IAI ERC3 User Manual

．

ERC3 Gateway Unit

First Step Guide First Edition

Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual (CD/DVD) included with the product in addition to
this First Step Guide to ensure correct use.
This Instruction Manual is original.

• Using or copying all or part of this Inst ruction Manual without permission is prohibited.

• The company names, names of products and trademarks of each company shown in the sentences are registered

trademarks.

• DeviceNet and CompoNet are a registered mark of ODVA.

• CC-Link is a registered trademark of Mitsubishi Electric Corporation.

• PROFIBUS is a registered trademark of PROFIBUS Association.

• MECHATROLINK is a registered trademark of MECHATROLINK Members Association.

• EtherCAT® is a registered mark of Beckoff Automation GmbH.

• EtherNet/IP is a trademark used under the license of ODVA.

Product Check

This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.

1. Parts
No.

Part Name Model Remarks

1 Gateway Unit Main Body

Refer to “How to read the model plate”, “How to
read the model No.”

Accessories

2 Power Connector

FMCD1.5/8-ST-3.5
(Supplier : PHOENIX CONTACT)

• Emergency Stop
Recommended cable
size

0.5mm

2

(AWG20)

• Power Supply
Recommended cable
size

1.25 to 0.5mm

2

(AWG16 to 20)

3

CC-Link Connector
(For CC-Link Type)

MSTB2.5/5-STF-5.08 AU
(Supplier : PHOENIX CONTACT)

Terminal Resistance
(130Ω1/2W, 110Ω1/2W)
enclosed one unit each

4

DeviceNet Connector
(For DeviceNet Type)

SMSTB2.5/5-ST-5.08AU
(Supplier : PHOENIX CONTACT)

Prepare a terminal
resistor separately if this
controller is to be
allocated at the terminal.

5 Absolute Battery Box (Option) EGW-ABB (Battery AB-7)

For Simple Absolute
Type

6

First Step Guide

7

Instruction Manual (DVD)

8

Safety Guide

2. Teaching Tool (Please purchase separately)

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 Adapter + Peripheral Communication Cable)

RCM-101-MW

2

PC Software
(Includes USB Exchange Adapter + USB Cable + Peripheral
Communication Cable)

RCM-101-USB

3

Teaching Pendant (Touch Panel Teaching) CON-PTA

4

Teaching Pendant (Touch Panel Teaching with deadman switch) CON-PDA

5

Teaching Pendant
(Touch Panel Teaching with deadman switch + TP Adapter (RCB-LB-TG))

CON-PGA

3. Instruction manuals related to this product, which are contained in the instruction manual (DVD).
No. Name Manual No.

1 ERC3 Gateway Unit Instruction Manual ME0302
2 ERC3 Actuator with Integrated Controller Instruction Manual ME0297
3

PC Software RCM-101-MW/RCM-101-USB Instruction Manual ME0155

4

Touch Panel Teaching CON-PTA/PDA/PGA Instruction Manual ME0295

4. How to read the model plate

5. How to read controller model code

• Gateway unit model

RCM – EGW – DV

• Battery box model

EGW – ABB – □ - □

Basic Specifications

List of Specifications

Number of Controlled Axes 4 axes MAX.
Control/Motor Power Supply Voltage

24V DC ± 10%

Control Power Capacity MAX. 1A

High output setting valid

(Note 1)

Rated 3.5A/MAX. 4.2A

Load Current
(Per axis)

High output setting invalid

(Note 1)

Rated 1.2A/MAX. 2.0A
Capacity of Brake Release Power Source (Per
axis)

MAX. 0.15A

Control Power Capacity for Simple Absolute Unit MAX. 1.4A

High output setting valid

(Note 1)

2.5W

Heat
Generation

High output setting invalid

(Note 1)

1.9W

In-Rush Current

(Note 2)

MAX. 60A
Transient Power Cutoff Durability 20ms
Motor Control System
Applicable Encoder

Refer to Instruction Manual for the actuator with integrated ERC3 controller

Cable Length Between Actuator and Gateway MAX. 10m (Use the dedicated cable.)
Serial Communication Interface
(SIO Port: Only for teaching)

RS485 1CH (based on Modbus Protocol) Speed 9.6 to 230.4kbps

External Interface

DeviceNet, CC-Link, PROFIBUS-DP, CompoNet,
MECHATROLINK-I/II, EtherNet/IP, EtherCAT

Data Setting and Input PC Software, Touch Panel Teaching, Gateway Parameter Create Tool

Data Retention Memory

Position data and parameters saved in the non-volatile memory of actuator
via Gateway Unit (There is no limitation in number of writing)

Number of Positioning Points

MAX. 512 points (There is no limit for simple direct and direct indication
modes)
(Note) The number of positioning points differs depending on the operation

pattern select by the parameter setting.
LED Display
(Mounted on Front Panel)

1) Gateway status LEDs 6 points

2) Each axis status LEDs 6 points

Electromagnetic Brake Compulsory Release

Can be released with the brake compulsory release switch installed in the

front panel for each axis
Protective functions Overcurrent Protection
Protection Function against Electric Shock Class I basic insulation
Insulation Resistance

500V DC 10MΩ
Cooling Method Natural air-cooling
External Dimensions 35W × 140H × 105D

Weight

Approx. 220g (DeviceNet Type, CC-Link Type, PROFIBUS Type,

CompoNet Type, EtherNet/IP Type)
Approx. 230g (MECHATROLINK Type)
Approx. 240g (EtherCAT Type)

Ambient Air Temperature

0 to 40°C

Ambient Humidity 85%RH or less (non-condensing)
Ambient Environment [Refer to Installation Environment]
Ambient Storage Temperature

-20 to 70°C * 0 to 40°C for absolute battery

Ambient storage humidity 85%RH or less (non-condensing)
Usable Altitude 1000m or lower above sea level

Vibration Durability

Frequency 10 to 57Hz/ Swing width : 0.075mm
Frequency 57 to 150Hz/ Acceleration : 9.8m/s

2

XYZ Each direction Sweep time: 10 min. Number of sweep: 10 times

Shock Resistance 150mm/s2 11ms Semi-sine wave pulse XYZ Each direction 3 times

Environment

Protection Class IP20

Note 1 Refer to the separate booklet Controller Integrated Actuator for the details of the connected

actuator (ERC3).

Note 2 Rush current passes for about 50μs after the power is injected.

<Calculation of 24V DC Power Capacity>

For the calculation of 24V DC power capacity, figure out the numbers for (1) to (5) below, and then follow
Step (6).
(1) Control Power Current Consumption : 1A ·················································································1)
(2) Current Consumption of Motor Power Supply:

Sum total of load current + (Number of actuator axes equipped with brake × 0.15A) ················2)
(3) For Simple Absolute Type : 0.2A + (0.3A × Number of axes)····································3)
(4) Current Consumption at Excitation Phase Detection:

Add the inrush current for all connected axes············································································4)
(5) In-Rush Current : 60A················································································5)
(6) Selection of Power Supply:

Usually, the rated current is to be approximately 1.3 times higher than 1) + 2) + 3) above considering

approximately 30% of margin to the load current. However, considering the current of 4) to 5), even

though it is a short time, select a power supply with “peak load corresponding” type or that with enough

capacity. For the current of 4) to 5), it can be avoided from the current consumption occurred at the same

time by the timing for the emergency stop release (motor power-on) and servo-on being changed. In the

case that the capacity margin is not sufficient, voltage might be dropped in a moment. In particular, be

careful of the power unit with the remote sensing function.
(Note) Make short-circuit on 0V side when separate power sources are used for the control power and

motor power.

(Reference) Selection of Power Supply Protection Circuit Breaker

It is recommended that the power supply protection is conducted on the primary side (AC power side) of
the 24V DC power supply unit.
Pay attention to the in-rush current of 24V DC power supply unit and rated cutoff current of the circuit
breaker.

• Rated Breaking Current > Short-circuit Current = Primary Power Supply Capacity/Power Voltage

• (Reference) In-rush Current of IAI Power Supply Unit PS241 = 50 to 60A, 3msec

● Specifications of DeviceNet Interface

Item Specification

DeviceNet2.0
Group 2 Dedicated Server

Communication Protocol

Network-Powered Insulation Node
Baud Rate Automatically follows the master
Communication System Master-Slave System (Polling)
Number of Occupied
Channels

Refer to “3.4.1 PLC Address Construction by each Operation Mode” in the Instruction Manual for

ERC3 Gateway Unit.
Number of Occupied
Nodes

1 Node

Baud Rate Max. Network Length

Total Branch Line

Length

Max. Branch Line

Length
500kbps 100m 39m
250kbps 250m 78m

Communication Cable
Length

(Note 2)

125kbps 500m 156m

6m

Communications Cable Use the dedicated cable.
Connector

(Note 1)

MSTBA2.5/5-G-5.08AU (Manufactured by PHOENIX CONTACT or equivalent)
Consumption Current of
Communication Power
Supply

60mA

Communication Power
Supply

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.

● Specifications of CC-Link Interface

Item Specification
Communication Protocol CC-Link ver1.1 or ver2
Station Type Remote Device Station (MAX. four stations occupied)
Baud Rate 10M/5M/2.5M/625k/156kbps
Communication System Broadcast Polling System
Number of Connectable
Stations

Refer to “3.4.1 PLC Address Construction by each Operation Mode” in the Instruction Manual for
ERC3 Gateway Unit.

Baud Rate (bps) 10M 5M 2.5M 625k 156k

Communication Cable
Length

(Note 2)

Total Cable Length (m) 100 160 400 900 1200
Communications Cable Use the dedicated cable.
Connector

(Note 1)

MSTB2.5/5-GF-5.08 AU (Manufactured by PHOENIX CONTACT or equivalent)
Note 1 The cable-side connector is a standard accessory. (PHOENIX CONTACT MSTB2.5/5-STF-5.08 AU)
Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and programmable PLC to be

mounted.

● Specifications of PROFIBUS-DP Interface

Item Specification
Communication Protocol PROFIBUS-DP
Baud Rate Automatically follows the master
Communication System Hybrid System (Master-Slave System or Token Passing System)
Number of Occupied
Stations

Refer to “3.4.1 PLC Address Construction by each Operation Mode” in the Instruction Manual for
ERC3 Gateway Unit.

MAX. Total Network Baud Rate Cable Type
100m 12,000/6,000/3,000kbps
200m 1,500kbps
400m 500kbps
1000m 187.5kbps

Communication Cable
Length

(Note 2)

1200m 9.6/19.2/93.75kbps

Type A Cable

Communications Cable STP cable AWG18
Connector

(Note 1)

9-pin female D-sub Connector

Transmission Path Format Bus/Tree/Star
Note 1 Please prepare a 9-pin male D-sub connector for the cable-end connector.
Note 2 For T branch communication, refer to the Instruction Manuals for the master unit and programmable PLC to be

mounted.

<Series>

<Type>

EGW : Drive cutoff relay mounted
EGWG : Drive cutoff relay not mounted

<Type of Connected Field Network>

DV : DeviceNet Type
CC : CC-Link Type
PR : PROFIBUS-DP Type
CN : CompoNet Type
ML : MECHATROLINK Type
EP : EtherNet/IP Type
EC : EtherCAT Type

Model
Serial number

Warning : Operation of this equipment requires detailed installation and operation instructions which are

provided on the CD/DVD Manual included in the box this device was packaged in. It should be
retained with this device at all times.

A hardcopy of the Manual can be requested by contacting your nearest IAI Sales Office listed at

the back cover of the Instruction Manual or on the First Step Guide.

<Second Unit Gateway Unit >
Number of Connected Axes for Simple Absolute Type

<First Unit Gateway Unit >
Number of Connected Axes for Simple Absolute Type

● Specifications of CompoNet Interface

Item Specification
Communication System CompoNet dedicated protocol
Communication Type Remote I/O communication
Baud Rate Automatically follows the master
Communication Cable Length Follows CompoNet specifications
Slave Type 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” in the
Instruction Manual for ERC3 Gateway Unit.

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 the communication cable separately.

● Specifications of MECHATROLINK-I/II Interface

Item Specification
Slave Type Intelligent I/O

MECHATROLINK I 4Mbps

Baud Rate

MECHATROLINK II 10Mbps
Max. Transmittable Distance 50m
Min. Distance between Stations 0.5m

Number of occupied Bytes

Refer to “3.4.1 PLC Address Construction by each Operation Mode” in the
Instruction Manual for ERC3 Gateway Unit.

MECHATROLINK I 15 stations

Number of
Connectable Slaves

MECHATROLINK II 30 stations (Repeater is required for connections of more than 17 stations)
Transmission Frequency 1 to 8ms

MECHATROLINK I 17 byte
Data Length

MECHATROLINK II 17/32 byte
Settable Node Address Range 61 to 7F [hex.]
Communications Cable

(Note 1)

Twist Pair Cable with a Shield (characteristic impedance 130Ω)

Connected Connector on Controller Side DUSB-ARB82-T11A-FA (Manufactured by DDK or equivalent)

Note 1 Prepare the communication cable separately.

● Specifications of EtherNet/IP Interface

Item Specification
Communication Protocol IEC61158 (IEEE802.3)
Baud Rate 10BASE-T/100BASE-T (Autonegotiation setting is recommended)

Communication Cable Length

Follows EtherNet/IP specifications (Distance between hub and each node: 100m

max.)
Number of Connection Master Unit
Available Node Addresses for Setting 0.0.0.0 to 255.255.255.255

Communications Cable

(Note 1)

Category 5e or more

(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector × 1p c

Note 1 Prepare a LAN cable separately for the communication cable.

● 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

Available Node Addresses for Setting

0 to 127 (17 to 80: When connected to the master (CJ1W-NC*82) manufactured by
OMRON)

Communications Cable

(Note 1)

Category 5e or more

(Double shielded cable braided with aluminum foil recommended)
Connector RJ45 Connector × 2pcs (Input × 1, Output × 1)
Connect Daisy chain only

Note 1 Prepare a LAN cable separately for the communication cable.

External Dimensions

Gateway Unit Main Bod y

Absolute Battery Box

Installation Environment

This product is capable for use in the environment of pollution degree 2*1 or equivalent.
*1 Pollution Degree 2 : Environment that may cause non-conductive pollution or transient conductive

pollution by frost (IEC60664-1).

1. Installation Environment

Do not use this product in the following environment.

• Location where the surrounding air temperature exceeds the range of 0 to 40°C

• Location where condensation occurs due to abrupt temperature changes

• Location where relative humidity exceeds 85%RH

• Location exposed to corrosive gases or combustible gases

• Location exposed to significant amount of dust, salt or iron powder

• Location subject to direct vibration or impact

• Location exposed 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 1.7 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 mains or power lines passing nearby

2. Storage and Preservation Environment

• Storage and preservation environment follows the installation environment. Especially in a long-term storage,
consider to avoid condensation of surrounding air.
Unless specially specified, moisture absorbency protection is not included in the package when the machine is
delivered. In the case that the machine is to be stored in an environment where dew condensation is anticipated, take
the condensation preventive measures from outside of the entire package, or directly after opening the package.

Installation and Noise Elimination

1. Noise Elimination Grounding (Frame Ground)

2. Precautions regarding wiring method

1) Wire is to be twisted for the 24V DC power supply.

2) Separate the signal and encoder lines from the power supply and
power lines.

3. Noise Sources and Elimination

Carry out noise elimination measures for electrical devices on the same
power path and in the same equipment.
The following are examples of measures to eliminate noise sources.

1) 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.

4. Cooling Factors and Installation

Design and Build the system considering the size of the controller box, location of the Gateway Unit and cooling factors to
keep the ambient temperature around the Gateway Unit below 40°C.
Pay a special attention to the battery unit since the performance of it would drop both in the low and high temperatures.
Keep it in an environment in the room temperature as much as possible. (Approximately 20°C is the recommended
temperature.)

For the Gateway attachment, affix it on the DIN rail. For the attachment of the battery box, use the 4
attachment holes on each corner of the unit or affix it on the DIN rail.

Rear View

Earth Terminal
Class D grounding (Formerly Class-III grounding :
Grounding resistance at 100Ω or less)

Copper wire: Connect a ground
wire with a diameter of 1.6 mm
(2mm2: AWG 14) or larger.

Connect the ground line
to the FG terminal block
on the controller unit.

Gateway

Unit

φ

5 fixture hole

φ

5 fixture hole

φ

5 fixture hole

DIN rail

Lever for attachment to DIN rail

(5)

36

140

5.9

1.9

2

(3)

105

4

35.4 (Width of 35mm DIN rail)

65 from DIN rail center

Do not share the ground wire with or connect
to other equipment. Ground each controller.

Controller

Other

equipment

Controller

Other

equipment

Other

equipment

Surge absorber

Relay
coil

Relay coil

R

C

+24V 0V

+24V 0V

+-

111

108

59 from DIN rail center

10.5

φ5

φ

5

5

5

(4)

4

123

115

98

20mm

or more

50mm

or more

50mm

or more

30mm
or more

20mm
or more

30mm
or more

20mm
or more

Ensure
enough
space for
wiring.

Absolute Battery Box

Ensure
enough
space for
wiring.

50mm

or more

50mm

or more

100mm

or more

Gateway Unit

Emergency Stop
Reset Switch

Emergency Stop
Switch

S1

on Teaching Pendant

Emergency Stop Switch

EMGA EMGB

0V

0V

0V

0V

0V

SIO
Connector

(Note 1)

5

8

Power Supply Connector

3

S2

S2

S1

SIO
Connector

Power Supply Connector

EMG-

EMG-

ERC3
Gateway Unit

ERC3
Gateway Unit

CR1

CR1

CR1

CR1

CR1

CR2

CR2

CR2

CR2

CR2

CR2

CR2

CR2

CR2

MPI0

MPI0

MPO0

MPO0

MPI1

MPI1

MPO1

MPO1

MPI2

MPI2

MPI3

MPI3

MPO2

MPO2

MPO3

MPO3

+24V

+24V

+24V

+24V

24V

(Axis No.0)

(Axis No.1)

Motor Power Supply

Motor Power Supply

(Axis No.2)

Motor Power Supply

(Axis No.3)

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

Operation Pattern Selected

There are five patterns of control methods. Set the most suitable operation pattern for your use with
Gateway Parameter Setting Tool.

● Operation Patterns for PIO Type

Operation

Pattern

Description

Overview

Positioner 1 In Positioner 1 Mode, 512

points of position data can be
registered at the maximum and
is able to stop at the registered
positions. Monitoring of the
current position is also
available.

Simple Direct
Mode

In Simple Direct Mode, the
target position can be indicated
directly by inputting a value.
Monitoring of the current
position is also available.

PLC

Target Position
Target Position No.
Control Signal

Current Position
Completion Position No.
Status Signal

Communication with Fieldbus

Direct Numeric
Specification
Mode

The target position, speed
acceleration/deceleration and
pressing current limit can be
indicated with inputting a
number. Monitoring of not only
the current position, but also
the current speed and indicated
current are available.

PLC

Target Position

Positioning Width
Speed
Acceleration/Deceleration
Push

%

Control Signal

Communication with Fieldbus

Current Position
Current Value
(Command Value)
Current Speed
(Command Value)
Alarm Code
Status Signal

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

Completion Position No.
Status Signal

Communication with Fieldbus

Positioner 3
Mode

This is the operation mode of
the position data of 256 points
at maximum set in the position
table. The monitoring of the
current position is not available.
This is the mode to control with
the minimized number of
signals to perform the
positioning operation by
reducing the amount of sent
and received data from
Positioner 2 Mode.

PLC

Target Position
Control Signal

Completion Position No.
Status Signal

Communication with Fieldbus

I/O 6 types

(Note)

of control same as
for PIO (CON Mode) are
available.
Note They can be switched

around in PIO patterns on
ERC3 unit

2 types

(Note)

of control same as
for PIO (MEC Mode) are
available.
Note They can be switched

around in operation
patterns on ERC3 unit

Refer to ERC3 Actuator with Integrated Controller Instruction Manual

Wiring

Power Supply and Emergency Stop Circuit

The following diagram shows an example of how the emergency stop switch for the teaching pendant may
be included in the emergency stop circuit you may construct.
If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the
+24V supplied/cut (cut one side only).

Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller.
Note 2 When the motor driving source is cut off externally for a compliance with the safety category, connect a contact such

as a contactor to the wires between MPI* and MPO*.
Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and 10mA.
Note 4 For CR1, select the one with coil current 0.1A or less.

DeviceNet Typ e

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name DeviceNet Connector
Cable Side SMSTB2.5/5-ST-5.08AU Enclosed in standard package

Manufactured by PHOENIX
CONTACT

Controller Side MSTBA2.5/5-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

CC-Link Type

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name CC-Link Connector
Cable Side MSTB2.5/5-STF-5.08 AU Enclosed in standard package

Manufactured by PHOENIX
CONTACT

Controller Side MSTB2.5/5-GF-5.08 AU

Pin No.

Signal Name

(Color)

Description Applicable cable diameter

1 DA (BL) Communication 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

PROFIBUS-DP Typ e

Refer to the instruction manuals for each Field Network master unit and mounted PLC for the details.

Connector Name PROFIBUS-DP Connector
Cable Side 9-pin D-sub Connector (Male) Please prepare separately
Controller Sid e 9-pin D-sub Connector (Female)

Pin No. Signal Name Description Applicable cable diameter

1 NC Disconnected
2 NC Disconnected
3 B-Line Communication Line 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

ERC3
Gateway
Unit

ERC3
Connector

CB-ERC3S-PWBIO□□□

□□□ shows the cable length

ERC3 for serial
communication type

1

2

3

4

5

Front View of
Connector on
Controller side

Shield

BL (CAN L)

RD (V+)

WT (CAN H)

BK (V-)

1

2

3

4

5

Front View of
Connector on
Controller side

WT (DB)

BL (DA)

Shield (SLD)

YW (DG)

5 1

9 6

Cable

Shield

Red B line (Positive side)

Green A line (Negative side)

1

6

9

5

Front View of
Connector on
Controller side

Slave Devices

ERC3 Gateway
DeviceNet Type

V+

Drain

(Shield)

CAN_H

CAN_L

V-

RD

WT

BL

BK

RD

WT

BL

BK

V+

Drain

(Shield)

CAN_H

CAN_L

Grounding resistance at 100Ω or less

V+

Drain

(Shield)

CAN_H

CAN_L

V-

RD

WT

BL

BK

Communication power needs to be
supplied by an external device.

Terminal Resistance is required
to be mounted on the terminal.

V-

Terminal Resistance
121

Ω

Master Unit

Terminal Resistance

121

Ω

24V
Power Supply

Slave Devices

ERC3 Gateway
CC-Link Type

SLD and FG are internally connected.

Terminal Resistance is required
to be mounted on the terminal.

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
121

Ω

Terminal

Resistance

121

Ω

Grounding resistance at 100Ω or less

DA

DB

DG

SLD

FG

DA

DB

DG

SLD

FG

DA

DB

DG

SLD

FG

CompoNet Type

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name CompoNet Connector
Cable Side Prepare a connector complied with CompoNet standards.
Controller Side XW7D-PB4-R Produced by OMRON

Pin No. Signal Name Description Applicable cable diameter

1 BS+ (RD)

Communication Power Supply +

(Note 1)

2 BDH (WT) Signal line H side
3 BDL (BL) Signal line L side
4 BS- (BK)

Communication Power Supply -

(Note 1)

CompoNet Dedicated Cable

Note 1 It is not necessary to supply the communication power. (Internal power source is

used.)
If conducting multi power supply to other slave devices via communication
cables, there is no problem with connecting the power supply to BS+ and BS­terminals.

MECHATROLINK Type

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name MECHATROLINK
Cable Side Prepare a connector complied with MECHATROLINK standards.
Controller Side DUSB-ARB82-T11A-FA Produced by DDK

Pin No. Signal Name Description Applicable cable diameter

A1/B1 NC Disconnected
A2/B2 /DATA Signal line - side
A3/B3 DATA Signal line + side
A4/B4 SH Shield

MECHATROLINK
Dedicated Cable

EtherNet/IP Type

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name EtherNet/IP Connector
Cable Side 8P8C Modular Plug
Controller Side 8P8C Modular Jack

Pin No. Signal Name Description Applicable cable diameter

1 TD+ Data sending +
2 TD- Data sending ­3 RD+ Data receiving +
4 – Disconnected
5 – Disconnected
6 RD- Data receiving ­7 – Disconnected
8 – Disconnected

For EtherNet cable, use a
straight STP cable that
possesses the performance of
Category 5e or more.

EtherCAT Type

Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.

Connector Name EtherCAT Connector
Cable Side 8P8C Modular Plug
Controller Side 8P8C Modular Jack

Pin No. Signal Name Description Applicable cable diameter

1 TD+ Data sending +
2 TD- Data sending ­3 RD+ Data receiving +
4 – Disconnected
5 – Disconnected
6 RD- Data receiving ­7 – Disconnected
8 – Disconnected

For EtherNet cable, use a
straight STP cable that
possesses the performance of
Category 5e or more.

Status LED

In this product, there are some LEDs mounted to show the status of the gateway and axes.
Shown below explains the layout of the LEDs and the patterns of lighting.

● Gateway Status LEDs

○ Illuminating, × OFF

Name Color Lamp condition Information

GN ○

Turned ON when system is ready (after power is turned ON and
CPU operating in normal condition)

RDY

/ALM

OR ○ Alarm generated

EMG

RD ○ Emergency stop
GN –

STATUS0
/NS/ERR

OR –
GN –

STATUS1
/MS/RUN

OR –

Condition differs depending on field network
[Refer to ERC3 Gateway Unit Instruction Manual for the details.]

OR × Internal bus communication with controller in normal condition

T.ERR

OR ○ Internal bus communication with controller in error
OR × Field network communication in normal condition

C.ERR

OR ○ Field network communication in error

● Each axis status LEDs

○ Illuminating, × OFF, ☆ Flashing

Name Color Lamp condition Information

○ Servo ON Status
☆ Servo-motor Auto OFF condition

GN

× Servo OFF Status
○ Alarm generated, Emergency stop

SYS

RD

× Normal
○ Absolute reset complete

GN

× Absolute Function not to be used
○ Absolute reset incomplete

ABS

RD

× Absolute Function not to be 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 ERC3 Gateway Unit Instruction Manual for the details.]

○ 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% to 49.99%
× ○ ○ ○ 50.00% to 74.99%
○ ○ ○ ○ 75.00% to100.00% or more

BK (BS-)
BL (BDL)

RD (BS+)

WT (BDH)

Front View of
Connector on
Controller side

1
2
3
4

Front View of
Connector on
Controller side

B1

A1

A4

B4

1

8

Front View of
Connector on
Controller side

8

1

8

1
Front View of

Connector on
Controller side

Master Unit

Switching Hub

Slave Devices

EtherNet Straight Cable, Category 5e or more
Double shielded cable braided with aluminum foil
recommended

ERC3 Gateway Unit
EtherNet/IP Type

Master Unit

Slave Devices

EtherNet Straight Cable
Category 5e or more
Double shielded cable braided with aluminum
foil recommended
(Note) Terminal resistance is not required

ERC3 Gateway Unit
EtherCAT Type

AX*: AX0 = 1

s

t

Axis to AX3 = 4th Axis

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

BS+

BDL

BDH

BS-

Master Unit

Slave Devices

Terminal

Resistance

121

Ω

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 problem
even if communication power is supplied.

4

3

2

1

4

3

2

1

4

3

2

1

A4

A3

A2

A1

B4

B3

B2

B1

Master Unit

Slave Devices

MECHATROLINK
Cable

MECHATROLINK Cable

ERC3 Gateway
MECHATROLINK Type

Terminal Resistance
JEPMC-W6022

Connect the terminal resistor
if the unit is placed at the end
of the network.

130

Ω

SH

DATA

/DATA

NC

Connect shield to
connector shell

Connect shield to
connector shell

SH

DATA

/DATA

NC

SH

DATA

/DATA

NC

ERC3 Gateway
PROFIBUS Type

Slave Devices

Master Unit

Terminal Resistance is required
to be mounted on the terminal.

Grounding resistance at 100Ω or less

+5V

A-Line

B-Line

GND

+5V

A-Line

B-Line

GND

+5V

A-Line

B-Line

GND

390

Ω

390

Ω

220

Ω

390

Ω

390

Ω

220

Ω

Starting Procedures

When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to
the procedure below. “PC” stated in this section means “PC software”.

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

TEL [phone] FAX [phone]

website: www.iai-robot.co.jp/

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL [phone] FAX [phone]

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

TEL [phone] FAX [phone]

website: www.iai-robot.com

Technical Support available in USA, Europe and China

Head Office: 2690 W. 237th Street, Torrance, CA 90505

TEL [phone] FAX [phone]

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL [phone] FAX [phone]

TEL [phone] FAX [phone]

website: www.intelligentactuator.com

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

↓

No →

↓

→

No →

Contact us or our distributor.

↓ Yes

No →

→

Check Item

Is RDY in Status
LEDs turned ON
in green?

Connect the teaching
tool such as PC to
confirm the content of
alarm and have an
appropriate treatment.

Check Item

Is SYS in Axis Status LEDs for
the indicated axis turned ON in
green?

Safety Circuit Check

Does the emergency stop circuit (drive
cutoff circuit) work properly and turn the
servo OFF?

Target Position Setting [Except for simple direct mode and
direct numerical specification mode]

Set the target position in “Position” Box in each position table.

←

↓ Yes

Test Run Adjustment 1

Cancel the emergency stop, remove
the work piece, set to low speed and
check the operation in the command of
the host controller.
After doing so, set the speed back to
the indicated, put back the work piece
and check the operation.

Check if there is any
problem with the
installation of the actuator
and the condition of the
actuator use exceeds the
ranges of the rated values.
Adjust the servo if
necessary.

If an alarm is generated,
connect the PC or
teaching pendant and
check the content of the
alarm to have the right
treatment.

↓ Yes

← Yes

Test Run Adjustment 2

1) Put the operation mode setting switch to AUTO side.

2) Output the operation command from PLC to the controller and check the
system operation.

Check Item

Any vibration or
abnormal noise?

No →

↓ Yes

Check of Packed Items

Are there all the delivered
items?

Installation and Wiring

Perform the installation of and wiring for the this
unit and actuator.

Point Check Item

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Power Supply and Alarm Check

Connect a teaching tool such as PC to the
SIO communication connector on this unit,
set Operation Mode Setting Switch to
[MANU] side and turn the power ON.
Select “Teach Mode 1 Safety Speed
Effective/Prohibit PIO Startup” on a teaching
tool such as the PC software.

Initial setting and operation pattern select

Conduct the initial setting using the PC software, and make the operation mode select and other
necessary selections.
Register the operation pattern selected in the initial setting to this unit using Gateway Parameter
Setting Tool.

Servo ON

Turn the servo ON for all the connected axes by operating a teaching tool such as PC.

Check the emergency
stop circuit.

Caution

Please perform this process with the actuator away from the mechanical end or interfering subjects
as much as possible.
Put the actuator away if it interferes with surroundings. It may generate an alarm if the actuator hit
the mechanical end or interfering subjects when the servo is turned ON.
The slider may get slightly dropped by self-weight if servo ON and OFF is repeatedly performed at
the same position.
Be careful not to pinch the hand or damage the work.

No →

↓ Yes

↓

↓

→

Establish link to field network

1) Assign ERC3 Gateway as the host controller [Refer to the instruction manual of the master unit].

2) Put the operation mode setting switch on the front panel of ERC3 Gateway and reboot the power
supply.

3) Once the link with the master unit is established, turn ON MON signal in the gateway control
signals.
(While MON Signal is ON, control from field network is available.)

Manual No.: ME0301-1A