ERC Quick Start Guide
1. Parts Confirmation
Please contact your sales representative if any of these parts are missing or incorrect:
- ERC Actuator: Slider type (ERC-SA6/SA7) or Rod type (ERC-RA54/RA64)
- Relay Cable: CB-ERC-PWBIO***
- CD with Manuals (PDF format)
Optional: - Teaching Pendant - PC Software Kit - Insulated PIO Terminal Block - SIO Converter
RCA-T/E RCB-101-MW RCB-TU-PIO-A/B RCB-TU-SIO-A/B
INTELLIGENT SOLUTIONS
2. Installation
a. Install the Actuator.
Screw diameter
Standard torque
for bolting
b. Mount to the Actuator.
- Slider Type: Use the 4 tapped holes (M5, depth 10mm) located on the top of the slider.
The maximum torque for mounting is 7.5Nm (0.77Kgf.m).
- Rod Type: Be sure to use a wrench to prevent adding rotational moment
to the rod (see picture to the right). Use a 13mm wrench for the RA54
model and a 17mm wrench for the RA64 model.
SA6/SA7
M4
2.3Nm
(0.23Kgf.m)
Slider type
4.3Nm
(0.44Kgf.m)
Flange
RA54
M5
(0.68Kgf.m)
RA64
M6
6.7Nm
Rod typeSlider type
Foot Bracket
RA54
M6
6.7Nm
(0.68Kgf.m)
Rod type
Foot bracket
RA64
M8
14.0Nm
(1.43Kgf.m)
Rod type
Flange
3. Wiring
Connect the connector end of the relay cable to the actuator cable connector.
Individually connect the open ends of the cable to: (1) 24V DC control/motor power supply, (2) Emergency stop circuit,
(3) I/O circuit, (4) Ground wire, (5) Brake release switch (when brake option is used).
Because the HOLD signal is a normally closed contact, it is ON during operation and OFF during pause. If there is no
PLC software at the time of adjustment, change parameter #15 (refer to the last page of this Quick Start Guide). You
can temporarily short it to 0V. (It becomes necessary to use the teaching pendant or PC for operation). Afterwards,
you must remove this short if you plan to automatically operate it with a PLC.
4. LED Indicator for Power Supply
Before supplying 24V power, confirm that the brake release switch is OFF and that the
emergency stop circuit is not operating. Supply power. The LED located on top of the
motor cover should be GREEN.
A RED light indicates a cutoff in the motor power supply, or that an alarm is occurring. At this
point, you should refer to the "Troubleshooting" section of your Operating Manual to resolve
this problem.
www.intelligentactuator.com
LED
5. Input Data & Operate with PC or Teaching Pendant
Connect the teaching pendant or PC to the mini DIN connector located at the rear of the motor cover. Input
desired data such as position, speed, acceleration/deleceration, position range. Other operations can be
performed such as position movement verfication, direct teaching of positions, and data correction based on
the load situation.
Note that during operation the Start Signal Input and Home Return are OFF, and Pause is ON.
INTELLIGENT SOLUTIONS
System Configuration Diagram
Refer to following pages
PC
PERSONAL
PERSONAL
COMPUTER
COMPUTER
for operating instructions
BIGIN
ESC
‑
ESC
END
END
7
7
89
89
7
7
89
89
4
5
4
5
4
5
4
5
PC Software
263
1
263
1
263
1
263
1
0
0
ERC Actuator
Teaching Pendant,
Standard <RCA-T>
1234567891
AM
D‑
0
0
<RCB-101-MW>
Relay Cable <CB-ERC-PWBIO***>
Brake Release
Emergency Stop I/O SignalsControl/Motor Power Supply
Ground Wire
FG Connection
ON/OFF Switch
Relay
EMG Switch
24V Power Supply Unit
PLC
Note: When using an insulated PIO terminal block, switch to a relay cable with connectors on both ends (CB-ERC-PWBIO***-H6) and
connect all wires to the terminal block except for the ground wire.
Connection Diagram
ERC Actuator
EMG
Switch
Host System
(PLC)
Light Blue (Red 1)
Light Blue (Black 1)
MC
Yellow (Black 1)
White (Black 1)
Brake Release Switch
Orange (Red 2)
Orange (Black 2)
Output
Portion
Input
Light Blue (Red 2)
Light Blue (Black 2)
White (Black 2)
Yellow (Black 2)
Portion
Orange (Red 1)
(Not Used)
Orange (Black 1)
CN2
FG
Yellow (Red 1)
Pink (Red 1)
Pink (Black 1)
White (Red 1)
White (Red 2)
Yellow (Red 2)
Pink (Red 2)
Pink (Black 2)
CN1
A2
B2
A4
B4
A5
B5
A3
B3
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A1
B1
Ground Wire
EMS1
EMS2
MPI
GND
MPI
GND
24V
BKR
PC1
PC2
PC4
HOME
CSTR
*STP
PEND
HEND
ZONE
*ALM
SGA
SGB
Contact Output for EMG
Switch on Teaching Pendant
Motor Drive Power Supply
Control Power Supply
Normally OFF; ON when brake
is released (only for actuators
with brakes)
Command Position 1
Command Position 2
Command Position 4
Home
Start
Pause
Position Complete
Home Complete
Zone Output
Alarm
Serial Communication
Note: shows an
example of an emergency
stop circuit.
Input Power Supply
(2A or more)
24V
0V
EMG Reset
Switch
MC
Operation with the PC Software or Teaching Pendant
As an example, we will set 50mm as Position No. 1 and move the actuator to this position.
1. Using the PC Software
j
l
Action
Action
Run the software
Click > , then OK buttons
Action
k
Action1
Action2
m
Other data, such as speed and acceleration are
automatically input with their default values.
Click "Edit Position Data" button
"Edit Position Data" button
Move the cursor to Position No. 1
Input 50.00 and hit the "Enter" key
INTELLIGENT SOLUTIONS
Action
n
All data in the Position Table is sent to the controller.
"Send to Controller" button
Click "Send to Controller" button
"Move" button
Action
o
The actuator will move 50mm to Position No. 1.
Use the "Stop" button to stop movement. During
power start-up, the actuator will return to its Home
before moving 50mm to Position No. 1.
"Continuous Move" button
Click "Move" button
"Stop" button
2. Using the Teaching Pendant (Standard RCA-T model)
j
l
Action
Action
Select "Edit/Teach" & hit enter
Select Mode Axis1
EEdit/Teach (Position)
EMonitor
EError List
EUser Parameter
EUser Adjustment
Select Mode--> Return
(You may select with
the minus key)
Input "50.00" for Position No. 1 &
hit enter
Other data, such as speed & acceleration are
automatically inputted with their default values.
Edit/Teach Axis1
No Position Vel ACC
mm mm/s G
0 E E E
1 50.00 300 0.20
2 E E E
3 E E E
4 E E E
5 E E E
6 E E E
7 E E E
Add/Del: No -->Return
Teach/Play:
Position --> Return
[Srv ON Pos 0.00]
k
m
Action
Action
Move the cursor to Position No. 1
& press the key
Edit/Teach Axis1
No Position Vel ACC
mm mm/s G
0 E E E
1 E E E
2 E E E
3 E E E
4 E E E
5 E E E
6 E E E
7 E E E
Add/Del: No -->Return
Teach/Play:
Position --> Return
[Srv ON Pos 0.00]
Press the key & hit enter
Edit/Teach Axis1
No Position Vel ACC
mm mm/s G
0 E E E
1 50.00 300 0.20
2 E E E
3 E E E
4 E E E
5 E E E
6 E E E
7 E E E
Add/Del: No -->Return
Teach/Play:
Position --> Return
[Srv ON Pos 0.00]
INTELLIGENT SOLUTIONS
n
Action
Press the key, select "E Move",
.
& hit enter
Edit/Teach Axis1
No Position Vel ACC
mm mm/s G
0 E E E
1 50.00 300 0.20
2 E E E
3 E E E
4 E E E
5 E E E
6 E E E
7 E E E
EDirect Teach: SrvOFF
EJob EIncrement EHome
EMove EContinuous
[Srv ON Pos 0.00]
o
Action
Select "Vel" with the key &
hit enter
.
The actuator will move 50mm to Position 1.
Use the key to pause movement.
ESC
Edit/Teach Axis1
No Position Vel ACC
mm mm/s G
0 E E E
1 50.00 300 0.20
2 E E E
3 E E E
4 E E E
5 E E E
6 E E E
7 E E E
Move (1 Position)
Vel 10% 50% 100%
Return --> Move
[Srv ON Pos 0.00]
Parameter Change Procedure for Standalone Testing
Purpose
To show the procedure for connecting and testing an ERC unit without using an I/O (no connection to a PLC).
This procedure will disable the HOLD input and allow the actuator to be run on a benchtop for testing purposes.
Where Used
When getting a '20D' error when running the system without an I/O connection to a PLC or similar device.
Instructions apply to ERC products.
1. Connect the PC cable from the serial port on the PC to the PORT IN at the end of the actuator (looks like
a mouse input port).
2. Supply power to the actuator and turn ON.
3. Start the IAI RoboCylinder Software and connect to the actuator (auto).
4. Back up the parameters to a local file on the PC by choosing PARAMETERS g Edit g Select Axis. Click the
DISK button to save a copy locally.
5. Go to PARAMETERS g Edit g Select Axis.
Change Parameter #15 PIO INPUT state from '0' to '1'.
6. Click the SEND TO CTL button or select it from the FILE pull-down menu.
7. Click OK and cycle the power to the actuator.
8. Reconnect the software to the actuator and the system should be ready to move under local PC control from
the POSITION menu.
INTELLIGENT SOLUTIONS
For additional questions please contact IAI Technical Support or see www.intelligentactuator.com for more info.
US Headquarters and Western Region (CA): 1-800-736-1712
Midwest Region (IL): 1-800-944-0333
Eastern Region (NJ): 1-732-683-9101
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