ERC3 Actuator with Integrated Controller Instruction Manual Eighth Edition
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this product.
Table of Contents Safety Guide ···················································································································1 Guideline for Control Method····························································································8 Precautions in Operation ··································································································9 International Standards Compliances ·············································································13 N
Chapter 3 3.1 3.2 3.3 3.4 3.5 3.6 Wiring ······································································································93 Positioner Mode 1 (Standard Type) ················································································ 93 3.1.1 Wiring Diagram (Connection of construction devices)····································· 93 3.1.
3.7 Wiring Method··············································································································· 142 3.7.1 Wiring of Actuator··························································································· 142 [1] PIO type power and I/O cable (Model : CB-ERC3P-PWBIOƑƑƑ)········· 142 [2] SIO type power and I/O cable (Model : CB-ERC3S-PWBIOƑƑƑ)········· 143 3.7.2 Wiring between PIO Converter and Quick Teach ·········································· 144 3.7.
4.4 4.
Chapter 7 7.1 7.2 7.3 7.4 Chapter 8 8.1 8.2 8.3 8.4 8.5 8.6 8.7 Troubleshooting ·····················································································351 Action to Be Taken upon Occurrence of Problem························································· 351 Fault Diagnosis ············································································································· 353 7.2.
.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)········ 409 10.5.1 I/O Assignment······························································································· 409 10.5.
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger product is not handled correctly, will result in death or serious injury.
Guideline for Control Method ERC3 has numerous operation patterns and options to meet many criteria for different applications. Check Chapter 4 Operation for more details. When Quick Teach is used with Con mode only Jog Operation is available. Type of No.
Precautions 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 output setting. Even though the transportable weight and maximum speed decrease, an operation with the duty 100% becomes available if the high output setting is set invalid in the parameters. See 1.2.1 Settings for Valid/Invalid of High Output Setting for more details. 2. Set the operation patterns.
8. 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 properly by following this instruction manual. Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life. 10. Make sure to follow the usage condition, environment and specification range of the product.
17. When using Pulse Train Control type, pay close attention to the pulse frequency; so the frequency will no exceed the actuator specification. In the pulse train control, the acceleration/deceleration speed is also controlled by the change of the command pulse frequency from the host controller. Be careful not to exceed the maximum acceleration/deceleration speed of the actuator. The use of the actuator with excessive acceleration/deceleration rate may cause a malfunction. 18.
19. Transference of PIO Signal between Controllers Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process safely, it is recommended to have the timer setting more than twice as long as the longer scan time at least. 䎃 Ɣ Operation Image 䎃 PLC 䎃 (e.g.
International Standards Compliances This product complies with the following overseas standard.
Names 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 horizontally and is looked from the motor side as shown in the figure below.
2.
3. 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 for details. Also, if ERC3 is Simple Absolute Type, the absolute battery is to be attached to this PIO Converter, thus it is mandatory.
1) 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 the battery to retain the encoder information for Simple Absolute Type. Affix it with fabric hook-and-loop fastener on the side of PIO Converter. If ERC3 is Simple Absolute Type, it is necessary that PIO Converter is a type that is applicable for Simple Absolute Type. 3) SIO Connector (SIO) [Refer to 3.7.
6) Status Indicator LED (SYS) Following show the controller operation status: { : Illuminating × : OFF LED Status of PIO Output Signal SV Output (Servo ON) *ALM Output *EMGS Output MEC Mode Type *ALM Output (Alarm) OFF OFF OFF ON OFF OFF (Emergency Stop Status) ON OFF – ON OFF OFF OFF OFF – OFF OFF OFF OFF OFF OFF OFF – OFF ON ON ON ON OFF ON – ON CON Mode Type SV (GN) ALM (RD) × × × { { × ڏ × Operation status ڏ: Flashing Control Power Supply ON Control Powe
10) Status LED (0 to 15) • Display while Mode 0 (Command Current Ratio Level) being selected The command current ratio level of the motor rated current as 100% is displayed in a bar graph with green lights.
• 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 or OFF. [Refer to 2.1 [2]] LED turned ON in green : input signal ON LED being OFF : input signal OFF • Display while Mode 2 (PIO Output Signal Monitor) being selected It displays the status of PIO control input (PIO Converter ĺ PLC) whether it is ON or OFF. [Refer to 2.
(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 of stop positions (2 or 3 points), acceleration/deceleration, speed and try run (forward / backward / continuous operations) are available. Check Chapter 4 Operation for the functions of each LED and operation switch.
1) Emergency Stop Connector [Refer to Chapter 2] This is the input connector for the external emergency stop signals. There is a plug equipped with a jumper cable attached on at the delivery. Remove the jumper when a wiring for the external emergency stop is required. Connect a signal that turns ON in normal condition and OFF when in abnormal for the external emergency stop signal.
Actuator Coordinate The coordinate system of ERC3 is as shown below. 0 defines the home position, and items in ( ) are for the home-reversed type (option). For MEC Mode, the home position is the origin point and positive side is the end point.
Starting Procedures 1. Positioner 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” stated in this section means “RC PC software”. Check of Packed Items Are there all the delivered items? No ĺ Contact us or our distributor. Ļ Yes Installation and Wiring [Refer to Chapter 2 and Chapter 3] Perform the installation of and wiring for the actuator. ĺ Point Check Item [Refer to Section 2.3.
2. Pulse Train Control Mode This product allows positioning control by the pulse train. It is necessary to have the positioning control function able to output the pulse train on the host controller (PLC). When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “RC PC software”. Check of Packed Items Are there all the delivered items? No ψ Contact us or our distributor.
3. Positioner 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” stated in this section means “RC PC software”. Check of Packed Items Are there all the delivered items? No ĺ Contact us or our distributor. Ļ Yes Installation and Wiring [Refer to Chapter 2 and Chapter 3] Perform the installation of and wiring for the actuator. ĺ Point Check Item [Refer to Section 2.3.
4. 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” stated in this section means “MEC PC software”. Check of Packed Items Are there all the delivered items? No ĺ Contact us or our distributor. Ļ Yes Installation and Wiring [Refer to Chapter 2 and Chapter 3] 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.
5. 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” stated in this section means “MEC PC software”. Check of Packed Items Are there all the delivered items? No ĺ Contact us or our distributor. Ļ Yes Installation and Wiring [Refer to Chapter 2 and Chapter 3] Perform the installation of and wiring for the actuator.
6. 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” stated in this section means “MEC PC software”. No ĺ Check of Packed Items Are there all the delivered items? Contact us or our distributor.
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Chapter 1 Specifications Check Product Check 1.1.1 Chapter 1 Specifications Check 1.1 Parts 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. (1) ERC3 Main Body No. 1 Part Name ERC3 Main Body Accessories Model Refer to “How to read the model plate”, “How to read the model”.
1.1.2 Teaching Tool Chapter 1 Specifications Check The teaching tool is necessary to perform setup operations such as position and parameter settings through teaching or other means. The teaching tools listed below are available for ERC3. However, the available teaching tools differ for MEC Mode Type and CON Mode Type. Prepare an appropriate one considering the controller type. ({: Available ×: Unavailable) 1.1 Product Check No.
1.1.4 How to read the model plate (1) ERC3 Main Body MODEL Chapter 1 Specifications Check Model ERC3-SA5-I-42P-20-50-SE-S-CN-B SERIAL No. 000049893 MADE IN JAPAN Serial number (2) PIO Converter (Option) Model Serial number MODEL RCB-CV-NPM-2-AB SERIAL No. 000049894 MADE IN JAPAN (3) Quick Teach (Option) Serial number 1.
1.1.5 How to read the model (1) ERC3 Main Body 1.
(2) PIO Converter (Option) RCB – CV – NPM – 2 – AB – ** Identification for IAI use only (Note 1)
Chapter 1 Specifications Check 1.2 Specifications 1.2.1 Actuator [1] High Output Setting (1) Enabling/Disabling of High Output Setting This actuator can select whether to enable / disable the high output setting by the parameters. At the delivery, the high output setting is activated for all the controllers. Controller Type Parameter No.152 High Output Setting CON Mode Type No.
Chapter 1 Specifications Check (2) Duty Ratio for High Output Setting When high output setting is enabled, duty is restrained respective to the surrounding temperature to control heat generation by the motor unit. Perform an operation with the duty ratio below the allowable range shown in the graph below. 㪏㪇 Duty [%] 㪎㪇 㪍㪇 㪌㪇 㪋㪇 㪇 㪌 㪈㪇 㪈㪌 㪉㪇 㪉㪌 㪊㪇 㪊㪌 㪋㪇 Surrounding temperature [qC] 1.2 Specifications 1.2.
Chapter 1 Specifications Check [2] Maximum speed The maximum speed of the actuator is limited by the limit of the maximum ball screw revolution. (1) Slider Type • When high output setting is enabled Speed limits (Unit: mm/s) Size Motor Lead Horizontal Minimum Type [mm] / Vertical Speed 3 SA5C 42P 6 12 20 4 SA7C 56P 8 16 1.2 Specifications 1.2.
(2) Rod Type • When high output setting is enabled Speed limits (Unit: mm/s) Motor Type Lead [mm] 3 RA4C 42P 6 12 20 4 RA6C 56P 8 16 24 Horizontal / Vertical Minimum Speed Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical Horizontal Vertical 50 Maximum Speed Stroke [mm] 150 200 100 225 225 450 450 700 700 3.75 7.
Chapter 1 Specifications Check [3] MAX. Acceleration, Payload Capacity If the payload capacity is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level. (1) Slider Type • When high output setting is enabled Type Motor Type Lead [mm] 1.2 Specifications 1.2.1 Actuator 3 SA5C 42P 6 40 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.
Type Motor Type Lead [mm] 42P 20 1.2 Specifications 1.2.1 Actuator SA5C Chapter 1 Specifications Check 12 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 9 9 9 9 8 100 9 9 9 9 8 200 9 9 9 9 8 300 9 9 9 9 7 400 9 9 8 8 6 Horizontal 500 9 9 8 5.5 5.5 600 9 9 8 5.5 4 700 9 7 6 4 2.5 800 – 5.5 3.5 2 1 900 – 5 2.5 1 – 0 2.5 2.5 2.5 – – 100 2.5 2.5 2.5 – – 200 2.5 2.5 2.5 – – 300 2.5 2.5 2.5 – – 400 2.5 2.5 2.5 – – Vertical 500 2.5 2.
Motor Type Chapter 1 Specifications Check Type Lead [mm] 4 1.2 Specifications 1.2.1 Actuator SA7C 56P 8 42 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 45 45 45 40 35 35 45 45 45 40 35 70 45 42 42 35 35 105 42 40 40 35 35 Horizontal 140 42 40 25 25 22 175 38 18 – – – 210 35 – – – – 245 – – – – – 0 22 22 22 – – 35 22 22 22 – – 70 22 22 22 – – 105 20 20 19 – – Vertical 140 15 12 11 – – 175 10 4.5 – – – 210 6.
Type Motor Type Lead [mm] SA7C 56P 1.2 Specifications 1.2.1 Actuator 24 Chapter 1 Specifications Check 16 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 35 35 35 26.5 26.5 140 35 35 35 26.5 26.5 280 35 28 28 22 18 420 30 23 12.5 11 10 Horizontal 560 22 15 9.5 7.5 5.5 700 20 11 5.5 3.5 2 840 – 4 2.5 – – 980 – 2 – – – 0 7 6 4 – – 140 7 6 4 – – 280 7 6 4 – – 420 5 5 4 – – Vertical 560 5 4 3 – – 700 3.5 2.5 1.
• When high output setting is disabled Motor Type Chapter 1 Specifications Check Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical Horizontal 1.2 Specifications 1.2.1 Actuator 6 Vertical SA5C 42P Horizontal 12 Vertical Horizontal 20 Vertical 44 Velocity [mm/s] 0 19 38 75 113 150 0 19 38 120 150 0 38 100 150 200 300 0 38 80 250 300 0 75 150 400 600 0 75 125 450 600 0 125 250 667 1000 0 125 208 750 1000 Acceleration/ Deceleration [G] 0.2 0.2 0.3 0.2 0.3 0.2 0.3 0.
Type Motor Type Lead [mm] Horizontal / Vertical 4 Vertical Horizontal 8 SA7C 56P Horizontal 16 Vertical Horizontal 24 Vertical 0.2 0.2 0.3 0.2 0.3 0.2 0.3 0.2 Load capacity [kg] 20 20 20 20 20 20 10 10 10 10 2 20 20 20 20 20 3.5 5 5 5 5 1 0.5 10 10 10 10 2 2.5 2.5 2.5 2.5 0.5 6 6 6 6 1 1.5 1.5 1.5 1.5 0.5 1.2 Specifications 1.2.
(2) Rod Type • When high output setting is enabled 1.2 Specifications 1.2.1 Actuator Chapter 1 Specifications Check Type Motor Type Lead [mm] 3 RA4C 42P 6 46 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 40 40 40 40 35 25 40 40 40 40 35 50 40 40 40 40 35 75 40 40 40 40 35 100 40 40 40 40 35 Horizontal 125 40 40 40 40 35 150 40 40 40 30 25 175 36 36 35 25 20 200 36 28 28 19.
Type Motor Type Lead [mm] RA4C 42P 1.2 Specifications 1.2.1 Actuator 20 Chapter 1 Specifications Check 12 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 25 25 14 14 12 100 25 25 14 14 12 200 25 25 11 8 8 300 25 25 11 7 5.5 Horizontal 400 17.5 16.5 8 4 3.5 500 – 15 5.5 2 2 600 – 10 3.5 – – 700 – 6 2 – – 0 4.5 4.5 3.5 – – 100 4.5 4.5 3.5 – – 200 4.5 4.5 3.5 – – 300 4 4 3.5 – – Vertical 400 3.5 3.5 2.5 – – 500 – 3.
Motor Type Chapter 1 Specifications Check Type Lead [mm] 4 1.2 Specifications 1.2.1 Actuator RA6C 56P 8 48 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 70 70 60 60 50 35 70 70 60 60 50 70 70 70 60 60 50 Horizontal 105 70 70 55 45 40 140 70 50 30 20 15 175 50 15 – – – 210 20 – – – – 0 25 25 25 – – 35 25 25 25 – – 70 25 25 25 – – Vertical 105 15 15 15 – – 140 11.
Type Motor Type Lead [mm] RA6C 56P 24 1.2 Specifications 1.2.1 Actuator Chapter 1 Specifications Check 16 Payload capacity by acceleration/deceleration [kg] Horizontal / Velocity Vertical 0.1G 0.3G 0.5G 0.7G 1.0G [mm/s] 0 45 40 30 28 26 140 45 40 30 28 26 280 45 34 30 24 18 Horizontal 420 45 22 17 13 10 560 – 9.5 5 2.5 1.5 700 – 2 – – – 0 8 8 8 – – 140 8 8 8 – – 280 6.5 5.5 5.5 – – Vertical 420 5.
• When high output setting is disabled Motor Type Chapter 1 Specifications Check Type Lead [mm] Horizontal / Vertical Horizontal 3 Vertical Horizontal 1.2 Specifications 1.2.1 Actuator 6 RA4C Vertical 42P Horizontal 12 Vertical Horizontal 20 Vertical 50 Velocity [mm/s] 0 19 38 75 113 150 0 19 38 50 150 0 38 100 150 200 300 0 38 80 300 0 75 150 300 600 0 75 125 600 0 125 200 500 667 0 125 208 667 Acceleration/ Deceleration [G] 0.2 0.2 0.3 0.2 0.3 0.2 0.3 0.
Type Motor Type Lead [mm] Horizontal / Vertical 4 Vertical Horizontal 8 Vertical 56P Horizontal 16 Vertical Horizontal 24 Vertical 0.2 0.2 0.3 0.2 0.3 0.2 0.3 0.2 Load capacity [kg] 55 55 55 55 55 25 25 25 25 2 50 50 50 50 50 3.5 17.5 17.5 17.5 1 40 40 40 40 2 5 5 5 5 0.5 25 25 25 20 1.5 3 3 3 3 0.5 1.2 Specifications 1.2.
[4] Driving System • Position Detector (1) Slider Type Chapter 1 Specifications Check Type Motor Type Lead No. of Encoder Pulses (Note 1) Type 3 6 SA5C 42P Rolled 12 20 800 4 8 SA7C 56P Rolled 16 24 Note 1 This is a number of pulses entered in the controller. Ball Screw Type Diameter Accuracy I10mm C10 I12mm C10 (2) Rod Type Type Motor Type Lead No. of Encoder Pulses (Note 1) Type 1.2 Specifications 1.2.
[5] Positioning Precision (1) Slider Type Lead Item Performance Positioning repeatability ±0.02mm 3, 6, 12 Lost motion 0.1mm or less SA5C Positioning repeatability ±0.03mm 20 Lost motion 0.1mm or less Positioning repeatability ±0.02mm 4, 8, 16 Lost motion 0.1mm or less SA7C Positioning repeatability ±0.03mm 24 Lost motion 0.1mm or less The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.
Chapter 1 Specifications Check [6] Current Limit Value and Pressing Force (1) Slider Type • SA5C Pressing Force [N] Ball Screw Lead [mm] 3 6 12 20 20 106 53 26 16 Current Limit Value [%] 30 40 50 60 159 211 264 317 79 106 132 159 40 53 66 79 24 32 40 48 70 370 185 93 56 SA5C Current Limit Values and Pressing Force 400 1.2 Specifications 1.2.
• SA7C Pressing Force [N] Ball Screw Lead [mm] Current Limit Value [%] 30 40 50 60 70 288 385 481 577 673 144 192 240 288 336 72 96 120 144 168 48 64 80 96 112 Chapter 1 Specifications Check 4 8 16 24 20 192 96 48 32 SA7C Current Limit Values and Pressing Force 800 Pressing Force [N] 700 600 Lead 4 500 400 Lead 8 300 200 100 1.2 Specifications 1.2.
Chapter 1 Specifications Check (2) Rod Type • RA4C Pressing Force [N] Ball Screw Lead [mm] 3 6 12 20 20 106 53 26 16 Current Limit Value [%] 30 40 50 60 70 159 211 264 317 370 79 106 132 159 185 40 53 66 79 93 24 32 40 48 56 RA4C Current Limit Values and Pressing Force 400 1.2 Specifications 1.2.
• RA6C Pressing Force [N] Ball Screw Lead [mm] Current Limit Value [%] 30 40 50 60 469 625 781 937 234 312 391 469 117 156 195 234 78 104 130 156 70 1094 547 273 182 Chapter 1 Specifications Check 4 8 16 24 20 312 156 78 52 RA6C Current Limit Values and Pressing Force 1200 Pressing Force [N] 1000 Lead 4 800 600 Lead 8 400 0 1.2 Specifications 1.2.
[7] Option 1.2 Specifications 1.2.1 Actuator Chapter 1 Specifications Check (1) With Brake (Model: B) This is a function that is necessary when the actuator is mounted in the vertical orientation. This prevents a drop of work piece or fixture attached on the actuator when the power or servo is turned OFF. (2) Home Reversed Type (Model: NM) In the standard type, the home position is set on the motor end.
1.2.
Specification Chapter 1 Specifications Check [2] I/O Specifications (1) PIO Interfaces Insulation Type Input voltage Input section 24V DC ±10% Output section Load voltage 24V DC ±10% Peak load electric 50mA/1 point current Input current 4mA/1 circuit ON/OFF voltage ON voltage 18V DC or more OFF voltage 6V DC or less Leak current Non-insulated from external circuit MAX.0.1mA/1 point Non-insulated from external circuit Internal Power Supply 24V External Power Supply 24V NPN 5.
(2) Pulse Train Input Interface Interface Line Driver Input Chapter 1 Specifications Check Positioning Unit Pulse Train Output PP /PP NP Specification Equivalent to Line Driver 26C31 0V Format of Pulse Train Connection Cable /NP ERC3 Control Power Supply Connected to 0V line on 24V DC For the host positioning unit, use the line driver 26C31 or equivalent with pulse train output specification. Refer to 4.3 [7] PIO type power and I/O cable [Refer to 3.2.3 [3]] 1.2 Specifications 1.2.
Chapter 1 Specifications Check 1.2.
40 from DIN rail center Chapter 1 Specifications Check 35.4 (Width of 35mm DIN rail) (2) External Dimensions For Incremental Type (Standard) 98 80 25 (5) 1.2 Specifications 1.2.
1.2 Specifications 1.2.3 Control 64 (5) (10) 90 40 from DIN rail center 35.
Insulation Type Input voltage Input section 24V DC ±10% Input current 4mA/1 circuit ON/OFF voltage ON voltage 18V DC or more OFF voltage 6V DC or less Non-insulated from external circuit Output section Load voltage 24V DC ±10% Peak load electric 50mA/1 point current Leak current MAX.0.1mA/1 point Non-insulated from external circuit Internal Power Supply 24V External Power Supply 24V NPN 5.
Item Power Supply Unit Model RCM-PST-0 RCM-PST-1 RCM-PST-2 RCM-PST-EU 24V DC power supply type Equipped with 200V AC Equipped with 100V AC Equipped with 200V AC (Main unit of teaching power supply unit power supply unit power supply unit pendant) dedicated for Europe RCM-PS-2 RCM-PS-EU RCM-PS-1 (Equipped with 2m (Equipped with 2m (Equipped with 2m – cable with I4.3-hole cable with I4.
157 Chapter 1 Specifications Check 27.0 (2) External Dimensions RCM-PST-0 26.1 21.6 65 32.5 1.2 Specifications 1.2.
1.2 Specifications 1.2.3 Control 157 27.0 Chapter 1 Specifications Check RCM-PST-1/RCM-PST-2/RCM-PST-EU 32.5 68 65 68.9 64.
Chapter 2 Installation 2.1 Transportation [1] Handling of Actuator, PIO Converter and Quick Teach Chapter 2 Installation Unless otherwise specified, the actuators are wrapped individually when the product is shipped out. Also, PIO Converter and Quick Teach are packaged separately. 䎃 (1) Handling the Packed Unit • Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash.
[2] Handling of Multi-Axes Type This is the case that this product is delivered with other actuators being combined. Multi-axes type will be delivered in a package with an outer case fixed to a wooden base. Sliders are fixed so they would not accidently move while in transportation. The end of the actuator is also fixed to avoid it swinging by external vibration. 䎃 Chapter 2 Installation (1) Handling the Packed Unit • Do not damage or drop.
2.2 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2*1 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) Chapter 2 Installation 䎃 [1] Installation Environment 䎃 (1) Actuator Do not use this product in the following environment. In general, the installation environment should be one in which an operator can work without protective gear.
[2] Storage • Preservation Environment 䎃 Chapter 2 Installation (1) Actuator The storage • preservation environment should be similar to the installation environment. In addition, make sure condensation will not occur when the actuator is to be stored or preserved for a long period of time. Unless specified, we do not include drying agents when shipping the actuator.
2.3 How to Install 2.3.1 Posture of Actuator Attachment Vertical installation Sideway installation Ceiling mount installation Slider Type (SA5C, SA7C) { { { { Rod Type (RA4C, RA6C) { { { { Vertical Sideways Chapter 2 Installation { : Possible × : Not possible Horizontal Type installation Attachment Orientation Horizontal Ceiling mount 1. When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason.
2.3.2 䎃 Installation of Slider Type [1] Attachment of Actuator Body Chapter 2 Installation The attachment surface should be a machined surface or a flat surface that possesses an equivalent accuracy, and the flatness should be 0.05mm or less. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. Also consider enough space necessary for maintenance work such as actuator replacement and inspection.
Chapter 2 Installation Datum Surface Datum Surface Detail of ERC3-SA5C Datum Surface 2.3 How to Install Datum Surface Datum Surface Detail of ERC3-SA7C Datum Surface A (For reference) Shown below is the section of platform when attaching using the datum. R0.3એਅ Actuator Type A Dimension for Reference [mm] SA5C, SA7C 1.5 to 4.
(2) Mounting Method 1 (When utilizing tapped holes) Follow the table below for the torque to tighten the attachment screws. Chapter 2 Installation Actuator Type SA5C SA7C Tightening Torque [N•m] Tapping In the case that steel is used for the In the case that aluminum is used Diameter bolt seating surface: for the bolt seating surface: M4 3.59 1.76 M5 7.27 3.42 Regarding attachment screws • It is recommended to use high-tensile bolts with ISO-10.9 or more. • The length of thread engagement should be 1.
[2] Load Attachment • There is a restriction on the moment and load overhang length when attaching a load to the slider. Chapter 2 Installation Allowable load moment and overhang load length Allowable Static Load Allowable Dynamic Load Actuator Allowable Overhung Load Moment [N•m] Moment (Note 1) [N•m] Type Length L [mm] Ma Mb Mc Ma Mb Mc Ma direction: 150 Mb or Mc direction: 150 Ma direction: 150 SA7C 70 100 159.5 15 21.4 34.
Chapter 2 Installation • There are tapped holes on the slider top for the load attachment. Also, there are two reamed holes. Utilize the reamed holes when repeatability in the attachment after detaching is required. Also, when a tuning of such accuracy as the perpendicularity is required, use only one of the reamed holes. • Shown below is the detail of the attachment area. Attach a load with the bolts listed in the table below with the specified tightening torque. Pay special attention to the bolt length.
2.3.3 Installation of Rod Type [1] Installation of Actuator Type Unit • Direct Installation Square nut 䎥䎃 For RA4C T Slot For RA6C Actuator Type Mounting Screw A B Tightening Torque [N•m] RA4C M4 17 7 1.76 RA6C M6 25 11.6 5.36 Regarding attachment screws Caution: Pay attention to the bolt length. It may cause an unexpected accident or failure due to an insufficient attachment strength if the screws are too long or short. 79 2.
• When Using Foot Brackets (Option) When installing the unit with using the foot brackets, use the T slots as for the direct installation and affix with hex socket head cap screws. E B C A Chapter 2 Installation D Actuator Type A B C D E RA4C 71 57 20 10 I6.6 through hole RA6C 95 79 25 12 I9 through hole Recommended Tightening Torque [N•m] attachment screw M6 5.36 M8 11.48 2.3 How to Install Regarding attachment screws • Use of high-tension bolts meeting at least ISO-10.
(2) Mounting Method 2 (Installation using flange surface) • Direct Installation Chapter 2 Installation 䎤䎃 䰀䎐䎥 䎤䎃 A B Tightening Torque [N•m] RA4C 34 M6, depth 12 5.4 RA6C 50 M8, depth 16 11.5 Regarding attachment screws • Use of high-tension bolts meeting at least ISO-10.9 is recommended. • Make sure to have the length of at least 1.8 times to the bolt diameter for the effective length of screw engagement for the tightening of a bolt and a female screw.
• When Using Flange Bracket (Option) When installing the unit with using the flange bracket, use the tapped holes as for the direct installation and affix with hex socket head cap screws. D A Chapter 2 Installation 4-F C E B 2.3 How to Install Actuator Type A B C D E RA4C 44.5 75 10 34 60 RA6C 63.5 99 12 50 82 F I6.
Caution: • When installing on the flange, do not apply external force to the unit. It may cause an operation error or damage with the external force. Chapter 2 Installation External Force ٳщ External Force ૅਤӨ Support Block 83 2.3 How to Install • Even if external force is not applied, when the length of the unit is 386mm or more and the actuator is installed horizontally, apply a support as shown in the figure below.
[2] Load Attachment Chapter 2 Installation Utilize the threaded part on the rod tip to attach the load. Screw in the load or use the enclosed nut. The enclosed nut can also be used as a stopper to stop from loosened after the load is screwed in. 2.3 How to Install Looseness stopper with enclosed nut Enclosed nut Load Load Maximum nut tightening torque of metal part on rod tip (Note 1) • RA4 31.9N•m • RA6 88.
Caution: • Do not attempt to apply the radial load to the tip of the rod. An operation with the radial load being applied may cause an abnormal noise or vibration resulted in generation of an alarm. Also, it may shorten the actuator life extremely. Chapter 2 Installation Radial Load • Pay attention not to rotate the rod when attaching a load. Make sure to hold 2 faces on the top with a wrench so the tightening torque would not be applied to the rod. The allowable static rotation torque should be 0.
2.3.4 Noise Prevention and How to Attach Electrical Devices [1] Noise Elimination Grounding (Frame Ground) (1) When controlling ERC3 directly from the host controller (PLC) Chapter 2 Installation PLC Cable model code: CB-ERC3P-PWBIOƑƑƑ 2.3 How to Install ERC3 ERC3 Other equipment Other equipment Earth Terminal Class D grounding (Formerly Class-III grounding : Grounding resistance at 100: or less) Other equipment Do not share the ground wire with or connect to other equipment.
(2) When controlling with using PIO converter PIO Converter PLC Earth Terminal Class D grounding (Formerly Class-III grounding : Grounding resistance at 100: or less) PIO Converter PIO Converter Chapter 2 Installation Copper Wire : Connect to a ground cable with diameter 1.6mm (AWG14: 2mm2) or more. Other equipment Other equipment Other equipment Do not share the ground wire with or connect to other equipment. Ground each controller.
Chapter 2 Installation 2) RCM-PST-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. 3P-2P conversion adapter (generally purposed) 2.3 How to Install Ground wire Copper Wire : Connect to a ground cable with 2 diameter 1.
3) RCM-PST-2/RCM-PST-EU Chapter 2 Installation Connect a 3P power socket plug and plug into a power socket with a ground electrode as conducted in 2), or connect to a 2P power socket and have the ground line connected to a ground terminal near the socket. Otherwise, make a connection using a terminal block inside an electromagnetic control box. Electric wire color BR BL YW & GN Signal Name L N PE Description Power supply Ground wire 2.
[2] Precautions regarding wiring method 1) Wire is to be twisted for the power supply. 2) Separate the signal and encoder lines from the power supply and power lines. [3] Noise Sources and Elimination Surge absorber Chapter 2 Installation Carry out noise elimination measures for electrical devices on the same power path and in the same equipment. The following are examples of measures to eliminate noise sources.
2) Quick Teach • RCM-PST-0 (24V DC power supply type) As shown in the figure on the right, Quick Teach can be hanged on a wall using the hook hole for wall mount on the back of it if a pan head screw is prepared on a wall. M3 Pan Head Screw Head diameter φ6 max.
92 2.
Chapter 3 Wiring 3.1 3.1.1 Positioner Mode 1 (Standard Type) Wiring Diagram (Connection of construction devices) I/O type of the model code is NP or PN. Chapter 3 Wiring Teaching Pendant (Please purchase separately) ERC3 Accessory Cable for ERC3 CB-ERC3P-PWBIO□□□ (Note 1) 24V DC PC software (Please purchase separately) PLC (Please prepare separately) 3.
3.1.2 PIO Pattern Select and PIO Signal [1] PIO Pattern (Control Pattern) Selection Chapter 3 Wiring There are three ways of control methods for ERC3 controllers. Set the most suitable PIO pattern to Parameter No.25 “PIO Pattern Select”. Refer to 4.2.2 Operation in Positioner Mode 1 for the details of PIO patterns. Type Value set in parameter No.
[2] PIO Patterns and Signal Assignment The signal assignment of cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC).
[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Chapter 3 Wiring Category Input 3.1 Positioner Mode 1 (Standard Type) Output 96 Signal Signal Name Function Description Abbreviation EMG Emergency Stop Input It shuts the motor power supply. BK Brake Forcible Release The brake will forcibly be released.
3.1.3 Circuit Diagram Sample circuit diagrams are shown below.
[2] PIO Circuit 1) PIO Pattern 0 ··················8-point Type 0V (NPN Type) 24V DC (PNP Type) 24V DC (NPN Type) 0V (PNP Type) ERC3 Chapter 3 Wiring Command Position No.1 Command Position No.2 Command Position No.
2) PIO Pattern 1 ··················Solenoid Valve Type 0V (NPN Type) 24V DC (PNP Type) 24V DC (NPN Type) 0V (PNP Type) ERC3 Start Signal No.1 Start Signal No.2 Reset BR 2 A9 RD 2 B9 OR 2 A10 YW 2 B10 GN 2 A11 RES B11 *STP BL 2 Pause ST0 PE0 ST1 PE1 ST2 PE2 *ALM A12 PL 2 B12 GY 2 A13 WT 2 B13 BK Current Position No.0 Chapter 3 Wiring Start Signal No.0 Current Position No.1 Current Position No.2 Alarm “*” in codes above shows the signal of the active low.
3) PIO Pattern 2 ··················16-point Type 0V (NPN Type) 24V DC (PNP Type) 24V DC (NPN Type) 0V (PNP Type) Chapter 3 Wiring ERC3 Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.
3.2 3.2.1 Pulse Train Control Mode Wiring Diagram (Connection of construction devices) I/O type of the model code is PLN or PLP. Teaching Pendant (Please purchase separately) Chapter 3 Wiring ERC3 PC software (Please purchase separately) Accessory Cable for ERC3 CB-ERC3P-PWBIO□□□ (Note 1) PLC (Please prepare separately) Power Supply A positioning unit of pulse train output type is required.
3.2.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Pattern) Selection There are two types of control method for the pulse train control. Set an appropriate PIO pattern suited to the use to Parameter No.25 “PIO Pattern Select”. Refer to 4.3 Operation in Pulse Train Control Mode for the details of PIO patterns. Chapter 3 Wiring Type PIO Pattern 0 Value set in parameter No.
[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to the section shown in Relevant Sections for the details of the control of each signal. Category Signal Name Emergency Stop Input Brake Forcible Release Differential Pulse Train Input (+) Differential Pulse Train Input (-) Servo ON Function Description It shuts the motor power supply. The brake will forcibly be released. Input the pulse train from the host controller. Relevant Sections 4.3 [3] 4.3 [4] 4.
3.2.3 Circuit Diagram Sample circuit diagrams are shown below. [1] Power Line and Emergency Stop Circuit External 0V +24V emergency External stop emergency reset switch stop switch CR Chapter 3 Wiring CR Emergency-stop switch on the teaching pendant ERC3 CR (Note 1) OR 1 A4 EMG Connection detection circuit (Note 3) CR OR B3 MP BR B1 CP RD 1 A3 BK Brake release (Note 2) switch 3.
[2] Command Pulse Train Circuit (1) When Host Unit is Differential System ERC3 Positioning Unit Pulse Train Output PL /PP WT NP GY Line Driver: 26C31 or equiv. 0V Chapter 3 Wiring PP BL /NP To 0V of power supply in common with ERC3 control circuit (0V of 24V DC power supply) (2) When Host Unit is Open Collector System AK-04 (please purchase separately) is required for pulse train input. Positioning Unit ERC3 3.
[3] PIO Circuit (1) PIO Pattern 0 ················· Positioning mode 24V DC (NPN Type) 0V (PNP Type) 0V (NPN Type) 24V DC (PNP Type) Chapter 3 Wiring ERC3 Servo ON Torque Limit Select Home Return Reset BR 2 A9 RD 2 B9 OR 2 A10 YW 2 B10 SON SV TL INP HOME RES HEND *ALM A12 PL 2 B12 GY 2 A13 WT 2 B13 BK Servo ON Status Position Complete Home Return Completion Alarm “*” in codes above shows the signal of the active low.
(2) PIO Pattern 1 ················· Pressing mode 24V DC (NPN Type) 0V (PNP Type) 0V (NPN Type) 24V DC (PNP Type) ERC3 BR 2 Servo ON Home Return Reset/ Deviation Counter Clear SON RD 2 B9 OR 2 A10 YW 2 B10 TL HOME RES/DCLR SV INP/TLR HEND *ALM A12 PL 2 B12 GY 2 A13 WT 2 B13 BK Servo ON Status Position Complete/ Torque Under Control Home Return Completion Chapter 3 Wiring Torque Limit Select A9 Alarm “*” in codes above shows the signal of the active low.
3.3 3.3.1 Positioner Mode 2 (Extension Type by PIO Converter) Wiring Diagram (Connection of construction devices) The model code for I/O type of ERC3 is SE (SIO type). Chapter 3 Wiring Teaching Pendant (Please purchase separately) PLC (Please prepare separately) 3.
3.3.2 PIO Pattern Selection and PIO Signal [1] PIO Pattern (Control Pattern) Selection PIO Converter can extend the positioner function of ERC3, and enables to have 6 types of control methods. Set the suitable PIO pattern to Parameter No.25 “PIO Pattern Select”. Check the 4.2.3 Operation in Positioner Mode 2 for the details of PIO Patterns. Value set in parameter No.
[2] PIO Patterns and Signal Assignment The signal assignment of cable by the PIO pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Chapter 3 Wiring Category Pin No. 3.
Category Pin No.
[3] List of PIO Signals The table below lists the functions of PIO signals. The detail of each signal is provided in this chapter. Refer to the relevant sections shown in the list below. Category Signal Abbreviation CSTR Chapter 3 Wiring PC1 to PC256 BKRL Input PTP Strobe (Start signal) Command Position Number Brake Forcible Release *STP Pause RES Reset SON Servo ON HOME Home Return MODE Teaching Mode JISL 3.
Category Signal Abbreviation Signal Name Function Description Relevant Sections Turns ON in the positioning width range after actuator operation. The INP signal will turn OFF if the position deviation 4.2.3 [6], [7] exceeds the in-position range. PEND and INP can be switched over by the parameter. PM1 to Completion Position The position No. reached after the positioning completion, is 4.2.3 [6] PM256 No. output (binary output). Home Return This signal will turn ON when home return has been completed.
3.3.3 Circuit Diagram Sample circuit diagrams are shown below.
(2) External Drive Cutoff Relay Type 24V Emergency stop reset switch Emergency-stop switch on the teaching pendant Emergency stop switch 0V PIO S2 S1 Converter S2 2nd unit S1 (Note 1) CR1 (Note 2) CR1 PIO S1 Converter S2 Nth unit Chapter 3 Wiring PIO Converter 1st unit CR1 CR2 PIO Converter EMG (-) Emergency stop signal MPI Motor power supply (Note 3) CR2 MPO CP24V Control power supply ERC3 GND EMG (-) CR2 MPI MPO EMG(㧙) CR2 Note 1 Note 2 Note 3 EMG (-) MPI MPI MPO MPO CP2
[2] PIO Converter to ERC3 SIO type power supply and I/O cable ERC3 CB-ERC3S-PWBIOƑƑƑ (Note 1) PIO Converter 1 A1 SB 2 A2 EMG 3 A3 BK 4 A4 BAT 5 A5 BGND 6 A6 CP 7 B1 8 B2 9 B3 10 B4 11 B5 12 B6 Chapter 3 Wiring SA CP_GND MP 3.3 Positioner Mode 2 (Extension Type by PIO Converter) MP_GND 13 FG 14 Note 1 ƑƑƑ indicates the cable length.
[3] PIO Circuit 1) PIO Pattern 0 ··················Positioning mode (Standard type) 0V(NPN Type) 24V DC(PNP Type) Brake Forcible Release Home Return Pause Start Reset Servo ON PIO Converter BR- 1 RD- 1 OR- 1 YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 1A 2A 3A 4A 5A PC1 6A PC2 7A PC4 8A PC8 9A PC16 10A PC32 11A 12A 13A 14A BKRL 15A 16A HOME 17A *STP 18A CSTR 19A RES 20A SON 1B PM1 2B PM2 3B PM4 4B PM8 5B PM16 6B PM32 7B MOVE 8B ZONE1 9B 10B 11
2) PIO Pattern 1 ··················Teaching mode (Teaching type) Chapter 3 Wiring 0V(NPN Type) 24V DC(PNP Type) Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.32 Teaching Mode Jog/inching Changeover Jog Move + Jog Move Home Return Pause Reset 3.
3) PIO Pattern 2 ··················256-point mode (Number of positioning points : 256-point type) 0V(NPN Type) 24V DC(PNP Type) Brake Forcible Release Home Return Pause Start Reset Servo ON PIO Converter BR- 1 RD- 1 OR- 1 YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 1A 2A 3A 4A 5A PC1 6A PC2 7A PC4 8A PC8 9A PC16 10A PC32 11A PC64 12A PC128 13A 14A BKRL 15A 16A HOME 17A *STP 18A CSTR 19A RES 20A SON 1B PM1 2B PM2 3B PM4 4B PM8 5B PM16 6B PM32 7B
4) PIO Pattern 3 ··················512-point mode (Number of positioning points : 512-point type) Chapter 3 Wiring 0V(NPN Type) 24V DC(PNP Type) Command Position No.1 Command Position No.2 Command Position No.4 Command Position No.8 Command Position No.16 Command Position No.32 Command Position No.64 Command Position No.128 Command Position No.256 Brake Forcible Release Home Return Pause Start Reset 3.
5) PIO Pattern 4 ····················Solenoid Valve Mode 1 (7-point type) 0V(NPN Type) 24V DC(PNP Type) Brake Forcible Release Home Return Pause Reset Servo ON PIO Converter BR- 1 RD- 1 OR- 1 YW- 1 GN- 1 BL- 1 PL- 1 GY- 1 WT- 1 BK- 1 BR- 2 RD- 2 OR- 2 YW- 2 GN- 2 BL- 2 PL- 2 GY- 2 WT- 2 BK- 2 1A 2A 3A 4A 5A ST0 6A ST1 7A ST2 8A ST3 9A ST4 10A ST5 11A ST6 12A 13A 14A BKRL 15A 16A HOME 17A *STP 18A 19A RES 20A SON 1B BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN-
6) PIO Pattern 5 ····················Solenoid Valve Mode 2 (3-point type) Chapter 3 Wiring 0V(NPN Type) 24V DC(PNP Type) Start Signal 0 Start Signal 1 Start Signal 2 Brake Forcible Release Reset 3.
3.4 MEC Mode 1 (Operation with PLC) 3.4.1 Wiring Diagram (Connection of construction devices) I/O type of the model code is NP or PN. It is available to have a try run and teaching with Quick Teach.
3.4.2 PIO Pattern Selection and PIO Signal [1] Operation pattern Stopping at 3 points (3-point positioning) Movement by 2 input between 2 points [Double-solenoid mode] Stopping at 2 points (2-point positioning) Movement by 1 input between 2 points [Single-solenoid mode] Operation pattern Movement by 2 input between 3 points [3-point positioning] 3.4 MEC Mode 1 (Operation with PLC) Chapter 3 Wiring There are 2 types of operation patterns available.
[2] Operation Patterns and Signal Assignments The signal assignment of cable by the operation pattern is as shown below. Follow the table below to connect external equipment (such as a PLC). Operation pattern 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 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 Signal with “*” expresses the signal of active low.
[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to Section 4.4 [6] and [7] for the details of the control for each signal. Signal Name Chapter 3 Wiring Signal Type ST0 Stopping at 2 points Contents of (2-point positioning) Signals Movement by 1 input between 2 points [Single-solenoid mode] Positioning starts towards the end point when the ON Move Signal level is detected. Positioning starts towards 1 the start point when the OFF level is detected.
3.4.3 Circuit Diagram Sample circuit diagrams are shown below.
[2] PIO Circuit 1) Stopping at 2 points (2-point positioning) ·······································Movement by 1 input between 2 points (Single-solenoid mode) 24V DC (NPN Type) 0V (PNP Type) 0V (NPN Type) 24V DC (PNP Type) Chapter 3 Wiring ERC3 Move Signal 1 Pause Reset BR 2 A9 RD 2 B9 OR 2 A10 YW 2 B10 GN 2 A11 BL 2 B11 ST0 LS0/PE0 LS1/PE1 HEND RES *ALM A12 PL 2 B12 GY 2 A13 WT 2 B13 BK Start point detection/ Positioning to start point complete End point detection/ Positi
2) Stopping at 3 points (3-point positioning) ······································· Movement by 2 input between 2 points (Double-solenoid mode) Movement by 2 input between 3 points (3-point positioning) 24V DC (NPN Type) 0V (PNP Type) 0V (NPN Type) 24V DC (PNP Type) ERC3 Move Signal 2 Reset BR 2 A9 RD 2 B9 OR 2 A10 YW 2 B10 GN 2 A11 BL 2 B11 ST0 LS0/PE0 ST1 LS1/PE1 RES LS2/PE2 *ALM A12 PL 2 B12 GY 2 A13 WT 2 B13 BK Start point detection/ Positioning to start point complete E
3.5 MEC Mode 2 (Operation Using PIO Converter) 3.5.1 Wiring Diagram (Connection of construction devices) The model code for I/O type of ERC3 is SIO type (model code: SE). Chapter 3 Wiring CB-PST-SIO050 (Optional casing for Quick Teach) Quick Teach (Note 1) (Note 2) (Please purchase separately) PLC (Please prepare separately) PIO Converter I/O Flat Cable CB-PAC-PIOƑƑƑ (Note 1) (enclosed in PIO Converter) 3.
3.5.2 PIO Pattern Selection and PIO Signal [1] Operation pattern There are 2 types of operation patterns available. The selection of the operation patterns is to be set in the initial setting process using a teaching tool such as the PC software. See the instruction manual of each teaching tool for more details. This setting cannot be made for Quick Teach. Explained below is the outline of the operational specifications for each pattern.
[2] Operation Patterns and Signal Assignments 3.5 MEC Mode 2 (Operation Using PIO Converter) Chapter 3 Wiring The signal assignment of cable by the operation pattern is as shown below. Follow the following table to connect the external equipment (such as PLC). Pin No.
[3] List of PIO Signals The table below lists the functions of PIO signals. Refer to Section 4.4 [6] and [7] for the details of the control for each signal. Signal Type Signal Name Input Move Signal 2 ST1 RES LS0 LS1 Output Pressing Function LS2 PE0 Use PE1 PE2 HEND *ALM Caution Set to [Both ON for intermediate movement method] in the initial settings. Have the interlock activated so ST0 and ST1 cannot be turned ON at the same time.
3.5.3 Circuit Diagram Sample circuit diagrams are shown below.
(2) External Drive Cutoff Relay Type 24V Emergency stop reset switch Emergency-stop switch on the teaching pendant Emergency stop switch 0V PIO S2 S1 Converter S2 2nd unit S1 (Note 1) CR1 (Note 2) CR1 PIO S1 Converter S2 Nth unit Chapter 3 Wiring PIO Converter 1st unit CR1 CR2 PIO Converter EMG (-) Emergency stop signal MPI Motor power supply (Note 3) CR2 MPO CP24V Control power supply ERC3 GND EMG (-) CR2 MPI MPO CP24V CR2 Note 1 Note 2 Note 3 EMG (-) MPI MPI MPO MPO CP24
[2] PIO Converter to ERC3 SIO type power supply and I/O cable ERC3 CB-ERC3S-PWBIOƑƑƑ (Note 1) PIO Converter 1 A1 SB 2 A2 EMG 3 A3 BK 4 A4 BAT 5 A5 BGND 6 A6 CP 7 B1 8 B2 9 B3 10 B4 11 B5 12 B6 Chapter 3 Wiring SA CP_GND MP 3.5 MEC Mode 2 (Operation Using PIO Converter) MP_GND 13 FG 14 Note 1 ƑƑƑ indicates the cable length.
[3] PIO Circuit 1) Stopping at 2 points (2-point positioning) ·······································Movement by 1 input between 2 points (Single-solenoid mode) 0V(NPN Type) 24V DC(PNP Type) PIO Converter PIO Connector 1B 1A LS0/PE0 2B 2A LS1/PE1 3B 3A HEND 4B 4A *ALM 5B 5A ST0 6B 6A 7B 7A RES 8B 8A 9B 9A 10B 10A 11B 11A 12B 12A 13B 13A 14B 14A 15B 15A 16B 16A 17B 17A 18B 18A 19B 19A 20B 20A BR- 3 RD- 3 OR- 3 YW- 3 GN- 3 BL- 3 PL- 3 GY- 3 WT- 3 BK- 3 BR- 4 RD- 4 OR- 4 YW- 4 GN- 4 BL- 4 PL- 4 GY- 4 WT- 4 B
2) Stopping at 3 points (3-point positioning) ······································· Movement by 2 input between 2 points (Double-solenoid mode) Movement by 2 input between 3 points (3-point positioning) 3.
3.6 MEC Mode 3 (Solo Operation with Quick Teach) 3.6.1 Wiring Diagram (Connection of construction devices) I/O type of the model code is SE. [1] RCM-PST-0 (24V DC power supply type) Chapter 3 Wiring Power Supply 24V DC External emergency stop signal (always closed and open in emergency stop) Accessory Cable for ERC3 CB-ERC3S-PWBIOƑƑƑ (Note 1) Quick Teach 3.6 MEC Mode 3 (Solo Operation with Quick Teach) Note 1 ƑƑƑ indicates the cable length.
[2] RCM-PST-1 Power Supply 24V DC Chapter 3 Wiring External emergency stop signal (always closed and open in emergency stop) Accessory Cable for ERC3 CB-ERC3S-PWBIOƑƑƑ (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. 3.
[3] RCM-PST-2/RCM-PST-EU Chapter 3 Wiring External emergency stop signal (always closed and open in emergency stop) Accessory Cable for ERC3 CB-ERC3S-PWBIOƑƑƑ Connect a 3P power socket plug and plug into a power socket with a ground electrode as conducted in [2], or connect to a 2P power socket and have the ground line connected to a ground terminal near the socket. Otherwise, make a connection using a terminal block inside an electromagnetic control box.
3.7 Wiring Method 3.7.1 Wiring of Actuator Use a dedicated connection cable of IAI for connection. 䎃 [1] PIO type power and I/O cable (Model : CB-ERC3P-PWBIOƑƑƑ)䎃 Chapter 3 Wiring ƑƑƑ indicates the cable length L. (Example 030 = 3m), MAX. 10m L 9 BA Model code display 9 150 CN1 Resectable Housing: 1-1827863-3 (AMP)×1 Contact: 1827570-3 (AMP)×23 V0.5-3 (J.S.T. Mfg.) V0.5-3 (J.S.T. Mfg.) 3.7 Wiring Method 20 33 25 Pin Signal No. Name FG A1 N.C A2 BK A3 EMG A4 N.C A5 N.
[2] SIO type power and I/O cable (Model : CB-ERC3S-PWBIOƑƑƑ) 10 ƑƑƑ indicates the cable length L. (Example 030 = 3m), MAX. 10m 11 L 25 20 9 B A 16 Model code display CN2 Plug Housing: PADP-14V-1-S (J.S.T. Mfg.)×1 Socket Contact: SPND-001T-C0.5 (J.S.T. Mfg.)×6 SPND-002T-C0.5 (J.S.T. Mfg.)×5 CN2 Signal Name Pin No. 1 SB 2 SA 3 EMG 4 BK 5 BAT 6 BGND 7 CP 8 CP_GND 9 MP 10 MP_GND 11 N.C 12 N.C 13 N.C 14 FG 23.
3.7.2 Wiring between PIO Converter and Quick Teach Chapter 3 Wiring 2 1 14 13 φ4.8 SIO communication cable (Model: CB-PST-SIO050) Cable length = 5m Model code display CN2 CN1 8PIN MINI DIN Connector (Overmolded) Housing: PADP-14V-1-S (J.S.T. Mfg.) Contact: SPND-002T-C0.5 (J.S.T. Mfg.) CN2 3.7 Wiring Method Signal Name Pin No. SGB 1 SGA 2 EMG 3 N.C 4 N.C 5 TGND 6 N.C 7 GND 8 N.C 9 GND 10 24V 11 N.C 12 N.C 13 N.C 14 144 CN1 120Ω 1/4W Pin No. Signal Name SGB 1 SGA 2 SV 3 N.C 4 N.
3.7.3 Wiring between PIO Converter and Host Controller (e.g. PLC) The connection of I/O for PIO Converter is to be conducted with the dedicated I/O cable. The cable length is shown in the model code of PIO Converter. Check the model code of PIO Converter. Selection can be made from 3m or 5m as well as standard 2m. 10m is also applicable at maximum if purchased separately. [Refer to 1.1.5 How to read the model] Also, the end of the cable harness to be connected to the host controller (PLC, etc.
Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire. Chapter 3 Wiring • Use dedicated cables of IAI indicated in this instruction manual.
• Do not pull the cable with a strong force. Chapter 3 Wiring • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. • PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct.
Chapter 3 Wiring • If using a cable track, arrange the wiring so that there is no entanglement or kink of the cables in the cable carrier or flexible tube, and do not bind the cables so that the cables are relatively free. (Arrange the wiring so the cables are not to be pulled when bent.) • The occupied volume rate for the cables, etc., inside the cable track should be 60% or less. Cable Track 3.
3.7.4 Wiring of PIO Converter Power Line Connector The wires of the power supply and the emergency stop circuit are to be connected to the enclosed connector (plug). Strip the sheath of the applicable wires for 10mm and insert them to the connector. Push a protrusion beside the cable inlet with a small slotted screwdriver to open the inlet. After inserting a cable, remove the screwdriver from the protrusion to fix the cable.
3.7.5 Pulse Converter: AK-04 (Optional accessory) Chapter 3 Wiring This pulse converter is necessary when pulse train control is required and the output pulse of the host controller is the open collector type. It converts the command pulse of the open collector type to the differential type. Use the enclosed e-CON connector for wiring. The available cable wire size is AWG22 to 26 (less than 0.2 to 0.3mm2) equivalent to KIV, finished out diameter I1.0 to 1.2mm. [Refer to 10.2.
3.7.6 Teaching Port Connector Connection of ERC3 Main Unit Teaching Port is for the connection of teaching tools (except for Quick Teach) only. Connect the connector of a teaching tool in the way the insertion mark comes to the bottom side. It is able to put in/take OFF the connector while ERC3 power is ON. Teaching Pendant Chapter 3 Wiring Insert Mark PC Caution: Removing the teaching pendant while the power is ON causes a transient emergency stop. Thus, the actuator in operation will be stopped.
3.7.7 Connection of SIO Connector of PIO Converter Chapter 3 Wiring SIO Connector of PIO Converter can be used not only for the connection of teaching tools including Quick Teach, but also for serial communication with a host controller (PLC, touch panel or PC). For the operation of those devices, refer to the instruction manual for each device. [Refer to Instruction manuals related to this product, which are contained in the DVD.
Chapter 4 Operation 4.1 Basic Operation ERC3 has 6 types of operation method when combined with peripheral devices. In addition, each operation method has several operation patterns to meet various ways of use. Please note, though, that these patterns are to be determined by selecting the model code when in order, thus have an operation with a control logic that corresponds to the model code.
[2] Pulse Train Control Mode (Pulse Train Operation of ERC3) An operation by pulse train input is available. There are 2 patterns of operation modes, positioning and pressing. PLC Chapter 4 Operation Command Pulse Complete Signal Signal Enter an electronic gear ratio. Edit Parameters of controller 4.
[3] Positioner Mode 2 (Extended Operation of ERC3) By using the optional PIO Converter, a selection from six types of operation patterns and 512 points at the maximum of positioning are available. Also, the unit can be applicable for Single Absolute Type. PLC Signal Position [mm] No. 0 1 2 100.00 200.00 Velocity [mm/s] Acceleration [G] Deceleration [G] 0.30 0.30 0.30 0.30 100.00 200.00 Signal Enter a data including position, velocity, acceleration or deceleration, etc.
[4] MEC Mode 1 A simple operation with Quick Teach is available and a control same as for the air cylinder is available. There are two operation patterns, 2-point positioning and 3-point positioning. PLC Chapter 4 Operation Movement Signal Completion Signal Signal Position [mm] No. Start Point Intermediate Point End Point 100.00 200.00 Velocity [mm/s] 100.00 200.00 Acceleration Deceleration [G] [G] 0.30 0.30 0.30 0.30 Edit Position Table of controller ERC3 4.
[5] MEC Mode 2 The operation method is the same as for MEC Mode 1. It becomes applicable for Simple Absolute Type by using PIO Converter. PLC Signal Position [mm] No. Start Point Intermediate Point End Point 100.00 200.00 Velocity [mm/s] Enter a data including position, velocity, acceleration or deceleration, etc. Signal Acceleration Deceleration [G] [G] 100.00 200.00 0.30 0.30 0.30 0.
4.1.2 Parameter Settings Parameter data should be set to be suit to the system or application. Parameters are variables to be set to meet the use of the controller in the similar way as settings of the ringtone and silent mode of a cell phone and settings of clocks and calendars. (Example) Soft Stroke Limit Chapter 4 Operation Zone Output : Set a proper operation range for definition of the stroke end, prevention of interferences with peripherals and safety.
4.2 Operation in Positioner Mode 4.2.1 Set of Position Table [It is not necessary to set up for Pulse Train Control Mode. Refer to Section 4.4 [2] for MEC Mode.] 1) 2) 3) No. Position [mm] Velocity [mm/s] 0.00 100.00 150.00 200.00 200.00 500.00 100.00 100.00 200.00 400.00 200.00 50.00 0 1 2 3 4 5 6 7 1) 4) Acceleration [G] 0.30 0.30 0.30 1.00 0.30 0.10 5) Deceleration [G] 0.30 0.30 0.30 1.00 0.30 0.10 6) Pressing [%] 0.00 0.00 50.00 0.00 0.00 0.00 7) Threshold [%] 0.00 0.00 0.00 0.00 0.
4) Acceleration [G] ······· Set the acceleration at start. 5) Deceleration [G] ······· Set the deceleration at stop. (Reference) How to set the acceleration is described below. The same idea can be applied to the deceleration. 1G = 9800mm/s2: Accelerated to 9800mm/s per second 0.3G: Accelerated to 9800mm/s × 0.3 = 2940mm/s per second Velocity 9800mm/s Chapter 4 Operation 1G 2940mm/s 0.
8) Chapter 4 Operation Positioning width [mm] ······In PIO Patterns 0 to 4 in Positioner Mode 1 (for ERC3 unit) and Positioner Mode 2 (when PIO Converter is used), the positioning complete signal is output when the remaining movement amount gets into the area that is set in them when positioning is conducted. For pressing, actuator will first move to the position of the coordinate set in 2) at the set velocity, acceleration, and deceleration. It will then, performs pressing movement by the data set here.
11) Acceleration/deceleration mode··········Select a proper acceleration/deceleration pattern depending on the load. Set Value Acceleration/ Deceleration Pattern Operation Velocity 0 Trapezoid Time Chapter 4 Operation Velocity 1 S-motion (Refer to Caution at S-shaped Motion) Time Set the S-motion rate with parameter No.56. Velocity 2 First-Order Lag Filter Time Set the delay time constant with parameter No.55. 4.2 Operation in Positioner Mode 4.2.
13) Transported load ······Register 4 types of load weights with using the teaching tool, and choose the number from the registered numbers (0 to 3) that is to be used. From the numbers (load weights) registered in this section, the smart tuning calculates the optimum speed and acceleration/deceleration. 14) Stop mode ················Automatic servo OFF is enabled after a certain period from the completion of positioning for power saving. A proper period can be selected from three parameters.
4.2.2 Operation in Positioner Mode 1 In Positioner Mode 1, it is available to select 3 types of PIO patterns with the parameters. This PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation. Choose the optimum pattern beforehand considering the system operation specifications and prepare the cables and sequence design. Chapter 4 Operation [1] PIO Pattern Selection and Main Functions PIO Pattern (Parameter No.
[2] Overview of major Functions Major functions Number of positioning points Operation with the Position No. Input Position No. direct command operation Positioning Pitch Feeding (relative moving feed) Home return signal input Pause Brake release signal input Zone signal output Position zone signal output Chapter 4 Operation Velocity change during the movement Pressing (tension) Description Number of positioning points which can be set in the position table.
[3] Power Supply and Emergency Stop Release (CP, MP, EMG, PEND) ············································································ [Refer to 3.1.3 Circuit Diagram] Chapter 4 Operation 1) Supply the control power (CP, CP_GND), first. 2) Secondly, turn ON the motor power source (MP, MP_GND) and the emergency stop signal EMG at the same time. Do not attempt to turn ON the emergency stop signal EMG prior to the motor power source.
[4] Brake release BK ················································ [Refer to 3.1.3 Circuit Diagram] This is a signal to compulsorily release the brake of the actuator equipped with a brake. The brake in the actuator is a non-excitation operation type electromagnetic brake. In a normal operation, it automatically releases the brake with the servo ON and gets to the brake operating status with the servo OFF.
[6] Operation Ready and Auxiliary Signals (1) Home Return (HOME, HEND, PEND) Input Output PIO signal HOME HEND PEND { { { Pattern 0 (Note1) Pattern 1 u u u { { Pattern 2 u (Note1) { : Available, u: Unavailable Chapter 4 Operation (Note 1) For Patterns 1 and 2, a home-return operation with HOME Signal cannot be performed. • Refer to 4.2.2 [8] Direct Position Specification (3-point type) = PIO Pattern 1 for how to home return for Pattern 1 • Refer to 4.2.
(2) Zone Signal and Position Zone Signal (ZONE1, PZONE) Output Model name PIO signal ZONE1 PZONE { Pattern 0 u ERC3 Main Body Pattern 1 u u Pattern 2 { (Note 1) { (Note 1) { : Available, u: Unavailable Note 1 ZONE1 and PZONE cannot be used both at the same time. The setting at the delivery is set to the position zone signal output. It can be switched to the zone signal with Parameter No.149. Select the most appropriate one considering the purpose of use.
II. Position zone signal PZONE No. 0 1 2 3 Position [mm] Velocity [mm/s] 0.00 100.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 50 0 0 0 0.10 0.10 20.00 50.00 70.00 60.00 0.20 0.20 0.20 Zone[mm] Acceleration/ Deceleration mode 30.00 60.00 65.
(3) Alarm, Alarm Reset (*ALM, RES) 1) PIO signal ERC3 Main Body Pattern 0 Pattern 1 Pattern 2 Input Output RES *ALM { u { { { u { : Available, u: Unavailable Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm (Note 1) at a level equal to or higher than the operation release level. Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm to be released. The action is taken at the rising edge (ON edge).
[7] Operation with the Position No. Input = Operations of PIO Patterns 0 and 2 Chapter 4 Operation Described in this section is how to operate in PIO Pattern 0 and 2 of ERC3 unit. These patterns provide normal controller operation methods in which the ROBO cylinder is operated by turning the start signal ON after a position No. is entered. Positioning, pitch feeding and pressing operations differ only in the settings in the position table and are the same in how to control the sequence.
Note 1 If INP (setting number: 1) is selected in Parameter No.39, PEND becomes INP (In-position) Signal, and will turn OFF when it goes out of the positioning width. Command position No. PC1 to PC* (PLCψController) Start signal CSTR (PLCψController) Positioning Completion Signal PEND (ControllerψPLC) T1t6ms Chapter 4 Operation Control method 1) First enter command position No. PC1 to PC* with binary data. Next turn start signal CSTR ON.
Chapter 4 Operation 䎃 䎃 Command position No. PC1 to PC* 䎃 (PLCψController)䎃 䎃 䎃 Start signal CSTR (PLCψController)䎃 䎃 䎃 Home 䎃 return complete signal HEND 䎃 (ControllerψPLC) 䎃 Positioning Completion Signal 䎃 PEND 䎃 (ControllerĺPLC) 䎃 䎃 䎷䎔t䎙䏐䏖 Turned OFF by turning PEND OFF This signal will turn ON when home return has been completed. Target Position Home return Positioning Turned ON after entering into positioning width zone 4.2 Operation in Positioner Mode 4.2.
(2) Speed change during the movement Sample use 5) 4) 1) 2) 3) Positioning complete width at position 2 6) 7) Velocity 2) 3) Chapter 4 Operation 1) Positioning Completion Signal Output 4) 5) 6) No. 0 1 2 3 Position [mm] Velocity [mm/s] 150.00 0.00 0.00 250.00 50.00 100.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.00 0.
(3) Pitch Feeding (relative movement = incremental feed) Sample use 1) 2) 3) Chapter 4 Operation Velocity 1) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 (Position No.2 sets pitch feed.) 4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 4) Position 1 Coodinates value: 100 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 3) Zone[mm] 0.00 0.
Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the start position is not the stop position at the completion of pressing but the coordinate value entered in “Position” of the pressing position data.
(4) Pressing operation Sample use 3) 1) Chapter 4 Operation Press-fitting process 1) 4) 5) Positioning width 50 2) 3) 4) 5) Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 (Position No.2 sets pressing operation.) 4.2 Operation in Positioner Mode 4.2.
Command position No. PC1 to PC* (PLCĺController) T1t6ms(Note 1) Turned OFF by turning PEND OFF Start signal CSTR (PLCψController) Positioning Completion Signal PEND (ControllerψPLC) Not turned ON for miss-pressing Positioning by setting of coordinate value Pressing Pressing operation completion Movement by positioning width Stop of pressing (Note 1) Set the period taken from entering the position number to turning CSTR ON to 6ms or longer.
Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped. (Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) t 255ms (Parameter No.
(5) Tension Operation Image diagram Position No.1 Position No.2 Chapter 4 Operation No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.
Chapter 4 Operation Caution: (1) The speed during tension operation is set in Parameter No.34. The pressing operation speed is 20mm/s. The speed for pulling operation is same as that for pressing operation. Do not set any value larger than the value in the list. If the speed setting in the position table is below this set value, pressing is performed with the set speed. (2) The tension ready position should be the tension start position or forward.
(6) Multi-step pressing Image diagram Chapter 4 Operation Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
(7) Pause and Operation Interruption (*STP, PEND) Input Output Model name PIO signal *STP PEND { { ERC3 Main Body Pattern 0 and 2 {: Available, u: Unavailable Chapter 4 Operation 2) Velocity 1) 1) 2) 3) 3) 4) 4) 5) 5) 4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 Positioning Completion Signal Output Control method Pause is possible during movement. The pause signal is an input signal always set to ON. So, it is normally used to remain ON.
[8] Direct Position Specification (3-point type) = PIO Pattern 1 The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed. The operation mode is called the solenoid valve mode because solenoid valves can directly drive air cylinders. Also, the complete position number is output for each position number once positioning is complete.
Turned OFF by turning PE* ON Start signal ST* (PLCoController) 4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 Chapter 4 Operation Current position No. PE* (ControlleroPLC) Turned ON after entering into positioning width zone Target Position Caution: (1) If the ST* signal is turned ON for the position after completion of positioning, both the PE* signal remain ON (except the pitch feed operation). (2) PE* Signal turns ON when the actuator gets into the positioning width.
(2) Pitch Feeding (relative movement = incremental feed) Sample use 1) 2) 3) Velocity 4) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 3) Zone[mm] 0.00 0.00 Chapter 4 Operation 1) 4) Acceleration/ Deceleration mode 0 0 Incre- Transported mental load 0 1 0 0 Stop mode 0 0 (Position No.2 sets pitch feed.) 187 4.
4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 Chapter 4 Operation 188 Caution: (1) If ST* Signal is turned ON at the same position number to repeat pitch feeding after positioning is complete, PE* Signal turns OFF at the operation start like the positioning in (1), and then turns back ON once the positioning is complete. (2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is decelerated to be stopped and current position No.
(3) Pressing operation Sample use 250mm/sec 2) 1) 3) 4) Positioning width 50 Velocity 1) 2) 3) Chapter 4 Operation Press-fitting process 4) Positioning Completion Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 (Position No.2 sets pressing operation.) Zone[mm] 0.00 0.
Chapter 4 Operation Caution: (1) The speed during pressing operation is set in Parameter No.34. The pressing operation speed is 20mm/s. Do not set any value larger than the value in the list. If the speed setting in the position table is below this set value, pressing is performed with the set speed.
Judging completion of pressing operation PIO converter monitors the torque (current limiting value) set in % in “Pressing” in the position table, and turns ON the pressing complete signal PE* when the load current reaches the following condition. PE* is turned ON at satisfaction of the condition if the work is not stopped. Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) 255ms (Parameter No.
(4) Tension Operation Image diagram Position No.1 Chapter 4 Operation Position No.2 No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.20 4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 Tension start position 80mm ST* Approach Operation Zone[mm] 0.00 0.
Temsion end position 80 – 50 = 30mm Tension start position 80mm ST* Approach Operation Chapter 4 Operation Caution: (1) The speed during tension operation is set in Parameter No.34. The pressing operation speed is 20mm/s. The speed for pulling operation is same as that for pressing operation. Do not set any value larger than the value in the list. If the speed setting in the position table is below this set value, pressing is performed with the set speed.
Chapter 4 Operation (5) Multi-step pressing Image diagram Position No.1 4.2 Operation in Positioner Mode 4.2.2 Operation in Positioner Mode 1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
(6) Pause and Operation Interruption (ST*, *STP, RES, PE*) Pause is possible during movement. In this mode, the following two methods are possible for pause. 1) Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation. 2) Use of start signal ST* This method is valid when Parameter No.27 “Move command type” is set to “0” (factory setting).
Chapter 4 Operation Caution: (1) At occurrence of an alarm in the release level Note 1, RES can reset the alarm. Cancel the remaining moving distance after confirmation that alarm signal *ALM (being ON in normal state and OFF at occurrence of an alarm) is set to ON. (2) If *STP is turned OFF when the actuator is in a positioning complete condition, PE* would not turn OFF. Note 1 Refer to Chapter 8 Troubleshooting for details of alarms. II.
4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter) To perform an operation of Position Mode 2, PIO Converter (option) is necessary. By using PIO Converter, an operation with extended function of ERC3 is available. It is available to select 6 types of PIO patterns with the parameters. This PIO Pattern cannot be switched over after the system is finished to be established or during the actuator operation.
[2] Overview of major Functions Major functions Number of positioning points Operation with the Position No. Input Position No. direct command operation Positioning Chapter 4 Operation Velocity change during the movement Pressing (tension) Pitch feeding (relative moving feed) Home return signal input Pause Jog moving signal Teaching signal input (Current position writing) Brake release signal input Moving signal output Zone signal output 4.2 Operation in Positioner Mode 4.2.
[3] Power Supply and Emergency Stop Release (CP24, MPI, MPO, EMG(-)) [Refer to 3.3.3 Circuit Diagram] (1) Built-in Drive Cutoff Relay Type (Model: RCB-CV-ƑƑƑ) (2) External Drive Cutoff Relay Type (Model: RCB-CVG-ƑƑƑ) 1) Supply the power (CP24, GND), first. 2) Secondly, turn ON the motor power source and the emergency stop signal at the same time. Do not attempt to turn ON the emergency stop signal prior to the motor power source.
[5] Operation Ready and Auxiliary Signals (1) Emergency stop status EMGS Output PIO signal *EMGS Common to Patterns { 0 to 5 { : Available, u: Unavailable Chapter 4 Operation 1) The emergency stop status EMGS is turned ON when in normal condition and turned OFF when EMG(-) terminal on “3.3.3 Circuit Diagram” is 0V (emergency stop condition or disconnected). 2) It turns back ON once the emergency stop condition is released and EMG(-) terminal goes up to 24V DC.
EMG Servo Lock Release T 26ms PEND T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1 + T2) × Number of retry (10 times Max.) + Servo ON delay time (T3) T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3) Chapter 4 Operation Brake Excitation T1 : Parameter No.30 It differs depending on the setting of excitation detection type. Set Value = 0 ĺ 160ms Set Value = 1, 2 ĺ 220ms T2 : Parameter No.
(3) Home Return (HOME, HEND, PEND, MOVE) Input PIO signal HOME HEND { { Patterns 0 to 1 { { Patterns 2 to 4 (Note 1) { Pattern 5 u Chapter 4 Operation Output PEND MOVE { { { u u u { : Available, u: Unavailable Note 1 Pattern 5 cannot make a home return with HOME signal. Refer to 4.2.3 [8] (1) for how to perform a home-return operation. The HOME signal is intended for automatic home return. The HOME signal is caught at the rising edge (ON edge) to start the home return.
Chapter 4 Operation (4) Zone Signal and Position Zone Signal (ZONE1, ZONE2, PZONE) Output PIO signal ZONE1 ZONE2 Note 2 PZONE Note 2 { { { Pattern 0 { { Note 2 Pattern 1 u Note 2 { { Pattern 2 u Pattern 3(Note 1) u u u { { { Pattern 4 { { { Pattern 5 { : Available, u: Unavailable Note 1 Pattern 3 does not possess the zone signal output function. Note 2 In Parameter No.149 Zone Output Switchover, ZONE can be selected instead of PZONE.
II. Position zone signal PZONE No. 0 1 2 3 Position [mm] Velocity [mm/s] 0.00 100.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 50 0 0 0 0.10 0.10 20.00 50.00 70.00 60.00 0.20 0.20 0.20 Zone[mm] Acceleration/ Deceleration mode 30.00 60.00 65.
(5) Alarm, Alarm Reset (*ALM, RES) Input Output PIO signal RES *ALM Common to Patterns { { 0 to 5 { : Available, u: Unavailable 1) 2) Note 1 Check the Chapter 8 Troubleshooting for details of alarms. Caution: (1) Reset signal RES has two features, or alarm reset under occurrence of an alarm and operation interruption (cancellation of remaining moving distance) under temporary stop. For the operation interruption under temporary stop, refer to the description of the operation in each pattern.
4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter) Chapter 4 Operation (6) Binary Output of Alarm Data Output (*ALM, PM1 to 8) Output PIO signal *ALM PM1 to 8 Common to Patterns { { 0 to 3 { Pattern 4(Note 1) u { Pattern 5(Note 1) u { : Available, u: Unavailable (Note 1) Patterns 4 and 5 do not have this function.
{: ON z: OFF *ALM z z z z z z Chapter 4 Operation z ALM8 ALM4 ALM2 ALM1 Binary Code Description: Alarm code is shown in ( ).
(7) Brake release BKRL Input BKRL Pattern 0 ٤ Pattern 1(Note 1) Patterns 2 to 5 ٤ { : Available, u: Unavailable (Note 1) Pattern 1 does not have this feature PIO signal Chapter 4 Operation The brake can be released while BKRL signal is set to ON. If a brake is installed in the actuator, the brake is automatically controlled by servo ON/OFF. Releasing the brake may be required to move the slider and/or the rod by hand in case of installation of the actuator in the machine or direct teach*1.
[6] Operation with the Position No. Input = Operations of PIO Patterns 0 to 3 This is the operation method for PIO Patterns 0 to 3. This is a standard operation method when using PIO Converter that operates by turning the start signal ON after inputting the position number. The control methods of positioning, pitch feed, and pressing are the same as those described before.
Chapter 4 Operation Control method 1) First enter command position No. PC1 to PC** with binary data. Next turn start signal CSTR ON. Then the actuator starts acceleration depending on the data in the specified position table for positioning to the target position. 2) At operation start, positioning complete signal PEND is turned OFF. Always turn the CSTR signal OFF.
Binary data { : ON z : OFF PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Completed position No. PM256 PM128 Command position No.
(2) Speed change during the movement Sample use 5) 4) 1) 2) 3) Positioning complete width at position 2 6) 7) Velocity Chapter 4 Operation 1) 2) 3) Positioning Completion Signal Output 4) 5) 6) 7) Positioning Completion Signal Output No. 0 1 2 3 Position [mm] Velocity [mm/s] 150.00 0.00 0.00 250.00 50.00 100.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.00 0.10 Zone+ [mm] 0.00 0.00 0.
(3) Pitch Feeding (relative movement = incremental feed) Sample use 1) 2) 3) Velocity 1) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 (Position No.2 sets pitch feed.) 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 3) Zone[mm] 0.00 0.
Caution: (1) If the actuator reaches the software limit corresponding to the stroke end in the pitch feed operation, the actuator stops at the position and positioning complete signal PEND is turned ON. (2) Note that, in pitch feed just after pressing operation (to be in the pressing state), the start position is not the stop position at the completion of pressing but the coordinate value entered in “Position” of the pressing position data.
(4) Pressing operation Sample use 3) 1) 2) 4) 5) Positioning width 50 Velocity Press-fitting process 2) 3) 4) Chapter 4 Operation 1) 5) Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 (Position No.2 sets pressing operation.) Zone[mm] 0.00 0.
Command position No. PC1 to PC** (PLCĺController) Start signal CSTR (PLCĺController) Chapter 4 Operation Completed position PM1 to PM** (ControllerĺPLC) T1t6ms(Note 1) Turned OFF by turning PEND OFF PM1 to PM** = 0(Note 2) PM1 to PM** = 0(Note 2) Not turned ON for miss-pressing Positioning completion signal PEND (ControllerĺPLC) Moving signal MOVE (ControllerĺPLC) Operation of actuator Approach operation Positioning by setting of coordinate Value Note 1 4.2 Operation in Positioner Mode 4.2.
Pressing start position 100mm CSTR Approach operation Chapter 4 Operation Caution: (1) The speed during pressing operation is set in Parameter No.34. The pressing operation speed is 20mm/s. Do not set any value larger than the value in the list. If the speed setting in the position table is below this set value, pressing is performed with the set speed.
Judging completion of pressing operation The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing. PEND is turned ON at satisfaction of the condition if the work is not stopped. (Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) t 255ms (Parameter No.
(5) Tension Operation Image diagram Position No.1 Position No.2 Chapter 4 Operation No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.
3) 4) First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation. The upper limit of the tensile force is the torque set in percent. In the similar way as pressing, the positioning complete signal is output when the shaft is stopped by tension (pressing complete).
(6) Multi-step pressing Image diagram Chapter 4 Operation Position No.1 Position No.2 Position No.3 No. Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
Chapter 4 Operation (7) Teaching by PIO (MODE, MODES, PWRT, WEND, JISL, JOG+, JOG-) Input Output PIO signal MODE JISL JOG+ JOG- PWRT MODES WEND Other than u u u u u u u pattern 1 { { { { { { { Pattern 1 {: Existence of signal, u: No signal (Note) It is the function available only in Pattern 1. Teaching by PIO is enabled. It is possible to select the teaching mode, move the actuator to the target position with jog or inching operation, and write the coordinate value into any position number. I.
Warning: (1) In home return incomplete state, software limit cannot stop the actuator. Take interlock and prohibit the operation or perform the operation carefully. (2) If the JISL signal is changed during inching operation, the inching being operated is continued. If JISL is changed during job operation, the jog is stopped. Current value write signal PWRT (PLCoController) T1 6ms 4.2 Operation in Positioner Mode 4.2.
Caution: (1) Set the period taken from entering position No. to turning the PWRT ON to 6ms or longer. In spite of 6ms timer process in the PLC, commands may be input to the controller concurrently to cause writing to another position. Take the scanning time in the PLC into account, set a period as 2 to 4 times as the scanning time.
Pause signal *STP (PLCoController) PEND not turned ON Chapter 4 Operation Control method Pause is possible during movement. In addition, the remaining moving distance can be cancelled to interrupt the operation. The pause signal is an input signal always set to ON. So, it is normally used to remain ON. Use this function for interlock in case where an object is invaded into the moving direction of the actuator being moved.
[7] Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4 Chapter 4 Operation The start signal is provided for every position number. Only turning ON the relevant input signal according to the table shown below allows the operation based on the data in the target position number to be performed. The operation mode is called the solenoid valve mode because solenoid valves can directly drive air cylinders.
Note 1 A switchover is available to INP (Setting 1) in Parameter No.39. PEND becomes an in-position signal that turns OFF out of the positioning width. Turned OFF by turning PE* ON Start signal ST* (PLCoController) Current Position No. PE* (ControlleroPLC) Chapter 4 Operation Control method 1) When start signal ST* is turned ON, the actuator starts acceleration based on the data in the specified position table for positioning to the target position.
(2) Pitch Feeding (relative movement = incremental feed) Sample use 1) 2) 3) Velocity Chapter 4 Operation 4) 1) No. 0 1 2 Position [mm] Velocity [mm/s] 100.00 25.00 250.00 250.00 Acceleration [G] Deceleration [G] 0.20 0.20 0.20 0.20 2) Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 0 0 0 0.10 0.10 0.00 0.00 3) Zone[mm] 0.00 0.00 4) Acceleration/ Deceleration mode 0 0 Incre- Transported mental load 0 1 0 0 Stop mode 0 0 4.2 Operation in Positioner Mode 4.2.
Chapter 4 Operation Caution: (1) Because pitch feed is repeated, turning ON the ST* signal of the same position after completion of positioning causes both the PE* and PEND signals to be turned OFF at operation start and turned ON again at completion of positioning in the same way as (1) Positioning. (2) If the actuator reaches the software limit (stroke end) in pitch feed, the actuator is decelerated to be stopped and current position No.
(3) Pressing operation Sample use 250mm/sec 2) Chapter 4 Operation 1) Press-fitting process 3) 4) Positioning width 50 Velocity 1) 2) 3) 4) Positioning Completion Caulking process No. 0 1 2 Position [mm] Velocity [mm/s] 0.00 100.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 50.00 0.00 0.00 Zone[mm] 0.00 0.
Turned OFF by turning PEND ON Start signal ST* (PLCoController) Current position No. PE* (ControlleroPLC) Turned ON even in miss-pressing Operation of actuator Approach operation Positioning by setting of coordinate Value Chapter 4 Operation Not turned ON for miss-pressing Positioning completion signal PEND (ControlleroPLC) Pressing Pressing operation Completion Movement by positioning width Stop of pressing Pressing start position 100mm ST* Approach operation 4.
Judging completion of pressing operation The torque (current limit value) set in % in “Pressing” in the position table, and turns ON the pressing complete signal PEND when the load current reaches the following condition. PEND is turned ON at satisfaction of the condition if the work is not stopped. It is the same for PE*. (Accumulated time in which current reaches pressing value [%]) – (accumulated time in which current is less than pressing value [%]) 255ms (Parameter No.
(4) Tension Operation Image diagram Position No.1 No. Position [mm] Velocity [mm/s] 0 1 2 3 100.00 80.00 250.00 250.00 Acceleration [G] 0.20 0.20 Deceleration [G] Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 50 0 0 0.10 –50.00 0.00 0.00 0.20 0.20 Tension start position 80mm Approach Operation Zone[mm] 0.00 0.
3) 4) Chapter 4 Operation First define the positioning in position No.1. Next, the operation in position No.2 moves the actuator to the position of 80mm at the setting speed and rating torque and change to the tension operation. The actuator moves by 50mm in the negative direction in the tension operation. The upper limit of the tensile force is the torque set in percent.
(5) Multi-step pressing Image diagram Chapter 4 Operation Position No.1 Position No.2 Position No.3 Position [mm] Velocity [mm/s] 0 1 2 3 4 0.00 50.00 50.00 250.00 250.00 250.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] Threshold [%] Positioning width [mm] Zone+ [mm] 0 30 50 0 0 0 0.10 20.00 20.00 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
Chapter 4 Operation (6) Pause and Operation Interruption (ST*, *STP, RES, PE*, PEND) Pause is possible during movement. In this mode, the following two methods are possible for pause. 1) Use of pause signal *STP Turning reset signal RES ON during the pause allows the remaining moving distance to be cancelled to interrupt the operation. 2) Use of start signal ST* This method is valid when Parameter No.27 “Move command type” is set to “0” (factory setting).
Caution: (1) At occurrence of an alarm in the release levelNote 1, RES can reset the alarm. Cancel the remaining moving distance after confirmation that alarm signal *ALM (being ON in normal state and OFF at occurrence of an alarm) is set to ON. Note 1: [Refer to 4.4 Alarm List for details of alarms.] (2) Turning *STP OFF with the actuator being in the positioning complete state causes PE* and PEND to be turned OFF. Note that this situation may not occur when a sequence program is created.
[8] Direct Position Specification (Solenoid Valve Mode 2) = Operations of PIO Pattern 5 in PIO Converter Chapter 4 Operation The start signal is provided for every position number. By only turning ON the input signal corresponding to the 3-point positioning position, an operation becomes available with the data of the target position number. The operation mode is called the solenoid valve mode because solenoid valves can directly drive air cylinders.
[Operation of Slider Type/Rod Type Actuator] Home 1) 2) 2) With the ST0 signal being ON, the actuator moves toward the mechanical end at the home return speed. The movement speed is 20mm/s. The actuator is turned at the mechanical end and stopped at the home position. The moving distance is the value set by Parameter No.22 “Home return offset level”. Caution: In the home reverse specification, the actuator moves in the reverse direction. Make sure to refer to 6.3.1 [2] (15) when a change to Parameter No.
(3) Positioning [Basic] (ST0 to ST2, LS0 to LS2) Position No. Input Output 0 ST0 LS0 1 ST1 LS1 2 ST2 LS2 [Caution] Pressing and pitch feed are unavailable. Sample use 200mm/s 4.2 Operation in Positioner Mode 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter) Chapter 4 Operation 100mm/s 1) Velocity No. Position [mm] Velocity [mm/s] 0 1 2 0.00 70.00 150.00 100.00 100.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.
(Example) Repetition of ST1 o ST2 o ST1 o Insert timer 't if necessary. Start signal ST1 (PLCoController) Ǎt Ǎt Ǎt Start signal ST2 (PLCoController) Position sensing output LS2 (ControlleroPLC) Chapter 4 Operation Position sensing output LS1 (ControlleroPLC) Turned ON after entering into positioning width zone Target Position Ǎt : Time required to certainly reach the target position after the position sensing output LS1 or 2 is turned ON.
(4) Speed change during the movement Sample use 2) 3) 1) 4) 5) Positioning complete width at position 1 Velocity Chapter 4 Operation 1) No. Position [mm] Velicoty [mm/s] 0 1 2 0.00 0.00 150.00 100.00 50.00 200.00 Acceleration [G] 0.20 0.20 0.20 Deceleration [G] 0.20 0.20 0.20 Pressing [%] 0 0 0 2) Threshold [%] 0 0 0 Positioning width [mm] 0.10 100.00 0.10 3) Zone+ [mm] 0.00 0.00 0.00 Zone[mm] 0.00 0.00 0.
The timing chart shown below indicates that the actuator changes its speed while it moves to position No.1 after the completion of positioning at position No.2 and moves to position No.0. Start signal ST0 (PLCoController) Start signal ST1 (PLCoController) Chapter 4 Operation Start signal ST2 (PLCoController) Position sensing output LS0 (ControlleroPLC) Position sensing output LS1 (ControlleroPLC) Position sensing output LS2 (ControlleroPLC) Operation of actuator Set of positioning width of position No.
Chapter 4 Operation (5) Pause and Operation Interruption (ST*, LS*) Turning start signal ST* OFF allows the actuator to be paused while it is moved. To restart it, turn the same ST* signal ON. Velocity Deceleration and stop with Start signal for position 1 tuirned OFF Movement restart with Start signal for position 1 tuirned ON Control method If start signal ST* is turned OFF during movement, the actuator can be paused.
4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type) Caution: In Pulse Train Control Mode, the operation is performed corresponding to the input pulse. Input Pulse Value Moving distance Input pulse frequency Velocity Change in Input Pulse Frequency Velocity change and acceleration/deceleration Do not use the actuator above the specifications for the commands of the movement amount, acceleration and deceleration from the host controller (PLC).
Chapter 4 Operation [3] Power Supply and Emergency Stop Release (CP, MP, EMG) ···········································································[Refer to 3.2.3 Circuit Diagram] 1) Supply the control power (CP, CP_GND), first. 2) Secondly, turn ON the motor power source (MP, MP_GND) and the emergency stop signal EMG at the same time. Do not attempt to turn ON the emergency stop signal EMG prior to the motor power source.
[5] Time Constant for Control Signal Input The input signals of this controller incorporate an input time constant to prevent malfunction due to chattering, noise, etc. Make sure to input the signals continuously for 6ms or more. (Note) Command pulse train inputs (PP•/PP, NP•/NP) do not have input time constants. Also, it is necessary to input 16ms or more for CSTP Signal.
EMG Servo Brake Excitation Lock Chapter 4 Operation Release T 26ms PEND T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1 + T2) × Number of retry (10 times Max.) + Servo ON delay time (T3) T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3) T1 : Parameter No.30 It differs depending on the setting of excitation detection type. Set Value = 0 ĺ 160ms Set Value = 1, 2 ĺ 220ms T2 : Parameter No.
(2) Home Return (HOME, HEND) Input PIO signal HOME Output HEND The HOME signal is intended for automatic home return. When the HOME signal is turned ON, the command will be processed at the leading edge (ON edge) of the signal and the actuator will perform home return operation automatically. Once the home return is completed, the HEND (home return completion) signal will turn ON.
(3) Alarm, Alarm Reset (*ALM, RES) Input PIO signal RES 1) 2) Output *ALM Alarm signal *ALM is set to ON in the normal status but turned OFF at the occurrence of an alarm (Note 1) at a level equal to or higher than the operation release level. Turning reset signal RES ON under occurrence of an alarm at the operation release level allows the alarm to be released. The action is taken at the rising edge (ON edge). Chapter 4 Operation Note 1 Check the Chapter 7 Troubleshooting for details of alarms. 4.
[7] Pulse Train Input Operation (1) Command Pulse Input (PP•/PP, NP•/NP) In the differential type, it is able to have 200kpps of pulse train input at maximum. If the host controller is an open collector pulse output type, it is able to input the pulse of 60kpps at the maximum by connecting AK-04 (option). 6 types of command pulse train can be selected. Set the pulse train format in Parameter No.63 and active high/low in Parameter No.64. [Refer to 4.
[Reference] Acceleration/deceleration settings of general positioning device Motor Rotation Chapter 4 Operation Motor Rotation [rpm] = Velocity [mm/s] Ball Screw • Lead Length [mm/rev] u 60 Time Constant 1G = 9800mm/s2 : Acceleration capable to accelerate up to 9800mm/s per second 0.3G : Acceleration capable to accelerate up to 9800mm/s × 0.3 = 2940mm/s per second Velocity 9800mm/s 1G 2940mm/s 0.3G 4.
(3) Torque Limit Select (TL, TLR) Input PIO signal TL Output INPĺTLR (Note ) TLR is the function available only in Pattern 1. Caution: • Do not turn the TL signal OFF while the TLR signal is ON. Large deviation (servo lag pulses) may be created while in torque limit (TL Signal is ON). (For example, the actuator may receive a load just like it receive a pressing force in pressing operation and therefore become no longer operable).
[8] Settings of Basic Parameters Required for Operation It is a mandatory parameter to perform an operation. The parameters listed in the table below may only be set if the actuator performs only positioning operation. Chapter 4 Operation Parameter No. Parameter Name Electronic Gear Numerator 65 66 63 Electronic Gear Denominator Command Pulse Mode Command Pulse Mode Input Polarity 64 Details This parameter determines the unit travel distance of the actuator per command pulse train input 1 pulse.
Examples of electronic gear calculations: When operating ERC3 with 3mm lead length ball screw in 0.01 (1/100) mm of the movement per unit (Encoder pulse of ERC3 = 800pulse/rev) Caution: Ɣ The fraction has to be completely reduced so both the electric gear numerator (CNUM) and electric gear denominator (CDEN) can be 4096 or less and make them to be integral numbers. (Do not stop reducing the fraction on the way.) Ɣ CNUM and CDEN on the line axis have to satisfy the following relative formulas.
(2) Format Settings of Command Pulse Train Set the command pulse train format in Parameter No.63 and active high/low in No.64. I. Command Pulse Mode User Parameter No.63 “Command Pulse Input Mode” Command Pulse Train Mode Symbol Unit Input Range Initial Value CPMD – 0 to 2 1 Input Terminal In Normal Rotation In Reverse Rotation Setting Value of Parameter No.
[9] Parameter Settings Required for Advanced Operations Depending on systems and/or loads, set the following parameters if necessary. (1) Position command primary filter time constant No. Name Symbol Unit 55 Position command primary filter time constant PLPF msec Input Range 0.0 to 100.0 Initial Value Input Range 0 to 70 Initial Value 70 0.0 Chapter 4 Operation The acceleration/deceleration of the actuator can be set in S-shaped curve with this parameter setting.
(4) Error monitor during torque limiting No. Name Symbol Unit 59 Error monitor during torque limiting FSTP – Input Range 0 to 1 Initial Value 0 Input Range 0 to 1 Initial Value 0 Input Range 0 to 1 Initial Value 0 Initial Value Set individually Chapter 4 Operation Selection can be made whether to enable/disable the motoring of the deviation during torque limiting (condition of TL signal being ON).
4.4 Operation in MEC Mode 1 and 2 (Operation with PLC) There are two types of operation modes in MEC Mode, 2-point stop and 3-point stop, and 2-point stop performs the same operation as of Single Solenoid while 3-point stop possesses a function of intermediate stop in addition to the operation same as that of Double Solenoid. ERC3 is controlled with PIO directly in MEC Mode 1 and via PIO Converter in MEC Mode 2, however, the operation method is the same for both modes.
[2] Table for Operational Conditions (Position Table) and Positioning Complete Signal Approach Return Chapter 4 Operation End point 1) Intermediate point Start point 2) 3) 4) 5) LS0 PE0 LS3 PE3 LS1 PE1 6) 1) to 6) = Parameter No.1 (Positioning width) Ŷ Operation Condition Table (Position Table) Used PIO (input and output) Signal 2-point stop ʊʊNote 1 ST0 – Note 1 Note 1 Note 2 Note 2 3-point stop 2) Position [mm] Speed [mm/s] 10.00 50.00 0.1 0.1 0 0 Enabled 50.00 50.00 0.1 0.
1) Position [mm] ············It is the positioning stop point. The position from the origin is to be set. The positions must satisfy the following relationships: Start point < Intermediate point < End point 2) Speed [mm/s] ············Set the velocity in the operation. Do not attempt to input a value more than the maximum velocity or minimum velocity (Note 1). (Note 1) For the minimum speed, you can either check in “1.2.1 Actuator” or figure out from the formula below. Min.
[Pushing toward the end point or intermediate point] Push complete (A position complete signal is output) Approach Chapter 4 Operation Speed Time Push width Start point Start position of push End point (intermediate point) [Pushing toward the start point or intermediate point = Pulling] 4.
[Auto motor power (Auto servo) OFF] The motor power (servo) will turn off automatically upon elapse of a specified period after completion of positioning. When the next positioning command is issued, the motor power (servo) turns on automatically and positioning is performed. Since no holding current flows while the motor is at standstill, power consumption can be reduced.
Chapter 4 Operation [3] Power Supply and Emergency Stop Release (1) MEC Mode 1 (CP, MP, EMG)·························[Refer to 3.4.3 Circuit Diagram] 1) Supply the control power (CP, CP_GND), first. 2) Secondly, turn ON the motor power source (MP, MP_GND) and the emergency stop signal EMG at the same time. Do not attempt to turn ON the emergency stop signal EMG prior to the motor power source. The controllers get into the servo-on status by the emergency stop signal EMG being ON.
EMG or EMG(-) Brake Excitation Chapter 4 Operation Servo ON Lock Release T 26ms T (before detecting excitation) = SON signal identification (6ms) + Excitation detection time (T1 + T2) × Number of retry (10 times Max.) + Servo ON delay time (T3) T (after detecting excitation) = SON signal identification (6ms) + Servo ON delay time (T3) T1 : Parameter No.36 It differs depending on the setting of excitation detection type. Set Value = 0 ĺ 160ms Set Value = 1, 2 ĺ 220ms T2 : Parameter No.
[4] Brake release BK················································· [Refer to 3.4.3 Circuit Diagram] This is an input signal to compulsorily release the actuator brake with a function of MEC Mode 1. It is not equipped in MEC Mode 2. The brake compulsory release can be performed on the brake releasing switch mounted on the front panel of PIO Converter. Chapter 4 Operation The brake in the actuator is a non-excitation operation type electromagnetic brake.
[6] Operation when Operation Pattern is “2-Point Stop (2-Point Positioning)” (1) Home Return (ST0, HEND, LS0, LS1, PE1) If the home-return operation is not performed with the operation panel, it will be performed with Movement Signal 1 to the first end point ST0. The actuator moves to the end point after home-return and then stops (for positioning).
Chapter 4 Operation (3) Pressing (ST0, PE0, PE1) The actuator performs the pressing operation towards the end point when Movement Signal 1 ST0 is ON. The end point positioning complete signal PE1 turns ON after the pressing is completed. When having a pressing (pulling) to the start point from the end position, turn OFF Movement Signal 1 ST0. The start point positioning complete signal PE0 will turn ON when the pressing (pulling) is complete.
(2) Positioning Operation (ST0, ST1, LS0, LS1, LS2, PE0, PE1, PE2) Positioning is at the start point when Movement Signal 1 ST0 is ON, and at the end point when Movement Signal 2 ST1 is ON. When both ST0 and ST1 are ON (Note 1), the positioning is at the intermediate point. If turning the both signals OFF (Note 1) during the operation, the actuator decelerates and stops.
Chapter 4 Operation (3) Pressing (ST0, ST1, PE0, PE1, PE2) Pressing movement to the end point is performed when Movement Signal 2 ST1 is ON. The end point positioning complete signal PE1 turns ON after the pressing is completed.
4.5 4.5.1 Operation in MEC Mode 3 (Test Run with Quick Teach.) Operation Panel Functions HOME Button MANUAL Button At the start, conduct home-return operation first to check the position of coordinate 0mm. Press this button when having the acceleration/deceleration setting changed or having a try run. (Press it for 1 sec or more) AUTO Button This button is to invalid the inputs of the operation panel buttons and make PIO commands of ERC3 valid. TEACH MODE Button 1. Accel & Speed 2.
4.5.2 Operations Chapter 4 Operation [1] Switches Used for Mode Selection (Auto Њ Manual) When Switching to Manual Mode (Auto ĺ Manual) Press and hold MANUAL Button for 1 second or more and the mode changes to Manual Mode. When the mode is changed, a peep sound is made and the manual lamp turns ON. When Switching to Auto Mode (Manual ĺ Auto) Press and hold Auto Button for 1 second or more and the mode changes to Automatic Mode. When the mode is changed, a peep sound is made and the auto lamp turns ON.
[5] Switch Used for Brake Release It is the brake compulsory release switch for the actuator equipped with a brake. Releasing Brake Slide the switch to the release side and the brake is compulsorily released. Have the operation of this switch on such occasions that a release of the brake is necessary as when a work piece is to be attached, the actuator needs to be moved for the direct teaching, etc.
[7] Switches Used for Position Teaching Chapter 4 Operation The position (forward, backward and intermediate) can be registered with moving the actuator without using the teaching tool. There are 2 types in the position programming. 1) Direct Teaching 2) Jog Teaching The following operations cannot be performed unless the home return operation is completed. (1) When Registering Position with Direct Teaching Switching to Position Press TEACH MODE Button.
Registering Middle Position (If set to 3-point positioning) Press MIDDLE POS Button to select. If the mode is switched over, the lamp on MIDDLE POS button turns ON. Press SAVE Button. If the registration is complete, a peep sound is made and the save lamp turns ON. Intermediate position cannot be registered when the setting is 2-point stop. Press SERVO ON/OFF Button once again and operation becomes available. Servo ON/OFF lamp turns ON. Press SAVE Button.
Registering Back Position (Start Point) Press BACK POS (start point) Button to select. If the mode is switched over, the lamp on BACK POS button turns ON. Chapter 4 Operation Press SAVE Button. If the registration is complete, a peep sound is made and the save lamp turns ON. Registering Middle Position (If set to 3-point positioning) Press MIDDLE POS Button to select. If the mode is switched over, the lamp on MIDDLE POS button turns ON. Press SAVE Button.
[8] Switches and Rotary Knobs Used in Acceleration/Deceleration and Speed Settings Registering Speed (Valid in Manual Mode) Twist Speed Dial and adjust at the desired position. (Setting Range : * to 100%) (* It differs depending on the actuator.) Chapter 4 Operation The speed to move and the acceleration/deceleration speed of the actuator to the forward, backward and intermediate positions can be determined. Registering Twist Accel Dial and adjust at the desired Acceleration/ position.
Chapter 4 Operation 4.5.3 Test Run with Operation Panel Turn ON Power Power Lamp turns ON in green. In Case of Error Issued If an error is issued, Alarm Lamp turns ON in red. Check the alarm code either on the PC software or the touch panel teaching to have an appropriate counteraction. [Refer to Alarm] Ɣ To Select the Mode (Auto ĺ Manual) Switch to Manual Mode. Press and hold MANUAL Button for 1 second or more. A peep sound is made and the manual lamp turns ON.
Ɣ To Perform Manual Operation Confirm the Home-return lamp is blinking and the home-return operation is completed. Perform a home-return operation if the Home-return lamp is off and the home-return operation is not completed. Manual Operation (when 2-point positioning) Move forward The actuator moves backward till it reaches the start point while BACK Button is being held. The actuator stops if the button is released.
Chapter 4 Operation Ɣ To Confirm Current Positioning Point Number. 2pnt Lamp should be illuminated when set to 2-point positioning. Ɣ 3pnt Lamp should be illuminated when set to 3-point positioning. To Change Positioning Point Number. Press STOP POS NUM Button. Confirm a buzzer is made for 2 seconds and release the buttons. 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.
Ɣ Register the position. Confirm the Home-return lamp is blinking and the home-return operation is completed. Perform a home-return operation if the Home-return lamp is off and the home-return operation is not completed. (1) When Registering Position with Direct Teaching Press MANUAL Button. A peep sound is made and the manual lamp turns ON. Chapter 4 Operation 1) Press TEACH MODE Button. 2) The lamps for Accel & Speed and Position turn ON. * Press TEACH MODE Button and Position Lamp turns ON/OFF.
When selecting forward position Press FWD POS Button. The forward position lamp turns ON. Press BACK POS Button. The backward position lamp turns ON. Press MIDDLE POS Button. The middle position lamp turns ON. When selecting backward position Chapter 4 Operation 5) When selecting middle position This operation cannot be conducted while “2-point stop” is selected. Register the position. 6) Press SAVE Button.
(2) When Registering Position with Jog and Inching Operations Press MANUAL Button. 1) Press TEACH MODE Button. 2) Chapter 4 Operation A peep sound is made and the manual lamp turns ON. The lamps for Accel & Speed and Position turn ON. Move the actuator to a position where it is desired to be registered with pressing either JOG+ or JOG- button. 3) Forward Backward 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.
When selecting forward position Press FWD POS Button. The forward position lamp turns ON. Press BACK POS Button. The backward position lamp turns ON. Press MIDDLE POS Button. The middle position lamp turns ON. Chapter 4 Operation When selecting backward position 4) When selecting middle position This operation cannot be conducted while “2-point stop” is selected. Register the position. 5) 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.) Press SAVE Button.
Ɣ Register the acceleration and speed. Confirm the Home-return lamp is blinking and the home-return operation is completed. Perform a home-return operation if the Home-return lamp is OFF and the home-return operation is not completed. Press TEACH MODE Button. 1) Select either forward position, backward position or middle position. Chapter 4 Operation The Accel & Speed lamp turns ON and the Position lamp turns OFF. * Press TEACH MODE Button and Position Lamp turns ON/OFF. Accel & Speed Lamp is kept ON.
Register the settings. 4) Chapter 4 Operation Press SAVE Button. Ɣ When the registration is complete, a buzzer sounds for 1 second and the lamp starts flashing. To Have a Test Run Press MANUAL Button. A peep sound is made and the manual lamp starts flashing. 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.) Continuous operation Press RUN Button and a continuous operation is started. The RUN button flashes during continuous operation. Press STOP Button and the continuous operation stops.
Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions) ERC3 actuator possesses the automatic servo OFF function and full servo function to reduce the power consumption while the actuator is stopped. When using the power saving function, read the explanation in this section narrowly to understand well so there is no trouble in safety and operation. Automatic servo OFF function is not available in Pulse Train Mode.
(1) Setting of periods taken until automatic servo OFF Three periods from completion of positioning to automatic servo OFF can be set in the following parameters in seconds [sec]. Parameter No. 36 37 38 Description Auto Servo Motor OFF Delay Time 1 (Unit: sec) Auto Servo Motor OFF Delay Time 2 (Unit: sec) Auto Servo Motor OFF Delay Time 3 (Unit: sec) 5.
[For Parameter No.39 = 0] Operation of actuator Positioning operation Automatic servo OFF standby Servo OFF Positioning operation Servo Condition ON ON OFF ON Completed Position No.
Pulse Train Control Mode Power saving cannot be performed with the automatic servo OFF. Only the full servo control setting is available. In the full servo function, the power consumption can be reduced by having a servo control to save the current during a stop. Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions) Stop Condition 5.
5.3 MEC Mode 1, 2 and 3 The setting of power saving function for MEC Mode 1 and 2 can be conducted on MEC PC Software or CON-PTA. The setting of power saving function for MEC Mode 3 cannot be conducted in the try run of Quick Teach. 5.3.1 Automatic Servo-off Function To have the automatic servo-off function activated, set to “Activate” in “Power Saving” in the operational condition table.
5.3 MEC Mode 1, 2 and 3 Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions) 292 Caution: (1) Automatic Servo-off Function is not effective while in pressing operation. Do not use. It becomes effective at completion of positioning. In pressing, the function becomes effective only when miss-pressing occurs (the status at the completion of operation without pressing is the same as that at the completion of positioning).
5.3.2 Full Servo Function Set “1” in Parameter No.11 when full servo function is to be conducted. In the full servo function, the power consumption can be reduced by having a servo control to save the current during a stop. (1) Setting of Power Saving Method Select whether to turn the servo ON or to have the full servo control in Parameter No.11. By setting “Power Saving” valid in the position table, automatic servo-off is triggered after certain time is passed.
294 5.
Chapter 6 Adjustment of Operation 6.1.1 Absolute Reset and Absolute Battery Absolute Reset PIO Converter is necessary for Simple Absolute Type. Simple Absolute Type retains the encoder position information in the battery backup. It is not necessary to perform the home-return operation every time the power is turned ON. In order to hold the encoder position information, absolute reset is required.
Chapter 6 Adjustment of Operation (2) For CON-PTA 1) 2) 3) 4) Connect the actuator with the PIO converter. [Refer to Chapters 3.] Connect the absolute battery (Enclosed battery if starting up for the first time, new battery if replacing) to the absolute battery connecting connector on the bottom of the PIO converter. [Refer to 6.1.1 [3].] Connect CON-PTA and turn the power ON to PIO Converter. Alarm 0EE “Absolute Encoder Error Detection 2” is shown.
[Absolute Reset Process] Emergency stop actuated or cancelled (Status of power supply to the motor drive source) Chapter 6 Adjustment of Operation Safety Circuit Condition Control Power Input (Note 1) Motor Power Input (Note 1) Alarm reset Alarm Signal *ALM Alarm Code Output (PM8 to PM1) ALM LED Servo ON Signal SON Servo ON Status SV Positioning Completion Signal PEND Home Return Signal (Note 2) HOME 6.1 Absolute Reset and Absolute Battery Pause is canceled. * Pause Signal STP Min.100ms Min.
Chapter 6 Adjustment of Operation [3] 6.1 Absolute Reset and Absolute Battery (1) Absolute Battery In PIO Converter for Simple Absolute Type, there are a battery for Absolute Type and fabric hook-and-loop faster enclosed. Separate the fastener and attach each to side surface of PIO Converter and the battery for Absolute Type. Join the fastener attached on the absolute battery and that on PIO Converter to fix them together.
2) Parameter Setting Value: if it is 2… Total charge amount ; 8 [h] × 3.3 [h] × 5 [day] = 132 [h] Total discharge amount ; 16 [h] × 5 [day] + 48 [h] = 128 [h] ĺ It is not necessary to have a continuous full charge if starting on Monday. 4-hour charge is stored every week. The upper limit is the reference value for the retaining duration after fully charged. (3) Absolute Battery Voltage Drop Detection Battery voltage 3.6V 3.
Chapter 6 Adjustment of Operation (4) Replacement of absolute battery When replacing the battery, leave the power to the PIO converter ON, remove the battery connector and replace with a new battery. [Removal] 6.1 Absolute Reset and Absolute Battery Pull the connector to remove the battery. [Attachment] Attach the fastener enclosed in the new battery to the side surface of the new battery. Join the fastener attached on PIO Converter and that on the battery to fix the battery.
6.2 High Output Setting and Gain Scheduling Function High Output Setting 6.2.2 Gain Scheduling Function 6.2.3 Setting in Positioner Mode 1 & 2 and Pulse Train Control Mode High output setting is a function to increase the speed, acceleration/deceleration and transportable weight. (It is set effective at delivery.) [Refer to 1.2.1 Actuator.] Setting of enable and disable switches over between the parameters of “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain”.
6.2.4 Setting in MEC Mode 1 to 3 Chapter 6 Adjustment of Operation Making the high output setting enable/disable is to be conducted in Parameter No.28. The high output setting is set enable at the delivery. With the setting of enable/disable for the high output setting, the parameters are switched over between “Velocity Loop Proportional Gain” and “Velocity Loop Integrated Gain” to perform controls.
6.3 I/O Parameter Warning: Establishment of parameter setting gives a great influence to operation. Wrongly established setting could cause not only an operation error or malfunction, but also it is very dangerous. Settings at the delivery enable the product to operate standardly. Understand very well about the control logic of ERC3 and PIO converter if making a change or performing a setting suitable to the system. Please contact us if you have anything unclear.
6.3.1 6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode No. Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule.
No.
6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode Chapter 6 Adjustment of Operation No.
Category I/O Parameter List (Continued) For For For Pulse Relevant Positioner Positioner Train sections Mode 1 Mode 2 Mode This section Unit Input Range Default factory setting – Overload level ratio Gain scheduling upper limit multiplying ratio OLWL % 50 to 100 100 GSUL % 0 to 1023 0 { { { 145 C GS velocity loop proportional gain GSPC – 1 to 30000 750 { { { 143 144 Name B 146 C GS velocity loop integral gain GSIC – 147 148 B Total movement count threshold B Total operated di
Chapter 6 Adjustment of Operation [2] Detail Explanation of Parameters Caution: To make the setting enable after a change is made to parameters, have either the software reset or power reboot. (1) Zone 1+, Zone 1- (Parameter No.1, No.2) Zone 2+, Zone 2- (Parameter No.23, No.24) No. Name Symbol Unit 1 Zone 1+ ZNM1 mm 2 Zone 1- ZNL1 mm 23 Zone 2+ ZNM2 mm 24 Zone 2- ZNL2 mm Input Range -9999.99 to 9999.99 -9999.99 to 9999.99 -9999.99 to 9999.99 -9999.99 to 9999.
(2) Soft limit +, Soft limit - (Parameter No.3, No.4) No. Name Symbol Unit Soft limit + LIMM mm 4 Soft limit - LIML mm Default factory setting Actual stroke on + side Actual stroke on - side 0.3mm (deg) is added to the outside of the effective actuator stroke for the setting at the delivery (since there would be an error at the end of effective stroke if set to 0).
(4) Press & hold stop judgment period (Parameter No.6) 6 Name Press & hold stop judgment period Symbol Unit Input Range Default factory setting PSWT msec 0 to 9999 255 Judging completion of pressing operation (1) The operation monitors the torque (current limit value) in percent in “Pressing” of the position table and turns pressing complete signal PEND ON when the load current satisfies the condition shown below during pressing.
(5) Servo gain number (Parameter No.7) No. Servo gain number Symbol Unit Input Range PLGO – 0 to 31 Default factory setting In accordance with actuator The servo gain is also called position loop gain or position control system proportion gain. The parameter defines the response when a position control loop is used. Increasing the set value improves the tracking performance with respect to the position command.
(8) Default positioning width (in-position width) (Parameter No.10) Chapter 6 Adjustment of Operation No. 10 Name Default positioning width Symbol INP Unit mm Input Range Default factory setting (Note 1) 0.01 to 999.99 0.10 When a target position is set in an unregistered position table, the setting in this parameter is automatically written in the applicable position number. When the remaining moving distance enters into this width, the positioning complete signal PEND/INP is output.
(12) SIO communication speed (Parameter No.16) No. 16 Name SIO communication speed Symbol BRSL Unit bps Input Range 9600 to 230400 Default factory setting 38400 Caution: After the PC software is connected, the baud rate setting is changed to that of the PC software. To make effective the value set in the parameter, turn off the power once and on it again. (13) Minimum delay time for slave transmitter activation (Parameter No.17) No.
(15) Home return offset level (Parameter No.22) No. 6.3 I/O Parameter 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode Chapter 6 Adjustment of Operation 22 Name Home return offset level Symbol Unit Input Range OFST mm 0.00 to 9999.99 Default factory setting In accordance with actuator In this setting can set the distance from the mechanical end to the home position. An adjustment is available for the following cases.
(17) PIO pattern selection (Parameter No.25) No. 25 Name PIO pattern selection Symbol IOPN Unit – Input Range 0 to 5 Default factory setting 0 (Standard Type) [For Positioner Mode 1] Type Value set in parameter No.
Chapter 6 Adjustment of Operation [For Positioner Mode 2] Type Value set in parameter No.
(19) Movement command type (Parameter No.27) No. Movement command type Symbol Unit FPIO – Input Range 0 : Level 1 : Edge Default factory setting 0 This is the parameter enable in the operation modes and PIO patterns shown in the table below. It is able to change the start signals ST0 to ST* from level to edge treatment. Parameter No.
(20) Default movement direction for excitation-phase signal detection (Parameter No.28) No. Chapter 6 Adjustment of Operation 28 Name Default movement direction for excitation-phase signal detection Symbol Unit PHSP – Input Range 0 : Reversed direction 1 : Forward direction Default factory setting In accordance with actuator Excitation phase signal detection(Note 1) is executed at the first servo-on after the power is supplied. Detection direction at this time is determined.
(23) Velocity loop proportional gain (Parameter No.31) No. Symbol Unit Input Range VLPG – 1 to 27661 Default factory setting In accordance with actuator This becomes enable when the setting of Gain Scheduling (Parameter No.144) and the high output setting (Parameter No.152) are set disable. [Refer to 6.2 High Output Setting and Gain Scheduling Function] This parameter determines the response of the speed control loop.
(25) Torque filter time constant (Parameter No.33) Chapter 6 Adjustment of Operation No. 33 Name Torque filter time constant Symbol Unit Input Range TRQF – 0 to 2500 Default factory setting In accordance with actuator This parameter decides the filter time constant for the torque command. When vibrations and/or noises occur due to mechanical resonance during operation, this parameter may be able to suppress the mechanical resonance.
(28) Auto servo motor OFF delay time 1, 2, 3 (Parameter No.36, No.37, No.38) No. 37 38 Symbol Unit Input Range Default factory setting ASO1 sec 0 to 9999 0 ASO2 sec 0 to 9999 0 ASO3 sec 0 to 9999 0 Chapter 6 Adjustment of Operation 36 Name Auto servo motor OFF delay time 1 Auto servo motor OFF delay time 2 Auto servo motor OFF delay time 3 Set the duration before the servo turns OFF after positioning process is complete when the power saving function is used.
(31) Enable function (Parameter No.42) Chapter 6 Adjustment of Operation No. 42 Name Enable function Symbol Unit FPIO – Input Range 0 : Enabled 1 : Disabled Default factory setting 1 Set valid/invalid the deadman switch function if the teaching pendant is equipped with a deadman switch. Set Value 0 1 Description Enable (Use the input signal) Disable (Does not use the input signal) (32) Silent interval magnification (Parameter No.45) No.
(35) PIO inch distance, PIO inch distance 2 (Parameter No.48, No.49) Symbol IOID IOD2 Unit mm mm Input Range 0.01 to 1.00 0.01 to 1.00 Default factory setting 0.1 0.1 Chapter 6 Adjustment of Operation No. Name 48 PIO inch distance (Note1) 49 PIO inch distance 2 Set the inching distance for the inching input command from PLC when PIO Pattern = 1 (Teaching Mode) is selected in Positioner Mode 2. The maximum allowable value is 1 mm. Note 1 Parameter No.49 “PIO inch distance 2” is not used.
(39) Default stop mode (Parameter No.53) Chapter 6 Adjustment of Operation No. 53 Name Default stop mode Symbol CTLF Unit – Input Range 0 to 7 Default factory setting 0 (Does not use) This parameter defines the power-saving function. [Refer to Chapter 5 Power-saving Function.] (40) Position-command primary filter time constant (Parameter No.55) No. 55 Name Position-command primary filter time constant Symbol Unit Input Range Default factory setting PLPF msec 0.0 to 100.
(41) S-motion rate (Parameter No.56) No. 56 Name S-motion rate Symbol SCRV Unit % Input Range 0 to 100 Default factory setting 0 Velocity Swing width Time 0 Chapter 6 Adjustment of Operation This parameter is used when the value in the “Acceleration/deceleration mode” field of the position table is set to “1 [S-motion]”. This enables to ease the impact at acceleration and deceleration without making the takt time longer.
Chapter 6 Adjustment of Operation (42) Torque limit (Parameter No.57) This parameter is exclusively used for the pulse-train control mode. [Refer to Chapter 4, 4.3 Operation in Pulse Train Control Mode, [9] Parameter Settings Required for Advanced Operations] (43) Deviation clear at servo OFF & alarm stop (Parameter No.58) This parameter is exclusively used for the pulse-train control mode. [Refer to Chapter 4, 4.
(51) Electronic gear denominator (Parameter No.66) (52) Compulsory stop input (Parameter No.67) This parameter is exclusively used for the pulse-train control mode.ޕ [Refer to Chapter 4, 4.3 Operation in Pulse Train Control Mode, [9] Parameter Settings Required for Advanced Operations] (53) Position feed forward gain (Parameter No.71) No.
(54) Ball screw lead length (Parameter No.77) Chapter 6 Adjustment of Operation No. 77 Name Ball screw lead length Symbol Unit Input Range LEAD mm 0.01 to 999.99 Default factory setting In accordance with actuator This parameter set the ball screw lead length. The factory setting is the value in accordance with the actuator characteristics.
(57) Current limit value at stopping due to miss-pressing (Parameter No.91) Name Symbol Unit 91 Current limit value at stopping due to miss-pressing PSFC – Input Range 0: Current limiting value at stop 1: Current limit value during pressing Default factory setting Chapter 6 Adjustment of Operation No. 0 This parameter defines the restricted current value at stopping due to miss-pressing. Servo-lock is executed following this setting until the next movement command. Parameter No.
(60) Monitoring mode (Parameter No.112) Chapter 6 Adjustment of Operation No. 112 Name Monitoring mode Symbol Unit FMNT – Input Range Default factory setting 0: Does not use 0 1: Monitor function 1 2: Monitor function 2 The controller can be connected with PC software to monitor the servo. This parameter allows you to select a monitoring mode function (servo monitor). Check the Instruction Manual of the RC PC software for details. Set Value Description 0 Unused 1 Sets the 4CH record mode.
(63) Gain scheduling upper limit multiplying ratio (Parameter No.144) No. Symbol Unit Input Range Default factory setting GSUL % 0 to 1023 0 (Disabled) Chapter 6 Adjustment of Operation 144 Name Gain scheduling upper limit multiplying ratio Gain scheduling is the function to change the gain in accordance with the operation speed. This parameter shows the multiplying rate of the upper limit of the changeable gain.
(67) Total operated distance threshold (Parameter No.148) Chapter 6 Adjustment of Operation No. 148 Name Total operated distance threshold Unit Input Range Default factory setting ODOT m 0 to 999999999 0 (Disabled) Notice will be made with Movement Distance Threshold Exceeding Alarm (04F) if the total distance of movement exceeds the value set in this parameter. The judgment would not be made if the value is set to 0. (68) Zone output changeover (Parameter No.149) No.
(70) BU velocity loop proportional gain (Parameter No.153) No. Symbol Unit Input Range Default factory setting BUPC – 1 to 10000 200 If the high output setting is set enabled, this parameter setting becomes enable for the velocity loop proportional gain. This is the parameter to determine the responsiveness of the velocity loop. Setting bigger values provides more capacity to track the speed command (it is described as the servo stiffness gets higher).
(72) Absolute battery retention time (Parameter No.155) Chapter 6 Adjustment of Operation No. 155 Name Absolute battery retention time Symbol Unit AIP days Input Range 0: 20 days 1: 15 days 2: 10 days 3: 5 days Default factory setting 0 For Simple Absolute Type, establish the setting to define how long the position information of the encoder is to be remained for after the power to the controller is turned OFF. Setting can be done from four grades.
[3] Servo Adjustment Caution: Rapid and excessive settings are dangerous. They may devices including the actuator to be damaged and/or people to be injured. Take sufficient note on the setting. Record settings during servo adjustment so that prior settings can always be recovered. When a problem arises and the solution cannot be found, please contact IAI. ᴾ No.
No. Chapter 6 Adjustment of Operation 3 Situation that requires adjustment Speed is uneven during the movement Speed accuracy is not appropriate How to Adjust Ɣ Increase the value of “Velocity loop proportional gain”. By setting a larger value, the follow-up ability to the speed command becomes better. Setting too large value makes the mechanical components easy to vibrate. As a reference for the setting, increase the value little by little by 20% from the initial setting.
No. 5 Chapter 6 Adjustment of Operation Situation that requires How to Adjust adjustment Ɣ Set Parameter No.71 “Feed forward gain”. Large static friction of Select a value in the range from 10 to 50 roughly. The larger the load makes actuator start setting value is, the smaller the deviation is. Then the response slowly. is improved. Large load inertia makes Setting a large value may cause vibrations and/or noises to response of actuator low occur. at start and stop.
6.3.2 Chapter 6 Adjustment of Operation [1] MEC Mode 1, MEC Mode 2 and MEC Mode 3 I/O Parameter List The categories in the table below indicate whether parameters should be set or not. There are five categories as follows: A : Check the settings before use. B : Use parameters of this category depending on their uses. C : Use parameters of this category with the settings at shipments leaving unchanged as a rule. Normally they may not be set.
No.
Chapter 6 Adjustment of Operation 6.3 I/O Parameter 6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3 [2] Detail Explanation of Parameters (1) Default positioning width (in-position) (Parameter No.1) No. 1 Name Default positioning width Symbol INP Unit mm Input Range Default factory setting (Note 1) 0.01 to 999.99 0.10 The positioning complete signal PEND/INP is output once the remaining movement amount comes into this width. Note 1 It is down to the minimum positioning width (L = Lead length/800).
(4) Velocity loop proportional gain (Parameter No.5) No. Symbol Unit Input Range VLPG – 1 to 27661 Default factory setting In accordance with actuator It is enable when the high output setting (Parameter No.28) is set disable. This parameter determines the response of the speed control loop. When the set value is increased, the follow-up ability to the velocity command becomes better (the servo-motor rigidity is enhanced). The higher the load inertia becomes, the larger the value should be set.
(6) Press velocity (Parameter No.7) No. Chapter 6 Adjustment of Operation 7 Name Press velocity Symbol Unit PSHV mm/s Input Range 0.01 to actuator's max. pressing speed Default factory setting In accordance with actuator This is the parameter to set the velocity in pressing operation. If a change to the setting is required, make sure to have the setting below the maximum pressing velocity of the actuator. Setting it fast may disable to obtain the specified pressing force.
(8) Current limit value at stopping due to miss-pressing (Parameter No.9) No. Current limit value at stopping due to miss-pressing Symbol Unit PSFC – Input Range 0: Current limiting value at stop 1: Current limit value during pressing Default factory setting Chapter 6 Adjustment of Operation 9 Name 0 This parameter defines the restricted current value at stopping due to miss-pressing. This restricted current value locks the servo till the next moving command.
(13) Soft limit (Parameter No.15) Chapter 6 Adjustment of Operation No. 15 Soft limit Name Symbol LIMM Unit mm Input Range 0.01 to 9999.99 Default factory setting Actual stroke Actuator enable stroke is set at the delivery. Adjustment can be made freely within the movable range considering the suitability to the system for purposes of avoidance to interference, crash, etc. The minimum setting unit is 0.01mm.
(15) Home return direction (Parameter No.17) No. Name Home return direction Symbol Unit ORG – Input Range 0: Reverse 1: Forward Default factory setting In accordance with actuator Unless there is an indication of home-reversed type (option), the direction of the home return for the straight axis is located on the motor side. [Refer to the coordinate system of the actuator.] If it becomes necessary to reverse the home direction after the actuator is installed on the machine, change the setting.
(18) Position Data Change Password (Parameter No.20) Chapter 6 Adjustment of Operation No. 20 Name Position Data Change Password Symbol Unit Input Range Default factory setting 3$66 – 0000 to 9999 0 Set the password for when making a change to the position data. [Refer to MEC PC Software and teaching pendant instruction manuals provided separately for how to set up.] (19) PIO inch distance (Parameter No.25) No. 25 Name PIO inch distance Symbol IOID Unit mm Input Range 0.01 to 1.
(23) BU velocity loop proportional gain (Parameter No.29) No. Symbol Unit Input Range Default factory setting BUPC – 1 to 10000 200 If the high output setting is set enabled, this parameter setting becomes enable for the velocity loop proportional gain. This is the parameter to determine the responsiveness of the velocity loop. Setting bigger values provides more capacity to track the speed command (it is described as the servo stiffness gets higher).
Chapter 6 Adjustment of Operation [3] The parameters are preset at the factory before shipment so that the actuator operates stably within the rated (maximum) transportable weight. However, the preset setting cannot always be the optimum load condition in the actual use. In such cases, servo adjustment may be required. This section describes the basic servo adjustment method. Caution: Rapid and excessive settings are dangerous.
No. 3 How to Adjust Ɣ Increase the value of Parameter No.3 “Velocity loop proportional gain”. By setting a larger value, the follow-up ability to the speed command becomes better. Setting too large value makes the mechanical components easy to vibrate. As a reference for the setting, increase the value little by little by 20% from the initial setting.
350 6.3 I/O Parameter 6.3.
Chapter 7 Troubleshooting 7.
2) 3) 4) 5) Chapter 7 Troubleshooting 6) 7) 8) 9) 10) 11) 12) Check whether an alarm occurs on the host controller (PLC, etc.). Check the voltage of the main power supply (24V DC). Check the voltage of power supply for the PIO (24V DC). Alarm Check (Note1) Check the alarm code on the teaching tool such as PC software. Check the connectors for disconnection or connection error. Check the cables for connection error, disconnection or pinching.
7.2 Fault Diagnosis This section describes faults largely divided into three types as follows: (1) Impossible operation of controller (2) Positioning and speed of poor precision (incorrect operation) (3) Generation of noise and/or vibration Impossible operation of controller Situation 1) Positioner Mode 1. Pulse Train Control Mode Status Display LED does not turn ON in green even though the power to ERC3 is supplied in MEC Mode 1 or MEC Mode 2. 2) Positioner Mode 2.
Chapter 7 Troubleshooting 7.2 Fault Diagnosis Situation Possible cause 1) Positioner Mode 1. (1) Occurrence of alarm. Pulse Train Control (2) During emergency-stop. Mode 1) Was the emergency-stop switch Status Display LED released? on ERC3 turns ON in 2) Positioner Mode 1, MEC Mode 1, red at the power boot Pulse Train Control Mode in MEC Mode 1 or EMG on the ERC3 is not MEC Mode 3. connected. 2) Positioner Mode 2.
[In the case of Positioner Mode] Situation Both position No. and start signal are input to the controller, but the actuator does not move. Chapter 7 Troubleshooting Possible cause Check/Treatment There is a problem either in PIO signal 1) Is Status LED on ERC3 turned ON treatment, position table setting or in green? operation mode selection. If PIO Converter is used, is Status 1) Servo OFF condition LED turned ON in green? 2) The pause signal is OFF.
[In the case of Pulse Train Control Mode] Possible cause PIO signal processing or parameter setting is incorrect. 1) Servo OFF state 2) The pause signal is OFF. 3) The pulse-train type, a parameter, is selected incorrectly. 4) The positive/negative logic of pulse-train, a parameter, is selected inversely. 5) The unit moving distance per pulse, which is a setting condition of electronic gear ratio, a parameter, is too small. 7.
[Startup Adjustment with Teaching Tool when Control Circuit Incomplete] Possible cause Cable treatment or mode selection. 1) Emergency stop condition 2) Servo OFF condition 3) In pause Check/Treatment 1) Positioner Mode 1, MEC Mode 1, Pulse Train Control Mode Check the connection of wires on EMG of ERC3. [Refer to Chapter 3, 3.1.3 [1], 3.2.3 [1] and 3.4.3 [1] wiring of Power Line and Emergency Stop Circuit.
7.2.2 Positioning and speed of poor precision (incorrect operation) 7.2 Fault Diagnosis Chapter 7 Troubleshooting Situation Completion of operation on the way to home return Possible cause In the home return of our standard specification, the actuator is first pressed to the mechanical end, moved oppositely, and subject to positioning stop at the home position.
[In the case of Pulse Train Control Mode] The actuator does not reach the command position when operated with extremely low speed. To avoid unnatural move, the actuator would not move unless the differential pulse becomes 3 pulses or more. Check/Treatment 1) Check the setting of electronic gear ratio. The host controller also has the electronic gear ratio parameter. Set the electronic gear ratio not to be inconsistent with that of the host controller.
7.2.3 Generation of noise and/or vibration Chapter 7 Troubleshooting Situation Generation of noise and/or vibration from actuator itself Possible cause Noise and vibration are generated by many causes including the status of load, the installation of the actuator, and the rigidity of the unit on which the actuator is installed. [In the case of Positioner Mode] Situation Vibrations of load Possible cause 1) Acceleration/deceleration is set too high.
7.3 Alarm Level The alarms are classified to 3 types of levels by the content of the error. ALM lamp *ALM signal Message(Note 1) OFF No output Operation release ON Output Cold start ON Output Status when an Cancellation method error occurred No stop Alarm of maintenance output such as battery voltage drop or the teaching tool such as PC software [Refer to Instruction Manual of each tool for details.] Servo OFF after Reset the alarm by the PIO or teaching deceleration to tool.
7.4 Alarm Level 02C 02D 02E 048 Cause/Treatment Monitoring related command in monitoring function invalid status Cause RTC related command in RTC invalid status Cause Driver overload alarm Cause Treatment Treatment Treatment Exceeded Cause movement count threshold 04F Exceeded operated distance threshold 080 Operation release 7.
Alarm Code Alarm Level 082 091 Cause Treatment Operation release Absolute Cause position move command when Treatment home return is not yet completed Position No. error during movement Cause Treatment Software reset Cause during servo ON Treatment Position No. Cause error in teaching Treatment 092 PWRT signal Cause detection during movement Treatment 093 PWRT signal detection in incomplete home return Cause Treatment : A position move command was issued before home return was completed.
Alarm Code Alarm Level Parameter data error Cause/Treatment Cause Cold start Chapter 7 Troubleshooting 0A1 Alarm Name Treatment Position data error Operation release 7.4 Alarm List 0A2 0A3 0A4 Cause Treatment Position command data error Command counter overflow Cause Treatment Cause Treatment 364 : The data input range in the parameter area is not appropriate.
Alarm Code Alarm Level Cold start 0A8 Cause/Treatment Cause : Because there is not enough deceleration distance when the deceleration is changed to a lower setting during the operation, the actuator exceeded the soft limit when deceleration was made from the current position with the deceleration after the change. Deceleration starting position not resulting in soft limit overshoot MEC Mode 2 If a command is issued here, soft limit overshoot will occur.
Alarm Code Alarm Level Excitement detection error 7.4 Alarm List Cold start Chapter 7 Troubleshooting 0B8 366 Alarm Name Cause/Treatment Cause : The excitation detection starts when the servo is turned on for the first time after the power is supplied. Detection process does not complete in the specific time (set in Parameter No.29 if Positioner Mode 1, Positioner Mode 2 or Pulse Train Control Mode). 1) Connection error or wire breakage of motor/encoder cables.
Alarm Code Alarm Level 0BE Alarm Name Cause Treatment 0C0 Actual speed excessive Cause 0C1 Operation release Treatment Servo error Cause 0C8 Overcurrent Cause 0C9 Cold start Treatment Overvoltage Cause Treatment { { { { { { { { { { { { { { { { { { { { 7.4 Alarm List Treatment : Home return does not complete after elapse of a certain period after the start of home return. : This error does not occur in normal operation. Please contact IAI.
Alarm Code Alarm Level Overheat 7.4 Alarm List 0CC 368 Cold start Chapter 7 Troubleshooting 0CA Alarm Name Control power source voltage error Cause/Treatment Cause : This shows the heat on the components inside the controller inside the ERC3 motor unit is too high. 1) Operation is performed with the load condition exceeding the specified range. 2) High temperature around the controller. 3) Load to the motor is high due to external force.
Alarm Code Alarm Level Drive Source Error 0D5 Differential Counter Overflow with Home Return Incomplete Cause : The control power voltage dropped less than the voltage drop threshold (80% of 24V DC = 19.2V). 1) The voltage of 24V DC power supply is low. 2) Components’ malfunction of the controller inside the ERC3 motor unit Treatment : Check the voltage of the power supply. In the case that the voltage is normal, please contact IAI.
Alarm Code Alarm Level 0D9 7.4 Alarm List 0DC 370 Deviation overflow Operation release Chapter 7 Troubleshooting 0D8 Alarm Name Cause/Treatment Cause : This alarm indicates that the position deviation counter has overflowed. 1) The speed dropped or the actuator stopped due to the effect of external force or overload. 2) The excited-phase detection operation following the power-on is unstable. Treatment : 1) This error occurs when the actuator cannot be operated as it is commanded.
Alarm Code Alarm Level 0E0 Alarm Name Overload Cause/Treatment Cause MEC Mode 2 Chapter 7 Troubleshooting : 1) The work weight exceeds the rated weight, or an external force is applied and the load increased. 2) If the actuator is equipped with a brake, the brake is not released. 3) The slide resistance of the actuator is locally high. Treatment : 1) Check the work and its surrounding area to remove the cause.
Alarm Code Alarm Level Absolute encoder error detection 1 0EE Absolute encoder error detection 2 0F4 Absolute encoder error detection 3 Cold start 0EF 0F5 Operation release 7.
Alarm Code Alarm Level 0F6 Cold start Operation release Cold start Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.] Alarm on teaching tool [Refer to the Instruction Manual of teaching tool.] { { { { { { { { { { { { { { { { { { { { { { { { { { { { 373 7.4 Alarm List 300 to 3FF Message 0FC There is no response in the specified time duration during the data writing to the non-volatile memory.
374 7.
Chapter 8 Actuator Maintenance Check 8.1 Inspection Items and Schedule [Slider Type] Start of work inspection 1-month inspection 6-month inspection 12-month inspection Every 6 months thereafter Every 12 months thereafter External visual inspection { { { { { { Internal inspection Greasing { { { { { External visual inspection { { { { Internal inspection Greasing { { { (Ball Screw/Guide ) { { { (Ball Screw/Guide) [Rod Type] 8.2 { (Rod sliding surface) { (Rod sliding surface) 8.
8.4 Internal Inspections for Slider Type Turn OFF the power, remove the side cover and conduct a visual inspection. When inspecting the interior, check the following items. 8.4 Internal Inspections for Slider Type 8.5 Internal Cleaning for Slider Type Chapter 8 Actuator Maintenance Check Main unit Guide section Loose mounting bolts, other loose items Lubrication, buildup Visually inspect the interior of the equipment.
8.6 8.6.1 Grease Supply Grease Supply for Slider Type (1) Grease Applied to Guide IAI uses the following grease in our plant. Idemitsu Kosan Daphne Eponex Grease No.2 Other companies also sell similar types of grease. For details, give the above grease name to the manufacturer you want to purchase from and ask what corresponding product they have available. Here are some examples of similar products. Showa Shell Oil Mobil Oil Albania Grease No.
8.6.2 How to Supply Grease on Slider Type 8.6 Grease Supply Chapter 8 Actuator Maintenance Check 1) Remove the thin-head screws with a 1.5mm hex wrench for SA5 and 2.0mm wrench for SA7. Thin-Head Screw 2) Detach the screw cover. Screw Cover 3) After cleaning up the guide on both sides, apply the grease. Slide the slider back and forth to evenly apply the grease. Wipe off the excess grease at last.
4) After cleaning up the ball screw, apply the grease by hand. Move the slider back and forth to evenly apply the grease. For some of the low lead actuators, the slider would not move manually with hand. Move it with JOG operation of the controller. Wipe off the excess grease at last. Ball Screw Chapter 8 Actuator Maintenance Check 5) Attach the slider cover and tighten the thin-head screws with 1.5mm hex wrench for SA5 and 2.0mm wrench for SA7. 8.
8.6.3 Grease Supply for Rod Type (1) Grease Applied to Ball Screw IAI uses the following grease in our plant. Kyodo Yushi Multitemp LRL 3 Use lithium grease spray for the maintenance work. Make it 1 sec or less to apply the spray in one time. Wako Chemical Spray Grease No. A161 or equivalent Warning: Never use anything other than synthetic poly- olefin grease. Mixing poly- grease with other grease not only reduces the performance of the grease, it may even cause damage to the actuator. 8.
8.6.4 How to Supply Grease on Rod Type 1) Remove the thin-head screw with a 1.5mm hex wrench. Chapter 8 Actuator Maintenance Check 2) Slide the rod for more than the half of the stroke distance. For some of the low lead actuators, the rod would not move manually with hand. Move it with JOG operation of the controller. To supply grease to the ball screw, put the spray grease into the screw hole. (1 second or less for spraying) 8.
Chapter 8 Actuator Maintenance Check 3) On the rod sliding part, apply grease by hand. 4) After applying the grease, move the rod back and forth so the grease spreads out evenly. For some of the low lead actuators, the rod would not move manually with hand. Move it with JOG operation of the controller. 8.6 Grease Supply 5) Reinstall the thin-head screw with a 1.5mm hex wrench. Warning: When supplying grease, do not attempt to use spray oil. Make sure to use spray grease.
8.7 Motor Replacement Process [Items required for replacing the motor] • Motor Unit for Replacement • Hex wrench set Screw connecting the Actuator and Motor Unit Chapter 8 Actuator Maintenance Check [Procedure] 1) Remove the screw affixing the actuator and motor unit with 2.5mm hex wrench for SA5 and SA4 and 3.0mm wrench for RA7 and RA6. 8.7 Motor Replacement Process 2) Detach the motor unit.
8.7 Motor Replacement Process Chapter 8 Actuator Maintenance Check 3) Make the profiles on the actuator side and motor unit side aligned so the projection matches to the slit. Make the projection and slit matched with each other. Apply grease to the coupling part. TL101Y grease made by NOK 4) Attach the motor unit for replacement with the projection being matched with the slit. 5) Tighten the screw to affix the motor unit to the actuator with 2.5mm hex wrench.
Chapter 9 External Dimensions 9.1 ERC3-SA5C 5 2-φ4H7 depth 6 5 41 20.5 20.5 4-M4 depth 8 3 φ4.5 Detail: X (Attachment Hole and Datum Surface) 26 3 ME SE Stroke 51 15 3 SE ME 142.5 68.7 50 57 L F Chapter 9 External Dimensions 50 (Reamer Pitch ±0.02) 5 4.5 Datum Surface φ8 47 50 55.3 G-M4 depth 7 24 C×100P 50 B (Pitch between reamed hole and oblong hole) Y A 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 185 5 Detail Y Scale 2:1 Stroke 2-φ4H7 depth 5.
ERC3-SA7C 2-φ5H7 depth 10 Datum Surface φ9.5 6 32 64 32 6 4-M5 depth 10 5 5.5 9.2 6 φ5.5 72 (Reamer Pitch ±0.02) Detail: X (Attachment Hole and Datum Surface) 28.5 3 SE ME Stroke L F 76 173 20 3 SE ME 85 64 Chapter 9 External Dimensions 82 71 74 X G-M5 depth 9 224 H-φ5.5 through φ9.5 countersink, depth 5.5 (from opposite side) J-Oblong Hole, depth 6 (from base bottom) D×100P 40 +0.
4.3 ERC3-RA4C 2.7 4.3 7.3 30 5 4 22 8 (Area of paired faces) φ32 φ25 22 (Width across Flats Three Locations) M10×1.25 16.7 4-M6 depth 12 29.5 Chapter 9 External Dimensions 17 34 45 55.3 ME SE SE ME 3 3 Stroke 39 A F (Effective T-groove range) 144 L With Brake 3 6 6 17 6 (19.6) Detail A Scale 2:1 68.7 52 34 9.3 186.5 M10×1.
ERC3-RA6C Detail A Scale 2:1 6.5 10.5 Chapter 9 External Dimensions 40 85 72 50 13 4-M8 depth 16 3.6 27 (Width across Flats Three Locations) 8 9.4 25 50 64 69 ME SE SE ME 3 3 Stroke 49.5 A F (Effective T-groove range) 176.5 L With Brake 8 5 22 10 (25.4) 10 M6 Supplied Square Nut for T-Groove (enclosed four units) Nut applied to Rod Tip Stroke 50 100 150 200 250 300 388 227.5 M14×1.5 L w/o Brake 334.5 384.5 434.5 484.5 534.5 584.5 With Brake 385.5 435.5 485.5 535.5 585.5 635.
Chapter 10 Appendix 10.1 Input and Output Response Performance When PIO Converter is Used When controlling ERC3 with using PIO converter, there is a delay in the response time as described below; 1) Input Delay Time of PIO Converter The digital input time constant with the hardware is 2ms at maximum. The digital input filter time with the firmware is 5ms at maximum. Therefore, there is 7ms of input response time in total for PIO converter.
10.2 Way to Set Multiple Controllers with 1 Teaching Tool Settings of several controller units can be performed with 1 unit of teaching tool with the method stated below if using PIO converter. ERC3 should be in CON Mode. The following method cannot be applied if ERC3 is in the serial communication type. It is usually necessary to connect the teaching tool to the controllers one by one when making a setup to multiple controllers with one unit of teaching tool.
10.2.1 Connecting Example Caution: Supply 0V to the SIO converter and each controller from the same power source.
10.2.2 Detailed Connection Diagram of Communication Lines Double Shield Cable(Note 1) Recommended : Taiyo Cabletec Corp.
10.2.4 Handling of e-CON connector (how to connect) Pin No. Clamp Lever Wire 1) Check the applicable cable size. Check the applicable cable. If it is not applicable, it may cause a connection failure or a breakage of the connector. 2) Check the pin numbers, do not reveal the sheath, and insert the cable till it reaches the end. Revealing the sheath may cause a failure such as short circuit or cable fall out.
10.2.5 SIO Converter 6) LED Indicators for Monitoring 3) D-sub, 9-pin Connector 5) PORT Switch 4) Mini DIN, 8-pin Connector 1) Power/Emergency Stop Terminal Board (TB2) Symbol Description EMG1, EMG2 Turn the PORT switch ON to output the emergency stop switch signal, OFF to short-circuit EMG1 and EMG2. When applying the emergency stop switch of the teaching pendant to the emergency stop of the system, obtain the signal from here.
2) Link-connection Terminal Board (TB1) This is the connection port to obtain communication connection with the controller. Connect terminal “A” on the left side to communication line SGA of the controller. (Terminal A is connected to pin 1 of (7) internally.) Connect terminal “B” on the right side to communication line SGB of the controller. (Terminal B is connected to pin 2 of (7) internally.) Use a twisted pair shielded cable for the connection of SGA and SGB to TB1.
10.2.6 Communications Cable 1) Controller Link Cable (CB-RCB-CTL002) Controller Side 200mm e-CON Connector 3-1473562-4 (Housing Color : OR) Mini DIN Connector Chapter 10 Appendix Signal YW OR 10.
10.3 Conformity to Safety Category In this section shows an example of a circuit using the dedicated teaching pendant. However, it is not possible for us to check the conformity of our product to the condition of your system. Therefore, it is necessary that the user construct the circuit considering the condition of use and the categories to be applied.
[2] Wiring and setting of safety circuit 1) Power supply To use safety relays and/or contactors of 24V DC specification in the safety circuit, the control power supply should be used only for the circuit as much as possible. (Do not use the same power source as the driving power supply for this controller.) It is the risk prevention treatment preparing for the cases such as the operation error of the safety circuit caused by not enough power capacity.
Ɣ Upper side EMG connector Ɣ Lower side ENB connector EMG1EMG1+ EMG2EMG2+ EMGIN EMGOUT ENB1ENB1+ ENB2ENB2+ ENBIN ENBOUT 1 1 6 6 Wiring Color Signal YW ENB1YW ENB1+ ENB2AWG24 ENB2+ YW ENBIN YW ENBOUT No. 1 2 3 4 5 6 Chapter 10 Appendix Wiring Color Signal No. YW EMG11 YW EMG1+ 2 3 EMG2AWG24 4 EMG2+ 5 YW EMGIN YW EMGOUT 6 Upper Lower side side TP Adapter Side View 4) Enable function* If you are using the enable function, set it to Enable using the controller parameter. Parameter No.
[3] Examples of safety circuits 1) In case of category 1 CON-PGA (or Dummy plug : DP-4) PIO Converter Connection Cable CB-CON-LB□□□ EMG1- 24V 0V SW SW Reset Emergency Stop EMG1+ 1 EMG2- 2 EMG2+ 0V 3 EMGIN 4 EMGOUT 5 ENB1- Enable SW 6 ENB1+ 7 ENB2- 24V 8 ENB2+ 9 ENBIN 10 11 12 ENBOUT Chapter 10 Appendix RCB-LB-TG 24V S1 S2 10.
Ɣ Detailed category 1 circuit example 1 3 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 EMG− 12 Shell TP Connection Detecting TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB 24V EMGS R Y EMG1- 26 VP24 T24V 24V SW SW Reset Emergency Stop DC24V- EMGA S2 EMG1+ 7 ENB 1 DC24V+ 5V S1 EMG2- 22 2 EMB2+ SGB 24V EMG2+ 25 3 24 EMB2- EMGIN EMB1+ 4 23 EMGOUT Enable SW EMB1- 5 5 EMB1- EMG2+ 6 6 Enable SW EMG2- EMB1+
2) In case of category 2 CON-PGA (or Dummy plug: DP-4) PIO Converter Connection Cable CB-CON-LB□□□ G9SA-301 (OMRON) 24V T32 T12 T31 T11 A2 A1 1 2 3 4 5 6 24V S1 42 34 24 14 G9SA-301 (OMRON) 24V 1.EMG1- 2.EMG1+ Emergency stop SW Reset SW 41 33 23 13 1 3.EMG2- Enable SW 2 4.EMG2+ 3 5.EMGIN 4 6.EMGOUT 5 6 7.ENB1- 8.ENB1+ 7 9.ENB2- 8 10.ENB2+ 9 11.ENBIN 10 11 12 Chapter 10 Appendix 12.
Ɣ Detailed category 2 circuit example TP SG RCB-LB-TG 1 PIO Converter 1 1 3 2 2 RTS 13 3 3 CTS 14 4 4 Emergency Stop SW EMG1- 9 5 5 EMG1+ 12 6 6 EMG2- 6 7 7 EMG2+ 5 8 8 Enable SW EMB1- 23 9 9 EMB1+ 24 EMB2- 25 EMB2+ 22 DC24V+ 7 DC24V- 26 SGB 5V ENB EMGA VP24 TP Connection Detecting T24V TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB S1 S2 Enable SW R Y EMG1- EMG1+ EMGS 1 2 EMG2- EMG2+ 3 EMGIN
3) In case of category 3 or 4 CON-PGA (or Dummy plug: DP-4) PIO Converter Connection Cable CB-CON-LB□□□ EMG1- EMG1+ 1 EMG2- 2 EMG2+ 3 EMGIN 4 EMGOUT 5 ENB1- Enable SW 6 ENB1+ 7 ENB2- 8 ENB2+ 9 ENBIN 10 11 For Category 4, insert Reset Switch as shown in the diagram. For Category 3, layout the wiring without inserting Reset Switch. 12 ENBOUT Chapter 10 Appendix RCB-LB-TG Emergency Stop SW Reset SW 10.
Ɣ Detailed category 3 or 4 circuit example TP SG RCB-LB-TG 1 PIO Converter 2 1 1 3 2 2 RTS 13 3 3 CTS 14 4 4 Emergency Stop SW EMG1- 9 5 5 EMG1+ 12 6 6 EMG2- 6 7 7 8 8 9 9 26 EMG− Shell VP24 TP Connection Detecting T24V TP Detection T24V…Output Bypass relay…OPEN TP Not Detected T24V…Not Output Bypass relay…CLOSE EMGB For Category 4, insert Reset Switch as shown in the diagram. For Category 3, layout the wiring without inserting Reset Switch.
[4] TP adapter and accessories 1) TP adapter external dimensions 25 65 (2) Chapter 10 Appendix 56 45 3 8.5 50.5 10.3 Conformity to Safety Category 48 2.75 2-φ3.
2) Connection Cable (Accessories) Ɣ Controller/TP Adaptor Connection Cable Use this cable to connect the controller and TP adapter (RCB-LB-TG). Model : CB-CON-LB005 (standard cable length : 0.5m) Maximum cable length : 2.0m CB-CON-LB□□□ Color Signal No. SGA SGB 5V ENBL EMGA 24V GND EMGB FG 8PIN MIN DIN Connector (overmolded) No. Signal Color SGA SGB 5V ENBL EMGA 24V GND EMGB FG BR YW RD OR BL GN PL GY Shield Chapter 10 Appendix BR YW RD OR BL GN PL GY Shield 8PIN MIN DIN Connector (overmolded) 10.
3) Dummy plug (Accessories) Connect a dummy plug to the teaching pendant connecting connector. Make sure to connect a dummy plug if the AUTO mode is specified. Without the connection, it will be the emergency stop condition. Model : DP-4 Signal 10.4 When Connecting Power Supply with + Grounding Chapter 10 Appendix Plug : TX20A-26PH1-D2P1-D1E (JAE) Short-circuit processing. 10.
10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter) This section shows an example in which a simple operation box directs ERC3 to move the actuator successively to three positions on an axis. 10.5.1 I/O Assignment Emergency stop cancel EMGRST (Relay Circuit) RC Stop STOP Pause HOLD Home Return HOME Completed Position No.1 Completed Position No.2 Completed Position No.
10.5.2 Ladder Sequence [1] Servo ON (Emergency Stop) Circuit 1) It is presumed that the emergency stop release circuit installed in the operation box possesses the self-retaining circuit as shown in “3.1.3 [1] Emergency Stop Circuit”. When it comes to the emergency stop release condition, “Servo-on” signal from PLC to PCON turns ON.
[3] Pause Circuit Pause is provided by a single pushbutton. In a similar way as use of an alternate switch, push the button to make the actuator pause and push it again to release the pause of the actuator. Pushing the pushbutton leads the “pause command and pause lamp ON” state and pushing the pushbutton again brings “pause release command and pause lamp OFF”. To make it easy to understand the circuit, this circuit is designed to replace contact b input with contact a.
[4] Reset Circuit If the “Stop” button on the operation box is pushed during pause, the “Reset” signal sent from PLC to ERC3 and PIO converter are turned ON and the remaining moving distance is cancelled. In addition, this operation releases the pause. (It is because the pause is not required with no remaining moving distance.
[5] Home Return Circuit Similar to the operation circuit, this is used to determine whether the controller can be operated. (Confirmation of ready status of controller) 040 (Interlock) Turns the “Home return” signal OFF at completion of home return. It is set as it would not be able to home return again after the home return operation is complete unless “Home Return Complete” signal turns OFF.
[6] Decode Circuit of Positioning Complete Position No. The decode circuit converts the binary data of positioning complete position No. sent from ERC3 and PIO converter to PLC into the corresponding bit data. This is the timer to prevent the code reading error since the scanning is held independently by PLC and RC controller. IN13 054 200ms is set to TIM4 PEND Point Positioning Completion IN5 Chapter 10 Appendix 056 061 PM1 PM2 Completed Position No1. Completed Position No2.
[8] Position 1 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.1. 078 AUX7 Position 1 Positioning Start Pulse AUX17 AUX10 OUT1 STARTL Position 1 Positioning RC Start Point Start Check Display Positioning Completion PEND Startup Auxiliary Position 1 Positioning Start AUX9 a083 a087 b132 a135 b144 b151 a162 Without home return, positioning to position No.
[9] Position 2 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.2. This circuit indicates the same sequence as that of position No.1.
[10] Position 3 Operation Circuit The main circuit is designed to process and manage signals “start” o “moving” o “positioning complete” to move the actuator to position No.3. This circuit indicates the same sequence as that of position No.1.
[11] Commanded Position No. Output Ready Circuit The ready circuit is designed to hold start command and output commanded position No. in the binary code. Interlock is taken so that position No. command may not be specified incorrectly. AUX9 135 Auxiliary Position 1 Positioning Start AUX12 Auxiliary Position 2 Positioning Start AUX15 Auxiliary Position 3 Positioning Start AUX19 Position 2 Set AUX20 Position No.1, 2, or 3 set relay Chapter 10 Appendix Position No.
[12] Commanded Position No. Output Circuit Depending on the result of the ready circuit, this circuit converts position No. to the binary code and outputs the data from PLC to ERC3 and PIO converter. 156 AUX18 [Position No.1] OUT8 Position 1 Set Command Position 1 PC1 AUX20 Position 3 Set AUX19 [Position No.2] OUT9 Position 3 Set PC2 Command Position 2 AUX20 Position 3 Set Chapter 10 Appendix 159 [Position No.
[14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode) 168 IN9 ZONE1 OUT6 ZONEL Zone 1 Display Zone 1 170 IN10 PZONE OUT6 Position Zone Display PZONEL Position Zone 172 IN11 RMDS OUT7 CSTR Manual Mode Display Chapter 10 Appendix Operation Mode 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter) [Reference] Programs and functions of PLC are expressed differently depending on manufacturers.
10.6 Life 10.6.1 Product Life of Slider Type The mechanical life of the actuator is represented by the greatest moment load on the guide. The “rated load” is one factor that relates to the traveling life. There are two types of “rated load,” namely “static rated load” and “dynamic rated load”. • “Static rated load” : Load which, when applied to a stationary actuator, leaves a minor pressure mark on the contact surface.
422 10.
Chapter 11 Warranty 11.1 Warranty Period One of the following periods, whichever is shorter: • 18 months after shipment from our factory • 12 months after delivery to a specified location • 2,500 operational hours 11.2 Scope of the Warranty Our products are covered by warranty when all of the following conditions are met.
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
Change History Revision Date Revision Description First Edition 2011.10 Second Edition Pg. 278, 303 and 304 Parameter for MEC Mode added 2011.11 Third edition Pg. 21, 109 and 141 Maximum load current 4.2A when high output setting added Pg. 37 Change the lost motion of Rod type lead 20 and 24. 0.1mm or less ĺ 0.2mm or less Pg. 46 Horizontally oriented wall mount for the slider types SA5C and SA7C u ĺ { However, a note added to warn that it is easy for a foreign object to get inside from the opening. Pg.
Change History Revision Date 426 Revision Description 2012.06 Seventh edition Revised overall 2012.06 Edition 7B Note corrected 2012.10 Eighth edition Pg. 125, 126, 128, 132, 133, 137 *STP is deleted. Pg. 423 “2,500 operational hours” added to Warranty Period.
Manual No.: ME0297-8A (October 2012) 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/ Technical Support available in USA, Europe and China Head Office: 2690 W.
