200 

0 

0 10 20 30 40 50 60 70 

0 

0 10 20 30 40 50 60 70 

Current-limiting value (%) Current-limiting value (%) Current-limiting value (%) 


RA6C-4 

RGS6C-4 

RGD6C-4 

0 

0 10 20 30 40 50 60 70 

Current-limiting value (%) Current-limiting value (%) Current-limiting value (%) 








RCP2 Series 

High-Thrust Rod Type 

The push force applied in push-motion operation can be changed 

freely by changing the current-limiting value in the controller. 

Since the maximum push force varies from one model to another, 

use the diagrams below to check the required push force and select 

a type that satisfies the force requirement. 







20% or above. 

RA10C type 

7000 

6000 


5000 

4000 

3000 

2000 

1000 

RA10C-2.5 

RA10C-5 

RA10C-10 

0 

0 20 40 60 80 


Note 

Use the table below as a guide when determining the maximum push count when the type having each lead is operated at the 

maximum push force for a push-motion travel distance of 1 mm. 

Lead (type) 

Push count 

2.5 

1.4 million 

times 

5 

25 million 

times 

10 

157.6 million 

times 

* The maximum push count varies depending on the operating 

conditions such as shock and vibration. The figures shown to 

the left assume absence of shock or vibration. 



RCP2 Series 

Gripper 

Gripping Force Adjustment 

In accordance with the push-motion operation, the gripping force 

(push force) can be adjusted freely within the range of currentlimiting 

values of 20% to 70%. 

Since the gripping force varies from one model to another, use the 

graphs below to check the required gripping force and select a type 

that satisfies the force requirement. 

* The gripping forces in the following diagrams indicate the sums of gripping forces of both 

fingers. 

L 

RCP2-GRS 

RCP2-GRM 

25 

100 

Gripping force (N) 

20 

15 

10 

5 


80 

60 

40 

20 

0 

0 

10 20 30 40 50 


60 

70 

0 

0 10 20 30 40 50 60 70 


Guide for Selecting Model from Weight of Work 

Although the weight of a work that can be physically transferred varies depending on the friction coefficient determined by the finger material 

and work material, as well as on the shape of the work, a rough guide is that normally the work weight should not exceed 1/10 to 1/20 of 

the gripping force. Also, an additional allowance must be considered if the work is subject to high acceleration/deceleration or shock during 

transfer (1/30 to 1/50). 

Finger (Attachment) Shape 

The distance (L) from the finger attachment surface to the gripping point should be kept to or below the dimensions below. 

RCP2-GRS 

RCP2-GRM 

50mmMAX. 

80mmMAX. 

Minimize the size and weight of fingers installed on the actuator. If the fingers are long, large or heavy, the actuator 

performance may drop or the guide may be negatively affected due to the inertial force and bending moment that generates 

when the fingers are opened/closed. 

 

* The relationships of push force (gripping force) and current-limiting value represent reference values and may 

differ slightly from actual values. 

* Take note that if the push force is too small, the push force may fluctuate or malfunction may occur due to slide 

resistance, etc. Keep the current-limiting value to 20% or above. 

* Minimize the size and weight of fingers installed on the actuator. If the fingers are long, large or heavy, the 

actuator performance may drop or the guide may be negatively affected. 




RCP2 Series 

3-Finger Gripper 

Correlation Diagram of Gripping Force and Current-Limiting Value 

Lever Type 

L 

F 

* The values in the graphs below indicate gripping forces at a gripping point of 10 mm. The actual gripping 

force decreases in inverse proportion to the distance from the opening/closing fulcrum 

Calculate the actual gripping force using the formulas below: 

Effective gripping force (S type)=PX24/(L+14) 

Effective gripping force (M type)=PX28.5/(L+18.5) 

P = Gripping force determined from the graph 

L = Distance from the finger attachment surface to the gripping point 

RCP2-GR3LS 

RCP2-GR3LM 

25 

60 


20 

15 

10 

F 

F 

F 


50 

40 

30 

20 

5 

20 

30 

40 

50 

60 

70 

10 

20 30 40 50 60 70 



Slide Type (GR3SS/GR3SM) 

F 

* Keep the distance (L) from the finger attachment surface to the gripping point to the 

following dimensions or less. 

Calculate the actual gripping force using the formulas below: 

GR3SS 50mm Max. 

GR3SM 80MM Max. 

L 

RCP2-GR3SS 

RCP2-GR3SM 

25 

120 


20 

15 

10 

F 

F 

F 


100 

80 

60 

40 

5 

20 

30 

40 

50 

60 

70 

20 

20 30 40 50 60 70 

411 Technical Reference/Information 


Current-limiting value (%)


RCP2 Series 

Rotary 

Output Torque 

The output torque will decrease as the rotating speed increases. 

Use the graphs below to check if the required operating speed and torque can be achieved. 

2.0 

RCP2-RTB/RTC 

(Gear ratio 1/20) 

2.0 

RCP2-RTB/RTC 


Output torque (N•m) 

1.5 

1.0 

0.5 

Output torque (N•m) 

1.5 

1.0 

0.5 

0 

0 

100 200 300 400 500 

Rotating speed (°/sec) 

600 

0 

0 

100 200 300 400 


Allowable Inertial Moment 

The allowable inertial moment of a rotatable work varies depending on the rotating speed. Check the operating conditions and the inertial 

moment of the work to be rotated (refer to p. 16) to select an appropriate model. 

Allowable inertial moment 

(x10 -3 Kg•m 2 ) 

20 

15 

10 

5 

0 

0 

RCP2-RTB/RTC 


100 200 300 400 500 


Model Selection Guide 

RCP2-RTB/RTC 


B. Load offset from the center of the output shaft 


600 

Allowable inertial moment 

(x10 -3 Kg•m 2 ) 

20 

15 

10 

5 

0 

0 100 200 300 400 


When a rotating axis is used horizontally, load torque will generate due to gravity if the center of gravity of the work is away from the center of 

rotation. In this case, either the rotating speed or the inertial moment of the work must be reduced. 

Select an appropriate model from the shape and weight of the load installed on the output shaft by using the figures and tables below as a reference. 

* The weight that can be rotated varies depending on the rotating speed. (The higher the rotating speed, the less the rotatable weight becomes.) 

A. Disc-shaped load at the center of the output shaft 

r 

(Disk radius) 

r 

(Disk radius) 

Disc weight (kg) 

Load weight (kg) 

5 

4 

3 

2 

1 

0 

5 

4 

3 

2 

1 

0 


Rotating at low speed 

(150°/sec or less) 

Rotating at maximum speed 


0 5 10 15 20 25 30 

Disk radius(cm) 





0 5 10 15 20 25 30 

Offset distance (cm) 

Disc weight (kg) 

 

5 

4 

3 

2 

1 

0 

5 

4 

3 

2 

1 

0 






0 5 10 15 20 25 30 

Disk radius(cm) 






0 5 10 15 20 25 30 

Offset distance (cm) 

* When a rotating axis is used horizontally, load torque will generate due to gravity if the center of gravity of the work is away from the center of rotation. In this 

case, either the rotating speed or the inertial moment of the work must be reduced. 

 

• If the load exceeds the allowable value, the actuator may malfunction, its service life may be shortened, or damage may occur. 

The load must be set so that the allowable value will not be exceeded. 

• If a rotating axis is used horizontally, the work structure must be such that the load torque can be minimized. 


Model Selection Information (Guide) 

Technical Reference on Guide Types ERC2/RCP2/RCA/RCS2 

Allowable Rotating Torque 

The allowable torque for each model is shown below. 

If rotating torque is to be applied, keep the torque within the range specified below. Take note that single-guide types cannot receive rotating torque. 

ERC2-RGD6C type 


Double Guide 3.0 

Double Guide 

3.5 

Allowable rotating torque (N•m) 

2.5 

2.0 

1.5 

1.0 

0.5 


3.0 

2.5 

2.0 

1.5 

1.0 

0.5 

0 

0 5 0 100 150 200 250 300 

Stroke (mm) 

0 

0 5 0 100 150 200 250 300 

Stroke (mm) 

RCA / RCS2-RGD3 type (Double-Guide Specification) 

Double Guide 

1.2 

RCS2-RGD4 type 

Double Guide 

1.2 


1.0 

0.8 

0.6 

0.4 

0.2 


1.0 

0.8 

0.6 

0.4 

0.2 

0 

0 5 0 100 150 200 

Stroke (mm) 

0 

0 5 0 100 150 200 

Stroke (mm) 

RCS2-RGD5C type (Double-Guide Specification) 

Double Guide 

3.0 

RCS2-RGD7AD / RGD7BD type 

Double Guide 

8.0 


2.5 

2.0 

1.5 

1.0 

0.5 


7.0 

6.0 

5.0 

4.0 

3.0 

2.0 

1.0 

0 

0 50 100 150 200 250 300 350 

Stroke (mm) 

0 

0 50 100 150 200 250 300 350 

Stroke (mm) 

RCP2-RGD3C type 

0.8 


3.0 


0.6 

0.4 

0.2 


2.5 

2.0 

1.5 

1.0 

0.5 

0 

100 150 200 250 

Stroke (mm) 

0 

0 50 

100 150 200 250 300 

Stroke (mm) 


3.0 

413 Technical 

Reference/Information 


2.5 

2.0 

1.5 

1.0 

0.5 

0 

0 50 

100 150 200 250 300 

Stroke (mm)


Relationship of Allowable Load at Tip and Traveling Life 

Single-Guide Type Double-Guide Type 

The greater the load at the guide tip, the shorter the 

traveling life becomes. Select an appropriate model by 

considering an optimal balance between load and life. 

* Single-guide actuators cannot receive 

any load other than in vertical direction. 

 

Single Guide 

 

ERC2-RGS6C type 


20 

20 

Radial load (N) 

15 

10 

5 

50st 

100st 

150st 

200st 

250st 

300st 


15 

10 

5 

50st 

100st 

150st 

200st 

250st 

300st 

0 

100 1,000 10,000 

Traveled distance (km) 

0 

100 1,000 

10,000 


RCA / RCS2-RGS3C type 

RCS2-RGS4C type 

20 

50 

45 


15 

10 

5 

50st 

100st 

150st 

200st 


40 

35 

30 

25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 

5 

0 

100 1,000 10,000 


0 

10 100 1,000 10,000 



RCS2-RGS7AD / RGS7BD type 

35 

70 

30 

60 


25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 


50 

40 

30 

20 

50st 

100st 

150st 

200st 

250st 

300st 

5 

10 

0 

100 1,000 10,000 


0 

100 1,000 10,000 


RCP2-RGS4C type 


40 

50 


35 

30 

25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 


45 

40 

35 

30 

25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 

5 

5 

0 

10 100 1,000 10,000 


0 

10 100 1,000 10,000 




Double Guide 



35 

40 

30 

35 


25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 


30 

25 

20 

15 

10 

50st 

100st 

150st 

200st 

250st 

300st 

5 

5 

0 

100 1,000 10,000 


0 

100 1,000 10,000 


RCA / RCS2-RGD3C type 

RCS2-RGD4C type 

30 

50 

25 

45 

40 


20 

15 

10 

50st 

100st 

150st 

200st 


35 

30 

25 

20 

15 

50st 

100st 

150st 

200st 

250st 

300st 

5 

10 

5 

0 

100 1,000 

10,000 

Traveling life (km) 

0 

10 100 1,000 10,000 




55 

50 

45 

40 

35 

30 

25 

20 

15 

10 

5 

0 

100 1,000 10,000 


50st 

100st 

150st 

200st 

250st 

300st 



120 

110 

100 

90 

80 

70 

60 

50 

40 

30 

5 

20 

10 

0 

100 1,000 10,000 


50st 

100st 

150st 

200st 

250st 

300st 



30 

50 

25 

45 

40 


20 

15 

10 

50st 

100st 

150st 

200st 


35 

30 

25 

20 

15 

50st 

100st 

150st 

200st 

250st 

300st 

5 

10 

5 

0 

100 1,000 

10,000 


0 

10 100 1,000 10,000 



50 

45 

40 


35 

30 

25 

20 

15 

50st 

100st 

150st 

200st 

250st 

300st 

415 Technical 


10 

5 

0 

10 100 1,000 10,000 

Traveling life (km)


Radial Load and Deflection at Tip Single-Guide Type Double-Guide Type 

The diagrams below show how the load applied at the tip 

of the guide correlates with the deflection that generates. 

* Single-guide actuators cannot receive 

any load other than in vertical direction. 

 

Single Guide 

 



4.0 

3.0 

3.5 

2.5 

Deflection (mm) 

3.0 

2.5 

2.0 

1.5 

1.0 

0.5 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


2.0 

1.5 

1.0 

0.5 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.0 

0 10 20 

30 40 50 

Load (N) 

0.0 

0 10 20 

30 40 50 

Load (N) 

RCA / RCS2-RGS3 type 

RCS2-RGS4 type 

1.4 

2.0 


1.2 

1.0 

0.8 

0.6 

0.4 

0st 

50st 

100st 

150st 

200st 


1.8 

1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.2 

0.4 

0.2 

0 

0 10 20 

30 40 50 

Load (N) 

0 

0 10 20 

30 40 50 

Load (N) 


RCS2-RGS7AD / RGS7BD type 

2.5 

2.2 

2.0 

2.0 

1.8 


1.5 

1.0 

0.5 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0.4 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.2 

0 

0 5 10 15 20 25 30 35 40 45 50 

Load (N) 

0 

0 10 20 

30 40 50 

Load (N) 



3 

1.8 


2.5 

2 

1.5 

1 

0.5 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


1.6 

1.4 

1.2 

1 

0.8 

0.6 

0.4 

0.2 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0 

0 10 20 

30 40 50 

Load (N) 

0 

0 10 20 

30 40 50 

Load (N) 



Double Guide 


Double Guide Specification 

3.5 



3.5 

3.0 

3.0 





RCA / RCS-RGD3 type 



0.8 

0.7 

0.6 

0.5 

0.4 

0.3 

0.2 

0.1 





0 

0 10 20 30 40 50 

Load (N) 

1.8 

1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0.4 

0.2 

0 

0 5 10 15 20 25 30 35 40 45 50 

Load (N) 



2.5 

2.0 

1.5 

1.0 

0.5 

0.0 

2.5 

2.0 

1.5 

1.0 

0.5 

1.8 

1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0.4 

0 10 20 30 40 50 

Load (N) 

0.0 

0 10 20 30 40 50 

Load (N) 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

Deflection (mm) Deflection (mm) 




2.5 

2.0 

1.5 

1.0 

0.5 

0.0 

0 



2.5 

2.0 

1.5 

1.0 

0.5 

0.0 

RCA / RCS-RGD3 type 


1.2 

1.0 

0.8 

0.6 

0.4 

0.2 

0 

0 10 20 30 40 50 

Load (N) 



1.8 

1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0.4 

0.2 

0 

0 5 10 15 20 25 30 35 40 45 50 

Load (N) 



2.0 

1.8 

1.6 

1.4 

1.2 

1.0 

0.8 

0.6 

0.4 

10 20 30 40 50 

Load (N) 

0 10 20 30 40 50 

Load (N) 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.2 

0.2 

417 Technical 

0 

0 5 10 15 20 25 30 35 40 45 50 

Load (N) 


0 

0 5 10 15 20 25 30 35 40 45 50 

Load (N)




1.0 



1.2 

0.9 

0.8 

1.0 


0.7 

0.6 

0.5 

0.4 

0.3 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


0.8 

0.6 

0.4 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.2 

0.1 

0.2 

0 

0 10 20 30 40 50 

Load (N) 

0 

0 10 20 30 40 50 

Load (N) 




1.6 


1.6 

1.4 

1.4 


1.2 

1 

0.8 

0.6 

0st 

50st 

100st 

150st 

200st 


1.2 

1 

0.8 

0.6 

0st 

50st 

100st 

150st 

200st 

0.4 

0.2 

0 

0 10 20 30 40 50 

Load (N) 

0.4 

0.2 

0 

0 10 20 30 40 50 

Load (N) 




2.5 


2.5 


2 

1.5 

1 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


2 

1.5 

1 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.5 

0.5 

0 

0 10 20 30 40 50 

Load (N) 

0 

0 10 20 30 40 50 

Load (N) 




1.8 


1.6 

1.6 

1.4 


1.4 

1.2 

1 

0.8 

0.6 

0.4 

0st 

50st 

100st 

150st 

200st 

250st 

300st 


1.2 

1 

0.8 

0.6 

0.4 

0st 

50st 

100st 

150st 

200st 

250st 

300st 

0.2 

0.2 

0 

0 

0 10 20 30 40 50 

0 10 20 30 40 50 

Load (N) 

Load (N) 



Technical Reference on Flat Type F5D 

Moment and Load Capacity of Flat Type (F5D) 

On the flat type, moments apply in the directions shown below. 

M B 

Mc 

M A 

The points of action of Ma and Mb moments are as follows. 

FSD 

44.5mm 

Point of action 

When using the flat type horizontally, be careful not to allow the load applied at the tip of the plate to exceed the Ma moment. 

For your reference, the table below lists the load at the tip allowable for each stroke, calculated from the corresponding Ma moment. 

Stroke 50 100 150 200 250 300 

Distance from point of action (m) 

0.07 

0.12 

0.17 

0.22 

0.27 

0.32 

F5D type 

N 

64.3 

37.5 

26.5 

20.5 

16.7 

14.1 

(kgf) 

6.56 

3.83 

2.70 

2.09 

1.70 

1.43 

25 

Distance from point of action 

Point of action 

419 Technical 

Reference/Information

Selection Guide 

Check the following two points to determine if each ROBO Rotary 

can meet your desired operating conditions. 


Technical Reference on Rotary Types RT6/RT6R/RT7R 

1 Inertial Moment 

Inertial moment indicates inertia in rotating motion and corresponds 

to weight in linear motion. 

The greater the inertial moment, the more difficult it becomes for the 

target object to move or stop. In other words, whether or not the 

inertial moment of the rotating object can be controlled holds a key 

to selecting an appropriate ROBO Rotary model. 

The inertial moment varies depending on the weight and shape of 

the rotating object. Refer to the calculation formula in the 

representative example shown to the right. 

The allowable inertial moment of each ROBO Rotary is indicated by 

load inertia. 

The candidate ROBO Rotary can be used if the calculated inertial 

moment is smaller than the load inertia of the ROBO Rotary. 

How to Calculate Inertial Moment for Representative Shapes 

2 

J: Inertial moment (kg-m ) / M: Mass (kg) / r: Radius (m) / a, b: Lengths of sides (m) 

a 

2 Thin rectangle (rectangular solid) 

Rotating shaft position: Passing the center of gravity 

of the plate and vertical to the plate. 

(The same applies to a thicker rectangular solid) 

a 

J=M • ——— 

2 + b 2 

12 

b 

a2 

r 

1 Circular column 

(including thin disc) 

r 

J=M•— 

2 

2 

3 Thin rectangular plate (rectangular solid) 

Rotating shaft position: Vertical to the plate and passing one end 

M1: Mass on a1 side (kg) 

M2: Mass on a2 side (kg) 

+ 

J=M 1• 4a2 12 

a1 

b 2 

1 2 +b 2 

4a 

+ M 2• 

2 

12 

b 

2 Load Moment 

If inertial moment provides a guide for (electrical) control, load 

moment provides a guide for strength (mechanical) limit of operation. 

Use the end face of the actuator at the base of the output shaft as 

the reference moment position to check if the load moment applied 

to the output shaft is within the allowable load moment specified in 

the catalog. 

If the allowable load moment is exceeded, the service life of the 

actuator may decrease or breakdown may result. 

Load Moment (N•m)=F(N)xL(m) 

L 

F 

Notes on Operating Range and Home Return 

Take note that when performing home return, the rotating direction of homereturn 

operation may vary depending on the standstill position of the shaft, 

as explained below. 

Sensor detection range Home Sensor detection range 

Home 

The home-return operation of the ROBO Rotary is such that when the 

shaft turns and detects the home detection sensor, the shaft will reverse 

and home return will complete at the position where phase Z is detected. 

In this case, the rotating direction of the shaft is counterclockwise ( 1 ) 

when viewed from the shaft direction. When the shaft detects the sensor, 

the shaft will reverse ( 2 ) and subsequently stop when phase Z is detected 

( 3 ). (Fig. 1) 

If the shaft already detects the sensor at the start of home return, the 

shaft will turn clockwise from that position ( 4 ) and subsequently stop 

when phase Z is detected ( 5 ). (Fig. 2) 

Operating 

range 

(300°) 

2 

3 

1 

Shaft 

Operating 

Shaft 

range 

Fig. 1 

(300°) 

Fig. 2 

4 

5 

Although the operating range of the ROBO Rotary is 300 degrees, there 

are no stoppers and thus the actuator may operate beyond this range in 

certain conditions such as when the shaft is turned by hand while the 

servo is off. 

Take note that when the actuator goes outside its operating range, the 

sensor may have already detected. 


Index 

List of Products Featured in This Catalog 

[A] 

[B] 

[C] 

[D] 

[E] 

A1 

A2 

A3 

AB-5 

AB-5 

AB-5-CS 

ACON-C 

ACON-CG 

ACON-CY 

ACON-PL 

ACON-PO 

ACON-SE 

ASEL-C 

B 

BE 

BL 

BR 

CB-ACS-MA 

CB-ACS-PA 

CB-ACS-PA -RB 

CB-DS-PIO 

CB-ERC2-CTL001 

CB-ERC2-PWBIO 

CB-ERC2-PWBIO -RB 

CB-ERC2-SIO020 

CB-ERC-PWBIO 

CB-ERC-PWBIO -RB 

CB-ERC-PWBIO-H6 

CB-ERC-PWBIO -RB-H6 

CB-PAC-PIO 

CB-PACPU-PIO 

CB-PACY-PIO 

CB-RCBC-PA 

CB-RCBC-PA -RB 

CB-RCB-CTL002 

CB-RCC-MA 

CB-RCC-MA -RB 

CB-RCP2-MA 

CB-RCP2-PA 

CB-RCP2-PA -RB 

CB-RCS2-PA 

CB-RCS2-PLA 

CB-SC-PIOS 

CB-SEL-SJ002 

CB-SEL-USB010 

CB-X-PIO 

CO 

DP-3 

ERC2-FT-RA6 

ERC2-FT-RA7 

ERC2-RA6C 

ERC2-RA7C 

ERC2-RGD6C 

ERC2-RGD7C 

ERC2-RGS6C 

ERC2-RGS7C 

ERC2-SA6C 

(Cable take-out direction) 



(Absolute-data backup battery) 

(System-memory backup battery) 

(System-memory backup battery) 

(Controller) 







(Brake) 

(Brake) 

(Brake) 

(Brake) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cable) 

(Cover) 

(Dummy plug) 

(Foot) 

(Foot) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

381 

381 

381 

354 • 364 

344 • 354 • 364 • 372 

344 • 354 • 364 • 372 

315 

315 

315 

315 

315 

315 

345 

381 

381 

381 

381 

324 

324 

324 

344 • 354 • 364 

304 

304 

304 

304 

304 

304 

304 

304 

314 • 324 • 334 

314 • 324 

314 • 324 

374 

374 

290 

334 • 364 • 373 

334 • 364 • 373 

314 • 344 

314 • 344 

314 • 344 

334 • 364 • 374 

334 • 364 • 374 

334 

344 • 354 • 364 

344 • 354 • 364 

374 

272 

344 • 354 • 364 

383 

384 

7 

9 

15 

17 

11 

13 

3 

421 Index

[F] 

[H] 

[I ] 

[L] 

[N] 

[P] 

ERC2-SA7C 

FB 

FL 

FT 

HS 

IA-101-XA-MW 

IA-101-X-MW 

IA-101-X-MW-J 

IA-101-X-USB 

IA-101-X-USBMW 

IA-105-X-MW-A 

IA-105-X-MW-B 

IA-105-X-MW-C 

IA-T-X 

IA-T-XA 

IA-T-XA-J 

IA-T-XD 

IA-T-XD-J 

IA-T-X-J 

IA-XAB-BT 

L 

NJ 

NM 

[Q] 

QR 

[R] 

PCON-C 

PCON-CG 

PCON-CY 

PCON-PL 

PCON-PO 

PCON-SE 

PS-241 

PS-242 

PSEL-C 

PU-1 

R 

RCA-A4R 

RCA-A5R 

RCA-A6R 

RCA-FL-RA3 

RCA-FL-RA4 

RCA-FT-RA3 

RCA-FT-RA4 

RCA-FT-SA4 

RCA-FT-SA5 

RCA-FT-SA6 

RCA-NJ-RA3 

RCA-NJ-RA4 

RCA-QR-RA3 

RCA-QR-RA4 

RCA-RA3C 

RCA-RA3D 

RCA-RA3R 

RCA-RA4C 

RCA-RA4D 

RCA-RA4R 

RCA-RGD3C 

RCA-RGD3D 

(Actuator) 

(Flange bracket) 

(Flange) 

(Foot) 

(Home check sensor) 

(PC software) 

(PC software) 

(PC software) 

(PC software) 

(PC software) 

(Expansion SIO board) 



(Teaching pendant) 






(Absolute-data retention battery) 

(Limit switch) 

(Knuckle joint) 

(Reversed-home specification) 







(24-V power supply) 

(24-V power supply) 


(Panel unit) 

(Clevis) 

(Opposite motor reversing direction) 

(Actuator) 

(Actuator) 

(Actuator) 

(Flange) 

(Flange) 

(Foot) 

(Foot) 

(Foot) 

(Foot) 

(Foot) 



(Clevis) 

(Clevis) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

Index 

387 

189 

191 

193 

382 

382 

384 

384 

383 

384 

384 

385 

385 

386 

386 

125 

129 

133 

127 

131 

135 

145 

149 

Index 422 

5 

381 

382 

383 

385 

373 

373 

343 • 353 • 363 

343 • 353 • 363 

373 

372 

372 

372 

343 • 353 • 363 • 373 

343 • 353 • 363 • 373 

343 • 353 • 363 

343 • 353 • 363 • 373 

343 • 353 • 363 

343 • 353 • 363 

372 

385 

385 

385 

305 

305 

305 

305 

305 

305 

293 

293 

335 

344 • 354 • 364 

386

Index 

RCA-RGD4C 

RCA-RGD4D 

RCA-RGS3C 

RCA-RGS3D 

RCA-RGS4C 

RCA-RGS4D 

RCA-RP-RA3 

RCA-RP-RA4 

RCA-SA4C 

RCA-SA4D 

RCA-SA4R 

RCA-SA5C 

RCA-SA5D 

RCA-SA5R 

RCA-SA6C 

RCA-SA6D 

RCA-SA6R 

RCA-SS4D 

RCA-SS5D 

RCA-SS6D 

RCA-SS-SA4 

RCA-TRF-RA3 

RCA-TRF-RA4 

RCA-TRR-RA3 

RCA-TRR-RA4 

RCACR-SA4C 

RCACR-SA5C 

RCACR-SA5D 

RCACR-SA6C 

RCACR-SA6D 

RCAW-RA3C 

RCAW-RA3D 

RCAW-RA3R 

RCAW-RA4C 

RCAW-RA4D 

RCAW-RA4R 

RCB-TU-PIO-A 

RCB-TU-PIO-AP 

RCB-TU-PIO-B 

RCB-TU-PIO-BP 

RCB-TU-SIO-A 

RCB-TU-SIO-AP 

RCB-TU-SIO-B 

RCB-TU-SIO-BP 

RCM-101-MW 

RCM-101-USB 

RCM-E 

RCM-GW-CC 

RCM-GW-DV 

RCM-P 

RCM-T 

RCM-TD 

RCP2-HS8R 

RCP2-BA6 

RCP2-BA6U 

RCP2-BA7 

RCP2-BA7U 

RCP2-FL-RA10 

RCP2-FL-RA2 

RCP2-FL-RA3 

RCP2-FL-RA4 

RCP2-FL-RA6 

RCP2-FT-RA10 

RCP2-FT-RA2 

RCP2-FT-RA3 

RCP2-FT-RA4 

RCP2-FT-RA6 

RCP2-GR3LM 

RCP2-GR3LS 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Rear mounting plate) 


(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Slider spacer) 

(Trunnion) 

(Trunnion) 

(Trunnion) 

(Trunnion) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Insulated PIO terminal block) 




(SIO terminal block) 




(PC software) 

(PC software) 


(Gateway unit) 

(Gateway unit) 




(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Flange) 

(Flange) 

(Flange) 

(Flange) 

(Flange) 

(Foot) 

(Foot) 

(Foot) 

(Foot) 

(Foot) 

(Actuator) 

(Actuator) 

147 

151 

137 

141 

139 

143 

387 

387 

49 

55 

67 

51 

57 

69 

53 

59 

71 

61 

63 

65 

388 

389 

389 

389 

389 

243 

245 

249 

247 

251 

279 

279 

279 

281 

281 

281 

302 

302 

302 

302 

302 

302 

302 

302 

303 • 313 • 323 • 333 

303 • 313 • 323 • 333 

303 • 313 • 323 • 333 

292 

291 

303 • 313 • 323 • 333 

303 • 313 • 323 • 333 

303 • 313 • 323 • 333 

43 

45 

45 

47 

47 

382 

382 

382 

382 

382 

384 

384 

384 

384 

384 

211 

209 

423 Index

Index 

Index 424 

RCP2-GR3SM 

RCP2-GR3SS 

RCP2-GRM 

RCP2-GRS 

RCP2-HS8C 

RCP2-HS8R 

RCP2-RA10C 

RCP2-RA2C 

RCP2-RA3C 

RCP2-RA4C 

RCP2-RA6C 

RCP2-RGD3C 

RCP2-RGD4C 

RCP2-RGD6C 

RCP2-RGS4C 

RCP2-RGS6C 

RCP2-RTB 

RCP2-RTC 

RCP2-SA5C 

RCP2-SA5R 

RCP2-SA6C 

RCP2-SA6R 

RCP2-SA7C 

RCP2-SA7R 

RCP2-SA-RT 

RCP2-SB-GRM 

RCP2-SB-GRS 

RCP2-SS7C 

RCP2-SS7R 

RCP2-SS8C 

RCP2-SS8R 

RCP2-TA-RT 

RCP2CR-HS8C 

RCP2CR-SA5C 

RCP2CR-SA6C 

RCP2CR-SA7C 

RCP2CR-SS7C 

RCP2CR-SS8C 

RCP2W-FL-RA4 

RCP2W-FL-RA6 

RCP2W-RA10C 

RCP2W-RA4C 

RCP2W-RA6C 

RCP2W-SA16C 

RCS2-A4R 

RCS2-A5R 

RCS2-A6R 

RCS2-F5D 

RCS2-FL-RA5 

RCS2-FL-RA7 

RCS2-FT-RA5 

RCS2-FT-RA7 

RCS2-GR8 

RCS2-RA4C 

RCS2-RA4D 

RCS2-RA4R 

RCS2-RA5C 

RCS2-RA5R 

RCS2-RA7AD 

RCS2-RA7BD 

RCS2-RGD4C 

RCS2-RGD4D 

RCS2-RGD5C 

RCS2-RGD7AD 

RCS2-RGD7BD 

RCS2-RGS4C 

RCS2-RGS4D 

RCS2-RGS5C 

RCS2-RGS7AD 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Shaft adapter) 

(Shaft bracket) 


(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Table adapter) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Flange) 

(Flange) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Flange) 

(Flange) 

(Foot) 

(Foot) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

215 

213 

207 

205 

31 

43 

113 

105 

107 

109 

111 

119 

121 

123 

115 

117 

219 

221 

21 

33 

23 

35 

25 

37 

387 

387 

387 

27 

39 

29 

41 

388 

241 

231 

233 

235 

237 

239 

383 

383 

277 

273 

275 

271 

195 

197 

199 

201 

382 

383 

385 

385 

217 

153 

157 

163 

155 

165 

159 

161 

177 

181 

179 

183 

185 

167 

171 

169 

173

Index 

[S] 

[T] 

[V] 

RCS2-RGS7BD 

RCS2-RT6 

RCS2-RT6R 

RCS2-RT7R 

RCS2-SA4C 

RCS2-SA4D 

RCS2-SA4R 

RCS2-SA5C 

RCS2-SA5D 

RCS2-SA5R 

RCS2-SA6C 

RCS2-SA6D 

RCS2-SA6R 

RCS2-SA7C 

RCS2-SA7R 

RCS2-SS7C 

RCS2-SS7R 

RCS2-SS8C 

RCS2-SS8R 

RCS2CR-SA4C 

RCS2CR-SA5C 

RCS2CR-SA5D 

RCS2CR-SA6C 

RCS2CR-SA6D 

RCS2CR-SA7C 

RCS2CR-SS7C 

RCS2CR-SS8C 

RCS2W-RA4C 

RCS2W-RA4D 

RCS2W-RA4R 

REU-1 

REU-2 

RP 

SA 

SB 

SCON-C 

SR 

SS 

SSEL-C 















TA 

TRF 

TRR 

VR 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Actuator) 

(Regenerative resistor unit) 

(Regenerative resistor unit) 


(Shaft adapter) 



(Slider roller specification) 

(Slider spacer) 


(Stainless sheet) 














(Table adapter) 

(Trunnion) 

(Trunnion) 

(Vacuum position on opposite side) 

175 

223 

225 

227 

73 

85 

91 

75 

87 

93 

77 

89 

95 

79 

97 

81 

99 

83 

101 

253 

255 

265 

257 

267 

259 

261 

263 

283 

283 

283 

372 

333 • 363 

387 

387 

387 

325 

388 

388 

355 

390 

390 

390 

390 

390 

390 

390 

390 

390 

390 

390 

390 

390 

390 

388 

389 

389 

389 

425 Index

Catalog No.: CJ0050-7A 

(2006) 

www.intelligentactuator.com

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