Operation Manual Seventh Edition ERC Actuator with Integrated Controller
5.2.2 Push & Hold Mode Push = Other than 0... 68 5.2.3 Speed C
80 7. Operation in the “8 Points” and “16 Points” Modes <Practical Operation> 7.1 How to Start (1) Confirm that the connector end (CN1) o
81 If the actuator does not perform home return, confirm that the *pause signal is ON, the motor-drive power supply is receiving power, and no error
82 7.2 How to Execute Home Return First, force the position complete signal to turn ON by referring to 7.1, “How to Start.” 7.2.1 8 Points Ente
83 7.2.2 16 Points Input a start signal after selecting and inputting a desired command position number in which a target position is registered.
84 7.3 Home Return and Movement after Start (16 Points) First, set the necessary data in the position table by referring to 7.1, “How to Start. If
85 The position complete output will turn ON when the controller becomes ready following the power ON. To check if the contr
86 7.4 Positioning Mode (Back and Forth Movement between Two Points) Example of use in operation) The actuator moves back and forth between two p
87 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera
88 7.5 Push & Hold Mode First, cause the position complete signal to turn ON by referring to 7.1, “How to Start.” Example of use in operation)
89Speed Return action Push & hold completion position 240 mm 280 mm If the actuator has missed the load, the position complete output will not
Movement command type ... 107 Pause i
90 7.6 Speed Change during Movement Example of use in operation) The actuator speed is reduced at a certain point during movement. The position
91 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera
92 7.7 Operation at Different Acceleration and Deceleration Settings Example of use in operation) Positioning is performed to the position 150 mm
93 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera
94 7.8 Pause Example of use in operation) The actuator is paused during movement. Method) Use the pause input. ERC controller
95 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of th
96 7.9 Zone Signal Output Example of use in operation) While the actuator is moving a zone signal is output inside the zone enclosed by distances
97 T1: 6 msec or more; time after selecting/entering a command position until the start input turns ON (The scan time of t
98 7.10 Incremental Moves Example of use in operation) The actuator is caused to move from the home to the 30-mm position, from which it will be m
99 Position-data table (Field(s) within thick line must be entered.) No. Position Speed Acceleration/ deceleration Push Positioning band Accelera
100 7.11 Notes on Incremental Mode (1) Notes on positioning operation Selecting/entering a position number using relative coordinates during posi
101 Example) If the start signal for movement to position 2 is input while the actuator is moving to position 1 in the push & hold mode, the ac
102 8. Parameters 8.1 Parameter Classification Parameters are classified into four types according to their content. Category: a: Parameter relat
103 8.3 Parameter Settings If a parameter has been changed, always restart the controller using a software reset command or by reconnecting the pow
104 Home return direction Unless specified by the user, the home return direction is set to the motor direction at the factory. Should a need ar
105 Default acceleration only MAX flag To cause the actuator to decelerate gradually when stopping, a lower acceleration/deceleration should be s
106 Top Bottom Home positionThe slider is contacting the bottom mechanical end.Home return directionExcited-phase signal detection directionThe same
107 8.3.3 Parameters Relating to the External Interface PIO pattern selection Select a desired PIO operation pattern using parameter No. 25. T
108 [Level mode] (Note) Turn OFF the movement command input after confirming that the target position has been reached. [Edge mode]
109 8.3.4 Servo Gain Adjustment Servo gain number The factory setting is optimized in accordance with the standard specification of the actuator
Pre-1 Safety Guide This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property damage. Be sure to r
110 9. Troubleshooting 9.1 Action to Be Taken upon Occurrence of Problem Upon occurrence of a problem, take appropriate action according to the p
111 9.3 Alarm Description and Cause/Action (1) Message level alarms Code Error name Cause/Action 41 Motor voltage drop This alarm indicates t
112 (2) Operation-cancellation level alarms Code Error name Cause/Action B0 Bank 30 data error Cause: Data in the parameter area is outside th
113 Code Error name Cause/Action CA Overheating This alarm indicates that the temperature around the power transistor in the controller board is
114 9.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software This section explains the warning messages that may be displ
115 Code Error name Cause/Action 20C CSTR-ON during operation This message indicates that the start signal (CSTR) was turned ON by the PLC while
116 9.5 Specific Problems I/O signals cannot be exchanged with the PLC. Cause: [1] The 24-V power supply is connected in reverse. (This wi
117 Vibration occurs when the actuator is stopped. Cause: The slider is receiving an external force. Action: If the external force cannot be re
118 10. Maintenance and Inspection 10.1 Inspection Items and Timings Perform maintenance and inspection per the schedule specified below. This s
119 10.4 Internal Check (Slider Type) [1] With the SA6 and SA7, the screw cover and side covers can be removed using a hex wrench with 1.5 mm wi
Pre-2 Requirements for Industrial Robots under Ordinance on Industrial Safety and Health Work area Work condition Cutoff of drive source Measure
120 10.5 Internal Cleaning (Slider Type) Wipe off dirt using a soft cloth, etc. Do not blow compressed air at high speed. Doing so may cause
121 (2) Greasing method Grease the guide by following the procedure below: [1] Apply grease between the slider and base, as shown to the left.
122 10.7 Greasing the Ball Screw (Slider Type) (1) Applicable grease The following special grease is applied to the ball screw prior to shipment:
123 10.8 Greasing the Rod Slide Surface (1) Applicable grease The following grease is applied to the rod slide surface prior to shipment: Kyodo
124 10.9 Motor Replacement Procedure Before replacing the motor, save the latest parameter and position data. Save the data by one of the followin
125 Installation [1] Place the coupling spacer in the coupling hub. [2] Insert the motor unit into the rear bracket while paying attention to th
126AppendixHome return signal Home return request Home return request Positioning start request to position 1 Positioning start request to position
127AppendixMNNMNOOPPQJROSQM POPQPENDPENDROSJ RSPositioning start pulse to position 2 Auxiliary positioning start for position 2 Start check for posi
128AppendixPC1RSPC2CSTRPC4JOPosition 3 set signal Position 5 set signal Command position 1 Command position 2 Position 6 set signal Position 3 set
129Appendix Recording of Position-Data Table Recorded date: No. Position [mm] Speed [mm/sec] Acceleration/ deceleration [G]Push [%]Positioning b
Pre-3 Applicable Modes of IAI’s Industrial Robot Machines meeting the following conditions are not classified as industrial robots according to Not
130Appendix Parameter Records Recorded date: Category a: Parameter relating to the actuator stroke range b: Parameter relating to the actuat
131
132Appendix Change History Revision Date Description of Revision January 2011 Seventh edition Added “Before Use.” Changed “Safety Precaut
Catalog No.: ME0137-7A Head Office: 2690 W. 237th Street, Torrance, CA 90505 TEL (310) 891-6015 FAX (310) 891-0815 Chicag
Pre-4 Notes on Safety of Our Products Common items you should note when performing each task on any IAI robot are explained below. No. Task Note
Pre-5 No. Task Note (2) Wiring the cables Use IAI’s genuine cables to connect the actuator and controller or connect a teaching tool, etc. Do n
Pre-6 No. Task Note 5 Teaching When releasing the brake of the vertically installed actuator, be careful not to let the actuator drop due to its
Pre-7 Indication of Cautionary Information The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and
Pre-8
1 1. Overview 1.1 Introduction Thank you for purchasing the Easy All-in-One Robo Cylinder (hereinafter referred to as “ERC”). This manual explains
2 1.2 Meaning of the Model Name ERC-RA54-I-PM-12-300-S-NM・SA6・SA7・RA54・RA64・RA54GS・RA64GS・RA54GD・R
3 1.3 Specifications (Note 1) The figures in blank bands indicate the maximum speeds for respective strokes. The m
4 1.3.1 Correlation Diagrams of Speed and Load Capacity – Slider Type (Note) In the above graphs,
5 1.3.2 Correlation Diagrams of Speed and Load Capacity – Rod Type (Note) In the above graphs, the
6 Load Applied to the Actuator (1) Slider type Keep the load applied to the slider below the value stated in the applicable specification item.
7 1.4 Safety Precautions Read the following information carefully and provide safety measures with due consideration. This product has been dev
8 1.5 Warranty Period and Scope of Warranty The ERC you have purchased passed IAI’s shipping inspection implemented under the strictest standards
9 1.6 Transportation and Handling 1.6.1 Handling before Unpacking Exercise due caution when transporting or handling the box containing the act
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of t
10 1.7 Installation Environment and Noise Elimination Pay due attention to the installation environment of the controller. 1.7.1 Installation
11 1.7.3 Power Supply The control/motor-drive power supply specification is 24 VDC 10% (2 A max). 1.7.4 Noise Elimination This section explai
12 (2) Noise sources and elimination Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern when
13 1.8 Cabling The standard relay cables have excellent flexibility to withstand fatigue from flexural loads, but they are not robot cables. Th
14 Prohibited Handling of Cables When designing an application system using this actuator, incorrect wiring or connection of each cable may cause
15Cable Cable bearer Power line Signal lines (flat cable, etc.) Duct 7. Notes on use of cable tracks The supplied cable is not a robot cable
16 2. Installation 2.1 Name of Each Part 2.1.1 Slider Type (SA6/SA7) 2.1.2 Rod Type (RA54/RA64) Con
17 2.1.3 (1) Rod Type with a Single Guide (RA54GS/RA64GS) 2.1.3 (2) Rod Type with Double Guides (RA54GD/RA64GD)
18 2.2 Installation 2.2.1 Slider Type Installing the actuator The actuator-mounting surface must be a machined surface or have an equivalent
19Hex cap bolt Hole in flange Hex cap bolt 2.2.2 Rod Type A rod-type actuator can be installed in the following two ways: Affixing with a fla
CAUTION 1. When Using Multiple 24-V Power Supplies If multiple 24-V power supplies are used, be sure to adjust 0 V to the same level on all uni
20 Affixing with foot brackets (optional) If optional foot brackets are used, install the foot brackets using hex cap bolts. Foot-bracke
21 2.2.3 Installing the Load Slider Type Four tapped holes are provided in the slider, so affix the load using these holes (indicated by arr
22 Rod Type A bolt is attached on the rod end bracket, so use this bolt to affix the load. (Use the supplied nut, if necessary.) Rod end br
23 3. Wiring 3.1 Basic Structure PERSONAL COMPUTER PC software <RCB-101-MW>Optional Teachi
24 Connection diagram [1] When the control board is of the NPN specification [sink type] * In the case
25 [2] When the control board is of the PNP specification [source type] * In the case of a robot cable,
26 3.2 I/O Connections for PIO Pattern 1 [3 Points] (Air Cylinder) The following description assumes that the ERC is used in the place of an air c
27 3.2.2 Details of Input Signals The input signals from this controller have an input time constant, in order to prevent malfunction caused by
28 3.2.3 Details of Output Signals Completion of each position (PE0 to PE2) These signals indicate that the target position corresponding
29 3.3 I/O Connections for PIO Pattern 0 [8 Points] Note The factory setting is “8 points.” The pause signal can be disabled in parameter No. 15.
CAUTION 2. Basic Parameter Settings When the power is input for the first time, at least the two parameters specified below must be set in acco
30 3.4.1 Explanation of I/O Signals The following explains the signals used in the “8 points” and “16 points” patterns. Category Signal name Signa
31 Before executing a command using the start signal, make sure the target position, speed and other operation data are set in the position table us
32 Home return completion (HEND) This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
33 3.5 Configuration Using a SIO Converter If any of the following conditions applies, use a SIO converter to connect the teaching pendant, PC or
34 Connection diagram [1] When the control board is of the NPN specification [sink type] * In the c
35CN1 [2] When the control board is of the PNP specification [source type] * In the case of a robot ca
36 3.6 Configuration Using an Insulated PIO Terminal Block If either of the following conditions applies, use an insulated PIO terminal block: [1]
37 Connection diagram [1] When the control board is of the NPN specification [sink type] [1] Insulat
38 [2] When the control board is of the PNP specification [source type] [1] Insulate the power supply
39
CAUTION 3. Recommendation for Backing up Latest Data The controller part of this actuator uses nonvolatile memory to store the position table an
40 3.7 Configuration Using Both SIO Converter and Insulated PIO Terminal Block Note: Do not conn
41 Connection diagram [1] When the control board is of the NPN specification [sink type] [1] I
42 [2] When the control board is of the PNP specification [source type] [1] Insulate the power s
43 3.8 Controlling Multiple Axes via Serial Communication The following operations become possible if multiple axes are controlled: [1] Executing
44 3.8.3 Wiring Examples for Linking Multiple Axes Using only a SIO converter (The same wiring applies to a configuration for automatic opera
45 Using both SIO converter and insulated PIO terminal block (Communication with the PLC is performed via parallel I/O connection.)
46 3.9 Emergency-Stop Circuit Examples of internal circuit and recommended circuit are shown below. For auxiliary relays, use relays with a diode
47 Example of multi-axes circuit allowing each axis to be connected/disconnected to the teaching pendant
48 3.10 Relay Cable No connector on the counter-actuator end (When connecting the actuator directly to a host system)
49 Connectors on both ends (When using an insulated PIO terminal block) 10 9 8 7 6 5 4 3 2 1 10 9 8 7
50 4. Electrical Specifications 4.1 Controller Specification item Description Number of controlled axes 1 axis/unit Supply voltage 24 VDC 10% S
51 4.2 I/O Signal Interface Circuit 4.2.1 External Input Specifications Item Specification Number of input points 6 points Input voltage 24 VD
52 4.2.2 External Output Specifications Item Specification Number of output points 4 points Rated load voltage 24 VDC Maximum current 60 mA/poi
53 4.3 SIO Converter (Optional) Model: RCB-TU-SIO-A (Vertical installation) RCB-TU-SIO-B (Horizontal installation) This unit is required if any
54 [5] PORT switch A switch for enabling/disabling the teaching pendant. Set the switch to ON when a teaching pendant is used, or OFF when teach
55 4.4 Insulated PIO Terminal Block (Optional) Model: RCB-TU-PIO-A (Combined with a NPN control board: Vertical installation) RCB-TU-PIO-B (Comb
56 [1] Power/emergency-stop terminal block (TB1) Provide a contact output for the emergency-stop switch on the teaching pendant (RCA-T/E). EMS1 an
57 [6] PIO connection terminal block (TB3) A PLC connection port. Detailed signal specifications are shown below. [1] RCB-TU-PIO-A/B (When the
58 Internal connection diagram [1] RCB-TU-PIO-A/B Connector Nonpolar input photocoupler 6 cir
59 [2] PCB-TU-PIO-AP/BP Connector Nonpolar input photocoupler 6 circuits Fusing chip resistor 4
Table of Contents Safety Guide ... 1 1. Over
60 I/O interface specifications Input Specifications Specification item Description Number of input points 6 points Input voltage 24VDC 10%
61 5. Data Entry <Basics> This actuator doesn’t use command words, so there is no need to create a program. All you need is to enter the tar
62 5.1 Description of Position-Data Table (1) No. Indicate the position data number. To enter an incremental movement, press the minus key in
63 (5) Push (Push) Select the positioning mode or push & hold mode. The default value is “0.” 0: Positioning mode (= Normal operation) O
64 (7) Acceleration only MAX (ACC MAX) Select the specified acceleration or maximum acceleration by entering “0” or “1.” The default value is “
66 20 30 40 50 60 7005010015020025030035020 30 40 50 60 70010020030040050060070080090020 30 40 50 60 7005010015020025030035040045020 30 40 50 60 7002
6720 30 40 50 60 7005010015020025030035020 30 40 50 60 70010020030040050060070080090020 30 40 50 60 7005010015020025030035040045020 30 40 50 60 7002
68 5.2 Explanation of Modes 5.2.1 Positioning Mode Push = 0 5.2.2 Push & Hold Mode Push = Other than 0 (1) Load was contact
69 (2) Load was not contacted (missed) (1) After reaching the target position, the actuator will move at low speed. Even after contacting the lo
Pause (*STP)... 27
70 (4) Positioning band was entered with a wrong sign If the positioning band is entered with a wrong sign, the position will deviate by twice th
71 5.2.5 Pause The actuator can be paused during movement using an external input signal (*pause). The pause signal uses the contact B logic (alway
72 6. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation> 6.1 Overview of the “3 Points” Mode This mode provides a c
73 The relationships of movement command inputs/position complete outputs and corresponding position numbers are shown below. For easier identific
74 6.2 How to Start (1) Confirm that the connector end (CN1) of the relay cable is firmly plugged into the connector on the actuator cable. (2)
75If the actuator does not perform home return, confirm that the *pause signal is ON, the motor-drive power supply is receiving power, and no error
76 6.3 Moving Operation First, make the controller ready to accept movement commands by referring to 6.2, “How to Start.” Example of use in oper
77 [Operation timings] Note: Movement commands are executed based on the rise edge, so input each signal continuously fo
78 The movement command input operates in two modes. You can select the operation condition of the movement command input (ST0 to ST2) in par
79 Handling of the pause (*STP) signal This signal is a Contact B signal, meaning that it must remain ON while the actuator is moving. If th
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