FIRST-STEP_ERC3(ME0296

Precautions in Handling
3. Slider Cleanroom Type
Screw for motor unit attachment
Slider
Stainless Steel Sheet
1. Handling of the Packed Product
ERC3 Actuator
Slider Type/Rod Type
First Step Guide Fifth Edition
Take the greatest care in transporting the product, not to bump or drop it.
• An operator should never attempt to carry a heavy package on their own.
• When setting down the package temporarily, keep it horizontal.
• Do not step on the package.
• Do not place on the package a heavy object that may cause the box deformation or apply stress on it.
Opposite Side
of the Motor
Slider Cover
External I/F Connector
Air Vacuum Joint Type
Air Tube SA5:φ6, SA7:φ8
Screw for motor unit attachment
4. Rod Type
Rod
No.
1
Part Name
Actuator Main Body
Model
Refer to “How to read the model plate”, “How to
read the model No.”
Remarks
Accessories
2
3
4
5
6
7
Note 1
Except for SE Type
□□□ shows the cable length
CB-ERC3P-PWBIO□□□
(Example) □□□ : 020 = 2[m]
SE Type
CB-ERC3S-PWBIO□□□
Power Supply • I/O CableNote 1
Home Position Marking Sticker
Nut
First Step Guide
Instruction Manual (DVD)
Safety Guide
Please refer to a cable listed in wiring for a power supply, the I/O cable attached to.
Packaged in slider type
Refer to list below
Model No.
RCP4-RA5C
RCP4-RA6C
Nut
M14×1.5
1
1
2. How to read the model plate
Model
Serial number
MODEL
ERC3-SA5-I-42P-20-50-SE-S-CN-B
SERIAL No. 000049893
MADE IN JAPAN
• When the actuator is taken out from the package and handled, hold the base section.
• When transporting the actuator, be careful not to hit it against other objects. In particular, pay attention to the side cover.
• Do not give any unnatural force to any of the sections in the actuator.
The storage and preservation environment should comply with the same standards as those for the installation environment.
In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no
dew condensation forms.
Unless specially specified, moisture absorbency protection is not included in the package when the machine is delivered. In
the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the
condensation preventive measures from outside of the entire package, or directly after opening the package.
For storage and preservation temperature, the machine withstands temperatures up to 60°C for a short time, but in the case
of the storage and preservation period of 1 month or more, control the temperature to 50°C or less.
<Encoder Type>
I : Incremental
<Motor Type>
42P : 42 □Size
56P : 56 □Size
<Lead>
3 : 3mm
4 : 4mm
6 : 6mm
8 : 8mm
12 : 12mm
16 : 16mm
20 : 20mm
24 : 24mm
T-groove
No.
Item
Precautions
1
Installation
• If the actuator is installed in horizontally oriented wall mount for the Slider Standard Type
(Screw Cover Type) SA5C and SA7C, it is easy for a foreign object to get inside the actuator
from the opening on the side of the actuator. And also it becomes easy to splash the grease
applied on the guide and ball screw from the opening on the side surface.
• Installation of the slider standard type (stainless steel sheet type) and cleanroom types SA5C
and SA7C in horizontally oriented wall mount or in ceiling mount may cause the stainless steel
sheet to be slacked or displaced. Keeping use of the actuator in such conditions may cause
such failures as breakage of the stainless steel sheet. Adjust the sheet condition if necessary
in the daily inspections.
(Refer to the section for maintenance in instruction manual (DVD) for how to adjust the
stainless steel sheet.)
• Avoid using the actuator with no brake in the vertical orientation.
• Secure the space where maintenance work can be performed.
2
Attachment Surface
• The base has to have a structure with sufficient rigidity to prevent oscillation.
• The side and the bottom surfaces of the base of the actuator are the datum for the slider drive.
If accuracy for its run is required, use these surfaces as a datum of the installation.
Reference Surface
(Side of Base)
Reference Surface
Motor Unit
Opposite Side
of the Motor
3
Bolt to be used
• For the bolts to be used, a high-tensile bolt complying with ISO-10.9 or more is recommended.
• If using the tapped holes, use screws with the thread length dimension being less than the
effective depth of the holes.
• For the actuator mounting, use a bolt with the dimension of its effective mating length to the
tapped hole is as stated below.
If tapped hole on steel → thread length same as nominal diameter
If tapped hole on aluminum → thread length 1.8 times longer than nominal diameter
4
Tightening Torque
• Please follow the specification values stated in the Instruction Manual (DVD) for the tightening
torque.
Failure to do so may cause an operation problem.
5
Load Moment and
Overhung length
• In the case of slider Type please follow the specification values stated in the Instruction
Manual (DVD) for the load moment and the overhung length. Failure to do so may cause
abnormal vibration or noise, and also may remarkably shorten the product life.
• Please do not apply any external force from other than rod moving direction (radial load) to the
rod. Any perpendicular or radial force to the rod may cause damage to the actuator or
operation problem. Equip guide in the direction of the load if any external force from other
direction than the rod movement.
6
Stainless Steel Sheet
• Do not attempt to hold the stainless steel sheet directly with hand. Also pay attention not to
make a dent mark on the sheet.
Stainless steel sheet is easy to get dented because it is thin. Using it with a dent on may cause
a breakage.
• Wipe away dust or iron particles completely if there is any on the stainless steel sheet.
Operation with the stainless steel sheet that has foreign matters on its surface may cause
problems such as sheet damage, waviness, etc. inside the slider.
• Do not operate the product in an ambient with dust or iron particles.
7
Load Attachment to Rod
• Do not apply rotation torque on the rod (slide shaft). There is a
possibility of damaging an inside.
• Tighten the nut on the rod tip by holding the rod with a wrench or an
equivalent tool (such as a backing wrench).
Motor Side
Left Side
Status Indicator LED (SV/ALM)
Teaching Port
Front Cover
External I/F Connector
Base
2. Slider Standard Type (Stainless Steel Sheet Type)
Screw for motor unit attachment
Slider
Stainless Steel Sheet
Motor Unit
Right Side
Opposite Side
of the Motor
Motor Side
Left Side
Status Indicator LED (SV/ALM)
Side Cover
Teaching Port
Front Cover
Slider Cover
<Stroke>
*1 : For Simple Absolute Type, I/O type is SE (Serial Communicate Type).
External I/F Connector
Base
Reference Surface
(Side of Base)
Reference Surface
• The actuator mounting surface and other surfaces that are used as a datum should be flat
enough with an accuracy of machining or equivalent treatment, and the flatness of the
mounting surface needs to be ±0.05mm/m or less.
Screw for motor unit attachment
Slider
Right Side
Screw Cover
<Cable Length>
N : None
S
: 3m
M : 5m
X□□ : Specified Length
[Refer to the catalog or Instruction Manual (DVD) for specification details.]
External I/F Connector
Range of T-groove
Refer to the Instruction Manual (DVD) for the attachments of the actuator and loads.
[Precautions for Attachments]
1. Slider Standard Type (Screw Cover Type)
<Controller Type>
CN : CON Mode
MC : MEC Mode
<I/O Type>
SE : Serial Communication Type
NP : Parallel Communication
NPN Type
PLN : Pulse Train Control
NPN Type
PN : Parallel Communication
PNP Type
PLP : Pulse Train Control
PNP Type
Frame
Attachment
Names of the Parts
<Identification for IAI use only>
* There is no identification in some cases
<Option>
B
: Brake
NM : Reversed Home Specification
FL : Flange
FT : Foot bracket
ABU : Simple Absolute Type (*1)
Rod End Fitting
The product should be settled in the horizontal orientation while in storage and reservation. In the case it is stored in the
packaged condition, follow the posture instruction if any displayed on the package.
ERC3-SA5-I-42P-20-50-SE-S-CN-B-**
<Type>
Slider Type
SA5C
SA7C
Rod Type
RA4C
RA6C
Flange Surface
For the details of dimensions and outlines, refer to the catalog or Instruction Manual (DVD).
Please attempt to avoid installing the product to such places as listed below.
It is generally the environment where a worker can work without any protection gear.
Also, make sure to keep enough space necessary for maintenance work.
• Place where exposed to radiant heat from a huge heat source such as heat treatment
• Place where the ambient temperature goes out of the applicable range from 0 to 40°C
• Place where condensation would occur due to sudden temperature change
• Place where the relative humidity exceeds 85% RH
• Place where exposed to the direct sunlight
• Place where corrosive gas or flammable gas exist
• Place where it contains a lot of dust, salt or iron (Outside of an ordinary assembly plant)
• Place where water, oil (includes oil mist and cutting fluid) or chemical is splashed
• Place where the product main body receives vibration or hit impact
3. How to read the Model No.
<Series Name>
Standard Type
(Screw Cover Type)
ERC3
Standard Type
(Stainless Steel
Sheet Type)
ERC3D
Cleanroom Type
ERC3CR
Status Indicator LED (SV/ALM)
Left Side
Teaching Port Connector
2. Storage and Preservation Environment
Nut
M10×1.25
Motor Side
Grease Supply Gate
(Thin-Head Screw)
Make sure to have a treatment for blocking when using in the following conditions:
• Place where noise is generated by such facts as static electricity
• Place where exposed to the influence of strong electric or magnetic field
• Place where exposed to the influence of ultraviolet or radiant rays
(List of Included Nut Type)
Motor Unit
Right Side
Opposite Side
of the Motor
1. Installation Environment
1. Parts (The option is excluded.)
Teaching Port
Do not transport the actuator by holding the motor unit and cable or move it by pulling the cable.
Environments for Installation, Storage and Preservation
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
Status Indicator LED (SV/ALM)
Side Cover
Front Cover
Warning : Operation of this equipment requires detailed installation and operation instructions which are
provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.
A hard copy of Manual can be requested by contacting your nearest IAI Sales Office listed at
the back cover of the Instruction Manual or on the First Step Guide.
Product Check
Motor Side
Left Side
2. Handling of the Unpacked Product
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.
• Using or copying all or part of this Instruction Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences are registered
trademarks.
Motor Unit
Right Side
[Prohibited Items in the Cable Processing]
Tie them up softly.
• Do not pull the cable with a strong force
• Do not let the cable receive a turning force at a single
point.
(Note 4)
Steel Strap
(Piano Wire)
Description
Surrounding Humidity
Surrounding Environment
Surrounding Storage Temperature
Environment
Item
Surrounding Air Temperature
• Do not pull or bend forcibly the cable so as to give any extra load or tension to the cable.
• Do not process the cable to extend or shortening by means of cutting out, combination or connecting with another cable.
• Do not let the cable flex at a single point.
• Do not let the cable bend, kink or twist.
Surrounding Storage Humidity
Usage Altitude
Protection Class
Vibration Durability
Impact
Weight
External Dimensions
3. Connections to ERC3 Unit and Quick Teach
0 to 40°C
85%RH or less (non-condensing)
[Refer to Installation Environment]
Power Supply
24V DC
0 to 60°C (0 to 50°C if stored for 1 month or more.)
85%RH or less (non-condensing)
1000m or lower above sea level
IP20
Frequency 10 to 57Hz / Swing width : 0.075mm
2
Frequency 57 to 150Hz / Acceleration : 9.8m/s
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
2
150mm/s , 11mm/s Semi-sine wave pulse to each of the directions X, Y and Z
Refer to the Instruction Manual (DVD).
External emergency stop signal
(always closed and open in emergency stop)
Accessory Cable for ERC3
CB-ERC3S-PWBIO□□□ (Note 1)
Connect it to a power socket with a grounding electrode.
If socket is not with a grounding electrode, use a 3P-2P
conversion adopter and plug into 2P power socket.
Connect the ground line to a ground terminal near the
socket.
Otherwise, cut the cable and connect it using a terminal
block in an electromagnetic control box.
Note 1 It is the power source to be supplied when compulsorily releasing the brake.
Note 2 Rush current passes for about 5ms after the power is injected (at 40°C).
The rush current value varies depending on the impedance of the power line.
Note 3 If the pulse train applies the open collector output, prepare AK-04 (option) separately to convert to the differential type.
Note 4 The environmental specifications include the actuator main unit.
Installation and Noise Elimination
• Do not pinch, drop a heavy object onto or cut the cable.
• When fixing the cable, provide a moderate slack and do
not tension it too tight.
1.
Quick Teach
(equipped with built-in
AC/DC power source)
Noise Elimination Grounding (Frame Ground)
When controlling ERC directly from the
host controller (PLC)
Teaching pendant with built-in AC/DC power
source capable for 2-point or 3-point
positioning of ERC3
* Available for power supply to ERC3
When Controlling with using PIO
Converter
Other
equipment
Controller
PLC
3P-2P
Converter Adapter
AC Power Supply Input
* 100 to 115V ±10% (RCM-PST-1)
Note 1
PIO Converter
AC Power Supply Input
* 100 to 230V ±10%
(RCM-PST-2)
(RCM-PST-EU)
L (BR)
N (BL)
PE (GN/YW)
□□□ indicates the cable length. (Example) 030 = 3m
PLC
Controller
Do not use spiral tube in any
position where cables are bent
frequently.
•
Separate the I/O line, communication line and power
line from each other.
Do not store in the same duct.
Power Line
Duct
I/O Line
(Flat Cable, etc.)
Follow the instructions below when using a cable track.
• If there is an indication to the cable for the space factor in a
cable track, refer to the wiring instruction given by the
supplier when storing the cable in the cable track.
• Avoid the cables to get twined or twisted in the cable track,
and also to have the cables move freely and do not tie them
up. (Arrange the wiring so the cables are not to be pulled
when bent.)
Do not pile up cables. It may cause faster abrasion of the
sheaths or cable breakage.
• When the cable is connected or disconnected, make
sure to turn off the power to the controller. When the
cable is connected or disconnected with the controller
power turned ON, it might cause a malfunction of the
actuator and result in a serious injury or damage to the
machinery.
• When the connector connection is not correct, it would
be dangerous because of a malfunction of the actuator.
Make sure to confirm that the connector is connected
correctly.
Do not share the ground wire with or connect
to other equipment. Ground each controller.
Earth Terminal
Grounding resistance at 100 Ω or less
Earth Terminal
Grounding resistance at 100 Ω or less
2. Precautions regarding wiring method
ERC3
1) Wire is to be twisted for the 24V DC power supply.
2) Separate the signal and encoder lines from the power supply and power
lines.
R
Relay
coil
B3
MP
RD 1
0V
Connection Diagram
Driving power
interrupting circuit
B1
CP
BR
Brake release
(Note 2)
switch
0V
Motor MP_GND
B4
power
supply
(Note 1)
Power Supply for Electromagnetic Brake
(In the case of the actuator with a brake)
Heat Generation
(Note 2)
Rush Current
Transient Power Cutoff Durability
Motor Control System
Applicable Encoder
Actuator Cable Length
Serial Communication Interface
(SIO Port)
PIO Type
Fieldbus Type
Data Setting and Input
Data Retention Memory
I/O type of the model code is NP or PN.
High output setting is enabled (Set in delivery)
High output setting is disabled
8.3A
ERC3 2nd unit
CR (Note 1)
OR 1
CR (Note 4) OR
BR
RD 1
B3
CR (Note 1)
OR 1
CR (Note 4) OR
BR
RD 1
B3
A4
EMG
MP
B1
CP
A3
BK
MP_GND
CP_GND
Number of Positions in Positioner Mode
Input Pulse
Command Pulse
Magnifications
(Electronic Gear: A/B)
Feedback Pulse Output
LED Display (Mounted on motor unit)
Electromagnetic Brake Compulsory
Release Switch
Insulation Resistance
Protection Function against Electric Shock
Cooling Method
YW
B2
RD
ERC3 3th unit or later
A4
EMG
MP
B1
CP
A3
BK
Teaching Pendant
(Please purchase separately)
MP_GND
CP_GND
B4
YW
B2
RD
2. When connecting to PIO converter (drive cutoff relay built-in type)
Emergency-stop
switch on the teaching
pendant
Emergency stop
24V reset switch
Emergency
stop switch
0V
(Note 2)
PIO
S1
(Note 1)
S2 S1 Converter S2
2nd unit
CR1
PIO
S1 Converter S2
Nth unit
PIO Converter
1st unit
CR1
EMG (-)
ERC3
MPI
Accessory Cable ERC3
CB-ERC3P-PWBIO □□□ (Note 1)
: 8.0W
: 5.0W
PC Software, Teaching Pendant
Position data and parameters are saved in the nonvolatile memory.
(There is no limitation in number of writing)
Note 1 When the teaching pendant is not connected, S1 and
S2 become short-circuited inside the controller.
Note 2 For CR1, select the one with coil current 0.1A or less.
Note 3 This circuit is equivalent to Safety Category 1.
The load current for the emergency stop signal EMG
(-) to turn ON/OFF at contact CR1 is 24V DC and
20mA.
Emergency
stop signal
Drive cutoff relay
: 3.5A (MAX. 4.2A)
: 2.2A
Not applicable
Positioner Mode
B4
PIO Converter
Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 6 points max., output 4 points max.
Cable length MAX. 10m
Pulse Train Control Mode
RD
Brake forcible release
(Note 3)
MAX. 500μs
Weak field-magnet vector control
Incremental Encoder Resolution 800pulse/rev
MAX. 10m
RS485
: 1CH (based on Modbus Protocol RTU/ASCII)
Speed
: 9.6 to 230.4Kbps
Control available with serial communication in the modes other than the pulse train
PLN/PNP
YW
1. Patterns to connect with ERC3 unit
24V DC ±10%
High output setting is enabled (Set in delivery)
High output setting is disabled
24V DC ±10% 0.15A (MAX.)
SE/NP/PN
CP_GND
B2
Control power supply
A3
BK
Description
Load Current
(including current consumption for control)
Pulse
Train
Interface
CR (Note 4)
OR
Connection
detection circuit (Note 3)
Relay coil
+
+24V
A4
EMG
C
3. Noise Sources and Elimination
+24V
CR (Note 1)
OR 1
CR1
Item
The load current for the emergency stop signal
EMG to turn ON/OFF at contact CR is 24V DC
and 10mA.
Note 2 This is a switch to compulsorily release the brake of
the actuator equipped with a brake. It is convenient
when in maintenance or adjustment work if it is
installed. It is necessary to have at least 24V DC and
150mA for the switch contact capacity.
Note 3 The controller automatically identifies that the
teaching tool is connected and activates the
emergency stop switch of the teaching pendant.
Note 4 Apply contact CR when having external cutoff of
driving source.
The motor drive power line MP that turns ON/OFF at
CR is as load current for the as shown below.
Load current ERC3 high output setting valid: 3.5A (MAX. 4.2A)
ERC3 high output setting invalid: 2.0A
During in-rush 8.3A
(Note) It is not feasible to reflect the emergency stop switch
of the touch panel teaching or teaching pendant to
the circuit of the system emergency stop.
Emergency-stop switch
on the teaching pendant
Surge absorber
ERC3
Power-supply Voltage
Note 1
0V
stop
emergency
reset switch stop switch
CR
ERC3 Controller Section
Operation Mode
(I/O Type)
External
+24V emergency External
CR
Basic Specifications
External Interface
Power Source and Emergency Stop Circuit
Other
equipment
1. When connecting with ERC3 main body
Copper Wire :
Connect to a ground cable with
2
diameter 1.6mm (AWG14: 2mm )
or more.
Carry out noise elimination measures for power devices on the same power
path and in the same equipment.
The following are examples of measures to eliminate noise sources.
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge absorber parallel with the coil.
2) DC solenoid valves, magnet switches and relays
[Measure] Install a diode parallel with the coil. Use a DC relay with a built-in
diode.
Note:
Other
equipment
Cable model code: CB-ERC3P-PWBIO □□□
Power Supply
24V DC
Motor power
supply
MPO
PC software
(Please purchase separately)
CP24V
PLC (Please prepare separately)
GND
Control
power supply
EMG (-)
MPI
MPO
CP24V
PIO Converter
Nth unit
GND
MPI
MPO
CP24V
□□□ indicates the cable length. (Example) 030 = 3m
3. When connecting to PIO converter (drive cutoff relay separated type)
2. Connections to ERC3 Unit and PIO Converter
Emergency-stop switch
on the teaching pendant
The model code for I/O type of ERC3 is SE (SIO type).
Teaching Pendant
(Please purchase separately)
24V
Emergency stop
reset switch
Emergency
stop switch
0V
(Note 2)
PIO
S2 S1 Converter S2
S1
(Note 1)
CR1
2nd unit
CR1
PIO
S1 Converter S2
Nth unit
PIO Converter
1st unit
CR1
Standard 8 points, MAX. 16 points
(Note) Number of positions differs depending on the selection in PIO pattern.
Differential System (Line Driver System) : MAX.200kpps
Cable length MAX. 10m
(Note 3)
Open Collector System : Not applicable
1/50 < A/B < 50/1
Setting Range of A and B (set to parameter) : 1 to 4096
GND
EMG (-)
Brake Release Switch
It is a switch to release the brake compulsorily
for the actuator equiped with brake.
It is convenient when in maintenance or adjustment work if it is installed.
Note 1
PIO Converter
2nd unit
CR2
Note 1 When the teaching pendant is not connected, S1 and
S2 become short-circuited inside the controller.
Note 2 For CR1, select the one with coil current 0.1A or less.
Note 3 The motor driving power line MPI that is to be turned
ON/OFF at contact CR2 and the load current of the
emergency stop signal EMG(-) are follows;
Load current ERC3 high output setting valid: 3.5A (MAX. 4.2A)
ERC3 high output setting invalid: 2.0A
During in-rush 8.3A
PIO Converter
PLC (Please prepare separately)
EMG (-)
Emergency
stop signal
MPI
Motor power
supply
(Note 3)
CR2
ERC3
MPO
CP24V
PC Software
(Please purchase separately)
I/O Flat Cable
CB-PAC-PIO□□□ (Note 1)
(enclosed in PIO Converter)
None
2 colors LED: Servo ON (GN) / Servo OFF (OFF) / Emergency Stop (RD) /
Alarm generated (RD) / Automatic servo-off (Flashing in green)
Not equipped on main unit, equipped on PIO Converter (option)
CR2
Power Supply
500V DC 10MΩ or more
Class I basic insulation
Natural air-cooling
24V DC
MPI
MPO
Note 1
□□□ indicates the cable length. (Example) 030 = 3m
PIO Converter
2nd unit
GND
CP24V
EMG(- )
CR2
MPI
MPO
Accessories
(Note 1)
CB-ERC3S-PWBIO□□□
GND
EMG (-)
Absolute Battery
AB-7
(For Simple Absolute Type)
ERC3
Control
power supply
CP24V
EMG (-)
MPI
MPO
CP24V
PIO Converter
Nth unit
GND
GND
2. When connecting with ERC3：MEC mode
I/O Signal (PIO)
Function description for I/O Signals
Category
Signal
Abbreviation
CSTR
PC1 to PC256
BKRL
Pin
No.
Function Description
PTP strobe (Start signal)
The actuator will start to move to the position set by the command position number.
Command position number
Input of the position number to move (binary input)
Brake forcible release
The brake will forcibly be released.
*STP
Pause
When this signal turns OFF while the actuator is moving, the actuator will decelerate to
stop. The remaining movement is retained and will resume when the signal is turned ON
again.
RES
Reset
An alarm will be reset when this signal is turned ON. Also, when it is turned ON in the
pause mode (*STP is turned OFF), the remaining movement amount can be cancelled.
SON
Servo ON
The servo remains ON while this signal is ON, or OFF while this signal is OFF.
Home return
The controller will perform home return operation when this signal is turned ON.
Teaching mode
The operating mode will change to the teaching mode when this signal is turned ON. The
mode will not be switched over unless CSTR, JOG+ and JOG- are all OFF and the actuator
operation is stopped.
Jog/inching selector
Jog Operation can be performed with JOG+ and JOG- while this signal is OFF.
Inching Operation is performed with JOG+ and JOG- when it is ON.
JOG +
JOG -
Jog
Jog Operation is performed to positive direction by detecting ON edge of JOG+ signal and
to negative direction by JOG- signal while JISL signal is OFF.
The actuator will decelerate and stop if OFF edge is detected while in each Operation.
Inching Operation is performed while JISL signal is ON.
PWRT
Current Position Write
When the write position is specified in the teaching mode and this signal has remained ON
for 20msec or longer, the controller will write the current position in the specified position
field.
HOME
Input
Signal Name
MODE
JISL
ST0 to ST6
PEND/INP
Start Signal
The actuator moves to the commanded position with this signal ON during the
electromagnetic valve mode.
Position Complete
Turns ON in the positioning band range after actuator operation. The INP signal will turn
OFF if the position deviation exceeds the in-position range. PEND and INP can be
switched over by the parameter.
PM1 to PM256 Completion Position No.
The position No. reached after the positioning completion, is output (binary output).
This signal will turn ON when home return has been completed.
It will be kept ON unless the home position is lost.
HEND
Home Return Completion
ZONE1
Zone Signal 1
Turns ON if the current actuator position is within the range set to the parameter.
ZONE2
Zone Signal 2
PZONE
Position Zone
This signal will turn ON when the current actuator position enters the range specified the
position data after position movement. The combined use with ZONE 1 is possible, but
PZONE becomes effective only for movement to the set position.
Alarm
Turns ON when the controller is in normal condition, and turns OFF when an alarm is
generated.
Moving
Turns ON during the actuator is moving (including home-return operation and pressing
operation).
Servo ON
This signal will remain ON while the servo is ON.
*EMGS
Emergency Stop Output
This signal remains ON while the controller is under the emergency stop reset condition
and turns OFF when the emergency stop condition is enabled. (Regardless of alarms.)
MODES
Teaching Mode Output
This signal will turn ON while the teaching mode is enabled by the input of the mode signal
and will turn OFF when the mode changes to the normal mode.
Writing Complete
This signal will turn OFF after the controller has switched to the teaching mode. It will turn
ON when writing in response to the PWRT signal has been completed. When the PWRT
signal turns OFF, this signal will also turn OFF.
Current Position Number
In the electromagnetic valve mode, this signal will turn ON when the actuator completes
moving to the target position.
Limit Switch Output
Turns ON when the current actuator position is within the range of positioning band (±) of
the target position. It is output even before the movement command and the servo is OFF
if the home-return operation is completed.
Light Error Output
Outputs when a message level alarm is generated.
(It is necessary to set parameter)
*ALM
MOVE
Output
SV
WEND
PE0 to PE6
LS0 to LS2
*ALML
Pin
No.
Wire
Color
Input
Output
A1
B1
A2
B2
Drain
BR
–
RD
A3
RD1
Frame ground
Control power unit +24V
Control power unit 0V
External brake release
input
Motor power unit +24V
Emergency-stop input
Motor power unit 0V
PIO Functions
Number of positioning points
Home return signal
Jog signal
Teaching signal
(Current position writing)
Brake release
Moving signal
Zone signal
Position zone signal
Parameter No.25 “PIO Pattern” Selection
0
1
2
Solenoid valve
16-point type
8-point type
type
(Zone signal type)
8 points
3 points
16 points
{
×
×
×
×
×
×
×
×
×
×
{
×
×
×
×
×
×
×
{
×
FG
CP
–
CP_GND
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
Wire
Color
Drain
BR
–
RD
RD 1
OR
OR 1
YW
–
GN
–
BR 1
BL
PL
GY
WT
BR 2
RD 2
OR 2
YW 2
GN 2
BL 2
PL 2
GY 2
WT 2
BK
Category
Frame ground
Control power unit +24V
–
Control power unit 0V
Brake forcible release
Motor power unit +24V
Emergency-stop input
Motor power unit 0V
–
–
–
–
–
–
–
–
IN0
IN1
IN2
Input
IN3
IN4
IN5
OUT0
OUT1
Output
OUT2
OUT3
BK
B3
OR
MP
A4
OR1
EMG
B4
YW
MP_GND
–
A5
–
–
B5
GN
–
A6
–
–
B6
BR1
–
A7
BL
–
B7
PL
–
A8
GY
–
B8
WT
A9
BR2
IN0
PC1
ST0
PC1
B9
RD2
IN1
PC2
ST1
PC2
A10
OR2
IN2
PC4
ST2
PC4
Input
B10
YW2
IN3
HOME
–
PC8
A11
GN2
IN4
CSTR
RES
CSTR
B11
BL2
IN5
*STP
*STP
*STP
A12
PL2
OUT0
PEND
PE0
PEND
B12
GY2
OUT1
HEND
PE1
HEND
Output
A13
WT2
OUT2
ZONE1
PE2
PZONE/ZONE1
B13
BK
OUT3
*ALM
*ALM
*ALM
“*” in codes above shows the signal of the active low.
(Reference) Signal of Active Low
Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is
turned OFF, output signal is ordinary on while the power is ON, and turns OFF when the signal is output.
Stopping at 2 points
Stopping at 3 points
(2-point positioning)
(3-point positioning)
Movement by 1 input
Movement by 2 input
Movement by 2 input
between 2 points
between 2 points
between 3 points
[Single-solenoid mode] [Double-solenoid mode]
[3-point positioning]
FG
CP
–
CP_GND
BK
MP
EMG
MP_GND
–
–
–
–
–
–
–
–
ST0
ST0
–
ST1
RES
RES
–
–
–
–
–
–
LS0/PE0
LS0/PE0
LS1/PE1
LS1/PE1
HEND
LS2/PE2
*ALM
*ALM
“*” in codes above shows the signal of the active low.
(Reference) Signal of Active Low
Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is
turned OFF, output signal is ordinary on while the power is ON, and turns OFF when the signal is output.
3. When connecting to PIO converter
Category
1. When connecting with ERC3：CON mode
Category
Category
Operation pattern
Pin
No.
Wire
Color
Input
Output
PIO Functions
Number of positioning points
Home return signal
Jog signal
Teaching signal
(Current position writing)
Brake release
Moving signal
Zone signal
Position zone signal
Parameter No.25 “PIO Pattern” Selection
0
1
2
Positioning mode
Teaching mode
256-point mode
64 points
64 points
256 points
{
{
{
×
{
×
×
{
×
{
{
{
{
×
{
×
{
{
×
×
{
1A
BR-1
–
–
2A
RD-1
–
–
3A
OR-1
–
–
4A
YW -1
–
–
5A
GN-1
IN0
PC1
PC1
PC1
6A
BL-1
IN1
PC2
PC2
PC2
7A
PL-1
IN2
PC4
PC4
PC4
8A
GY-1
IN3
PC8
PC8
PC8
9A
WT-1
IN4
PC16
PC16
PC16
10A
BK-1
IN5
PC32
PC32
PC32
11A
BR-2
IN6
–
MODE
PC64
12A
RD-2
IN7
–
JISL
PC128
Input
13A
OR-2
IN8
–
JOG+
–
14A YW -2
IN9
BKRL
JOGBKRL
15A
GN-2
IN10
–
–
–
16A
BL-2
IN11
HOME
HOME
HOME
17A
PL-2
IN12
*STP
*STP
*STP
18A
GY-2
IN13
CSTR
CSTR/PWRT
CSTR
19A
WT-2
IN14
RES
RES
RES
20A
BK-2
IN15
SON
SON
SON
1B
BR-3
OUT0
PM1(ALM1)
PM1(ALM1)
PM1(ALM1)
2B
RD-3
OUT1
PM2(ALM2)
PM2(ALM2)
PM2(ALM2)
3B
OR-3
OUT2
PM4(ALM4)
PM4(ALM4)
PM4(ALM4)
4B
YW -3
OUT3
PM8(ALM8)
PM8(ALM8)
PM8(ALM8)
5B
GN-3
OUT4
PM16
PM16
PM16
6B
BL-3
OUT5
PM32
PM32
PM32
7B
PL-3
OUT6
MOVE
MOVE
PM64
8B
GY-3
OUT7
ZONE1
MODES
PM128
Output
9B
WT-3
OUT8
PZONE/ZONE2
PZONE/ZONE1
PZONE/ZONE1
10B
BK-3
OUT9
–
–
–
11B
BR-4
OUT10
HEND
HEND
HEND
12B
RD-4
OUT11
PEND
PEND/WEND
PEND
13B
OR-4
OUT12
SV
SV
SV
14B YW -4
OUT13
*EMGS
*EMGS
*EMGS
15B
GN-4
OUT14
*ALM
*ALM
*ALM
16B
BL-4
OUT15
*ALML
*ALML
*ALML
17B
PL-4
–
–
18B
GY-4
–
–
19B
WT-4
–
–
20B
BK-4
–
–
“*” in codes above shows the signal of the active low.
PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated.
(Reference) Signal of Active Low
Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is
turned OFF, output signal is ordinary on while the power is ON, and turns OFF when the signal is output.
Pin
No.
Wire
Color
Input
Output
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
16B
17B
18B
19B
20B
BR-1
24V
RD-1
24V
OR-1 Pulse input
YW -1
GN-1
BL-1
PL-1
GY-1
WT-1
BK-1
BR-2
RD-2
Input
OR-2
YW -2
GN-2
BL-2
PL-2
GY-2
WT-2
BK-2
BR-3
RD-3
OR-3
YW -3
GN-3
BL-3
PL-3
GY-3
Output
WT-3
BK-3
BR-4
RD-4
OR-4
YW -4
GN-4
BL-4
PL-4
–
GY-4
–
WT-4
–
BK-4
–
PIO Functions
Number of positioning points
Home return signal
Jog signal
Teaching signal
(Current position writing)
Brake release
Moving signal
Zone signal
Position zone signal
IN0
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
IN9
IN10
IN11
IN12
IN13
IN14
IN15
OUT0
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
OUT9
OUT10
OUT11
OUT12
OUT13
OUT14
OUT15
Parameter No.25 “PIO Pattern” Selection
3
4
5
512-point mode
Solenoid valve mode 1 Solenoid valve mode 2
512 points
7 points
3 points
{
{
×
×
×
×
×
×
×
{
×
×
×
{
×
{
{
{
×
{
{
ST0
ST1
ST2
ST3
ST4
ST5
ST6
–
–
BKRL
–
HOME
*STP
–
RES
SON
PE0
PE1
PE2
PE3
PE4
PE5
PE6
ZONE1
PZONE/ZONE2
–
HEND
PEND
SV
*EMGS
*ALM
*ALML
ST0
ST1(JOG+)
ST2(Note1)
–
–
–
–
–
–
BKRL
–
–
–
–
RES
SON
LS0
LS1(TRQS)
LS2(Note1)
–
–
–
–
ZONE1
PZONE/ZONE2
–
HEND
–
SV
*EMGS
*ALM
*ALML
PC1
PC2
PC4
PC8
PC16
PC32
PC64
P128
PC256
BKRL
–
HOME
*STP
CSTR
RES
SON
PM1(ALM1)
PM2(ALM2)
PM4(ALM4)
PM8(ALM8)
PM16
PM32
PM64
PM128
PM256
–
HEND
PEND
SV
*EMGS
*ALM
*ALML
P24
P24
–
–
–
–
–
–
Shown in ( ) after the signal names above tell the functions performed before the home-return operation. “*” in codes above
shows the signal of the active low.
PM1 to PM8 indicate the alarm binary code output signal when an alarm is generated.
Note 1 It is invalid before home-return operation.
(Reference) Signal of Active Low
Signal with “*” expresses the signal of active low. A signal of active low is a signal that the input signal is processed when it is
turned OFF, output signal is ordinary on while the power is ON, and turns OFF when the signal is output.
Specification
Input Section
24V DC ±10%
Input Voltage
Input Current
ON/OFF voltage
Leak Current
Insulation
Type
Output Section
Rated Load Voltage
24V DC ±10%
5mA / 1 circuit
MAX. current
50mA / 1 point
ON voltage
MIN.DC18V
OFF voltage
MAX.DC6V
MAX. 1mA/1 point
Residual Voltage
2V or less
Non-isolated from external output signal
Non-isolated from external input signal
Internal Power Supply 24V
External Power Supply 24V
5.6kΩ
NPN
15Ω
100kΩ
Internal
Power Source
Input Terminal
20kΩ
Load
Output Terminal
Internal
Power Source
Internal Power Supply 24V
PNP
External Power Supply 24V
100kΩ
Input Terminal
5.6kΩ
20kΩ
Internal
Power Source
Internal
Power Source
15Ω
Load
Output Terminal
[When Connecting to ERC3 Unit, in CON Mode]
0V
24V
24V
0V
Pin No.
Pin No.
A9
A9
B9
B9
A10
A10
B10
B10
100mm or more
30mm or more
100mm or more
A11
B11
Load
A12
Load
A12
Load
B12
Load
B12
Load
A13
Load
A13
Load
B13
Load
B13
[When Connecting to ERC3 Unit, in MEC Mode]
98
80
50mm or more
25
Quick Teach (Option)
4
PNP
24V
24V
90
NPN
0V
Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the
ambient temperature around the controller below 40°C
[External Dimensions]
35.4 (Width of 35mm DIN rail)
A11
B11
[Installation]
PIO converter (Option)
PNP
40 from DIN rail center
NPN
0V
Pin No.
A9
B9
B9
A10
A10
B10
B10
A11
65
(5)
A9
(10)
Pin No.
[External Dimensions]
A11
B11
A12
Operation width of DIN-fixed finger 5mm
B11
Load
Load
A12
Load
Load
B12
Load
A13
Load
A13
Load
B13
157
B12
Load
B13
[When connecting to PIO converter]
PNP
24V
[Specification]
0V
24V
Pin No.
1A
Pin No.
1A
2A
2A
3A
3A
4A
4A
5A
5A
6A
6A
14A
15A
14A
15A
Load
1B
2B
Load
1B
Load
Load
2B
Item
Number of Controlled Axes
Power-supply Voltage
Load current when actuator is connected
(including current consumption for control)
Power Supply for Electromagnetic Brake (Note 1)
(In the case of the actuator with a brake)
Heat Generation
In-rush current when actuator is connected (Note 2)
Transient Power Cutoff Durability
Serial Communication Interface
(SIO Port)
External Interface
Load
14B
15B
Load
Load
15B
16B
16B
17B
17B
18B
18B
19B
19B
Fieldbus Type
Data Setting and Input
Operation in Pulse Train Control Mode
(function for PLN and PLP Types only)
Pulse Train Input and Output Interface
Signal Abbreviation
PP、/PP
Input
NP、/NP
Signal Name
Function Description
Inputs the command pulse train.
Command Pulse Input Input pulse frequency differs depending on the type.
[Refer to Basic Specifications]
• When Host Unit is Differential System
Host Unit
Positioning Unit
ERC3
Pulse Train Control
B7
PP
A7
Pulse Command
(Line Driver:
26C31 or equiv.)
B8
NP
/NP
CB-ERC3P-PWBIO□□□
• When Host Unit is Open Collector System [AK-04 option is required]
ERC3
0V +24V
Pulse Converter
AK-04 (Option)
Positioning Unit
0V
Pulse
Command
Number of Positions in Positioner Mode
LED Display
Pulse Train Control
1
1
24V PP
2 0V /PP 2
B7
A7
3
3
PP NP
4 NP /NP 4
B8
A8
PP
/PP
NP
/NP
CB-ERC3P-PWBIO□□□
0V
Note1 : Use the same power source (0V) for the host open collector output, AK-04.
Standard Type
Simple Absolute Type
With Monitor
Electromagnetic Brake Compulsory Release
Switch
Insulation Resistance
Protection Function against Electric Shock
Cooling Method
Surrounding Air Temperature
/PP
A8
Host Unit
Actuator I/O Type
Environment
Category
PIO Type
Load
14B
Surrounding Humidity
Surrounding Environment
Surrounding Storage Temperature
Surrounding Storage Humidity
Usage Altitude
Protection Class
Vibration Durability
Impact
Weight
External Dimensions
Description
1 axis
24V DC ±10%
High output setting is enabled (Set in delivery) : 4.3A (MAX.5.0A)
High output setting is disabled
: 3.0A
24V DC ±10％ 0.15A (MAX.)
1.3W
8.4A
MAX. 500μs
RS485: 1CH (based on Modbus Protocol RTU/ASCII)
Speed : 9.6 to 230.4Kbps
Control available with serial communication
Signal I/O dedicated for 24V DC (selected from NPN/PNP) … Input 16 points max., output
16 points max.
Cable length MAX. 10m
Not applicable
PC Software, Teaching Pendant
Position data and parameters to be saved in the non-volatile memory inside the built-in
controller in the actuator via this unit (There is no limitation in number of writing)
However, the clock data is to be stored in this unit (retained by capacitor power: approx. 10
days)
SIO Type (Model: SE)
An operation with Positioner Mode is available
MAX. 512 points
(Note) Number of positioning points differs depending on the selected PIO pattern
Controller status display
Display of absolute battery status and absolute reset status
Monitor display with switching
Command Current Ratio / Alarm Code / PIO Input Status / PIO Output Status
NOM (Normal Operation) / RLS (Brake release) Changeover
500V DC 10MΩ or more
Class I basic insulation
Natural air-cooling
0 to 40°C
85%RH or less (non-condensing)
[Refer to installation Environment]
-20 to 70°C (Excluding battery)
85%RH or less (non-condensing)
1000m or lower above sea level
IP20
Frequency 10 to 57Hz / Swing width : 0.075mm
Frequency 57 to 150Hz / Acceleration : 9.8m/s2
XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times
150mm/s2, 11mm/s Semi-sine wave pulse to each of the directions X, Y and Z
Standard: 103g, Simple Absolute Type: 287g (including 190g for battery)
25W × 90H × 98D
Note 1 It is the power source to be supplied when compulsorily releasing the brake.
Note 2 Rush current passes for about 5ms after the power is injected (at 40°C).
The rush current value varies depending on the impedance of the power line.
64.4
0V
[Specification]
Item
Power Supply Unit Model
Number of Controlled Axes
Power-supply Voltage
Load current when actuator is
connected
(including current consumption for
control)
Heat generation when actuator is
connected
In-rush current when actuator is
connected (Note 1)
Current leakage when actuator is
connected
Transient Power Cutoff Durability
Emergency Stop
Data Setting and Input
Data Retention Memory
RCM-PST-0
RCM-PST-1
RCM-PST-2
24V DC power supply type
Equipped with 100V AC power Equipped with 200V AC power
(Main unit of teaching pendant)
supply unit
supply unit
RCM-PS-2
RCM-PS-1
(Equipped with 2m cable with
–
(Equipped with 2m cable with
φ4.3-hole solderless ring
3P power socket plug)
tongue terminals)
1 axis
Single-phase
Single-phase
100 to 115V AC ±10％
100 to 230V AC ±10％
24V DC ±10%
50/60Hz
50/60Hz
0.67A
2.2A
1.3A
(when 100V AC is used)
(High output setting is disabled)
(when 100V AC is used)
0.36A
(when 200V AC is used)
2W
11W
8.3A
MAX. 30A
MAX. 15A
–
MAX. 5mA
MAX. 0.75mA
–
MAX. 10ms
MAX. 10ms
External signal input
Pressing button switches and dials on the operation panel
Position data to be saved in non-volatile memory inside built-in controller in actuator
(There is no limitation in number of writing)
2 or 3-point
Servo ON/OFF, try run function as JOG, power ON/OFF, error display, etc.
Number of Settable Positions
Operation Functions/LED Display
Electromagnetic Brake Compulsory
Normal / Release (Compulsory release) changeover
Release Switch
Insulation Resistance
500V DC 10MΩ or more
Protection Function against Electric Class I basic insulation
Shock
Cooling Method
Natural air-cooling
Surrounding Air
0 to 40°C
Temperature
Surrounding Humidity
10 to 85%RH (non-condensing)
Surrounding Environment
[Refer to installation Environment]
Surrounding Storage
-20 to 70°C
Temperature
Surrounding Storage
90%RH (non-condensing)
Humidity
Usage Altitude
1000m or lower above sea level
Protection Class
IP20
Vibration Durability
Frequency 5 to 9Hz / Swing width: 1.75mm (continuous), 3.5mm (intermittent)
Frequency 9 to 150Hz / Acceleration 4.9m/s2 (continuous), 9.8m/s2 (intermittent)
XYZ Each direction
Weight
120g
540g
535g
External Dimensions
65W × 157H × 21.6D
65W × 157H × 64.4D
Environment
NPN
Note 1 Rush current passes for about 5ms after the power is injected (at 40°C).
The rush current value varies depending on the impedance of the power line.
Starting Procedures
When using this product for the first time, work while making sure to avoid omission and incorrect wiring by
referring to the procedure below.
1. PIO
Check of Packed Items
Are there all the delivered items?
Contact us or our distributor.
↓ Yes
Installation and Wiring
Perform the installation of and wiring for the actuator.
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the power
ON for unit.
Select [Teaching Mode 1 Safety Speed Activated / PIO
Operation Invalid] in the teaching tool such as PC.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
←Yes
→
Check Item
Is the red light [ALM] on the
LED status display OFF?
→
No →
Connect the teaching tool
such as PC to confirm the
content of alarm and have
an appropriate treatment.
↓ Yes
PIO Pattern Settings
Set the PIO pattern used for ERC3 unit to Parameter No.25.
Safety Speed Setting
Set the Parameter No.35 if necessary.
The safety speed is set to 100mm/s at the delivery.
Check Item
→ Does the status
LED [SVON] on
the panel?
Servo ON
Turn the servo ON with the operation on the teaching tool such as PC.
↓ Yes
Caution
Please perform this process with the actuator away from the mechanical end or
interfering subjects as much as possible.
Put the actuator away if it interferes with surroundings. It may generate an alarm if the
actuator hit the mechanical end or interfering objects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly
performed at the same position. Be careful not to pinch the hand or damage the work.
No →
If an alarm is
generated, connect
the PC or teaching
pendant and check
the content of the
alarm to have the
right treatment.
No →
Safety Circuit Check
Check the emergency stop circuit.
Does the emergency stop circuit (drive cutoff circuit) work properly and turn the
servo OFF?
↓ Yes
Target Position Setting
Set the target position in “Position” Box in each position table.
Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the Brake
Release Switch to “BK RLS” side for the brake equipped type. Put the switch back after the setting is complete.
● Action to Take When Error Occurred
Shown below are the alarms that you may often see after power up. Have an appropriate treatment following
the instructions below.
Please refer to the Instruction Manual (DVD) for other alarms.
Error Code
Error Description
Cause and Treatment
It indicates that the calendar function is stopped in PIO converter
Real Time Clock
069
and the current time data has been lost.
Operation Stop Detection
Reset the clock settings again from the teaching tool.
The detection of excitation is conducted when the servo is turned
ON for the first time after the power is supplied. The status is that
the detection did not complete even after a certain time (set in
Parameter No.29) was passed.
0B8
Excitement Detection Error 1) Connection error or wire breakage of motor/encoder cables
2) Brake is not released (when equipped with a brake).
3) Load to the motor is high due to external force.
4) Power was turned on while touching to the mechanical end.
5) The slide resistance of the actuator itself is large.
This error code appears when the right signal was not received
from the encoder side to the controller command. Check if any
wire breakage on a connector and the condition of wire
0E5
Encoder Receive Error
connections. If no error is generated under the condition that the
power to all the peripheral equipment is shut and operate only
this ERC3, noise can be considered as the cause of the
problem.
This error code appears when the absolute encoder PCB cannot
detect the position information properly. The voltage for the
absolute data battery is dropped. Check the battery alarm output
Absolute Encoder Error
0EE
Detection 2
on PIO, and if it is off, replace the battery. Perform Absolute
Reset after the replacement.
Check the encoder cable connection.
It shows the operation command was generated in the condition
Servo OFF While in
20A
that the servo is OFF.
Operation
Resume the operation after turning the servo ON.
Warning In the case the actuator is installed in vertical orientation and put the brake release switch to [BK RLS] side, be careful
not to drop it with self-weight and pinch your hand or damage the work.
↓
Test Run Adjustment 1
Check the operation without mounting a work
and set the safety speed invalid on the
teaching tool such as PC, and then check the
operation with a work mounted.
Check Item
No →
→ Any vibration or
abnormal noise?
Check if there is any problem with the installation
of the actuator and the condition of the actuator
use exceeds the ranges of the rated values.
Adjust the servo if necessary.
↓ Yes
Caution To ensure safety, it is recommended that
safety speed be enabled during initial movements.
Test Run Adjustment 2
1) Set Teach Mode to Monitor Mode 2 and disconnect the teaching tool.
2) Output the operation command from PLC to the controller and check the system operation.
2. Pulse Train Control
No →
Check of Packed Items
Contact us or our distributor.
↓ Yes
Installation and Wiring
Perform the installation of and wiring for the actuator
and controller.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
←Yes
→
Power Supply and Alarm Check
Connect a teaching tool such as PC, turn the power
ON for unit.
Select [Teaching Mode 1 Safety Speed Activated / PIO
Operation Invalid] in the teaching tool such as PC.
→
Check Item
Is the red light [ALM] on the
LED status display OFF?
No →
Connect the teaching tool such
as PC to confirm the content of
alarm and have an appropriate
treatment.
Technical Support available in USA, Europe and China
↓ Yes
PIO Pattern Settings
Set 6 to Parameter No.25 (Pulse Train Control Mode).
Check Item
Is the minimum unit of operation set to the value bigger than the
minimum resolution of the encoder?
Is the fraction of the electronic gear ratio reduced to its lowest
terms?
←Yes
Set the Electronic Gear
Set the electronic gear ratio based on the amount of
actuator operation per pulse in Parameters No.65 and 66.
Pulse Train Input Output Mode Setting
Set the command pulse train input status for the parameter No.63 and No.64.
Set Teach Mode to Monitor Mode 2 and disconnect the teaching tool after the setting is complete.
Servo ON
Input servo ON signal from PLC.
→
Check Item
Does the status LED [SVON] on the
panel?
←Yes
Safety Circuit Check
Check that the emergency stop circuit (or motor drive-power
cutoff circuit) operates normally to turn OFF the servo.
↓Yes
Test Run Adjustment 1
[Operation Mode MANU]
Check with a teaching tool such as the PC
software with no work being loaded, and check
the operation range with JOG operation with
the work being loaded.
Test Run Adjustment 2
→
[Operation Mode AUTO]
Output the pulse train from PLC to the
controller and check the system operation.
→
No →
No →
Check Item
Is there any risk of interfering with
peripheral equipment?
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
Yes →
Check if there is any problem in
the way of actuator mount.
↓ No
No→
Check the electronic gear ratio setting.
Confirm the command pulse train input
mode setting.
No →
Confirm that there is no problem in the
actuator installation, the actuator
operation condition demands a voltage
more than rated voltage, and
appropriate pulse trains are input.
↓ Yes
Test Run Adjustment 3
Check the system operation conducted by PLC.
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143
TEL (630) 467-9900 FAX (630) 467-9912
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Confirm the content of alarm on the
teaching tool such as PC to have an
appropriate treatment.
Check the emergency
stop circuit.
Can the positioning operation be
performed normally?
↓ Yes
Is it in condition without any
vibration and abnormal noise?
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
Manual No.: ME0296-5A