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Single Axis Robot RSH1 / 2 / 3 Series Controller

Single Axis Robot RSH1 / 2 / 3 Series Controller

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[About RS-Manager's Windows 11 compatibility]
The support software "RS-Manager" is compatible with Windows 11.(Compatible with Ver. 1.4.5 or later)
*1.This will apply to shipments from October 2023 onwards (Applicable Ver.1.4.5 or later)
*2.Updates from former versions are not applicable. 
*3.When setting up, you must disable "Force Driver Signature."
 
 
Specialized Position Controllers for Single Axis Robots - for Servo Motor: Related Image

Specification Table

 
Part Number—I/O Module
EXRS-C21A—N
■Controller Unit price
Part NumberI/O Module
EXRS−C21A/C22A
Absolute Encoders
(w/ Data Storage Battery)		NPN: N
PNP: P
CC-Link: C
DeviceNet: D
EXRS−C21B/C22B
Incremental Type		NPN: N
PNP: P
CC-Link: C
DeviceNet: D
■Controlled Actuator
 
RSH 1/2/3/4/5
RSH 1C/2C/3C
RSF4
RSB 1/2

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  1. 1
Part Number
EXRS-C22A-C
EXRS-C22A-D
EXRS-C22A-N
EXRS-C22A-P
EXRS-C22B-C
EXRS-C22B-D
EXRS-C22B-N
EXRS-C22B-P
Part Number
Standard Unit Price
Minimum order quantityVolume Discount
Standard
Shipping Days
?
Position Detector I/O Module Controller Type

824.92 €

1 Available 20 Days Resolver, Absolute TypeCC-LinkPoint Control (C22A)

860.16 €

1 Available 20 Days Resolver, Absolute TypeDeviceNetPoint Control (C22A)

666.22 €

1 Available 20 Days Resolver, Absolute TypeNPNPoint Control (C22A)

803.48 €

1 Available 20 Days Resolver, Absolute TypePNPPoint Control (C22A)

790.90 €

1 Available 19 Days Resolver, Incremental TypeCC-LinkPoint Control (C22B)

824.92 €

1 Available 19 Days Resolver, Incremental TypeDeviceNetPoint Control (C22B)

630.96 €

1 Available 19 Days Resolver, Incremental TypeNPNPoint Control (C22B)

768.24 €

1 Available 19 Days Resolver, Incremental TypePNPPoint Control (C22B)

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  1. 1

Specifications/Overview

I/O Module
Select from the following four types matching to the specifications of PLC, etc.
(Common specifications of EXRS-C1 and EXRS-C2)
TypeDescriptions
NPN (Parallel I/O)General I/O port with 16 inputs and 16 outputs.
It is not possible to read or write controller data from the PLC.
PNP (Parallel I/O)General I/O port with 16 inputs and 16 outputs.
It is not possible to read or write controller data from the PLC.
CC-LinkName of field network communication protocol by CC-Link Association.
DeviceNetName of field network communication protocol by non-profit organization ODVA.
■Parallel I/O Control, Signal Function Descriptions
TypePin No.Signal NameMeaningDescription
InputA1 to A2+COMI/O Power Supply Input
+ Common (24 V)		·External Power Supply (+) Terminal
·DC24±10%
A3 to A4NCNot ConnectedNot used.
A5 to A12PIN0 to 7Point No. Set
(Binary)		·Specify the point No. of the set target position
·Specify point No. for current position input (in manual operation mode)
A13JOG+Jog Operation (+)Inching/Jog moves in + direction (in manual operation mode)
A14JOG-Jog Operation (-)Inching/Jog moves in - direction (in manual operation mode)
A15MANUALManual ModeSwitch to Manual Mode
A16ORGHomingStart Homing
A17/LOCKInterlockExternal input is allowed. If the current sequence is set to OFF during movement, the robot decelerates before stopping.
A18STARTStart OperationStarts positioning operation towards specified point No.
A19RESETReset·Alarm Reset
·Reset Point No. Output
·Clear remaining travel distance in relative positioning operation
A20SERVOServo ONMotor ON/OFF
OutputB1 to B8POUT0 to 7Output Point No.
(Binary)		·Outputs point number to be specified by positioning operation
·Output alarm No. in the event of alarm occurrence. (Enable/Disable selection possible)
B9OUT0Control Output 0Arbitrarily allocate from the following depending on the "Parameter Settings."
Zone Output, Individual Zone Output, Manual Mode Output, Completion of Homing
In Clamp Position, Alarm Output Status, Proximity Range Output, In Motion
B10OUT1Control Output 1
B11OUT2Control Output 2
B12OUT3Control Output 3
B13BUSYIn OperationON in operation
B14ENDCompletion of OperationSets the Operation result to ON through Output, upon successful completion.
B15/ALMAlarmON in normal status, OFF output in the event of alarm status
B16SRV-SServo StatusSet to ON when the power is supplied to the motor.
B17 to B18NCNot ConnectedNot used.
B19 to B20-COMI/O Power Supply Input　
-Common (0 V)		·External Power Supply (-) Terminal
·Inputs to External 0V terminal.

Controller Side
Socket

Specialized Position Controllers for Single Axis Robots - for Servo Motor: Related Image

Upstream Controller side
cut off cable

Communication Specifications
■CC-Link Network Board Specification
ItemCC-Link Network Specification
Communication ProtocolCC−Link V1.10
StationRemote Device Station
Number of Stations Occupied1 Station
Station Number Setting1 to 64
Communication Speed Setting156 Kbps625 Kbps2.5 Mbps5 Mbps10 Mbps
Total Extended Distance1200 m900 m400 m160 m100 m
Monitor LEDRUN, ERR, SD, RD
■DeviceNet Network Board Specification
ItemDeviceNet Network Specification
Compatible DeviceNet SpecificationVolume 1 Release2.0/Volume 2 Release2.0
Device TypeGeneric Device
MAC ID Setting0 to 63
Communication Speed Setting125 kbps250 kbps500 kbps
Total Extended Distance500 m250 m100 m
Monitor LEDModule, Network
■Standard COM1 port communication specifications (RS-232C)
ItemSpecifications
Transmission Rate38,400 bps
Data Bit Length8 bits
Stop Bit Length1 bit
ParityOdd Number
Flow controlNot provided
Communication MethodFull-duplex Communications
I/O Circuit Diagram
Specialized Position Controllers for Single Axis Robots - for Servo Motor: Related Image

NPN Specifications

PNP Specifications

■Input Area

■Input Area

■Output Area

■Output Area

■Table of EXT connector signal for EXRS-C21/C22 controller
Connectors attached to controllers. Emergency stop circuit structure and socket for brake power supply.
Pin No.Signal NameDescription
1+V24Mechanical Brake Power Input
20 V(DC power source is to be provided by customers)
3ES+Emergency Stop Input Internal Power Supply
4ES1Emergency Stop Input 1
5ES2Emergency Stop Input 2
6ES-Emergency Stop Ready
7MPRDY1Main Power Supply Ready Output Contacts
8MPRDY2(24 V DC power source is to be provided by customers)

Caution

[!] External power source 24 V DC (3 A or more) is to be provided by customers. Required power supplies for brake and I/O communication.
[!]I/O Cable is not included. Select as an optional product.
[ ! ]An external E-Stop circuit is required for service use.
[ ! ]No need to select a controller separately as it is included in the purchase of a complete set of Single Axis Robots.
[ ! ]When purchasing a controller as a single item, the part number of the applicable single axis robot is required.
[ ! ]The Support Software is required when changing the controller/robot combinations or the station numbers in response to reconfiguration of CC-Link.
[ ! ]No auxiliary power supply incorporated.

 

Basic information

Main Body, Peripheral Components Peripheral Components Input Power Supply Single-Phase, 200 to 230 V AC Operating Ambient Temperature(°C) 0::40

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Basic Attributes

  • Position Detector

    • Resolver, Incremental Type
    • Resolver, Absolute Type

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  • I/O Module

    • NPN
    • PNP
    • CC-Link
    • DeviceNet

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  • Controller Type

    • Point Control (C22A)
    • Point Control (C22B)

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  • Type

    • EXRS-C22A
    • EXRS-C22B

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