Specification of Robot Controller

I/O type: Negative Common (NPN)

RC9L-M

I/O type: Positive Common (PNP)

RC9L-P

• VLA-4025
• VLA-6022

W600 × D581 × H750 [mm]

For details, see the drawing.

During operation: 0 to 40°C

During storage and transport: -10 to 60°C

During operation: 20 to 90% RH (No dew condensation allowed)

During storage and transport: 40 to 75% RH (No dew condensation allowed)

3-phase 400 VAC -10% to 480 VAC +10%, 47 to 63 Hz, 10 kVA

(If the power transformer box is used: 3-phase 200 VAC -10% to 230 VAC +10%, 47 to 63 Hz, 10 kVA)

Use the AC power cable (10 m), which is a required option that you need to select when purchasing the controller.

Motor & Encoder Cable Set

Select a length from 5, 10, 15, 20, 30, and 40 m.

The set consists of a motor power cable and an encoder cable.

It is a required option that you need to select when purchasing the controller.

The cables are fixed (immovable) cables.

Ensure the following inner bending radii of the motor & encoder cables are maintained. The cable may be broken if bent excessively.

• Motor power cable: 300 mm or more
• Encoder cable: 230 mm or more

User Area, Global Variable

32,766 points

Number of Program Files

Maximum: 256 files

• Remote Teaching
• Numeric input

Number of Pins

• Safety input: 6 pins
• Safety output: 8 pins

Overview

• Safety input and Safety output are safety-related signals such as Emergency Stop input, Protective Stop input, and STO Monitor output.
• Use the Safety I/O cable (select a length from 10 m and 20 m), which is a required option that you need to select when purchasing the controller.

Number of Pins

• System input: 8 pins / User input: 8 pins
• System output: 8 pins / User output: 8 pins

Overview

• System input and system output are I/Os to which specific functions are assigned by default.
• User input and user output are I/Os that you can use as you want.
• Use the Digital I/O cable (select a length from 10 m and 20 m), which is an optional item.
• The circuit configuration (NPN/PNP) for the I/Os is determined depending on the I/O type of the robot controller model code.

Number of Pins

Using the wires inside the encoder cable (factory default setting)

• User input: 6 pins
• User output: 6 pins

Using the Hand I/O cable (optional item)

• User input: 12 pins
• User output: 12 pins

Overview

• User input and user output are I/Os that you can use as you want.
• If you need seven or more I/O pins, use the Hand I/O cable (select a length from 5, 10, 15, 20, 30, and 40 m), which is an optional item.
• The circuit configuration (NPN/PNP) for the I/Os is determined depending on the I/O type of the robot controller model code.

Overview

• Power source for Digital I/O and Hand I/O.

Power Source Specifications

Using the internal power source (supplied from the robot controller)

Voltage: DC24V±10% / Current capacity: 1.25A

Using an external power source

24 VDC ±10% (connect an external power source to the User Power internal power source connector)

The following devices are also available as options.

Field Network Slave

• PROFINET RT Device Terminal
• EtherNet/IP Slave Terminal
• PROFIBUS Slave Terminal
• DeviceNet Slave Terminal
• EtherCAT Bridge Terminal

Digital Input

• Digital Input Terminal NPN, 8 points, 10µs, IP20
• Digital Input Terminal NPN, 16 points, 3ms, IP20
• Digital Input Terminal PNP, 8 points, 10µs, IP20
• Digital Input Terminal PNP, 16 points, 3ms, IP20

Digital Output

• Digital Output Terminal NPN, 8 points, 0.5A, IP20
• Digital Output Terminal NPN, 16 points, 0.5A, IP20
• Digital Output Terminal PNP, 8 points, 0.5A, IP20
• Digital Output Terminal PNP, 16 points, 0.5A, IP20

Digital Input/Output

• Digital Input/Output Terminal PNP, 16 points, 3ms, IP67

• Side of the robot controller: 1 line
• Inside of the robot controller (Robot Control IPC): 3 lines

The following devices are also available as options.

Serial Communication

• RS232C 2ch Terminal
• RS422/RS485 2ch Terminal

Ethernet

• Ethernet expansion module

• It is an optional item.
• Resolution 800 × 1280
• Select a cable length from 5, 10, and 20 m.

• It is an optional item.
• LCD size 128 × 64 pixels
• Select a cable length from 5, 10, and 20 m.

• It is an optional item.
• The length is 20 m.

Structure

Category 4

Performance level

e

MTTF_D

1,731 years

DCavg

99%

PFH_D

4.43E-9

• External error output
• Displaying an error message and a recovery method on Smart TP (optional item).
• Displaying an error code on Mini-Pendant (optional item).

• Emergency Stop function
• Protective Stop function
• Enable-Auto function
• Enabling Switch function

• PLd, Cat.3
• Stop category 1