It is a new concept robot controller that can be provided by firmware. We provide the optimal robot system for each customer.
This controller lets you build a system by choosing the optimal robot, peripheral equipment, and software for your application. The new teaching devices and application software "WINCAPS Plus" are also available to achieve further simplification while inheriting the RCS development environment. It offers simplicity and peace of mind to all personnel involved with equipment setup and operation.
RC9 can be provided with firmware. Since it has the selectivity that can be optimized according to the application, the openness that can fuse the technologies of users, SIers, and manufacturers, and the expandability that can simply integrate the entire system, it realizes simple equipment integrated control.
| Type | RC9M | RC9L | CRC9 | |
|---|---|---|---|---|
| Compatible robot | VMB-2515series | VLA-4025series | COBOTTA PRO 900 / COBOTTA PRO 1300 | |
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| Power supply | Power supply capacity | 4.5kVA | 10.0kVA | 1.0kVA |
| Input voltage range | 3-phase 200 V AC -10% to 230 V AC +10% | 3-phase 400 V AC -10% to 480 V AC + 10% | Single-phase 200 V AC -15% to 240 V AC +10% Single-phase 100 V AC -15% to 120 V AC +10% |
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| Power supply frequency | 47～63Hz | |||
| Power cable length | 10m | 5m Select a type from 5 types. ・Unsheathed type ・A Plug type for Japan ・A Plug type for North America ・SE Plug type for Europe ・O2 Plug type for China |
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| Number of control axes | 6 | |||
| Control method | PTP, GP 3-dimensional straight line, 3-dimensional arc | |||
| Language | PacScript (DENSO Robotics language) | PacScript (DENSO Robotics language), Easy Block Programming (Optional) | ||
| Memory capacity | User domain Global variables: 32,766 (for each point): number of program files: up to 256 | |||
| Teaching method | 1) Remote teaching 2) Numerical entry (MDI) | 1) Remote teaching 2) Numerical entry (MDI) 3) Direct Teaching 4) Fine Direct Teaching (Optional) |
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| External signals | Digital I/O | System input: 8 pins / system output: 8 pins User input: 8 pins / user output: 8 pins |
System input: 8 pins / system output: 9 or 10 pins User input: 8 pins / user output: 7 or 8 pins |
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| Hand I/O | User input: 12 pins User output: 12 pins |
User input: 6 pins User output: 6 pins (including Motor & encoder cable) |
- | |
| Safety I/O | System input: 6 pins / system output: 8 pins | User safety input: 16 pins User safety output: 16 pins External emergency stop input: 2 pins Enable auto input: 2 pins Protective stop input: 2 pins Enabling switch output: 2 pins Pendant emergency stop output: 2 pins STO monitor output: 2 pins |
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| External communications |
Ethernet | Panel: 1 line (GbE: Gigabit Ethernet) | Front panel of the robot controller: 2 lines (GbE: Gigabit Ethernet) (One line is used only for sending safety parameters.) | |
| EtherCAT | - | Front panel of the robot controller: 1 line | ||
| USB | Panel: 1 port; internal: 3 ports | Front panel of the robot controller: 1 port Inside of the robot controller (robot control IPC): 2 ports |
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| Optional expansions | 3 units | 3 units (Two I/O terminals are regarded as one unit.) | ||
| Self-test function | Overrun, servo error, memory error, input error, short-circuit detection (user wiring), etc | |||
| Timer function | Unit: 1 ms | |||
| Error display | External error output | |||
| Display of error codes on mini-pendant (option) | Display of error message and recovery method on Smart TP | |||
| Display of error messages and recovery methods on teaching pendant (option) | ||||
| Environmental conditions (during operation) | Temperature: o· C to 40° C; humidity: 20% to 90% RH (non-condensing) | Temperature: o· C to 50° C; humidity: 20% to 90% RH (non-condensing) | ||
| I/0 power supply | Uses external power supply | Supply 24 V DC ± l0% from external source | ||
| Uses internal power supply | 24 V DC ± 10% is supplied by the controller. | |||
| Stop category (IEC 60664-1) |
1 | |||
| Safety-related control systems and performance | Emergency stop, protective stop, enable: PL d, Cat. 3 | |||
| Protection class | IP54 | IP20, IP54 | ||
| Pollution degree (IEC 60664-1) |
- | IP20: 2*¹ IP54: 3 |
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| Weight | Approx. 93kg | Approx. 104kg | IP20 : Approx. 15kg IP54 : Approx. 18kg |
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| Outer dimensions | 600 (W) ×581 (D) ×690 (H) mm | 600 (W) ×581 (D) ×840 (H) mm | IP20: 420 (W) ×360 (D) ×200 (H) mm IP54: 420 (W) ×461 (D) ×200 (H) mm Screws included, rubber feet not included. |
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| Applicable standards | - | ISO 12100:2010, ISO 10218-1:2011, ISO 13849-1:2015, IEC 60204-1:2016/A1:2021, ISO/TS 15066:2016, ISO 13850:2015, IEC 61508-1:2010 series, IEC 61800-5-1:2022, IEC 61800-5-2:2016, EN 61000-6-2:2005, EN 61000-6-4:2007/A1:2011, EN 61000-6-7:2015, IEC 63000:2018, ANSI/RIA R15.06-2012, CAN/CSA-Z434-14 |
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*¹ Pollution degree 2 environment is equivalent to home and office areas.
| EtherCAT cable | RJ45-RJ45, fixed: 0.5, 2, 5, 10, 20, 40 m | ||
| RJ45-RJ45, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| Cable for EtherCAT box | Power cable | M8-Open, flexible: 2, 10, 40 m | |
| M8-M8, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| 7/8”-Open, flexible (non-torsion): 2, 10, 40 m | |||
| 7/8”-7/8”, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| EtherCAT cable | M8-RJ45, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | ||
| M8-M8, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| Sensor cable for IO-Link | M12-Open, Class A, flexible: 2, 10, 40 m | ||
| M12-M12, Class A, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| M12-Open, Class B, flexible (non-torsion): 2, 10, 40 m | |||
| M12-M12, Class B, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| Sensor cable for DIO | M8-Open, flexible: 2, 10, 40 m | ||
| Extension Function (USB dongle / License certificate) |
TwinCAT3 PLC | ||
| TwinCAT3 PLC + HMI Web | |||
| Field Network | EtherCAT junction | 3 ports, 4 ports, 8 ports | |
| EtherCAT bridge terminal | |||
| PROFINET RT controller terminal | |||
| PROFINET RT device terminal | |||
| EtherNet/IP master terminal | |||
| EtherNet/IP slave terminal | |||
| PROFIBUS master terminal | |||
| PROFIBUS slave terminal | |||
| DeviceNet master terminal | |||
| DeviceNet slave terminal | |||
| CC-Link slave terminal | |||
| Serial Transmission | RS232C 2ch terminal | ||
| RS422/RS485 2ch terminal | |||
| Digital input/output | Digital input terminal PNP, 8ch, 10us, IP20 | ||
| Digital input terminal PNP, 16ch, 3ms, IP20 | |||
| Digital output terminal PNP, 8ch, 0.5A, IP20 | |||
| Digital output terminal PNP, 16ch, 0.5A, IP20 | |||
| Digital input terminal NPN, 8ch, 10us, IP20 | |||
| Digital input terminal NPN, 16ch, 3ms, IP20 | |||
| Digital output terminal NPN, 8ch, 0.5A, IP20 | |||
| Digital output terminal NPN, 16ch, 0.5A, IP20 | |||
| EtherCAT box | DIO, PNP, 16ch, 3ms, IP67 | ||
| DIO, NPN, 16ch, 3ms, IP67 | |||
| IO-Link master, ClassA, IP67 | 4 ports, 8 ports | ||
| IO-Link master, ClassB, IP67 | 4 ports, 8 ports | ||
| Protection plugs M8, 50pcs for DIO | |||
| Protection plugs M12, 50pcs for IO-Link | |||
| Power supply | Power Transformer (VMB) (Built-in) | ||
| Power Transformer (VLA) (Built-in) | |||
| Other | EtherCAT coupler terminal + Bus end cap set (Built-in) | ||
| EtherCAT coupler terminal (Single) | |||
| Bus end cap (Singile) | |||
| EtherCAT extension terminal | |||
| Ethernet expansion module (Built-in) | |||
| AC power cable (5 m) *Select one. |
Unsheathed type | ||
| A Plug type for Japan | |||
| A Plug type for North America | |||
| SE Plug type for Europe | |||
| O2 Plug type for China | |||
| EtherCAT cable | RJ45-RJ45, fixed: 0.5, 2, 5, 10, 20, 40 m | ||
| RJ45-RJ45, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| Cable for EtherCAT box | Power cable | M8-Open, flexible: 2, 10, 40 m | |
| M8-M8, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| 7/8”-Open, flexible (non-torsion): 2, 10, 40 m | |||
| 7/8”-7/8”, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| EtherCAT cable | M8-RJ45, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | ||
| M8-M8, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| Sensor cable for IO-Link | M12-Open, Class A, flexible: 2, 10, 40 m | ||
| M12-M12, Class A, flexible: 0.5, 2, 5, 10, 20, 40 m | |||
| M12-Open, Class B, flexible (non-torsion): 2, 10, 40 m | |||
| M12-M12, Class B, flexible (non-torsion): 0.5, 2, 5, 10, 20, 40 m | |||
| Sensor cable for DIO | M8-Open, flexible: 2, 10, 40 m | ||
| Extension Function (USB dongle / License certificate) |
TwinCAT3 PLC | ||
| TwinCAT3 PLC + HMI Web | |||
| Field Network | EtherCAT junction | 3 ports, 4 ports, 8 ports | |
| EtherCAT bridge terminal | |||
| PROFINET RT controller terminal | |||
| PROFINET RT device terminal | |||
| EtherNet/IP master terminal | |||
| EtherNet/IP slave terminal | |||
| PROFIBUS master terminal | |||
| PROFIBUS slave terminal | |||
| DeviceNet master terminal | |||
| DeviceNet slave terminal | |||
| CC-Link slave terminal | |||
| Serial Transmission | RS232C 2ch terminal | ||
| RS422/RS485 2ch terminal | |||
| Digital input/output | Digital input terminal PNP, 8ch, 10us, IP20 | ||
| Digital input terminal PNP, 16ch, 3ms, IP20 | |||
| Digital output terminal PNP, 8ch, 0.5A, IP20 | |||
| Digital output terminal PNP, 16ch, 0.5A, IP20 | |||
| Digital input terminal NPN, 8ch, 10us, IP20 | |||
| Digital input terminal NPN, 16ch, 3ms, IP20 | |||
| Digital output terminal NPN, 8ch, 0.5A, IP20 | |||
| Digital output terminal NPN, 16ch, 0.5A, IP20 | |||
| EtherCAT box | DIO, PNP, 16ch, 3ms, IP67 | ||
| DIO, NPN, 16ch, 3ms, IP67 | |||
| IO-Link master, ClassA, IP67 | 4 ports, 8 ports | ||
| IO-Link master, ClassB, IP67 | 4 ports, 8 ports | ||
| Protection plugs M8, 50pcs for DIO | |||
| Protection plugs M12, 50pcs for IO-Link | |||
| Other | EtherCAT coupler terminal + Bus end cap set (Built-in) | ||
| EtherCAT coupler terminal (Single) | |||
| Bus end cap (Singile) | |||
| EtherCAT extension terminal | |||
| Ethernet expansion module (Built-in) | |||
※EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
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