IAI ERC3 Manuals

Manuals and User Guides for IAI ERC3. We have 4 IAI ERC3 manuals available for free PDF download: Instruction Manual, User Manual, First Step Manual

IAI ERC3 Instruction Manual (460 pages)

Actuator with Integrated Controller

Brand: IAI | Category: Controller | Size: 12 MB

Please Read before Use
3
Table of Contents
5
Safety Guide
11
Operation Description
11
Alert Indication
17
Guideline for Control Method
18
Precautions in Operation
19
International Standards Compliances
23
Names of the Parts
24
Motor Unit
26
Actuator Coordinate
34
Starting Procedures
35
Positioner Mode
35
Pulse Train Control Mode
36
Chapter 1 Specifications Check
41
Product Check
41
Parts
41
Teaching Tool
42
Instruction Manuals Related to this Product
42
How to Read the Model Plate
43
How to Read the Model
44
Specifications
46
Actuator
46
High Output Setting
46
Maximum Speed
48
MAX. Acceleration, Payload Capacity
51
Driving System • Position Detector
63
Positioning Precision
64
Current Limit Value and Pressing Force
65
Built-In Controller
70
Basic Specifications
70
I/O Specifications
71
Control Option
73
PIO Converter (Model: RCB-□□□)
73
Quick Teach (Model: RCM-PST-□)
77
Installation
81
Transportation
81
Handling of Actuator, PIO Converter and Quick Teach
81
Handling of Multi-Axes Type
82
Handling of Robot Mounted on Mechanical Equipment (System)
82
Installation and Storage Environment
83
Installation Environment
83
Storage • Preservation Environment
84
How to Install
85
Posture of Actuator Attachment
85
Installation of Slider Type
87
Attachment of Actuator Body (Standard Type (Screw Cover Type)
87
Load Attachment (Standard Type (Screw Cover Type)
90
Attachment of Actuator Body
92
Sheet Type), Cleanroom Type)
92
Load Attachment (Standard Type (Stainless Steel Sheet Type), Cleanroom Type)
95
Air Suction of Slider Type (Cleanroom Type)
97
Reference for Vacuuming Capacity
97
Vacuum Joint
97
Installation of Rod Type
98
Installation of Actuator Type Unit
98
Load Attachment
103
Noise Prevention and How to Attach Electrical Devices
105
Noise Elimination Grounding (Frame Ground)
105
Precautions Regarding Wiring Method
109
Noise Sources and Elimination
109
Cooling Factors and Installation
109
Wiring
111
Positioner Mode 1 (Standard Type)
111
Wiring Diagram (Connection of Construction Devices)
111
PIO Pattern Select and PIO Signal
112
PIO Pattern (Control Pattern) Selection
112
PIO Patterns and Signal Assignment
113
List of PIO Signals
114
Circuit Diagram
115
Power Line and Emergency Stop Circuit
115
PIO Circuit
116
Pulse Train Control Mode
119
Wiring Diagram (Connection of Construction Devices)
119
PIO Pattern Selection and PIO Signal
120
PIO Pattern (Control Pattern) Selection
120
PIO Pattern and Signal Allocation
120
List of PIO Signals
121
Circuit Diagram
122
Power Line and Emergency Stop Circuit
122
Command Pulse Train Circuit
123
PIO Circuit
124
Positioner Mode 2 (Extension Type by PIO Converter)
126
Wiring Diagram (Connection of Construction Devices)
126
PIO Pattern Selection and PIO Signal
127
PIO Pattern (Control Pattern) Selection
127
PIO Patterns and Signal Assignment
128
List of PIO Signals
130
Circuit Diagram
132
Power Line and Emergency Stop Circuit
132
PIO Converter to ERC3
135
PIO Circuit
136
MEC Mode 1 (Operation with PLC)
142
Wiring Diagram (Connection of Construction Devices)
142
PIO Pattern Selection and PIO Signal
143
Operation Pattern
143
Operation Patterns and Signal Assignments
144
List of PIO Signals
145
Circuit Diagram
146
Power Line and Emergency Stop Circuit
146
PIO Circuit
147
MEC Mode 2 (Operation Using PIO Converter)
149
Wiring Diagram (Connection of Construction Devices)
149
PIO Pattern Selection and PIO Signal
150
Operation Pattern
150
Operation Patterns and Signal Assignments
151
List of PIO Signals
152
Circuit Diagram
153
Power Line and Emergency Stop Circuit
153
PIO Converter to ERC3
156
PIO Circuit
157
MEC Mode 3 (solo Operation with Quick Teach)
159
Wiring Diagram (Connection of Construction Devices)
159
RCM-PST-0 (24V DC Power Supply Type)
159
Rcm-Pst-1
160
Power Supply
160
Rcm-Pst-2
161
Wiring Method
162
Wiring of Actuator
162
PIO Type Power and I/O Cable (Model : CB-ERC3P-PWBIO□□□)
162
SIO Type Power and I/O Cable (Model : CB-ERC3S-PWBIO□□□)
163
Wiring between PIO Converter and Quick Teach
164
Wiring between PIO Converter and Host Controller (E.g. PLC)
165
Wiring of PIO Converter Power Line Connector
169
Pulse Converter: AK-04 (Optional Accessory)
170
Teaching Port Connector Connection of ERC3 Main Unit
171
Connection of SIO Connector of PIO Converter
172
Operation
173
Basic Operation
173
Basic Operation Methods
173
Positioner Mode 1 (PIO Operation of ERC3)
173
Pulse Train Control Mode (Pulse Train Operation of ERC3)
174
Positioner Mode 2 (Extended Operation of ERC3)
175
MEC Mode 1
176
MEC Mode 2
177
MEC Mode 3
177
Parameter Settings
178
Operation in Positioner Mode
179
Set of Position Table
179
Operation in Positioner Mode 1
184
PIO Pattern Selection and Main Functions
184
Overview of Major Functions
185
Power Supply and Emergency Stop Release (CP, MP, EMG, PEND)
186
Brake Release BK
187
Time Constant for Control Signal Input
187
Operation Ready and Auxiliary Signals
188
Operations of PIO Patterns 0 and 2
192
Control Method
195
PIO Pattern 1
205
Control Method
212
Operation in Positioner Mode 2 (Operation Using PIO Converter)
217
PIO Pattern Selection and Main Functions
217
Overview of Major Functions
218
Power Supply and Emergency Stop Release (CP24, MPI, MPO, EMG(-))
219
Time Constant for Control Signal Input
219
Operation Ready and Auxiliary Signals
220
Operations of PIO Patterns 0 to 3
229
Control Method
232
Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern
246
Operation of PIO Pattern 4
246
Direct Position Specification (Solenoid Valve Mode 2) = Operations of PIO Pattern 5 in PIO Converter
258
Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)
265
Guideline for Supportive Functions
265
Power Supply and Emergency Stop Release (CP, MP, EMG)
266
Brake Release BK
266
Time Constant for Control Signal Input
267
Operation Ready and Auxiliary Signals
267
Pulse Train Input Operation
271
Settings of Basic Parameters Required for Operation
274
Parameter Settings Required for Advanced Operations
277
Operation in MEC Mode 1 and 2 (Operation with PLC)
279
Outline for Operation Patterns and Functions
279
Positioning Complete Signal
280
Power Supply and Emergency Stop Release
284
Brake Release BK
286
Time Constant for Control Signal Input
286
Operation When Operation Pattern Is "2-Point Stop
287
Positioning)
287
Operation When Operation Pattern Is "3-Point Stop
288
Positioning)
289
Actuator Operation
289
Operation in MEC Mode 3 (Test Run with Quick Teach.)
291
Operation Panel Functions
291
Operations
292
Switches Used for Mode Selection (Auto ⇔ Manual)
292
Switch Used for Servo ON/OFF Operation
292
Switch Used for Home-Return Operation
292
Switches Used for Manual Operation
292
Switch Used for Brake Release
293
Switches Used to Change Positioning Point Number
293
Switches Used for Position Teaching
294
Speed Settings
297
Switches Used in Test Run
297
Switches Used in Alarm Reset
297
Test Run with Operation Panel
298
Power-Saving Function (Automatic Servo-Off and Full Servo Functions)
307
Positioner Mode 1 and 2
307
Pulse Train Control Mode
310
MEC Mode 1, 2 and 3
311
Automatic Servo-Off Function
311
Full Servo Function
313
Chapter 6 Adjustment of Operation
315
Absolute Reset and Absolute Battery
315
Absolute Reset
315
Absolute Reset Procedure from Teaching Tool
315
Absolute Reset Using PIO
318
Absolute Battery
320
Replacement of Absolute Battery
322
High Output Setting and Gain Scheduling Function
323
High Output Setting
323
Gain Scheduling Function
323
Setting in Positioner Mode 1 & 2 and Pulse Train Control Mode
323
Setting in MEC Mode 1 to 3
324
I/O Parameter
325
Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode
326
I/O Parameter List
326
Detail Explanation of Parameters
330
Stop Method at Servo off (Parameter No.110)
351
Servo Adjustment
357
MEC Mode 1, MEC Mode 2 and MEC Mode 3
360
I/O Parameter List
360
Detail Explanation of Parameters
362
Servo Adjustment
370
Troubleshooting
373
Action to be Taken Upon Occurrence of Problem
373
Fault Diagnosis
375
Impossible Operation of Controller
375
Positioning and Speed of Poor Precision (Incorrect Operation)
380
Generation of Noise And/Or Vibration
382
Alarm Level
383
Alarm List
384
Chapter 8 Actuator Maintenance Check
397
Inspection Items and Schedule
397
External Visual Inspection
398
Cleaning
398
Internal Inspections for Slider Type
399
Internal Cleaning for Slider Type
399
Grease Supply
400
Grease Supply for Slider Type
400
Other Types than Cleanroom Type
400
Cleanroom Type
400
How to Supply Grease on Slider Type
401
Standard Type (Screw Cover Type)
401
Standard Type (Stainless Steel Sheet Type), Cleanroom Type
403
Grease Supply for Rod Type
405
How to Supply Grease on Rod Type
406
How to Replace and Adjust Stainless Steel Sheet
408
Preparation
408
Procedure for Replacement and Tuning
409
Motor Replacement Process
411
Chapter 9 External Dimensions
413
Erc3-Sa5C
413
Erc3-Sa7C
414
ERC3D, ERC3CR-SA5C Standard Type (Stainless Steel Sheet Type)
415
Cleanroom Type
415
ERC3D, ERC3CR-SA7C Standard Type (Stainless Steel Sheet Type)
416
Cleanroom Type
416
Erc3-Ra4C
417
Erc3-Ra6C
418
Appendix
419
Input and Output Response Performance When PIO Converter Is Used
419
Way to Set Multiple Controllers with 1 Teaching Tool
420
Connecting Example
421
Detailed Connection Diagram of Communication Lines
422
Axis No. Setting
422
Handling of E-CON Connector (How to Connect)
423
SIO Converter
424
Communications Cable
426
Conformity to Safety Category
427
System Configuration
427
Wiring and Setting of Safety Circuit
428
Examples of Safety Circuits
430
TP Adapter and Related Parts
436
When Connecting Power Supply with + Grounding
438
Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)
439
I/O Assignment
439
Ladder Sequence
440
Servo on (Emergency Stop) Circuit
440
Operation and Stop Circuit
440
Pause Circuit
441
Reset Circuit
442
Home Return Circuit
443
Decode Circuit of Positioning Complete Position no
444
Actuator Start Circuit
444
Position 1 Operation Circuit
445
Position 2 Operation Circuit
446
Position 3 Operation Circuit
447
Commanded Position No. Output Ready Circuit
448
Commanded Position No. Output Circuit
449
Start Signal Output Circuit
449
Other Display Circuits (Zone 1, Position Zone, and Manual Mode)
450
Life
451
How to Calculate Operation Life
451
Operation Life
452
Warranty
453
Warranty Period
453
Scope of the Warranty
453
Honoring the Warranty
453
Limited Liability
454
Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
454
Other Items Excluded from Warranty
454
Change History
455
Chapter 9 Description Revised Regarding Weight
457

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