RCON

www.intelligentactuator.com
 Saves space inside
the control panel

is recommended for actuators with two axes or more.

Up to 2 axes of actuators can be connected to one RCON driver unit with 22mm width,
making it ideal for saving space in the control panel.

PLC
22mm

Driver unit

Gateway unit

Terminal unit

Actuator 2-axis Connectable

RCON is recommended for customers

Actuator who plan on using 2 axes or more.

1
Up to 16 axes*1 of actuators can be connected.
There will be no wasted space as driver units can be added in just the amount necessary.

8 driver units x 2 axes = 16 axes max.

Select just as many
axes as necessary

*1 Actuator models
The maximum number of connectable axes differs
depending on (motor capacity / field network
operation mode).

Saves up to 85% *2 of control panel space. *2 IAI product comparison

Up to about 85% of control panel space can be saved, compared with models that connect a 1-axis actuator to a
single driver unit.

PCON-CB x 16 units 30mm *3

Driver unit x 16
179mm

1,010mm

*3 Minimum distance required for natural heat dissipation of the controller

x 16-axis connection specification

115mm

Saves space by 85%

223.4mm

2
 Reduces costs
by as much as 60% .
*4

*4 IAI product comparison

The conventional type ([Comparison example] below) requires network options installed to match the number of
controllers.
RCON can control driver units for up to 16 axes of actuators with a single gateway, allowing cost reductions up to
60% or so. It is especially recommended when using multiple axes.

Comparison example

A network option is required

for each controller.

PLC

PCON-CB CC-Link specification x 16 units

60% cost reduction

For RCON
Now, just one gateway is required.

PLC

CC-Link specification
high-output stepper
motor 16 axes

3
 Seven high-performance
functions that only IAI is
capable of delivering
High function 1 Compatibility: No.1 in the industry with
seven field network types supported

Can be connected to various field networks.

High function 2 Predictive maintenance/preventative maintenance function

The RCON has a preventative maintenance function for the capacitor and a predictive maintenance function for the fan
unit and actuator.

PLC
Stop breakdowns Fan replacement period reminders
in advance!
Fan unit
Rotation speed has dropped to 70%.

Board replacement
period reminders
Board replacement
period reminders Driver unit
Capacitor capacitance has
Gateway unit dropped by 20%.
Capacitor capacitance has
dropped to 50%.
Patent Capacitor life
pending sensor equipped
Patent Capacitor life
pending sensor equipped

Maintenance period reminders

Actuator
Motor temperature has exceeded
the set value due to motor overload,
grease depletion, wear on parts, etc.

4
 High function 3 Supports controller installation environment
temperatures of 0 to 55°C

Install the optional fan unit to enable use in environments of 0 to 55°C without lowering actuator operating duty.
(one fan unit can be mounted across a driver unit and a terminal unit)

120
With fan
100
Without fan

Operating duty (%)

80

60
Fan unit 40
[RCON-FU]
20

0
0 10 20 30 40 50 60
Operating temperature (°C)
Can also be easily
removed without
a tool.
(Retrofitting is also
possible.)

High function 4 Controller interior communication time is 4ms cycle

Controller interior communication time is 4ms even when 16 actuators are connected.

Driver unit

Gateway unit Terminal unit

PLC

Field network
communication

Controller interior
Connected axes communication time

1~4-axis 1ms cycle

5~9-axis 2ms cycle
10~14-axis 3ms cycle
15~16-axis 4ms cycle

5
High function 5 No. 1 in the industry for number of supported actuators
(332 IAI actuator models *).

Compatible with RCP2/3/4/5/6, RCA/2, RCD, RCL Series

Supports actuators equipped with a Battery-less absolute encoder as well as those with simple absolute and
incremental encoders.

Compatible with RCS2/3/4, IS(D)B, SSPA, LSA, NS, DDA Series

When the SCON's RCON connection specification option (-RC) is selected, it can be connected to the RCON
expansion unit (RCON-EXT) to operate an actuator equipped with a large-capacity motor.
One RCON-EXT can connect to multiple SCON-CB controllers.

Expansion unit
(RCON-EXT)

Connection cable CB-RE-CTL002

*Max. length 3m (CB-RE-CTLO30), total length
RCON connection specification
10m or less
SCON-CB/CGB

 Large-capacity motor equipped actuator

* IAI General Catalog product series / type model

Note that servo press actuator models, LSA-W21H, EC Series, SCARA robots,
TTA, ZR units and Wrist Units are not supported.
* As of December 2018

6
 High function 6 Motor power cutoff method can be selected.
In accordance with customer safety function applications, the motor power (drive source) cutoff method
at emergency stop can be selected through the RCON wiring method.

Actuator single-axis
motor power cutoff

Actuator all-axis
All-axis motor power port
motor power cutoff

Single-axis motor power cutoff

High function 7 Helps visualize equipment with 24V power monitor

Visualize power consumption

The following IAI 24V power supply (PSA-24) monitoring can be output to a PLC via RCON.
 Output voltage  Output current  Power load factor  Total energizing time
 Internal temperature  Low fan speed warning

918[W]

800 Power supply peak power

Power supply rated power
600
[W]

400

200
Average power
12[W]
0
0 0.5 1.0 1.5 2.0 2.5
[sec]
*The graph is a reference image.

Equipped with
PLC communication
function to RCON

24V power supply (PSA-24)

7
 Enables easy start-up
and maintenance.
Even without a teaching pendant or PC teaching software, each axis can be moved forward/backward.

Each axis JOG (+/-) switch

Backward Forward

Actuator
Home
(Coordinate: 0 mm)
Backward

Movable
part Forward

Stroke end

JOG switch enabled in manual mode, with PC software/

teaching pendant manual operation windows closed.

Each axis brake release switch

Actuator
Forced brake
release

Movable part

Equipped with a brake release switch for each axis,

the movable parts can be moved by hand during
maintenance.

USB port
Connection to a PC is possible using
a commercial USB cable.
Dedicated cables are not required.
*Compatible with miniUSB (mini-B).

8
 Selection Method
Step 1 Actuator selection

<Selection example>

RCD Series RCP4 Series RCP2 Series RCA2 Series RCA2 Series RCP6 Series ISB Series ISB Series

The actuator series are classified into two categories according to the table below.

Controller Actuator

RCP2/3/4/5/6, RCA/2, RCD, RCL Series (24VDC)

<Selection example>

<24VDC> RCD RCP4 RCP2 RCA2 RCA2 RCP6

Two
categories
SCON-CB RCS2/3/4, IS(D)B, SSPA, LSA,
NS, DDA Series (100/200VAC)
<Selection example>

<100/200VAC> ISB ISB

*Note that servo press actuator models, LSA-W21H, EC Series, SCARA robots, TTA, ZR units and Wrist Units cannot be connected.

Step 2 Gateway unit selection

Select the gateway unit model from the network type.
Caution
Network type Gateway unit model Only one gateway unit can be connected per system.
When using two units or more, divide it into two.
RCON-GW/GWG-DV
<Selection example>
× Gateway unit

RCON-GW/GWG-CC Select 1
One gateway
RCON-GW/GWG-CIE
per system

RCON-GW/GWG-PR

RCON-GW/GWG-EC

RCON-GW/GWG-EP  Gateway unit Gateway unit

RCON-GW/GWG-PRT
+
* GW: Gateway unit of standard specifications
GWG: Gateway unit of safety category type.
Contact IAI for additional safety category items (teaching pendant/TP adapter/
dummy plug/cable, etc.)

16 axes of actuators can be connected to one gateway unit.

9
 Step 3 Driver unit selection
Select the driver unit model number and required number of units according to the series name and motor type of the
actuator(s) to be connected to the RCON.

Actuator Driver unit <Selection example>

Number of axes Required

Series Motor type External view connected to actuator Model Classification units
Stepper motor
2-axis specification RCON-PC-2 1 Select 2
20P, 28P
RCP2 35P, 42P
RCP4 RCP2
RCP3 56P
RCP4 1-axis specification RCON-PC-1 1 Select 2
RCP5 RCP6
RCP6 High thrust motor
56SP, 60P 1-axis specification RCON-PCF-1 -
86P
AC servo motor
2 2-axis specification RCON-AC-2 1 Select 2
RCA 5 RCA2 RCA2
RCA2 10
RCL 20, 20S
30 1-axis specification RCON-AC-1 -

DC brush-less motor
2-axis specification RCON-DC-2 -
RCD 3D
1-axis specification RCON-DC-1 1 Select 2
RCD

Step 4 Simple absolute unit selection

For actuators with simple absolute specification, select simple
absolute units (RCON-ABU-A/P) for the required number of axes.
*Connect to the RCON controller using a cable (CB-ADPC-MPA005).
The cable is supplied with the simple absolute unit.
Note: The ambient operating temperature of the simple absolute unit is within the range of 0~40°C.
* One simple absolute unit required per axis. Simple absolute
RCON-ABU-A RCON-ABU-P battery

<Selection example>

This is an example in which a 2-axis RCA2 Series actuator is selected for simple absolute specification.

Driver unit Simple absolute unit

RCON-DC-1 RCON-PC-2 RCON-PC-1 RCON-AC-2 RCON-ABU-A x 2

Select 3
Actuators to be made
compatible with
RCD RCP4 RCP2 RCP6 RCA2 RCA2 simple absolute
Series Series Series Series Series Series

10
 Step 5 Expansion unit selection
For actuators to be connected to SCON-CB, select (1) to (3) below.

(1) Expansion unit (Model: RCON-EXT)

<Selection example>

When connecting SCON-CB and

RCON, one expansion unit is
x 1 unit Select 4
required. One unit can connect to
multiple SCON-CB RC controllers.

(2) RCON connection specification SCON-CB

<Selection example> I/O type

Model: SCON- * - * * * - RC -*

RCON connection
specification
Required for the number selected

of actuator axes to be x 2 units Select 5

connected to SCON* .

* 16 axes max.
* 100/200 VAC power supply for each SCON-CB RC

(3) RCON expansion unit to SCON-CB connection cable

One cable (CB-ER-CTL002) is supplied as standard with SCON-CB for RCON connection.

Standard Standard
accessory: 20 cm accessory: 20 cm

SCON standard SCON standard

accessory accessory

RCON expansion unit SCON-CB RC SCON-CB RC

RCON-EXT

separately
Must be Model: CB-RE-CTL max length 3m (030)

purchased only when See P. 37

20 cm is too short. x Required number of units

Total cable length may not exceed 10m

11
 Step 6 Calculating various unit control power capacities (CP) Gateway unit

Make sure that the total control power capacity of the

various units selected so far is within 9.0A.

How to check

Add up while checking the "Control Power Capacity List" below.

Control power (CP)
9.0A or less

Control Power Capacity List

Item Specifications

Power supply voltage 24VDC±10% <Selection example>

Gateway unit (includes terminal unit) 0.8A x 1 unit

Brake: No 0.2A
Control power Driver unit
capacity (CP) (common for Brake: Yes (1-axis specification) 0.4A x 1 unit
( Per driver unit ) all types)
Brake: Yes (2-axis specification) 0.6A

Expansion unit 0.1A x 1 unit

Simple absolute unit (common to all types) 0.2A x 2 axes

<Selection example>

Gateway unit Expansion unit Driver unit Simple absolute unit

RCON-GW-CC RCON-EXT RCON-DC-1 RCON-PC-2 RCON-PC-1 RCON-AC-2 RCON-ABU-A x 2

Simple
absolute
Control power (CP) specification
Current limit value for 2 axes
9.0A or less
SCON RCD RCP4 RCP2 RCP6 RCA2 RCA2
Without brake Without brake With brake Without brake

0.8A + 0.1A + 0.2A + 0.2A + 0.4A + 0.2A + (0.2A x 2 axes) = 2.3A < 9.0A
OK
(Confirmed to be less than 9.0A. If larger than 9.0A, another gateway unit is required.)

12
 Step 7 Calculating various unit motor power capacities (MP) Gateway unit

Make sure that the total motor power capacity of the driver units
selected so far is within 37.5A.

How to check

Add up while checking the "Motor Power Capacity List" below. If the Motor power (MP)
maximum current is listed, add the maximum current. If not, add the 37.5 A or less
rated current.
* Do not include the 100/200 VAC power supply to SCON-CB RC.

Motor Power Capacity List

Actuator/driver unit Max. current
Rated
Item
Series Motor type current When energy- <Selection
saving is set example>

RCP2 20P/20SP/28P Without 0.8A - - x 2 axes

RCP3 28P* PowerCON 1.9A - -
Stepper motor
RCON-PC RCP4 Without
28P/35P/42P/ 1.9A - -
RCP5 PowerCON
42SP/56P
x 1 axis
RCP6
With PowerCON 2.3A - 3.9A
RCP2
Stepper motor RCP4 56SP/60P/ Without
5.7A - -
RCON-PCF RCP5 86P PowerCON
RCP6
Motor power Standard /
capacity (MP) 5W Hi-accel./decel. 1.0A - 3.3A

( Per 1-axis
actuator ) RCA
RCA2
10W
20W Standard / High
1.3A
1.3A
2.5A
2.5A
4.4A
4.4A x 2 axes
AC servo motor accel/decel /
20W(20S) Energy saving 1.7A 3.4A 5.1A
RCON-AC
30W 1.3A 2.2A 4.0A
2W 0.8A - 4.6A
Standard /
RCL 5W 1.0A - 6.4A
Hi-accel./decel.
10W 1.3A - 6.4A
-
x 1 axis
DC brush-less motor 0.7A 1.5A
RCD 3W Standard
RCON-DC
* Applicable models: RCP2-RA3, RCP2-RGD3
<Selection example>

Gateway unit Driver unit

RCON-GW-CC RCON-DC-1 RCON-PC-2 RCON-PC-1 RCON-AC-2

Motor power (MP)

Actuator
Current limit value
37.5 A or less Series RCD RCP4 RCP2 RCP6 RCA2 RCA2
Motor type 3W 28P 20P 35P 20W 20W

1.5A + 3.9A + 0.8A + 3.9A + 4.4A + 4.4A = 18.9A < 37.5A

OK

13
(Confirmed to be less than 37.5A. If larger than 37.5A, another gateway unit is required.)
 Step 8 Fan unit selection
If the controller installation environment may exceed 40°C, a fan unit will be required. (Up to 55°C)
The number of fan units is the total number of driver units divided by 2.
If the total number of driver units is an odd number, add 1 to the total number and divide it by 2 (The last fan will connect to
the last driver card and the terminal unit).
When ordering, be sure to specify the gateway unit model.

<Selection example>
4 driver units ÷ 2 = 2 units Fan unit [RCON-FU]

Select 6

Note: The ambient operating temperature of the simple absolute unit is

within the range of 0~40°C even when a fan unit is installed.

Step 9 Unit models to be ordered

Order using the model name for each unit.

<Selection example> Gateway unit (2 fan units included)

[RCON-GW-CC-FU2] 1 6 6 6

Expansion unit [RCON-EXT] 4

Driver unit [RCON-DC-1] 2

1 4 2 2 2 2 1
Driver unit [RCON-PC-2] 2

Driver unit [RCON-PC-1] 2

Driver unit [RCON-AC-2] 2

Simple absolute unit [RCON-ABU-A] x 2 3 5 5 3 3

RCON connection specification SCON
[SCON-*-***-RC] x 2 5

See pages 33 to 34 for applicable cables for each actuator.

14
 Model Specification Items

(1)

(3) (4)
(2)
(1) Gateway unit

RCON
Series Type I/O Type Options

GW Standard type DV DeviceNet connection specification FU Fan unit mounting (: Specify the number of units, 1 ~ 8)

GWG Safety category spec type CC CC-Link connection specification TRN Without terminal unit

CIE CC-Link IE Field connection specification * A terminal unit is required during operation.
* “-FU” can be deleted if fan unit is ordered separately.
PR PROFIBUS-DP connection specification Ex. RCON-GW-EP-FU2 is equal to RCON-GW-EP and RCON-FU (2 qty).

EC EtherCAT connection specification

EP EtherNet/IP connection specification

PRT PROFINET IO connection specification

(2) Driver unit

RCON Type: PC
20P
20SP
20 stepper motor
20 stepper motor (For RA2AC/RA2BC)
Series Type Number of 28P 28 stepper motor
1.2A motor
35P 35 stepper motor
Axes 1-axis
42P 42 stepper motor
2-axis
42SP 42 stepper motor (For RCP4-RA5C)
56P 56 stepper motor
PC Stepper motor 1 1-axis specification Type: PCF 56SP 56 high thrust stepper motor
4A motor 60P 60 high thrust stepper motor
PCF High thrust stepper motor 2 2-axis specification 1-axis 86P 86 high thrust stepper motor
*Type: Only 1-axis can be selected for PCF
AC AC servo motor
2 2W servo motor
Type: AC 5 5W servo motor
DC DC brush-less motor
2-30W motor 10 10W servo motor
1-axis 20 20W servo motor
2-axis 20S 20W servo motor (For RCA2-SA4/RCA-RA3)
30 30W servo motor

Type: DC
3D motor
3D 2.5W DC brush-less motor
1-axis
2-axis

(3) Expansion unit (4) Simple absolute unit

RCON EXT RCON ABU

Series Expansion Series Absolute Unit Type P Stepper motor

A AC servo motor

(5) SCON controller (RCON connection specification)

SCON RC 0
Type Motor Type Encoder Type Options I/O Type I/O Cable Length Power Supply
Voltage

Contact IAI for model selection items

15
Only SCON-C RC option can be connected to RCON-EXT.
 System Configuration

DeviceNet, CC-Link,
Options Options CC-Link IE Field, EtherCAT,
EtherNet/IP,
PC teaching software Touch panel teaching Field network PROFIBUS-DP, PROFINET IO
(See P. 30) pendant
<Model: IA-OS> (See P. 30)
<Model: RCM-101-MW/USB> <Model: TB-03> <Model: TB-02>

Included with gateway

unit
System I/O connector
For IA-OS: USB cable Options
(See P. 32)
For RCM-101: <Model: DFMC1.5/ Fan unit
Supplied with GWG specification
Supplied with PC teaching
5-ST-3.5> (See P. 32)
software Dummy plug
<Model: RCON-FU>
(See P. 32)
Options <Model: DP-5>
24 V power supply Supplied with simple absolute unit
(See P. 31) Connection cable
<Model: PSA-24(L)> (See P. 35)
<Model:
CB-ADPC-MPA005>

Options
Simple absolute unit
Supplied with driver unit (See P. 25)
Supplied with SCON-CB (RC specification)
Drive source shutoff connector <Model: RCON-ABU-P
Connection cable
(See P. 32) (For stepper motor)>
(See P. 37)
<Model: DFMC1.5/2-STF-3.5> <Model: RCON-ABU-A
<Model: CB-RE-CTL002>
(For AC servo motor)>

RCON connection
specification
SCON controller
[I/O type: RC]
(Please contact IAI for Supplied with expansion unit
more details) Terminal connector
(See P. 31)
<Model: RCON-EXT-TR>

Motor/encoder cable*
Connectable actuators
RCS2/3/4 DDA Series RCP2/3/4/5/6 Series RCA/2 Series RCD Series
Series LSA Series

IS(D)B Series
SSPA Series

* Refer to page 25 for actuators that

cannot be connected.
100/200VAC 24VDC
*The 100/200 VAC motor/encoder cable is supplied with the actuator.
The motor/encoder cables are different according to the actuator type to be connected.
Refer to page 33 if conversion cables need to be prepared.

16
 Unit
System
Confi
Confi
guration
guration

The RCON has a modular configuration. Connect each unit under the following conditions.

Unit name Number of connected units Location

Gateway unit 1 Placed at far left
Expansion unit 1 Placed to right of gateway unit
Driver unit 16 axes max.* Placed to left of terminal unit
Terminal unit 1 Placed at far right
* · Driver units can be rearranged.
· The maximum number of connectable axes varies depending on the operation mode.
For details, refer to “Maximum number of connectable axes (page 26)”.

Gateway unit Expansion unit Driver unit Terminal unit

Unit name and single product model number list

Product name Model Reference page

DeviceNet connection specification RCON-GW/GWG-DV P. 20

CC-Link connection specification RCON-GW/GWG-CC P. 20

CC-Link IE Field connection specification RCON-GW/GWG-CIE P. 21

Gateway unit
PROFIBUS-DP connection specification RCON-GW/GWG-PR P. 21
(GWG: Safety category type)
EtherCAT connection specification RCON-GW/GWG-EC P. 22

EtherNet/IP connection specification RCON-GW/GWG-EP P. 22

PROFINET IO connection specification RCON-GW/GWG-PRT P. 23

For SCON-CB connection RCON-EXT P. 25

Expansion unit
Terminal connector (for SCON-CB) RCON-EXT-TR P. 32

Stepper motor 1-axis specification RCON-PC-1

Stepper motor 2-axis specification RCON-PC-2

High thrust stepper motor 1-axis specification RCON-PCF-1

Driver unit AC servo motor 1-axis specification RCON-AC-1 P. 24

AC servo motor 2-axis specification RCON-AC-2

DC brush-less motor 1-axis specification RCON-DC-1

DC brush-less motor 2-axis specification RCON-DC-2

Terminal unit Included with gateway unit RCON-GW-TR P. 25

Simple absolute unit For RCON-PC RCON-ABU-P

P. 25
(1-axis specification) For RCON-AC RCON-ABU-A

Fan unit One for every two driver units RCON-FU P. 32

17
 General Specifications

Item Specifications Details page

Power supply voltage 24VDC ±10% -

Power supply current Differs with system configuration P. 19

Number of axes controlled 1 to 16 axes *For maximum axes, refer to “Maximum number of connectable axes” P. 26

Incremental 800

Stepper motor RCP4/RCP5 800

Battery-less Absolute
RCP6 8192

Incremental 800
Encoder resolution RCA
Battery-less Absolute 16384 -
[pulse/r] AC servo motor
RCA2-***N/NA 1048
Incremental
Excluding RCA2-***N/NAN 800

RCD-RA1R/GRSN 400
DC brush-less motor Incremental
RCD-RA1DA/GRSNA 480

DeviceNet, CC-Link, CC-Link IE Field, PROFIBUS-DP,

Supported field networks
EtherCAT, EtherNet/IP, PROFINET IO

Gateway unit, driver unit, expansion unit,

Configuration units P. 20
simple absolute unit

Communication method RS485

Teaching port
Communication speed 9.6/19.2/38.4/57.6/115.2/230.4kbps
SIO interface -
Communication method USB
USB port
Communication speed 12Mbps

Collective system support with gateway unit STOP signal input, equipped with connectors capable of
Emergency stop/Enable operation -
shutting off the drive power supply to individual axes of each driver unit

Position data and parameters are saved in non-volatile memory

Data recording device -
(Unlimited rewrites)

Calendar function Retention function: About 10 days Charging time: About 100 hours -

Safety category compliance B (The safety category specification supports up to category 4 external circuits) -

Protection functionality Overcurrent, abnormal temperature, encoder disconnection, overload -

Preventative/predictive maintenance
Low electrolytic capacitor capacity and low fan rotation speed -
function

Ambient operating temperature 0~55°C *0~40°C for simple absolute units -

Ambient operating humidity 85% RH or less, non-condensing -

Operating atmosphere Avoid corrosive gas and excessive dust -

Frequency: 10~57Hz / Amplitude: 0.075mm, Frequency: 57~150Hz / Acceleration: 9.8m/s2

Vibration resistance -
XYZ directions Sweep time: 10 minutes Number of sweeps: 10 times

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

Electric shock protection mechanism Class III -

Degree of protection IP20 -

Insulation withstanding voltage 500VDC 10MΩ -

PowerCON: No 5.0W
RCON-PC
PowerCON: Yes 8.0W
Generated heat
RCON-PCF PowerCON: No 19.2W -
(per unit)
RCON-AC Standard / High accel/decel / Energy saving 4.5W

RCON-DC Standard 3.0W

Cooling method Natural cooling and forced cooling by fan unit (option) -

Connections between each unit Unit connection method -

Installation/mounting method DIN rail (35mm) mounting -

Regulations/standards CE Marking, UL Certification (planned), RoHS -

18
 Power Capacity

Based on the connection configuration, make sure for each unit that the calculated results for control power and
motor power do not exceed the current limit value for selection calculation.

Item Current limit value

Control power 9.0A or less

Motor power 37.5A or less

* Do not include the power supply to SCON-CB RC.

Power supply capacity by unit

Item Specifications

Power supply voltage 24VDC±10%

Gateway unit
0.8A
(includes terminal unit)
Brake: No 0.2A
Control power capacity Driver unit
Brake: Yes (1-axis specification) 0.4A
(per unit) (common for all types)
Brake: Yes (2-axis specification) 0.6A

Expansion unit 0.1A

Simple absolute unit (common to all types) 0.2A

Actuator/driver unit Max. current

Rated
current When energy-
Series Motor type
saving is set

RCP2 20P/20SP/28P 0.8A - -

Without PowerCON
RCP3 28P* 1.9A - -
Stepper motor/
RCON-PC RCP4 Without PowerCON 1.9A - -
28P/35P/42P/
RCP5
42SP/56P With PowerCON 2.3A - 3.9A
RCP6
RCP2
Stepper motor/ RCP4
56SP/60P/86P Without PowerCON 5.7A - -
RCON-PCF RCP5
Motor power capacity RCP6
(per 1-axis actuator) 5W Standard / Hi-accel./decel. 1.0A - 3.3A

10W 1.3A 2.5A 4.4A

RCA
20W Standard / High accel/decel / 1.3A 2.5A 4.4A
RCA2
20W(20S) Energy saving 1.7A 3.4A 5.1A
AC servo motor/
RCON-AC 30W 1.3A 2.2A 4.0A

2W 0.8A - 4.6A

RCL 5W Standard / Hi-accel./decel. 1.0A - 6.4A

10W 1.3A - 6.4A

DC brush-less motor/
RCD 3W Standard 0.7A - 1.5A
RCON-DC
* Applicable models: RCP2-RA3, RCP2-RGD3

· For operation patterns where acceleration/deceleration operation is performed simultaneously on all axes, and where
operating duty is 100%: Motor power must be calculated at the maximum current value.
(If the maximum current is not listed, calculate with the rated current.)
Caution

19
 Configuration Unit Description

Gateway Unit Features It is used to connect a 24V power supply and a teaching tool to
the RCON.
(The GWG specification is for the safety category spec type.)

Gateway unit DeviceNet connection specification

 Model: RCON-GW/GWG-DV
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 155g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

Standard
System I/O Cable side DFMC1.5/5-ST-3.5
accessories

Standard
Cable side MSTB2.5/5-STF-5.08 AUM (Phoenix Contact)
Network accessories
Controller side MSTBA2.5/5-GF-5.08 AU (Phoenix Contact)
Connector for network
Network connection cable
5 Shield (SLD) Signal name
Pin No. Description Compatible wire diameter
(color scheme)
4 Yellow (DG)
1 V- (black) Power supply cable - side
3
White (DB) 2 CAN L (blue) Signal data Low side
2
Blue (DA)
3 - Drain (shield) DeviceNet dedicated cable
1
4 CAN H (white) Signal data High side
5 V+ (red) Power supply cable + side
Controller side
connector top view

Gateway unit CC-Link connection specification

 Model: RCON-GW/GWG-CC
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 154g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

Standard
System I/O Cable side DFMC1.5/5-ST-3.5
accessories

MSTB2.5/5-STF-5.08 AU (Phoenix Contact) Standard

Cable side
Network With 110Ω/130Ω terminal resistor accessories
Controller side MSTB2.5/5-GF-5.08 AU (Phoenix Contact)
Connector for network
Network connection cable
5 Shield (SLD) Signal name Compatible
Pin No. Description
(color scheme) wire diameter
4 Yellow (DG)
1 DA (blue) Signal line A
3
White (DB) 2 DB (white) Signal line B
2
Blue (DA) 3 DG (yellow) Digital ground
1 CC-Link
Connects the shield of shielded cables dedicated
4 SLD (5-pin FG and control power connector
1-pin FG connected internally) cable
Controller side
connector top view Frame ground
5 FG (4-pin SLD and control power connector

20
1-pin FG connected internally)
 Configuration Unit Description

Gateway unit CC-Link IE Field connection specification

 Model: RCON-GW/GWG-CIE
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 165g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

System I/O Cable side DFMC1.5/5-ST-3.5 Standard accessories
Ethernet ANSI/TIA/EIA-568-B Category 5e or To be prepared by the
Cable side
higher shielded 8P8C modular plug (RJ45) customer
Network
Controller Ethernet ANSI/TIA/EIA-568-B Category 5e or
side higher shielded 8P8C modular plug (RJ45)

Connector for network Network connection cable

Pin No. Signal name Description Compatible wire diameter
1 L.ER 1 TP0+ Data 0+
OUT

2 TP0 - Data 0-
8 LINK
3 TP1 + Data 1+
1 L.ER 4 TP2 + Data 2+ For the Ethernet cable, use a straight
IN

5 TP2- Data 2- STP cable of Category 5e or higher.

8 LINK
6 TP1- Data 1-
Controller side 7 TP3 + Data 3+
connector top view 8 TP3 - Data 3-

Gateway unit PROFIBUS-DP connection specification

 Model: RCON-GW/GWG-PR
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 158g
External dimensions W30mm × H115mm × D95mm

Cable connector model

Connector Remarks
(manufacturer)
System I/O Cable side DFMC1.5/5-ST-3.5 Standard accessories
Cable side 9-pin D sub connector (male) To be prepared by the customer
Network
Controller side 9-pin D sub connector (female)

Network connection cable

Connector for network
Pin No. Signal name Description Compatible wire diameter
1 NC Not connected
1
Red B line (positive side) 2 NC Not connected
1 Green A line (negative side)
6 3 B-Line Signal line B (RS-485)
1

8
6

Cable
4 RTS Transmission request
9

8
5

5 PROFIBUS-DP dedicated cable

5 GND Signal GND (insulation)
Shield (Type A: EN5017)
6 +5V +5 V output (isolated)
Controller side 7 NC Not connected
connector top view 8 A-Line Signal line A (RS-485)

21
9 NC Not connected
 Configuration Unit Description

Gateway unit EtherCAT connection specification

 Model: RCON-GW/GWG-EC
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 152g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

System I/O Cable side DFMC1.5/5-ST-3.5 Standard accessories
Ethernet ANSI/TIA/EIA-568-B Category To be prepared by the
Cable side 5 or higher
Shielded 8P8C modular plug (RJ45) customer
Network
Ethernet ANSI/TIA/EIA-568-B Category
Controller side 5 or higher
Shielded 8P8C modular jack (RJ45)
Connector for network
Network connection cable
1 L.ER Pin No. Signal name Description Compatible wire diameter
1 TD + Transmit data +
OUT

8 LINK 2 TD - Transmit data -

1 3 RD + Receive data +
L.ER
4 - Not used For the Ethernet cable, use a straight
IN

5 - Not used STP cable of Category 5 or higher.

8 LINK
6 RD - Receive data -
Controller side
connector top view 7 - Not used
8 - Not used

Gateway unit EtherNet/IP connection specification

 Model: RCON-GW/GWG-EP
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 156g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

System I/O Cable side DFMC1.5/5-ST-3.5 Standard accessories
Ethernet ANSI/TIA/EIA-568-B Category To be prepared by the
Cable side 5 or higher
Shielded 8P8C modular plug (RJ45) customer
Network
Ethernet ANSI/TIA/EIA-568-B Category
Controller side 5 or higher
Shielded 8P8C modular jack (RJ45)

Connector for network

Network connection cable
Pin No. Signal name Description Compatible wire diameter
1
1 TD + Transmit data +
1 2 TD - Transmit data -
6
8 3 RD + Receive data +
8 4 - Not used For the Ethernet cable, use a straight
Controller side 5
5 - Not used STP cable of Category 5 or higher.
connector top view
6 RD - Receive data -
7 - Not used

22
8 - Not used
 Configuration Unit Description

Gateway unit PROFINET IO connection specification

 Model: RCON-GW/GWG-PRT
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 158g
External dimensions W30mm × H115mm × D95mm

Connector Cable connector model (manufacturer) Remarks

System I/O Cable side DFMC1.5/5-ST-3.5 Standard accessories
Ethernet ANSI/TIA/EIA-568-B Category To be prepared by the
Cable side 5 or higher
Shielded 8P8C modular plug (RJ45) customer
Network
Ethernet ANSI/TIA/EIA-568-B Category
Controller side 5 or higher
Shielded 8P8C modular jack (RJ45)
Connector for network
Network connection cable
1 Pin No. Signal name Description Compatible wire diameter

1
1 TD + Transmit data +
6
8 2 TD - Transmit data -
3 RD + Receive data +
8
Controller side 5 4 - Not used For the Ethernet cable, use a straight
connector top view
5 - Not used STP cable of Category 5 or higher.
6 RD - Receive data -
7 - Not used
8 - Not used

23
 Configuration Unit Description

Driver Unit Features A controller unit for actuator control.

Up to two axes can be connected to a single unit.

Driver unit for RCP series connection

A driver unit for stepper motor connection. Model Type Compatible motor capacity
Can be connected to all RCP series actuators. RCON-PC-1 1-axis connection 1.2A
RCON-PC-2 2-axis connection (20/28/35/42/56)
RCON-PCF-1 1-axis connection *For high thrust 4A (56/60/86)

Specifications
Power 24VDC ±10%

(Without brake) 0.2A

Control power (With brake, 1-axis specification) 0.4A
(With brake, 2-axis specification) 0.6A
Ambient operating temperature (Without fan) 0~40°C
& humidity (With fan) 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
(1-axis specification) 175g
Mass
(2-axis specification) 180g
External dimensions W22.6mm × H115mm × D95mm
Accessories Drive source shutoff connector (DFMC1.5/2-STF-3.5)

Driver unit for RCA series connection

A driver unit for AC servo motor connection. Model Type Compatible motor capacity
Can be connected to all RCA series actuators. RCON-AC-1 1-axis connection
2W - 30W
RCON-AC-2 2-axis connection

Specifications
Power 24VDC ±10%

(Without brake) 0.2A

Control power (With brake, 1-axis specification) 0.4A
(With brake, 2-axis specification) 0.6A
Ambient operating temperature (Without fan) 0~40°C
& humidity (With fan) 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
(1-axis specification) 175g
Mass
(2-axis specification) 180g
External dimensions W22.6mm × H115mm × D95mm
Accessories Drive source shutoff connector (DFMC1.5/2-STF-3.5)

Driver unit for RCD series connection

A driver unit for DC brush-less motor connection. Model Type Compatible motor capacity
Can be connected to all RCD series actuators. RCON-DC-1 1-axis connection
3W
RCON-DC-2 2-axis connection

Specifications
Power 24VDC ±10%

(Without brake) 0.2A

Control power (With brake, 1-axis specification) 0.4A
(With brake, 2-axis specification) 0.6A
Ambient operating temperature (Without fan) 0~40°C
& humidity (With fan) 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
(1-axis specification) 175g
Mass
(2-axis specification) 180g
External dimensions W22.6mm × H115mm × D95mm

24
Accessories Drive source shutoff connector (DFMC1.5/2-STF-3.5)
 Configuration Unit Description

Other Units

Expansion unit
SCON-CB/CGB can be connected to operate an actuator with Model
200V motor. RCON-EXT

Specifications
Power 24VDC ±10%
Control power 0.1A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 96g
External dimensions W22.6mm × H115mm × D95mm
Accessories Terminal connector

Actuators that cannot be connected

Servo press type, LSA-W21, SCARA robots, TTA, ZR units, Wrist Units

Terminal unit
A terminal resistor for returning RCON serial communication Model
and input/output signals. (Supplied as an accessory with the
RCON-GW-TR
gateway unit.)
Specifications
Power 24VDC ±10%
Control power 0.8A
Ambient operating temperature & humidity 0~55°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 48g
External dimensions W12.6mm × H115mm × D95mm

Simple absolute unit

This unit is to be connected when using an actuator with Model Type Compatible motor
incremental specification as absolute specification. RCON-ABU-P For RCP series connection Stepper motor
RCON-ABU-A For RCA series connection AC servo motor

Specifications
Power 24VDC ±10%
Control power 0.2A
Absolute battery model AB-7
Battery voltage 3.6V
Charging time Approx. 72 hours
Ambient operating temperature & humidity 0~40°C, 85% RH or less, non-condensing
Operating atmosphere Avoid corrosive gas and excessive dust
Degree of protection IP20
Mass 271g (including 173g for absolute battery)
* One unit per axis with simple absolute.
External dimensions W22.6mm×H115mm×D95mm
Accessories Cable (CB-ADPC-MPA005)

25
 Field Network Operation Modes

The field network control operation mode can be selected from the following control modes.
Data required for operation (target position, speed, acceleration, push current value, etc.) are written by a connected
PLC or other host controller into the specified addresses.

Operation mode Description Overview

PLC Communication
via a field
This mode allows designating the target network
Target position Positioning width
position, speed, acceleration/deceleration, and Speed, acceleration/deceleration
Direct current limit value for pushing numerically. Pushing percentage
Control signal
numerical Also, it is capable of monitoring the present
control mode position, present speed, and the command
Current position
Motor current (command value)
Present speed (command value)
current value with 0.01mm increments. Alarm code Status signal
Actuator

Can modify any of the stored target positions by PLC Communication

Simple direct numerical value. via a field
network
mode Also allows monitoring of the present position Target position
Target position No.
numerically with 0.01mm increments. Control signal

Registers up to 128 points of position data, and

Present position
Positioner 1 can stop at the registered position. Also allows Completed position No.
mode monitoring of the present position numerically Status signal
Actuator
with 0.01mm increments.
PLC Communication
Registers up to 128 points of position data, and via a field
network
can stop at the registered position. Target position No.
Positioner 2 This mode does not allow monitoring of the Control signal

mode present position.

This mode has less in/out data transfer volume Completed position No.
Status signal
than the Positioner 1 mode.
Actuator

PLC Communication
Registers up to 128 points of position data, and via a field
can stop at the registered position. network
Target position No.
This mode does not allow monitoring of the
Positioner 3 Control signal
present position.
mode
This mode has less in/out data transfer volume Completed position No.
than the Positioner 2 mode, and controls travel Status signal

with the minimum of signals. Actuator

PLC Communication
Registers up to 16 points of position data, and via a field
network
can stop at the registered position. Target position No.
Positioner 5 This mode has less in/out data transfer volume Control signal

mode and fewer positioning tables than the Positioner

Present position
2 mode, and allows monitoring of the present Completed position No.
position numerically with 0.1mm increments. Status signal
Actuator

* No remote I/O mode available.

Maximum number of connectable axes

Operation Direct numerical Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5
mode control mode mode mode mode mode mode
Field network

DeviceNet 8-axis 16-axis 16-axis 16-axis 16-axis 16-axis

CC-Link 16-axis 16-axis 16-axis 16-axis 16-axis 16-axis

CC-Link IE Field 16-axis 16-axis 16-axis 16-axis 16-axis 16-axis

PROFIBUS-DP 8-axis 16-axis 16-axis 16-axis 16-axis 16-axis

EtherCAT 8-axis 16-axis 16-axis 16-axis 16-axis 16-axis

EtherNet/IP 8-axis 16-axis 16-axis 16-axis 16-axis 16-axis

PROFINET IO 8-axis 16-axis 16-axis 16-axis 16-axis 16-axis

26
 List of Functions by Operation Mode

Direct numerical Simple direct Positioner 1 Positioner 2 Positioner 3 Positioner 5

control mode mode mode mode mode mode

Number of
Unlimited 128 points 128 points 128 points 128 points 16 points
positioning points

Home return motion      

Positioning operation      

Speed, acceleration/
     
deceleration settings

Different acceleration
and deceleration ×     
settings

Pitch feed
    × 
(Incremental)

JOG operation     × 

Position data writing × ×   × ×

Push-motion operation      

Speed changes while      

traveling

Pausing      

     
Zone signal output (2 points) (2 points) (2 points) (2 points) (1 point) (2 points)

Position zone signal

×    × ×
output

Overload warning
    × 
output

Vibration control (Note 1) ×     

Present position
reading (Note 2)     (Note 3)
× ×
(0.01mm) (0.01mm) (0.01mm) (0.1mm)
(Resolution)
* : Direct setting is possible, : Position data or parameter input is required, ×: The operation is not supported.
Note 1: This function is limited to the AC servo motor specification.
Note 2: The resolution when connecting a SCON controller to control a DDA motor is 0.001 degree (0.01 degree for positioner 5 mode only).
Note 3: The maximum output value in positioner 5 mode is 3,276.7mm (327.67 degrees for DDA motor).
To control the actuator in an operation range exceeding the maximum value, select a different operation mode.

27
 External Dimensions

Gateway unit Terminal unit

39.6
4

35.2
115

115
95
30 7 95
98.8 12.6 98.8
3.5

Driver unit Expansion unit

39.6

39.6
4 4
35.2

35.2
115

115

95 95
1 22.6 7 98.8 1 22.6 7 98.8
3.5

3.5

Simple absolute unit Fan unit

39.6

18.4
34.2 12.5

4
35.2
115

49

95
25 98.8
3.5

28
 CAD drawings can be downloaded from our website. 2D 3D
External Dimensions www.intelligentactuator.com CAD CAD

Unit combination examples

Driver units x 4, without fan Driver units x 4, with fan

133

133
115 3.5 115 3.5

98.8
98.8

95
95

4 4

39.6 35.2 39.6 35.2

Driver units x 8, without fan Driver units x 8, with fan

223.4

223.4

115 3.5 115 3.5

98.8
98.8
95

95

29
4

39.6 35.2 39.6 35.2

 Options

Touch Panel Teaching Pendant

 Features A teaching device equipped with functions such as position teaching,

trial operation, and monitoring.
 Specifications
 Model TB-03- Please contact IAI for the current supported versions. Rated voltage 24VDC
Power consumption 3.6W or less (150mA or less)
Ambient operating
 Configuration 0 to 40°C
temperature
 External Dimensions (54)
Ambient operating
200 34 20~85% RH (Non-condensing)
humidity
Environmental
IPX0
resistance

155
5m Mass 670g (TB-03 unit only)
Wired connection with dedicated
CB-TB3-C050 Charging method
AC adapter/controller
Wireless connection Bluetooth4.2 class2

 Model TB-02(D)- Please contact IAI for the current supported versions.  Specifications
 External Dimensions Rated voltage 24VDC
190 (45.1)
 Configuration 25 Power consumption 3.6W or less (150mA or less)
Ambient operating
temperature 0 to 40°C

Ambient operating
155

humidity 20~85% RH (Non-condensing)

5m Environmental
resistance IP20
CB-TB1-C002
Mass 470g (TB-02 unit only)

PC Teaching Software (Windows only)

 Features Start-up support software which comes equipped with functions such as position
teaching, trial operation, and monitoring.
A complete range of functions needed for making adjustments contributes to Supported Windows versions: 7/8/8.1/10
shortened start-up time.
 Model IA-OS
Please contact IAI for the current supported versions.
 Configuration

USB cable (to be prepared by the user)

PC software (CD)

 Model RCM-101-MW (with external device communication cable + RS232 conversion unit)
Please contact IAI for the current supported versions.
 Configuration
RS232 conversion adapter
RCB-CV-MW
5m

0.3m External device

PC software (CD) communication cable
CB-RCA-SIO050

 Model RCM-101-USB
(with external device communication cable + USB conversion adapter + USB cable)
Please contact IAI for the current supported versions.
 Configuration
USB conversion adapter
RCB-CV-USB
3m 5m

USB cable External device

30
PC software (CD) CB-SEL-USB030 communication cable
CB-RCA-SIO050
 24 V Power Supply

 Overview A power supply the same height as RCON which can be easily  Specifications Table
installed on control panels. Specifications
It can be connected to RCON to monitor power status. Item
100VAC input 200VAC input

 Model PSA-24 Power input voltage range 100VAC~230VAC ±10%

(Without fan) Input power supply current 3.9A or less 1.9A or less
Without fan: 250VA Without fan: 280VA
Power capacity
 Model PSA-24L With fan: 390VA With fan: 380VA
Without fan: 17A (typ) Without fan: 34A (typ)
(With fan) Inrush current *1
With fan: 27.4A (typ) With fan: 54.8A (typ)
Generated heat 28.6W 20.4W
* Non-IAI power supply can be used for RCON. Output voltage range *2 24VDC ±10%

Without fan: 8.5A (204W),

Continuous rated output
with fan: 13.8A (330W)

Peak output 17A(408W)

86% or more 90% or more
Parallel connection *3 Max.: 5 units

*1 The pulse width of flowing inrush current is less than 5 ms.

*2 In order to enable parallel operation, this power supply can vary the
output voltage according to the load. Therefore, the power supply
unit is dedicated for IAI controllers.
*3 Parallel connection cannot be used under the following conditions.
· Parallel connection of PSA-24 (specification without fan) and
PSA-24L (specification with fan)
· Parallel connection with a power supply unit other than this power
supply
· Parallel connection with PS-24

 External Dimensions
PSA-24 PSA-24L

31
 Maintenance Parts

Fan unit Dummy plug

 Overview An option for forced cooling of the  Overview Required for the safety category
driver unit. 1 fan unit to be mounted specification (GWG).
per 2 driver units.
 Model DP-5
 Model RCON-FU
* This plug is included with RCON-GWG.

System I/O connector Drive source shutoff connector

 Overview A connector for emergency stop  Overview A drive source shutoff input
input, operation mode switching connector.
input from exterior, etc.
 Model DFMC1.5/2-STF-3.5
 Model DFMC1.5/5-ST-3.5

Terminal connector Replacement battery

 Overview Required as a terminal resistor when  Overview A replacement battery for the
connecting SCON. simple absolute unit.

 Model RCON-EXT-TR  Model AB-7

* This connector is included with RCON-EXT. * For RCON-ABU-P & RCON-ABU-A.

32
 Maintenance Parts (Cables)

When placing an order for a replacement cable, please use the model number shown below.

Table of compatible cables

Actuator Applicable RCON connection cable (Note 2) RCM-CV- Wiring
No. controller (-RB: Robot cable) APCS diagram
Series Target type symbol Each actuator connection cable

RCP6
(1) RCP6CR Other than high thrust type (Note 1) P5 CB-ADPC-MPA(-RB) - A
RCP6W
RCP5
RCP5CR CB-ADPC-MPA(-RB)
(2) High thrust type (Note 1) P6 - B
RCP5W CB-CAN-AJ002 (conversion cable)

(3) Gripper (GR*), ST4525E, SA3/RA3 P5 CB-ADPC-MPA(-RB) - A

RCP4
CB-ADPC-MPA(-RB)
(4) RCP4CR High thrust type (Note 1) P6 - B
CB-CAN-AJ002 (conversion cable)
RCP4W
CB-ADPC-MPA(-RB)
(5) Other than (3), (4) P5 - B
CB-CAN-AJ002 (conversion cable)

(6) RCP3 P5 CB-RCAPC-MPA(-RB) - C

RCP2 rotary compact type (standard type) CB-ADPC-MPA(-RB)

(7) P5 Required D
RCP2-RTBS/RTBSL/RTCS/RTCSL [CB-RPSEP-MPA]
RCP2CR (clean room type),
RCP2W (dust-proof/splash-proof type)
(8) P5 CB-ADPC-MPA(-RB) - A
Rotary (RT*) of above types
GRS/GRM/GR3SS/GR3SM of above types
RCP2 GRSS/GRLS/GRST/GRHM/GRHB of all types
RCP2CR (standard / clean room / dust-proof/splash-proof)
(9) RCP2W P5 CB-RCAPC-MPA(-RB) - C
Short type (RCP2 only)
RCP2-SRA4R/SRGS4R/SRGD4R

CB-ADPC-MPA(-RB)
(10) High thrust type (Note 1) P6 Required D
[CB-CFA-MPA-RB]

CB-ADPC-MPA(-RB)
(11) Other than (7) to (10) P5 Required D
[CB-PSEP-MPA]

(12) RCA2/RCA2CR/RCA2W, RCL A6 CB-RCAPC-MPA(-RB) - C

Short type (RCA only)

(13) A6 CB-RCAPC-MPA(-RB) - C
RCA RCA-SRA4R/SRGS4R/SRGD4R
RCACR
RCAW CB-ADPC-MPA(-RB)
(14) Other than (13) A6 Required D
[CB-ASEP2-MPA]

(15) RCD RCD-RA1DA, RCD-GRSNA D6 CB-ADPC-MPA(-RB) - A

Note 1: An actuator that uses a high thrust stepper motor (56SP, 60P, 86P)
Note 2: Up to 20m from each driver unit to the actuator, with or without the conversion unit.
Note that the maximum length from the D driver unit to the RCD actuator will be 10 m.

33
 Wiring RCON
Actuator
Diagram driver unit,
motor/encoder, CB-ADPC-MPA(-RB)
A connector

Wiring RCON
* Conversion cable Actuator
Diagram driver unit,
motor/encoder, CB-ADPC-MPA(-RB) CB-CAN-AJ002
B connector

Wiring RCON
Actuator
Diagram driver unit,
motor/encoder, CB-RCAPC-MPA(-RB)
C connector

* RCM-CV Each actuator

Wiring RCON
-APCS connection cable Actuator
Diagram driver unit,
motor/encoder, * CB-ADPC-MPA(-RB)
D
Conversion
connector unit

Items with * do not come with actuator.

Those items need to be purchased separately.

Cables in dash lines (-----) come with actuators if the applicable controller designation for RCON
(P5/P6/A6/D6) are selected in the actuator model #.
- Non High-Thrust Stepper : [P5]
- High-Thrust Stepper : [P6]
- 24V Servo : [A6]
- Brush-less DC Servo : [D6]

Ex.

RCP6-SA4C-WA-35P-5-50-P5-5S: → CB-ADPC-MPAO30 ("S"=3m) cable comes with actuator [Wiring Diagram A]

RCP6-SA8C-WA-56SP-5-50-P6-S: CB-ADPC-MPA030 ("S"=3m) cable comes with actuator but

→ [Wiring Diagram B]
(High-Thrust Type) CB-CAN-AJ002 cable needs to be purchased separately

P3 is not for RCON type cable

RCP6-SA4C-WA-35P-5-50-P3-S: → CB-ADPC-MPA030 ("S"=3m) cable required for RCON
connection

"S" 3m cable between RCM-CV-APCS and actuator comes

RCA-SA6C-WA-20-5-50-A6-S: →
with actuator.
Add two more items:
[Wiring Diagram D]
- RCM-CV-APCS
- CB-ADPC-MPA□□□(-RB)
Shortest non-flex cable is CB-ADPC-MPA002 (200mm)

Contact IAI for details.

34
  Model CB-ADPC-MPA/CB-ADPC-MPA-RB * Please indicate the cable length (L) in , e.g.) 030 = 3m,
maximum 20m

(φ8.5) (Note 1)

(16)
(12) (12)
(13)

(13)
Actuator side Controller side

Minimum bending radius R 5m or less r= 68mm or more (Dynamic bending condition) More than 5m r= 73mm or more (Dynamic bending condition)

* The robot cable is designed for flex-resistance: Please use the robot cable if the cable needs to be installed through the cable track.
(Note 1) If the cable length is over 5m, φ9.1 cable diameter applies.

DF62DL-24S-2.2C (HIROSE ELECTRIC CO., LTD.) DF62DL-24S-2.2C (HIROSE ELECTRIC CO., LTD.)
Signal name Signal name
Color Pin No. Pin No. Color
DC AC PC PC AC DC
Blue (AWG22/19) U U φA 3 3 φA U U Blue (AWG22/19)
Orange (AWG22/19) V V VMM 5 5 VMM V V Orange (AWG22/19)
Brown (AWG22/19) - - φB 10 10 φB - - Brown (AWG22/19)
Gray (AWG22/19) - - VMM 9 9 VMM - - Gray (AWG22/19)
Green (AWG22/19) W W φ_A 4 4 φ_A W W Green (AWG22/19)
Red (AWG22/19) - - φ_B 15 15 φ_B - - Red (AWG22/19)
Light blue (AWG26) A+ A+ SA[mABS] 12 12 SA[mABS] A+ A+ Light blue (AWG26)
Orange (AWG26) A- A- SB[mABS] 17 17 SB[mABS] A- A- Orange (AWG26)
Green (AWG26) B+ B+ A+ 1 1 A+ B+ B+ Green (AWG26)
Brown (AWG26) B- B- A- 6 6 A- B- B- Brown (AWG26)
Gray (AWG26) HS1_IN Z+/SA[mABS] B+ 11 11 B+ Z+/SA[mABS] HS1_IN Gray (AWG26)
Red (AWG26) HS2_IN Z-/SB[mABS] B- 16 16 B- Z-/SB[mABS] HS2_IN Red (AWG26)
Black (AWG26) - VPS/BAT- VPS 18 18 VPS VPS/BAT- - Black (AWG26)
Yellow (AWG26) - BK+ LS+ 8 8 LS+ BK+ - Yellow (AWG26)
Light blue (AWG26) - LS+ BK+ 20 20 BK+ LS+ - Light blue (AWG26)
Orange (AWG26) - LS- BK- 2 2 BK- LS- - Orange (AWG26)
Gray (AWG26) VCC VCC VCC 21 21 VCC VCC VCC Gray (AWG26)
Red (AWG26) GND GND GND 7 7 GND GND GND Red (AWG26)
Brown (AWG26) - BK- LS- 14 14 LS- BK- - Brown (AWG26)
Green (AWG26) HS3_IN LS_GND LS_GND 13 13 LS_GND LS_GND HS3_IN Green (AWG26)
- - - - 19 19 - - - -
Pink (AWG26) - BAT+ CF_VCC 22 22 CF_VCC BAT+ - Pink (AWG26)
- - - - 23 23 - - - -
Black (AWG26) FG FG FG 24 Purple (AWG26) 24 FG FG FG Black (AWG26)

 Model CB-RCAPC-MPA/CB-RCAPC-MPA-RB * Please indicate the cable length (L) in , e.g.) 030 = 3m,
maximum 20m

L
(18) (φ8.5) (Note 1)
(12)
IAI

(13)
(30)

Actuator side Controller side

Minimum bending radius R 3m or less r= 68mm or more (Dynamic bending condition) More than 3m r= 73mm or more (Dynamic bending condition)

* The robot cable is designed for flex-resistance: Please use the robot cable if the cable needs to be installed through the cable track.
(Note 1) If the cable length is over 3m, φ9.1 cable diameter applies.

1-1827863-1(AMP) DF62DL-24S-2.2C (HIROSE ELECTRIC CO., LTD.)

Signal name Signal name
Color Pin No. Pin No. Color
DC AC PC PC AC DC
Blue (AWG22/19) U U φA A1 3 φA U U Blue (AWG22/19)
Orange (AWG22/19) V V VMM B1 5 VMM V V Orange (AWG22/19)
Brown (AWG22/19) - - φB B2 10 φB - - Brown (AWG22/19)
Gray (AWG22/19) - - VMM A3 9 VMM - - Gray (AWG22/19)
Green (AWG22/19) W W φ_A A2 4 φ_A W W Green (AWG22/19)
Red (AWG22/19) - - φ_B B3 15 φ_B - - Red (AWG22/19)
Light blue (AWG26) A+ A+ SA[mABS] A6 12 SA[mABS] A+ A+ Light blue (AWG26)
Orange (AWG26) A- A- SB[mABS] B6 17 SB[mABS] A- A- Orange (AWG26)
Green (AWG26) B+ B+ A+ A7 1 A+ B+ B+ Green (AWG26)
Brown (AWG26) B- B- A- B7 6 A- B- B- Brown (AWG26)
Gray (AWG26) HS1_IN Z+/SA[mABS] B+ A8 11 B+ Z+/SA[mABS] HS1_IN Gray (AWG26)
Red (AWG26) HS2_IN Z-/SB[mABS] B- B8 16 B- Z-/SB[mABS] HS2_IN Red (AWG26)
Black (AWG26) - VPS/BAT- VPS B9 18 VPS VPS/BAT- - Black (AWG26)
Yellow (AWG26) - BK+ LS+ A4 8 LS+ BK+ - Yellow (AWG26)
Light blue (AWG26) - LS+ BK+ A5 20 BK+ LS+ - Light blue (AWG26)
Orange (AWG26) - LS- BK- B5 2 BK- LS- - Orange (AWG26)
Gray (AWG26) VCC VCC VCC A10 21 VCC VCC VCC Gray (AWG26)
Red (AWG26) GND GND GND B10 7 GND GND GND Red (AWG26)
Brown (AWG26) - BK- LS- B4 14 LS- BK- - Brown (AWG26)
Green (AWG26) HS3_IN LS_GND LS_GND A9 13 LS-GND LS-GND HS3_IN Green (AWG26)
- - - - A11 19 - - - -
- - - - - 22 CF_VCC BAT+ - Gray (AWG26)
- - - - - 23 - - - -
Purple (AWG26)

35
Black (AWG26) FG FG FG B11 24 FG FG FG Black (AWG26)
Pink (AWG26)
  Model CB-RPSEP-MPA * Only the robot cable is available for this model. * Please indicate the cable length (L) in , e.g.) 080 = 8m,
maximum 20m

Actuator side Controller side

D-1100D 1-1827863-1 PADP-24V-1-S
(AMP) (J.S.T.MFG.CO.,LTD.)
Terminal Terminal
L number number
A1 Black [φA] 1
B1 White [VMM] 2
(18) (10) A2 Brown [φ/A] 5
B2 Green [φB] 3

(φ8.5)
A3 Yellow [VMM] 4
B3 Red [φ/B] 6

(26)
A6 Orange [LS+] 7
(30)

B6 Gray [LS-] 8
A7 Red [A+] 13
(Front view) (45) B7 Green [A-] 14
A8 Black [B+] 15
Minimum bending radius r = 68mm or more (Dynamic bending condition) B8 Brown [B-] 16
Actuator side Controller side A4 NC -
B4 NC -
A5 Black (identification tape) [BK+] 9
B5 Brown (identification tape) [BK-] 10
A9 Green (identification tape) [GNDLS] 20
B9 Red (identification tape) [VPS] 18
A10 White (identification tape) [VCC] 17
B10 Yellow (identification tape) [GND] 19
A11 NC 21
B11 Shield [FG] (FG) 24
NC 22
NC 23

 Model CB-CFA-MPA/CB-CFA-MPA-RB * Please indicate the cable length (L) in , e.g.) 080 = 8m,
maximum 20m

Actuator side Controller side

SLP-06V (J.S.T. Mfg. Co., Ltd.) PADP-24V-1-S
XMP-18V (J.S.T. Mfg. Co., Ltd.) (J.S.T.MFG.CO.,LTD.)
(Note 1) If the cable length is over 3m, φ9.1 cable diameter applies for a non-robot cable and φ10 for a robot cable. Pin No. Signal name Pin No. Signal name
1 φA 1 φA
2 VMM 2 VMM
(20) 4 φB 3 φB
L 5 VMM 4 VMM
(15) 3 φ/A 5 φ/A
(10) 6 φ/B 6 φ/B
(φ8.5)
(14)

11 NC
5 NC
6 NC 12 NC

(26)
13 LS+ 7 LS+
(25)

14 LS- 8 LS-
1 A+ 13 A+
2 A- 14 A-
(15) (14) 3 B+ 15 B+
4 B- 16 B-
(Front view) Minimum bending radius r = 80mm or more (Dynamic bending condition) 16 BK+ 9 BK+
17 BK- 10 BK-
Actuator side Controller side 12 VCC 21 VCC
* The robot cable is designed for flex-resistance: 9 GND 19 GND
Please use the robot cable if the cable needs to be installed through the 11 VPS 18 VPS
cable track. 10 NC 20 NC
18 FG 24 FG
15 NC 17 NC
7 NC 22 NC
8 NC 23 NC

 Model CB-PSEP-MPA * Only the robot cable is available for this model. * Please indicate the cable length (L) in , e.g.) 080 = 8m,
maximum 20m

Actuator side Controller side

SLP-06V (J.S.T. Mfg. Co., Ltd.) PADP-24V-1-S
XMP-18V (J.S.T. Mfg. Co., Ltd.) (J.S.T.MFG.CO.,LTD.)
Terminal Terminal
number number
(20) L 1 Black [φA] 1
2 White [VMM] 2
(15) 4 Red [φB] 3
(10) 5 Green [VMM] 4
(φ8.5)
(14)

3 Brown [φ/A] 5
6 Yellow [φ/B] 6
16 Orange [BK+] 9
(26)

17 Gray [BK-] 10
(25)

5 NC 11
6 NC 12
13 Black [LS+] 7
(15) (14) 14 Brown [LS-] 8
1 White [A+] 13
(Front view) Minimum bending radius r = 68mm or more (Dynamic bending condition) 2 Yellow [A-] 14
3 Red [B+] 15
Actuator side Controller side 4 Green [B-] 16
10 White (identification tape) [VCC] 17
11 Yellow (identification tape) [VPS] 18
9 Red (identification tape) [GND] 19
12 Green (identification tape) [(reserve)] 20
15 NC 21
7 NC 22
8 NC 23
18 Shield [FG] 24

 Model CB-ASEP2-MPA * Only the robot cable is available for this model. * Please indicate the cable length (L) in , e.g.) 080 = 8m,
maximum 20m

Actuator side Controller side

SLP-06V (J.S.T. Mfg. Co., Ltd.) PADP-24V-1-S
XMP-18V (J.S.T. Mfg. Co., Ltd.) (J.S.T.MFG.CO.,LTD.)
Terminal Terminal
number number
1 Red [U] 1
2 Yellow [V] 2
(20) L NC 3
NC 4
3 Black [W] 5
(10) NC 6
(φ8.5)

(10) 18 Orange [BK+] 7

(25) (14)

17 Gray [BK-] 8
7 Black [LS+] 9
(26)

16 Brown [LS-] 10
1 White [A+] 11
2 Yellow [A-] 12
(15) (14) 3 Red [B+] 13
4 Green [B-] 14
(Front view) Minimum bending radius r = 68mm or more (Dynamic bending condition) 10 Black (identification tape) [Z+] 15
11 Brown (identification tape) [Z-] 16
Actuator side Controller side 14 White (identification tape) [VCC] 17
15 Yellow (identification tape) [GND] 19
13 Red (identification tape) [VPS/BAT-] 18
6 Green (identification tape) [(reserve)] 20
12 White [BAT+] 21
5 NC 22
8 NC 23
9 Shield [FG] 24

36
  Model CB-CAN-AJ002

+20
200 -0

(10)
(φ8.5) (12)
(26)

(13)
Actuator side Minimum bending radius R 3m or less r= 68mm or more (Dynamic bending condition) Controller side
Connection Diagram
1-1827863-1 (Amplifier) DF62B-24EP-2.2C (HIROSE ELECTRIC CO., LTD.)
Signal name Signal name
Pin No. Color Pin No. Color
PC AC DC PC AC DC
A1 φA U U Blue (AWG22) 3 φA U U Blue (AWG22)
B1 VMM V V Orange (AWG22) 5 VMM V V Orange (AWG22)
B2 φB - - Brown (AWG22) 10 φB - - Brown (AWG22)
A3 VMM - - Gray (AWG22) 9 VMM - - Gray (AWG22)
A2 φ_A W W Green (AWG22) 4 φ_A W W Green (AWG22)
B3 φ_B - - Red (AWG22) 15 φ_B - - Red (AWG22)
A6 SA[mABS] A+ A+ Light blue (AWG26) 12 SA[mABS] A+ A+ Light blue (AWG26)
B6 SB[mABS] A- A- Orange (AWG26) 17 SB[mABS] A- A- Orange (AWG26)
A7 A+ B+ B+ Green (AWG26) 1 A+ B+ B+ Green (AWG26)
B7 A- B- B- Brown (AWG26) 6 A- B- B- Brown (AWG26)
A8 B+ Z+/SA[mABS] HS1_IN Gray (AWG26) 11 B+ Z+/SA[mABS] HS1_IN Gray (AWG26)
B8 B- Z-/SB[mABS] HS2_IN Red (AWG26) 16 B- Z-/SB[mABS] HS2_IN Red (AWG26)
B9 VPS VPS/BAT- - Black (AWG26) 18 VPS VPS/BAT- - Black (AWG26)
A4 LS+ BK+ - Yellow (AWG26) 8 LS+ BK+ - Yellow (AWG26)
A5 BK+ LS+ - Light blue (AWG26) 20 BK+ LS+ - Light blue (AWG26)
B5 BK- LS- - Orange (AWG26) 2 BK- LS- - Orange (AWG26)
A10 VCC VCC VCC Gray (AWG26) 21 VCC VCC VCC Gray (AWG26)
B10 GND GND GND Red (AWG26) 7 GND GND GND Red (AWG26)
B4 LS- BK- - Brown (AWG26) 14 LS- BK- - Brown (AWG26)
A9 LS_GND LS_GND HS3_IN Green (AWG26) 13 LS_GND LS_GND HS3_IN Green (AWG26)
A11 - - - - 19 - - - -
B11 FG FG FG Black (AWG26) 22 CF_VCC BAT+ - Gray (AWG26)
Center
23 - - - -
Interposition
24 FG FG FG Black (AWG26)

 Model RCM-CV-APCS

1.5 1.55
45

25 65

Actuator side Controller side

 Model CB-RE-CTL * Please indicate the cable length (L) in , e.g.) 080 = 8m,
maximum 10m

L
(8.5)
(φ9.3)
(22)

PUDP-20V-S PUDP-20V-S
Wiring Color Signal No. Wiring diagram No. Signal Color Wiring
Black 24V 1 1 24V Black
Yellow 0V 2 2 0V Yellow
Pink DRV_DY 3 3 DRV_DY Pink
White DRV_RA 4 4 DRV_RA White
Purple DRV_DZ 5 5 DRV_DZ Purple
Blue/Red DRV_RB 6 6 DRV_RB Blue/Red
Orange/White Orange/White
1-series dot AM_SD+ 7 7 AM_SD+ 1-series dot

Green/White AM_SD- 8 8 AM_SD- Green/White

7 to 12 pins Brown/White ACT_PULSE+ 9 9 ACT_PULSE+ Brown/White 7 to 12 pins
Gray/White ACT_PULSE- 10 10 ACT_PULSE- Gray/White
AWG26 Red/White SYNC_PULSE+ 11 11 SYNC_PULSE+ Red/White AWG26
(Crimped) Black/White SYNC_PULSE- 12 12 SYNC_PULSE- Black/White (Crimped)
Yellow/Black RTC_1Hz 13 13 RTC_1Hz Yellow/Black
Pink/Black CONE_IN 14 14 CONE_IN Pink/Black
Purple/White STOP 15 15 STOP Purple/White
White/Blue ENABLE 16 16 ENABLE White/Blue
- - 17 17 - -
Orange/White Orange/White
2-series dot GW_RESET_IN 18 18 GW_RESET_IN 2-series dot
Drain FG 19 19 FG Drain
- - 20 20 - -
(The line color blue/red indicates insulator color/dot mark color)

UL1061 AWG26 (Black) UL1061 AWG26 (Black)

37
Ground wire and braided shield
RCON CHECKLIST
IAI America will select all RCON required items if the following information is provided
by the customer.

Q1. Fieldbus type

Q2. Global type/non-global type

Q3. Full actuator mode number of all axes (1st axis to max. 16th axis)

Q4. Duty cycle in %

Q5. Max. temperature of RCON installation location

Q6. Does the quantity of IAI power supplies PSA-24(L) need to be calculated?

Q7. Is any actuator purchased for non-RCON controllers? If so, which axes?

Q8. Does any actuator require a simple absolute unit? If so, which axes?

Q9. For global type gateway unit (RCON-GWG), what safety category level is required?
Is safety category required during both AUTO and MANUAL modes, or only during
AUTO mode?

38
Catalog No. CE0264-1A (0619)

IAI America, Inc. IAI Industrieroboter GmbH

USA Headquarters & Western Region (Los Angeles): 2690 W. 237th Street, Torrance, CA 90505 (800) 736-1712 Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
Midwest Branch Office (Chicago) : 110 E. State Pkwy, Schaumburg, IL 60173 (800) 944-0333 IAI (Shanghai) Co., Ltd.
Southeast Branch Office (Atlanta): 1220 Kennestone Circle, Suite 108, Marietta, GA 30066 (678) 354-9470 Shanghai Jiahua Business Center A8-303, 808,
www.intelligentactuator.com Hongqiao Rd., Shanghai 200030, China
IAI Robot (Thailand) Co., Ltd.
JAPAN Headquarters: 577-1 Obane, Shimizu-ku, Shizuoka-shi, Shizuoka, 424-0103, JAPAN 825 Phairojkijja Tower 7th Floor, Debaratana Rd.,
The information contained in this product brochure may change without prior notice due to product improvements. Bangna Nuea, Bangna, Bangkok 10260, Thailand