User manual IAI ERC FORTH EDITION

[. . . ] ERC Actuator with Integrated Controller Operation Manual Forth Edition 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 accordance with the intended application. If these parameters are not set properly, the ERC will not function correctly. For details on the setting method, refer to the "parameter settings" of the PC or teaching pendant. [. . . ] "B" on the right side connects to SGB (wire color: orange/black 1) in the relay cable or "B" on the insulated PIO terminal block TB2. (Note) Be sure to use twisted pair wires for the above two lines (SGA/SGB). [3] D-sub, 9-pin connector A connection port with the host PC or PLC's communication module. [4] Mini DIN, 8-pin connector A connection port with the teaching pendant. FG 0V 53 [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 teaching pendant is not used. [6] Monitor LEDs LED1 --- Lit when the controller is transmitting LED2 --- Lit when the RS232 is transmitting (Reference) Connection drawing of a RS232C crossed cable SIO converter end PC end D-sub 9-pin, female Signal No 1 RD 2 SD 3 ER 4 SG 5 DR 6 RS 7 CS 8 9 No Signal 1 2 RXD 3 TXD 4 DTR 5 SG 6 DSR 7 RTS 8 CTS 9 D-sub 9-pin, female 54 4. 4 Insulated PIO Terminal Block (Optional) Model: RCB-TU-PIO-A (Combined with a NPN control board: Vertical installation) RCB-TU-PIO-B (Combined with a NPN control board: Horizontal installation) RCB-TU-PIO-AP (Combined with a PNP control board: Vertical installation) RCB-TU-PIO-BP (Combined with a PNP control board: Horizontal installation) This unit is required if either of the following conditions applies: [1] Want to insulate the control power supply from the PIO power supply. · Control board: NPN (sink type) Host system: PNP (source type) · Control board: PNP (source type) Host system: NPN (sink type) Explanation of functions [External view of RCB-TU-PIO-A/B] [4] Relay connector (J1) [3] Ground terminal block (TB4) 0V 24V MP BK EMS1 EMS2 FG [1] Power/emergency-stop terminal block (TB1) A B RTON 1 2 3 4 5 6 7 8 9 10 11 12 [6] PIO-connection terminal block (TB3) [5] Terminal-resistor connection switch [2] Link-connection terminal block (TB2) [External view of RCB-TU-PIO-AP/BP] [4] Relay connector (J1) [3] Ground terminal block (TB4) 0V 24V MP BK EMS1 EMS2 FG FG 0V [1] Power/emergency-stop terminal block (TB1) A B RTON 1 2 3 4 5 6 7 8 9 10 11 12 [6] PIO-connection terminal block (TB3) [5] Terminal-resistor connection switch [2] Link-connection terminal block (TB2) 55 [1] Power/emergency-stop terminal block (TB1) EMS1, EMS2 Provide a contact output for the emergency-stop switch on the teaching pendant (RCA-T/E). EMS1 and EMS2 are provided to comprise an interlock with a safety circuit provided by the user when a teaching pendant with emergency-stop switch is connected to the connector on the rear cover. Connection port for the brake release switch Motor power supply port Positive side of the 24-V control power supply Negative side of the 24-V control power supply BK MP 24V 0V [2] Link-connection terminal block (TB2) A connection port for linking a SIO converter, if used. "A" on the left side connects to link-connection terminal block (A) on the SIO converter. "B" on the right side connects to link-connection terminal block (B) on the SIO converter. (Note) Be sure to use twisted pair wires for the above two lines (SGA/SGB). [3] Frame-ground/ground terminal block (TB4) · Frame-ground terminal (FG) . (1) A connection port for the relay cable's shielded wire (drain wire). Use this terminal as a relay port to connect a different power-supply line to the same grounding point. [4] Relay connector (J1) A connector port for the relay cable (CB-ERC-PWBIO-***-H6). [5] Terminal-resistor connection switch If a SIO converter is used and the link cable is long (10 m or more, as a guideline), a terminal resistor will be required to prevent signal reflection. This unit can be used in the above application, because the TB2 terminal block has a built-in terminal resistor. Setting the switch to the [RTON] side will connect the terminal resistor of approx. 120 . 56 [6] PIO connection terminal block (TB3) A PLC connection port. [1] RCB-TU-PIO-A/B (When the control board is of the NPN specification) PIO pattern 0 (8-point type) 1 2 3 4 5 6 7 8 9 10 11 12 Input common (In-COM) 24 [V] Command position 1 (PC1) Move to rear end (ST0) Command position 2 (PC2) Move to front end (ST1) Command position 4 (PC4) Home return (HOME) Start (CSTR) *Pause (*STP) Position complete (PEND) Home-return completion (HEND) Zone output (ZONE) *Alarm (*ALM) *Pause (*STP) Rear end (PE0) Front end (PE1) Intermediate point (PE2) *Alarm (*ALM) Move to intermediate point (ST2) 1 (3-point type) 2 (16-point type) (Note 1) Command position 1 (PC1) Command position 2 (PC2) Command position 4 (PC4) Command position 8 (PC8) Start (CSTR) *Pause (*STP) Position complete (PEND) Home-return completion (HEND) Zone output (ZONE) *Alarm (*ALM) (Note 1) LED 11 illuminates when 24 V is supplied. Remarks TB3 Output common (Out-COM) 0 [V] (Note 1) The input common and output common become 0 [V] and 24 [V], respectively, in the PNP specification. [2] RCB-TU-PIO-AP/BP (When the control board is of the PNP specification) PIO pattern 0 (8-point type) 1 2 3 4 5 6 7 8 9 10 11 12 Input common (In-COM) 0 [V] Command position 1 (PC1) Move to rear end (ST0) Command position 2 (PC2) Move to front end (ST1) Command position 4 (PC4) Home return (HOME) Start (CSTR) *Pause (*STP) Position complete (PEND) Home-return completion (HEND) Zone output (ZONE) *Alarm (*ALM) *Pause (*STP) Rear end (PE0) Front end (PE1) Intermediate point (PE2) *Alarm (*ALM) Move to intermediate point (ST2) 1 (3-point type) 2 (16-point type) (Note 2) Command position 1 (PC1) Command position 2 (PC2) Command position 4 (PC4) Command position 8 (PC8) Start (CSTR) *Pause (*STP) Position complete (PEND) Home-return completion (HEND) Zone output (ZONE) *Alarm (*ALM) (Note 2) LED 11 illuminates when 24 V is supplied. Remarks TB3 Output common (Out-COM) 24 [V] (Note 1) The input common and output common become 24 [V] and 0 [V], respectively, in the NPN specification. 57 [1] Internal connection diagram RCB-TU-PIO-A/B Actuator end Host system end Connector Nonpolar input photocoupler Input common 6 circuits 6 circuits Fusing chip resistor 4 circuits 4 circuits Output common 58 [2] PCB-TU-PIO-AP/BP Actuator end Host system end Connector Nonpolar input photocoupler Input common 6 circuits 6 circuits Fusing chip resistor 4 circuits 4 circuits Output common 59 I/O interface specifications Input Specifications Specification item Number of input points Input voltage Input current Allowable leak current Operating voltage 6 points ± 24VDC ± 10% 7 mA/point (bipolar) 1 mA/point (approx. (1. 3 mA) Description Output Specifications Specification item Number of output points Rated load voltage Maximum current Residual voltage Shorting/overcurrent protection 4 points 24VDC 60 mA/point 2 V or less/60 mA Fusing resistor (27 , 0. 1 W) Description 60 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 target position in the position-data table, and the actuator will move to the specified position. Position data consists of number (No. ), target position (Position), speed (Speed), acceleration/deceleration (ACC), push (Push), positioning band (Pos. The description in parentheses is as displayed on the teaching pendant. [. . . ] For details, contact each manufacturer and ask for a product equivalent to the aforementioned brand. Equivalence of the following products has been confirmed: Showa Shell Sekiyu ExxonMobil Albania Grease No. 2 Mobilux 2 117 (2) Greasing method Grease the guide by following the procedure below: [1] Apply grease between the slider and base, as shown to the left. Apply grease on the opposite side in the same manner. [2] Spread the grease evenly between the slider and base using a spatula, as shown to the left. [. . . ]