RCP2 Controller

RCP2-C/CG Dedicated RCP2 Controller

Operating method Positioner operation
Number of positions that can be registered Standard 16 positions / Maximum 64 positions
Power-supply voltage 24 VDC

1 Features

1 Space-saving design with a 51% smaller footprint
The compact, slim body of 35 mm in width x 68.1 mm in depth saves
space in the installation of the panel. Of course, the driver, control unit
and power stages are all housed within the unit, so no cumbersome
wiring or adjustment is needed. Simply connect the actuator, and your
equipment is ready to go.
4 Internal or external relay for cutting off the
iiiiiiiiimotor's drive power upon emergency stop
The controller, which incorporates its own drive-power cutoff relay,
ensures safety by cutting off the motor's drive power when an
emergency stop is actuated. To further enhance safety, use the
external relay type that cuts off the motor's drive power using a safety
relay provided externally to the controller.

A footprint reduction of approx. 49%

5 Useful software functions
The controller provides a range of useful functions that take
advantage of the AC servo features, thus allowing the setting and
execution of complex operations.
2 Multi-point positioning covering up to 64 points Convenience is further enhanced with an increase in the number of
zone-signal outputs to two.
The increased PIO points and expanded internal memory allow the
registration of position data for up to 64 points, so the controller can
Useful Software Functions
effortlessly perform complex operations. With this simple, high-function
controller you can also perform positioning at an accuracy of ± 0.02 1 Positioning band setting function
mm, simply by specifying PIO positions from a PLC.
Normally a movement completion signal (position complete signal) is
output when the target position is reached. With the RCP2 this signal
can be output at an arbitrary position before the target position. For
example, this function can be used to shorten the tact time.
Host system (PLC)
200mm/sec
100mm/sec
Decelerating
Accelerating Accelerating Decelerating
Actuator's current
Position number Speed
position number Stationary
Time
The signal is input
The signal is input 10 mm before. 20 mm before.
RDY RUN ALM

PIO
Position 1 Position 2

PORT
ON
AD/RS

OFF
2 Incremental move function
SIO

RCP2 controller The controller allows for incremental movement, or movement of an

ENC

BK RIS NOM
arbitrary distance specified from the current position.
You can perform continuous moves at a fixed pitch for as many
MOT

S1
S2
MPI
MPO
24V
N
F.G
positioning points as desired, simply by repeating incremental
movements with the same distance specification.
Actuator
300mm/sec

Speed Stationary
Time
100 25 25 25 25

3 Five pin-assignment patterns for PIO signals Position number Position 0

Coordinate 0
Position 1
Coordinate 100
Position 2
Coordinate 25
You can now choose from a total of five pin-assignment patterns for PIO
signals, including the pattern allowing for position specification of up to
3 Pause function
64 points, the pattern providing two zone-signal outputs, and the pattern The slider operation can be paused in keeping with the ON/OFF status of
for teaching operation (refer to page 155). an external signal.
The PIO connector is the same as the one used by the conventional Use this function to stop the operation temporarily or provide an interlock
RCP controller (RCP-C), and the factory-set pin assignments are also with surrounding equipment.
the same. Therefore, the PIO wiring need not be adjusted after replacing Pause-signal input
your RCP controller with an RCP2. ON
OFF
(Note) You cannot replace only your RCP controller with an RCP2
and continue using the RCP actuator.
Accelerating Decelerating Accelerating Decelerating

151
Speed
Time

ROBO Cylinder General Catalog

 RCP2 Controller
4 Push & hold operation
5 Zone output function

Actuators
The slider can be maintained in a condition where it is continually This function outputs a signal when the slider enters a specified range
pressed against the load, just like an air cylinder.
during operation.

ERC
This function is used for clamp fitting or other applications requiring that
It can be used to set a danger area or provide a pseudo sensor function.
the load be pressed.
Zone-signal output
■ Example of push & hold operation

Actuators
ON
300mm/sec OFF

RCP2
Accelerating Decelerating Accelerating Decelerating

Speed
Load
Speed Time
Stationary Specified zone-signal output range
Time

Actuators
Positioning band: 50 mm

Position 1 * If the load is still not

contacted at the end of

RCS
Coordinate 100
the positioning band, the
position complete signal
will not be output.

Information on
2 Model

Guide Types
RCP2 - C - RXA - I - PM - O - P - K

Actuator
Options
Series Motor
Indicate the name of each series. Indicate the type of motor used by the actuator.
PM: Pulse motor
Controller type

How to Install
Indicate the classification based on controller function. Power-supply voltage

Actuator
C : An emergency-stop circuit is provided, and when an external Indicate the I/O (I/O signal) type (current direction).
emergency-stop input is received the actuator will be stopped 0: 24 VDC
and the motor drive power will be cut off at the relay inside the
controller.

Controllers
I/O signal pattern
(Use this type for general applications.)
Indicate the type (current direction) of input/output signals.
GC : There is no emergency-stop circuit in the controller, but a

ERC
terminal to cut off the motor drive power is provided. Therefore, * This field can be left blank unless you need to specify the
the safety standard corresponding to Safety Category 2 can be PNP type.
met if the user constructs an emergency-stop circuit externally to (Blank) : NPN type

Controllers
the controller using a safety relay, etc. P : PNP type

RCP2
Actuator type Absolute battery bracket
Indicate the type of the actuator to be operated. (Blank) : No bracket
(SA5, SA6, SA7, SS, SM, SSR, SMR, RXA, RSA, RMA,
) K : With bracket

Controllers
GRS, GRM, RTB, RTC

Encoder type

RCS
Indicate whether the encoder installed in the actuator should
be an “absolute type” or “incremental type.
I: Incremental type
Since the slider position data are cleared each time the power is turned
off, home return must be performed every time the actuator is powered up.
A: Absolute type
The current slider position will be retained even after the power is
turned off, so home return need not be performed.

ROBO Cylinder General Catalog 152

 RCP2 Controller
3 System Configuration Diagram

■ Compatible actuators ■ Host system (PLC) Teaching pendant PC software

RCP2 Series < RCA-T/TD > < RCB-101-MW >
Slider Type < RCA-E >
Slider Motor-Reversed Type < RCA-P >
Rod Type
Gripper
Rotary
I/O flat cable, 2 m
(Supplied with the controller.)
(Refer to page 160.)
(Refer to page 173)

Motor cable Standard: 1 m/3 m/5 m (Refer to page 160.)

Encoder cable Standard: 1 m/3 m/5 m (Refer to page 160.) Communication cable, 5 m
5m (Refer to page 172.) 1
(Supplied with the actuator.) *
(Supplied with
the PC software.)

* 1 The PC communication cable consists of

Absolute-data an external equipment communication cable
backup battery (CB-RCA-SIO050) and an RS485
conversion adapter (RCB-CV-MW).
<AB-4>
(Supplied with controller)
(Refer to P160)

■ Main power ■ I/O power

DC24V DC24V

4 I/O Wiring Diagrams

■ Input Part External input ■ Output Part External output
Item Specification Item Specification
Input voltage 24 VDC ± 10% Load voltage 24 VDC
Input current 7 mA / circuit Maximum load current 20 mA / point
Number of input points 10 points Number of output points 10 points
Leak current 1 mA or less / point Residual voltage 2 V or less
Method Photocoupler Method Photocoupler

NPN Specification NPN Specification

P24V P24

External Each output OUT 0 ~ 9 Load

R=560Ω Internal circuit
power supply
+24V Internal circuit External
Input terminal power supply
+24V

Each input R=3.3kΩ

N
IN 0 ~ 9

PNP Specification PNP Specification

N
P24V
External External
power supply R=560Ω Internal circuit Internal circuit power supply
Load +24V
+24V
Input terminal

R=3.3kΩ Each output OUT 0 ~ 9

Each input
IN 0 ~ 9
N

153 ROBO Cylinder General Catalog

 RCP2 Controller
5 External Connection Diagrams

Actuators
g Internal Drive-Power Cutoff Relay Type (Model: RCP2-C) Controller

ERC
RCP2
SIO
1 (SGA)
2 (SGB) (PORT switch)
3 (+5V)
4
Teaching pendant 5 (EMGA)
* The wiring diagram shown to the and PC connection 6 (+24V)

Actuators
right applies to PIO pattern “1” 7 (GND)
8 (EMGB)
(standard). Please note that the External EMG switch

RCP2
Terminal box
factory setting is PIO pattern “0” S1
S2
(conventional). MPI
MPO
Input power 24V 24V Actuator
supply 0V N
MOT

Actuators
24 VDC FG EMG
A1(A) Blue
PIO
Upper stage Brown 1 1A A2(VMM) Black
+24 [V] P24

RCS
(Signal abb.) 0 [V] Red 1 A3(B) White
2A N M
B1(A) Red
Orange 1 3A PC1
Command position 1 B2(VMM) Black Motor
Yellow 1 4A PC2
Command position 2 B3(B) Green
Green 1

Information on
Command position 4 5A PC4
Blue 1

Guide Types
Output side Command position 8 6A PC8
Purple 1 7A ENC
Pause Gray 1
White 1
8A
*STP 1 (FG)
Start 9A CSTR 5 (GND) Orange (Black 2)

Home return Black 1 10A HOME Orange (Red 2)

6 (5V)
Servo ON Brown 2 11A SON Yellow (Black 1)
9 (ENB)
Reset Red 2 12A RES PG
Yellow (Red 1)
10 (ENB)
(Not used) Orange 2 13A

Actuator
Encoder

Options
11 (ENA) White (Black 1)
(Not used) Lower stage Yellow 2 1B
12 (ENA) White (Red 1)
(Not used) Green 2 2B
Completed position 1 Blue 2 3B PM1 13 (BK-) Light blue (Black 1)

Completed position 2 Purple 2 4B PM2 14 (BK+) Light blue (Red 1)

Gray 2 Holding brake

Completed position 4 5B PM4 GN D

How to Install
Completed position 8 White 2 6B PM8
Brake release
Input side

Zone output Black 2 7B ZONE

Brown 3 switch
Moving 8B

Actuator
Position complete Red 3 9B PEND
Home return completion Orange 3 10B HEND 24V

Emergency stop Yellow 3

Green 3
11B
*EMGS
Ready 12B SRDY
Blue 3

Controllers
Alarm 13B
*A LM

g External Drive-Power Cutoff Relay Type (Model: RCP2-CG)

ERC
Controller
RCP2
SIO
1 (SGA)
(PORT switch)

Controllers
2 (SGB)
3 (+5V)
4
* The wiring diagram shown to the Teaching pendant
and PC connection
5 (EMGA)
6 (+24V)
right applies to PIO pattern “1”

RCP2
7 (GND)
(standard). Please note that the 8 (EMGB)

factory setting is PIO pattern “0” Terminal box

Cutoff circuit S1
(conventional). for motor S2
drive power MPI

Controllers
MPO
Input power 24V 24V Actuator
supply 0V N
MOT
24 VDC FG FG
Blue

RCS
A1(A)
User equipment PIO (Signal abb.) Black
+24 [V] Upper stage Brown 1 1A P24 A2(VMM)
A3(B) White
0 [V] Red 1 2A N M
B1(A) Red
Orange 1 3A PC1
Command position 1 B2(VMM) Black Motor
Yellow 1 4A PC2
Command position 2 B3(B) Green
Green 1 5A PC4
Command position 4
Blue 1 6A PC8
Command position 8
Output side

Purple 1 7A ENC
Gray 1
Pause
White 1
8A
*STP 1 (FG)
Start 9A CSTR 5 (GND) Orange (Black 2)

Home return Black 1 10A HOME Orange (Red 2)

6 (5V)
Servo ON Brown 2 11A SON Yellow (Black 1)
9 (ENB)
Reset Red 2 12A RES PG
Yellow (Red 1)
10 (ENB)
(Not used) Orange 2 13A
Lower stage Yellow 2 1B 11 (ENA) White (Black 1) Encoder
(Not used)
12 (ENA) White (Red 1)
Green 2
(Not used) 2B
Blue 2 3B PM1 13 (BK-) Light blue (Black 1)
Completed position 1
Purple 2 4B PM2 14 (BK+ ) Light blue (Red 1)
Completed position 2
Gray 2 Holding brake
Completed position 4 5B PM4 GND
White 2 6B PM8
Completed position 8
Black 2 Brake release
Input side

Zone output 7B ZONE

Brown 3 switch
Moving 8B MOVE
Position complete Red 3 9B PEND
Home return completion Orange 3 10B HEND 24 V
Emergency stop Yellow 3 11B
Ready Green 3 12B SRDY
Alarm Blue 3 13B
*A LM

ROBO Cylinder General Catalog 154

 RCP2 Controller
6 I/O Signal Table
This controller provides five PIO patterns to meet the needs of various applications. Simply change the
parameter setting (0 to 4), and you can use any one of the five patterns specified below.
Note: Two or more of the following patterns cannot be used in combination, so exercise caution.
(For example, 64-point positioning cannot be implemented while two zone signals are used.)

Parameter
PIO pattern Features
(PIO pattern selection)

0
This pattern is compatible with the pin assignments of the RCP-C controller.
Conventional (Factory setting)

1 Standard
2 64-point positioning
3 zone output signals
4
Teaching
All functions of the conventional pattern, plus home-return command input, servo ON input,
reset input, moving output and ready output.
The input ports for positioning command positions are extended to allow for specification of
up to 64 points.(The servo ON signal and ready output have been removed.)
Two zone output signals are set.
(The moving output has been removed.)
This pattern allows for jogging and teaching (writing of current position coordinates)
using I/Os.The mode can be switched between "Normal" and "Teaching". In the Normal
mode, the same operations available with the standard pattern can be performed.

Parameter (PIO pattern) selection

0 1 2 3 4
Pin No. Category Wire color 64-point 2 zone Teaching
Conventional Standard
positioning output signals
Normal mode Teaching mode
1A P24 Upper stage Brown 1 P24
2A N Red 1 N
3A Orange 1 CSTR PC1 PC1 PC1 PC1
4A Yellow 1 PC1 PC2 PC2 PC2 PC2
5A Green 1 PC2 PC4 PC4 PC4 PC4
6A Blue 1 PC4 PC8 PC8 PC8 PC8
7A Purple 1 PC8 – PC16 – MODE
Input
JOG +
8A Gray 1 –
* STP PC32
* STP
* STP
9A White 1 – CSTR CSTR CSTR CSTR PWRT
10A Black 1 * STP HOME HOME HOME HOME
11A Brown 2 – SON
*STP SON SON
12A Red 2 – RES RES RES RES JOG –
13A Orange 2 (Not used)
1B Lower stage Yellow 2 (Not used)
2B Green 2 (Not used)
3B Blue 2 PM1 PM1 PM1 PM1 PM1
4B Purple 2 PM2 PM2 PM2 PM 2 PM2
5B Gray 2 PM4 PM4 PM4 PM4 PM4
6B White 2 PM8 PM8 PM8 PM8 PM8
Output
7B Black 2 PEND ZONE PM16 ZONE1 MODES
8B Brown 3 HEND MOVE PM32 ZONE2 MOVE
9B Red 3 ZONE PEND PEND PEND PEND WEND
10B Orange 3 * ALM HEND HEND HEND HEND
11B Yellow 3 Internal cutoff relay type: *EMGS / External cutoff relay type: (Not used)
12B Green 3 – SRDY MOVE SRDY SRDY
13B Blue 3 –
*ALM *ALM *ALM *ALM
Note: (1) The signals indicated by * (ALM, STP, EMGS) use the negative logic, so they remain ON in normal conditions of use.
(2) Pin Nos. 13A, 1B and 2B cannot be connected.
(3) The NPN specification and PNP specification use the same pin assignments for connection of the power circuit, so there is no need to reverse the power-circuit pins for the PNP
qqqspecification.
(4) Pin No. 11B is valid only on the internal cutoff relay type. (It is not connected in the external cutoff relay type.)

155 ROBO Cylinder General Catalog

 RCP2 Controller
7 Overview of I/O Signal Functions

Actuators
ERC
PIO Pattern Function Table * Indicates that the setting is available, while – indicates that the setting is not available. The figures indicate the numbers of points.
Parameter Input signals Output signals
(PIO pattern PIO pattern Number of Servo Home Current
Pause Jog position Reset Ready Zone Moving

Actuators
positioning return
selection) points ON command write

RCP2
0 Conventional 16 – – – – – – 1 –
1 Standard 16 – – 1
2 64-point positioning 64 – – – – –
zone output signals

Actuators
3 16 – – 2 –
4 Teaching 16 –

RCS
Information on
Explanation of Signal Names

Guide Types
Category Signal name Signal abbreviation Function overview
Start CSTR A starting trigger that starts movement at the rise edge

The servo remains ON while this signal is ON.

Servo ON SON The servo remains OFF while this signal is OFF.

Actuator
Options
Alarm reset RES The remaining travel amount is reset at the rise edge when an alarm is present or operation is paused.

Home return HOME Home return operation starts at the rise edge.

Operation mode MODE ON: Teaching mode, OFF: Normal mode

How to Install
When this signal has been ON for 20msec, the current position will be written to the
Current position write PWRT

Actuator
position number selected by PC1 through PC8.
Input
+ Jog JOG + The slider moves in the positive direction while this signal is ON.

– Jog JOG – The slider moves in the negative direction while this signal is ON.

Controllers
The motor decelerates to a stop at the ON→OFF fall edge.
*Pause *STP
PC1

ERC
PC2
PC4 The target position number is input (binary input).
Command position number
PC8

Controllers
PC16
PC32

RCP2
This signal is always output once the servo is turned ON and the system is ready to
Ready SRDY operate. The signal is synchronized with the ON/OFF status of the "RUN" LED on the
front panel of the enclosure.It is used by the PLC to determine when it can start operation.

Controllers
This signal turns ON while the slider is moving, and turns OFF while it is stopped.
Moving MOVE
It is used during push & hold operation to determine whether the load is contacted.

RCS
This signal turns ON when positioning is completed with the target position reached and the slider
Position complete PEND
enters the specified in-position range.It is used to determine whether positioning has been completed.

Output Home return completion HEND This signal turns ON when home return has been completed.

ZONE1 This signal is output when the current actuator position is inside the range set by the applicable
Zone ZONE2 parameter.It can be used as a limit switch at an intermediate point or as a simple ruler.

This signal remains ON in normal condition and turns OFF when an alarm generates. It is
*Alarm *ALM synchronized with the OFF/ON status of the corresponding LED on the front panel of the enclosure.

PM1
PM2
The relevant position number is output once positioning is complete.
PM4 The signal will turn OFF once the next movement starts.
Completed position number
PM8 It is used by the PLC to check if the commanded position has definitively been
PM16 reached.
PM32

Current operation mode MODES ON: Teaching mode, OFF: Normal mode

This signal is enabled on a controller equipped with a simple emergency-stop relay.

* Emergency stop * EMGS OFF: Emergency stop is actuated

This signal is output upon the completion of writing to the nonvolatile memory in
Write completion WEND
response to a position-information write command.

ROBO Cylinder General Catalog 156

 RCP2 Controller
8 Specification Table 9 External Dimensions Unit: mm

Controller 35.0
Item Description 68.1
<No battery bracket> ø5
Controller series / type RPC2-C / CG

(30)
RPC2-SA5 / SA6 / SA7 / SS / SM / SSR / SMR
Compatible actuators
RXA / RSA / RMA / GRS / GRM / RTB / RTC
Input power DC24V ±10 %

Power capacity 2 A max.

*The battery is not affixed
Number of controlled axes 1 axis to the controller, but
supplied separately in the

170.5
178.5
Control method Weak field-magnet vector control (patent pending)
same package as the
Positioning command Position number specification controller.
Position number Standard 16 points, maximum 64 points

53.0
Position number data and parameters are saved in the nonvolatile memory.
Backup memory
The serial E2PROM can be rewritten 100,000 times.
PIO RCP2-C (CG) : 10 dedicated inputs
PIO (10 points) / 10 dedicated outputs (11 points), selectable from five patterns

LED indicators RDY (green), RUN (green), ALM (red)

17.5 67.0
I/F power External power supply: 24 V ± 10%, 0.3 A, insulated 5.0
Absolute-data backup battery
(supplied only with a controller
Communication RS485 1 channel (terminated externally) of the absolute specification)

Encoder interface Incremental specification conforming to EIA RS-422A/423A

62.0 2.0
Absolute battery Controller 35.0 69.7
Approx. 250 hours
backup time <With battery bracket>
Forced release of electr

4.8
Toggle switch on front panel of enclosure

(30)
omagnetic brake

Motor/encoder cables: 20 m or less

Cable length
PIO cable: 5 m or less

Insulation strength DC500V 10MΩ

10 ~ 57 Hz in XYZ directions / Pulsating amplitude: 0.035 mm (continuous),
Vibration resistance 0.075 mm (intermittent)

Operating temperature 0 ~ 40 deg

178.5
170.5
Operating humidity 85%RH or less (non-condensing)

Operating environment Not subject to corrosive gases.

Protection class IP20

Weight 300g

Accessory PIO flat cable (2 m)

3.2
5.0
10 Names and Functions of Parts
1 LED indicators 5 Motor cable connector (MOT)
RDY Indicates that the CPU is operating normally A motor cable connector for the actuator
RUN Indicates a normal operating condition
(the motor and encoder wiring has been 6 Terminal block
1 checked and the servo is ON
S1 • S2 An emergency-stop switch contact. When the
RDY RUN ALM

PORT switch 2 is turned ON, the emergency-stop

AL M Indicates that an alarm is present or
7 switch on the teaching pendant will be connected.
PIO an emergency stop has been actuated
When the PORT switch is turned OFF, S1 and S2
will be shorted.
2 Port switch (PORT)
MPI These terminals are used to cut off the motor's
PORT
AD/RS 8 A signal-output selector switch for the SIO connector 3 MPO drive power directly and externally using a
2 ON OFF
safety relay, etc. (Refer to page 22.)
ON Power for the teaching pendant and IAI
3 SIO

24V
RS485 conversion adapter is output from Positive side of the 24-VDC power supply
the SIO connector 3 . This switch is
ENC
9 N Negative side of the 24-VDC power supply
connected to the EMG line (S1, S2) of 6 of
the teaching pendant. EMG Emergency-stop input (RCP2-C)
4 BK RIS NOM

MOT OFF Communication with the teaching pendant or F.G Ground terminal (RCP2-CG)
5
PC is disabled. However, since the SIO
S1
S2
MPI
signal line is active, the controllers can still 7 PIO connector (PIO)
6 MPO
24 V
communicate with each other.
N A PIO connector.
F.G
Note: Be sure to turn this switch OFF each time the SIO
connector has been plugged in or unplugged. 8 Address switch (ADRS)
3 Teaching pendant/PC This switch is used to set the address for the controller axis. If
two or more controllers are connected via communication
connector (SIO)
cables, prevent duplicate controller addresses.
A connector for the teaching pendant or Setting range 0 ~ F
dedicated communication cable
9 Encoder/brake connector (ENC)
4 Brake release switch (BK)
This connector is used to connect the actuator's
This switch is enabled only when the encoder/brake cables.
actuator is used with a brake option.
RLS Brake is forcibly released
NOM Brake is in use (normal setting)

157 ROBO Cylinder General Catalog

 RCP2 Controller
Emergency-Stop Circuit

Actuators
g Internal Drive-Power Cutoff Relay Type (Model: RCP2-C)
The internal drive-power cutoff relay type will stop the actuator operation and cut off the motor's drive

ERC
power of the actuator using the internal relay when the EMG (emergency stop) input signal is turned OFF
at the controller's terminal block. Representative connection examples are given below.

Actuators
* The emergency stop will not be cancelled without the following wiring, so exercise caution. Refer to the operating manual for details.

RCP2
(1) When only one controller is used EMG button
n Connect the MPI and MPO terminals using a jumper cable (factory Input power
setting). S1
DC24V

Actuators
S2
n Connect one end of the EMG button to the 24-V input power, and MPI
connect the other end to the S1 terminal. Also connect the S2 and

RCS
MPO
EMG terminals using a jumper cable.
24V
N

Information on
EMG

(2) When two to eight controllers are used with a single power supply
n Connect the MPI and MPO terminals using a jumper cable (factory
setting).
n Connect one end of the EMG button to the 24-v input power, and
Guide Types
1 to the S1 terminal of controller 2, the S2 terminal of controller 2
to the S1 terminal of controller 3, the S2 terminal of controller 3 to
the S1 terminal of controller 4, and so on, and connect the S2
terminal of the last controller to the EMG terminals of all

Actuator
Options
connect the other end to the S1 terminal. Then, provide crossover controllers. Use a relay terminal block for connection to the EMG
connections by sequentially connecting the S2 terminal of controller terminals. (Note) Do not insert more than one wire into a single terminal.
EMG button
Input power [Controller 1] [Controller 2] [Controller 3] [Controller 4]
S1 S1 S1 S1

How to Install
S2 S2 S2 S2
MPI MPI MPI MPI

Actuator
MPO MPO MPO MPO
24V 24V 24V 24V
N N N N
EMG EMG EMG EMG

Controllers
ERC
(3) When nine or more controllers are used
Please contact IAI.
g External Drive-Power Cutoff Relay Type (Model: RCP2-CG)

Controllers
The external drive-power cutoff relay type is designed to cut off the motor's drive power using an external safety relay, etc., and therefore no
internal emergency-stop circuit is provided. Accordingly, the user must design a circuit such as the one shown below, using a safety relay

RCP2
unit, a contactor, etc.
Input power 24V Connects to the 24-V terminal and EMG terminal
0V Connects to the N terminal
DC24V

Controllers
[Controller 1] [Controller 2] [Controller 3]
S1 S1 S1
S2 S2 S2

RCS
MPI MPI MPI
MPO MPO MPO
24V 24V 24V
N N N
FG FG FG

Contactor

S33 S34 S11 S12 13 23 33 43 51

Safety relay unit

Phoenix Contact PSR-SCP-24UC-/ESA2/4X1/1X2/B * The above diagram shows only the safety-relay output circuit.
Determine the appropriate emergency-stop input circuit in accordance
with your equipment.
A1 A2 14 24 34 44 52

ROBO Cylinder General Catalog 158

 RCP2 Controller
12 Connection of Multiple Controllers via Serial Communication
The following explains how to connect multiple controllers using a PC or PLC communication module as the host:

Basic Specifications
Item Specification
Maximum number of units that 16 units
can be connected
Maximum cable length 100 m or less

Terminal resistor 220Ω

* Provide a communication path via bus connection and be sure to provide a terminal resistor at the end.
Connection Example
Teaching pendant

PC, etc.
* Use a commercial cross cable
for connection with the PC.

SIO converter (optional)

(built-in terminal resistor)
Model: RCB-TU-SIO-A (B)

* An e-CON connector, a junction and a terminal

register are supplied with a controller link cable.
E-Con connector (AMP 3-1473562-4)
Junction: (AMP 5-1473574-4)
FG
0V
24V
Terminal resistor
Input power R=220Ω
0.2m 0.2m 0.2m
RDY RUN ALM RDY RUN ALM RDY RUN ALM

PIO PIO PIO

AD/RS AD/RS AD/RS

PORT PORT PORT

ON OFF ON OFF ON OFF

SIO SIO SIO

Controller power
Controller link cable * The user must provide the wiring
ENC ENC ENC

BK RIS NOM BK RIS NOM BK RIS NOM

MOT

S1

S2
Model: CB-RCB-CTL002
MOT

S1

S2
MOT

S1

S2
between junctions.
MPI MPI MPI
MPO MPO MPO
24V 24V 24V

N N N
F.G F.G F.G

RCP-C/CG

Controller 1 Controller 2 Controller n

External Dimensions of SIO Converter Controller Link Cable

Vertical mounting specification Horizontal mounting specification (an e-CON connector, junction and terminal
using DIN rail using DIN rail register are supplied)
Model: RCB-TU-SIO-A Model: RCB-TU-SIO-B Model: CB-RCB-CTL002
0.2m
45

e-CON connector
102

102
Color Signal No. No. Signal Color
Yellow SGA 1 1 SGA Yellow
Orange SGB 2 2 SGB Orange
Blue GND 3 3 + 5V
(44)

(44) 45
4 4
5 EMGA
6 + 24V
7 GND Blue
8 EMGB

* DIN rails are not supplied.

159 ROBO Cylinder General Catalog

 RCP2 Controller
13 Spare Parts
The following cables are supplied with the actuator and controller.

Actuators
When ordering new cables for replacement, etc., please specify the required types by referring to the information below:

ERC
Motor Cable (For RCP2-C)
Model CB-RCP2-MA
(8) (20) (20) (14)

Actuators
M cable

(28)
CN3 CN1

(ø8)

RCP2
Blue A A1 1 A Red
C Black VMM A2 2 VMM Black
(15)

(14)
CN3 N I-1318119-3 White B A3 3 A Blue SLP-06V
1 (AMP) Red A B1 4 B Green (Yellow 3) (J.S.T. Mfg.)
(Front view) Black VMM B2 5 VMM Black
(Front view)
Green (Yellow 3) B B3 6 B White
Controller end L Machine end

Actuators
Encoder Cable (RCP2-C)

RCS
Model CB-RCP2-PA
Cable Pin Pin Signal Cable
CN4 Color Signal No. No. Color CN2

Information on
(5) (8) (13) (15) – (BAT2) 16 1 ENA White (Red 1)

Guide Types
– (BAT1) 15 2 ENA White (Black 1)

(35)
Light blue (Red 1) BK+ 14 3 ENB Yellow (Red 1)
(ø9)

Light blue (Black 1) BK- 13 4 ENB Yellow (Black 1)

White (Red 1) ENA 12 5 – –
C
(18)

(25)
CN4 N White (Black 1) ENA 11 6 – –

PHDR-16VS
2

(J.S.T. Mfg.)
Yellow (Red 1) ENB 10 7 – –

(J.S.T. Mfg.)
XMP-18V
(Front view) (Front view) Yellow (Black 1) ENB 9 8 – –
– SD 8 9 GND Orange (Black2)
L – SD 7 10 5V Orange (Red 2)
Controller end Machine end Orange (Red 2) 5V 6 11 – –
Orange (Black 2) GND 5 12 – –

Actuator
– – –

Options
(NC) 4 13
– (NC) 3 14 – –
– (NC) 2 Shielded wire 15 – –
Drain F.G 1 16 BK+ Light blue (Red 1)
17 BK- Light blue (Black 1)
Drain wire 18 F.G Drain

Encoder Robot Cable (RCP2-C)

How to Install
Model CB-RCP2-PA -RB

Actuator
Cable Pin Pin Signal Cable
CN4 Color Signal No. No. Color CN2
(5) (8) (13) (15) – (BAT2) 16 1 ENA White (Red 1)
– (BAT1) 15 2 ENA White (Black 1)
(35)

Light blue (Red 1) BK+ 14 3 ENB Yellow (Red 1)

ENB Yellow (Black 1)
(ø9)

Light blue (Black 1) BK- 13 4

Controllers
White (Red 1) ENA 12 5 – –
C
(18)

(25)

CN4 N White (Black 1) ENA 11 6 – –

PHDR-16VS

2
(J.S.T. Mfg.)
Yellow (Red 1) ENB 10 7 – –

(J.S.T. Mfg.)
XMP-18V
(Front view) Yellow (Black 1) ENB 9 8 – –
(Front view)
– SD 8 9 GND Orange (Black2)

L – SD
Controller end Machine end Orange (Red 2) 5V
Orange (Black 2) GND
– (NC)
– (NC)
ERC
7 10 5V Orange (Red 2)
6 11 – –
5 12 – –
4 13 – –
3 14 – –

Controllers
– (NC) 2 Shielded wire 15 – –
Drain F.G 1 16 BK+ Light blue (Red 1)
17 BK- Light blue (Black 1)
Drain wire 18 F.G Drain

RCP2
I/O Flat Cable (Common to RCP / RCP2-C / RCP2-CG)
Model CB-RCA-PIO020

Controllers
2m Signal name Signal name
No. Color Wiring No. Color Wiring
1 +24V Brown-1 14 NC Yellow-2

RCS
2 N(24G) Red-1 15 NC Green-2
3 Start Orange-1 16 Completed position 1 Blue-2
No connector B 4 Command position 1 Yellow-1 17 Completed position 2 Purple-2
13 26 5 Command position 2 Green-1 18 Completed position 4 Gray-2
6 Command position 4 Blue-1 19 Completed position 8 White-2
7 Command position 8 Purple-1 Flat cable A 20 Positioning completion Black-2 Flat cable B
8 NC Gray-1 21 Origin return completion Brown-3
1 14
9 NC White-1 22 Zone Red-3
No connector A 10 * Pause Black-1 23 * Alarm Orange-3
11 NC Brown-2 24 * Emergency stop Yellow-3
12 NC Red-2 25 NC Green-3
13 NC Orange-2 26 NC Blue-3

Absolute-Data Backup Battery

Model AB-4
Specifications
Item Description
Battery type Nickel hydrogen battery
Charge time Approx. 48 hours (at ambient temperature of 20ºC)
Battery time Approx. 250 hours (at ambient temperature of
20ºC, when the battery is fully charged)
Nominal voltage 4.8V
Applicable controller RCP2-C/CG Average life Approx. 4 years

ROBO Cylinder General Catalog 160

 RCP2 Controller

Differences between RCP-C and RCP2-C/CG

1 Changes to General Specifications
Item RCP-C RCP2-C/CG
Power-supply voltage DC24V±10% DC24V+10% / -15%
Current 2.5A or less 2A or less
Operating temperature 0~40ºC 0~40ºC
Operating humidity 85%RH or below 85%RH or below (non-condensing)
Operating environment Free from corrosive gases Free from corrosive gases.
Environment Storage environment - -10~65%
Storage humidity - 90%RH or below (non-condensing)
10~57Hz in XYZ directions
Vibration resistance - Single amplitude 0.035mm (continuous)
0.075mm (intermittent)
Protection class (IP20 or equivalent) IP 20
Weight 360g 300g or less
Number of positions 16 Up to 64
Storage device EEPROM EEPROM

2 Changes to Power Terminal Assignments and Emergency-Stop Input Specification

RCP-C RCP2-C
Symbol Explanation Symbol Explanation
FG A ground connection terminal S1 Emergency-stop switch contacts: The emergency-stop switch on the
N The ground side of the 24V power supply teaching pendant is connected when the port switch is set to the ON
S2 side. S1 and S2 are shorted when the port switch is set the OFF side.
24V A 24VDC power supply
EMG Both terminals are used to connect an emergency-stop switch. MPI A motor drive-power cutoff terminal
EMG (The controller is shipped with the EMG terminals shorted.) MPO
24V The positive side of the 24V power supply
N The negative side of the 24V power supply
FG Ground connection
* RCP2-C
This controller has a built-in relay to cut off the motor drive power.
Do not open the MPI and MPO terminals that are shorted.
The emergency-stop signal is input to the EMG terminal.
* RCP2-CG
The MPI/MIO terminals are provided to allow ON/OFF of the motor
drive power externally when a safety circuit is constructed by the user.
* S1, S2
S1 and S2 are contact outputs for the emergency-stop pushbutton
switch provided on the teaching pendant.
(Incorporate S1 and S2 in your safety circuit.)
* If the controller has a built-in relay, FG becomes EMG,
meaning that it serves as an emergency-stop signal input terminal.

3 Changes to PIO Interface

Same setting as the conventional RCP (Factory setting)
RCP-C RCP2-C
Pin No. Category Signal Color Pin No. Parameter (The function varies depending on the IOPN)
1 P24 +24V Connect this signal to the 24V power supply. Brown-1 Pin No. Category Signal 0 1 2 3 4 5
2 N 0V Connect this signal to the 0V power supply. Red-1 1A P24 24V
3 Start This signal is used to input a movement start command. Orange-1 2A N 0V
4 Command position 1 Yellow-1 3A IN00 CSTR PC1 PC1 PC1 PC1 ST0
5 Command position 2 These signals are used input the position Green-1 4A IN01 PC1 PC2 PC2 PC2 PC2 ST1
6 Command position 4 number to be selected. Blue-1 5A IN02 PC2 PC4 PC4 PC4 PC4 ST2
7 Command position 8 Purple-1 6A IN03 PC4 PC8 PC8 PC8 PC8 ST3
8 Gray-1 7A IN04 PC8 – PC16 – MODE –
Input Not used Do not connect this signal. Input
9 White-1 8A IN05 – *STP PC32 *STP *STP/JOG *STP
10 *Pause This signal is used to temporarily stop the moving actuator. Black-1 9A IN06 – CSTR CSTR CSTR CSTR/PWRT –
11 Brown-2 10A IN07 *STP HOME HOME HOME HOME –
12 Red-2 11A IN08 – SON *STP SON SON –
13 Orange-2 12A IN09 – RES RES RES RES/JOG- RES
Not used Do not connect this signal.
14 Yellow-2 13A (Reserved)
15 Green-2 1B (Reserved)
16 Completed position 1 These signals are used to output the position Blue-2 2B (Reserved)
17 Completed position 2 number upon completion of positioning. Purple-2 3B OUT00 PM1 PM1 PM1 PM1 PM1 PE0
18 Completed position 4 When an alarm occurs, these signals output Gray-2 4B OUT01 PM2 PM2 PM2 PM2 PM2 PE1
19 Completed position 8 the corresponding alarm number. White-2 5B OUT02 PM4 PM4 PM4 PM4 PM4 PE2
20 Positioning completion This signal is output when positioning is completed. Black-2 6B OUT03 PM8 PM8 PM8 PM8 PM8 PE3
Output Output
21 Home return completion This signal is output when home return is completed. Brown-3 7B OUT04 PEND ZONE PM16 ZONE1 MODES ZONE1
22 Zone This signal is output when the actuator enters the range set by the parameter. Red-3 8B OUT05 HEND MOVE PM32 ZONE2 MOVE –
23 *Alarm This signal is output when the controller is abnormal. Orange-3 9B OUT06 ZONE PEND PEND PEND PEND/WEND PEND
24 *Emergency stop This signal is output when an emergency stop is actuated Yellow-3 10B OUT07 *ALM HEND HEND HEND HEND HEND
25 Green-3 11B *EMGS (Reserved: Emergency-stop status)
Not used Do not connect this signal.
26 Blue-3 12B OUT08 – SRDY RUN SRDY SRDY –
Output
13B OUT09 – *ALM *ALM *ALM *ALM *ALM
* The RCP2 controller can be used with one of five PIO interface patterns selected by setting the applicable parameter
accordingly.
The PIO interface corresponding to the parameter setting “0” is exactly the same as the PIO interface of the RCP controller.
Since the connector shape is also the same, you can swap your current RCP controller with a RCP2 controller without

161
changing any settings, if PIO pattern “0” will be selected for the RCP2 controller. (There is no need to reassign PIOs.)

ROBO Cylinder General Catalog

 RCP2 Controller
4 Changes to Controller Dimensions/Installation Dimensions

Actuators
RCP-C RCP2-C

ERC
ø5 46.3 101 ø5 68.1
36.6 100.5 0.5
10

Actuators
10

170.5 (Installation dimension)

148 (Installation dimension)

RCP2
152.8
158
155

158

178.5

163

Actuators
RCS
Information on
Guide Types
5

5
35

Actuator
Options
5 Other Changes
1. Emergency-stop specification 3. Controller link specification
• All RCP controllers are equipped with a built-in • The method to link controllers is different between

How to Install
emergency stop relay. the RCP and RCP2 series. Refer to the operating
• The RCP2 series includes controllers equipped manual for details.

with a built-in emergency-stop relay, just like the
conventional RCP series, and those not equipped
with a built-in emergency-stop relay (global
specification). RCP2 controllers without a built-in
Actuator
4. Compatibility of PC software and teaching pendants
• With the necessary version upgrade, the PC
software for RCP can be used with RCP2

Controllers
relay are designed to operate with a safety circuit controllers.
(safety category 2) provided externally to the • The teaching pendants for RCP are also
controller. The user must provide this safety compatible with the RCP2 series after the

ERC
circuit to cut off the motor drive power. necessary upgrade.

Controllers
2. CE mark 5. User parameters
• The RCP series includes CE-certified controllers • The user parameters have been changed for the
for use in EU countries. RCP2 series. Refer to the operating manual for

RCP2
• Among the RCP2 series, the global specification details.
type (RCP2-CG) is scheduled to receive a CE
certification.

Controllers
RCS

ROBO Cylinder General Catalog 162