ERC3_V2_0312_eng
GB
RoboCylinder with Built-in Controller
ERC3 Series
For further Improvement of
Production Efficiency
www.robocylinder.de
Transform your factory with the
efficiency-improving, space-saving
ERC3 RoboCylinder.
FACTORY EVOLUTION
The key to a successful production
process reform is selecting the
right cylinder. If used effectively,
the motorized RoboCylinder will
let you transform your factory by
utilizing existing equipment.
INDEX
1
Lineup of the ERC3 Series .................................................p3
Selection Guide ............................................................................... p4
Features of the ERC3 Series...................................................
Great Features Made Possible by the Built-in Controller ....................p5
Supporting Various Connection Methods ................................................ p7
.......................................................................
Features of the PIO Converter ..........................................p9
Features of the Quick Teach Pendant.................. p11
Application Examples...................................................................... p13
Explanation of the Model Number ......................... p14
Actuator Options .............................................................................. p15
Cautionary Notes............................................................................. p15
INDEX
Saving space
with built-in controller
Supporting wide-ranging
operations with longer
strokes
Payloads and speeds have
been increased by 1.5 times
thanks to higher output
Most affordable in our
RoboCylinder series
Product Overview ...............................................................................
Slider type
ERC3-SA5C ....................................................................... p17
ERC3-SA7C ....................................................................... p19
Rod type
ERC3-RA4C ..................................................................... p21
ERC3-RA6C...................................................................... p23
Selection Guidelines ............................................................. p25
Controller Specifications.......................................................p27
Options
PIO Converter .......................................................................................................p37
Quick Teach Pendant..........................................................................................p39
CON-PTA ................................................................................................................ p41
2
ERC3 series
Supporting Wide-ranging Applications
Product Lineup
The product lineup of IAI’s ERC3 series with built-in controller is shown below.
Slider type
Type
SA5C
Rod type
SA7C
RA4C
RA6C
50
3
6
12
900
Maximum
speed
(mm/s)*1
3
72
64
50~800
Ball screw lead
(mm)
Page
45
74
Stroke
(mm)
4
8
1120
16
980
24
3
12
20
700
800
4
8
16
24
700
800
1200
490
450
6
225
210
450
210
420
Horizontal
225
20
50~300
20
18
9
6.5
45
40
35
17
40
40
25
6
70
55
40
13
Vertical
Maximum
payload
(kg)*2
52
50
Section view
(mm)
64
External view
12
6
2.5
1
22
14
6
3
18
12
4.5
1.5
25
17.5
8
3
P.17
P.19
P.21
P.23
(Notes) All of the values shown above assume that the high-output setting is enabled.
*1 The maximum speed may not be reached when the stroke is shorter. Also note that the longer the stroke, the lower the maximum speed becomes in order to avoid reaching a dangerous speed. For details, refer to the
specification page of each model.
*2 The maximum payload is based on operation at the rated acceleration. The higher the acceleration, the lower the maximum payload becomes. For details, refer to the table of payloads by acceleration on P. 26.
Product Lineup/Selection Guide
Finding the Right Model from the Purpose of Use
Model Selection Guide
Select the right model in the ERC3 series by referring to the diagram of use
conditions provided below.
What is the required operation?
Transporting
(without guide)
Transporting
(with guide)
● Move work parts in horizontal or
vertical direction without using
a guide mechanism
Pushing/
press-fitting
● Move up and
down a system
having a guide
mechanism
Slider type
● Push and hold
work parts
● Press-fit work
parts
Rod type
What is the required force?
Work part weighing
20kg or less (horizontal)
or
12kg or less (vertical) (*)
Work part weighing
45kg or less (horizontal)
or
22kg or less (vertical) (*)
Work part weighing
18kg or less
(vertical) (*)
Work part weighing
25kg or less
(vertical) (*)
Push force of 370 N
(83lbf) or less
Push force of 1094 N
(245.9lbf) or less
This is the optimal RoboCylinder!
SA5C
SA7C
RA4C
RA6C
Go to P.17
Go to P.19
Go to P.21
Go to P.23
* When the high-output setting is enabled.
4
ERC3 series
Feature 1
Space-saving and High Performance
Great Features Made Possible
1. Saves space, allowing for effective use of equipment
 No space is required for installing the controller, so the control panel can be made smaller.
A smaller control panel allows for effective use of space.
Actuator controller
No need for controller space
Because the controller
is built-in, no
additional controller is
required. The result is
a smaller footprint of
the control panel.
Open space
PLC
2.
PLC
Approx. 1.5 times the payload and maximum speed
of a conventional model
Payload comparison
of ERC3 vs. ERC2
(lead: 12mm)
Payload 10
[kg]
8
Speed
Approx.
times
1.5
6
Payload
Approx.
times
1.5
4
ERC3-SA5C
2
0
ERC2-SA6C
0
100
200
300
400
500
600
700
800
3. Longer maximum standard stroke
Conventional
model
5
1000
800
600
mm
900
30% longer
ERC3
series
mm
Speed [mm/sec]
Features
by the Built-in Controller
4.
Teaching can be performed near the actuator
because the controller is built-in.
Other RoboCylinder series
Teaching
pendant
The control
panel is away
from the site, so
checking how the
actuator moves is
difficult.
ERC3 series
Teaching
pendant
Detailed
adjustments can be
made while closely
checking the
operation.
6
ERC3 series
Feature 2
Supporting Various Connection Methods
Built-in Controller Offering
Supporting 3 connection methods
PLC
1. Conventional
PIO/SIO & Puls-train
method
DC24V
Power Supply
2. "PIO converter"
method
3. Quick Teach method
PIO
converter
PIO
Quick Teach
Pendant
DC24V
Power Supply
24V
0V
FG
24V
0V
FG
SIO (Modbus
communication)
ERC3
230-VAC
power
supply
ERC3
ERC3
1. Conventional PIO/SIO & Puls-train method
The ERC3 series can be connected to a PLC or other host device in the manner illustrated below.
Up to 16 positioning points are supported.
 The ERC3 series can be controlled directly via PIOs from the PLC,
etc., just like the conventional ERC2 series.
 The ERC3 series can be controlled directly via SIOs from the PLC,
Teaching
etc., just like the conventional ERC2 series.
pendant
 The ERC3 series can be pulse-train controlled in the line-driver mode.
PLC • PIO unit
• Positioning unit
• Serial communication unit
PIO
(PIO type)
New
DC24V
Power Supply
7
24V
0V
FG
SIO
(serial communication type)
Pulse trains
(Pulse-train type)
Feedback pulses are not supported
ERC3
Features
Excellent Scalability Actuator
2. "PIO converter" method
Various functions offered by the ERC3’s built-in controller can be enhanced by connecting the PIO converter.
 All six PIO patterns will be supported and the maximum  Calendar function can be used.
number of positioning points will increase to 512.
 Equipped with a brake release switch
for the ERC3.
 The ERC3’s encoder can be operated in the simple
absolute mode.
 Various statuses of the ERC3 can be
checked in a simple mode.
 The drive source can be cut off using the built-in relay
(CV) or external relay (CVG).
PIO
PIO converter
Serial
(Modbus)
10m max.
ERC3
DC24V
Power Supply
24V
0V
FG
Simple absolute battery
PIO converter
3. Quick Teach method
When the Quick Teach Pendant is connected, test runs can be performed without supplying power to the ERC3.
 Power can be supplied from the Quick Teach Pendant.
 Speed, acceleration and position can be changed.
 Power supply specifications of 24 VDC
and 230 VAC are supported.*
Removable
24-VDC
power-supply
unit
[Dimensions]

24-V type
65W x 157H x 21.6D

230-V type
65W x 157H x 64.4D
Quick Teach Pendant
The ERC3 series can be used in the way you are
familiar with, but it also lets you enhance functions
by connecting the PIO converter. (Refer to P. 9 for details.)
* The ERC3 series may not operate as specified if test runs are performed using the Quick Teach Pendant connected to a power-supply unit, with the high power
output setting is enabled. (Position data can be edited without problems.)
If you want to perform test runs with the high-output setting enabled, connect a 24-VDC power supply to the Quick Teach Pendant and disconnect the power-supply unit.
8
ERC3 series
Attractive Option ➀
Features of the PIO Converter
Realizing controller functions of the next
higher class with the ERC3 series
When connected to the PIO converter, the ERC3 series can demonstrate functions
equivalent to the RCP4 controller PCON-CA. Use the PIO converter if you want to
configure a high-function system using the ERC3 series, use the absolute function
or monitor the status of the actuator.
PIO converter
POINT
1
Increased maximum number of
positioning points
While the maximum number of positioning points
supported by the ERC3 series’ built-in controller is 16,
it increases to 512 when the PIO converter is connected.
Connecting the PIO converter also increases the
numbers of I/O signals, allowing for complex controls
and connection with peripheral equipment.
POINT
2
Supporting the simple absolute mode
The standard encoder of the ERC3 series is of the
incremental type. Once the power is turned off,
therefore, the actuator’s current position is lost and
the home return operation will be required next
time the actuator is started. When the PIO converter
is connected, the ERC3 lets you select the simple
absolute mode. Home return operation is not
required while the encoder is in the simple absolute
mode, because the current position is in memory.
9
* To use the simple absolute function, the separately sold PIO
converter of simple absolute specification (with battery) is required.
* Only "Serial communication" can be selected for the I/O type.
In the simple absolute mode…
Home return operation
is no longer required
Home
return
ERC3
The actuator can be operated immediately after
reconnecting the power.
Features of PIO Converter
Go to
Use of the PIO converter is
recommended if you want
to fully demonstrate the
performance potential
of the ERC3 series.
P. 37
for details
POINT
3
Status LEDs indicating
the operating status of the actuator
The PIO converter lets you check the following statuses
using the status LEDs provided on the front panel
(optional).
 Command current ratio
 Alarm code
POINT
4
Status LEDs
 PIO input terminal status
 PIO output terminal status
16 LEDs indicate
the operating status
of the actuator.
Calendar function for
checking when errors occurred
The PIO converter has a calendar
function that lets you check the
details of past alarms, such as when
each alarm occurred, by connecting
the teaching pendant and PC software
to the PIO converter. This function is
useful when analyzing alarms.
POINT
5
Brake release switch
for at-will release of the brake
If your ERC3 actuator comes with a brake, the brake can
be turned on/off freely using the brake release switch
on the front panel of the PIO converter. To release the
brake, turn the switch to the "RLS" position.
* If the actuator is used vertically, hold the actuator in place before
releasing the brake.
RLS
MNO
Brake release
switch
Brake released: RLS
Normal: NOM
10
ERC3 series
Go to
Attractive Option ➁
P. 39
for details
Features of the Quick Teach Pendant
The ERC3 can be operated right away.
The Quick Teach Pendant lets you operate the
actuator with ease using the buttons and knobs on
the operation panel, without having to supply power
or sending signals from a PLC. By using the Quick
Teach Pendant, you can change the number of stop
positions (2 points or 3 points) and each stop position,
speed, and acceleration, and perform test run
(forward/back movement and continuous operation).
Standard
teaching
pendant
PLC
* The above functions are available when the ERC3’s controller type is set
to the "MEC" mode. If the "CON mode" is selected, only the jog operation is
available. Refer to P. 14 for the controller types.
Easy
connection
Conventional model
24V
0V
FG
Press and hold the MANUAL button.
Press the HOME button.
Confirm that the Accel & Speed LED is lit.
Press the button corresponding to the stop position (FWD POS/MIDDLE
POS/BACK POS) where you want to change the acceleration/speed.
* The MIDDLE POS button is available when the actuator is stopping at three points.
ERC3
➊
➋
➌
➍
➎ Turn the Accel/Speed knobs.
➎
➏ Press the SAVE button.
➏
* You can use the knobs to change the acceleration and speed within a range of 1% to 100% of the rated
acceleration/deceleration and maximum speed, respectively. The minimum speed may not be 1% of the
maximum speed, depending on the actuator. Refer to the operation manual for the minimum speed.
Changing the position
Press and hold the MANUAL button.
Press the HOME button.
Press the STOP POS NUM button and determine the number of stop positions.
Press the TEACH MODE. (Both the Accel & Speed LED and Position LED should
illuminate.)
➎ Press the button corresponding to the stop position (FWD POS/MIDDLE POS/
BACK POS) where you want to change the position.
➊
➋
➌
➏ Move the actuator to a desired position.
➏
➐
➊
➋
➌
➍
➍
➎
* The MIDDLE POS button is available when the actuator is stopping at three points.
* You can jog the actuator or turn off the servo and move the actuator by hand.
➐ Press the SAVE button.
* Exercise caution because the conditions of the Accel/Speed knobs will also be saved together with the position.
Performing test run (continuous operation)
➊ Press and hold the MANUAL button.
➋ Press the HOME button.
➌ Press the RUN button.
* The actuator will move back and forth between the "forward position and back position" if it has been set to
stop at two points.
The actuator will move repeatedly in the sequence of "forward position ➞ middle position ➞ back position
➞ forward position" if it has been set to stop at three points.
➍ Press the STOP button to stop the operation.
11
230-VAC
power supply
DC24V
Power Supply
Changing the acceleration/speed
➊
➋
➌
➍
Quick
Teach
Pendant
➊
➋
➍
➌
Features of Quick Teach Pendant
Explanation of the Operation Panel
HOME
MANUAL button
button
When the actuator is started, home return
is performed first to confirm the coordinate
position of 0mm.
Press this button (and hold it for at least 1
second) to set the acceleration/speed or
perform a test run.
STOP POS NUM button
Test run
Use buttons in this area to set how you want
the actuator to move.
MIDDLE
POS
/
Pressing this button disables the operation and
all inputs from the operation panel buttons. It
also enables PIO commands to the ERC3.
Use this button to switch between modes 1
and 2 below:
1. Acceleration/speed
2. Acceleration/speed/position
Acceleration/Deceleration and
Speed Settings
/
button
TEACH MODE button
Press this button (and hold it for at least 1
second) to switch the number of positions
between 2 and 3.
FWD
POS
AUTO
Use buttons in this area to actually move the
actuator and check the saved operation.
BACK
POS
FWD button
button
In a 2-position travel, the actuator moves
from the BACK position to the FWD
position.
In a 3-position travel, the actuator moves
from the BACK position to the
intermediate position, then to the FWD
position.
Switch to a desired movement (among
the following types):
FWD POS: The actuator moves toward
the end position.
BACK POS: The actuator moves toward
the home position.
MIDDLE POS: The actuator moves toward
the middle position.
BACK button
ACCEL / SPEED button
The actuator returns to the home position.
You can turn these knobs to change
the actuator speed and acceleration
within a range of 1% to 100% of the
maximum speed and rated acceleration/
deceleration, respectively.
RUN button
* The minimum speed may not be 1% of the
maximum speed. For the minimum speed, refer
to the operation manual.
In a 2-position travel, the actuator moves
back and forth between the FWD and
BACK positions.
In a 3-position travel, the actuator repeats
its movement from the BACK position,
intermediate position, FWD position, then
BACK position.
SERVO ON/OFF button
Use this button to turn on/off the motor
power.
STOP button
JOG- / JOG+ button
Use these buttons to jog the actuator in
the negative and positive directions.
Stops the above operation.
SAVE button
Use of the
Quick Teach Pendant is
recommended if you want
to operate your ERC3
right away.
Pressing this button saves the speed,
acceleration and position adjusted above.
Explanation of Terms
FWD POS
BACK POS
Names of movements
(Intermediate position)
Intermediate
Intermediate (Home position)
(End position)
FWD
Actual movement
Back
12
ERC3 series
Application Examples
Useful in Various Situations
Application Examples
Slider type
Inkjet printer system
Liquid agitation system
Inkjet printer
Printer head
Quick Teach
Pendant
This system prints on components using an inkjet
printer. The ERC3 is used to move components. Since
the ERC3 can operate at a constant speed, stable
printing quality can be achieved.
Comprising of the ERC3 and the Quick Teach Pendant,
this system is used to agitate a liquid such as a chemical
agent. Use of the Quick Teach Pendant makes it
possible to operate the system without a PLC and set
the oscillation band and speed to the desired levels.
Rod type
Component palletizing system
This ERC3-based system palletizes automobile
components. Two axes are arranged separately to pick
components and place them onto the pallet. The takt
time can be reduced by performing approach and
return at high speed and placement at low speed.
13
Product life test system
This ERC3-based system conducts life test on
electronic equipment. The push speed and force can
be changed according to the product.
ERC3 RoboCylinder
Explanation of the Model Specification Items
The model number consists of the items specified below.
For the description of each item, refer to the applicable explanation provided below. Since the available selections (for
lead, stroke, etc.) vary depending on the type, check the details on the page where each type is explained.
➀
ERC3
Series
➁
➂
Type
Encoder type
I
SA5C Actuator width 50 mm
SA7C Actuator width 74 mm
RA4C Actuator width 45 mm
RA6C Actuator width 64 mm
➃
➄
➅
➆
➇
➈
➉
Motor type
Lead
Stroke
I/OType
Cable length
Controller type
Option
42P
Pulse motor
42  size
56P
Pulse motor
56  size
20 20mm for SA5C/RA4C
Slider
type
12 12mm for SA5C/RA4C
6
6mm for SA5C/RA4C
3
3mm for SA5C/RA4C
Rod
type
24 24mm for SA7C/RA6C
16 16mm for SA7C/RA6C
I
Incremental type
8
8mm for SA7C/RA6C
4
4mm for SA7C/RA6C
50
CN
50mm
CON type
MC MEC type
800 800mm
50
* If the I/O type is PLN or PLP, "CN" is
selected automatically.
50mm
B
300 300mm
(Can be set in 50mm increments)
NP
PIO (NPN) type
N
None
PN
PIO (PNP) type
P
1m
SE
SIO type
S
3m
M
5m
PLN Pulse-train (NPN) type
PLP Pulse-train (PNP) type
Specified
X  length
* The standard cable is a
robot cable.
Brake
Non-motor side
NM
specification
Simple absolute
ABU
specification
FL Flange
FT Foot bracket
* The simple absolute specification
can be selected only when the I/O
type is "SIO communication."
* The flange and foot bracket
option can be selected only for
rod types.
Explanation of items
➀Series
➁Type
➂Encoder type
Name of each series.
The ERC3 series consists of the following four types of actuators.
Type
Actuator width
SA5C
SA7C
RA4C
RA6C
50mm
74mm
45mm
64mm
Encoder equipped in the actuator.
I: Incremental type
Since the slider’s position data is lost once the power is turned off,
home return must be performed every time the power is turned on.
➃Motor type
Wattage of the motor installed in the actuator.
Since the ERC3 series is driven by a pulse motor, the motor size (42P = 42 square motor) is
indicated instead of the wattage.
➄Lead
➅Stroke
➆I/OType
Lead of the ball screw (distance travelled by the slider as the ball screw makes one rotation).
➇Cable length
➈Controller type
Length of the cable that connects the ERC3 series with the host system and options.
➉Option
Stroke (range of operation) of the actuator (unit: mm).
Type of connectable controllers. With the ERC3 series having a built-in controller, the I/O
(input/output signal) type is indicated.
Two types of controllers are available:
• CONtype: Atleasteightpositioningpoints(oratleast64pointswhenthePIOconverteris
used) are supported.
• MECtype:Theactuatorcanbeoperatedwithease.Asforpositioning,theactuatorstops
at two points or three points.
(Note) Switching between the CON type and MEC type is not possible after the shipment.
Options installed on the actuator.
Refer to P. 15 for details.
*If multiple options are selected, enter them in an alphabetic order. (Example: ABU-B-NM)
14
ERC3 RoboCylinder
Actuator Options
ERC3-SA5C/SA7C/RA4C/RA6C
Applicable models
Select this option if you want to change the home position of the actuator slider or rod
from the normal position (motor side) to the front side.
Description
ERC3-SA5C/SA7C/RA4C/RA6C
Applicable models
This option is used to allow the actuator to operate without returning home first when the
power is turned on. It can be selected only when the I/O type is "SIO communication (SE)."
* The simple absolute battery is installed in the PIO converter (refer to P. 37), so the
separately sold PIO converter of simple absolute specification is required.
Description
ERC3-RA4C/RA6C
Applicable models
A bracket used to secure a rod actuator from the actuator side. The flange can be
purchased separately later on.
ERC3-RA4C type
ERC3-RA6C type
11
14
4-ø6.6, bored
4-ø9, bored
4-ø9, bored
50±0.2
63.5
34±0.1
44.5
1
C
4-
4-ø6.6, bored
1
C
4-

Flange
Model number: FL
12
Description
8.5

Simple absolute
specification
Model number: ABU
A mechanism to hold the slider in place when the actuator is used vertically, so that it
will not drop and damage the work part, etc., when the power or servo is turned off.
Description
10

Non-motor side
specification
Model number: NM
ERC3-SA5C/SA7C/RA4C/RA6C
Applicable models
6.5

Brake
Model number: B
34±0.1
60±0.2
75
ERC3-RA6C type
2-ø6.5, bored through
2-ø9 ,
Depth 11,
bored through counterbored depth 7
25
12
25
79
95
4-
C1
17±0.1
34±0.1
57±0.2
71
C1
C1
2-ø6.6, bored
4-ø4.5, bored
Depth 8, counterbored depth 4.5
4-
ERC3-RA4C type
12.5
This bracket is used to affix the rod type with bolts from above the actuator. The
bracket can be purchased separately later on.
4-

Foot bracket
Model number: FT
ERC3-RA4C/RA6C
10
20
Description
10±00.5
Applicable models
50±0.2
82±0.2
99
Explanations of/Cautionary Notes on Items Specified in Catalog
1. Speed
"Speed" refers to the set speed at which to move the actuator slider (or rod).
After accelerating from the stationary state and reaching the set speed, the slider continues to move at
that speed until immediately before the target position (specified position) and then decelerates to a stop.
<Caution>
➊ The pulse motors used in the ERC3 series change their maximum speed depending on the transported mass. When selecting
your model, refer to "Correlation diagrams of speed vs. payload" (on the page featuring each model).
➋ Regardless of whether the stroke is short or long, the set speed may not be reached if the travel distance is short.
➌ The longer the stroke, the lower the maximum speed becomes in order to avoid reaching a dangerous speed.
For details, refer to the "Stroke vs. Maximum Speed" table on the page featuring each model.
➍ When calculating the travel time, consider not only the travel time at the set speed, but also the acceleration, deceleration and
settling times.
15
ERC3 RoboCylinder
2. Acceleration/Deceleration
"Acceleration" refers to the rate of change in speed until the stationary actuator reaches the set speed.
"Deceleration" refers to the rate of change in speed until the actuator traveling at the set speed comes to a stop.
Both are specified in "G" in programs (0.3 G = 2940 mm/sec2).
<Caution>
➊ The greater the value of acceleration (deceleration), the faster the actuator accelerates (decelerates) and consequently the
travel time becomes shorter.
Note, however, that an excessively higher acceleration (deceleration) is a cause of error and malfunction.
➋ The rated acceleration (deceleration) is 0.3 G.
Although the upper limit of acceleration (deceleration) is 1 G (or 0.5 G in a vertical application), increasing the value of
acceleration/deceleration reduces the payload.
3. Duty
With the ERC3 series, the duty is limited according to the ambient temperature to prevent the motor unit
from generating heat. Operate the actuator at a duty ratio not exceeding the allowable value shown in the
graph below.
<Caution>
The duty limits shown below assume that the high-output setting of the controller is enabled. If the high-output setting is
disabled, the payload and maximum speed become lower, but the actuator can be used at a duty of 100%. Refer to the operation
manual for information on how to change the high-output setting.
[Duty ratio]
"Duty ratio" refers to the utilization ratio indicated by
a percentage of the time during which the actuator
operates in one cycle.
80
Duty
(%)
70
60
D=
50
40
0
29
5
10
15
20
25
30
Ambient temperature (°C)
35
TM
TM+TR
D: Duty
×100(%) TM: Operating time
(including push-motion operation)
TR: Stationary time
Speed
40
The duration of one cycle shall be assumed as follows:
Model
Duration of 1 cycle (TM + TR)
SA5C/RA4C
15 minutes or less
SA7C/RA6C
10 minutes or less
Notes:
Do not operate the actuator at a duty ratio exceeding the allowable value.
If the actuator is operated at a duty ratio exceeding the allowable value,
the life of the capacitor used in the controller will become shorter.
Acceleration
Constant speed
Deceleration Stationary
Operating time TM
Time
Stationary time TR
Duration of 1 cycle
4. Installation
Check the installation orientation of each model in the table below.
: Can be installed
Installed horizontally and flat
Installed vertically Note 1
Installed on its side
Installed on the ceiling
SA5C, SA7C


Note 2

RA4C, RA6C




Installation
orientation
Type
Note 1 If the actuator is installed vertically, orient it so that the motor is at the top whenever possible. If the actuator is installed with the motor at
the bottom, no problems are anticipated during normal operation but if the actuator is not operated for a prolonged period of time, grease may
separate depending on the ambient environment (especially when the ambient temperature is high), in which case base oil may flow into the motor
and cause problems on rare occasions.
Note 2 If the actuator is installed on its side, it becomes more vulnerable to entry of foreign matters into the actuator or scattering of grease on the guide and
ball screw from openings on the exposed side.
16
ERC3 RoboCylinder
ERC3-SA5C
 Model
Specification
Items
ERC3 SA5C
Series
Type
I
 Slider type  Actuator Width 50mm
42P
Encoder type
I: Incremental
specification
Motor type
Lead
42P: Pulse motor,
size 42
20 : 20mm
12 : 12mm
6 : 6mm
3 : 3mm
*Refer to P. 14 for the description of items constituting the model number.
Cable length
I/O type
Stroke
Option
Controller type
CN: CON type
N: None P: 1m
NP: PIO (NPN) type
MC: MEC type
S: 3 m
M: 5m
PN: PIO (PNP) type
800:800mm SE: SIO type
X: Specified length
(Can be set in 50-mm PLN: Pulse-train (NPN) type
increments)
PLP: Pulse-train (PNP) type
50:50mm
Stroke
B : Brake
NM : Non-motor side
specification
ABU: Simple absolute
specification
Unit: mm
68.7
50 to 800
284.5 to 1034.5
50
50
 Correlation diagrams of Speed and Payload
With the ERC3 series, due to the characteristics of the pulse motor, payload decreases as the speed increases.
Use the chart below to confirm that the desired speed and payload requirements are met.
The values below are based on operation at 0.3 G.
25
Payload (kg)
20
Lead 3
10
Lead 6
15
10 9
6.5
5
Lead 12
7
Lead 20
400
600
800
Speed (mm/s)
1000
Lead 6
4
1200
1400
Lead 12
200
400
0.5
600
800
1400
The values below are based on operation at 0.2 G.
14
Horizontal
Lead 20
0.5
1000 1200
0.5
High-output setting enabled (Factory default) Speed (mm/s)
Vertical
12
20
10
Lead 6
12
Lead 3
10
6
Lead 12
5
0
0
Payload (kg)
15
6
0
0
The values below are based on operation at 0.2 G
for lead 3 and 0.3 G for all other leads.
25
8
2.5
2 1
5.5
5
200
Vertical
Lead 3
12
18
0
0
Payload (kg)
If the high-output setting is enabled
(factory default), the duty must
be limited. (Refer to P. 16.) If the
high-output setting is disabled,
the payload and maximum speed
become lower, but the actuator
can be used at a duty of 100%.
Refer to the operation manual for
information on how to change
the high-output setting. Refer to
P. 26 for the payload at each speed/
acceleration when the high-output
setting is enabled.
For other cautionary items, refer to
"Explanations of/Cautionary Notes
on Items Specified in Catalog (P. 15)."
The values below are based on operation at 0.3 G.
14
Horizontal
Payload (kg)
Notes on
selection
PO I NT
3.5
200
400
Lead 20
2
1
600
800
1000
Speed (mm/s)
1200
8
6
Lead 3
4 3
2 1.5
0 1
0
1400
Lead 6
2.5 Lead 12
1
200
High-output setting disabled
400
Lead 20
600
800
Speed (mm/s)
0.5
1000 1200
1400
Actuator Specifications (High-output Setting Enabled)
 Leads and Payloads
(Note 1) Take caution that the maximum payload decreases as the speed increases.  Stroke and Maximum Speed
Horizontal (kg)
ERC3-SA5C-I-42P-20-
20
6.5
1
ERC3-SA5C-I-42P-12-
12
9
2.5
ERC3-SA5C-I-42P-6-
6
18
6
3
20
12
ERC3-SA5C-I-42P-3Legend
➀
Stroke
➁
➀-➁-➂-➃
➀-➁-➂-➃
➀-➁-➂-➃
➀-➁-➂-➃
I/O type
➂
Cable length
Cable length
Type
Cable symbol
*Refer to P. 36 for maintenance cables.
ERC3-SA5C
➃
Stroke
(mm)
Vertical (kg)
Stroke 50~450 500
550 600 650 700 750 800
(every 50mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
Lead
20
50~800
(every
50 mm)
12
1120
900
805
1115
935
795
680
585
510
665
560
475
405
350
300
6
450
400
330
280
235
200
175
150
3
225
200
165
140
115
100
85
75
(Unit: mm/s)
Option
Options
P (1m)
Standard type
S (3m)
(Robot cable)
M (5m)
Special length X06(6m)~X10(10m)
17
Maximum payload (Note 1)
Lead
(mm)
Model number
Name
Option code
Brake
B
Non-motor side
NM
specification
Simple absolute
ABU
specification
See page
P15
P15
P15
* If the simple absolute specification is selected, the separately
sold PIO converter of simple absolute specification (with battery)
is required.
ERC3 RoboCylinder
Dimensional Drawings
www.robocylinder.de
CAD drawings can be downloaded
from the website.
* If the non-motor side (NM) specification is selected, the dimension on the motor side
(the distance to the home from ME) and that on the front side are flipped.
2D
CAD
5
2-ø4, H7 depth 6
41
5
20.5 20.5 4-M4 depth 8
*1 Connect the power & I/O cable.
Refer to P. 36 for details on this cable.
SE: Stroke End
ME: Mechanical End
4.5
Reference plane
ø8
5
*2 The slider moves to the ME during
home return, so pay attention to possible
contact with surrounding structures.
50
(Pitch of reamed
holes( ±0.02)
3
ø4.5
Detail view of X
(Mounting hole and
the reference plane)
Offset reference position
for Ma/Mc moments *3
*3 Reference position is used when
calculating the Ma and Mc moments.
L
F
26
3
ME SE
51
15
3
SE ME*2
Cable joint
connector *1
48.1
27.2
36.5
68.7
50
57
Teaching port
142.5
Stroke
47
50
55.3
X
J-Oblong hole, depth 5.5
(from the bottom of the base)
+0.012
4 0
External view of the brake specification
2-ø4, H7 depth 5.5
(from the bottom of the base)
D×100P
G-M4 depth 7
* The overall length of the brake specification
is 42.5 mm longer than the standard specification
and its mass is 0.4 kg heavier.
Detail Y
50
C×100P
B (reamed hole and oblong hole pitch)
A
Y
20
143
Dimensions and Mass by Stroke
Item
Stroke
50 100
L
284.5 334.5
A
73 100
B
0
85
C
0
0
D
0
0
F
142 192
G
4
4
H
4
4
J
0
1
Mass (kg) 1.4 1.5
Description
Drive system
Ball screw ø10 mm, rolled C10
Positioning repeatability (*1)
Lost motion
Static allowable load moment
Dynamic allowable load moment (*2)
± 0.02 mm [± 0.03 mm]
0.1 mm or less
Ma: 29.4 N•m, Mb: 42.0 N•m, Mc: 60.5 N•m
Ma: 7.1 N•m, Mb: 10.2 N•m, Mc: 14.7 N•m
Overhang load lengths
150 mm or less in Ma directions, 150 mm or less
in Mb and Mc directions
Ambient operating temperature,
0 to 40˚C, 85% RH or less (Non-condensing)
humidity
(*1) The specification in [ ] applies when the lead is 20 mm.
(*2) Based on 5000 km of traveling life
150
384.5
100
85
1
0
242
4
6
1
1.6
200
434.5
200
185
1
1
292
6
6
1
1.7
250
484.5
200
185
2
1
342
6
8
1
1.9
300
534.5
300
285
2
2
392
8
8
1
2.0
350
584.5
300
285
3
2
442
8
10
1
2.1
400
634.5
400
385
3
3
492
10
10
1
2.2
450
684.5
400
385
4
3
542
10
12
1
2.3
500
734.5
500
485
4
4
592
12
12
1
2.4
550
784.5
500
485
5
4
642
12
14
1
2.5
600
834.5
600
585
5
5
692
14
14
1
2.7
650
884.5
600
585
6
5
742
14
16
1
2.8
700
934.5
700
685
6
6
792
16
16
1
2.9
750
984.5
700
685
7
6
842
16
18
1
3.0
800
1034.5
800
785
7
7
892
18
18
1
3.1
Overhang load lengths
Allowable load moment directions
Mb
H-ø4.5, through ø8 counterbored,
depth 4.5 (from the opposite side)
44
Actuator specificaton
Ma
185
24
26
5
Mc
Ma
L
Mc
L
Controllers (Built into the Actuator)
I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Model number
Features
Maximum
number of
positioning points
PIO type (NPN
specification)
ERC3-SA5C-I-42P---NP--
Simple control type
accommodating up to 16
positioning points
16
PIO type (PNP
specification)
ERC3-SA5C-I-42P---PN--
PNP I/O type
16
SIO type
ERC3-SA5C-I-42P---SE--
High-function type
accommodating up to
512 positioning points
(PIO converter is used)
512
Name
External view
Pulse-train
type (NPN
specification)
ERC3-SA5C-I-42P---PLN--
Pulse-train input type
supporting the NPN
specification
−
Pulse-train
type (PNP
specification)
ERC3-SA5C-I-42P---PLP--
Pulse-train input type
supporting the PNP
specification
−
Input
power
Power supply
capacity
Reference
page
DC24V
High-output
setting
enabled:
3.5A rated
4.2A max.
P27
High-output
setting
disabled:
2A
ERC3-SA5C
18
ERC3 RoboCylinder
ERC3-SA7C
 Model
Specification
Items
ERC3 SA7C
Series
Type
I
 Slider type  Actuator Width 74mm
56P
Encoder type
I: Incremental
Type
Motor type
Lead
56P: Pulse motor,
size 56
24 : 24mm
16 : 16mm
8 : 8mm
4 : 4mm
*Refer to P. 14 for the description of items constituting the model number.
Cable length
I/O type
Stroke
Controller type
N: None P: 1m
CN: CON type
NP: PIO (NPN) type
S: 3 m
M: 5m
MC: MEC type
PN: PIO (PNP) type
X: Specified length
800:800mm SE: SIO type
(Can be set in 50mm PLN: Pulse-train (NPN) type
increments)
PLP: Pulse-train (PNP) type
50:50mm
Stroke
Unit: mm
85
50 to 800
Option
B : Brake
NM : Non-motor side
specification
ABU: Simple absolute
specification
347.5 to 1097.5
64
74
 Correlation diagrams of Speed and Payload
With the ERC3 series, due to the characteristics of the pulse motor, payload decreases as the speed increases.
Use the chart below to confirm that the desired speed and payload requirements are met.
The values below are based on operation at 0.2 G
The values below are based on operation at 0.2 G.
for lead 4 and 0.3 G for all other leads.
25
50
45
Horizontal
Vertical
20
40
35
15
30
25
Lead 4
Lead 4
10
20
Lead 8
15
Lead 8
Lead 16
5
10
6
Lead 24
Lead 16
2.5
Lead 24
5
3.5
2
1
0.5 0.5
0.5
0
0 1.5 2
0
200
400
600
800
1000 1200 1400
0
200
400
600
800
1000 1200 1400
Speed (mm/s)
Speed (mm/s)
High-output setting disabled
Payload (kg)
Payload (kg)
Payload (kg)
If the high-output setting is enabled
(factory default), the duty must
be limited. (Refer to P. 16.) If the
high-output setting is disabled,
the payload and maximum speed
become lower, but the actuator
can be used at a duty of 100%.
Refer to the operation manual for
information on how to change
the high-output setting. Refer to
P. 26 for the payload at each speed/
acceleration when the high-output
setting is enabled.
For other cautionary items, refer to
"Explanations of/Cautionary Notes
on Items Specified in Catalog (P. 15)."
The values below are based on operation at 0.3 G.
The values below are based on operation at 0.3 G.
25
50
Lead 4
22
45
Horizontal
Vertical
Lead 4
20
40
Lead 8
35
15
30
Lead 8
25
14
Lead 16
10
20 17 18
15
6
Lead 16
5
10
4.5
3.5
Lead 24
Lead 24
5
3
4
4
2
1
1
0
0
0
200
400
600
800
1000 1200 1400
0
200
400
600
800
1000 1200 1400
Speed (mm/s) High-output setting enabled (Factory default) Speed (mm/s)
Payload (kg)
Notes on
selection
PO I NT
Actuator Specifications (High-output Setting Enabled)
 Leads and Payloads
(Note 1) Take caution that the maximum payload decreases as the speed increases.  Stroke and Maximum Speed
Horizontal (kg)
Vertical (kg)
ERC3-SA7C-I-56P-24-
24
17
3
ERC3-SA7C-I-56P-16-
16
35
6
ERC3-SA7C-I-56P-8-
8
40
14
4
45
22
ERC3-SA7C-I-56P-4Legend
➀
Stroke
➁
➀-➁-➂-➃
➀-➁-➂-➃
➀-➁-➂-➃
➀-➁-➂-➃
I/O type
➂
Cable length
Cable length
Type
Cable symbol
*Refer to P. 36 for maintenance cables.
ERC3-SA7C
➃
Stroke
Stroke
(mm)
Lead
50~550
(every 50mm)
24
50~800
(every
50 mm)
600
(mm)
650
(mm)
700
(mm)
Name
Option code
Brake
B
Non-motor side
NM
specification
Simple absolute
ABU
specification
800
(mm)
1130
975
850
745
980
<840>
880
<840>
750
645
565
495
8
490
440
375
320
280
245
185
160
140
1200
4
210
The values in < > apply when the actuator is used vertically.
Option
750
(mm)
16
Options
P (1m)
Standard type
S (3m)
(Robot cable)
M (5m)
Special length X06(6m)~X10(10m)
19
Maximum payload (Note 1)
Lead
(mm)
Model number
See page
P15
P15
P15
* If the simple absolute specification is selected, the separately
sold PIO converter of simple absolute specification (with battery)
is required.
120
(Unit: mm/s)
ERC3 RoboCylinder
Dimensional Drawings
www.robocylinder.de
CAD drawings can be downloaded
from the website.
* If the non-motor side (NM) specification is selected, the dimension on the motor side
(the distance to the home from ME) and that on the front side are flipped.
2D
CAD
2-ø5, H7 depth 10
5.5
Reference plane
ø9.5
6
32
64
6
32
*1 Connect the power & I/O cable.
Refer to P. 36 for details on this cable.
SE: Stroke End
ME: Mechanical End
4-M5 depth 10
*2 The slider moves to the ME during
home return, so pay attention to possible
contact with surrounding structures.
5
ø
6
ø5.5
Offset reference position
for Ma/Mc moments *3
82
*3 Reference position is used when
calculating the Ma and Mc moments.
72
(Pitch of reamed
holes ±0.02)
Detail view of X
(Mounting hole and
the reference plane)
28.5
3
SE ME
Teaching port
L
F
76
20
3
SE ME *2
Cable joint
connector *1
65.8
44.9
85
64
46.5
Stroke
173
71
74
X
J-Oblong hole, depth 6
(from the bottom of the base)
G-M5 depth 9
H-ø5.5, throug
ø9.5 counterbored,
depth 5.5 (from the opposite side)
D×100P
External view of the brake specification
* The overall length of the brake specification
is 51 mm longer than the standard specification
and its mass is 0.5 kg heavier.
5
4
+0.012
0
40
224
C×100P
Y
30
B (reamed hole and oblong hole pitch)
Detail Y
A
80
Actuator specificaton
Item
Description
Ball screw ø12 mm, rolled C10
Positioning repeatability (*1)
Lost motion
Static allowable load moment
Dynamic allowable load moment (*2)
Overhang load lengths
± 0.02 mm [± 0.03 mm]
0.1 mm or less
Ma: 70.0 N•m, Mb: 100.0 N•m, Mc: 159.5 N•m
Ma: 15.0 N•m, Mb: 21.4 N•m, Mc: 34.1 N•m
150 mm or less in Ma directions, 150 mm or
less in Mb and Mc directions
Ambient operating temperature,
humidity
0 to 40˚C, 85% RH or less (Non-condensing)
173.5
Stroke
50 100 150 200
L
347.5 397.5 447.5 497.5
A
0 100 100 200
B
0
85 85 185
C
1
1
2
2
D
0
0
0
1
F
174.5 224.5 274.5 324.5
G
4
6
6
8
H
4
4
6
6
J
0
1
1
1
K
2
3
3
3
Mass (kg) 3.2 3.4 3.6 3.8
(*1) The specification in [ ] applies when the lead is 20 mm.
(*2) Based on 5000 km of traveling life
250
547.5
200
185
3
1
374.5
8
8
1
3
4.0
300
597.5
300
285
3
2
424.5
10
8
1
3
4.3
350
647.5
300
285
4
2
474.5
10
10
1
3
4.5
400
697.5
400
385
4
3
524.5
12
10
1
3
4.7
450
747.5
400
385
5
3
574.5
12
12
1
3
4.9
500
797.5
500
485
5
4
624.5
14
12
1
3
5.1
550
847.5
500
485
6
4
674.5
14
14
1
3
5.4
600
897.5
600
585
6
5
724.5
16
14
1
3
5.6
650
947.5
600
585
7
5
774.5
16
16
1
3
5.8
700
997.5
700
685
7
6
824.5
18
16
1
3
6.0
750 800
1047.5 1097.5
700 800
685 785
8
8
6
7
874.5 924.5
18
20
18
18
1
1
3
3
6.2
6.5
Overhang load lengths
Allowable load moment directions
Mb
K-ø4, H7 depth 6
(from the bottom of the side)
Dimensions and Mass by Stroke
Drive system
Ma
8.5
Mc
Ma
L
Mc
L
Controllers (Built into the Actuator)
I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Model number
Features
Maximum
number of
positioning points
PIO type (NPN
specification)
ERC3-SA7C-I-56P---NP--
Simple control type
accommodating up to 16
positioning points
16
PIO type (PNP
specification)
ERC3-SA7C-I-56P---PN--
PNP I/O type
16
SIO type
ERC3-SA7C-I-56P---SE--
High-function type
accommodating up to
512 positioning points
(PIO converter is used)
512
Name
External view
Pulse-train
type (NPN
specification)
ERC3-SA7C-I-56P---PLN--
Pulse-train input type
supporting the NPN
specification
−
Pulse-train
type (PNP
specification)
ERC3-SA7C-I-56P---PLP--
Pulse-train input type
supporting the PNP
specification
−
Input
power
Power supply
capacity
Reference
page
DC24V
High-output
setting
enabled:
3.5A rated
4.2A max.
P27
High-output
setting
disabled:
2A
ERC3-SA7C
20
ERC3 RoboCylinder
ERC3-RA4C
 Model
Specification
Items
ERC3 RA4C
Series
I
Type
 Rod type
 Actuator Width 45mm
42P
Encoder type
Motor type
Lead
I: Incremental
specification
42P: Pulse motor,
size 42
20 : 20mm
12 : 12mm
6 : 6mm
3 : 3mm
*Refer to P. 14 for the description of items constituting the model number.
Cable length
I/O type
Stroke
Controller type
N: None P: 1m
CN: CON type
NP: PIO (NPN) type
S: 3 m
M: 5m
MC: MEC type
PN: PIO (PNP) type
X: Specified length
300:300mm SE: SIO type
(Can be set in 50-mm PLN: Pulse-train (NPN) type
increments)
PLP: Pulse-train (PNP) type
50:50mm
Option
B : Brake
NM : Non-motor side
specification
ABU: Simple absolute
specification
FL : Flange
FT : Foot bracket
Unit: mm
68.7
Stroke
50 to 300
52
286 to 536
45
 Correlation diagrams of Speed and Payload
The values below are based on operation at 0.2 G
The values below are based on operation at 0.2 G.
for lead 3 and 0.3 G for all other leads.
45
20
18
Vertical
Horizontal
40
Lead 3
16
35
Lead 3
14
30
Lead 12
Lead 6
12
25
10
20
8
Lead 6
15
6 4.5
12
12
10
Lead 20
4
Lead 12
6
Lead 20
2.5
5
2
0.5
2.5
0.5
0
0
0
100 200 300 400 500 600 700 800 900
0
100 200 300 400 500 600 700 800 900
Speed (mm/s)
Speed (mm/s)
High-output setting disabled
Payload (kg)
Payload (kg)
Payload (kg)
If the high-output setting is enabled
(factory default), the duty must
be limited. (Refer to P. 16.) If the
high-output setting is disabled,
the payload and maximum speed
become lower, but the actuator
can be used at a duty of 100%.
Refer to the operation manual for
information on how to change
the high-output setting. Refer to
P. 26 for the payload at each speed/
acceleration when the high-output
setting is enabled.
For other cautionary items, refer to
"Explanations of/Cautionary Notes
on Items Specified in Catalog (P. 15)."
The values below are based on operation at 0.3 G.
The values below are based on operation at 0.3 G.
45
20
18
Horizontal
Vertical
40
Lead 3
16
35
Lead 6
Lead 3
14
30
12
25
10
Lead 6
20
8
Lead 12
16
15
6 4.5
Lead 12
10
4
6
6 Lead 20
Lead 20
3.5
1.5
1
5
2
1
5.5
4
0.5
0
0
0
100 200 300 400 500 600 700 800 900
0
100 200 300 400 500 600 700 800 900
Speed (mm/s) High-output setting enabled (Factory default) Speed (mm/s)
Payload (kg)
PO I NT
With the ERC3 series, due to the characteristics of the pulse motor, payload decreases as the speed increases.
Use the chart below to confirm that the desired speed and payload requirements are met.
Notes on
selection
Actuator Specifications (High-output Setting Enabled)
 Leads and Payloads
(Note 1) Take caution that the maximum payload decreases as the speed increases.
Model number
Horizontal (kg)
Vertical (kg)
Maximum push
force (N)
➀-➁-➂-➃
ERC3-RA4C-I-42P-12- ➀ - ➁ - ➂ - ➃
ERC3-RA4C-I-42P-6- ➀ - ➁ - ➂ - ➃
ERC3-RA4C-I-42P-3- ➀ - ➁ - ➂ - ➃
20
6
1.5
56
12
25
4.5
93
6
40
12
185
3
40
18
370
ERC3-RA4C-I-42P-20-
Legend
➀
Stroke
➁
I/O type
➂
Cable length
Type
➃
 Stroke and Maximum Speed
Stroke
(mm)
Stroke 50~200
(every 50mm)
Lead
20
50~300
(every
50 mm)
Option
Cable symbol
P (1m)
Standard type
S (3m)
(Robot cable)
M (5m)
Special length X06(6m)~X10(10m)
*Refer to P. 36 for maintenance cables.
Name
Brake
Non-motor side specification
Simple absolute specification
Flange
Foot bracket
Option
code
B
NM
ABU
FL
FT
See page
P15
P15
P15
P15
P15
* If the simple absolute specification is selected, the separately sold
PIO converter of simple absolute specification (with battery) is required.
ERC3-RA4C
250
(mm)
300
(mm)
800
12
700
695
485
6
450
345
240
3
225
170
120
(Unit: mm/s)
Options
Cable length
21
Maximum payload (Note 1)
Lead
(mm)
ERC3 RoboCylinder
Dimensional Drawings
www.robocylinder.de
CAD drawings can be downloaded
from the website.
* If the non-motor side (NM) specification is selected, the dimension on the motor side
(the distance to the home from ME) and that on the front side are flipped.
4.3
2D
CAD
30 5 4
22
8 (Width across flats) *3
ø32
ø25
2.7
4.3
7.3
Detail A
M10×1.25
22 (Width across
flats, 3 locations)
Teaching port
48.1
27.2
Cable joint
connector *1
29.5
68.7
52
34
16.7
4-M6 depth 12
17
34
45
55.3
ME SE
SE ME*2
3
3
Stroke
39
A
F (Effective range of the T-slot)
144
L
*1 Connect the power & I/O cable.
Refer to P. 36 for details on this cable.
SE: Stroke End
ME: Mechanical End
External view of the brake specification
* The overall length of the brake specification
is 42.5 mm longer than the standard specification
and its mass is 0.4 kg heavier.
17
6
6
6
*2 The slider moves to the ME during
home return, so pay attention to possible
contact with surrounding structures.
(19.6)
3
*3 The orientation of the bolt will vary
depending on the product.
M10×1.25
M4
Supplied square nut
for mounting via the T-slot
(4 pcs are supplied)
Supplied rod end nut
186.5
Actuator specificaton
Dimensions and Mass by Stroke
Item
Description
Drive system
Positioning repeatability (*1)
Lost motion
Rod diameter
Rod non-rotation preciseness
Ambient operating temperature,
humidity
Ball screw ø10 mm, rolled C10
± 0.02 mm [± 0.03 mm]
0.1 mm or less [0.2 mm or less]
ø25 mm
±1.5 degrees
Stroke
L
F
Mass (kg)
50
286
142
1.4
100
336
192
1.7
150
386
242
2.0
200
436
292
2.3
250
486
342
2.6
300
536
392
2.9
0 to 40˚C, 85% RH or less (Non-condensing)
(*1)The specification in [ ] applies when the lead is 20 mm.
Controllers (Built into the Actuator)
I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Model number
Features
Maximum
number of
positioning points
PIO type (NPN
specification)
ERC3-RA4C-I-42P---NP--
Simple control type
accommodating up to 16
positioning points
16
PIO type (PNP
specification)
ERC3-RA4C-I-42P---PN--
PNP I/O type
16
SIO type
ERC3-RA4C-I-42P---SE--
High-function type
accommodating up to
512 positioning points
(PIO converter is used)
512
Name
External view
Pulse-train
type (NPN
specification)
ERC3-RA4C-I-42P---PLN--
Pulse-train input type
supporting the NPN
specification
−
Pulse-train
type (PNP
specification)
ERC3-RA4C-I-42P---PLP--
Pulse-train input type
supporting the PNP
specification
−
Input
power
Power supply
capacity
Reference
page
DC24V
High-output
setting
enabled:
3.5A rated
4.2A max.
P27
High-output
setting
disabled:
2A
ERC3-RA4C
22
ERC3 RoboCylinder
ERC3-RA6C
 Model
Specification
Items
ERC3 RA6C
Series
Type
I
 Rod type
 Actuator Width 64mm
56P
Encoder type
Motor type
Lead
I: Incremental
specification
56P: Pulse motor,
size 56
24 : 24mm
16 : 16mm
8 : 8mm
4 : 4mm
Controller type
Cable length
I/O type
Stroke
N: None P: 1m
CN: CON type
NP: PIO (NPN) type
S: 3 m
M: 5m
MC: MEC type
PN: PIO (PNP) type
X: Specified length
300:300mm SE: SIO type
(Can be set in 50-mm PLN: Pulse-train (NPN) type
increments)
PLP: Pulse-train (PNP) type
50:50mm
*Refer to P. 14 for the description of items constituting the model number.
Option
B : Brake
NM : Non-motor side
specification
ABU: Simple absolute
specification
FL : Flange
FT : Foot bracket
Unit: mm
85
Stroke
50 to 300
72
334.5 to 584.5
64
 Correlation diagrams of Speed and Payload
The values below are based on operation at 0.3 G.
70
60 55
50
Horizontal
20
Lead 8
10
Lead 16
15
13
0
0
100
14
200
80
Lead 24
2
700
300
10
0
0
100
Lead 16
8
3
2
2.5
3
200
Lead 24
2
600
700
Vertical
25
Lead 8
25
Lead 8
10
0
0
Lead 4
30 25
20
17.5
15
5
3
800
Horizontal
40
20
Vertical
400 500 600
900
100
300
400
500
Speed (mm/s) High-output setting enabled (Factory default) Speed (mm/s)
The values below are based on operation at 0.2 G
The values below are based on operation at 0.2 G.
for lead 3 and 0.3 G for all other leads.
30
70
60 55
50
Lead 4
25
40
30
The values below are based on operation at 0.3 G.
30
Payload (kg)
Payload (kg)
If the high-output setting is enabled
(factory default), the duty must
be limited. (Refer to P. 16.) If the
high-output setting is disabled,
the payload and maximum speed
become lower, but the actuator
can be used at a duty of 100%.
Refer to the operation manual for
information on how to change
the high-output setting. Refer to
P. 26 for the payload at each speed/
acceleration when the high-output
setting is enabled.
For other cautionary items, refer to
"Explanations of/Cautionary Notes
on Items Specified in Catalog (P. 15)."
Lead 4
Payload (kg)
80
Payload (kg)
PO I NT
With the ERC3 series, due to the characteristics of the pulse motor, payload decreases as the speed increases.
Use the chart below to confirm that the desired speed and payload requirements are met.
Notes on
selection
Lead 16
20
Lead 4
17.5
15
Lead 8
10
5
Lead 24
2
3
2
1.5
0
400 500 600 700 800 900
0
100
Speed (mm/s)
High-output setting disabled
3.5
200 300
Lead 16
1
200
0.5
300
400
Speed (mm/s)
Lead 24
0.5
600
500
700
Actuator Specifications (High-output Setting Enabled)
 Leads and Payloads
(Note 1) Take caution that the maximum payload decreases as the speed increases.  Stroke and Maximum Speed
Lead
(mm)
Horizontal (kg)
Vertical (kg)
Maximum push
force (N)
➀-➁-➂-➃
ERC3-RA6C-I-56P-16- ➀ - ➁ - ➂ - ➃
ERC3-RA6C-I-56P-8- ➀ - ➁ - ➂ - ➃
ERC3-RA6C-I-56P-4- ➀ - ➁ - ➂ - ➃
24
13
3
182
ERC3-RA6C-I-56P-24-
Legend
➀
Stroke
➁
I/O type
➂
Cable length
Type
➃
16
40
8
273
8
55
17.5
547
4
70
25
1094
Stroke
(mm)
Stroke
24
Option
Cable symbol
P (1m)
Standard type
S (3m)
(Robot cable)
M (5m)
Special length X06(6m)~X10(10m)
*Refer to P. 36 for maintenance cables.
700 <560>
8
420
400
4
210 <175>
200 <175>
The values in < > apply when the actuator is used vertically.
Name
Brake
Non-motor side specification
Simple absolute specification
Flange
Foot bracket
Option
code
B
NM
ABU
FL
FT
See page
P15
P15
P15
P15
P15
* If the simple absolute specification is selected, the separately sold
PIO converter of simple absolute specification (with battery) is required.
ERC3-RA6C
800 <600>
16
50~300
(every
50 mm)
300
(mm)
50~200
(every 50mm)
Lead
Options
Cable length
23
Maximum payload (Note 1)
Model number
(Unit: mm/s)
ERC3 RoboCylinder
Dimensional Drawings
www.robocylinder.de
CAD drawings can be downloaded
from the website.
* If the non-motor side (NM) specification is selected, the dimension on the motor side
(the distance to the home from ME) and that on the front side are flipped.
2D
CAD
8
φ43
φ30
3.6
6.5
10.5
5 4
10 (Width across flats) *3
40.5
30.5
27 (Width across flats,
3 locations)
Detail A
Teaching port
Cable joint connector *1
40
65.8
44.9
85
72
50
13
4-M8 depth 16
M14×1.5
25
50
64
69
A
ME SE
SE ME*2
3
3
Stroke
49.5
F (Effective range of the T-slot)
176.5
L
*1 Connect the power & I/O cable.
Refer to P. 36 for details on this cable.
SE: Stroke End
ME: Mechanical End
External view of the brake specification
8
5
* The overall length of the brake specification is
51 mm longer than the standard specification
and its mass is 0.5 kg heavier.
22
*2 The slider moves to the ME during
home return, so pay attention to possible
contact with surrounding structures.
10
(25.4)
10
*3 The orientation of the bolt will vary
depending on the product.
M14×1.5
M6
Supplied square nut
for mounting via the T-slot
(4 pcs are supplied)
Supplied rod end nut
227.5
Actuator specificaton
Dimensions and Mass by Stroke
Item
Description
Drive system
Positioning repeatability (*1)
Lost motion
Rod diameter
Rod non-rotation preciseness
Ambient operating temperature,
humidity
Ball screw ø12mm, rolled C10
± 0.02 mm [± 0.03 mm]
0.1 mm or less [0.2 mm or less]
ø30 mm
±1.0 degrees
Stroke
L
F
Mass (kg)
50
334.5
158
3.9
100
384.5
208
4.4
150
434.5
258
4.9
200
484.5
308
5.4
250
534.5
358
5.9
300
584.5
408
6.4
0 to 40˚C, 85% RH or less (Non-condensing)
(*1)The specification in [ ] applies when the lead is 24 mm.
Controllers (Built into the Actuator)
I/O type
With the ERC3 series, one of the following five types of built-in controllers can be selected depending on the external input/output (I/O) type. Select the type that meets your purpose.
Model number
Features
Maximum
number of
positioning points
PIO type (NPN
specification)
ERC3-RA6C-I-56P---NP--
Simple control type
accommodating up to 16
positioning points
16
PIO type (PNP
specification)
ERC3-RA46C-I-56P---PN--
PNP I/O type
16
High-function type
accommodating up to
512 positioning points
(PIO converter is used)
512
Name
SIO type
External view
ERC3-RA6C-I-56P---SE--
Pulse-train
type (NPN
specification)
ERC3-RA6C-I-56P---PLN--
Pulse-train input type
supporting the NPN
specification
−
Pulse-train
type (PNP
specification)
ERC3-RA6C-I-56P---PLP--
Pulse-train input type
supporting the PNP
specification
−
Input
power
Power supply
capacity
Reference
page
DC24V
High-output
setting
enabled:
3.5A rated
4.2A max.
P27
High-output
setting
disabled:
2A
ERC3-RA6C
24
ERC3 RoboCylinder
Selection Guideline (Correlation Diagram of the Push Force and the Current-limiting Value)
In a push-motion operation, the push force can be used by changing the current-limiting value of the controller over a range of
20% to 70%. The maximum push-force varies depending on the model, so check the required push force from the table below and
select an appropriate type meeting the purpose of use.
h
When performing a push-motion operation using a slider actuator, limit the push
current so that the reactive force moment generated by the push force will not
exceed 80% of the rated moment (Ma, Mb) specified in the catalog.
To help with the moment calculations, the application position of the guide
moment is shown in the figure below. Calculate the necessary moment by
considering the offset of the push force application position.
Note that if an excessive force exceeding the rated moment is applied, the
guide may be damaged and the life may become shorter. Accordingly, include
a sufficient safety factor when deciding on the push force.
50mm
Calculation example)
If a push-motion operation is performed with an ERC3-SA7C by applying
100 N at the position shown to the right, the moment received by the
guide, or Ma, is calculated as (46.5 + 50) x 100
= 9650 (N•mm)
= 9.65 (N•m).
SA5C:h=36.5mm
SA7C:h=46.5mm
Since the rated moment Ma of the SA7C is 15 (N•m), 15 x 0.8 = 12 > 9.65,
suggesting that this selection is acceptable. If an Mb moment generates
due to the push-motion operation, calculate the moment from the
overhang length and confirm, in the same way, that the calculated
moment is within 80% of the rated moment.
Correlation Diagrams of the Push Force and the Current-limiting Value
SA5C/RA4C type
800
350
700
600
Lead 3
250
Push force (N)
Push force (N)
SA7C type
400
300
200
Lead 6
150
Lead 12
100
50
0
10
500
Lead 4
400
300
Lead 8
200
20
30
40
50
60
Current-limiting value (%)
70
Lead 16
100
Lead 20
0
The table below is only a reference, and the graphs may
vary slightly from the actual values.
80
0
Lead 24
0
10
20
30
40
50
60
Current-limiting value (%)
70
RA6C type
1200
Notes on Use
Push force (N)
1000
Lead 4
800
600
Lead 8
400
25
 If the current-limiting value is less than 20%, the push force
may vary. Make sure the current-limiting value remains
20% or more.
Lead 16
200
0
 The relationship of the push force and the current-limiting
value is only a reference, and the graphs may vary slightly
from the actual values.
Lead 24
0
10
20
30
40
50
60
Current-limiting value (%)
70
80
 The graphs assume a traveling speed of 20 mm/s during
push-motion operation.
80
ERC3 RoboCylinder
Selection Guideline
High-output setting enabled
(Factory default)
(Table of ERC3 Payload by Speed/Acceleration)
The maximum acceleration/deceleration of the ERC3 is 1.0 G in a horizontal application or 0.5 G in vertical application.
The payload drops as the acceleration increases, so when selecting a model, use the tables below to find one that meets
the desired speed, acceleration and payload.
ERC3-SA5C
Lead 20
Lead 12
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 6
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 3
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
0
6.5 6.5 5
5
4
1
1
1
0
9
9
9
9
8 2.5 2.5 2.5
0
18 18 13 12 11
6
6
6
0
20 20 16 16 13 12 12 12
160
6.5 6.5 5
5
4
1
1
1
100
9
9
9
9
8 2.5 2.5 2.5
50
18 18 13 12 11
6
6
6
25
20 20 16 16 13 12 12 12
320
6.5 6.5 5
5
4
1
1
1
200
9
9
9
9
8 2.5 2.5 2.5
100
18 18 13 12 11
6
6
6
50
20 20 16 16 12 12 12 12
480
6.5 6.5 4
4
4
1
1
1
300
9
9
9
9
7 2.5 2.5 2.5
150
18 18 13 12 11
6
6
6
75
20 20 16 16 12 12 12 12
8
6 2.5 2.5 2.5
6
640
6.5 6.5 3.5 3.5 3
1
1
1
400
9
9
8
200
18 18 13 12 11
6
6
100
20 18 14 12 10 12 10.5 10.5
800
5.5 5.5 3.5 3
1
1
1
1
500
9
9
8 5.5 5.5 2.5 2.5 2
250
18 17 13 12
9
6
5 4.5
125
20 17 14 9.5 8
960
5.5 2.5 2
1
0.5 0.5
600
9
9
8 5.5 4 2.5 2 1.5
300
16 16 12 11
7 4.5 4 3.5
150
20 17 11
1120
5.5 1
1
0.5 0.5
700
9
7
6
350
14 14
6
175
20 10 10 4.5 3.5 7
7
6
4
2
1
4 2.5 2.5 1 0.5
800
5.5 3.5 2
900
5 2.5 1
1
8
8
4 3.5 3
0.5 0.5
400 10.5 10
7 4.5 4 2.5 2 1.5
200
20
0.5
450
4 2.5 1
225
15
7.5 7
1 0.5
9
8
12 10.5 10.5
7 9.5 8
3
6
8
4.5
ERC3-SA7C
Lead 24
Lead 16
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 8
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 4
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Horizontal
Vertical
Acceleration (G)
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Orientation
0
20 17 15 13 11
3
3
3
0
35 35 35 26.5 26.5 7
6
4
0
43 40 40 40 40 15 14 13
0
45 45 45 40 35 22 22 22
200
20 17 15 13 11
3
3
3
140
35 35 35 26.5 26.5 7
6
4
70
43 40 40 40 40 15 14 13
35
45 45 45 40 35 22 22 22
400
20 14 14 13 10
3
3
3
280
35 28 28 22 18
7
6
4
140
40 40 40 38 35 15 14 13
70
45 42 42 35 35 22 22 22
600
20 14 10
3
3
3
420
30 23 12.5 11 10
5
5
4
210
40 36 35 30 24 11
9
9
105
42 40 40 35 35 20 20 19
4
3
7
6
8
8
800
10 10
8
6 2.5
3 2.5
560
22 15 9.5 7.5 5.5 5
1000
8
4
2
2
700
20 11 5.5 3.5 2 3.5 2.5 1.5
1200
4
2
1
840
4 2.5
980
2
1
1
280
40 23 11
8
350
35
2
420
25
2.5
490
15
1.5
4
2
2
8
5 3.5 1.5
140
42 40 25 25 22 15 12 11
175
38 18
10 4.5
210
35
6.5
ERC3-RA4C
Lead 20
Lead 12
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 6
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 3
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Horizontal
Vertical
Acceleration (G)
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Orientation
0
6
6
6
5 4.5 1.5 1.5 1.5
0
25 25 14 14 12 4.5 4.5 3.5
0
40 40 31.5 30 25 12 12 10
0
40 40 40 40 35 18 18 17
160
6
6
6
5 4.5 1.5 1.5 1.5
100
25 25 14 14 12 4.5 4.5 3.5
50
40 40 31.5 30 25 12 12 10
25
40 40 40 40 35 18 18 17
5
100
40 40 31.5 24.5 21 12 12 10
50
40 40 40 40 35 18 18 17
150
40 40 24.5 17.5 17.5 11 11
75
40 40 40 40 35 16 16 16
320
6
6
6
480
6
6
6 4.5 3
640
6
4
800
4
3
3
3 1.5 1.5 1.5
1
2
200
25 25 11
8
1
1
300
25 25 11
7 5.5 4
1
1
400 17.5 16.5 8
0.5 0.5
8 4.5 4.5 3.5
4 3.5
4 3.5 3.5 3.5 2.5
500
15 5.5 2
2
600
10 3.5
2
700
6
1
200
40 40 21 14 12.5 8
8 5.5
100
40 40 40 40 35 16 15 15
250
35 24.5 17.5 14 11
7
125
40 40 40 40 30 16 12 10
1
300
28 21 12.5 12.5 8 5.5 5.5 4
150
40 40 40 30 25 10
1
350 24.5 17.5 9.5 5.5 5.5 4 3.5 3.5
175
36 36 35 25 20 10 5.5 5
400 17.5 9.5 7
200
36 28 28 19.5 14
7
225
36 16 14 10
4 3.5 2
3.5 2
2
7
7
4
4 2.5 3.5 2.5 2
450 17.5 5.5 2
1
1
6
8 5.5
5 4.5
ERC3-RA6C
Lead 24
Orientation
Lead 16
Horizontal
Vertical
Acceleration (G)
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Orientation
Lead 8
Horizontal
Vertical
Acceleration (G)
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Lead 4
Horizontal
Vertical
Acceleration (G)
Orientation
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Horizontal
Vertical
Acceleration (G)
Speed
(mm/s) 0.1 0.3 0.5 0.7 1 0.1 0.3 0.5
Orientation
0
20 13 11 10
8
3
3
2
0
45 40 30 28 26
8
8
8
0
60 55 45 40 40 17.5 17.5 17.5
0
70 70 60 60 50 25 25 25
200
20 13 11 10
8
3
3
2
140
45 40 30 28 26
8
8
8
70
60 55 45 40 40 17.5 17.5 17.5
35
70 70 60 60 50 25 25 25
400
20 13 11 10
8
2
600
13
7
800
3
1
5 3.5
2
2
280
45 34 30 24 18 6.5 5.5 5.5
140
60 55 40 40 40 11 11 11
70
70 70 60 60 50 25 25 25
2
2
420
45 22 17 13 10 5.5 4
210
60 50 40 28 26 7.5 7.5 7
105
70 70 55 45 40 15 15 15
560
700
9.5 5 2.5 1.5
2
2
3
1
280
60 32 20 15 11
6 5.5 4.5
140
70 50 30 20 15 11.5 10
350
50 14 4.5 1
3 2.5 2
175
50 15
420
15
2
210
20
6
8
3
26
ERC3 RoboCylinder
ERC3
controller specification
Model number NP/PN/SE/PLN/PLP
Controller part of actuator with built-in controller
List of Models
Operation Mode
Positioner mode
Pulse-train control mode
I/O type name
NP
PN
SE
PLN
PLP
Name
PIO type
(NPN specification)
PIO type
(PNP specification)
SIO type
Pulse-train type
(NPN specification)
Pulse-train type
(PNP specification)
Pulse-train input type
supporting the NPN
specification
Pulse-train input type
supporting the PNP
specification
(–)
(–)
External view
Type that moves by
Type that moves by
High-function type
specifying the
specifying the
accommodating up to
positioning number
positioning number 512 positioning points
with NPN PIO from PLC. with PNP PIO from PLC. (PIO converter is used)
Description
Position points
16 points
16 points
512 points
Model Number
ERC3
Series
I
Type
Encoder type
SA5C Actuator width 50 mm
SA7C Actuator width 74 mm
RA4C Actuator width 45 mm
RA6C Actuator width 64 mm
Motor type
42P
Pulse motor
42  size
56P
Pulse motor
56  size
Lead
20 for SA5C/RA4C 20mm
12 for SA5C/RA4C 12mm
6
for SA5C/RA4C 6mm
3
for SA5C/RA4C 3mm
24 for SA7C/RA6C 24mm
16 for SA7C/RA6C 16mm
I
Incremental type
8
for SA7C/RA6C 8mm
4
for SA7C/RA6C 4mm
Stroke
Slider
type
Rod
type
I/OType
50
Cable length
CN
50mm
800 800mm
50
CON type
* If the I/O type is PLN or PLP, "CN" is
selected automatically.
* Refer to P. 14 for each type.
50mm
B
300 300mm
(Can be set in 50mm increments)
NP
PIO (NPN) type
N
None
PN
PIO (PNP) type
P
1m
SE
SIO type
S
3m
M
5m
PLP Pulse-train (PNP) type
Specified
X  length
* The standard cable is a
robot cable.
ERC3
Option
MC MEC type
PLN Pulse-train (NPN) type
27
Controller type
Brake
Non-motor side
NM
specification
Simple absolute
ABU
specification
FL Flange
FT Foot bracket
* The simple absolute specification
can be selected only when the I/O
type is "SIO communication."
* The flange and foot bracket
option can be selected only for
rod types.
ERC3 RoboCylinder
System Configuration
SIO Type
PIO Type/Pulse-train type
Teaching pendant
(See P39.)
<Model number: CON-PTA >
<Model number: RCM-PST>
PLC
Teaching pendant
(See P39.)
<Model number:
CON-PTA >
<Model number:
RCM-PST>
ERC3
I/O flat cable
<Model number: CB-PAC-PIO>
Standard lengths: 2 m/3 m/5 m
Refer to P. 38 for the maintenance cable.
Power & I/O cable for PIO type
<Model number:
CB-ERC3P-PWBIO>
Standard lengths: 1 m/3 m/5 m
Refer to P. 36 for the
maintenance cable.
PC software
(See P42)
 PC software for RoboCylinder
* The cable is supplied with the
PC software.
(RS 232 connection version)
<Model number: RCM-101-MW-EU>
(USB connection version)
<Model number: RCM-101-USB-EU>
 MEC PC software
* A separate cable is required.
* If the pulse-train type is used with
a PLC of open collector output,
the AK-04 is required.
PLC
DC24V
Power Supply
24V
0V
FG
PIO Converter
Simple absolute battery
(absolute specification)
PC software
(See P42)
 PC software for RoboCylinder
* The cable is supplied with the
PC software.
(RS 232 connection version)
<Model number: RCM-101-MW-EU>
(USB connection version)
<Model number: RCM-101-USB-EU>
 MEC PC software
* A separate cable is required.
Power & I/O cable for SIO type
<Model CB-ERC3S-PWBIO>
Standard lengths: 1 m/3 m/5 m
Refer to P. 36 for the maintenance cable.
ERC3
DC24V
Power Supply
24V
0V
FG
PC Wiring Diagram
The SIO connector is used to connect a teaching tool.
SIO connector
(Only one can be connected)
PC
Teaching pendant
ERC3
ERC3
28
ERC3 RoboCylinder
List of Base Controller Specifications
Item
Description
Power supply voltage
24 VDC±10%
Load current (including current consumed for control)
High-output setting enabled: 3.5 A rated/4.2 A max.
Heat output
High-output setting enabled: 8 W
Rush current (Note 1)
8.3 A
Momentary power failure resistance
Max. 500 μs
Motor control method
Field-weakening vector control
Supported encoder
Incremental encoder of 800 pulses/rev in resolution
Actuator cable length
10 m max.
Serial communication interface (SIO port)
RS485: 1 channel (conforming to Modbus protocol RTU/ASCII) / Speed: 9.6 to 230.4 kbps
Actuators can be controlled via serial communication in a mode other than pulse-train
External interface PIO specification
Dedicated 24-VDC signal input/output (NPN or PNP selected)—Up to 6 input points, up to 4 output points
Cable length: 10m max.
Data setting/input method
PC software, touch-panel teaching pendant, quick teach pendant
Data retention memory
Position data and parameters are saved in the non-volatile memory
(There is no limit to the number of times the memory can be written.)
Operation mode
Positioner mode/Pulse-train control mode
Number of positions in positioner mode
Standard 8 points, maximum 16 points
Note) Positioning points vary depending on the selected PIO pattern.
High-output setting disabled: 2 A
High-output setting disabled: 5 W
Differential method (line driver method): 200 kpps max. / Cable length: 10m max.
Pulse-train
interface
Input pulse
Open collector method: Not supported
* If the host is of open collector output type, use the optional AK-04 (sold separately) to convert open collector
pulses to differential pulses.
Command pulse magnification
(electronic gear ratio: A/B)
1/50 < A/B < 50/1
Setting range of A and B (set by parameters): 1 to 4096
Feedback pulse output
None
LED indicators (installed on the motor unit)
Servo ON (green), servo OFF (unlit), emergency stop (red), alarm (red), resetting (orange)
Isolation resistance
500 VDC, 10 MΩ or more
Electric shock protection mechanism
Class I (basic isolation) according to DIN EN 60335-1/60598-1 (JIS C 9335-1/8105-1)
Cooling method
Natural air cooling
Ambient operating temperature
Environment
0 to 40°C
Ambient operating humidity
85% RH or less (non-condensing)
Ambient storage temperature
-20 to 70°C (excluding batteries)
Operating altitude
Altitude 1000 m or less
Protection degree
IP20
Cooling method
Natural air cooling
Vibration resistance
Number of vibrations: 10 to 57 Hz/Amplitude: 0.075 mm
2
(Test conditions) Number of vibrations: 57 to 150 Hz/Acceleration: 9.8 m/s
Sweep time in X/Y/Z directions: 10 minutes/Number of sweeps: 10 times
Impact
(Test conditions) 150 mm/sec2, 11mm/sec, sinusoidal half pulse, 3 times each in X, Y and Z directions
Note 1 Rush current will flow for approx. 5msec after the power is turned on (at 40°C).
Take note that the value of rush current varies depending on the impedance of the power line.
Emergency Stop Circuit
The ERC3 series has no built-in emergency stop circuit, so the customer must provide an emergency stop circuit. Refer to the operation manual for
details on the emergency stop circuit.
29
ERC3
ERC3 RoboCylinder
Positioner mode
I/O specification (PIO type)
Input Part
Item
Input points
Input voltage
Input current
Leak current
Output Part
Specification
Item
Output points
Load voltage
Maximum load current
Residual voltage
6 points
24 VDC ±10%
5mA/1 circuit
1mA/point max.
* The input circuit is not isolated from signals input from external equipment.
NPN specification
* The output circuit is not isolated from signals output to external equipment.
NPN specification
ERC3
Internal power supply: 24 V
Specification
4 points
24 VDC ±10%
5mA/1 circuit
2 V or less
ERC3
External power
supply: 24 V
15Ω
5.6KΩ
Input
terminal
100KΩ
Internal
circuit
Load
Output
terminal
Internal
circuit
20KΩ
PNP specification
PNP specification
ERC3
ERC3
Internal power supply: 24 V
External power
supply: 24 V
100KΩ
Input
terminal
5.6KΩ
Internal
circuit
Internal
circuit
15Ω
20KΩ
Load
Output
terminal
I/O Signal Table (PIO Type) [ERC3 and PLC Connected Directly]
Controller type
Category
Pin
number
Input
Output
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
Frame ground
+24V for control power supply
−
0 V for control power supply
External brake release input
+24V for motor power supply
Emergency stop input
0 V for motor power supply
−
−
−
−
−
−
−
−
Input
Output
PIO function
CN (CON type)
Parameter No. 25 (PIO pattern) selection
0
1
2
MC (MEC type)
Selected on teaching pendant
or in PC software
Standard/Movement between 2 inputs/Movement
2 points (single solenoid)
among 3 points
2 points
3 points
—
—
—
—
8-point type
Solenoid type
16-point type
Number of positioning points
Home return signal
Jog signal
Teaching signal (writing
of current position)
Brake release
Moving signal
Zone signal
Position zone signal
8 points

—
3 points
—
—
16 points
—
—
—
—
—
—
—
—
—

—
—
—
—
—
—
—


—
—
—
—
—
—
—
—
IN0
IN1
IN2
IN3
IN4
IN5
OUT0
OUT1
OUT2
OUT3
PC1
PC2
PC4
HOME
CSTR
*STP
PEND
HEND
ZONE1
*ALM
ST0
ST1
ST2
—
RES
*STP
PE0
PE1
PE2
*ALM
PC1
PC2
PC4
PC8
CSTR
*STP
PEND
HEND
PZONE/ZONE1
*ALM
ST0
—
RES
—
—
—
LS0/PE0
LS1/PE1
HEND
*ALM
ST0
ST1
RES
—
—
—
LS0/PE0
LS1/PE1
LS2/PE2
*ALM
FG
CP
—
GND
BK
MP
EMG
GND
—
—
—
—
—
—
—
—
(Note) Signals marked with an asterisk (*) (ALM/STP) are negative logic signals so they are nomally on.
ERC3
30
ERC3 RoboCylinder
I/O Signal Table (SIO Type) [ERC3 and PLC Connected via PIO Converter]
Controller type
Category
PIO converter
Pin
number
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
1B
2B
3B
4B
5B
6B
7B
8B
9B
10B
11B
12B
13B
14B
15B
17B
18B
19B
20B
PIO function
0
Positioning
mode
Number of
positioning points
64 points
64 points
256 points
512 points
7 points
3 points
2 points
3 points

—



—

—

—
—
—
—
—
—
—
—

—
—
—
—
—
—




—

—


—
—

—
—
—
—
—
—
—
—
PC1
PC2
PC4
PC8
PC16
PC32
—
—
—
BKRL
—
HOME
*STP
CSTR
RES
SON
PM1(ALM1)
PM2(ALM2)
PM4(ALM4)
PM8(ALM8)
PM16
PM32
MOVE
ZONE1
PZONE/ZONE2
—
HEND
PEND
SV
*EMGS
*ALM
LOAD/TRQS
*ALML
PC1
PC2
PC4
PC8
PC16
PC32
MODE
JISL
JOG+
JOG—
HOME
*STP
CSTR/PWRT
RES
SON
PM1(ALM1)
PM2(ALM2)
PM4(ALM4)
PM8(ALM8)
PM16
PM32
MOVE
MODES
PZONE/ZONE1
—
HEND
PEND/WEND
SV
*EMGS
*LM
PC1
PC2
PC4
PC8
PC16
PC32
PC64
PC128
—
BKRL
—
HOME
*STP
CSTR
RES
SON
PM1(ALM1)
PM2(ALM2)
PM4(ALM4)
PM8(ALM8)
PM16
PM32
PM64
PM128
PZONE/ZONE1
—
HEND
PEND
SV
*EMGS
*ALM
LOAD/TRQS
*ALML
ST0
—
RES
—
—
—
—
—
—
—
—
—
—
—
—
—
LS0/PE0
LS1/PE1
HEND
*ALM
—
—
—
—
—
—
—
—
—
—
—
ST0
ST1
RES
—
—
—
—
—
—
—
—
—
—
—
—
—
LS0/PE0
LS1/PE1
LS2/PE2
*ALM
—
—
—
—
—
—
—
—
—
—
—
—
—
Home return signal
Jog signal
Teaching signal (writing
of current position)
Brake release
Moving signal
Output
Zone signal
Position zone signal
—
—
—
—
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
Input
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
Output
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
Input
16B
OUT15
—
—
—
—
CN (CON type)
MC (MEC type)
Parameter No. 25 (PIO pattern) selection
Selected on teaching
pendant or in PC software
1
2
3
4
5
Teaching
256-point
512-point
Solenoid Solenoid valve Standard/Movement between 2 2 inputs/Movement
mode
mode
mode
valve mode 1
mode 2
points (single solenoid)
among 3 points
* ALML



—
—
—


—


—
—
—
—
—
PC1
ST0
ST0
PC2
ST1
ST1(JOG+)
PC4
ST2
ST2 *1
PC8
ST3
—
PC16
ST4
—
PC32
ST5
—
PC64
ST6
—
P128
—
—
PC256
—
—
BKRL
BKRL
BKRL
—
—
—
HOME
HOME
—
*STP
*STP
—
CSTR
—
—
RES
RES
RES
SON
SON
SON
PM1(ALM1)
PE0
LSO
PM2(ALM2)
PE1
LS1(TRQS)
PM4(ALM4)
PE2
LS2 *1
PM8(ALM8)
PE3
—
PM16
PE4
—
PM32
PE5
—
PM64
PE6
—
PM128
ZONE1
ZONE1
PM256
PZONE/ZONE2 PZONE/ZONE2
—
—
—
HEND
HEND
HEND
PEND
PEND
—
SV
SV
SV
*EMGS
*EMGS
*EMGS
*ALM
*ALM
*ALM
LOAD/TRQS LOAD/TRQS
*ALML
*ALML
*ALML
—
—
—
—
(Note) In the table above, codes in ( ) indicate functions effective before the home return. * indicates a negative logic signal. PM1 to PM8 serve as alarm binary code
output signals when an alarm occurs.
*1 These signals are invalid before the home return.
31
ERC3
ERC3 RoboCylinder
Explanation of Signal Names
Category
Input
Signal name
Signal
abbreviation
PTP strobe (start signal)
CSTR
Command position number
PC1~PC256
Forced brake release
BKRL
The brake is forcibly released.
Pause
*STP
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop. The remaining travel is
put on hold while the actuator is stopped and will resume when the signal turns ON.
Reset
RES
Present alarms are reset when this signal turns ON. By turning ON this signal while the actuator is paused
(*STP signal is OFF), the remaining travel can be cancelled.
Servo ON
SON
The servo is ON while this signal is ON, and OFF while the signal is OFF.
Home return
HOME
Home return operation is performed when this signal is turned ON.
Teaching mode
MODE
The actuator switches to the teaching mode when this signal turns ON.
The mode will not change unless the CSTR, JOG+ and JOG- signals are all OFF and the actuator is not operating.
Jog/inching switching
JISL
Jog
JOG +
JOG −
When the JISL signal is OFF, the actuator jogs in the positive direction upon detection of the ON edge of the JOG+ signal,
or in the negative direction upon detection of the ON edge of the JOG- signal. The actuator decelerates to a stop if the
OFF edge is detected while jogging in each direction. The actuator operates by inching when the JISL signal is ON.
Current position write
PWRT
When a position number is specified and this signal is turned ON for 20 ms or more in the teaching mode, the current
position is written to the specified position number.
Start signal
ST0~ST6
In the solenoid mode, the actuator moves to the specified position when this signal turns ON.
ositioning complete
PEND/INP
This signal turns ON when the actuator reaches the positioning band after moving. The PEND signal does not turn OFF
even when the actuator moves beyond the positioning band, but the INP signal turns OFF. A parameter is used to switch
between PEND and INP.
Function overview
The actuator starts moving to the position set by the command position number.
This signal is used to input the position number of the position to move the actuator to (binary input).
The actuator can be jogged with a JOG+ or JOG- command while this signal is OFF.
The actuator operates by inching with a JOG+ or JOG- command while this signal is ON.
Completed position number PM1~PM256 The position number of the position reached upon completion of positioning is output (by a binary signal).
Out put
Home return complete
HEND
This signal turns ON upon completion of home return. It will remain ON until the home position is lost.
Zone signal 1
ZONE1
Zone signal 2
ZONE2
Position zone
PZONE
This signal turns ON when the current position of the actuator enters the range set in the position data table while moving
to a position. This signal can be used with ZONE1, but the PZONE signal is effective only when moving to a set position.
Alarm
*ALM
This signal remains ON while the controller is normal, and turns OFF when an alarm occurs.
Moving
MOVE
This signal is ON while the actuator is moving (also during home return and push-motion operation).
This signal turns ON when the current position of the actuator falls within the parameter-set range.
Servo ON
SV
Emergency stop output
*EMGS
This signal is ON when the servo is ON.
This signal is ON when the controller is not in the emergency stop mode, and turns OFF when an emergency stop is actuated.
Teaching mode output
MODES
This signal turns ON when the actuator enters the teaching mode due to an input of the MODE signal. It turns OFF when
the actuator returns to the normal mode.
Write complete
WEND
This signal is OFF immediately after switching to the teaching mode, and turns ON the moment the writing per the
PWRT signal is completed.
This signal also turns OFF when the PWRT signal turns OFF.
Current position number
PE0~PE6
This signal turns ON when the actuator completes moving to the target position in the solenoid mode.
Limit switch output
LS0~LS2
This signal turns ON when the current position of the actuator enters the positioning band (±) around the target position. If the
home return has been completed, this signal is output even before a move command is issued or the servo is OFF.
Load output judgment status
LOAD
This signal turns ON when the in-certification-range command torque exceeds the threshold.
Torque level status signal
TRQS
This signal turns ON when the motor current reaches the threshold.
Minor failure alarm
*ALML
This signal is output when a message-level alarm generates.
(Note) In the table above, * indicates a negative logic signal.
ERC3
32
ERC3 RoboCylinder
I/O Wiring Diagram
PIO 8-point Type (ERC3 and PLC Connected Directly)
0V (NPN specification)
24-VDC (PNP specification)
24-VDC (NPN specification)
0V (PNP specification)
ERC3
PIO connecter
A12
A9
B12
B9
A10
Output from
host system
(PLC)
B10
I/O interface
(Refer to the I/O connection
for each PIO pattern on P. 30.)
Input to host
system
(PLC)
A13
B13
A11
B11
*The wire colors change as follows if a robot cable is used.
Line color
Gray (red 1)
Gray (black 1)
Gray (red 2)
Gray (black 2)
Pin number
2A
2B
7A
7B
Orange (red 1)
(Not used)
Orange (black 1)
CN2
(Note) To forcibly release the brake, provide a switch
between BKR and 0V and turn it ON.
1A SGA
Serial communication
1B SGB
Ground
FG
PIO Positioning Mode (Standard Type) (ERC3 and PLC Connected via PIO Converter)
0V (NPN specification)
24-VDC (PNP specification)
Output from
host system
(PLC)
33
ERC3
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
24-VDC (NPN specification)
0V (PNP specification)
PIO converter
PIO connecter
1A
2A
3A
4A
5A
6A
7A
8A
9A
10A
11A
12A
13A
14A
15A
16A
17A
18A
19A
20A
I/O interface
(Refer to the I/O connection
for each PIO pattern on P. 31.)
1B
2B
3B
4B
5B
6B
7B
8B
9B
10A
11B
12B
13B
14B
15B
16B
17B
18B
19B
20B
Brown-1
Red-1
Orange-1
Yellow-1
Green-1
Blue-1
Purple-1
Gray-1
White-1
Black-1
Brown-2
Red-2
Orange-2
Yellow-2
Green-2
Blue-2
Purple-2
Gray-2
White-2
Black-2
Input to host
system
(PLC)
ERC3 RoboCylinder
Pulse-train control mode
I/O specification (Pulse-train type)
Input Part
Code
Differential input voltage range
Remarks
26C31 or equivalent
Differential line driver method: 10m max.
Open collector method (AK-04 used): 2m max.
Differential line driver method: 200 kpps max.
Open collector method (AK-04 used): 60kpps max.
Maximum cable length
Maximum number of input pulses
* If the user-side I/O is of open collector type, use the AK-04.
ERC3
PP
26C31 or equivalent
line driver
18KΩ
1KΩ
Internal
circuit
1KΩ
Internal
circuit
/PP
NP
26C31 or equivalent
line driver
180Ω
/NP
Pulse-train Control Circuit
Host Unit = Differential Type
Host unit
ERC3
Positioning unit
Pulse-train control
B7
Pulse command
(corresponding to
line driver 26C31)
PP
A7
/ PP
B8
NP
A8
/ NP
CB-ERC3P-PWBIO
Host Unit = Open Collector Type
0V
+24V
Host unit
ERC3
Pulse converter
AK-04
(Optional)
Positioning unit
1
0V
2
3
Pulse signal
4
24V
PP
GND
/ PP
PP
NP
NP
/ NP
Pulse-train control
1
B7
2
A7
3
B8
4
A8
PP
/ PP
NP
/ NP
CB-ERC3P-PWBIO
0V
* The AK-04 (optional) is needed to input pulses.
* Use the same power supply for open collector input/output to/from the host and for the AK-04.
ERC3
34
ERC3 RoboCylinder
I/O Signals for the Pulse-train Control Mode
The table below lists the signal assignments for the flat cable for the pulse-train control mode. Connect an external device (such as PLC) according to this table.
[1] Positioning Operation - PIO Pattern: 0
Pin number
Category
I/O number Signal abbreviation
A1
Frame ground
FG
B1
+24 V for control power supply
CP
A2
B2 0 V for control power supply
GND
Signal name
—
—
—
—
Description of function
Frame ground.
+24 V of the control power supply is input.
0 V of the control power supply.
This signal is used to release the brake externally.
The brake is released when +24 V is input.
+24 V of the motor power supply is input.
Input signal for emergency stop.
+24 V of the motor power supply is input.
A3
External brake release input
BK
—
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
+24 V for motor power supply
Emergency stop input
0 V for motor power supply
MP
EMG
GND
—
—
—
Input
/PP
PP
/NP
NP
SON
TL
HOME
RES
—
—
SV
INP
HEND
*ALM
Command pulse
Command pulse
Command pulse
Command pulse
Servo ON
Torque limit selection
Home return
Reset
The servo is ON while this signal is ON, and OFF while the signal is OFF.
When this signal is turned ON, the motor torque is limited to the value set by a parameter.
Home return operation is performed when this signal is turned ON.
Present alarms are reset when this signal is turned ON.
Servo ON status
Positioning complete
Home return complete
Controller alarm status
This signal turns ON when the servo is ON.
This signal turns ON when the amount of remaining travel pulses in the deviation counter falls within the positioning band.
This signal turns ON upon completion of home return.
This signal turns ON when the controller is normal, and turns OFF when an alarm generates.
Output
IN0
IN1
IN2
IN3
IN4
IN5
OUT0
OUT1
OUT2
OUT3
* indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output.
[2] Push-motion Operation - PIO Pattern: 1
Pin number
Category
I/O number Signal abbreviation
Frame ground
FG
A1
B1
+24 V for control power supply
CP
A2
B2 0 V for control power supply
GND
Signal name
—
—
—
—
A3
External brake release input
BK
—
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
+24 V for motor power supply
Emergency stop input
0 V for motor power supply
MP
EMG
GND
—
—
—
B10
IN0
IN1
IN2
Input
/PP
PP
/NP
NP
SON
TL
HOME
RES
IN3
DCLR
A11
B11
A12
IN4
IN5
OUT0
B12
OUT1
—
—
SV
INP
A13
B13
Output
TLR
OUT2
OUT3
HEND
*ALM
Description of function
Frame ground.
+24 V of the control power supply is input.
0 V of the control power supply.
This signal is used to release the brake externally.
The brake is released when +24 V is input.
+24 V of the motor power supply is input.
Input signal for emergency stop.
+24 V of the motor power supply is input.
Command pulse
Command pulse
Command pulse
Command pulse
Servo ON
The servo is ON while this signal is ON, and OFF while the signal is OFF.
Torque limit selection When this signal is turned ON, the motor torque is limited to the value set by a parameter.
Home return
Home return operation is performed when this signal is turned ON.
This signal serves as a reset signal when the torque is not limited (torque TL signal is OFF).
Reset
When this signal turns ON, present alarms are reset.
Deviation counter This signal serves as a deviation counter signal when the torque is limited (torque TL
clear
signal is ON). This signal clears the deviation counter.
Servo ON status
Positioning
complete
This signal turns ON when the servo is ON.
This signal serves as a positioning complete signal when the torque is not limited (torque TL signal is OFF). It
turns ON when the remaining travel pulses in the deviation counter are within the range of positioning band.
signal serves as a torque limited signal when the torque is limited (torque TL signal is
Torque limited This
ON). If the torque is limited, this signal turns ON when the torque limit is reached.
Home return complete This signal turns ON upon completion of home return.
Controller alarm status This signal turns ON when the controller is normal, and turns OFF when an alarm generates.
*indicates a negative logic signal. Negative logic signals are normally ON while the power is supplied, and turn OFF when the signal is output.
35
ERC3
ERC3 RoboCylinder
Cable/Maintenance Parts
Power & I/O Cable for PIO Type
Model
number
CB-ERC3P-PWBIO
* indicates the cable length (L). A desired length
can be specified up to 10m. Example: 080=8m
* The standard cable is a robot cable.
Wiring
AWG22
Color
Ground
Signal
FG
No.
A1
A2
A3
A4
A5
A6
B1
B2
B3
B4
B5
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
No.
1
(Unit/mm)
L
BA
33
28.6
7.5
1525
Heat-shrink tube (with adhesive, black), 09.5
150
CN1
No connector
V0.5-3 (JST)
9
23.3
Receptacle housing: 1-1827863-3 (AMP) x 1
Contact: 1827570-3 (AMP) x 23
Minimum bending R r = 45mm or more (when movable type is used)
Twisted pair cable
Signal
FG
N.C
BK
EMG
N.C
N.C
CP
CP_GND
MP
MP_GND
SA
SB
/PP
PP
/NP
NP
IN0
IN1
IN2
IN3
IN4
IN5
OUT0
OUT1
OUT2
OUT3
Color
Ground
—
Red 1
Orange 1
—
—
Brown
Red
Orange
Yellow
Green
Brown1
Blue
Purple
Gray
White
Brown2
Red2
Orange2
Yellow2
Green2
Blue2
Purple2
Gray2
White2
Black
Wiring
AWG22
—
AWG28
—
—
AWG22
AWG19
AWG28
Shield
Power & I/O Cable for SIO Type
Model
number
CB-ERC3S-PWBIO
* indicates the cable length (L). A desired length
can be specified up to 10m. Example: 080=8m
* The standard cable is a robot cable.
Wiring
AWG28
AWG22
AWG19
(AWG22)
—
—
—
AWG22
Color
Brown1
Green
Orange1
Red1
Green1
Yellow1
Brown
Red
Orange
Yellow
—
—
—
Ground
Signal
SB
SA
EMG
BK
BAT
BGND
CP
CP_GND
MP
MP_GND
N.C
N.C
N.C
FG
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Twisted pair cable
Shield
(Unit/mm)
L
BA
33
28.6
6
40 25
60
CN2
Heat-shrink tube (with adhesive, black), 09.5
9
23.3
Wiring
Color
A1
FG
A2
−
A3
BK
A4
EMG
A5
BGND
A6
BAT
B1
CP
B2
CP_GND
B3
MP
B4
MP_GND
B5
SA
B6
SB
A7
N.C
B7
N.C
A8
N.C
B8
N.C
A9
N.C
B9
N.C
A10
N.C
B10
N.C
A11
N.C
B11
N.C
A12
N.C
B12
N.C
A13
N.C
B13
N.C
Signal
Ground
−
Red 1
Orange 1
Yellow 1
Green1
Brown
Red
Orange
Yellow
Green
Brown 1
—
—
—
—
—
—
—
—
—
—
—
—
—
—
No.
AWG22
−
AWG28
AWG22
AWG28
AWG22
AWG19
AWG28
—
—
—
—
—
—
—
—
—
—
—
—
—
—
CN1
Plug housing: PADP-14V-1-S (JST) x 1
Socket contact: SPND-001T-C0.5 (JST) x 6
SPND-002T-C0.5 (JST) x 5
Receptacle housing: 1-1827863-3 (AMP) x 1
Receptacle contact: 1827570-2 (AMP) x 11
Minimum bending R r = 36 mm or more (when movable type is used)
SIO Communication Cable (for Quick Teach Pendant)
CB-PST-SIO050
Wiring
AWG26
—
—
AWG26
—
AWG26
—
AWG26
—
—
—
50
2
1
12
13
CN2
(3)
25
Housing: PADP-14V-1-S (JST)
Contact: SPND-002T-C0.5 (JST)
L
04.8
Model
number
UL2990 AWG26 6C (K) Black
Color
Black
Brown
White
—
—
Red
−
Green
−
Gray
Blue
—
—
—
Signal
SGB
SGA
EMG
N.C
N.C
TGND
N.C
GND
N.C
GND
24V
N.C
N.C
N.C
No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
120Ω
1/4W
No.
1
2
3
4
5
6
7
8
Signal
SGA
SGB
SV
N.C
N.C
24V
GND
EMGB
GND
Color
Brown
Black
Red
—
—
Yellow
Green
White
Shield
Wiring
AWG26
AWG26
—
Single wire (UL1061 AWG 16, gray)
(Unit/mm)
(Panduit label)
30
CN1
8-pin mini DIN connector (integrated with molding)
Contact: MD-SP2240 (JST) x 8
Metal shell: MD-PS8T (JST)
Housing A: MD-PI8A (JST)
Housing B: MD-PI8B (JST)
Cover: MD-PCC8T-S2 (JST)
* The 8-pin mini DIN connector may be an equivalent product.
ERC3
36
ERC3 RoboCylinder
Options
PIO Converter
The PIO converter is a wiring/power supply unit used exclusively with the ERC3 series.
By connecting the PIO converter to the ERC3 series, functions of the ERC3 series can be extended.
■Features •Thecompactsize(25Wx90Hx98D)savesspace.
•CanbeinstalledonaDINrailorremovedwithasingleaction.
•ComeswithaPIOinterfaceoffering16inputpoints/16outputpoints.NPN
and PNP specifications are available.
•Brakereleaseswitchonthefrontpanel.
•ComeswithSIOterminals.TeachingofERC3-seriesactuatorsispossiblefrom
the teaching pendant or PC software.
•LEDsonthefrontpanelindicatethecommandcurrentratio,alarmcodeand
PIO status (optional).
•WhencombinedwithanERC3actuatorofabsolutespecification,thesimple
absolute function is supported (optional).
•Comeswithacalendarfunction.(ConnectingthePIOconverterenablesthe
calendar function of the ERC3.)
■Model Configuration
RCB
Type
Series
power cutoff
CV Built-in
relay type (standard)
power
CVG External
cutoff relay type
I/O type
I/O cable length
NP
NPN specification (without monitoring LEDs)
0 No cable
PN
PNP specification (without monitoring LEDs)
2 With 2m cable
NPM NPN specification (with monitoring LEDs)
3 With 3m cable
PNM PNP specification (with monitoring LEDs)
5 With 5m cable
Simple absolute
function supported
absolute function not supported
(No entry) Simple
(for incremental specification only)
AB
ABUN
Simple absolute function supported (with simple absolute battery)
Simple absolute function supported (without simple absolute battery
* Select "NPM/PNM" if you want to use the functions
of monitoring LEDs on the front panel.
■Base Specifications
Item
Number of connected axes
Power supply voltage
Control power capacity
Heat output
Momentary power failure resistance
Serial communication interface
(SIO port)
External interface
Data setting/input method
Operation Mode
Number of positions in positioner mode
LED display (installed on the front panel)
Electromagnetic brake forced release switch (installed on the front panel)
Isolation resistance
Electric shock protection mechanism
Cooling method
Ambient operating temperature
Ambient operating humidity
Ambient storage temperature
Operating altitude
Protection degree
Environment
Vibration resistance
Weight
External Dimensions
Consumable parts
Description
ERC3 1 axis
24 VDC ±10%
0.8 A max.
1.3 W
500 μs max.
RS485: 1 channel (conforming to Modbus protocol RTU/ASCII) / Speed: 9.6 to 230.4 kbps
Actuators can be controlled via serial communication.
Dedicated 24-VDC signal input/output (NPN or PNP selected)—Up to 16 input points, up to 16 output points / Cable length: 10 m max.
PC software, touch-panel teaching pendant
Positioner mode
Standard 64 points, maximum 512 points Note) Positioning points vary depending on the selected PIO pattern.
Status indicator LED - Steady green light: Servo ON / Blinking green light: Auto servo OFF / Steady red light: Alarm present
Absolute battery status indicator LED - Green: Fully charged / Orange: Charging / Red: Not connected
Absolute reset status LED - Green: Absolute reset complete / Red: Absolute reset not yet complete
LED0 to LED15 (optional): 4 different statuses can be indicated by changing the switch setting.
Command current ratio, alarm code, PIO input status, PIO output status
Switched between NOM (standard) and BK RLS (forced releases)
500 VDC, 10 MΩ or more
Class I (basic isolation) according to DIN EN 60335-1/60598-1 (JIS C 9335-1/8105-1)
Natural air cooling
0 to 40 °C
85 % RH or less (non-condensing)
−20 to 70 °C (excluding batteries)
Altitude 1000 m or less
IP20
Number of vibrations: 10 to 57 Hz / Amplitude: 0.075 mm
Number of vibrations: 57 to 150 Hz / Acceleration: 9.8 m/s2
Sweep time in X/Y/Z directions: 10 minutes / Number of sweeps: 10 times
103 g or less, or 287 g (including 190 g for the battery) or less for the simple absolute specification
25W×90H×98D
RTC backup capacitor: Approx. 5 years*
Drive-source cutoff relay: Approx. 100000 actuations
Absolute battery: Approx. 3 years
*When the power is supplied 12 hours a day at an ambient temperature of 40 °C and the actuator is stopped (power turned off ) 12 hours a day in an ambient temperature of 20 °C.
37
ERC3
ERC3 RoboCylinder
■Connection Example
Teachingpendant(SeeP39.)
<Modelnumber:CON-PTA>
<Modelnumber:RCM-PST>
PIO converter
I/O flat cable
<Model number: CB-PAC-PIO>
Standard lengths: 2 m/3 m/5 m
Simple absolute battery
(absolute specification)
DC24V
Power Supply
PLC
ERC3
Power&I/OcableforSIOtype
<Modelnumber:CB-ERC3S-PWBIO>
Standardlengths:1m/3m/5m
RefertoP.36forthemaintenancecable.
24V
0V
FG
PCsoftware
(See P42)
PCsoftwareforRoboCylinder
* Thecableissuppliedwiththe
PCsoftware.
(RS232connectionversion)
<Modelnumber:RCM-101-MW-EU>
(USBconnectionversion)
<Modelnumber:RCM-101-USB-EU>
 MECPCsoftware
* Aseparatecableisrequired.
•ThePIOconverterisinstalledonaDINrail.
•TheabsolutebatteryisattachedonthesidefaceofthePIO
converterusingaVelcrotape.
98
80
25
4
(10)
(5)
90
35.4(WidthofDINrail:35mm)
40fromcenterofDINrail
■External Dimensions
MovingbandofDINlocktab:5mm
I/O Flat Cable
Model
number
CB-PAC-PIO
* indicatesthecablelength(L).Adesiredlength
canbespecifiedupto10m.Example:080=8m
L
No
connector
B
No
connector
A
Flatcable(20cores)x2
20A
1A
20B
1B
Half-pitchMILsocket:
HIF6-40D-1.27R(Hirose)
HIF6-40D-1.27R
Cable
No. Signal
name
color
1A
Brown-1
2A
Red-1
3A
Orange-1
4A
Yellow-1
5A IN0 Green-1
6A IN1
Blue-1
7A IN2 Purple-1
8A IN3
Gray-1
9A IN4 White-1
10A IN5
Black-1
11A IN6 Brown-2
12A IN7
Red-2
13A IN8 Orange - 2
14A IN9 Yellow-2
15A IN10 Green - 2
16A IN11 Blue - 2
17A IN12 Purple - 2
18A IN13 Gray - 2
19A IN14 White-2
20A IN15 Black-2
Wiring
Flat cable A
(crimped)
No. Signal
name
1B OUT0
2B OUT1
3B OUT2
4B OUT3
5B OUT4
6B OUT5
7B OUT6
8B OUT7
9B OUT8
10B OUT9
11B OUT10
12B OUT11
13B OUT12
14B OUT13
15B OUT14
16B OUT15
17B —
18B —
19B —
20B —
Cable
color
Brown-3
Red-3
Orange - 3
Yellow-3
Green - 3
Blue - 3
Purple - 3
Gray - 3
White-3
Black-3
Brown-4
Red-4
Orange - 4
Yellow-4
Green - 4
Blue - 4
Purple - 4
Gray - 4
White-4
Black-4
Wiring
Flat cable B
(crimped)
AWG28
ERC3
38
ERC3 RoboCylinder
Notes on Selecting Teaching Pendant and PC Software
With the ERC3 series, usable teaching pendant and PC software vary depending on the controller type (CON type/MEC
type). Refer to P.14 for controller types.
Teaching pendant
PC software
Controller type
CON type
MEC type
CON-PTA


RCM-PST


Controller type
CON type
MEC type
RCM-101-MW-EU RCM-101-USB-EU MEC PC software


—

—
—
: All functions are supported / : Limited functions are supported (home return, servo ON/OFF, JOG+, JOG-, stop (press and hold to reset alarms))
Options
Quick Teach Pendant
A teaching pendant equipped with intuitive operation buttons and acceleration/speed knobs that can be used easily
even by mechanical engineers and those who never operated a robot before.
■Features •User-friendlypanelsheetswitchesandknobsletyoucomplete
the settings in no time.
•Thesmallpendantcanbeheldinahand.
•Separatepower-supplyunit
■Model configuration
RCM
Unit name
Series
PST Product unit
PS Power-supply unit
Input
power supply
Panel
language
VDC (24-V power-supply specification,
0 24
without power-supply unit)
ENG
English version
100 to 230 VAC
EU Single-phase
(230-V power-supply specification)
■Base Specifications
Item
Description
Product name
24-VDC specification
Product model
230-VAC specification
RCM-PST-0
Teaching pendant
RCM-PST-EU
RCM-PST-0
Product
configuration Power-supply unit
−
(Teaching pendant only)
RCM-PS-EU
Power supply voltage
24 VDC ±10%
(DC 21.6 V to DC 26.4 V)
Single-phase 100 to 230 VAC ±10%
(AC 90 V to AC 253 V)
Load capacity (motor power
capacity) of connected ERC3
(Note*)
Number of controlled axes
Environment conditions
Protection degree
Power-supply frequency
Pollution degree
Leak current
Cooling method
Cable length
Product size
Weight (excluding connection cables)
Motor size
42P
56P
Rated
1.2A
1.2A
Maximum
2.0A
2.0A
1 axis
Operating temperature range: 0 to 40°C
Operating humidity range: 85% RH or less (non-condensing)
Storage temperature range: -20°C to 70°C
IP20
50 Hz / 60 Hz
Pollution degree 2 according to DIN EN 61010 (JIS C 1010)
—
0.75 mA max
Natural air cooling
Actuator cable: 10 m or less
AC cable: 2 m
SIO communication cable (optional): 5 m
65 (W) x 157 (H) x 21.6 (D)
65 (W) x 157 (H) x 64.4 (D)
120 g
535 g
(Note*) If an ERC3 actuator whose high-output setting is enabled is used to perform test run using the Quick Teach Pendant connected to the above power-supply unit, the ERC3 may not operate as specified.
(Position data can be edited without problems.)
If test run is performed with the actuator’s high-output setting enabled, connect a 24-VDC power supply to the Quick Teach Pendant. In this case, disconnect the power-supply unit.
39
ERC3
ERC3 RoboCylinder
■Connection Example
■Supplying power from the Quick Teach Pendant to the ERC3
<Using a 24-VDC power supply>
DC24V
Power Supply
■Connecting the Quick Teach Pendant to the ERC3 supplied
with power
ERC3
ERC3
Power & I/O cable
for SIO type
<Model number: CB-ERC3S-PWBIO>
Standard lengths: 1m/3m/5m
Refer to P. 36 for the maintenance cable.
24V
0V
FG
S10 communication cable (optional)
<Model number: CB-PST-SIO050>
Refer to P. 36 for details on the cable.
Quick Teach Pendant
RCM-PST-0
Power & I/O cable for PIO type
<Model CB-ERC3P-PWBIO>
Standard lengths: 1m/3m/5m
Refer to P. 36 for the maintenance cable.
Quick Teach Pendant
RCM-PST-0
DC24V
Power Supply
<Using a 230-VAC power supply>
24V
0V
FG
ERC3
Power & I/O cable for SIO type
<Model number: CB-ERC3S-PWBIO>
Standard lengths: 1m/3m/5m
Refer to P. 36 for the
maintenance cable.
Quick Teach Pendant
RCM-PST-EU
AC power supply
Name and Function of Each Part/External Dimensions
1
2
3
4
<Quick Teach Pendant and Model Numbers>
Brake
Nom
EMG
24V input
Brake
to Controller
Nom
STOP
POS NUM
Brake
Nom
EMG
24V input
EWD
POS
to Controller
Manual mode
6
Setting
EWD
POS
TEACH
MODE
157
Position
BACK
POS
Stop pos.
Pos.adj
+
Speed
JOG
_
SERVO
JOG
ON/OFF
JOG
+
SAVE
SAVE
BACK
POS
FWD
FWD
BACK
RUN
JOG
SAVE
+
BACK
Manu
Cont
Manu
Cont
Speed
JOG
_
Test run
Test run
Position
Pos.adj
ON/OFF
Auto
Accel & Speed
MIDDLE
POS
Accel
Speed
JOG
_
ON/OFF
Auto
Stop pos.
SERVO
EWD
POS
BACK
POS
MANUAL
TEACH
MODE
Accel & Speed
MIDDLE
POS
Accel
HOME
Setting
Position
Pos.adj
SERVO
MANUAL
STOP
POS NUM
Auto
Accel & Speed
MIDDLE
POS
Accel
3pnt 2pnt Complete
HOME
MANUAL
TEACH
MODE
Stop pos.
Ext.start
Alart Power
STOP
POS NUM
HOME
Setting
to Controller
Ext.start
3pnt 2pnt Complete
3pnt 2pnt Complete
65
24V input
Alart Power
Alart Power
Power-supply unit
EMG
Manual mode
Ext.start
Manual mode
RUN
STOP
STOP
7
Test run
FWD
BACK
Manu
Cont
RUN
STOP
Model number: RCM-PST-0
(24-VDC specification)
Model number: RCM-PST-EU
(Power-supply unit specifications)
5
1 ERC3 connector............................ For cable connection with the ERC3.
2 External 24-V connector ........... 24 VDC±10%. * Supplied with a plug connector.
3 Emergency stop connector ..... Connect an emergency stop switch.
21.6
64.4
Shown above are the external dimensions of
the Quick Teach with power-supply unit (model
number: RCM-PST-EU).
The 24-V power-supply specification (model
number: RCM-PST-0) has no power-supply unit.
* Supplied with a plug connector.
Brake switch .................................. Forced release switch for an actuator with brake.
4
5 AC input cable .............................. Single-phase 230-V input.
6
7
* Varies depending on the product.
Wall-mounting hook .................. The hook can be secured with M3 or equivalent
screws or bolts (screw head size: 06 or less).
Operation switches..................... Panel sheet switches
ERC3
40
ERC3 RoboCylinder
Options
Touch-panel Teaching Pendant for Position Controller
DevelopedbasedonthedesignofthepopularCON-PTseriesadoptinganeasy-to-use
interactivetouch-panelmenuscreen,thisnewdatainputdevicesupportsvarious
functionsofferedbythePCON-CAcontroller.
1.Colorscreenforgreatereaseofview
2.Supportingthetakttimeminimizationfunctionandmaintenanceinformationchecking/
input functions of the PCON-CA
3.Position,parametersandotherdatacanbesavedinaSDcard
4.Built-inclockfunctionrecordsthedate&timeofeachevent;datacanthenbesavedinaSDcard.
CON-PTA
Model Numbers/Specifications
Item
Model number
Type
Connectable controllers
3-position enable switch
Functions
Display
Ambient operating temperature/humidity
Environmentalresistance
Mass
Cable length
Accessories
Description
CON-PTA-C-ENG
CON-PDA-C-ENG
CON-PGA-C-S-ENG
Standard type
Enable switch type
Safety-category compliant type
ACON/PCON/SCON/RACON/RPCON ASEP/PSEP AMEC/PMEC ERC2 (*1) /ERC3
—


•Positiondatainput/editing
•Movingfunction(movingtosetpositions,jogging/inching)
•Parameterediting
•Monitoring(currentposition,currentspeed,I/Osignals,alarmcode,alarmgenerationtime)
•Saving/readingdatato/fromexternalSDcards(positiondataparameters,alarmlist)
•Takttimeminimizationfunction
•Maintenanceinformation(totalnumberofmovements,totaldistancetravelled,etc.)
65536colors(16-bitcolors),whiteLEDbacklight
0to50°C,20to80%RH(non-condensing)
IP40orequivalent
Approx.570g
Approx.600g
5m
Stylus,TPadapter(Modelnumber:RCB-LB-TG)
Dummyplug(Modelnumber:DP-4)
Stylus
Stylus
Controllercable(Modelnumber:CB-CON-LB005)
*1 AmongtheERC2series,onlytheactuatorsbearing4904orgreaternumberstampedontheserialnumberlabelcanbeconnected.
Name of Eeach Part
Name of Each Part/External Dimensions
Stylus
14
24
4
Operation
screen
180
Wall-mounting
hook
92.1
Emergency stop button
132
98
10
Option
•Strap(Modelnumber:STR-1)
41
ERC3
5m
(50)
Enable switch
ERC3 RoboCylinder
Options
■ PC Software (Windows Only)
❚ Features
This startup support software provides functions to input positions, perform test runs and monitor data, among
others.
Incorporating all functions needed to make adjustments, this software helps shorten the initial startup time.
* This teaching pendant can be used when the ERC3’s controller type is set to "CON type."
❚ Model number
RCM-101-MW-EU
(With external device communication cable + RS232 conversion unit)
❚ Configuration
RS232 conversion adapter
RCB-CV-MW
5m
❚ Model number
External device
communication cable
CB-RCA-SIO050
0.3m
PC software (CD)
RCM-101-USB-EU
(With external equipment communication cable + USB conversion adapter
+ USB cable)
❚ Configuration
USB conversion adapter
RCB-CV-USB
3m
PC software (CD)
USB cable
CB-SEL-USB030
5m
External device
communication cable
CB-RCA-SIO050
■ MEC PC Software
You can change the stop position data, perform test run and do many other things on a PC
using the MEC PC software. This software also lets you use the middle stop function, perform
push-motion operation, change the coordinates, etc., with ease.
The MEC PC software can be downloaded on the IAI’s website.
The MEC PC software can be
used with the version
2.00.00.00 or later.
www.robocylinder.de -> area "products/controller"
* This teaching pendant can be used when the ERC3’s controller type is set to "MEC type."
The cable supplied with the above "PC software (RCM-101-MW-EU/RCM-101-USB-EU)" can be used to connect the PC and ERC3 series.
To purchase a cable separately, select an appropriate cable/adapter by referring to the table below.
PC connection method
RS232
USB
Model
CB-RCA-SIO050
RCB-CV-MW
CB-RCA-SIO050
RCB-CV-USB
CB-SEL-USB030
Name
External device communication cable
RS232 conversion adapter
External device communication cable
USB conversion adapter
USB cable
ERC3
42
ERC3 Series
Slider / Rod Type
Catalogue No. 0312-E
The information contained in this catalog
is subject to change without notice for the
purpose of product improvement
IAI Industrieroboter GmbH
Ober der Röth 4
D-65824 Schwalbach / Frankfurt
Germany
Phone:+49-6196-895-0
Fax:+49-6196-8895-24
E-Mail: [email protected]
Internet: http://www.eu.IAI-GmbH.de
IAI America, Inc.
2690 W. 237th Street
Torrance, CA 90505, U.S.A.
Phone: +1-310-891-6015
Fax: +1-310-891-0815
IAI (Shanghai) Co., Ltd.
Shanghai Jiahua B. C. A8404.808
Hongqiao Rd., Shanghai 200030, China
Phone: +86-21-6448-4753
Fax: +86-21-6448-3992
IAI CORPORATION
645-1 Shimizu Hirose
Shizuoka 424-0102, Japan
Phone: +81-543-64-5105
Fax: +81-543-64-5182
IAI, the IAI-logo, RoboCylinder™, the RoboCylinder™-logo, IntelligentActuator™ and the IntelligentActuator™-logo are trademarks or product names of IAI Corporation or of the subsidiaries in USA, China or Germany
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