For UL-Listed Model

(1) License for Dual arm control

For details, refer to "License".

(2) MC8 Series Motion Controller

UL-listed controller that controls two MC8 series-controlled robots.

In the above-mentioned system, either an MC8 or an MC8A are available.

For details about external view and specification, refer to "MC8 SERIES (MOTION CONTROLLER) MANUAL".

(3) Encoder Hub

(4) Encoder root cable (UL)

Encoder hub and encoder root cable are sold as a set.

Set part No.

410010-790*

The length of the encoder root cable is approximately 0.4 m.

Encoder Hub

Collects the encoder signal of each internal joint and sends them to the MC8 series motion controller.

For details about the external diagram and the precaution on installation, refer to "Encoder HUB".

Encoder root cable (UL)

UL-listed cable to connect an encoder hub and an MC8 series motion controller.

(5) Motor branch cable (MC8_UL exclusive use)

410141-633*

A cable to distribute motor lines of internal joints into 1st to 4th joint.

(6) Internal joint motor

Refer to "List of AC Servo Motors".

A motor to be used as a joint of MC8 series-controlled robot. Select any motor from the "List of AC Servo Motors".

(7) Motor cable (UL)

• 2m : 410141-628*
• 4m : 410141-629*
• 6m : 410141-630*
• 12m : 410141-631*

UL-listed cable to supply power to the internal joint motor.

In the figure above, motor cables connect to internal joint motors through motor junction cables though, you can directly connect the motor cables to the internal joint motors as well.

Select any cable length according to your needs.

(8) Motor junction cable

• 1m : 410141-607*
• 2m : 410141-608*
• 3m : 410141-609*
• 4m : 410141-610*

A cable to connect a motor cable and an internal joint motor.

If this cable passes through any movable part (such as inside of robot or cableveyor), the part of cable passing through them tends to be damaged easily. Using the motor junction cable for such area, if the cable gets damaged, you only have to replace the motor junction cable.

Select any cable length according to your needs.

(9) Encoder cable

• 1m : 410141-595*
• 2m : 410141-596*
• 3m : 410141-597*
• 4m : 410141-598*
• 6m : 410141-599*
• 12m : 410141-600*

A cable that connects an encoder line of an internal joint motor to an encoder hub.

In the figure above, encoder cables connect to the encoder hub through encoder junction cables though, you can directly connect encoder cables to the encoder hub as well.

Select any cable length according to your needs.

(10) Encoder junction cable

• 2m : 410141-590*
• 4m : 410141-592*
• 6m : 410141-593*
• 12m : 410141-594*

A cable to connect an encoder cable and an encoder hub.

If this cable passes through any movable part (such as inside of robot or cableveyor), the part of cable passing through them tends to be damaged easily. Using an encoder cable for such area and using an encoder junction cable for the remaining area, if the cable gets damaged, you only have to replace the encoder cable.

Select any cable length according to your needs.

(11) Encoder battery

410611-003*

A battery to keep the encoder information of internal joint motor.

(12) Battery adapter cable

410611-614* (0.5 m)

A cable to connect an encoder battery and an internal joint motor.

(13) MC8 series-controlled robot (4-axis robot)

Any robots designed and/or created by users.

Whether the target robot name is assigned as Robot0 or Robot1 is determined by the motor connector being connected to the target robot.

Each motor connector has an axis number. Axis numbers are assigned to Robot0 from the smallest number.

To specify the number of joints assigned to Robot0, use the Cooperative control Dual arm tool.

For information about how to set with the Cooperative control Dual arm tool, refer to "MC8 Series-Controlled Robot × 2 (Internal Joint Only)" in "Setup".

For details about the axis number assigned to each motor connector, refer to "Caution for Wiring" in the "EXTENDED-JOINT MANUAL".

To use the kinematics configuration, you need to purchase a paid software license.

For details about the kinematics configuration, refer to "Kinematics Configuration" in the "MC8 SERIES (MOTION CONTROLLER) MANUAL".

(14) MC8 series-controlled robot (3-axis robot)

(15) Internal extended joint (for robot1)

To use an extended joint, connect the extended joint as the figure above.

To specify whether the target joint is assigned to a robot or an extended joint, use the kinematics configuration tool.

For information about how to set with the Kinematics configuration tool, refer to "MC8 Series-Controlled Robot × 2 Internal Joint Only" in "Setup".