Page 1 ERC3 Gateway Unit Instruction Manual Forth Edition IAI Corporation...
Page 3 • This Instruction Manual is original. • The product cannot be operated in any way unless expressly specified in this Instruction Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein. • Information contained in this Instruction Manual is subject to change without notice for the purpose of product improvement.
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Page 5: Table Of Contents
Wiring Diagram (Connection of Construction Devices) ·············································· 31 Circuit Diagram ··········································································································· 32 Wiring Method············································································································· 37 2.3.1 Connection to Power Input Connector································································· 37 2.3.2 Connection with ERC3 Actuators ········································································ 38 2.3.3 Connection to Battery Connector ········································································ 39 2.3.4 Connection of SIO Connector·············································································· 40 2.3.5 Wiring Layout of Fieldbus Connector ··································································...
Page 6 Gateway Alarm Codes ······················································································· 158 5.4.2 Simple Alarm Code ···························································································· 160 5.4.3 Alarm Codes for ERC3 (Each Axis)··································································· 161 Chapter 6 Appendix····································································································169 Specifications of Actuator·························································································· 169 6.1.1 In the case of high output setting valid for Slider Type (Screw Cover Type) ····· 169 6.1.2...
Page 7 Chapter 7 Warranty ····································································································175 Warranty Period ········································································································ 175 Scope of Warranty ···································································································· 175 Honoring the Warranty······························································································ 175 Limited Liability ········································································································· 175 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications································································································ 176 Other Items Excluded from Warranty········································································ 176 Change History ·············································································································177 ME0302-4A...
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Page 9: Safety Guide
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. Operation Description Description...
Page 10 Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● 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.
Page 11 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
Page 12 Operation Description Description Installation (4) Safety Measures and Start ● 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. ●...
Page 13 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear who Operation 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. ●...
Page 14 Operation Description Description Maintenance ● 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 Inspection with each other to ensure the safety of the workers. ●...
Page 15 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 Danger product is not handled correctly, will result in death or serious...
Page 16: Precautions In Operation
“Servo Control”. If it is set to “Enable”, the ERC3 would not operate unless turning this signal ON. If parameter No.21 is set to “Not to use”, SON is disabled. If it is set to “Disable”, the servo turns ON and the actuator operation becomes enabled as soon as the power supply to the controller is turned ON and the emergency stop signal is cancelled.
Page 17 7. According to Sequence Program Creation Please note the following things when creating a sequence program. When data transfer is necessary between two devices that have a different scan time from each other, duration more than the longer scan time is required to certainly read the signal. (It is recommended to have a timer setting of at least twice as long as the scan time in order for the PLC to adequately perform the reading process.) ●...
Page 18: International Standards Compliances
International Standards Compliances ERC3 Gateway Unit with the following overseas standard. RoHS Directive CE Marking To be scheduled To be scheduled  ME0302-4A...
Page 19: Name For Each Parts And Their Functions
Name for Each Parts and Their Functions  Front 7) Gateway Status LED 6) Axis Status LED 8) Position Adjustment 1st Axis (AX0) Switch 1st Axis (AX0) 2nd Axis (AX1) 2nd Axis (AX1) 3rd Axis (AX2) 3rd Axis (AX2) 4th Axis (AX3) 4th Axis (AX3) 9) Brake Release Switch 1st Axis (AX0)
Page 20  Upper surfaces 10) Field Network Connection Connector  Bottom surfaces 11) ERC3 Connection Connector 1st Axis (AX0) 2nd Axis (AX0) 3rd Axis (AX0) 4th Axis (AX0) ME0302-4A...
Page 21 1) FG Terminal Block This is the terminal block for frame grounding. Since this controller is made of plastic, it is necessary to ground from this terminal block. Ground Type should be Class D (formally Class 3 grounding = ground resistance 100 or less). 2) Power Connector This is a connector to supply the 24V DC power (control power, actuator power and brake control power supplies) and to input the emergency stop condition signals to this unit.
Page 22 Axis Status LED The condition (status) of each axis is displayed with the patterns of lighting.  Illuminating, × OFF, ☆ Flashing Lamp Name Color Information condition Servo ON  In automatic servo OFF mode ☆ × Servo OFF Alarm generated, Emergency stop ...
Page 23 Gateway Status LED Gateway condition (status) is displayed with the lighting patterns.  Illuminating, × OFF Lamp Name Color Information condition Turned ON when system is ready (after power is turned  ON and CPU operating in normal condition) /ALM Alarm generated ...
Page 24 RLS side. In the vertical oriented mount, the work may drop and cause an injury or the work to be damaged. 10) Field Network Connection Connector This is a connector to connect each field network. 11) ERC3 Connection Connector Up to 4 units ERC3 can be connected. ME0302-4A...
Page 25: Erc3 Axes
ERC3 Axes The coordinate system is as shown in the figure below. 0 defines the home position, and items in ( ) are for the home-reversed type (option). Caution： There are some actuators that are not applicable to the origin reversed type.
Page 26: Starting Procedures
When using this product for the first time, work while making sure to avoid omission and incorrect wiring by referring to the procedure below. “PC” stated in this section means “PC software”. Check of Packed Items No → Contact your local IAI distributor. Have all the items been delivered? ↓Yes Important Check Item Installation and Wiring [Refer to Chapter 1, →...
Page 27: Chapter 1 Specifications Check
1.1 Product Check 1.1.1 Parts The standard configuration of this product is comprised of the following parts. If you find any faulty or missing parts, contact your local IAI distributor. Part Name Model Remarks Refer to “How to read the model Gateway Unit Main Body plate”, “How to read the model”.
Page 28: Instruction Manuals Related To This Product, Which Are Contained In The Instruction Manual (Dvd)
Instruction Manuals Related to This Product, Which are Contained in the Instruction Manual (DVD). Name Manual No. ERC3 Gateway Unit Instruction Manual ME0302 ERC3 Actuator with Integrated Controller Instruction Manual ME0297 PC Software ME0155 RCM-101-MW/RCM-101-USB Instruction Manual Touch Panel Teaching Pendant...
Page 29: Basic Specifications
11ms Semi-sine wave pulse three times to each of the directions X, Y and Z Protection class IP20 Note1 Refer to the separate booklet Controller Integrated Actuator for the details of the connected actuator (ERC3). Note2 Rush current passes for about 50μs after the power is injected. ME0302-4A...
Page 30: Calculation For Power Capacity
24V DC power supply unit or a short-circuit of the power supply. • Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity / Power Voltage • (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec ME0302-4A...
Page 31: Specifications For Each Fieldbus
1.4 Specifications for each Fieldbus 1.4.1 Specifications of DeviceNet Interface Item Specification DeviceNet2.0 Communication Protocol Group 2 Dedicated Server Network-Powered Insulation Node Baud Rate Automatically follows the master Communication System Master-Slave System (Polling) Number of Occupied Channels Refer to “3.4.1 PLC Address Construction by each Operation Mode” Number of Occupied Nodes 1 Node Max.
Page 32: Specifications Of Profibus-Dp Interface
1.4.3 Specifications of PROFIBUS-DP Interface Item Specification Communication Protocol PROFIBUS-DP Baud Rate Automatically follows the master Communication System Hybrid System (Master-Slave System or Token Passing System) Number of Occupied Stations Refer to 3.4.1 “PLC Address Construction by each Operation Mode” MAX.
Page 33: Specifications Of Ethernet/Ip Interface
1.4.6 Specifications of EtherNet/IP Interface Item Specification Communication Protocol IEC61158 (IEEE802.3) Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended) Follows EtherNet/IP specifications (Distance between hub and each node: 100m Communication Cable Length max.) Master Unit Number of Connection Available Node Addresses for Setting 0.0.0.0 to 255.255.255.255 Category 5 or more (Note 1) Communications Cable...
Page 34: External Dimensions
1.5 External Dimensions ME0302-4A...
Page 35 1.6 Option はケーブル長 ME0302-4A...
Page 36: Installation And Storage Environment
1.7 Installation and Storage Environment This product is capable for use in the environment of pollution degree 2 or equivalent. *1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive pollution by frost (IEC60664-1) [1] Installation Environment Do not use this product in the following environment.
Page 37: Noise Elimination And Mounting Method
1.8 Noise Elimination and Mounting Method (1) Noise Elimination Grounding (Frame Ground) Other Controller equipment Gateway Unit Connect the ground line to the FG terminal block on the controller unit. Other Other Copper wire: Connect a ground Controller equipment equipment wire with a diameter of 1.6 mm (2mm : AWG14) or larger.
Page 38 (4) Cooling Factors and Installation Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the ambient temperature around the controller below 40C. 50mm or more 100mm or more Ensure enough space for...
Page 39: Chapter 2 Wiring
(to be purchased separately) Actuator ERC3-SE Note ERC3 of CON Mode Type and MEC Mode Type cannot be used together. Caution: Make sure to turn the power to the controller OFF when inserting or removing the connector that connects the PC software or teaching pendant to the controller.
Page 40: Circuit Diagram
Sample circuit diagrams are shown below. [1] Power Supply and Emergency Stop (when drive cutoff is conducted to all the axes at the same time) Emergency Stop Switch on Teaching Pendant EMGA EMGB ERC3 Gateway Unit Emergency Stop Emergency Stop Connector Reset Switch Switch...
Page 41 Axis) Axis) Axis) Axis) ERC3 Gateway Unit ERC3-SE ERC3 CB-ERC3S-PWBIO□□□ Connector indicates the cable length. □□□ Example ) 030 = 3m (Note) ERC3 of CON Mode Type and MEC Mode Type cannot be used together. ME0302-4A...
Page 42 1) DeviceNet Type Terminal Resistance is required to be mounted on the terminal. Terminal Resistance Terminal Resistance Master Unit Slave Devices ERC3 gateway DeviceNet Type 121Ω 121Ω CAN_H CAN_H CAN_H Drain Drain...
Page 43 Supply power separately to the slave devices that requires the communication power supply. It is not necessary to supply communication power to ERC3 Gateway Unit, however, there is no problem even if communication power is supplied. 5) EtherNet/IP Type Switching hub...
Page 44 6) MECHATROLINK Type ERC3 Gateway Unit Master Unit Slave Devices MECHATROLINK Type MECHATROLINK MECHATROLINK Cable Cable Terminal Resistance DATA DATA DATA JEPMC-W6022 /DATA /DATA /DATA 130Ω Connect the terminal resistor if the unit is placed at the end of the network.
Page 45: Wiring Method
2.3 Wiring Method 2.3.1 Connection to Power Input Connector The wire of the power supply is 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.
Page 46: Connection With Erc3 Actuators
2.3.2 Connection with ERC3 Actuators Connection to ERC3 actuators should be made with the dedicated cables. See the instruction manual for ERC3 Controller Integrated Actuator for the details of the connection cable. Connector Name ERC3 Connector Cable Side PADP-14V-1-S Controller Side...
Page 47: Connection To Battery Connector
Absolute battery power supply for BAT1 axis Absolute battery power supply for Cable dedicated BAT2 Front view of connector axis for IAI products on controller side Absolute battery power supply for BAT3 axis RS485 differential negative side RS485 differential positive side ME0302-4A...
Page 48: Connection Of Sio Connector
Description diameter Teaching tool signal + Teaching tool signal - Power supply for teaching tool Enable signal input Cable dedicated for EMGA Emergency stop signal A IAI products Power supply for teaching tool EMGB Emergency stop signal B Shell ME0302-4A...
Page 49: Wiring Layout Of Fieldbus Connector
2.3.5 Wiring Layout of Fieldbus Connector Check the instruction manuals for each Field network master unit and mounted PLC for the details. 1) DeviceNet Type RD (V+) WT (CAN H) Shield BL (CAN L) BK (V - ) Connector Name DeviceNet Connector Cable Side SMSTB2.5/5-ST-5.08AU...
Page 50 2) CC-Link Type Shield (SLD) YW (DG) WT (DB) BL (DA) Connector Name CC-Link Connector Cable Side MSTB2.5/5-STF-5.08 AU Enclosed in standard package Manufactured by PHOENIX CONTACT Controller Side MSTB2.5/5-GF-5.08 AU Signal Name Applicable cable Description (Color) diameter DA (BL) Communication line A Front view of DB (WT)
Page 51 3) PROFIBUS-DP Type Use the type A cable for PROFIBUS-DP (EN5017). Red B line (Positive side) Green A line (Negative side) Cable Shield Connector Name PROFIBUS-DP Connector 9-pin D-sub Connector Please prepare separately Cable Side (Male) 9-pin D-sub Connector Controller Side (Female) Signal Name Description...
Page 52 4) CompoNet Type (BS+) White (BDH) Black (BS-) Blue (BDL) Connector Name CompoNet Connector Cable Side Prepare a connector complied with CompoNet standards. Controller Side XW7D-PB4-R Manufactured by OMRON Applicable cable Signal Name Description diameter BS+(RD) Communication power supply+ (Note1) BDH(WT) Signal line H side CompoNet...
Page 53 6) MECHATROLINK Type Connector Name MECHATROLINK Connector Cable Side Prepare a connector complied with MECHATROLINK standards. Controller Side DUSB-ARB82-T11A-FA Manufactured by DDK Signal Name Applicable cable Description (Color) diameter A1/B1 NC Disconnected A2/B2 /DATA Signal line - side MECHATROLINK Dedicated Cable A3/B3 DATA Signal line + side Front view of...
Page 54 ME0302-4A...
Page 55: Chapter 3 Operation
Chapter 3 Operation 3.1 Basic Operation 3.1.1 Basic Operation Methods There are slider type and rod type in ERC3, however, unless otherwise specified in this manual, the operational control methods should be the same. Command target Transfer data position, speed, etc.
Page 56 [5] Link to Network 1) Set the operation mode setting switch in the front of Gateway to AUTO side and reboot the ERC3 Gateway power supply. (By putting to AUTO, field network line activates.) (Note 1) 2) Once the link to PLC (master unit) is established...
Page 57 PIO (CON Mode) are available. Note They can be switched around in PIO patterns on ERC3 unit Refer to ERC3 Actuator with Integrated Controller Instruction (Note) 2 types of control same Manual as for PIO (MEC Mode) are available.
Page 58: Parameter Settings
3.1.2 Parameter Settings Parameter data should be set appropriately according to the applicaiton requirements. 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) Software Stroke Limit : Set a proper operation range for definition of the stroke end, prevention of interferences with peripherals and safety.
Page 59: Initial Setting
Make sure the power, system I/O connector wires and operation mode setting switch are in MANU condition when having the setting done. [Step 1] Connect the PC to SIO connector on ERC3 Gateway Unit with using the cable enclosed in RC PC software, and start up Gateway Parameter Setting Tool. [Step 2] Controller Select window shows up.
Page 60 [Step 4] Reading is started from ERC3 gateway unit to PC. Click on the “Read” button and a confirmation window appears. Click on the “Yes” button. Once the parameter reading is completed in normal condition, the reading complete window opens. Click OK.
Page 61 [Step 6] Set the number of axes used in each operation mode. If the system is used in Positioner Modes 1 to 3, Simple Direct Mode or Positioning Mode, input the total number of the axes in 1) in the figure below. Input the total number of axes in 2) if using in Remote I/O Mode.
Page 62 (Note) Even if the total number of the used axes is an odd number, make the last axis in reservation to get an even number. [Step 9] Write the edited operation mode setting parameters to ERC3 gateway unit. Click on the “Write” button shown below and a confirmation window pops up. Click on the “Yes” button.
Page 63 [Step 10] A confirmation window for gateway unit reboot opens. Click “Yes” to accept the reboot. [Step 11] After rebooting, a confirmation window for parameter reading appears for confirmation of the written contents. Click “Yes” to accept the reading. Once the reading process is complete, confirm that the written contents are reflected. If not written properly, do the process again from Step 1.
Page 64: Setting Of Position Data
3.3 Setting of Position Data For ERC3 actuator, two types of operation types (CON Mode / MEC Mode) can be selected when purchased. Since the position data differs for each type, have the settings established considering the purchased ERC3 type.
Page 65 4) Acceleration [G] ꞏꞏꞏꞏꞏꞏꞏ Set the acceleration at start. 5) Deceleration [G] ꞏꞏꞏꞏꞏꞏꞏ 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/s : Acceleration capable to accelerate up to 9800mm/s per second 0.3G : Acceleration capable to accelerate up to 9800mm/s ×...
Page 66 There is not output range of completion signal to the positioning command for PIO Pattern 5 of ERC3 in Remote I/O Mode. No matter what position number is commanded, the applicable output signal (LS*) turns on if getting into the setting range as if a detection is conducted with using sensors.
Page 67 11) Acceleration/deceleration mode ꞏꞏꞏSelect the acceleration/deceleration pattern. Establish the setting considering the load. Acceleration/Deceleration Operation Value Pattern Trapezoid Speed Time S-shaped Motion Speed (Refer to Caution at S-shaped Motion) Time Set the S-motion rate with parameter No.56. First-Order Lag Filter Speed Time Set the delay time constant with parameter...
Page 68 13) Transported loadꞏꞏꞏꞏꞏꞏꞏꞏ 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 shortest takt time function calculates the optimum speed and acceleration/deceleration.
Page 69: Settings For Mec Mode Type
3.3.2 Settings for MEC Mode Type In MEC Mode, an operation is made by the data in the following operation condition table. Setting is to be conducted on the operation panel of Quick Teach and a teaching tool such as MEC PC software.
Page 70 4) Deceleration [G]ꞏꞏꞏꞏꞏꞏꞏꞏꞏ 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/s : 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 Speed 9800mm/s...
Page 71 6) Pressing Width [mm] ꞏ Set the movement amount for pressing operation. When the push operation is conducted, the actuator moves with the speed and rated torque set in the positioning information, as it does in the positioning operation, until the remained movement amount reaches to the set area, and once it gets in the area, it starts push &...
Page 72 7) Power Saving Functionꞏꞏꞏ By activating Power Saving Function, the motor power supply (servo) automatically turns OFF in a certain time after positioning is complete for power saving. Set the time in advance in the parameter. Setting Parameter No. Parameter name Default Range Auto Servo-motor OFF Delay...
Page 73: Field Network Address Map
The PLC address domain to be occupied differs depending on the operation mode. Refer to the example in Section 3.4.2 for the assignment. (Note 1) • PLC Output → ERC3 Input (n is PLC output top word address to ERC3) Direct PLC Output...
Page 74 (Note 1) • ERC3 Output → PLC Input (n is PLC input top word address from ERC3) Direct PLC Intput Simple Direct Positioner 1 Positioner 2 Positioner 3 Remote I/O Indication Details (Note 2) Area Mode Mode Mode Mode Mode...
Page 75: Example For Each Field Network Address Map
Extended Cyclic Setting/Occupied Station Number Setting： Calculate the necessary data domain from the operation mode and number of axes and set it. Caution : 1) If Remote I/O Mode is selected, all the axes connected to ERC3 are involved in Remote I/O Mode.
Page 76 [Combination Example 2] When number of Simple Direct Mode axes is 2 (axis No.0, No.1) and number of Direct Indication Mode is 2 (axis No.2, No.3) (Full) (n is the top channel number for each PLC input and output between ERC3 and PLC) PLC → ERC3 Gateway ERC3 Gateway → PLC CH No. Description CH No.
Page 77 [Combination Example 1] When number of Simple Direct Mode axes is 4 and number of Direct Indication Mode is 0 (Full) (Extended Cyclic Setting/Number of Occupied Stations 1 times/4 stations) PLC → ERC3 Gateway ERC3 Gateway → PLC Address Description Address Description...
Page 78 [Combination Example 2] When number of Simple Direct Mode axes is 2 (axis No.0, No.1) and number of Direct Indication Mode is 2 (axis No.0, No.3) (Full) (Extended Cyclic Setting/Number of Occupied Stations: 4 times/2 stations) PLC → ERC3 Gateway ERC3 Gateway → PLC Address Description Address Description...
Page 79 [Combination Example 1] When number of Simple Direct Mode axes is 4 and number of Direct Indication Mode is 0 (Full) (n is the top channel number for each PLC input and output between ERC3 and PLC) PLC → ERC3 Gateway ERC3 Gateway → PLC Node Address Node Address...
Page 80 [Combination Example 3] When number of Simple Direct Mode axes is 0 and number of Direct Indication Mode is 4 (Full) (n is the top channel number for each PLC input and output between ERC3 and PLC) PLC → ERC3 Gateway ERC3 Gateway → PLC Node Address Node Address...
Page 81 [2] Address Map for Positioner 2 Mode Shown below is the address map for each Fieldbus when four axes of ERC3 are operated in Positioner 2 Mode. DeviceNet (CompoNet is not applicable for this mode) (n is the top channel number for each PLC input and output between ERC3 and PLC) PLC →...
Page 82 [3] Address Map for Positioner 3 Mode Shown below is the address map for each field network when four axes of ERC3 are operated in Positioner 3 Mode. DeviceNet, CompoNet (CompoNet occupies 32 bytes no matter of the number of axes.)
Page 83 [4] Address Map for Remote I/O Mode Shown below is the address map for when four axes of ERC3 are operated in Remote I/O Mode. DeviceNet, CompoNet (CompoNet occupies 32 bytes no matter of the number of axes.) (n is the top channel number for each PLC input and output between ERC3 and PLC) PLC →...
Page 84: Gateway Control Signals (In Common For All Operation Modes)
2 words of input and output in each operation mode are the signals Gateway control and status monitoring. (n is the top word address for each PLC input and output between ERC3 Gateway and PLC) PLC → ERC3 (PLC Output) ERC3 →...
Page 85 (2) List for Input and Output Signal (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details Operation control with communication is available – while it is ON – Cannot be used. – Retained condition of ERR-T or ERR-C during an operation is cancelled if it is ON It is the cancel signal when ERR-T or ERR-C...
Page 86 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details This signal turns ON when Gateway is in normal – operation. This signal turns ON if the ERR-T or ERR-C occurred during an operation is retained and turns LERC OFF if cancel signal RTE is turn ON.
Page 87: Control Signals For Positioner 1/Simple Direct Mode
Except for the target position, the operation follows the position data set in the indicated position number. The settable No. of position data items is max 512 points. The main functions of ERC3 capable to control in this mode are as described in the following table. : Direct control △: Indirect control...
Page 88 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 4-word for each I/O data register. ● The control signals and status signals are ON/OFF signals in units of bit. ● For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used.
Page 89 PLC Input (m is PLC input top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Current Position (Lower word) Address m+1 b15 b14 b13 b12 Current Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Completed...
Page 90 Jog-speed/inch-distance switching OFF : Use the setting values of Parameter No.26 JOG Speed and No.48 Inching Distance in Control JVEL ERC3 3.6 (13) Signal ON : Use the setting values of Parameter No.47 JOG Speed 2 and No.49 Inching Distance in...
Page 91 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Current 32 bits – (Example) If +10.23mm, input 000003FF 3.6 (21) Position (1023mm in decimal system). (Note) Negative numbers are two’s complement.
Page 92: Control Signals For Direct Indication Mode
Set a value to each input and output data register. Set to the parameters when using the zone signals. The main functions of ERC3 capable to control in this mode are as described in the following table. : Direct control △: Indirect control...
Page 93 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 8-word for each I/O data register. ● The control signals and status signals are ON/OFF signals in units of bit. ● For the target position and current position, 2-word (32-bit) binary data is available and values from -999999 to +999999 (unit: 0.01mm) can be used.
Page 94 PLC Output (m is PLC output top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Target Position (Lower word) Address m+1 b15 b14 b13 b12 Target Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Positioning Width...
Page 95 PLC Input (m is PLC input top word address for each axis number) 1 word = 16 bit Address m b15 b14 b13 b12 Current Position (Lower word) Address m+1 b15 b14 b13 b12 Current Position (Upper word) (Note) If the target position is a negative value, it is indicated by a two’s complement. Address m+2 b15 b14 b13 b12 Command...
Page 96 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Available range for Setting: -999999 to 999999 Set the target position with the value from the home Target 32 bits –...
Page 97 OFF : Use the setting values of Parameter No.26 JOG Speed and No.48 Inching Distance in Control JVEL ERC3 3.6 (13) Signal ON : Use the setting values of Parameter No.47 JOG Speed 2 and No.49 Inching Distance 2 in...
Page 98 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 32-bit signed integer indicating the current position Unit: 0.01mm Current 32 bits – (Example) If 10.23mm, input 000003FF (1023mm in 3.6 (22) Position Data decimal system).
Page 99: Control Signals For Positioner 2 Mode
Positioner 1. The settable No. of position data items is max 512 points. The main functions of ERC3 capable to control in this mode are as described in the following table.
Page 100 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 2-word for each I/O data register. ● The control signals and status signals are ON/OFF signals in units of bit. ● For the indicated position number and complete position number, 1-word (16-bit) binary data is available and values from 0 to 511 can be used.
Page 101 Control JVEL ERC3 3.6 (13) Signal ON : Use the setting values of Parameter No.47 JOG Speed 2 and No.49 Inching Distance 2 in ERC3 Jog/inching switching JISL 3.6 (14) ON: Inching, OFF: Jog Servo ON command 3.6 (5) ON: Servo ON, OFF: Servo OFF Reset 3.6 (4)
Page 102 (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details 16-bit integer The positioning complete position number is output in a binary number once getting into the positioning width after moving to the target Completed position.
Page 103: Control Signals For Positioner 3 Mode
Zones are set using △ parameters. (1) PLC Address Composition (m is PLC input and output top word address for each axis number) PLC → ERC3 (PLC Output) ERC3 → PLC (PLC Input) Control Signal/ Status Signal/ Specified Position No.
Page 104 (2) Input and Output Signal Assignment for each Axis The I/O signals for each axis consists of 1-word for each I/O data register. ● The control signals and status signals are ON/OFF signals in units of bit. ● Binary data of 8 bits for the specified position number and complete position number and values from 0 to 255 can be used.
Page 105 (3) I/O signal assignment (ON = Applicable bit is “1”, OFF = Applicable bit is “0”) Signal Type Symbol Description Details Brake release BKRL 3.6 (17) ON: Brake release, OFF: Brake activated – Cannot be used. – Servo ON command 3.6 (5) ON: Servo ON, OFF: Servo OFF Reset...
Page 106: Control Signals For Remote I/O Mode
Complete signal is able to output a signal equivalent to the limit switch Note 1 Set the range of the zone in ERC3 parameter. It becomes constantly valid once the home-return operation is complete. Note 2 The range of the zone is to be set in the position table, and is activated only when that position number is indicated.
Page 107   Note 1 Home-return operation is performed in the first movement command. Note 2 It is available when the parameter No. 27 of ERC3 “Movement Command Type” is set to “0”. (1) PLC Address Composition (m is PLC input and output top word address for each axis number) PLC →...
Page 108 (3) I/O signal assignment The controller's I/O port signal varies depending on the parameter No. 25 setting. [Refer to Instruction Manual for the ERC3 actuator with integrated contoroller for more information] Set the parameter No.25 of ERC3 Positioning mode Teaching mode...
Page 109 Set the parameter No.25 of ERC3 256-point mode Solenoid valve mode 1 Solenoid valve mode 2 Port Category Symbol Signal Name Symbol Signal Name Symbol Signal Name Start Position 0 Start Position 0 Start Position 1 Start Position 1 Start Position 2...
Page 110 ST0 and 1 are either ON or OFF, which depends on how the setting is established.) 3 points of position detection output The ERC3 functions capable to control in this mode are as described in the table below. : Operation available ×: Operation not available ...
Page 111 The content of I/O port signal changes depending on the operation pattern. The contents of the signals for the input and output ports vary depending of the operation pattern. [Refer to Instruction Manual for the ERC3 actuator with integrated controller for more information] 1-Input, 2-Point Movement...
Page 112: About Commands (Position Data Read/Write And Alarm Axis Read)
Shown below is the table to indicate the assignment of each signal. (1) PLC Address Composition (n is PLC input and output top address.) PLC → ERC3 (PLC Output) ERC3 → PLC (PLC Input) Command Response Command...
Page 113 (3) Details of Commands The I/O signals are consist of 5-word for each I/O data register. ● The target position and current position are expressed using 2-word (32-bit) binary data. The figures from -999999 to +999999 (unit: 0.01mm) can be set in PLC. Negative numbers are to be dealt with two’s complement.
Page 114 1) Command Cleared PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) Response command does not return. 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [0000h] Data 0...
Page 115 Positioning Width 3) Writing of PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the command is returned to the response command. If an error is generated, an error response is returned.
Page 116 5) Writing of Acceleration PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the command is returned to the response command. If an error is generated, an error response is returned.
Page 117 7) Writing of Pressing Current Limit PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) If the writing is finished in normal condition, the same content as the command is returned to the response command. If an error is generated, an error response is returned.
Page 118 8) Reading of Target Position PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1040h] Data 0 [Position No.] Data 1...
Page 119 9) Reading of Pressing Width PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1041h] Data 0 [Position No.] Data 1...
Page 120 10) Reading of Speed PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1042h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 121 11) Reading of Acceleration PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1045h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 122 12) Reading of Deceleration PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1046h] Data 0 [Position No.] Data 1 Data 2 Data 3 [Axis No.]...
Page 123 13) Reading of Pressing Current Limit PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) 1 word = 16 bit b15 b14 b13 b12 b11 b10 Address Command [1047h] Data 0 [Position No.] Data 1...
Page 124 14) Reading of Alarm-issued Axis Number PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) If this command is sent, the response command updates with the latest information until the command clear is sent.
Page 125 15) Reading of Alarm Code PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) (Note) If this command is sent, the response command updates with the latest information until the command clear is sent.
Page 126 16) Error Response Command PLC Output (Address n is the input and output top address for ERC3 Gateway Unit.) In the case that the command did not complete in normal condition, this error response command is returned. 1 word = 16 bit...
Page 127: Input And Output Signal Process For Field Network
3.5 Input and Output Signal Process for Field Network (1) I/O Signal Timings When any of the control signal is turned ON to perform the operation of the ERC3 using the PLC’s sequence program, the response (status) is returned to the PLC. The maximum response time is expressed using the following formula.
Page 128 The procedures from 1) to 6) are repeated when continuously used. Command Area = 0000 PLC side Command and Data Gateway executes the reading of each axis and data following the command. ERC3 Response Command Gateway side and Response Data Response Command Area = 0000 ME0302-4A...
Page 129: I/O Signal Controls And Function
(4) Reset (RES) PLC Output Signal This signal has two functions. It can reset the ERC3 alarm and cancel the reminder for planned movements during pause conditions.
Page 130 ■ Function Using the “SON” signal, the turning ON/OFF of the ERC3 is available. While the “SV” signal is ON, the ERC3's servo-motor is turned “ON” and the operation becomes available. The relationship between the “SON” signal and “SV” signal is as follows.
Page 131 Turn “OFF” this signal after confirming that the Positioning Completion Signal (PEND) signal has been turned “OFF”. Target Position (PLC → ERC3) CSTR (PLC → ERC3) PEND (ERC3 →...
Page 132 OFF when the current position is out of the set domain. Zone 1, Zone 2 Settings are to be established in the parameters of ERC3. The ZONE 1 Signal is set using the parameter No. 1 “Zone Border 1 “+” Side” and No. 2 “Zone Border 1 “–”...
Page 133 If the JVEL signal is OFF, the actuator operates according to parameter No.48, “PIO inch distance” of ERC3. If the JVEL signal is ON, the actuator operates according to parameter No.49, “PIO inch distance 2” of ERC3.  The acceleration/deceleration conforms to the rated acceleration/deceleration (the specific value varies depending on the actuator).
Page 134 When the MODE signal is turned “ON”, the normal operation mode is changed to the teaching mode. When the mode for the ERC3 for each actuator is changed to the teaching mode, the MODES signal is turned ON. After confirming that the MODES signal is turned “ON” on the PLC side, start the teaching operation.
Page 135 Note1 Turn it ON for 20msec or more. If the time is shorter than 20msec, the writing is not completed. Note 2 When the data items except for the position have not been defined, the parameter initial values are written. [Refer to the instruction manual for the ERC3 actuator with integrated contoroller] 20msec or more (ERC3→PLC)
Page 136 (19) Push direction specification (DIR) PLC Output Signal This signal specifies the pressing direction. When this signal is turned “OFF”, the pressing operation is performed to the direction of the value determined by adding the positioning width to the target position. Pressing operation starts towards the position where the positioning width is added to the target position if this signal is turned ON.
Page 137 If the position data is written to the target position register (for Simple Direct Mode) or the target position is set in the position data of ERC3 (for Positioner 1 Mode), the operation shall be made with other information, such as the speed, acceleration/deceleration, pressing width, pressing force, etc., set to the position data.
Page 138 Target Position Data Setting (PLC → ERC3) Specified Position Number (PLC → ERC3) twcsON twcsOFF Positioning Start CSTR (PLC → ERC3) tpdf 10ms or less Position Complete PEND (ERC3 → PLC) Current Position (ERC3 → PLC) 10ms or less 10ms or less...
Page 139 (22) Operation for Direct Indication Mode It is operated with the data set in the PLC's target position register, positioning width register, setup speed register, acceleration/deceleration register and pressing current limit setup register. ● Example of operation (Pressing operation) (Preparation) Set the axis numbers to be used in Direct Indication Mode with Gateway Parameter Setting Tool.
Page 140 Target Position Data Setting (PLC → ERC3) Positioning Width Data /Pressing Width Data (PLC → ERC3) Speed Data (PLC → ERC3) Acceleration/ Deceleration Data (PLC → ERC3) Pressing Current Limit (PLC → ERC3) Push-motion Specification PUSH (PLC → ERC3) Push Direction Specification (PLC →...
Page 141 (23) Operation for Positioner 2 and Positioner 3 Modes The operation is to be made with the target position, speed, acceleration/deceleration, positioning width and pressing force set in the position data of ERC3. ● Example of operation (Positioning operation) (Preparation) Set the axis numbers to be used in Positioner 2 or Positioner 3 Mode with Gateway Parameter Setting Tool.
Page 142 Specified Position Number (PLC → ERC3) 0ms or more twcsON twcsOFF Positioning Start CSTR (PLC → ERC3) tpdf Positioning Completion PEND (ERC3 → PLC) 10ms or less 10ms or less Moving MOVE (ERC3 → PLC) Positioning Width Actuator Movement To turn ON TwcsON, have an interval of time more than 10ms.
Page 143: About Gateway Parameter Setting Tool
3.7.1 Startup of Tool 1) Boot the Gateway Parameter Setting Tool after the power to ERC3 is turned ON, and the window shown below appears. Select “ERC3 GW” if ERC3 is connected and click OK. 2) The main window opens. The main window opens even when ERC3 could not be detected.
Page 144: Explanation Of Each Menu
3.7.2 Explanation of each Menu 1) File Menu In the main window, click on the file menu on the top left corner and the menu list pops up as shown in the figure above. • New file : Create new network parameters and operation mode parameters. •...
Page 145 Click on the “Setting” menu on the top left corner in the main window and the setting menu list pops up. • Specialty Parameter : Set the parameters related to the process in ERC3 Gateway. [Refer to 3.7.3 1), 2) and 3) GW Parameter */GW Mode Select.] • Port Config : Set the communication speed between the tool and PC and COM port number.
Page 146: Description Of Functions
3.7.3 Description of Functions 1) GW-Param • Latch in ERR_T/C : Select whether to continue the error even in recoverable condition after ERRT and ERRC are issued. • SERVO-OFF in ERR_C : Select whether to turn the servo OFF on the connected axes when ERRC is occurred.
Page 147 3) GWmode Select • BYTE swap : Set the byte swap. [Refer to 3)-1 in this section.] • WORD swap in D-WORD Data : Set whether to swap the W-word sized data with word size [Refer to 3)-2 in this section.] 3)-1 BYTE swap : Swap the upper and lower in the sent and received data in byte unit.
Page 148 3)-2 WORD swap in D-WORD Data : Swap the upper and lower in the W-word sized sent and received data in word unit. Set this considering the connected host system if necessary. = ON, = OFF MSEP Input register ON/OFF Hexadecimal data PLC:...
Page 149 By selecting Time on PC, the current time on the PC is acquired and set to ERC3 gateway unit. If Set Manually is selected, desired time set in the clock edit in the window can be set in ERC3 gateway unit.
Page 150 5) I/O Monitor Data Reading Display SYNC Scroll Frequency Switchover In this register monitor window, shows the data that Gateway Unit has received from the host (master) and the data sent back to the host (master). • Data Reading Frequency : Select the frequency of displayed data update from 100 to 500ms •...
Page 151 Click on the “Refresh” button and the alarm list is read again from ERC3 gateway unit. Click on the “Clear” button and the alarm list retained in ERC3 gateway unit are all deleted. Refer to Chapter 5. Troubleshooting for the details of the alarms.
Page 152: Operation Mode Setting
3.7.4 Operation Mode Setting (Note 1) the axis number in the pull down menu circled When selecting the operation mode, select as 1). By selecting the number, the cells in 2) become blank in response. Click the cell for the mode to be set in each axis.
Page 153: Field Network Led Indication
3.8 Field Network LED Indication In the case of DeviceNet  Illuminating, × OFF, ☆ Flashing Symbol Color Lamp condition Description Online (normal)  Online (Even though the network is established normally, the master does not ☆ identify) An error occurs ...
Page 154 In the case of PROFIBUS-DP  Illuminating, × OFF, ☆ Flashing Symbol Color Lamp condition Description Online (normal)  Online (Even though the network is established normally, the master does not ☆ identify) An error occurs (parameter error, Initializing  failed initializing completed ...
Page 155 In the case of MECHATROLINK  Illuminating, × OFF, ☆ Flashing Symbol Color Lamp condition Description Receiving CONNECT, in communication  process Communication error detection (Self-station STATUS1 status error, synchronizing frame status  error) In initializing process, receiving – × DISCONNECT Initializing succeeded ...
Page 156 In the case of EtherNet/IP  Illuminating, × OFF, ☆ Flashing Symbol Color Lamp condition Description Online (Communication in normal condition)  Online (Even though the network is established normally, the master does not ☆ identify) Communication error  (IP address duplication, etc.) Communication error (Communication ☆...
Page 157 In the case of EtherCAT  Illuminating, × OFF, ☆ Flashing Symbol Color Lamp condition Description Communication in normal condition  (OPERATION) PRE-OPERATION (Note1) ☆ SAFE-OPERATION (Note2) ☆ Communication component (module) error  – × Initial condition (INIT) or the power is OFF Communication component (module) error ...
Page 158 ME0302-4A...
Page 159: Chapter 4 I/O Parameter
[Refer to 3.7. About Gateway Parameter Setting Tool for the details] Note The ERC3 actuator for Parameter is to be done with using a teaching tool such as the RC PC software. [Refer to Instruction Manual for the ERC3 actuator with integrated controller for more information] Warning: Parameter setting has great influences on operations of the controller.
Page 160 ME0302-4A...
Page 161: Chapter 5 Troubleshooting
Check the condition of the illumination of Gateway Status LEDs and Axes Status LEDs on the front panel of ERC3 Gateway Unit [Refer to Name for Each Parts and Their Functions] Check whether an alarm occurs on the host controller (PLC, etc.).
Page 162: Fault Diagnosis
5.2 Fault Diagnosis This section describes faults largely divided into four types as follows: (1) Impossible operation of controller (2) Positioning and speed of poor precision (incorrect operation) (3) Generation of noise and/or vibration (4) Communication not established 5.2.1 Impossible Operation of Controller Situation Possible cause Check/Treatment...
Page 163: Positioning And Speed Of Poor Precision (Incorrect Operation)
Overshoot during The load inertia is large. Decrease the setting of deceleration to stop. deceleration. Positioning of poor [Refer to Instruction Manual for the ERC3 actuator with integrated controller precision of Servo Adjustment] Uneven speed during movement Acceleration/deceleration not smooth (bad speed...
Page 164: Generation Of Noise And/Or Vibration
[Refer to Instruction Manual for the and the rigidity of the unit on which the ERC3 actuator with integrated actuator is installed. controller of Servo Adjustment] Vibrations of load 1) Acceleration/deceleration is set too 1) Decrease the settings of high.
Page 165: Alarm Level
Caution: Reset each alarm after identifying and removing the cause. If the cause of the alarm cannot be removed or when the alarm cannot be reset after removing the cause, please contact IAI. If the same error occurs again after resetting the alarm, it means that the cause of the alarm has not been removed.
Page 166: Alarm List
Check the wiring (especially connectors) between Absolute Battery Box and ERC3 Gateway Unit. Time Notification Error Cause : It is an error of between the ERC3 Gateway Unit and ERC3 actuator. The clock data transfer from Gateway unit to the actuator has failed.
Page 167 Treatment : 1) 2) Check the voltage of the input power supply. 3) Think to use a power supply with enough current capacity or not to use the remote sensing function. If the voltage is normal, please contact IAI. Control Power Voltage Cause...
Page 168: Simple Alarm Code
5.4.2 Simple Alarm Code Simple alarm codes are read into the complete position register (PM8 to PM1) in Position 1/ Simple Direct Modes when an alarm is generated. : ON : OFF ALM8 ALM4 ALM2 ALM1 *ALM Binary Code Description: Alarm code is shown in ( ). (PM8) (PM4) (PM2)
Page 169: Alarm Codes For Erc3 (Each Axis)
5.4.3 Alarm Codes for ERC3 (Each Axis) Alarm Alarm Alarm Name Cause/Treatment Code Level Driver overload alarm Cause : There is a risk of overload with the current operation condition. This alarm keeps its status until a reset is conducted.
Page 170 “Position” field of a position No. in the position table. 2) The value of the target value in the “Position” field exceeded the ERC3 Parameter No.3, 4 “Soft limit set value”. Treatment : 1) Set the target position.
Page 171 Cause/Treatment Code Level Excitement detection error Cause : In ERC3, the excitation detection starts when the servo is turned ON for the first time after the power is supplied. The detection is not finished after a certain time being passed.
Page 172 ERC3 controller can be considered. Please contact IAI. Overvoltage Cause : The power voltage reached the overvoltage. Treatment : Malfunction of a component in ERC3 controller can be considered. Please contact IAI. Overheat Cause : This indicates overheat (90 C or more) of the components inside the ERC3 controller.
Page 173 (120% of 24V DC = 28.8V). 1) The voltage of 24V DC power supply is high. 2) Component malfunction in ERC3 controller 3) During acceleration/deceleration and servo-ON that use the remote sensing function of 24V DC power supply, the current consumption rises transiently.
Page 174 Then, check that there is no location where a sliding resistant is too large. Check if the installation face is distorted. When the error occurs in operation of the actuator only, Please contact IAI. Caution Restart the operation after making sure to remove the cause.
Page 175 Treatment : Turn the power OFF and reboot. If the error occurs again, check for presence of noise. Also, if you have another ERC3, replace it and try. A recurring error with the spare controller suggests presence of noise. If the cause cannot be identified, please contact IAI.
Page 176 ME0302-4A...
Page 177: Chapter 6 Appendix
Chapter 6 Appendix 6.1 Specifications of Actuator Caution: Transportable weight differs depending on the velocity and acceleration/deceleration. Refer to Instruction Manual of ERC3 (ME0297) for the details. 6.1.1 In the case of high output setting valid for Slider Type (Screw Cover Type) Rated No.
Page 178: In The Case Of High Output Setting Invalid For Slider Type (Screw Cover Type)
Rated No. of Minimum Maximum acceleration/ Minimum Maximum Actuator Feed Lead Mounting Maximum speed push Type encoder speed deceleration push force push force series screw [mm] direction [mm/s] speed pulses [mm/s] [mm/s] 1200(at 50 to 600st) Horizontal 1130(at 650st) Slider Ball SA7C 975(at 700st)
Page 179: In The Case Of High Output Setting Valid For Slider Type
6.1.3 In the case of high output setting valid for Slider Type (Stainless Steel Sheet Type / Cleanroom Type) Rated No. of Minimum Maximum acceleration/ Minimum Maximum Actuator Feed Lead Mounting Maximum speed push Type encoder speed deceleration push force push force series screw...
Page 180: In The Case Of High Output Setting Invalid For Slider Type
6.1.4 In the case of high output setting invalid for Slider Type (Stainless Steel Sheet Type / Cleanroom Type) Rated No. of Minimum Maximum acceleration/ Minimum Maximum Actuator Feed Lead Mounting Maximum speed push Type encoder speed deceleration push force push force series screw...
Page 181: In The Case Of High Output Setting Valid For Rod Type
6.1.5 In the case of high output setting valid for Rod Type Rated No. of Minimum Maximum acceleration/ Minimum Maximum Actuator Feed Lead Mounting Maximum speed push Type encoder speed deceleration push force push force series screw [mm] direction [mm/s] speed pulses [mm/s]...
Page 182: Pressing Force And Current Limit Value
6.1.7 Pressing Force and Current Limit Value Caution : • The correlation of the pressing force and the current limit value is the rated pressing speed (20mm/s) and is a reference value. • Use the actuator with the setting above the minimum pressing force value. The pressing force will be unstable if it is below the minimum pressing force value.
Page 183: Chapter 7 Warranty
Chapter 7 Warranty 7.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from our company 12 months after delivery to the specified location 7.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
Page 184: Conditions Of Conformance With Applicable Standards/Regulations
7.5 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.
Page 185: Change History
Change History Revision Date Revision Description 2012.12 First Edition 2013.01 Second Edition ● 2-Input, 2-Point Movement deleted. ● Changed from I/O Mode to Remote I/O Mode. 2013.08 Third Edition ● Battery Box and Simple Absolute board deleted. 2019.04 Forth Edition ●...
Page 188 825, PhairojKijja Tower 7th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 website:www.iai-robot.co.th The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2019. Apr. IAI Corporation. All rights reserved. 19.04.000...

IAI ERC3 Instruction Manual

Chapter 1 Specifications Check

Chapter 2 Wiring

Chapter 3 Operation

Chapter 4 I/O Parameter

Chapter 5 Troubleshooting

Chapter 6 Appendix

Chapter 7 Warranty

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