ID : 2353

Specification of RC8A Controller

Term		Specification
Applicable robot		VM-6083 / VM-60B1 VS-6556 / VS-6577 VS050 / VS060 / VS068 / VS087 VP-6242 / VP-5243 HM series / HS series / HSA1 series / HSR series XR series / SC series
Type		RC8A-**---***
Number of axes controlled		Robot : 4 to 6 axes Extended-joint : 2 to 4 axes (optional)
Control method		PTP, CP 3-dimensional linear, 3-dimensional arc (For SC series and Extended-joints, available PTP control only.)
Drive method		All axes all digital AC servo
Language in use		DENSO Robotics language (PacScript)
Memory capacity		User area, Variable area : 1.75 Mbyte (32,766 points equivalent), File area : 400 Mbyte (5,000 steps x 256 files)
Teaching method		Direct teaching...Horizontal articulated model only Remote teaching Numerical entry (MDI)
External signal (I/O, etc.)	Mini I/O	Input : User open 8 points + System fix 14 points Output : User open 8 points + System fix 18 points
	Hand I/O	Input : 8 points Output : 8 points
	Safety I/O	Input and output signals are integrated into Mini I/O connector.
	Motion I/O (optional)	Input : Safety circuit signal 30 points Output : Safety circuit signal 14 points
	Parallel I/O board (optional) (*1)	Expansion slot : PCI Input : 40 points Output : 48 points
	CC-Link remote device board (optional) (*1)	Expansion slot : PCI Express Input : Up to 8192 points Output : Up to 8192 points Remote register Input : Up to 2048 words Output : Up to 2048 words
	DeviceNet slave board (optional) (*1)	Expansion slot : PCI Express Input : Up to 256 points Output : Up to 256 points
	DeviceNet master board (optional) (*1)	Expansion slot : PCI Express Input : 1024 points Output : 1024 points
	EtherNet/IP Adapter board (optional) (*1)	Expansion slot : PCI Express Input : Up to 4032 points Output : Up to 4032 points
	PROFIBUS slave board (optional) (*1)	Expansion slot : PCI Express Input : Up to 256 points Output : Up to 256 points
	PROFINET IO Device board (optional)	Expansion slot : PCI Express Input : Up to 8192 points Output : Up to 8192 points
	EtherCAT slave board (optional)	Expansion slot : PCI Express Input : Up to 2048 points Output : Up to 2048 points
	RS232C expansion board (optional, not supplied)	DENSO supplies software only and board is not supplied.
External communication	RS232C	1 line
	Ethernet	1 line (GbE: Gigabit Ethernet)
	USB	2 lines
	VGA optional	1 line
Electric gripper control board (optional) (*1)		Expansion slot : PCI
Expansion slot		PCI 1 slot PCI Express 1 slot
Self diagnosis function		Overrun, servo error, memory error, input error, short circuit detection (user wiring part), etc.
Timer function		0.02 to 10 sec. (1/60 sec. step)
Error display		External error output Display error code on mini-pendant (optional) Display error message, resume method on teach pendant (optional)
Cable	Motor & encoder cable for RC8 series (optional)	2 m, 4 m, 6 m, 12 m, 20 m Note) Motor connector x 3, encoder connector x 1 Note) VM, HS, HM are standard / splash-proof version Note) VS is dedicated version Note) SC is only for 4m, 6m and 12m Motor cable (connector x 1), encoder cable (connector x 1) Note) The 20m cable is not available for the UL-listed robot unit.
	I/O cable (optional)	8 m, 15 m (for Mini I/O, for Hand I/O, for expansion parallel I/O)
	For Motion I/O cable (optional)	8 m, 15 m
	RC8 series power cable	5 m
	For RC8 series Extended-joint motor cable (optional)	2 m, 4 m, 6 m, 12 m (standard version)
	For RC8 series Extended-joint encoder cable (optional)	1 m, 2 m, 4 m, 6 m, 12 m (standard version)
External operation device	Teach pendant (optional)	4 m, 8 m, 12 m
	Mini-pendant (optional)	4 m, 8 m, 12 m
	Emergency stop switch box (optional)	4 m
	Pendant extension cable (optional)	4 m, 8 m (Available for Emergency stop switch box as well)
Environmental condition (in motion)		Temperature 0 to 40 degree C, humidity 20 to 90% RH (No dew condensation allowed.)
Defacement (pollution) degree		2 (*2)
Power supply(*3)		VM 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, +3.3 kVA
		VS-6556/6577 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA
		VS-050/060 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.15 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.15 kVA
		VS-068/087 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 2.78 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 2.78 kVA
		VP 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.0 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.0 kVA 100V version AC100 V -5 % to AC110 V +10% 47 to 63 Hz, 1.0 kVA (4) Extended-joint specification does not support 100 V input.
		HM series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 2.45 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 2.45 kVA
		HS series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA
		HSA1 series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.69 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.69 kVA
		HSR series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.8 kVA
		XR series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.85 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.85 kVA
		SC series 3-phase 200 VAC -15% to 240 VAC +10% 47 to 63 Hz, 1.5 kVA Single phase 230 VAC -10% to 240 VAC +10% 47 to 63 Hz, 1.5 kVA
I/O power supply	Use external power supply	Supply 24VDC +/-10% from outside
I/O power supply	Use internal power supply	Supply 24VDC +/-10% from inside controller
Short Circuit Current Rating（SCCR)		Other than UL-listed model: 5 kA UL-listed model: 10 kA
Safety performance (*5)		Structure : Category 4 Performance Level : e MTTF_D : 163.2 years DCavg : 99% PFH_D : 1.50×10^^-8/h * Please specify the safety-I/O-less version in the case that safety I/O mounted on the standard version is not necessary
Stop category		Category 1 (except Safety-I/O-less type.) (See IEC 60204-1 for details of stop category)
Safety Functions		Comply with IEC 61508 (except Safety-I/O-less type.) For a third-party certifier, refer to this(PDF:692KB).
IP code		Top plate : IP3X Other surfaces : IP20 IP54 when using protective box (optional)
Stand for vertical setup		Note) Set right side (power connector side) down
External dimension		【Models except UL-Listed ones】 Standard, Safety I/O–less: W 356.5 x D 319.6 x H 96.8 [mm] 11.1 L Safety motion : W 410.3 x D 319.6 x H 96.8 [mm] 12.7 L 【UL-Listed models】 Standard, Safety motion : W 410.3 x D 420 x H 130 [mm] 19.8L * Except for the projection part.
Weight		【Models except UL-Listed ones】 Standard, Safety I/O–less : approximately 10 kg Safety motion : approximately 11 kg 【UL-Listed models】 Standard, Safety motion : approximately 16 kg

To ensure safety functions, reboot the robot controller once in every 24 hours.

*1 : Expansion boards used in the RC7 robot controller cannot be used.

*2 : Pollution degree 2 is equivalent to household and office environment.

When using in a factory, take either of the following measures.

・ Put it into the control panel corresponding to pollution degree 3.

・ Use the controller protective box (optional).

*3 : Corresponding power distribution systems are as follows.

　TT, TN, IT

*4 : If the power supply can be dropped 95 V or less, such as in the heavily loaded facilities, using a transformer describes below is recommended. However, operation with 85 V or lower voltage is not guaranteed.

Transformer specification

Input voltage : 1Ph 100 V

Output voltage : 1Ph 200 V

Capacity : 1 kVA

*5 : This safety performance is determined for the robot stop functions; such as an emergency stop, enable auto, protective stop and deadman switch.
However, customer-prepared input devices, which connect to signals for emergency stop, Enable Auto, and protective stop, are not included in the safety performance calculation.

Calculation conditions

· This calculation is based on ISO 13849-1:2015.

· Expected operation counts a year (Nop) are as follows.

Operation	Mission time (year)
Operation	10	20
Start/Stop (Motor ON/OFF)	38,933	19,466
Enable (Deadman) switch	10,000	5,000

ID : 2353

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