IAI ERC3 Instruction Manual Download

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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).

(1) Rod Type

(2) Slider Type

Caution

：

There are some actuators that are not applicable to the origin reversed type.

Check further on the catalog or the Instruction Manual of the actuator.

(+)

(0)

(+)

(0)

ME0302-4A

Summary of Contents for ERC3

Page 1: ...IAI Corporation ERC3 Gateway Unit Instruction Manual Forth Edition ...

Page 2: ......

Page 3: ... 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 If you have any question or comment regarding the content of this manual please contact the IAI sales office near you Using or copying all ...

Page 4: ...ME0302 4A ...

Page 5: ...ceNet Interface 23 1 4 2 Specifications of CC Link Interface 23 1 4 3 Specifications of PROFIBUS DP Interface 24 1 4 4 Specifications of CompoNet Interface 24 1 4 5 Specifications of MECHATROLINK I II Interface 24 1 4 6 Specifications of EtherNet IP Interface 25 1 4 7 Specifications of EtherCAT Interface 25 1 5 External Dimensions 26 1 6 Option 27 1 7 Installation and Storage Environment 28 1 8 No...

Page 6: ...tions 138 3 7 4 Operation Mode Setting 144 3 8 Field Network LED Indication 145 Chapter 4 I O Parameter 151 Chapter 5 Troubleshooting 153 5 1 Action to Be Taken upon Occurrence of Problem 153 5 2 Fault Diagnosis 154 5 2 1 Impossible Operation of Controller 154 5 2 2 Positioning and Speed of Poor Precision Incorrect Operation 155 5 2 3 Generation of Noise and or Vibration 156 5 2 4 Communication No...

Page 7: ... 7 2 Scope of Warranty 175 7 3 Honoring the Warranty 175 7 4 Limited Liability 175 7 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 176 7 6 Other Items Excluded from Warranty 176 Change History 177 ME0302 4A ...

Page 8: ...ME0302 4A ...

Page 9: ...afety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity exceed...

Page 10: ...afety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the prevention of condensation Store the produ...

Page 11: ...ss Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failure to do so may cause the product to malfunction or cause fire 4 Installation and Start 3 Grounding The grounding operation should be performed to prevent an electric shock or electrostatic...

Page 12: ...ecure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity 5 Teaching When the work is carried out with 2 or more persons make it clear ...

Page 13: ... block or any of the various setting switches in the power ON mode Failure to do so may result in an electric shock or malfunction 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripheral equipment is in an automatic operation ready stat...

Page 14: ...in a damage to the product When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity The slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation Pay attention not to lose the cover or untightened...

Page 15: ...oduct is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This ind...

Page 16: ... no movement or there may be unexpected movement 5 Operation cannot be performed unless there is an input of Servo ON Signal The servo ON signal SON is available to select whether to enable or disable in the initial setting process 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 Di...

Page 17: ... to 10msec for some PLC Therefore the same process as when the timer is not set is held and may cause a failure such as the actuator cannot get positioned to the indicated position number in Positioner Mode Set 2 as the minimum value for the setting of 10msec timer and when setting to 100msec use 10msec timer and set to 10 This controller scan time 1msec PLC e g scan time is 20msec Output Process ...

Page 18: ...10 International Standards Compliances ERC3 Gateway Unit with the following overseas standard RoHS Directive CE Marking UL To be scheduled To be scheduled ME0302 4A ...

Page 19: ...ion Mode Setting Switch 7 Gateway Status LED 4 SIO Connector 3 Absolute Battery Connector 2 Power Connector 1 FG Terminal Block 6 Axis Status LED 8 Position Adjustment Switch 1st Axis AX0 1st Axis AX0 9 Brake Release Switch 4th Axis AX3 3rd Axis AX2 2nd Axis AX1 2nd Axis AX1 3rd Axis AX2 4th Axis AX3 ME0302 4A ...

Page 20: ...12 Upper surfaces Bottom surfaces 1st Axis AX0 10 Field Network Connection Connector 11 ERC3 Connection Connector 2nd Axis AX0 3rd Axis AX0 4th Axis AX0 ME0302 4A ...

Page 21: ...f the SIO Serial communication operation using PC software or a teaching pendant described as teaching tool from now on and the operation with Fieldbus or PIO Parallel I O The output from PLC is ignored at MANU and the data when switched to MANU is maintained for the input to PLC Status Information MANU Manual Operation An operation is available from a teaching pendant or PC AUTO Automatic Operati...

Page 22: ...l GN ABS RD Not used ST3 GN ST2 GN ST1 GN ST0 GN Status display i The current command current ratio percentage to the rating is displayed when servo is ON ii Simple alarm code is displayed when an alarm is issued Refer to Chapter 6 Troubleshooting for the details of the alarms Illuminating OFF ST 3 2 1 0 Command Current Ratio ALM8 ALM4 ALM2 ALM1 Simple alarm code 0 00 to 6 24 6 25 to 24 99 25 00 t...

Page 23: ... network communication in condition in error 8 Position Adjustment Switch It consists of 3 push button switches and is used when performing JOG operation for each axis These switches are valid when 5 Operation Mode Setting Switch is on MANU side and a teaching tool is not connected to 4 SIO Connector They do not activate in other cases Name Information SV Servo ON OFF Movement made to positive dir...

Page 24: ...ep the switch to RLS side only as needed and make sure to set it on NOM side in ordinary use The brake would not work even with the servo OFF condition if the switch is on the 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 ...

Page 25: ...fines the home position and items in are for the home reversed type option 1 Rod Type 2 Slider Type Caution There are some actuators that are not applicable to the origin reversed type Check further on the catalog or the Instruction Manual of the actuator 0 0 0 0 ME0302 4A ...

Page 26: ...ide 2 Output the movement command from the PLC to the controller and confirm it in the system operation Check Item Any vibration or abnormal noise Yes No Check of Packed Items Have all the items been delivered Installation and Wiring Refer to Chapter 1 Section 2 1 and 2 3 Perform the installation and wiring for the this unit and actuator Important Check Item Is frame ground FG connected Has the no...

Page 27: ...5 08AU Supplier PHOENIX CONTACT 5 First Step Guide ME0301 6 Instruction Manual DVD 7 Safety Guide M0194 1 1 2 Teaching Tool A teaching tool such as PC software is necessary when performing the setup for position setting parameter setting etc that can only be done on the teaching tool Please prepare either of the following teaching tools No Part Name Model 1 PC Software Includes RS232C Exchange Ada...

Page 28: ... 01D 01DR Applicable for Position Controller Instruction Manual ME0324 6 Touch Panel Teaching Pendant TB 02 02D Applicable for Position Controller ELECYLINDER Instruction Manual ME0355 7 Touch Panel Teaching Pendant TB 03 Applicable for Position Controller ELECYLINDER Wired Link Instruction Manual ME0376 1 1 4 How to Read the Model Plate 1 1 5 How to Read the Model Gateway unit model RCM EGW DV Se...

Page 29: ...e direct and direct indication modes Note The number of positioning points differs depending on the operation pattern select by the parameter setting LED Indication Mounted on Front Panel 1 Gateway status LEDs 6 points 2 Each axis status LEDs 6 points Forcibly releasing of electromagnetic brake Can be released with the brake compulsory release switch installed in the front panel for each axis Prot...

Page 30: ... of a type with peak load application or with enough capacity considering this high current The current of 3 to 4 can be avoided from being generated at the same time by changing the timing of cancelling the emergency stop turning on the motor power or turning the servo on There may be a risk of transient voltage drop with the selection with no enough capacity Be careful especially when selecting ...

Page 31: ... 24V DC Supplied from DeviceNet Note 1 The cable side connector is a standard accessory PHOENIX CONTACT SMSTB2 5 5 ST 5 08AU Note 2 For T branch communication refer to the Instruction Manuals for the master unit and programmable controller PLC to be mounted 1 4 2 Specifications of CC Link Interface Item Specification Communication Protocol CC Link ver1 1 or ver2 Station Type Remote Device Station ...

Page 32: ... Word mixed slave Available Node Addresses for Setting 0 to 63 Setting conducted on controller parameter Number of Occupied Channels Refer to 3 4 1 PLC Address Construction by each Operation Mode Communications Cable Note 1 Round Cable JIS C3306 VCTF2 core Flat cable I with no sheathed Flat cable II sheathed Connector Controller side XW7D PB4 R Manufactured by OMRON or equivalent Note 1 Prepare th...

Page 33: ...ended Connector RJ45 Connector 1pc Note 1 Prepare a LAN cable separately for the connection cable 1 4 7 Specifications of EtherCAT Interface Item Specification Communication Protocol IEC61158 type 12 Physical Layer 100Base TX IEEE802 3 Baud Rate Automatically follows the master Communication Cable Length Follows EtherCAT specifications Distance between each node 100m max Slave Type I O slave Appli...

Page 34: ...Chapter 1 Specifications Check 1 5 External Dimensions 26 1 5 External Dimensions 5 36 140 5 9 1 9 2 3 105 4 35 4 Width of 35mm DIN rail 65 from DIN rail center ME0302 4A ...

Page 35: ...Chapter 1 Specifications Check 1 6 Option 27 1 6 Option はケーブル長 ME0302 4A ...

Page 36: ...d to direct sunlight Location where the product may come in contact with water oil or chemical droplets Environment that blocks the air vent Refer to 1 8 Noise Elimination and Mounting Method When using the product in any of the locations specified below provide a sufficient shield Location subject to electrostatic noise Location where high electrical or magnetic field is present Location with the...

Page 37: ...AC solenoid valves magnet switches and relays Measure Install a Surge absorber parallel with the coil 2 DC solenoid valves magnet switches and relays Measure Mount the windings and diodes in parallel Select a diode built in type for the DC relay Earth Terminal Class D grounding Formerly Class III grounding Grounding resistance at 100 or less Copper wire Connect a ground wire with a diameter of 1 6...

Page 38: ...ng the size of the controller box location of the controller and cooling factors to keep the ambient temperature around the controller below 40 C For the Gateway attachment affix it on the DIN rail 50mm or more 50mm or more 100mm or more Ensure enough space for wiring 30mm or more 30mm or more Lever for attachment to DIN rail 30mm or more ME0302 4A ...

Page 39: ...ving the connector while the power is turned ON causes a controller failure Touch Panel Teaching to be purchased separately Host System Master Unit PLC etc Please prepare separately PC software to be purchased separately Actuator ERC3 SE Control Drive Power Supply 24V DC Please prepare separately Each Fieldbus communication cable Follow the specifications of each Fieldbus for how to lay out wiring...

Page 40: ...No 1 Motor Power Supply Axis No 0 Motor Power Supply Control Power Note 2 Note 2 Note 2 Note 2 Note 3 Note 4 1 2 9 10 11 12 13 14 15 16 6 8 5 7 3 1 2 9 10 11 12 13 14 15 16 6 8 5 7 5 8 Drive cutoff relay Note 1 When the teaching pendant is not connected S1 and S2 become short circuited inside the controller Note 2 When the motor power must be disconnected externally for safety category compliance ...

Page 41: ...ution Refer to the figure below to plug the actuators correctly Check in the instruction manual of each actuator for the details connection layout diagram of each cable ERC3 Gateway Unit ERC3 Connector CB ERC3S PWBIO indicates the cable length Example 030 3m AX1 2 nd Axis AX2 3rd Axis AX3 4th Axis AX0 1st Axis ERC3 SE 0 1 2 3 ME0302 4A ...

Page 42: ...24V Power Supply 2 CC Link Type Slave Devices SLD and FG are internally connected The terminal resistor differs depending on the type of the dedicated cable for CC Link Cable FANC SBH 130Ω1 2W High Performance Cable dedicated for CC Link Cable FANC SB 110Ω1 2W CC Link Dedicated Cable Master Unit Terminal Resistance Terminal Resistance Grounding resistance at 100Ω or less 3 PROFIBUS DP Type Slave D...

Page 43: ... BS BDL BDH BS BS BDL BDH BS BS BDL BDH BS Master Unit Slave Devices Terminal Resistance 121Ω ERC3 Gateway CompoNet Type Connect the terminal resistor if the unit is placed at the end of the network 24V Power Supply 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 pro...

Page 44: ...MC W6022 Connect the terminal resistor if the unit is placed at the end of the network 130Ω SH DATA DATA NC Connect shield to connector shell Connect shield to connector shell SH DATA DATA NC SH DATA DATA NC 7 EtherCAT Type Note Terminal resistor is not required Master Unit Slave device EtherNet Straight Cable Category 5 or more Double shielded cable braided with aluminum foil recommended ERC3 Gat...

Page 45: ...gateway and actuator 9 MPI3 Motor power external input for 4 th axis 10 MPO3 Motor power external output for 4 th axis 11 MPI2 Motor power external input for 3 rd axis 12 MPO2 Motor power external output for 3 rd axis 13 MPI1 Motor power external input for 2 nd axis 14 MPO1 Motor power external output for 2 nd axis 15 MPI0 Motor power external input for 1 st axis 16 MPO0 Motor power external outpu...

Page 46: ...ntial negative side 2 SGA RS485 differential positive side 3 EMG Emergency stop output 4 BKR Brake release 24V power supply 5 BAT 6 GND Battery power supply 7 CP 8 GND Actuator control power supply 9 MP 10 GND Motor drive power supply 11 N C Not used 12 N C Not used 13 N C Not used 14 FG Frame ground Cable dedicated for IAI products Caution Refer to the figure below to plug the actuators correctly...

Page 47: ...plicable cable diameter 1 CP24V 2 GND Battery box control power output 3 BAT0 Absolute battery power supply for 1st axis 4 BAT1 Absolute battery power supply for 2nd axis 5 BAT2 Absolute battery power supply for 3rd axis 6 BAT3 Absolute battery power supply for 4th axis 7 GND 0V 8 SGB RS485 differential negative side 9 SGA RS485 differential positive side 10 GND 0V Cable dedicated for IAI products...

Page 48: ...r Side TCS7587 0121077 Pin No Signal Name Description Applicable cable diameter 1 SGA Teaching tool signal 2 SGB Teaching tool signal 3 5V Power supply for teaching tool 4 ENB Enable signal input 5 EMGA Emergency stop signal A 6 24V Power supply for teaching tool 7 0V 0V 8 EMGB Emergency stop signal B Shell 0V 0V Cable dedicated for IAI products Teaching Pendant PC Software ME0302 4A ...

Page 49: ...STBA2 5 5 G 5 08AU Pin No Signal Name Color Description Applicable cable diameter 1 V BK Power supply cable negative side 2 CAN L BL Communication data Low side 3 Shield None Shield 4 CAN H WT Communication data High side 5 V RD Power supply cable positive side Dedicated cable for DeviceNet Note Connect a terminal resistor 121 between CAN L and CAN H if the unit comes to the end of the network Ref...

Page 50: ...on line A 2 DB WT Communication line B 3 DG YW Digital GND 4 SLD Connect the shield of the shielded cable Connect the FG of the 5 pins and controller FG internally 5 FG Frame Ground Connect the SLD of the 4 pins and controller FG internally Dedicated cable for CC Link Note Connect a terminal resistor between DA and DB if the unit comes to the end of the network Refer to 2 2 4 Wiring Layout of Fiel...

Page 51: ...ine B RS485 4 RTS Request for sending 5 GND Signal GND Insulation 6 5V 5V output Insulation 7 NC Disconnected 8 A Line Communication line A RS485 9 NC Disconnected PROFIBUS DP Dedicated Cable Note Connect a terminal resistor 220 between A line and B line if the unit comes to the end of the network Refer to 2 2 4 Wiring Layout of Field Network 1 6 9 5 5 1 9 6 Cable Shield Red B line Positive side U...

Page 52: ...munication cables there is no problem with connecting the power supply to BS and BS terminals Note 2 Connect a terminal resistor 121 between BDH and BDL if the unit comes to the end of the network Refer to 2 2 4 Wiring Layout of Field Network 5 EtherNet IP Type Connector Name EtherNet IP Connector Cable Side 8P8C Modular Plug Controller Side 8P8C Modular Jack Pin No Signal Name Color Description A...

Page 53: ...e Side 8P8C Modular Plug Controller Side 8P8C Modular Jack Pin No Signal Name Color Description Applicable cable diameter 1 TD Sent data 2 TD Sent data 3 RD Received data 4 Not used 5 Not used 6 RD Received data 7 Not used 8 Not used For EtherNet cable use a straight STP cable that possesses the performance of Category 5 or more Pin No Signal Name Color Description Applicable cable diameter A1 B1 ...

Page 54: ...Chapter 2 Wiring 2 3 Wiring Method 46 ME0302 4A ...

Page 55: ... that suit to the system Refer to ERC3 Actuator with Integrated Controller Instruction Manual for more information 2 Initial Setting Refer to Section 3 2 and 3 7 Establish the settings for those such as the slave addresses in the field network using Gateway Parameter Setting Tool Also set the operation modes to use for each of the connected ERC3 1 Establish the setting following the procedure desc...

Page 56: ...ile MON Signal is ON Note 1 By referring to the field network LED display shown in the section of the names for each part and the function in the top of this manual confirm that the communication is established in the normal condition Note 2 Refer to Section 3 4 3 Control Signals of Gateway 6 Operation Control in Each Operation Mode Refer to Section 3 4 4 to 3 6 1 Send the information of the targe...

Page 57: ... Current Value Command Value Current Speed Command Value Alarm Code Status Signal Communication with Field Network Positioner 2 Mode This is the operation mode of the position data of 512 points at maximum set in the position table The monitoring of the current position is not available This mode is that the transferred data is reduced from Positioner 1 Mode PLC Target Position No Control Signal C...

Page 58: ...f 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 Zone Output Set to require signal outputs in an arbitrary position zone within the operation zone Parameters should be set to meet the use of the controller prior to operation Once set they may not se...

Page 59: ...ow is the process for the setup Follow the instruction to conduct the setting properly Preparation Install RC PC Software and Gateway Parameter Setting Tool For Gateway Parameter Setting Tool install the file stored in the CD ROM for PC software or download from our homepage Refer to the instruction manual of the PC software for the details of the PC software Make sure the power system I O connect...

Page 60: ...ding is completed in normal condition the reading complete window opens Click OK Step 5 The parameters input to ERC3 gateway unit are listed as shown below Indicate the node address station of ERC3 gateway unit on field network in Address Caution Caution for CC Link Type station setting In the following slave set the value the number of occupied station is added to the current station number ME030...

Page 61: ... 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 Note that 1 and 2 cannot be used at the same time Step 7 Once the setting of the number of axes is done the cells for the operation mode settable to each axis turn to blank in response For Remote I O Mode is displayed for a number equals to the number of set axis 1 2 ME0302 4A ...

Page 62: ...cted If clicking on a cell with mark for the reserved axes shown the cell turns back to blank 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 If the writ...

Page 63: ...ion 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 Reference Dealing to the communication error and a change to the speed unit at Direct Indication Mode are to be conducted in the special parameters Refer to 3 7 About Gateway Parameter Setting Tool ...

Page 64: ...00 0 00 0 10 0 00 0 00 0 0 0 0 0 2 150 00 200 00 0 30 0 30 50 00 0 00 30 00 0 00 0 00 0 0 0 0 0 3 300 00 400 00 1 00 1 00 0 00 0 00 0 10 0 00 0 00 0 0 0 0 1 4 200 00 200 00 0 30 0 30 0 00 0 00 0 10 250 00 230 00 0 0 0 0 2 5 500 00 50 00 0 10 0 10 0 00 0 00 0 10 0 00 0 00 0 0 0 0 0 6 7 1 Position numberꞏꞏꞏꞏꞏꞏꞏꞏꞏ It is the number to be indicated by PLC at startup Caution Do not use Position No 0 if ...

Page 65: ...ion to larger than their rated values to shorten the takt time Contact our company At that time inform us of the work piece weight profile way to attach and the installation condition of the actuator 6 Pressing ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ Set a value here and the pressing operation is available Set a pressing torque limit current value in If the value is set to 0 the normal positioning operation is performed Th...

Page 66: ...3 4 8 Control Signals for Remote I O Mode in the instruction manual for ERC3 Actuator Integrated Controller Example for PIO Pattern 5 Shown below is the position table and the figure expressing the positions that LS signal turns ON It turns ON every time the actuator is moved manually or is in that range when the actuator passes in an operation of another position number or while the servo is OFF ...

Page 67: ... resolution lead encoder pulse number or that less than positioning accuracy repeatability There would be no deviation to occur even with the command because it is an operation command to the same position as the positioning complete condition but the positioning control cannot be performed properly Caution at S shaped Motion 1 Since it requires a speed change during the operation even if having t...

Page 68: ...ting Operation after Positioning Complete Parameter No 0 Keep the servo ON 1 Automatic servo OFF in a certain time 36 2 Automatic servo OFF in a certain time 37 3 Automatic servo OFF in a certain time 38 4 Servo control 5 Full servo control for a certain time and then automatically turning servo OFF 36 6 Full servo control for a certain time and then automatically turning servo OFF 37 7 Full servo...

Page 69: ... 00 50 00 0 1 0 1 70 1 00 Enabled ST0 1 ST1 End point backward 100 00 50 00 0 1 0 1 0 0 Enabled 1 ST0 for 2 point stop is end point move when it is ON and start point move when OFF 2 The start point of SEP PT is expressed as Backward End Position end point as Forward End Position and intermediate point as Intermediate Position 1 Position mm ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ It is the positioning stop point The position...

Page 70: ... applied to the actuator or work In such a case keeping the use under such a condition may shorten the actuator life remarkably 3 If the load is extremely lighter than the rated load there may be a possibility that acceleration deceleration can be made greater than the rated values to shorten the takt time Contact our company At that time inform us of the work piece weight profile way to attach an...

Page 71: ...e the speed setting exceeding this If the setting done in 2 is less than the pressing speed setting value the pressing operation is performed at this setting value Shown in the figure below is how the actuator moves when pressing is performed against the end start and intermediate points Pressing towards End point or Intermediate Position Pressing towards End point or Intermediate Position Pulling...

Page 72: ...ond to each position will turn ON as if a detection is conducted with using sensors Therefore if the actuator does not move after positioning is complete position detecting signal will remain ON Condition of Positioning Complete Signal when Pressing Function Used In pressing operation the motor power supply servo does not automatically turn OFF in pressing condition The motor power supply servo au...

Page 73: ... Axis No 2 n 11 Control Signal Axis No 0 Control Signal Axis No 0 Positioning Width Axis No 0 Assignment Area for Axis No 1 Assignment Area for Axis No 3 Assignment Area for Axis No 3 n 12 Speed Axis No 0 n 13 Occupied Area Note 3 Acceleration Deceleration Axis No 0 n 14 Pressing Current Limit Axis No 0 n 15 Assignment Area for Axis No 1 Assignment Area for Axis No 1 Control Signal Axis No 0 n 16 ...

Page 74: ...mand Current Axis No 0 Assignment Area for Axis No 1 Assignment Area for Axis No 3 Assignment Area for Axis No 3 n 12 Current Speed Axis No 0 n 13 Occupied Area Axis No 0 n 14 Alarm Code Axis No 0 n 15 Assignment Area for Axis No 1 Status Signal Axis No 0 n 16 to n 23 Assignment Area for Axis No 1 Connected Axes Response Area n 24 to n 71 Assignment Area for Axis No 2 and later Assignment Area for...

Page 75: ...tion for each field network as an example Combination Example Number of Simple Direct Mode Axes Number of Direct Indication Full Mode Axes 1 4 0 2 2 2 3 0 4 1 DeviceNet CompoNet is not applicable for this mode Combination Example 1 When number of Simple Direct Mode axes is 4 and number of Direct Indication Full Mode 0 n is the top channel number for each PLC input and output between ERC3 and PLC P...

Page 76: ...n 24 to n 27 n 24 to n 27 n 28 to n 31 Axis No 3 Control Information n 28 to n 31 Axis No 3 Control Information Combination Example 3 When number of Simple Direct Mode axes is 0 and number of Direct Indication Full Mode is 4 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 Description n to n 1 Gateway Control n...

Page 77: ...ription RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot be used RWw 00 to 03 Axis No 0 Control Information RWr 00 to 03 Axis No 0 Status Information RWw 04 to 07 Axis No 1 Control Information RWr 04 to 07 Axis No 1 Status Information RWw 08 to 0B Axis No 2 Control Information RWr 08 to 0B Axis No ...

Page 78: ...l Information RWr 14 to 17 Axis No 3 Status Information RWw 18 to 1B Cannot be used RWr 18 to 1B Cannot be used RWw 1C to 1F Cannot be used RWw 1C to 1F Cannot be used Combination Example 3 When number of Simple Direct Mode axes is 0 and number of Direct Indication Full Mode is 4 Extended Cyclic Setting Number of Occupied Stations 4 times 2 stations PLC ERC3 Gateway ERC3 Gateway PLC Address Descri...

Page 79: ...to n 39 Axis No 2 Status Information n 40 to n 47 Axis No 3 Control Information n 40 to n 47 Axis No 3 Status Information Combination Example 2 When number of Simple Direct Mode axes is 2 axis No 0 No 1 and number of Direct Indication Full Mode is 2 axis No 2 No 3 n is the top channel number for each PLC input and output between ERC3 and PLC PLC ERC3 Gateway ERC3 Gateway PLC Node Address Byte Addr...

Page 80: ...on n to n 3 Gateway Control n to n 3 Gateway Status n 4 to n 15 Command n 4 to n 15 Response Command n 16 to n 23 n 16 to n 23 n 24 to n 31 Axis No 0 Control Information n 24 to n 31 Axis No 0 Status Information n 32 to n 39 n 32 to n 39 n 40 to n 47 Axis No 1 Control Information n 40 to n 47 Axis No 1 Status Information n 48 to n 55 n 48 to n 55 n 56 to n 63 Axis No 2 Control Information n 56 to ...

Page 81: ...F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot be used RWw 00 to 01 Axis No 0 Control Information RWr 00 to 01 Axis No 0 Status Information RWw 02 to 03 Axis No 1 Control Information RWr 02 to 03 Axis No 1 Status Information RWw 04 to 05 Axis No 2 Control Information RWr 04 to 05 Axis No 2 Status Informati...

Page 82: ...ion Address Description RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot be used RWw 0 Axis No 0 Control Information RWr 00 Axis No 0 Status Information RWw 01 Axis No 1 Control Information RWr 01 Axis No 1 Status Information RWw 02 Axis No 2 Control Information RWr 02 Axis No 2 Status Information ...

Page 83: ...ption RY 00 to 1F Gateway Control RX 00 to 1F Gateway Status RY 20 to 6F Command RX 20 to 6F Response Command RY 70 to 7F Cannot be used RX 70 to 7F Cannot be used RWw 00 Axis No 0 Control Information RWw 00 Axis No 0 Control Information RWw 01 Axis No 1 Control Information RWw 01 Axis No 1 Control Information RWw 02 Axis No 2 Control Information RWw 02 Axis No 2 Control Information RWw 03 Axis No...

Page 84: ...0 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 0 MON RTE Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 1 to be fixed to 0 PLC Input Address n b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control signal 0 RUN LERC ERRT MOD ALMH ALML SEMG ALMC 128 ALMC64 ALMC32 ALMC16 ALMC8 ALMC4 ALMC2 ALMC1 Address n 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0...

Page 85: ...lable while it is ON b14 Cannot be used b13 RTE 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 occurrence is set to latch in Gateway Parameter Setting Tool b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 Control signal 0 b0 Cannot be used b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 PLC Output Control signal 1 b0 Cannot be...

Page 86: ... occurred A wrong setting in the parameters can be considered Check the parameters settings b10 ALML This signal turns ON when a light error caused by the Gateway is occurred It is considered that there shall be a loss of the calendar data Check the parameters settings b9 Cannot be used b8 SEMG This signal turns ON when EMGIN input of the system I O connector is OFF emergency stop When this bit is...

Page 87: ...ect Mode For those other than the target position it is necessary to set the position data Speed and acceleration deceleration setting Pitch feed inching Pressing operation Speed change during movement Operation at different acceleration and deceleration These items must be set in the position data table Pause Zone signal output PIO pattern selection 1 PLC Address Composition m is PLC input and ou...

Page 88: ...a is available and values from 0 to 512 can be used Caution Set the operational condition in advance with using a teaching tool such as PC software in the position number to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 ...

Page 89: ... b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 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 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Completed Position No PM256 PM128 PM64 PM32 PM16 PM8 PM4 PM2 PM1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Status Signal EMGS CRDY ZONE1 ZONE2 PZONE MODES WEND PSFL ...

Page 90: ...KRL Brake release ON Brake release OFF Brake activated 3 6 17 b14 b13 b12 b11 Cannot be used b10 MODE Teaching Mode Command Invalid in Simple Direct Mode OFF Standard mode ON Teaching mode 3 6 15 b9 PWRT Position Import Command Invalid in Simple Direct Mode ON Position Data Import 3 6 16 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 6 ...

Page 91: ...urrent position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 6 11 b11 PZONE Position zone Invalid in Simple Direct Mode This signal turns ON when the current position is inside the specified position zone 3 6 11 b10 MODES Teaching mode Signa...

Page 92: ...cceleration deceleration setting Pitch feed inching Pressing operation Speed change during movement Operation at different acceleration and deceleration Pause Zone signal output Parameters must be set PIO pattern selection 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 Target Position m to m 1 Current Position m to m...

Page 93: ... be set in PLC The pressing current limit value is expressed using 1 word 16 bit binary data The figures from 0 to 100 0 to FFH can be set in PLC Caution Have the setting with values available in the range of for speed acceleration deceleration and pressing current of the actuator Refer to the catalog or instruction manual of the actuator Otherwise it may cause an abnormal condition of the servo o...

Page 94: ...2 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Positioning Width Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Speed 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Acceleration Deceler...

Page 95: ...Current Lower word 32 768 16 384 8 192 4 096 2 048 1 024 512 256 128 64 32 16 8 4 2 1 Address m 3 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Command Current Upper word 524 288 262 144 131 072 65 536 Address m 4 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Current Speed Note If a negative value it is indicated by a two s complement Address m 5 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6...

Page 96: ...nge of the unit is to be conducted on Gateway Parameter Setting Tool Available range for Setting 1 to 65535 Specify the speed at which to move the actuator Example If 254 0mm sec 0 1mm sec unit input 09ECH 2540 in decimal system It may cause an alarm or a malfunction if executing a movement command with 0 or a value more than the maximum speed of the actuator 3 6 22 Acceleration Deceleration 16 bi...

Page 97: ...e switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in ERC3 ON Use the setting values of Parameter No 47 JOG Speed 2 and No 49 Inching Distance 2 in ERC3 3 6 13 b5 JISL Jog inching switching ON Inching OFF Jog 3 6 14 b4 SON Servo ON Command ON Servo ON OFF Servo OFF 3 6 5 b3 RES Reset A reset is performed when this signal turns ON 3 6 4 b2 STP Pause ON Pa...

Page 98: ...arm code refer to Chapter 5 Troubleshooting is output while an alarm is issued ALM of Status Signal is ON 3 6 22 b15 EMGS This signal turns ON during an emergency stop 3 6 2 b14 CRDY This signal turns ON when the controller is standing by 3 6 1 b13 ZONE2 ON for the current position within the zone 2 set range The zone range setting is necessary for the parameter b12 ZONE1 ON for the current positi...

Page 99: ... Direct control Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Pitch feed inching Pressing operation Speed change during movement Operation at different acceleration and deceleration These items must be set in the position data table Pause Zone signal output PIO pattern selection 1 PLC Address Composition m is PLC input and...

Page 100: ...setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Specified Position No PC256 PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 Address m 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal BKRL JOG JOG JISL SON RES STP HOME CSTR PLC Input m is...

Page 101: ...mal mode ON Teaching mode 3 6 15 b9 PWRT Position Writing Command Unavailable in Simple Direct Mode ON Position Data Import 3 6 16 b8 JOG Jog ON Movement against home position OFF Stop b7 JOG Jog ON Movement toward home position OFF Stop 3 6 12 b6 JVEL Jog speed inch distance switching OFF Use the setting values of Parameter No 26 JOG Speed and No 48 Inching Distance in ERC3 ON Use the setting val...

Page 102: ...position within the zone 1 set range The zone range setting is necessary for the parameter 3 6 11 b11 PZONE Position zone Invalid in Simple Direct Mode This signal turns ON when the current position is inside the specified position zone 3 6 11 b10 MODES Teaching mode Signal Invalid in Simple Direct Mode This signal is ON while the teaching mode is selected 3 6 15 b9 WEND Position data import compl...

Page 103: ...the following table ROBO cylinder function Direct control Indirect control Disabled Remarks Home return operation Positioning operation Speed and acceleration deceleration setting Pitch feed inching Pressing operation Speed change during movement These items must be set in the position data table Operation at different acceleration and deceleration Pause Zone signal output Zones are set using para...

Page 104: ...to be used Selecting a position number with no setting conducted will generate the alarm code 0A2 Position Data Error PLC Output m is PLC output top word address for each axis number Address m b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 Control Signal Specified Position No BKRL SON RES STP HOME CSTR PC128 PC64 PC32 PC16 PC8 PC4 PC2 PC1 PLC Input m is PLC input top word address for each a...

Page 105: ...t of the range or operating with a position number with no setting conducted will generate the alarm code 0A2 Position Data Error 3 6 23 b15 EMGS This signal turns ON during an emergency stop 3 6 2 b14 ZONE1 ON for the current position within the zone 1 set range The zone range setting is necessary for the parameter 3 6 11 b13 PSFL This signal turns ON when the actuator missed the load in push mot...

Page 106: ...2 256 point mode Positioning points 256 points Zone signal output Note 2 1 point 3 512 point mode Positioning points 512 points There are no zone signal outputs 4 Solenoid valve mode 1 Positioning points 7 points Zone signal output 1 point Note 1 Position zone signal output Note 2 1 point Operation command available only with position number indication 5 Solenoid valve mode 2 Positioning points 3 ...

Page 107: ...tion m is PLC input and output top word address for each axis number PLC ERC3 PLC Output ERC3 PLC PLC Input Port No 0 to 15 m Port No 0 to 15 m Refer to Section 3 4 2 for the address maps for each Fieldbus 2 Input and Output Signal Assignment for each Axis The I O signals for each axis consists of 1 word for each I O bit register The I O bit register is controlled using the ON OFF signal in units ...

Page 108: ...Command 0 PM1 PM1 PM1 1 PM2 PM2 PM2 2 PM4 PM4 PM4 3 PM8 PM8 PM8 4 PM16 PM16 PM16 5 PM32 Completed Position No PM32 Completed Position No PM32 6 MOVE Moving Signal MOVE Moving Signal PM64 7 ZONE1 ZONE1 MODES Teaching mode Signal PM128 Completed Position No 8 PZONE Z0NE2 Position Zone Zone 2 PZONE ZONE1 Position Zone Zone 1 PZONE ZONE1 Position Zone 9 Cannot be used Cannot be used Cannot be used 10 ...

Page 109: ...on 0 complete LS0 Backword End Move Command 0 1 PM2 PE1 Position 1 complete LS1 Backword End Move Command 1 2 PM4 PE2 Position 2 complete LS2 Backword End Move Command 2 3 PM8 PE3 Position 3 complete 4 PM16 PE4 Position 4 complete 5 PM32 PE5 Position 5 complete 6 PM64 PE6 Position 6 complete Cannot be used 7 PM128 ZONE1 ZONE 1 ZONE1 ZONE 1 8 PM256 Completed Position No PZONE ZONE2 Position Zone ZO...

Page 110: ...ositioning points 2 point of positioning movement command Move to start point with ST0 ON to end point with ST1 ON and to intermediate point when 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 Operat...

Page 111: ...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 2 Input 3 Point Movement Category Port No Symbol Signal Name Symbol Signal Name 0 ST0 Movement Signal 1 ST0 Movement Signal 1 1 STP Pause ST1 Pause 2 RES Alarm Reset RES Alarm Reset PLC output ERC3 input 3 SON ...

Page 112: ...ERC3 PLC Output ERC3 PLC PLC Input Command n 2 Response Command n 2 Data 0 n 3 Data 0 n 3 Data 1 n 4 Data 1 n 4 Data 2 n 5 Data 2 n 5 Data 3 n 6 Data 3 n 6 Refer to Section 3 4 2 for the address maps for each Fieldbus 2 Command List Class Code Description Handshaking 0000H Command cleared Write Position Data 1000H Writing of target position 1001H Writing of pressing width 1002H Writing of speed 10...

Page 113: ...g Tool The Acceleration and Deceleration are expressed using 1 word 16 bit binary data The figures from 1 to 300 unit 0 01G can be set in PLC The pressing current limit value is expressed using 1 word 16 bit binary data The figures from 0 0 to 255 100 can be set in PLC Binary data of 1 word 16 bit for the axis numbers and values from 0 1st Axis to 3 4th Axis in PLC can be used Binary data of 1 wor...

Page 114: ...3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 2 Writing of Target Position 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 Refer to this Section 15 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3...

Page 115: ... Data 2 Pressing Width Upper word Writing of Pressing Width n 6 Data 3 Axis No 4 2 1 4 Writing of Speed 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 Refer to this Section 15 Bit Address b15 b...

Page 116: ... 32 16 8 4 2 1 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Writing of Acceleration n 6 Data 3 Axis No 4 2 1 6 Writing of Deceleration 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 Refer to th...

Page 117: ...eturned to the response command If an error is generated an error response is returned Refer to this Section 16 Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Command 1007h 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Current Limit 128 64 32 16 8 4 2 1 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Writing of Pressing Curr...

Page 118: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Target Position n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1040h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Target Posi...

Page 119: ... 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Pressing Width n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1041h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 1 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Wi...

Page 120: ... n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Speed n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1042h 0 0 0 1 0 0 0 0 0 1 0 0 0 0 1 0 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Speed Lower word 32768 16384 8192 4096 2048 1024 5...

Page 121: ... 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Acceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1045h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 0 1 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Acceleration 256 128 ...

Page 122: ... 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Deceleration n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1046h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 0 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Deceleration 256 128 ...

Page 123: ... 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Pressing Current Limit n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 1047h 0 0 0 1 0 0 0 0 0 1 0 0 0 1 1 1 n 3 Data 0 Position No 256 128 64 32 16 8 4 2 1 n 4 Data 1 Pressing Current Li...

Page 124: ...0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Alarm issued Axis Number n 6 Data 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 4000h 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 3 Data 0 0 n 4 Data 1 Alarm issued Axis...

Page 125: ...0 0 0 0 0 1 n 3 Data 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 4 Data 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 n 5 Data 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Reading of Alarm Code n 6 Data 3 Axis No 4 2 1 PLC Input Address n is the input and output top address for ERC3 Gateway Unit Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Response Command 4001h 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 n 3...

Page 126: ...command is returned Bit Address b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 n 2 Command 1 The values are those with the bit 15 of the command code being 1 n 3 Data 0 Undefined n 4 Data 1 Error Detail 0101H Incorrect Axis Number 0102H Incorrect Position Number 0103H Incorrect Command 0104H Communication error 0105H Controller Execution Impossible n 5 Data 2 Undefined Error Response Comman...

Page 127: ...esponse process time operation time etc Yt Master Station Slave Transmission Delay Time Xt Slave Master Station Transmission Delay Time Refer to the instruction manual of the mounted PLC for the master station slave transfer delay time Yt and the slave master station transfer delay time Xt Response Process Time 2 PLC Sequence Program Control Signal Status Signal Gateway Control Signal Status Signa...

Page 128: ... the indicated area and send them 3 Gateway detects that the area of the command has become other than 0 and rewrites the appropriate axis data if it is the writing command and reads the requirement data from the appropriate axis if reading command 4 Gateway output the response result to PLC once the command is executed 5 Once PLC has confirmed the response result clear the area for the command to...

Page 129: ...g power is cut off it is turned ON When the emergency stop status is cleared it is turned OFF 3 Alarm ALM PLC Input Signal When any error is detected using the controller protection circuit function it is turned ON Function When any error is detected and the protection circuit function is activated this signal is turned ON When the cause of the alarm is eliminated and the reset RES signal is turne...

Page 130: ...ation is performed automatically When the home return is completed the HEND signal is turned ON Once the HEND signal is turned ON it can not be turned OFF until the power is turned OFF or the HOME signal is input again Even after the completion of the homing operation when the HOME signal is turned ON the homing operation can be performed HOME PLC ERC3 HEND ERC3 PLC PEND ERC3 PLC MOVE ERC3 PLC Act...

Page 131: ...positioning homing or pressing operation or during the pause condition this signal is turned OFF 9 Positioning completion signal PEND PLC Input Signal This signal is turned ON when the actuator is moved to the target position and reaches the positioning width and the pressing is completed Speed Movement distance Target position Positioning width Time Timing at which the position complete signal tu...

Page 132: ...ned ON when the current position of the actuator is within the set domain and turned OFF when the current position is out of the set domain 1 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 Side of ERC3 The ZONE 1 Signal is set using the parameter No 23 Zone Positive Boundary 2 Side a...

Page 133: ...ted and stopped 2 Inching movement for certain amount operation The inching operation is available while the JISL signal is turned ON Once it is turned ON the actuator is moved as much as the inching distance When the JOG is turned ON the movement is to the opposite of the home and when the JOG is turned ON the movement is to the home The operation is performed based on the set values The speed co...

Page 134: ...EL OFF Acceleration deceleration Rated value The specific value varies depending on the actuator Rated value The specific value varies depending on the actuator Speed Parameter No 47 Jog speed 2 Parameter No 47 Jog speed 2 Movement distance Parameter No 49 Inch distance 2 JVEL ON Acceleration deceleration Rated value The specific value varies depending on the actuator Rated value The specific valu...

Page 135: ...ERC3 actuator with integrated contoroller 17 Brake release BKRL PLC Output Signal Turning this signal ON can release the brake forcibly 18 Push motion specification PUSH PLC Output Signal When the movement command signal is output after this signal is turned ON the pressing operation is performed When this signal is set to OFF the normal positioning operation is performed After reaching the target...

Page 136: ...is added to the target position if this signal is turned ON When the normal positioning operation or SEP method pressing operation is selected this signal is ineffective Speed Movement distance Positioning width Positioning width Positioning width DIR OFF DIR ON Target position 20 Pressing and a miss PSFL PLC Input Signal In the case that the pressing operation was performed and the actuator moved...

Page 137: ...OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 6 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 7 The current position data is continuously updated When the remaining travel distance becomes within the range of the positioning width set in the position data and th...

Page 138: ...Complete PEND ERC3 PLC Current Position ERC3 PLC Moving MOVE ERC3 PLC Actuator Movement Positioning Width n2 p2 p3 n3 twcsOFF twcsON tpdf n1 n2 10ms or less 10ms or less 10ms or less 6 8 7 5 4 3 2 1 To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have an interval of time more than 10ms Tdpf Yt 10 Xt minimum value to Yt 10 Xt 7 maximum value ME0302 4A ...

Page 139: ...Steps 1 through 5 are read in the controller at the startup ON edge of the CSTR signal 9 After the CSTR signal is turned ON the PEND signal is turned OFF after tdpf 10 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change any value in each register until the CSTR signal has been turned OFF 11 The current position data is continuously...

Page 140: ...H PLC ERC3 Push Direction Specification DIR PLC ERC3 Positioning Start CSTR PLC ERC3 Position Complete Pressing and a Miss PEND PSFL ERC3 PLC Current Position ERC3 PLC Moving MOVE ERC3 PLC Actuator Movement Pressing Operation Actuator Movement Normal Positioning 10ms or less 10ms or less n2 Push Target Position Positioning Width Positioning Width 0ms or more Target Position t3 10 10 To turn ON Twc...

Page 141: ...he CSTR signal is turned ON the PEND signal is turned OFF after tdpf 4 After confirming that the PEND signal is turned OFF or MOVE signal is turned ON turn OFF the CSTR signal Do not change the value in the target position register until the CSTR signal is turned OFF 5 At the same time when the PEND signal is turned OFF the MOVE signal is turned ON 6 Once the remaining movement amount of the actua...

Page 142: ...g Completion PEND ERC3 PLC Moving MOVE ERC3 PLC Actuator Movement Positioning Width p2 p3 twcsOFF twcsON tpdf 10ms or less 10ms or less 6 5 4 3 1 2 0ms or more To turn ON TwcsON have an interval of time more than 10ms To turn OFF TwcsOFF have an interval of time more than 10ms Tdpf Yt 10 Xt minimum value to Yt 10 Xt 7 maximum value ME0302 4A ...

Page 143: ...fter 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 Click on the Read button in this window and the parameters start to be read from ERC3 Parameter transfer starts if the Write button is clicked However note that the transfer cannot be made if there...

Page 144: ...indow 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 Open Open the saved parameter files to show on the main window Save Save the parameter remained in the tool as a file Exit Close the tool ME0302 4A ...

Page 145: ... COM port number TimeSetting T Set the clock retained in ERC3 Refer to 3 7 3 4 Time Setting 3 Monitor Menu Click on the Monitor menu on the top left corner in the main window and the monitor menu list pops up Note Monitor cannot be selected before reading a parameter I O data Show the details of the host PLC and ERC3 data Refer to 3 7 3 5 I O Data Diagnostic Information Show the number of ERRT and...

Page 146: ...d ERRC are issued SERVO OFF in ERR_C Select whether to turn the servo OFF on the connected axes when ERRC is occurred unit velocity Only Full Mode Select the unit for speed from 1 0mm s and 0 1mm s Internal communication retry count Set the number of communication retries with the connected axes in AUTO mode 2 GW Param2 RTC function Activate this setting if the calendar function is to be used ME03...

Page 147: ...p 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 Set this considering the connected host system if necessary MSEP Input register MSEP Output register ON OFF Hexadecimal data Hexadecimal data Hexadecimal data Hexadecimal data ON OFF ON OFF ON OFF ON OFF PLC RWwnn PLC RWrnn ME0302 4A ...

Page 148: ...upper and lower in the W word sized sent and received data in word unit Set this considering the connected host system if necessary MSEP Input register ON OFF Hexadecimal data ON OFF PLC RWwnn Hexadecimal data Hexadecimal data Hexadecimal data ON OFF ON OFF ON OFF PLC RWrnn MSEP Output register ME0302 4A ...

Page 149: ...te and the time setting is transferred to ERC3 gateway unit and the data is written in Clicking on the Confirm button and the clock data currently retained in ERC3 gateway unit can be read and displayed Caution The clock calendar function in ERC3 Gateway Unit can be retained for approximately 10 days reference after the power to ERC3 is turned OFF Once the clock data is lost the time passed since ...

Page 150: ...y Select the frequency of displayed data update from 100 to 500ms Display Switchover Select from binary and hexadecimal for the display SYNC Scroll Check in the box to make the list of the sent and received data scrolled together 6 Diagnostic Information The number of the communication error ERRC and ERRT occurrence and number of the emergency stop EMG detection can be counted Data Reading Frequen...

Page 151: ...3 7 Alarm List 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 ME0302 4A ...

Page 152: ...2 become blank in response Click the cell for the mode to be set in each axis If clicking on a blank cell will appear indicates that the mode is selected Click on a cell with shown in the mark is changed to mark means the axis is treated as a reserved axis and even if an error is generated on the actuator it is available to have other actuators operated Note 1 Remote I O Mode cannot be set togethe...

Page 153: ...nother slave device NS GN OR Blink by turn In self checking process GN Communication in normal condition GN Parameter setting error OR Hardware failure OR Light malfunction MS GN OR Blink by turn In self checking process 2 In the case of CC Link Illuminating OFF Flashing Symbol Color Lamp condition Description OR An error occurs CRC error station No setting error or baud rate setting error OR The ...

Page 154: ...hecking process MS OR An error occurs exceptional error 4 In the case of CompoNet Illuminating OFF Flashing Symbol Color Lamp condition Description GN Online normal GN Online Even though the network is established normally the master does not identify OR Node address duplication error Wrong slave address setting OR No response returned from another slave device NS Power OFF Under reset operation I...

Page 155: ...or Lamp condition Description GN Receiving CONNECT in communication process OR Communication error detection Self station status error synchronizing frame status error STATUS1 In initializing process receiving DISCONNECT GN Initializing succeeded OR Initializing failed RAM check error STATUS0 Initializing started ME0302 4A ...

Page 156: ...ify OR Communication error IP address duplication etc OR Communication error Communication timeout has been detected NS Power is OFF or IP address not established GN Communication in normal condition GN Construction information setting is not completed or the scanner master is in idling condition OR Hardware failure The replacement of the board is required OR Light error such as initializing error...

Page 157: ...ON OR Communication component module error RUN Initial condition INIT or the power is OFF OR Communication component module error OR Note1 ON 200ms OFF 200ms Construction information settings error Information received from the master cannot be set OR Note3 Communication section circuit error Watchdog Timer Timeout ERR No abnormality or the power is OFF Timing of LED Flashing Note1 blinking Note2 ...

Page 158: ...Chapter 3 Operation 3 8 Field Network LED Indication 150 ME0302 4A ...

Page 159: ...actuator with integrated controller for more information Warning Parameter setting has great influences on operations of the controller Incorrect parameter setting may not only cause malfunction or failure of the controller to occur but also people and assets to be exposed to risk The controller is configured to be applicable to normal operation at shipment Understand very well about the control l...

Page 160: ...Chapter 4 I O Parameter 152 ME0302 4A ...

Page 161: ...isconnect the cables at the measured points before having a conductivity check 9 Check the I O signals Using the host controller PLC etc or a teaching tool such as PC software check the presence of inconsistency in I O signal conditions 10 Check the noise elimination measures grounding installation of noise killer etc 11 Check the events leading to the occurrence of problem Note 1 as well as the o...

Page 162: ...Positioning command is issued to a stop position 4 There is no positioning data set to the commanded position number 5 Writing the information in a wrong area for Direct Indication Mode 1 Is SYS LED in Axis Status LEDs for the connected axis that is to be operated turned ON in green Refer to Name for Each Parts and Their Functions Turn ON the servo on signal SON 2 Operation is available when pause...

Page 163: ...Please contact IAI Shocks at start and or stop Acceleration deceleration is set too high Decrease the settings of acceleration deceleration Overshoot during deceleration to stop The load inertia is large Decrease the setting of deceleration Positioning of poor precision Uneven speed during movement Acceleration deceleration not smooth bad speed response Refer to Instruction Manual for the ERC3 act...

Page 164: ...tion deceleration 5 2 4 Communication Not Established Situation Possible cause Check Treatment Not connectable with host unit 1 Communication rates do not match 2 The machine number station number is set to be duplicate with that of another unit or out of the range 3 Poor wiring or disconnection of communication cable 1 Set the communication rate to match that of the host machine Refer to the Inst...

Page 165: ... release ON Output Servo OFF after deceleration to stop Reset the alarm by the PIO or teaching tool Cold start ON Output Servo OFF after deceleration to stop Software reset or power reconnection by teaching tool Home return is required for any actuators of other than simple absolute specification Caution Reset each alarm after identifying and removing the cause If the cause of the alarm cannot be ...

Page 166: ...set in Gateway Parameter Setting Tool during this error the actuator is stopped in the condition of the error and any command is ignored until it receives a release signal Treatment Check the settings for field network node addresses communication speed etc and wiring layout 60 Master Slave Axes Communication Error ERR T Cause It is an internal error of ERC3 Communication failed between Gateway Un...

Page 167: ...e contact IAI A1 Control Power Voltage Drop Cause The control power voltage dropped less than the voltage drop threshold 70 of 24V DC 16 8V 1 The voltage of 24V DC power is low 2 A faulty part inside the controller Treatment Check the power voltage If the voltage is normal please contact IAI A2 Motor Power Voltage Error Cause 1 Motor power input voltage input to MPI terminal is too large 38V or mo...

Page 168: ... data error 0A1 Position data error 0A2 Position command data error 0A3 Unsupported motor encoder type 0A8 7 Excitement detection error 0B8 Home return timeout 0BE 8 Actual Speed Excessive 0C0 9 Overcurrent 0C8 Overvoltage 0C9 Overheat 0CA Control power source voltage error 0CC Control power voltage drop 0CE Drive source error 0D4 11 Differential counter overflow with home return incomplete 0D5 De...

Page 169: ...rn was completed direct command from Field Network Treatment Issue a numeric specification after performing home return operation and confirming the complete signal HEND 084 Movement command during home return operation Cause A move command was issued when home return was still in progress Treatment Issue a movement command after performing home return operation and confirming the complete signal ...

Page 170: ...aximum set value Treatment 1 Table to input a proper value 0A7 Operation release Command deceleration error 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 The cause is that the timing to ma...

Page 171: ...r the rod to a point where it would not hit the mechanical end and reboot the system 5 If the loaded weight is within the allowable range turn the power OFF and check the resistance in sliding operation by moving the slider with hand 0BE Home return timeout Cause Home return does not complete after elapse of a certain period after the start of home return Treatment This error does not occur in nor...

Page 172: ... increased abnormally Treatment This alarm will not be generated in normal operation Degradation in insulation of motor coil or malfunction ERC3 controller can be considered Please contact IAI 0C9 Overvoltage Cause The power voltage reached the overvoltage Treatment Malfunction of a component in ERC3 controller can be considered Please contact IAI 0CA Cold start Overheat Cause This indicates overh...

Page 173: ...he power supply In the case that the voltage is normal please contact IAI 0D4 Drive Source Error Cause 1 Motor power input voltage input to MPI terminal is too large During acceleration deceleration and servo ON the current consumption rises transiently Using the remote sensing function with a power supply with no enough current capacity may cause overvoltage responding to the current change 2 Ove...

Page 174: ...ck to the pressing start position Position in the position table 2 The actuator touched the work during the approach movement before the pressing movement Treatment 1 Revise the setting and adjust it so the force to push back gets smaller 2 Set the Position setting in front in the position table to shorten the approach distance 0E0 Cold start Overload Cause 1 The work weight exceeds the rated weig...

Page 175: ... is re input please contact IAI 0F6 Nonvolatile memory write timeout There is no response in the specified time duration during the data writing to the non volatile memory Cause Faulty nonvolatile memory Treatment When the error is caused even when the power is re input please contact IAI 0F8 Nonvolatile memory data destroyed Abnormal data was detected during the nonvolatile memory check after sta...

Page 176: ...Chapter 5 Troubleshooting 5 4 Alarm List 168 ME0302 4A ...

Page 177: ... Vertical 7 5 450 at 50 to 450st 400 at 500st 330 at 550st 280 at 600st 235 at 650st 200 at 700st 175 at 750st 150 at 800st 0 5 53 185 Horizontal 1 0 12 Vertical 15 900 at 50 to 450st 805 at 500st 665 at 550st 560 at 600st 475 at 650st 405 at 700st 350 at 750st 300 at 800st 0 5 26 93 Horizontal 1 0 SA5C Ball screw 800 20 Vertical 25 1120 at 50 to 500st 1115 at 550st 935 at 600st 795 at 650st 680 a...

Page 178: ...imum push force N Maximum push force N Rated push speed mm s 3 Horizontal Vertical 3 75 150 at 50 to 550st 140 at 600st 115 at 650st 100 at 700st 85 at 750st 75 at 800st 0 2 106 370 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 550st 280 at 600st 235 at 650st 200 at 700st 175 at 750st 150 at 800st 0 2 53 185 Horizontal 0 3 12 Vertical 15 600 at 50 to 550st 560 at 600st 475 at 650st 405 at 700st 350 a...

Page 179: ...zontal 1 0 12 Vertical 15 900 at 50 to 450st 795 at 500st 665 at 550st 570 at 600st 490 at 650st 425 at 700st 375 at 750st 330 at 800st 0 5 26 93 Horizontal 1 0 SA5C Ball screw 800 20 Vertical 25 1120 at 50 to 550st 1045 at 600st 900 at 650st 785 at 700st 690 at 750st 610 at 800st 0 5 16 56 20 Horizontal 1 0 4 Vertical 5 210 at 50 to 600st 185 at 650st 160 at 700st 145 at 750st 125 at 800st 0 5 19...

Page 180: ... at 700st 90 at 750st 80 at 800st 0 2 106 370 Horizontal 0 3 6 Vertical 7 5 300 at 50 to 550st 285 at 600st 245 at 650st 215 at 700st 185 at 750st 165 at 800st 0 2 53 185 Horizontal 0 3 12 Vertical 15 600 at 50 to 550st 570 at 600st 490 at 650st 425 at 700st 375 at 750st 330 at 800st 0 2 26 93 Horizontal 0 3 SA5C Ball screw 800 20 Vertical 25 1000 at 50 to 600st 900 at 650st 785 at 700st 690 at 75...

Page 181: ...420 at 50 to 250st 400 at 300st 0 5 156 547 Horizontal 700 1 0 16 Vertical 20 560 0 5 78 273 Horizontal 800 1 0 Rod Type RA6C Ball screw 800 24 Vertical 30 600 0 5 52 182 20 6 1 6 In the case of high output setting invalid for Rod Type Actuator series Type Feed screw No of encoder pulses Lead mm Mounting direction Minimum speed mm s Maximum speed mm s Maximum acceleration deceleration G Minimum pu...

Page 182: ...on is made lower than the pressing speed the pressing speed will follow that speed thuscannot perform the expected pressing force RA4C Current Limit Values and Pressing Force Current Limit Value Pressing Force N Lead 3 Lead 6 Lead 12 Lead 20 RA6C Current Limit Values and Pressing Force Current Limit Value Pressing Force N Lead 4 Lead 8 Lead 16 Lead 24 SA5C Current Limit Values and Pressing Force C...

Page 183: ...asons are excluded from the scope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident or accident for which ...

Page 184: ... product for any of these applications 1 Medical equipment pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceable item...

Page 185: ...Edition Second Edition 2 Input 2 Point Movement deleted Changed from I O Mode to Remote I O Mode Third Edition Battery Box and Simple Absolute board deleted Forth Edition Connectable teaching tools added Correction made in 2 2 Circuit Diagram Correction made to compliable cables for EtherNet IP and EtherCAT ...

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Page 188: ...INESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 354 9471 website www intell...

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