Iai-america ERC3 Uživatelský manuál

ERC3Actuator with Integrated ControllerInstruction Manual Eighth Edition

10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)········ 409 10.5.1 I/O Assignment·································

Chapter 2 Installation2.3 How to Install90[2] Precautions regarding wiring method 1) Wire is to be twisted for the power supply. 2) Separate the sign

Chapter 2 Installation 2.3 How to Install912) Quick Teach • RCM-PST-0 (24V DC power supply type) As shown in the figure on the right, Quick Teach can

Chapter 2 Installation2.3 How to Install92

Chapter 3 Wiring 3.1 Positioner Mode 1 (Standard Type)93Chapter 3 Wiring 3.1 Positioner Mode 1 (Standard Type) 3.1.1 Wiring Diagram (Connection of

Chapter 3 Wiring3.1 Positioner Mode 1 (Standard Type)943.1.2 PIO Pattern Select and PIO Signal [1] PIO Pattern (Control Pattern) Selection There are

Chapter 3 Wiring 3.1 Positioner Mode 1 (Standard Type)95[2] PIO Patterns and Signal Assignment The signal assignment of cable by the PIO pattern is a

Chapter 3 Wiring3.1 Positioner Mode 1 (Standard Type)96[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the secti

Chapter 3 Wiring 3.1 Positioner Mode 1 (Standard Type)973.1.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Line and Emergency

Chapter 3 Wiring3.1 Positioner Mode 1 (Standard Type)98[2] PIO Circuit 1) PIO Pattern 0 ··················8-point Type 0V (NPN Type)24V DC (PNP Type

Chapter 3 Wiring 3.1 Positioner Mode 1 (Standard Type)992) PIO Pattern 1 ··················Solenoid Valve Type 0V (NPN Type)24V DC (PNP Type)Start Si

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

Chapter 3 Wiring3.1 Positioner Mode 1 (Standard Type)1003) PIO Pattern 2 ··················16-point Type 0V (NPN Type)24V DC (PNP Type)Command Positi

Chapter 3 Wiring 3.2 Pulse Train Control Mode1013.2 Pulse Train Control Mode 3.2.1 Wiring Diagram (Connection of construction devices) I/O type of t

Chapter 3 Wiring3.2 Pulse Train Control Mode1023.2.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Pattern) Selection There are two

Chapter 3 Wiring 3.2 Pulse Train Control Mode103[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the section show

Chapter 3 Wiring3.2 Pulse Train Control Mode1043.2.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Line and Emergency Stop Circ

Chapter 3 Wiring 3.2 Pulse Train Control Mode105[2] Command Pulse Train Circuit (1) When Host Unit is Differential System Pulse Train OutputTo 0V of

Chapter 3 Wiring3.2 Pulse Train Control Mode106[3] PIO Circuit (1) PIO Pattern 0 ·················Positioning mode 0V (NPN Type)24V DC (PNP Type)Ser

Chapter 3 Wiring 3.2 Pulse Train Control Mode107(2) PIO Pattern 1 ·················Pressing mode 0V (NPN Type)24V DC (PNP Type)Servo ONHome ReturnTorq

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)1083.3 Positioner Mode 2 (Extension Type by PIO Converter) 3.3.1 Wiring Diagr

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)1093.3.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Patte

2No.OperationDescription Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)110 [2] PIO Patterns and Signal Assignment The signal assignment of cable by t

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)111 Parameter No.25 (PIO Pattern) Selection 3 4 5 CategoryPIO Functions512-

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)112 [3] List of PIO Signals The table below lists the functions of PIO signals

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)113 Category SignalAbbreviationSignal Name Function Description RelevantSecti

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)114 3.3.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)115 (2) External Drive Cutoff Relay Type Note 1 When the teaching pendant is

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)116 [2] PIO Converter to ERC3 PIO Converter ERC3 Note 1 ƑƑƑ indicates the

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)117 [3] PIO Circuit 1) PIO Pattern 0 ··················Positioning mode (Stan

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)118 2) PIO Pattern 1 ··················Teaching mode (Teaching type) 0V(NPN Typ

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)119 3) PIO Pattern 2 ··················256-point mode (Number of positioning p

3No.OperationDescription Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)1204) PIO Pattern 3 ··················512-point mode (Number of positioning poi

Chapter 3 Wiring 3.3 Positioner Mode 2 (Extension Type by PIO Converter)1215) PIO Pattern 4 ····················Solenoid Valve Mode 1 (7-point type) 0

Chapter 3 Wiring3.3 Positioner Mode 2 (Extension Type by PIO Converter)1226) PIO Pattern 5 ····················Solenoid Valve Mode 2 (3-point type) 0V

Chapter 3 Wiring 3.4 MEC Mode 1 (Operation with PLC)1233.4 MEC Mode 1 (Operation with PLC) 3.4.1 Wiring Diagram (Connection of construction devices)

Chapter 3 Wiring3.4 MEC Mode 1 (Operation with PLC)1243.4.2 PIO Pattern Selection and PIO Signal [1] Operation pattern There are 2 types of operatio

Chapter 3 Wiring 3.4 MEC Mode 1 (Operation with PLC)125[2] Operation Patterns and Signal Assignments The signal assignment of cable by the operation

Chapter 3 Wiring3.4 MEC Mode 1 (Operation with PLC)126[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to Section 4.

Chapter 3 Wiring 3.4 MEC Mode 1 (Operation with PLC)1273.4.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Line and Emergency S

Chapter 3 Wiring3.4 MEC Mode 1 (Operation with PLC)128[2] PIO Circuit 1) Stopping at 2 points (2-point positioning) ·································

Chapter 3 Wiring 3.4 MEC Mode 1 (Operation with PLC)1292) Stopping at 3 points (3-point positioning) ······································· Moveme

4No.OperationDescription Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it cle

Chapter 3 Wiring3.5 MEC Mode 2 (Operation Using PIO Converter)1303.5 MEC Mode 2 (Operation Using PIO Converter) 3.5.1 Wiring Diagram (Connection of

Chapter 3 Wiring 3.5 MEC Mode 2 (Operation Using PIO Converter)1313.5.2 PIO Pattern Selection and PIO Signal [1] Operation pattern There are 2 types

Chapter 3 Wiring3.5 MEC Mode 2 (Operation Using PIO Converter)132[2] Operation Patterns and Signal Assignments The signal assignment of cable by the

Chapter 3 Wiring 3.5 MEC Mode 2 (Operation Using PIO Converter)133[3] List of PIO Signals The table below lists the functions of PIO signals. Refer t

Chapter 3 Wiring3.5 MEC Mode 2 (Operation Using PIO Converter)1343.5.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Line and E

Chapter 3 Wiring 3.5 MEC Mode 2 (Operation Using PIO Converter)135(2) External Drive Cutoff Relay Type Note 1 When the teaching pendant is not connec

Chapter 3 Wiring3.5 MEC Mode 2 (Operation Using PIO Converter)136[2] PIO Converter to ERC3 PIO Converter ERC3 Note 1 ƑƑƑ indicates the cable leng

Chapter 3 Wiring 3.5 MEC Mode 2 (Operation Using PIO Converter)137[3] PIO Circuit 1) Stopping at 2 points (2-point positioning) ·····················

Chapter 3 Wiring3.5 MEC Mode 2 (Operation Using PIO Converter)1382) Stopping at 3 points (3-point positioning) ·······································

Chapter 3 Wiring 3.6 MEC Mode 3 (Solo Operation with Quick Teach)1393.6 MEC Mode 3 (Solo Operation with Quick Teach) 3.6.1 Wiring Diagram (Connectio

5No.OperationDescription Description 6 Trial OperationƔ When the work is carried out with 2 or more persons, make it clear who is to be the leader a

Chapter 3 Wiring3.6 MEC Mode 3 (Solo Operation with Quick Teach)140[2] RCM-PST-1 Note 1 ƑƑƑ indicates the cable length. (Example) 030 = 3m Caution

Chapter 3 Wiring 3.6 MEC Mode 3 (Solo Operation with Quick Teach)141[3] RCM-PST-2/RCM-PST-EU Note 1 ƑƑƑ indicates the cable length. (Example) 030

Chapter 3 Wiring3.7 Wiring Method1423.7 Wiring Method 3.7.1 Wiring of Actuator Use a dedicated connection cable of IAI for connection. 䎃[1] PIO typ

Chapter 3 Wiring 3.7 Wiring Method143[2] SIO type power and I/O cable (Model : CB-ERC3S-PWBIOƑƑƑ)ƑƑƑ indicates the cable length L. (Example 030 = 3m)

Chapter 3 Wiring3.7 Wiring Method1443.7.2 Wiring between PIO Converter and Quick Teach SIO communication cable (Model: CB-PST-SIO050) Cable length =

Chapter 3 Wiring 3.7 Wiring Method1453.7.3 Wiring between PIO Converter and Host Controller (e.g. PLC) The connection of I/O for PIO Converter is to

Chapter 3 Wiring3.7 Wiring Method146Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipme

Chapter 3 Wiring 3.7 Wiring Method147• Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point

Chapter 3 Wiring3.7 Wiring Method148• If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable

Chapter 3 Wiring 3.7 Wiring Method1493.7.4 Wiring of PIO Converter Power Line Connector The wires of the power supply and the emergency stop circuit

6No.OperationDescription Description 8 Maintenance andInspection Ɣ When the work is carried out with 2 or more persons, make it clear who is to be t

Chapter 3 Wiring3.7 Wiring Method1503.7.5 Pulse Converter: AK-04 (Optional accessory) This pulse converter is necessary when pulse train control is

Chapter 3 Wiring 3.7 Wiring Method1513.7.6 Teaching Port Connector Connection of ERC3 Main Unit Teaching Port is for the connection of teaching tools

Chapter 3 Wiring3.7 Wiring Method1523.7.7 Connection of SIO Connector of PIO Converter SIO Connector of PIO Converter can be used not only for the co

Chapter 4 Operation 4.1 Basic Operation153Chapter 4 Operation 4.1 Basic Operation ERC3 has 6 types of operation method when combined with peripheral

Chapter 4 Operation4.1 Basic Operation154[2] Pulse Train Control Mode (Pulse Train Operation of ERC3) An operation by pulse train input is available.

Chapter 4 Operation 4.1 Basic Operation155[3] Positioner Mode 2 (Extended Operation of ERC3) By using the optional PIO Converter, a selection from si

Chapter 4 Operation4.1 Basic Operation156[4] MEC Mode 1 A simple operation with Quick Teach is available and a control same as for the air cylinder i

Chapter 4 Operation 4.1 Basic Operation157[5] MEC Mode 2 The operation method is the same as for MEC Mode 1. It becomes applicable for Simple Absolut

Chapter 4 Operation4.1 Basic Operation1584.1.2 Parameter Settings Parameter data should be set to be suit to the system or application. Parameters ar

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.1 Set of Position Table1594.2 Operation in Positioner Mode 4.2.1 Set of Position Table [It i

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.1 Set of Position Table1604) Acceleration [G] ······· Set the acceleration at start. 5) Decel

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.1 Set of Position Table1618) Positioning width [mm] ······In PIO Patterns 0 to 4 in Positione

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.1 Set of Position Table16211) Acceleration/deceleration mode··········Select a proper accelera

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.1 Set of Position Table16313) Transported load ······Register 4 types of load weights with us

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 11644.2.2 Operation in Positioner Mode 1 In Positioner Mode 1,

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1165[2] Overview of major Functions Major functions Descripti

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1166[3] Power Supply and Emergency Stop Release (CP, MP, EMG, P

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1167[4] Brake release BK ·····································

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1168[6] Operation Ready and Auxiliary Signals (1) Home Return (

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1169(2) Zone Signal and Position Zone Signal (ZONE1, PZONE) Out

8Guideline for Control Method ERC3 has numerous operation patterns and options to meet many criteria for different applications. Check Chapter 4 Opera

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1170II. Position zone signal PZONE No. Position [mm] Velocity [m

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1171(3) Alarm, Alarm Reset (*ALM, RES) Input Output Model name

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1172[7] Operation with the Position No. Input = Operations of P

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1173 Control method 1) First enter command position No. PC1 t

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1174䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃If there is a problem in this operation, have

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1175(2) Speed change during the movement  Sample use No. Posit

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1176(3) Pitch Feeding (relative movement = incremental feed)  S

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1177  Caution: (1) If the actuator reaches the software limit

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1178(4) Pressing operation  Sample use No. Position [mm] Veloci

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1179(Note 1) Set the period taken from entering the position nu

9Precautions in Operation 1. It is set to “high output” when the machine is delivered from the factory. There is a limit in the duty for the high out

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1180 Judging completion of pressing operation The operation

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1181(5) Tension Operation  Image diagram Position No.1Position

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1182Caution: (1) The speed during tension operation is set in P

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1183(6) Multi-step pressing  Image diagram Position No.1Positi

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1184(7) Pause and Operation Interruption (*STP, PEND) Input Out

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1185[8] Direct Position Specification (3-point <Solenoid va

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1186Caution: (1) If the ST* signal is turned ON for the positi

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1187(2) Pitch Feeding (relative movement = incremental feed) 

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1188  Caution: (1) If ST* Signal is turned ON at the same pos

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1189(3) Pressing operation  Sample use No. Position [mm] Veloc

108. Do not attempt to hit the slider or rod against an obstacle with high speed. It may destroy the coupling. 9. Make sure to attach the actuator p

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1190  Caution: (1) The speed during pressing operation is set

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1191 Judging completion of pressing operation PIO converter

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1192(4) Tension Operation  Image diagram Position No.1Position

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1193  Caution: (1) The speed during tension operation is set

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1194(5) Multi-step pressing  Image diagram Position No.1Positio

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1195(6) Pause and Operation Interruption (ST*, *STP, RES, PE*)

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.2 Operation in Positioner Mode 1196  Caution: (1) At occurrence of an alarm in the release l

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)1974.2.3 Operation in Positio

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)198[2] Overview of major Funct

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)199[3] Power Supply and Emerg

11 17. When using Pulse Train Control type, pay close attention to the pulse frequency; so the frequency will no exceed the actuator specification. In

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)200[5] Operation Ready and Aux

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)201EMGServoT26msLockReleasePEN

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)202(3) Home Return (HOME, HEND,

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)203(4) Zone Signal and Positio

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)204II. Position zone signal PZO

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)205(5) Alarm, Alarm Reset (*AL

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)206(6) Binary Output of Alarm D

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)207{: ON z: OFF *ALMALM8(PM8)A

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)208(7) Brake release BKRL Input

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)209[6] Operation with the Pos

1219. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To cert

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)210 Control method 1) First e

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)211  Binary data { : ON z :

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)212(2) Speed change during the

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)213(3) Pitch Feeding (relative

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)214  Caution: (1) If the actu

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)215(4) Pressing operation  Sa

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)216Note 1 Set the period taken

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)217  Caution: (1) The speed

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)218 Judging completion of pres

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)219(5) Tension Operation  Ima

13International Standards Compliances This product complies with the following overseas standard. RoHS Directive CE Marking {To be scheduled

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)2203) First define the positio

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)221(6) Multi-step pressing  I

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)222(7) Teaching by PIO (MODE, M

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)223Warning: (1) In home retu

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)224  Caution: (1) Set the

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)225 Control method Pause is p

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)226[7] Direct Position Specifi

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)227 Control method 1) When s

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)228(2) Pitch Feeding (relative

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)229  Caution: (1) Because p

14Names of the Parts 1. Main Body In this instruction manual, the right and left sides of the actuator is expressed in the way it is placed horizonta

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)230(3) Pressing operation  Sam

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)231  Caution: (1) The speed

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)232 Judging completion of pres

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)233(4) Tension Operation  Ima

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)2343) First define the positio

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)235(5) Multi-step pressing  I

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)236(6) Pause and Operation Inte

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)237  Caution: (1) At occurr

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)238[8] Direct Position Specifi

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)239[Operation of Slider Type/R

152. Motor Unit 1) Status Indicator LED Following show the controller operation status: { : Illuminating × : OFF ڏ : Flashing LED Status of P

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)240(3) Positioning [Basic] (ST0

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)241(Example) Repetition of ST

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)242(4) Speed change during the

Chapter 4 Operation 4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)243The timing chart shown belo

Chapter 4 Operation4.2 Operation in Positioner Mode4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)244(5) Pause and Operation Inte

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)2454.3 Operation in Pulse Train Control Mode (

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)246[3] Power Supply and Emergency Stop Release

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)247[5] Time Constant for Control Signal Input

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)248EMGServoT26msLockReleasePENDBrake ExcitationT

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)249(2) Home Return (HOME, HEND) Input Output P

163. Option (1) PIO Converter (Model: RCB-CV/CVG-**) The functions of CON mode type in ERC3 can be extended. See 4.2.3 Operation in Positioner Mode 2

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)250(3) Alarm, Alarm Reset (*ALM, RES) Input Out

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)251[7] Pulse Train Input Operation (1) Command

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)252Time ConstantMotor Rotation[Reference] Accel

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)253(3) Torque Limit Select (TL, TLR) Input Out

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)254[8] Settings of Basic Parameters Required fo

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)255 Examples of electronic gear calculations:

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)256(2) Format Settings of Command Pulse Train Se

Chapter 4 Operation 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)257[9] Parameter Settings Required for Advance

Chapter 4 Operation4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)258(4) Error monitor during torque limiting No.

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)2594.4 Operation in MEC Mode 1 and 2 (Operation with PLC) There are two typ

171) PIO Connector (I/O) [Refer to 3.2.2 [2]] The PIO connector is used for control I/O signals. 2) Absolute Battery [Refer to Chapter 6] This is th

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)260[2] Table for Operational Conditions (Position Table) and Positioning Com

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)2611) Position [mm] ············It is the positioning stop point. The positi

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)262[Pushing toward the end point or intermediate point] ApproachSpeedStart po

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)263[Auto motor power (Auto servo) OFF] The motor power (servo) will turn off

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)264[3] Power Supply and Emergency Stop Release (1) MEC Mode 1 (CP, MP, EMG)

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)265T (before detecting excitation) = SON signal identification (6ms) + E

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)266[4] Brake release BK·················································[Refe

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)267[6] Operation when Operation Pattern is “2-Point Stop (2-Point Positioni

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)268(3) Pressing (ST0, PE0, PE1) The actuator performs the pressing operation

Chapter 4 Operation 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)269(2) Positioning Operation (ST0, ST1, LS0, LS1, LS2, PE0, PE1, PE2) Posit

186) Status Indicator LED (SYS) Following show the controller operation status: { : Illuminating × : OFF ڏ : Flashing LED Status of PIO Output

Chapter 4 Operation4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)270(3) Pressing (ST0, ST1, PE0, PE1, PE2) Pressing movement to the end point

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)2714.5 Operation in MEC Mode 3 (Test Run with Quick Teach.) 4.5.1 Operat

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)2724.5.2 Operations [1] Switches Used for Mode Selection (Auto Њ Manual

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)273[5] Switch Used for Brake Release It is the brake compulsory release s

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)274[7] Switches Used for Position Teaching The position (forward, backward

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)275Press MIDDLE POS Button to select. If the mode is switched over, the la

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)276Press BACK POS (start point) Button to select. If the mode is switched o

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)277[8] Switches and Rotary Knobs Used in Acceleration/Deceleration and Sp

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)2784.5.3 Test Run with Operation Panel Turn ON Power Power Lamp turns ON

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)279Ɣ To Perform Manual Operation Confirm the Home-return lamp is blinking

1910) Status LED (0 to 15) • Display while Mode 0 (Command Current Ratio Level) being selected The command current ratio level of the motor rated cu

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)280Ɣ To Confirm Current Positioning Point Number. Ɣ To Change Positioning

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)281Ɣ Register the position. Confirm the Home-return lamp is blinking and

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)282Register the position. Press servo ON/OFF button to turn the servo ON. T

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)283(2) When Registering Position with Jog and Inching Operations Press MA

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)284Register the position. Press SAVE Button. When the registration is compl

Chapter 4 Operation 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)285Ɣ Register the acceleration and speed. Confirm the Home-return lamp is

Chapter 4 Operation4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)286Register the settings. Ɣ To Have a Test Run Press MANUAL Button. A pe

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.1 Positioner Mode 1 and 2287Chapter 5 Power-saving Function (Automatic

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.1 Positioner Mode 1 and 2288(1) Setting of periods taken until automat

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.1 Positioner Mode 1 and 2289[For Parameter No.39 = 0] Operation of actu

Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product

20• Display while Mode 2 (PIO Input Signal Monitor) being selected It displays the status of PIO control input (PLC ĺ PIO Converter) whether it is ON

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.2 Pulse Train Control Mode2905.2 Pulse Train Control Mode Power saving

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.3 MEC Mode 1, 2 and 32915.3 MEC Mode 1, 2 and 3 The setting of power s

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.3 MEC Mode 1, 2 and 3292  Caution: (1) Automatic Servo-off Function

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.3 MEC Mode 1, 2 and 32935.3.2 Full Servo Function Set “1” in Parameter

Chapter 5 Power-saving Function(Automatic Servo-off and Full Servo Functions)5.3 MEC Mode 1, 2 and 3294

Chapter 6 Adjustment of Operation 6.1 Absolute Reset and Absolute Battery295Chapter 6 Adjustment of Operation 6.1 Absolute Reset and Absolute Batter

Chapter 6 Adjustment of Operation6.1 Absolute Reset and Absolute Battery296(2) For CON-PTA 1) Connect the actuator with the PIO converter. [Refer to

Chapter 6 Adjustment of Operation 6.1 Absolute Reset and Absolute Battery297[Absolute Reset Process] Safety Circuit ConditionControl Power Input (Note

Chapter 6 Adjustment of Operation6.1 Absolute Reset and Absolute Battery298[3] Absolute Battery In PIO Converter for Simple Absolute Type, there are

Chapter 6 Adjustment of Operation 6.1 Absolute Reset and Absolute Battery299(Example) From Monday to Friday ; charge for 8 hours per day, discharge f

21(2) Quick Teach (Model: RCM-PST-**) You can operate ERC3 easily. Not only JOG operation and home-return operation, but also the settings and changes

Chapter 6 Adjustment of Operation6.1 Absolute Reset and Absolute Battery300(4) Replacement of absolute battery When replacing the battery, leave the

Chapter 6 Adjustment of Operation 6.2 High Output Setting and Gain Scheduling Function3016.2 High Output Setting and Gain Scheduling Function 6.2.1

Chapter 6 Adjustment of Operation6.2 High Output Setting and Gain Scheduling Function3026.2.4 Setting in MEC Mode 1 to 3 Making the high output setti

Chapter 6 Adjustment of Operation 6.3 I/O Parameter3036.3 I/O Parameter Parameter data should be set appropriately according to the applicaiton requi

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode3046.3.1 Positioner Mode 1,

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode305I/O Parameter List (Conti

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode306I/O Parameter List (Contin

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode307I/O Parameter List (Conti

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode308[2] Detail Explanation of

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode309(2) Soft limit +, Soft l

221) Emergency Stop Connector [Refer to Chapter 2] This is the input connector for the external emergency stop signals. There is a plug equipped with

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode310(4) Press & hold stop

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode311 (5) Servo gain number (

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode312(8) Default positioning w

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode313(12) SIO communication s

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode314(15) Home return offset l

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode315(17) PIO pattern selecti

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode316[For Positioner Mode 2] Ty

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode317(19) Movement command ty

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode318(20) Default movement dir

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode319(23) Velocity loop propo

23Actuator Coordinate The coordinate system of ERC3 is as shown below. 0 defines the home position, and items in ( ) are for the home-reversed type (o

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode320(25) Torque filter time c

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode321(28) Auto servo motor OF

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode322(31) Enable function (Par

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode323(35) PIO inch distance,

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode324(39) Default stop mode (P

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode325(41) S-motion rate (Para

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode326(42) Torque limit (Parame

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode327(51) Electronic gear den

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode328(54) Ball screw lead leng

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode329(57) Current limit value

24Starting Procedures 1. Positioner Mode 1 When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode330(60) Monitoring mode (Par

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode331(63) Gain scheduling upp

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode332(67) Total operated dista

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode333(70) BU velocity loop pr

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode334(72) Absolute battery ret

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode335[3] Servo Adjustment The

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode336No.Situation that requires

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode337No.Situation that require

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 33386.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3 [1] I/O

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3339No. Category Name Symbol Unit Input Range Default

252. Pulse Train Control Mode This product allows positioning control by the pulse train. It is necessary to have the positioning control function ab

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3340[2] Detail Explanation of Parameters (1) Default pos

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3341(4) Velocity loop proportional gain (Parameter No.5)

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3342(6) Press velocity (Parameter No.7) No. Name Symbol

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3343(8) Current limit value at stopping due to miss-pres

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3344(13) Soft limit (Parameter No.15) No. Name Symbol U

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3345(15) Home return direction (Parameter No.17) No. N

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3346(18) Position Data Change Password (Parameter No.20)

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3347(23) BU velocity loop proportional gain (Parameter N

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3348[3] Servo Adjustment The parameters are preset at the

Chapter 6 Adjustment of Operation 6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3349No.Situation that requires adjustment How to Adjust S

263. Positioner Mode 2 When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure bel

Chapter 6 Adjustment of Operation6.3 I/O Parameter6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3350

Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Problem351Chapter 7 Troubleshooting 7.1 Action to Be Taken upon Occurrence of Pr

Chapter 7 Troubleshooting7.1 Action to Be Taken upon Occurrence of Problem352 2) Check whether an alarm occurs on the host controller (PLC, etc.).

Chapter 7 Troubleshooting 7.2 Fault Diagnosis3537.2 Fault Diagnosis This section describes faults largely divided into three types as follows: (1)

Chapter 7 Troubleshooting7.2 Fault Diagnosis354Situation Possible cause Check/Treatment 1) Positioner Mode 1. Pulse Train Control ModeStatus Displa

Chapter 7 Troubleshooting 7.2 Fault Diagnosis355[In the case of Positioner Mode] Situation Possible cause Check/Treatment Both position No. and star

Chapter 7 Troubleshooting7.2 Fault Diagnosis356[In the case of Pulse Train Control Mode] Situation Possible cause Check/Treatment In spite of inputt

Chapter 7 Troubleshooting 7.2 Fault Diagnosis357[Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Situation Possible cause Che

Chapter 7 Troubleshooting7.2 Fault Diagnosis3587.2.2 Positioning and speed of poor precision (incorrect operation) Situation Possible cause Check/T

Chapter 7 Troubleshooting 7.2 Fault Diagnosis359[In the case of Pulse Train Control Mode] Situation Possible cause Check/Treatment The actuator does

274. MEC Mode 1 When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC

Chapter 7 Troubleshooting7.2 Fault Diagnosis3607.2.3 Generation of noise and/or vibration Situation Possible cause Check/Treatment Generation of no

Chapter 7 Troubleshooting 7.3 Alarm Level3617.3 Alarm Level The alarms are classified to 3 types of levels by the content of the error. Alarm level

Chapter 7 Troubleshooting7.4 Alarm List3627.4 Alarm List AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositi

Chapter 7 Troubleshooting 7.4 Alarm List363AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

Chapter 7 Troubleshooting7.4 Alarm List364AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMod

Chapter 7 Troubleshooting 7.4 Alarm List365AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

Chapter 7 Troubleshooting7.4 Alarm List366AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMod

Chapter 7 Troubleshooting 7.4 Alarm List367AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

Chapter 7 Troubleshooting7.4 Alarm List368AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMod

Chapter 7 Troubleshooting 7.4 Alarm List369AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

285. MEC Mode 2 When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC

Chapter 7 Troubleshooting7.4 Alarm List370AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMod

Chapter 7 Troubleshooting 7.4 Alarm List371AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

Chapter 7 Troubleshooting7.4 Alarm List372AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMod

Chapter 7 Troubleshooting 7.4 Alarm List373AlarmCodeAlarmLevelAlarm Name Cause/Treatment Positioner Mode 1PulseTrain ControlModePositioner Mode2MECMo

Chapter 7 Troubleshooting7.4 Alarm List374

Chapter 8 Actuator Maintenance Check 8.1 Inspection Items and Schedule8.2 External Visual Inspection, 8.3 Cleaning375Chapter 8 Actuator Maintenance C

Chapter 8 Actuator Maintenance Check8.4 Internal Inspections for Slider Type8.5 Internal Cleaning for Slider Type3768.4 Internal Inspections for Slid

Chapter 8 Actuator Maintenance Check 8.6 Grease Supply3778.6 Grease Supply 8.6.1 Grease Supply for Slider Type (1) Grease Applied to Guide IAI uses

Chapter 8 Actuator Maintenance Check8.6 Grease Supply3788.6.2 How to Supply Grease on Slider Type 1) Remove the thin-head screws with a 1.5mm hex wr

Chapter 8 Actuator Maintenance Check 8.6 Grease Supply3794) After cleaning up the ball screw, apply the grease by hand. Move the slider back and fort

296. MEC Mode 3 When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC

Chapter 8 Actuator Maintenance Check8.6 Grease Supply3808.6.3 Grease Supply for Rod Type (1) Grease Applied to Ball Screw IAI uses the following grea

Chapter 8 Actuator Maintenance Check 8.6 Grease Supply3818.6.4 How to Supply Grease on Rod Type 1) Remove the thin-head screw with a 1.5mm hex wrenc

Chapter 8 Actuator Maintenance Check8.6 Grease Supply3823) On the rod sliding part, apply grease by hand. 4) After applying the grease, move the rod

Chapter 8 Actuator Maintenance Check 8.7 Motor Replacement Process3838.7 Motor Replacement Process [Items required for replacing the motor] • Motor U

Chapter 8 Actuator Maintenance Check8.7 Motor Replacement Process3843) Make the profiles on the actuator side and motor unit side aligned so the proj

Chapter 9 External Dimensions385Chapter 9 External Dimensions 9.1 ERC3-SA5C Y3Stroke326 51 15142.5LFMEMESESE475055.35068.757X20.5 20.54150(Reamer Pi

Chapter 9 External Dimensions3869.2 ERC3-SA7C YYStroke3328.5 76 20F 173LMEMESESE3232646 64-M5 depth 102-φ5H7 depth 106485717482X8.53080A 173.540H-φ5.

Chapter 9 External Dimensions3879.3 ERC3-RA4C AStroke3 339F (Effective T-groove range) 144LMEME SE SEφ25φ324530228(Area of paired faces)M10×1.2517344

Chapter 9 External Dimensions3889.4 ERC3-RA6C AStroke33 176.5F (Effective T-groove range)L49.5MEME SE SE25506469405072 1385227.5With Brake6.510.53.6

Chapter 10 Appendix 10.1 Input and Output Response Performance When PIO Converter is Used389Chapter 10 Appendix 10.1 Input and Output Response Perfor

30

Chapter 10 Appendix10.2 Way to Set Multiple Controllers with 1 Teaching Tool39010.2 Way to Set Multiple Controllers with 1 Teaching Tool Settings of

Chapter 10 Appendix 10.2 Way to Set Multiple Controllers with 1 Teaching Tool39110.2.1 Connecting Example Caution: Supply 0V to the SIO converter and

Chapter 10 Appendix10.2 Way to Set Multiple Controllers with 1 Teaching Tool39210.2.2 Detailed Connection Diagram of Communication Lines SIO Converte

Chapter 10 Appendix 10.2 Way to Set Multiple Controllers with 1 Teaching Tool393WireWireClamp LeverPin No.Press weldingPress weldingPress weldingPress

Chapter 10 Appendix10.2 Way to Set Multiple Controllers with 1 Teaching Tool39410.2.5 SIO Converter The SIO converter converts the communication mode

Chapter 10 Appendix 10.2 Way to Set Multiple Controllers with 1 Teaching Tool3952) Link-connection Terminal Board (TB1) This is the connection port t

Chapter 10 Appendix10.2 Way to Set Multiple Controllers with 1 Teaching Tool39610.2.6 Communications Cable 1) Controller Link Cable (CB-RCB-CTL002)

Chapter 10 Appendix 10.3 Conformity to Safety Category39710.3 Conformity to Safety Category In this section shows an example of a circuit using the d

Chapter 10 Appendix10.3 Conformity to Safety Category398[2] Wiring and setting of safety circuit 1) Power supply To use safety relays and/or contacto

Chapter 10 Appendix 10.3 Conformity to Safety Category399Ɣ Upper side EMG connector Ɣ Lower side ENB connector EMG1-EMG1+EMG2-EMG2+EMGINEMGOUTENB1-EN

Chapter 1 Specications Check 1.1 Product Check31Chapter 1 Specifications Check 1.1 Product Check 1.1.1 Parts This product is comprised of the foll

Chapter 10 Appendix10.3 Conformity to Safety Category400[3] Examples of safety circuits 1) In case of category 1 CON-PGA(or Dummy plug : DP-4)Connecti

Chapter 10 Appendix 10.3 Conformity to Safety Category401Ɣ Detailed category 1 circuit example SGSGASGBRTSCTSEMG1-EMG1+EMG2-EMG2+EMB1-EMB1+EMB2-EMB2+

Chapter 10 Appendix10.3 Conformity to Safety Category4022) In case of category 2 CON-PGA(or Dummy plug: DP-4)Connection Cable CB-CON-LB□□□PIO Convert

Chapter 10 Appendix 10.3 Conformity to Safety Category403Ɣ Detailed category 2 circuit example SGSGASGBRTSCTSEMG1-EMG1+EMG2-EMG2+EMB1-EMB1+EMB2-EMB2+

Chapter 10 Appendix10.3 Conformity to Safety Category4043) In case of category 3 or 4 CON-PGA(or Dummy plug: DP-4)Connection Cable CB-CON-LB□□□PIO Co

Chapter 10 Appendix 10.3 Conformity to Safety Category405Ɣ Detailed category 3 or 4 circuit example SGSGASGBRTSCTSEMG1-EMG1+EMG2-EMG2+EMB1-EMB1+EMB2-

Chapter 10 Appendix10.3 Conformity to Safety Category406[4] TP adapter and accessories 1) TP adapter external dimensions 25365 (2)2-φ3.5455648 8.52.7

Chapter 10 Appendix 10.3 Conformity to Safety Category4072) Connection Cable (Accessories) Ɣ Controller/TP Adaptor Connection Cable Use this cable t

Chapter 10 Appendix10.4 When Connecting Power Supply with + Grounding4083) Dummy plug (Accessories) Connect a dummy plug to the teaching pendant conn

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)40910.5 Example of Basic Positioning Sequence

Chapter 1 Specications Check1.1 Product Check321.1.2 Teaching Tool The teaching tool is necessary to perform setup operations such as position and p

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)41010.5.2 Ladder Sequence [1] Servo ON (Emergenc

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)411 [3] Pause Circuit Pause is provided by a si

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)412[4] Reset Circuit If the “Stop” button on the

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)413[5] Home Return Circuit 040 046 049 051 IN4

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)414[6] Decode Circuit of Positioning Complete Pos

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)415[8] Position 1 Operation Circuit The main ci

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)416[9] Position 2 Operation Circuit The main circ

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)417[10] Position 3 Operation Circuit The main ci

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)418[11] Commanded Position No. Output Ready Circui

Chapter 10 Appendix 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)419[12] Commanded Position No. Output Circuit De

Chapter 1 Specications Check 1.1 Product Check331.1.4 How to read the model plate (1) ERC3 Main Body (2) PIO Converter (Option) (3) Quick Teach (Opt

Chapter 10 Appendix10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)420[14] Other Display Circuits (Zone 1, Position Z

Chapter 10 Appendix 10.6 Life42110.6 Life 10.6.1 Product Life of Slider Type The mechanical life of the actuator is represented by the greatest mome

Chapter 10 Appendix10.6 Life422

Chapter 11 Warranty423Chapter 11 Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment fro

Chapter 11 Warranty42411.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined w

Change History425Change History Revision Date Revision Description2011.09 First Edition 2011.10 Second Edition Pg. 278, 303 and 304 Parameter for M

Change History426Revision Date Revision Description2012.06 2012.06 2012.10 Seventh edition Revised overall Edition 7B Note corrected Eighth edition P



Manual No.: ME0297-8A (October 2012)The information contained in this document is subject to change without notice for purposes of product improvement

Chapter 1 Specications Check1.1 Product Check341.1.5 How to read the model (1) ERC3 Main Body ERC3 – SA5 – I – 42P – 20 – 50 – SE – S – CN – B – **N

Chapter 1 Specications Check 1.1 Product Check35(2) PIO Converter (Option) RCB – CV – NPM – 2 – AB – **(3) Quick Teach (Option) RCM - PST - 0 – ENG –

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator361.2 Specifications 1.2.1 Actuator [1] High Output Setting (1) Enabling/Disabling of Hi

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator37(2) Duty Ratio for High Output Setting When high output setting is enabled, duty is res

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator38[2] Maximum speed The maximum speed of the actuator is limited by the limit of the maxim

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator39(2) Rod Type • When high output setting is enabled Speed limits (Unit: mm/s) Maximum Sp

Table of Contents Safety Guide ···················································································································1 G

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator40[3] MAX. Acceleration, Payload Capacity If the payload capacity is smaller than as speci

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator41Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator42Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal /

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator43Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator44• When high output setting is disabled Type Motor Type Lead [mm]Horizontal / Vertical V

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator45Type Motor Type Lead [mm]Horizontal / Vertical Velocity [mm/s]Acceleration/Decelerati

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator46(2) Rod Type • When high output setting is enabled Payload capacity by acceleration/dece

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator47Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator48Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal /

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator49Payload capacity by acceleration/deceleration [kg] Type Motor TypeLead [mm]Horizontal

Chapter 3 Wiring ······································································································93 3.1 Positioner Mode 1 (Sta

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator50• When high output setting is disabledType Motor Type Lead [mm]Horizontal / Vertical V

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator51Type Motor Type Lead [mm]Horizontal / Vertical Velocity [mm/s]Acceleration/Deceleratio

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator52[4] Driving System • Position Detector (1) Slider Type Ball Screw Type Type Motor Type

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator53[5] Positioning Precision (1) Slider Type Type Lead Item Performance Positioning rep

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator54[6] Current Limit Value and Pressing Force (1) Slider Type • SA5C Pressing Force [N] Cur

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator55• SA7C Pressing Force [N] Current Limit Value [%] Ball Screw Lead [mm] 20 30 40 50 60

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator56(2) Rod Type • RA4CPressing Force [N] Current Limit Value [%] Ball Screw Lead [mm] 20 3

Chapter 1 Specications Check 1.2 Specications1.2.1 Actuator57• RA6C Pressing Force [N] Current Limit Value [%] Ball Screw Lead [mm] 20 30 40 50 60 7

Chapter 1 Specications Check1.2 Specications1.2.1 Actuator58[7] Option (1) With Brake (Model: B) This is a function that is necessary when the actua

Chapter 1 Specications Check 1.2 Specications1.2.2 Built-in Controller591.2.2 Built-in Controller [1] Basic Specifications Item Description Power-

3.7 Wiring Method··············································································································· 142 3.7.1 Wiring of

Chapter 1 Specications Check1.2 Specications1.2.2 Built-in Controller60[2] I/O Specifications (1) PIO Interfaces Input section Output section Inp

Chapter 1 Specications Check 1.2 Specications1.2.2 Built-in Controller61(2) Pulse Train Input Interface Interface Line Driver Input Specification P

Chapter 1 Specications Check1.2 Specications1.2.3 Control621.2.3 Control Option [1] PIO Converter (Model: RCB-ƑƑƑ)(1) Basic Specifications Item D

Chapter 1 Specications Check 1.2 Specications1.2.3 Control63(2) External Dimensions  For Incremental Type (Standard) 25908040 from DIN rail center3

Chapter 1 Specications Check1.2 Specications1.2.3 Control64 For Simple Absolute Type (Option) 25908040 from DIN rail center35.4 (Width of 35mm DIN

Chapter 1 Specications Check 1.2 Specications1.2.3 Control65(3) PIO Input and Output Interface Input section Output section Input voltage 24V DC

Chapter 1 Specications Check1.2 Specications1.2.3 Control66[2] Quick Teach (Model: RCM-PST-Ƒ)(1) Basic Specifications RCM-PST-0 RCM-PST-1 RCM-PST

Chapter 1 Specications Check 1.2 Specications1.2.3 Control67(2) External Dimensions  RCM-PST-0 6515727.026.132.521.6

Chapter 1 Specications Check1.2 Specications1.2.3 Control68 RCM-PST-1/RCM-PST-2/RCM-PST-EU 6515727.032.5 68.964.4

Chapter 2 Installation 2.1 Transportation69Chapter 2 Installation 2.1 Transportation [1] Handling of Actuator, PIO Converter and Quick Teach Unless

4.4 Operation in MEC Mode 1 and 2 (Operation with PLC) ··············································· 259 [1] Outline for Operation Patterns and Fu

Chapter 2 Installation2.1 Transportation70[2] Handling of Multi-Axes Type This is the case that this product is delivered with other actuators being

Chapter 2 Installation 2.2 Installation and Storage Environment712.2 Installation and Storage Environment This product is capable for use in the envi

Chapter 2 Installation2.2 Installation and Storage Environment72[2] Storage • Preservation Environment 䎃(1) Actuator The storage • preservation envir

Chapter 2 Installation 2.3 How to Install732.3 How to Install 2.3.1 Posture of Actuator Attachment { : Possible × : Not possible Type Horizontal

Chapter 2 Installation2.3 How to Install742.3.2 Installation of Slider Type 䎃[1] Attachment of Actuator Body The attachment surface should be a mach

Chapter 2 Installation 2.3 How to Install75Detail of ERC3-SA5C Datum SurfaceDetail of ERC3-SA7C Datum Surface(For reference) Shown below is the sectio

Chapter 2 Installation2.3 How to Install76(2) Mounting Method 1 (When utilizing tapped holes) Follow the table below for the torque to tighten the att

Chapter 2 Installation 2.3 How to Install77[2] Load Attachment • There is a restriction on the moment and load overhang length when attaching a load

Chapter 2 Installation2.3 How to Install78• There are tapped holes on the slider top for the load attachment. Also, there are two reamed holes. Utili

Chapter 2 Installation 2.3 How to Install792.3.3 Installation of Rod Type [1] Installation of Actuator Type Unit There are two ways to install, one

Chapter 7 Troubleshooting ·····················································································351 7.1 Action to Be Taken upon Occur

Chapter 2 Installation2.3 How to Install80• When Using Foot Brackets (Option) When installing the unit with using the foot brackets, use the T slots

Chapter 2 Installation 2.3 How to Install81(2) Mounting Method 2 (Installation using flange surface) • Direct Installation ActuatorType A B Tighteni

Chapter 2 Installation2.3 How to Install82• When Using Flange Bracket (Option) When installing the unit with using the flange bracket, use the tapped

Chapter 2 Installation 2.3 How to Install83Caution: • When installing on the flange, do not apply external force to the unit. It may cause an operati

Chapter 2 Installation2.3 How to Install84[2] Load Attachment Utilize the threaded part on the rod tip to attach the load. Screw in the load or use t

Chapter 2 Installation 2.3 How to Install85Caution: • Do not attempt to apply the radial load to the tip of the rod. An operation with the radial loa

Chapter 2 Installation2.3 How to Install862.3.4 Noise Prevention and How to Attach Electrical Devices [1] Noise Elimination Grounding (Frame Ground)

Chapter 2 Installation 2.3 How to Install87(2) When controlling with using PIO converter There is a terminal for frame grounding on the front panel of

Chapter 2 Installation2.3 How to Install882) RCM-PST-1 Caution: In case it is necessary to use a terminal block in an electromagnetic control box, cut

Chapter 2 Installation 2.3 How to Install893) RCM-PST-2/RCM-PST-EU Electric wire color Signal Name Description BR L BL N Power supplyYW & GN P