IAI RCP6 Series User Manual

IAI America Inc.
IAI Industrieroboter GmbH
Europe Headquarters
Ober der Röth 4, D-65824 Schwalbach, Germany
IAI CORPORATION
Corporate Headquarters
577-1 Obane, Shimizu-Ku, Shizuoka 424-0103, Japan
Phone: +81-543-64-5105 Fax: +81-543-64-5192
IAI (Shanghai) Co., Ltd
China Headquarters
Shanghai Jiahua Business Centee A8-303.808,
Hongqiao Rd., Shanghai 200030, China
Phone: +86-21-6448-4753 Fax: +86-21-6448-3992
America Headquarters
2690 W. 237th Street, Torrance, CA 90505, U.S.A
www.robocylinder.de
Phone: +49-6196-8895-0 Fax: +49-6196-8895-24 Phone: +1-310-891-6015 Fax: +1-310-891-0815
RCP6-RRA4R/6R/7R Rod Type Series V2, Catalogue No. 1221-E, Version CE0286-2A
Maintenance Parts
 Table of compatible cables
Model name Motor/encoder cable Motor/encoder robot cable
RCP6-RRAR-LCT CB-CAN-MPA CB-CAN-MPA-RB
Model name PIO at cable
PCON-CBP/CGBP CB-PAC-PIO
When placing an order for a replacement cable after purchasing a product, please use the model name shown below.
Model
CB-CAN-MPA/CB-CAN-MPA-RB
* Please indicate the cable length (L) in , maximum 20m
Example) 080 = 8m
Minimum bending radius
5m or less length: r= 68mm or more (Dynamic bending condition)
Longer than 5m: r= 73mm or more (Dynamic bending condition)
Actuator side
L
(12)
(Front view) (Front view)
(13)
(10)
(26)
(ø8.5)
(Note 1)
Please use the robot cable if the cable needs to be installed through a cable track.
* The robot cable is designed for ex-resistance.
Controller side
(Note 1) If the cable length is 5m or more, ø9.1 cable diameter applies for both non-robot
cables and robot cables.
Actuator side
DF62DL-24S-2.2C (Hirose)
1
2
3
4
5
6
11
12
13
14
15
16
18
7
9
10
17
19
8
20
22
21
23
24
Blue (AWG22/19)
Orange (AWG22/19)
Brown (AWG22/19)
Gray (AWG22/19)
Green (AWG22/19)
Red (AWG22/19)
Light blue (AWG26)
Orange (AWG26)
Green (AWG26)
Brown (AWG26)
Gray (AWG26)
Red (AWG26)
Black (AWG26)
Yellow (AWG26)
Light blue (AWG26)
Orange (AWG26)
Gray (AWG26)
Red (AWG26)
Brown (AWG26)
Green (AWG26)
—
Pink (AWG26)
—
Black (AWG26)
Blue (AWG22/19)
Orange (AWG22/19)
Brown (AWG22/19)
Gray (AWG22/19)
Green (AWG22/19)
Red (AWG22/19)
Light blue (AWG26)
Orange (AWG26)
Green (AWG26)
Brown (AWG26)
Gray (AWG26)
Red (AWG26)
Black (AWG26)
Yellow (AWG26)
Light blue (AWG26)
Orange (AWG26)
Gray (AWG26)
Red (AWG26)
Brown (AWG26)
Green (AWG26)
—
Pink (AWG26)
—
Green (AWG26)
Color
Pin No.
Controller side
PADP-24V-1-S (J.S.T. Mfg. Co., Ltd.)
Signal
name
øA
VMM
øB
VMM
ø_A
ø_B
SA[mABS]
SB[mABS]
A+
A-
B+
B-
VPS
LDC_VCC
BK+
BK-
VCC
GND/LDC_GND
LDC_SD+
LDC_SD-
—
CF_VCC
—
FG
3
5
10
9
4
15
12
17
1
6
11
16
18
8
20
2
21
7
14
13
19
22
23
24
Blue (AWG22/19)
Orange (AWG22/19)
Brown (AWG22/19)
Gray (AWG22/19)
Green (AWG22/19)
Red (AWG22/19)
Light blue (AWG26)
Orange (AWG26)
Green (AWG26)
Brown (AWG26)
Gray (AWG26)
Red (AWG26)
Black (AWG26)
Yellow (AWG26)
Light blue (AWG26)
Orange (AWG26)
Gray (AWG26)
Red (AWG26)
Brown (AWG26)
Green (AWG26)
—
Pink (AWG26)
—
Black (AWG26)
Blue (AWG22/19)
Orange (AWG22/19)
Brown (AWG22/19)
Gray (AWG22/19)
Green (AWG22/19)
Red (AWG22/19)
Light blue (AWG26)
Orange (AWG26)
Green (AWG26)
Brown (AWG26)
Gray (AWG26)
Red (AWG26)
Black (AWG26)
Yellow (AWG26)
Light blue (AWG26)
Orange (AWG26)
Gray (AWG26)
Red (AWG26)
Brown (AWG26)
Green (AWG26)
—
Pink (AWG26)
—
Green (AWG26)
Color
Pin No.
Signal
name
øA
VMM
øB
VMM
ø_A
ø_B
SA[mABS]
SB[mABS]
A+
A-
B+
B-
VPS
LDC_VCC
BK+
BK-
VCC
GND/LDC_GND
LDC_SD+
LDC_SD-
—
CF_VCC
—
FG
Standard cable Robot cableStandard cable Robot cable
Model
CB-PAC-PIO
* Please indicate the cable length (L) in , maximum 10m
Example) 080 = 8m
L
B
Flat cable (20-core) × 2
20B20A
1B1A
A
No connector
No connector
(Front view)
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Cable color
No.
Signal name Signal name
Wiring
24V
24V
—
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
Brown-3
Red-3
Orange-3
Yellow-3
Green-3
Blue-3
Purple-3
Gray-3
White-3
Black-3
Brown-4
Red-4
Orange-4
Yellow-4
Green-4
Blue-4
Purple-4
Gray-4
White-4
Black-4
Cable color
No. Wiring
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
—
0V
0V
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
HIF6-40D-1. 27R (Hirose)
(pressure-welded)
Flat cable
A
(pressure-welded)
AWG28
Flat cable
B

IAI RCP6 Series Specifications

General

Type	Controller
Model	RCP6 Series
Storage Temperature	-10 to 60°C
Control Method	Position Control
Programming	IAI Software
Communication Interface	RS-232C, Ethernet
Humidity	85% RH or less (non-condensing)