This Operation Manual explains the handling methods, structure and maintenance of this product, among others,
providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained herein to
ensure safe use of the product.
The CD that comes with the product contains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.
After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.
[Important]
This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation 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 or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.
CAUTION
1. When Using Multiple 24-V Power Supplies
If multiple 24-V power supplies are used, be sure to adjust 0 V to the same level on all
units. If 0 V varies among the power supplies, the controller board, SIO converter or
other hardware may be damaged.
[Connection example]
24-V power supply
[1]
24-V power supply
[2]
24-V power supply
[3]
24-V power supply
[4]
24V
0V
24V
0V
24V
0V
24V
0V
SIO
converter
PLC
communication
module
Actuator 1
Actuator 2
Actuator 3
Actuator 4
24-V power supply
[5]
24V
0V
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. So, pay due attention to
ensure the parameters are set properly.
For details on the setting method, refer to the “parameter settings” of the PC or teaching pendant.
[1] PIO pattern selection
This controller provides three PIO (parallel I/O) patterns to support various applications.
To select a desired PIO pattern, set a number between “0” and “2” in parameter No. 25 (PIO pattern
selection).
The factory setting is “0.”
Setting of parameter
No. 25
0
1
2
[2] Enabling/Disabling the Pause Signal (*STP)
The pause signal uses the contact b logic to provide a failsafe function.
Therefore, this signal must remain ON in normal conditions of use.
Since there are applications where this signal is not used, a parameter is provided to disable the pause
signal so it doesn’t have to be turned ON.
To select a desired setting, set “0” or “1” in user parameter No. 15 (Pause input disable selection).
Enable (use) the signal 0
Disable (do not use) the signal 1
The factory setting for this parameter is “0: [Enable].”
8 points
The basic pattern providing eight positioning points.
3 points (air cylinder)
Use of the ERC as an air cylinder is assumed in this pattern.
The number of positioning points is limited to three, but a direct
command input and a position complete output are provided for each
target position in line with the conventional practice of air cylinder control.
This lets the user control the ERC just like an air cylinder.
16 points
The number of positioning points is increased to 16.
However, the home return input is not provided.
Setting
Feature of the PIO pattern
CAUTION
3. Recommendation for Backing up Latest Data
The controller part of this actuator uses nonvolatile memory to store the position table and parameters.
Normally the memory will retain the stored data even after the power is disconnected. However, the data
may be lost if the nonvolatile memory becomes faulty.
We strongly recommend that the latest position table and parameter data be backed up so that the data
can be restored quickly in the event of power failure, or when the controller must be replaced for a given
reason.
The data can be backed up using the following methods:
[1] Save to a CD or FD from the PC software.
[2] Hand write the position table and parameter table on paper.
4. Compatibility of Teaching Pendant
The existing teaching pendants of <RCA-T> and <RCA-E> types can be used with the ERC controller,
but your RCA-T/RCA-E teaching pendant will require some modification.
If you are using a teaching pendant of either type, please send it to IAI. We will perform the necessary
modification and return it to you as soon as possible.
Teaching pendants that have already been modified have a specific code at the end of their serial
number. Please check the serial number of your teaching pendant to see if it requires modification.
Teaching pendant model Code at the end of serial number
RCA-T
RCA-E
RCA-P
RCB-J
5. PC Software Versions
This actuator is supported by PC software version 4.0.0.0 or later.
2.1 Name of Each Part ...............................................................................................................................16
2.1.1 Slider Type (SA6/SA7) .............................................................................................................. 16
2.1.2 Rod Type (RA54/RA64) ............................................................................................................ 16
2.1.3 (1) Rod Type with a Single Guide (RA54GS/RA64GS) ............................................................ 17
(2) Rod Type with Double Guides (RA54GD/RA64GD)............................................................ 17
Rod type ...........................................................................................................................................67
(1) RA54 type .........................................................................................................................................67
RA64 type .........................................................................................................................................67
(2)
5.2 Explanation of Modes ...........................................................................................................................68
5.2.6 Zone Signal Output ................................................................................................................... 71
5.2.7 Home Return............................................................................................................................. 71
6. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation> ........ 72
6.1 Overview of the “3 Points” Mode ..........................................................................................................72
6.2 How to Start ..........................................................................................................................................74
7. Operation in the “8 Points” and “16 Points” Modes <Practical Operation> ... 80
7.1 How to Start ..........................................................................................................................................80
7.2 How to Execute Home Return ..............................................................................................................82
7.9 Zone Signal Output...............................................................................................................................96
9.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software....................... 114
9.5 Specific Problems ...............................................................................................................................116
I/O signals cannot be exchanged with the PLC.............................................................................11 6
The LED lamp does not illuminate after the power is input...........................................................116
The LED illuminates in red when the power is turned on. .............................................................11 6
Home return ends in the middle in a vertical application...............................................................116
Noise occurs during downward movements in a vertical application. ...........................................116
Vibration occurs when the actuator is stopped..............................................................................11 7
The actuator overshoots when decelerated to a stop. ..................................................................117
The home and target positions sometimes shift on the rod-type actuator.....................................117
The speed is slow during push & hold operation...........................................................................11 7
The actuator operates abnormally when the servo is turned on following the power on. .............117
10. Maintenance and Inspection....................................................................... 118
10.1 Inspection Items and Timings .............................................................................................................118
10.2 Visual Inspection of Appearance ........................................................................................................118
Example of Basic ERC Positioning Sequence.............................................................................................126
Recording of Position-Data Table.................................................................................................................129
Parameter Records ......................................................................................................................................130
Change History ................................................................................................ 132
Safety Guide
This “Safety Guide” is intended to ensure the correct use of this product and prevent dangers and property
damage. Be sure to read this section before using your product.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categories under the International
Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:
Safety measures Inherent safety design
Protective guards --- Safety fence, etc.
Additional safety measures --- Emergency stop device, etc.
Information on use --- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner under the International
Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433
(Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must receive special education.
Ordinance on Industrial Safety and Health
Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots (exceptions
apply)
No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial robots
(exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot
Pre-1
Requirements for Industrial Robots under Ordinance on Industrial Safety and
Health
Work area Work condition Cutoff of drive sourceMeasure Article
Signs for starting operation Article 104 Outside
Installation of railings, enclosures,
etc.
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-3
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education Article 36-31
Checkup, etc., before
commencement of work
To be performed after stopping
the operation
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-5
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education
(excluding cleaning and
lubrication)
Article 150-4
Article 150-3
Article 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
Not cut off
Cut off (including
stopping of operation)
Not cut off
Cut off
Not cut off
(when inspection, etc.,
must be performed
during operation)
Pre-2
Applicable Modes of IAI’s Industrial Robot
Machines meeting the following conditions are not classified as industrial robots according to Notice of Ministry
of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No. 340):
(1) Single-axis robo with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating part, if
any, has the maximum movement range of within 300 mm
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8 and RCS3/RCS3CR/RCS3P/RCS3PCR whose stroke exceeds 300 mm
2. Single-axis robots
The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W:
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robos
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1205/1505/1805/2515)
3
including the tip of the rotating part
Pre-3
Notes on Safety of Our Products
Common items you should note when performing each task on any IAI robot are explained below.
No. Task Note
1 Model
selection
2 Transportation
3 Storage/
preservation
4 Installation/
startup
This product is not planned or designed for uses requiring high degrees of safety.
Accordingly, it cannot be used to sustain or support life and must not be used in the
following applications:
[1] Medical devices relating to maintenance, management, etc., of life or health
[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities, etc.)
intended to move or transport people
[3] Important safety parts in mechanical devices (safety devices, etc.)
Do not use this product in the following environments:
[1] Place subject to flammable gases, ignitable objects, flammables, explosives, etc.
[2] Place that may be exposed to radiation
[3] Place where the surrounding air temperature or relative humidity exceeds the specified
range
[4] Place subject to direct sunlight or radiated heat from large heat sources
[5] Place subject to sudden temperature shift and condensation
[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7] Place subject to excessive dust, salt or iron powder
[8] Place where the product receives direct vibration or impact
Do not use this product outside the specified ranges. Doing so may significantly
shorten the life of the product or result in product failure or facility stoppage.
When transporting the product, exercise due caution not to bump or drop the product.
Use appropriate means for transportation.
Do not step on the package.
Do not place on the package any heavy article that may deform the package.
When using a crane of 1 ton or more in capacity, make sure the crane operators are
qualified to operate cranes and perform slinging work.
When using a crane, etc., never hoist articles exceeding the rated load of the crane,
etc.
Use hoisting equipment suitable for the article to be hoisted. Calculate the load needed
to cut off the hoisting equipment and other loads incidental to equipment operation by
considering a safety factor. Also check the hoisting equipment for damage.
Do not climb onto the article while it is being hoisted.
Do not keep the article hoisted for an extended period of time.
Do not stand under the hoisted article.
The storage/preservation environment should conform to the installation environment.
Among others, be careful not to cause condensation.
(1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its work part).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
Do not step on the product or place any article on top. The product may tip over or the
article may drop, resulting in injury, product damage, loss of/drop in product
performance, shorter life, etc.
If the product is used in any of the following places, provide sufficient shielding
measures:
[1] Place subject to electrical noise
[2] Place subject to a strong electric or magnetic field
[3] Place where power lines or drive lines are wired nearby
[4] Place subject to splashed water, oil or chemicals
Pre-4
No. Task Note
4 Installation/
startup
(2) Wiring the cables
Use IAI’s genuine cables to connect the actuator and controller or connect a teaching
tool, etc.
Do not damage, forcibly bend, pull, loop round an object or pinch the cables or place
heavy articles on top. Current leak or poor electrical continuity may occur, resulting in
fire, electric shock or malfunction.
Wire the product correctly after turning off the power.
When wiring a DC power supply (+24 V), pay attention to the positive and negative
polarities.
Connecting the wires in wrong polarities may result in fire, product failure or
malfunction.
Securely connect the cables and connectors so that they will not be disconnected or
come loose. Failing to do so may result in fire, electric shock or product malfunction.
Do not cut and reconnect the cables of the product to extend or shorten the cables.
Doing so may result in fire or product malfunction.
(3) Grounding
Be sure to provide class D (former class 3) grounding for the controller. Grounding is
required to prevent electric shock and electrostatic charges, improve noise resistance
and suppress unnecessary electromagnetic radiation.
(4) Safety measures
Implement safety measures (such as installing safety fences, etc.) to prevent entry into
the movement range of the robot when the product is moving or can be moved.
Contacting the moving robot may result in death or serious injury.
Be sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
Implement safety measures so that the product cannot be started only by turning on the
power. If the product starts suddenly, injury or product damage may result.
Implement safety measures so that the product will not start upon cancellation of an
emergency stop or recovery of power following a power outage. Failure to do so may
result in injury, equipment damage, etc.
Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,
during installation, adjustment, etc. If the power is accidently turned on, electric shock
or injury may result.
Implement measures to prevent the work part, etc., from dropping due to a power
outage or emergency stop.
Ensure safety by wearing protective gloves, protective goggles and/or safety shoes, as
necessary.
Do not insert fingers and objects into openings in the product. Doing so may result in
injury, electric shock, product damage, fire, etc.
When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part,
etc.
5 Teaching
Whenever possible, perform teaching from outside the safety fences. If teaching must
be performed inside the safety fences, prepare “work rules” and make sure the
operator understands the procedures thoroughly.
When working inside the safety fences, the operator should carry a handy emergency
stop switch so that the operation can be stopped any time when an abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality occurs.
The safety watcher must also make sure the switches are not operated inadvertently by
a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Pre-5
No. Task Note
5 Teaching When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged load, etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation
operation
After teaching or programming, carry out step-by-step confirmation operation before
switching to automatic operation.
When carrying out confirmation operation inside the safety fences, follow the specified
work procedure just like during teaching.
When confirming the program operation, use the safety speed. Failure to do so may
result in an unexpected movement due to programming errors, etc., causing injury.
Do not touch the terminal blocks and various setting switches while the power is
supplied. Touching these parts may result in electric shock or malfunction.
7 Automatic
operation
Before commencing automatic operation, make sure no one is inside the safety fences.
Before commencing automatic operation, make sure all related peripherals are ready to
operate in the auto mode and no abnormalities are displayed or indicated.
Be sure to start automatic operation from outside the safety fences.
If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or product
damage.
If a power outage occurred, turn off the power switch. Otherwise, the product may
move suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/
inspection
Whenever possible, work from outside the safety fences. If work must be performed
inside the safety fences, prepare “work rules” and make sure the operator understands
the procedures thoroughly.
When working inside the safety fences, turn off the power switch, as a rule.
When working inside the safety fences, the operator should carry a handy emergency
stop switch so that the operation can be stopped any time when an abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality occurs.
The safety watcher must also make sure the switches are not operated inadvertently by
a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Use appropriate grease for the guides and ball screws by checking the operation
manual for each model.
Do not perform a withstand voltage test. Conducting this test may result in product
damage.
When releasing the brake of the vertically installed actuator, be careful not to let the
actuator drop due to its dead weight, causing pinched hands or damaged work part,
etc.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification The customer must not modify or disassemble/assemble the product or use
maintenance parts not specified in the manual without first consulting IAI.
Any damage or loss resulting from the above actions will be excluded from the scope of
warranty.
10 Disposal When the product becomes no longer usable or necessary, dispose of it properly as an
industrial waste.
When disposing of the product, do not throw it into fire. The product may explode or
generate toxic gases.
Pre-6
Indication of Cautionary Information
The operation manual for each model denotes safety precautions under “Danger,” “Warning,” “Caution” and
“Note,” as specified below.
Level Degree of danger/loss Symbol
Danger
Warning
Caution
Note
Failure to observe the instruction will result in an
imminent danger leading to death or serious injury.
Failure to observe the instruction may result in death or
serious injury.
Failure to observe the instruction may result in injury or
property damage.
The user should take heed of this information to ensure
the proper use of the product, although failure to do so
will not result in injury.
Danger
Warning
Caution
Note
Pre-7
Pre-8
1. Overview
1.1 Introduction
Thank you for purchasing the Easy All-in-One Robo Cylinder (hereinafter referred to as “ERC”). This manual
explains the features and operating procedures of the product.
If not used or handled properly, even a brilliant product cannot fully demonstrate its function or may cause an
unexpected breakdown or end its life prematurely. Please read this manual carefully and handle the product with
utmost care while ensuring its correct operation. Keep this manual in a convenient place so the relevant sections
can be referenced readily when necessary.
If you are also using the optional PC software or teaching pendant, also refer to the operation manual for the
applicable item.
* We have made every effort to ensure accuracy of the information provided in this manual. Should you find an
error, however, or if you have any comment, please contact IAI.
Keep this manual in a convenient place so it can be referenced readily when necessary.
1
1.2 Meaning of the Model Name
<Series name>
<Type>
Slider type
・SA6
・SA7
Rod type
・RA54
・RA64
・RA54GS
・RA64GS
・RA54GD
・RA64GD
<Encoder type>
I: Incremental
<Motor type>
PM: Pulse motor
ERC-RA54-I-PM-12-300-S-NM
<Options>
Blank: No option
B: With brake
NM: Reversed-home specification
FT: Foot bracket (Specified only for rod
types.)
EN: CE-compliant NPN specification
(Sink type)
EP: CE-compliant PNP specification
(Source type)
<Relay cable length>
Blank: No cable
P: 1 m
S: 3 m
M: 5 m
X: Length specification (Example) X08 = 8 m
R: Robot cable specification
W: Connectors on both ends
RW: Robot cable / Connectors on both ends
<Stroke>
50 to 600 mm
(Standard lengths are multiples of 50 mm.)
(Example) 100 = 100 mm
<Ball screw lead>
16: 16 mm
12: 12 mm
8: 8 mm
6: 6 mm
4: 4 mm
3: 3 mm
2
1.3 Specifications
Model
Stroke (mm) and maximum speed (mm/sec) (Note 1)
Slider type
Rod type
(Note 1) The figures in blank bands indicate the maximum speeds for respective strokes. The maximum speeds during
vertical operation are shown in parentheses.
(Note 2) The load capacity is based on operation at the rated acceleration. In the case of a guide type, find the applicable
load capacity in the above table and subtract the weight of the guide to obtain the effective load capacity.
Load capacity (Note 2)
Horizontal
Vertical
Rated acceleration
Horizontal
Vertical
3
1.3.1 Correlation Diagrams of Speed and Load Capacity – Slider Type
High-speed type
Medium-speed type
Low-speed type
(Note) In the above graphs, the number after each type name indicates the lead.
Horizontal installation Vertical installation
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Load capacity (kg)
Speed (mm/sec)
Speed (mm/sec)
Speed (mm/sec)
4
1.3.2 Correlation Diagrams of Speed and Load Capacity – Rod Type
High-speed type
Medium-speed type
Low-speed type
(Note) In the above graphs, the number after each type name indicates the lead.
Horizontal installation Vertical installation
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
Speed (mm/sec)
Speed (mm/sec)
5
Load Applied to the Actuator
(1) Slider type
Keep the load applied to the slider below the value stated in the applicable specification item.
In particular, pay attention to the moment applied to the slider, allowable overhung length and load
capacity.
If the slider is used in an overhung application with the load extending in the Y-axis direction, keep
moments Ma and Mc to one-half the rated moment or less to prevent the base from deforming.
(2) Rod type
Keep the load applied to the rod below the value specified in the catalog.
Make sure the center of the rod axis corresponds to the moving direction of the load.
Application of lateral load may cause an actuator damage or breakdown.
If the rod is to be subjected to lateral load, provide a guide or other support in
the moving direction of the load.
Do not apply rotating torque to the rod (slide shaft).
* It will result in internal damages.
When tightening the nut at the tip of the rod, secure the rod using a
wrench of size 13 (RA54 type) or 17 (RA64 type).
1.3.3 Sound Pressure Levels of This Product Will Not Exceed 70 dB.
6
1.4 Safety Precautions
Read the following information carefully and provide safety measures with due consideration.
This product has been developed as a drive component for automated machinery and the like, and is therefore
designed not to generate excessive torque or speed beyond the levels needed to drive automated equipment.
However, the following instructions must be strictly observed to prevent an unexpected accident.
1. Assume that the product cannot be handled or operated in any manner not specified in this manual, and do
not attempt any such handling or operation.
2. Do not enter the operating range of the machine while the machine is operating or is able to operate (the
controller power is ON). If the machine is used in a place accessible to other people, enclose its operating
range using a safety cage, etc.
3. Always turn off the power supply to the controller before assembling/adjusting or maintaining/inspecting the
machine. During assembly/adjustment or maintenance/inspection, put a plate or other visible sign in a
conspicuous place indicating that work is in progress. Provide sufficient safety measures to prevent another
person from inadvertently plugging in the cable during work.
4. If two or more persons work together, set signaling methods so each person can confirm the safety of
other(s) during work. Especially when the work requires an axis or axes to be moved—with or without the
power and by motor drive or manual operation—the person moving each axis should always call out
beforehand to ensure safety.
7
1.5 Warranty Period and Scope of Warranty
The ERC you have purchased passed IAI’s shipping inspection implemented under the strictest standards. The
unit is covered by the following warranty:
1. Warranty Period
The warranty period shall be one of the following periods, whichever ends first:
18 months after shipment from our factory
12 months after delivery to a specified location
2. Scope of Warranty
If an obvious manufacturing defect is found during the above period under an appropriate condition of use,
IAI will repair the defect free of charge. Note, however, that the following items are excluded from the scope
of warranty:
Aging such as natural discoloration of coating
Wear of a consumable part due to use
Noise or other sensory deviation that doesn’t affect the mechanical function
Defect caused by inappropriate handling or use by the user
Defect caused by inappropriate or erroneous maintenance/inspection
Defect caused by use of a part other than IAI’s genuine part
Defect caused by an alteration or other change not approved by IAI or its agent
Defect caused by an act of God, accident, fire, etc.
The warranty covers only the product as it has been delivered and shall not cover any losses arising in
connection with the delivered product. The defective product must be brought to our factory for repair.
Please read the above conditions of warranty carefully.
8
1.6 Transportation and Handling
1.6.1 Handling before Unpacking
Exercise due caution when transporting or handling the box containing the actuator, by not applying impact on
the box as a result of collision or dropping.
If the box is heavy, one person should not carry it by himself.
Place the box in a level surface.
Do not step on the box.
Do not place on the box any heavy object that may cause the box to deform or other object with a section
where loads will concentrate.
1.6.2 Handling after Unpacking
Once removed out of the box, hold the actuator by the frame if it is a rod type, or by the base if it is a slider type.
When carrying the actuator, be careful not to allow it to collide with other objects. In particular, pay attention to
the front bracket, motor bracket and motor cover.
Do not exert excessive force on each part of the actuator. In particular, pay attention to the motor cover and
cables.
When unpacking, exercise due caution not to let the actuator drop and sustain damage to its mechanism.
If the actuator is damaged during the shipment or any of the items is found missing, please contact IAI’s
Technical Support immediately.
Supplement) Refer to 2.1, “Name of Each Part,” for the name of each part of the actuator.
9
1.7 Installation Environment and Noise Elimination
Pay due attention to the installation environment of the controller.
1.7.1 Installation Environment
The installation environment must satisfy the following conditions:
No. Use environment/condition
[1] Not exposed to direct sunlight.
The actuator is not subject to irradiated heat from a large heat source, such as a heat treatment
[2]
furnace.
[3]
Ambient temperature of 0 to 40C.
[4] Humidity of 85% or less without condensation.
[5] Not exposed to corrosive or flammable gases.
[6] Normal environment for assembly and operation not subject to significant dust.
[7] Not exposed to oil mist or cutting fluid.
[8] Not subject to vibration exceeding 0.3 G.
[9] Not exposed to strong electromagnetic waves, ultraviolet light or radiation.
[10] Chemical resistance is not considered at all in the design of this product.
[11] The actuator and cables are not subject to electrical noise.
In general, the installation environment shall be such that the operator can work without wearing any protective
gears.
1.7.2 Storage Environment
The storage environment shall conform to the installation environment, but special caution is required to prevent
condensation if the actuator is to be stored for a long period of time.
Unless otherwise specified, the actuator is shipped without any desiccating agent placed in the box. If the
actuator is to be stored in an environment subject to condensation, provide a non-condensing measure from
outside the box or directly inside the box.
The actuator is designed to withstand storage temperatures of up to 60C for a short period of time. If the
storage period will extend beyond one month, however, keep the ambient temperature below 50C.
10
1.7.3 Power Supply
The control/motor-drive power supply specification is 24 VDC 10% (2 A max).
1.7.4 Noise Elimination
This section explains how to eliminate noise in the use of the controller.
(1) Wiring and power supply
[1] Provide a dedicated class D grounding using a wire with a size of 0.75 mm
Actuator with
integrated
controller
Other
equipment
Actuator with
integrated
controller
Class D grounding Good Avoid this grounding method.
[2] Precautions regarding wiring method
Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (Do not
bundle together the controller cables with high-power lines or place them in the same cable duct.)
2
or larger.
Other
equipment
11
(2) Noise sources and elimination
Among the numerous noise sources, solenoid valves, magnet switches and relays are of particular concern
when building a system. Noise from these sources can be eliminated by implementing the measures
specified below.
[1] AC solenoid valves, magnet switches and relays
Measure: Install a surge absorber in parallel with the coil.
[2] DC solenoid valves, magnet switches and relays
Measure: Install a diode in parallel with the coil. Determine the diode capacity in accordance with the load
capacity.
Diode
Point
Install a surge absorber to each coil over a minimum wiring length.
Installing a surge absorber to the terminal block or other part will
be less effective because of a longer distance from the coil.
In a DC circuit, connecting a diode in reverse polarity will damage the
diode, internal parts of the controller and/or DC power supply, so exercise
due caution.
Surge absorber
12
1.8 Cabling
The standard relay cables have excellent flexibility to withstand fatigue from flexural loads, but they are not
robot cables. Therefore, avoid storing the standard relay cables in movable cable ducts laid at a small radius.
If they must be stored in movable cable ducts, use robot cables.
In an application where the cable cannot be fixed, keep the cable from receiving a deflecting load exceeding
its own weight, use a self-standing cable hose, provide a large bending radius along the wiring path, or
provide other measure to minimize the load applied to the cable.
Do not cut the cable for the purpose of extension, length reduction or reconnection.
If you intend to change the cable layout, please consult IAI.
13
Prohibited Handling of Cables
When designing an application system using this actuator, incorrect wiring or connection of each cable may
cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This
section explains prohibited handling of cables. Read the information carefully to connect the cables properly.
1. Do not let the cable flex at a single point.
Steel band
(piano wire)
Bundle loosely.
2. Do not let the cable bend, kink or twist.
4. Do not let the cable receive a turning force at a
single point.
Do not pinch, drop a heavy object onto or cut the
6.
cable.
Use a curly
cable.
3. Do not pull the cable with a strong force.
5. When fixing the cable, provide a moderate slack
and do not tension it too tight.
Do not use a spiral tube where
the cable flexes frequently.
14
r
7. Notes on use of cable tracks
The supplied cable is not a robot cable. Accordingly,
never store this cable in a cable track.
Do not let the cable get tangled or kinked in a cable bearer or flexible tube. When bundling the cable, keep
a certain degree of flexibility (so that the cable will not become too taut when bent).
For the extension cable, be
sure to use a robot cable.
Use a cable track at a bending
radius r of at least 50 mm.
Bending radius
Do not cause the cables to occupy more than 60%
of the space in the cable bearer.
Do not store signal lines and power lines for strong
electrical circuits in the same duct.
Cable
Cable bearer
Power line
Signal lines
(flat cable, etc.)
Duct
15
r
2. Installation
2.1 Name of Each Part
2.1.1 Slider Type (SA6/SA7)
Non-motor end
Top
Front bracket
Bottom
2.1.2 Rod Type (RA54/RA64)
Non-motor end
Top
Bottom
Rod
Rod end bracket
Screw cover Coupling bolt
Slider
Base
Right
Left
Rear bracket
Right
Left
Front bracket
Frame
Motor end
Side cove
Motor bracket
Connection port for teaching pendant or PC
(The arrow on the connector should face down.)
Coupling bolt
Connection port for teaching pendant or PC
(The arrow on the connector should face down.)
LED
Motor cover
LED
Rear bracket
Motor bracket
Motor cover
Rear cover
Cable
Rear cover
Motor end
Cable
16
2.1.3 (1) Rod Type with a Single Guide (RA54GS/RA64GS)
Right
Coupling bolt
LED
Non-motor end
Top
Guide bracket Guide bearing
Left
Guide rod
Rear bracket
Motor bracket
Bottom
Rod
Frame
Connection port for teaching pendant or PC
(The arrow on the connector should face down.)
Motor cover
2.1.3 (2) Rod Type with Double Guides (RA54GD/RA64GD)
Mounting bracket
Non-motor end
Guide bracket
Rod
Top Bottom
Guide bearing
Right
Left
Frame
Guide rod
Coupling bolt
LED
Rear bracket
Motor bracket
Connection port for teaching pendant or PC
(The arrow on the connector should face down.)
Rear cover
Motor cover
Motor end
Cable
Motor end
Rear cover
Cable
17
2.2 Installation
2.2.1 Slider Type
Installing the actuator
The actuator-mounting surface must be a machined surface or have an equivalent flatness.
The side and bottom faces of the actuator base are parallel with the guides. If high slide accuracy is required,
install the actuator by using these surfaces as references.
(Note) Reduced flatness due to installation of an overhung load will cause the base to deform and inhibit
smooth movement of the slider. If the slider movement becomes heavier on the motor end or the slider
begins generating noise, correct the flatness. Otherwise, the slider mechanism may end its life
prematurely.
Slider type
Install the actuator in the mounting holes provided in the
base. Secure the actuator in place using M4 hex cap bolts.
18
2.2.2 Rod Type
A rod-type actuator can be installed in the following two ways:
Affixing with a flange
Install the actuator by tightening from the motor end side with hex cap bolts using the holes provided in the
flange.
Caution: If the actuator is installed horizontally, exercise
caution not to let the actuator receive excessive
forces.
Hex cap bolt
Hole in flange
Flange tightening bolts
Model Nominal thread sizeTightening torque
Affixing through holes in a flange
Hex cap bolt
RA54 M5 3.4 Nm (0.35 kgfm)
RA64 M6 5.4 Nm (0.55 kgfm)
Caution: If the actuator is installed horizontally,
exercise caution not to let the actuator
receive excessive forces.
The affixing method of the load shall conform to the installation method of the actuator.
In an application where the actuator is moved with the slider fixed, install the load using the tapped holes in the
slider in the same manner.
The slider has two reamed holes. Use these holes when high repeatability is required for load
installation/removal. When fine-tuning the squareness of the load, etc., make adjustment by using one of these
two reamed holes in the slider.
Type Reamed hole
SA6, SA7
5, H10, depth 10 mm
21
Rod Type
A bolt is attached on the rod end bracket, so use this bolt to affix the load. (Use the supplied nut, if necessary.)
Rod end bracket
Model Rod end bracket
RA54 M8, length 18 mm
RA64 M10, length 21 mm
Note) Apply a spanner at the rod end bracket to prevent
the rod from receiving any rotating moment when
the load is installed.
Applying excessive rotating moment to the rod may
damage the rod.
RA54: Width across flats 13 mm
RA64: Width across flats 17 mm
Rod type with a guide(s)
Tapped holes are provided in the guide bracket. Affix the work
using these holes (shown by the arrows in the figures at left).
24-VDC control/motor power supply (2 A or more)
Brake release switch
Emergency-stop/motor-power cutoff circuit
Drain wire
SIO
PC software
<RCB-101-MW>
Optional
PERSONAL
COMPUTER
(Not used)
23
x
Connection diagram
[1] When the control board is of the NPN specification [sink type]
Input power supply
(2 A or more)
24V
0V
FG
EMG signal
Brake release
switch
MC
60 mA ma
(Note)
*Light blue (Red 1)
*Light blue (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Red 1)
Pink (Black 1)
White (Red 1)
White (Black 1)
CN1
2A EMS1
2B EMS2
4A MPI
4B GND
5A MPI
5B GND
3A 24V
3B BKR
Host system
<PLC>
side
Output
side
Input
(Not used)
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
Orange (Red 1)
Orange (Black 1)
CN2
FG
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
1A SGA Serial communication
1B SGB
Drain wire
* In the case of a robot cable, the wire colors change as follows.
Wire color Pin number
Gray (Red 1) 2A
Gray (Black 1) 2B
Gray (Red 2) 7A
Gray (Black 2) 7B
(Note) To release the brake, connect a switch between BKR and 0 V and turn on the switch.
ERC actuator
Contact output for EMG
switch on teaching pendant
Motor drive power supply
Control power supply
OFF when the brake is
controlled by the controller, or
ON when the brake is released
(Applicable to an actuator with
brake)
I/O interface
(Refer to the I/O connections for each
PIO pattern)
24
x
[2] When the control board is of the PNP specification [source type]
ERC actuator
Input power supply
(2 A or more)
24V
FG
0V
EMG signal
Brake release
switch
Host system
<PLC>
MC
(Note)
Output
Input
60 mA ma
side
side
*Light blue (Red 1)
*Light blue (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Red 1)
Pink (Black 1)
White (Red 1)
White (Black 1)
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
CN1
2A EMS1
2B EMS2
4A MPI
4B GND
5A MPI
5B GND
3A 24V
3B BKR
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
Contact output for EMG
switch on teaching pendant
Motor drive power supply
Control power supply
OFF when the brake is
controlled by the controller, or
ON when the brake is released
(Applicable to an actuator with
brake)
I/O interface
(Refer to the I/O connections for each
PIO pattern)
(Not used)
Orange (Red 1)
Orange (Black 1)
CN2
FG
1A SGA Serial communication
1B SGB
Drain wire
* In the case of a robot cable, the wire colors change as follows.
Wire color Pin number
Gray (Red 1) 2A
Gray (Black 1) 2B
Gray (Red 2) 7A
Gray (Black 2) 7B
(Note) To release the brake, connect a switch between BKR and 24 V and turn on the switch.
25
3.2 I/O Connections for PIO Pattern 1 [3 Points] (Air Cylinder)
The following description assumes that the ERC is used in the place of an air cylinder.
The number of positioning points is limited to three, but a direct command input and a position complete output
are provided separately for the target position in line with the conventional practice of air cylinder control.
Note: The factory setting is “8 points,” so set parameter No. 25 to “1.” The pause signal can be
disabled in parameter No. 15.
Host system <PLC>
Rear end move
Front end move
Output
Intermediate point
move
side
Pause
Rear end complete
Input
Front end complete
side
Intermediate point
complete
Alarm
3.2.1 Explanation of I/O Signals
Category Signal name
Rear end move ST0 The actuator starts moving to the rear end at the rise edge of the signal.
Signal
abbreviation
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
ERC actuator end
CN1 (Signal abbreviation)
6A ST0
6B ST1
* Robot cable
7A ST2
Gray (Red 2)
Gray (Black 2)
7B
8A
8B *STP
9A PE0
9B PE1
10A PE2
10B *ALM
(Note) *STP and *ALM are always ON.
Function overview
Input
Output
26
Front end move ST1 The actuator starts moving to the front end at the rise edge of the signal.
Intermediate point
move
*Pause *STP ON: The actuator can be moved, OFF: The actuator decelerates to a stop
Rear end
complete
Front end
complete
Intermediate point
complete
*Alarm *ALM
ST2
PE0 The signal turns ON when the actuator completes moving to the rear end.
PE1 The signal turns ON when the actuator completes moving to the front end.
PE2
The actuator starts moving to the intermediate point at the rise edge of the
signal.
The signal turns ON when the actuator completes moving to the intermediate
point.
This signal remains ON while the controller is operating properly, and turns
OFF when an alarm generates.
The *ALM signal is synchronized with the green/red indication of the LED.
(Note) The signal remains ON while the motor drive power is cut off.
3.2.2 Details of Input Signals
The input signals from this controller have an input time constant, in order to prevent malfunction caused by
chattering, noise, etc.
Each input signal will switch the applicable setting when received continuously for 6 msec or more.
In other words, when a given input is switched from OFF to ON, the controller will recognize the ON state of the
signal only after elapse of 6 msec.
The same applies to the switching of an input from ON to OFF. (Fig. 1)
Recognition by the controller
Movement to each position (ST0 to ST2)
When the OFF ON rise edge of each movement signal is detected, the actuator will move to the target
position corresponding to the applicable position data.
Before executing a command using any of these signals, make sure the target position, speed and other
operation data are set in the position table using a PC or teaching pendant.
Rear end move (ST0) 0 Set the rear end position in position No. 0.
Input signal
Input signal
Not recognized Not recognized
6 [msec] 6 [msec]
Fig. 1 Recognition of Input Signal
Corresponding
position number
Remarks
Front end move (ST1) 1 Set the front end position in position No. 1.
Intermediate point 1 move (ST2) 2 Set the intermediate point in position No. 2.
If a movement command is issued when the first home return is not yet completed after the power was input,
home return will be performed automatically to establish the coordinates first, after which the actuator will move
to the target position.
Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that detects a
person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note) If the *STP signal is input while the actuator is performing home return, the movement command will
be retained if the actuator is yet to contact a mechanical end. If the signal is input after the actuator has
reversed upon contacting a mechanical end, home return will be performed again from the beginning.
27
3.2.3 Details of Output Signals
Completion of each position (PE0 to PE2)
These signals indicate that the target position corresponding to each movement command (ST0, ST1 or ST2)
has been reached, in the same way the reed switch signal does for an air cylinder.
Output signal Meaning of the signal
Rear end complete (PE0)
Front end complete (PE1)
Intermediate point
complete (PE2)
(Note) Although these signals remain OFF while the motor drive power is cut off, once the power is
reconnected the signal will return to the ON state if the current actuator position is within the in-position
band over the target position. If the actuator is positioned outside the in-position band, the signal will
remain OFF.
The actuator has reached and stopped at the rear end (target position set in
position No. 0).
The actuator has reached and stopped at the front end (target position set in
position No. 1).
The actuator has reached and stopped at the intermediate point (target
position set in position No. 2).
Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm generates.
Monitor the OFF state on PLC and provide appropriate safety measures for the entire system.
Refer to “9. Troubleshooting” for alarm details.
28
3.3 I/O Connections for PIO Pattern 0 [8 Points]
Note The factory setting is “8 points.” The pause signal can be disabled in parameter No. 15.
Host system <PLC>
Command position 1
Command position 2
Output
side
Command position 4
Home return
Position complete
Home return completion
Input
side
Zone output
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
Start
Pause
White (Black 2)
Yellow (Black 2)
Alarm
White (Red 2)
Yellow (Red 2)
Pink (Red 2)
Pink (Black 2)
ERC actuator end
CN1 (Signal abbreviation)
6A PC1
6B PC2
7A PC4
* Robot cable
Gray (Red 2)
Gray (Black 2)
7B HOME
8A CSTR
8B *STP
9A PEND
9B HEND
10A ZONE
10B *ALM
(Note) *STP and *ALM are always ON.
3.4 I/O Connections for PIO Pattern 2 [16 Points]
Note The factory setting is “8 points,” so set parameter No. 25 to “2.” The pause signal can be
disabled in parameter No. 15.
Host system <PLC>
Command position 1
Command position 2
Output
Command position 4
side
Command position 8
Position complete
Home return completion
Input
side
Zone output
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
Start
White (Black 2)
Pause
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
Alarm
ERC actuator end
CN1 (Signal abbreviation)
6A PC1
6B PC2
7A PC4
* Robot cable
Gray (Red 2)
Gray (Black 2)
7B PC8
8A CSTR
8B *STP
9A PEND
9B HEND
10A ZONE
10B *ALM
(Note) *STP and *ALM are always ON.
29
3.4.1 Explanation of I/O Signals
The following explains the signals used in the “8 points” and “16 points” patterns.
Category
Signal name
Start CSTR Movement of the actuator starts at the rise edge of this signal.
Signal
abbreviation
Function overview
Input
Output
PC1
Command
position number
*Pause *STP ON: The actuator can be moved, OFF: The actuator decelerates to a stop
Home return HOME Home return starts at the rise edge of this signal.
Position complete PEND
Home return
completion
Zone ZONE
*Alarm *ALM
PC2
PC4
PC8
HEND
This signal is used to input a position number that specifies movement.
Be sure to set a command position number by 6 ms before the start signal
(CSTR) is turned ON.
This signal turns ON when the actuator has moved close enough to the target
position and entered the in-position band.
Used to determine if positioning has completed.
This signal turns OFF when the power is input, and turns ON when home
return completes.
This signal is output if the current actuator position is within the range set by
the parameter upon completion of home return.
Used as a limit switch for an intermediate point or a simple ruler for push &
hold operation.
This signal remains ON while the controller is operating properly, and turns
OFF when an alarm generates. The *ALM signal is synchronized with the
green/red indication of the LED.
(Note) The signal remains ON while the motor drive power is cut off.
3.4.2 Details of Input Signals
The input signals from this controller have an input time constant, in order to prevent malfunction caused by
chattering, noise, etc.
Each input signal will switch the applicable setting when received continuously for 6 msec or more.
In other words, when a given input is switched from OFF to ON, the controller will recognize the ON state of the
signal only after elapse of 6 msec.
The same applies to the switching of an input from ON to OFF. (Fig. 1)
Recognition by the controller
Start (CSTR)
When the OFF ON rise edge of this signal is detected, the controller will read the target point number as the
3-bit binary code consisting of signals PC1 to PC4 (or 4-bit code consisting of signals PC1 to PC8 if the “16
points” pattern is selected), and perform positioning to the target position specified by the corresponding position
data.
Input signal
Not recognized Not recognized
6 [msec] 6 [msec]
Fig. 1 Recognition of Input Signal
30
Before executing a command using the start signal, make sure the target position, speed and other operation
data are set in the position table using a PC or teaching pendant.
If a start command is issued when the first home return is not yet completed after the power was input, home
return will be performed automatically to establish the coordinates, after which the actuator will move to the
target position.
Command position number (PC1 to PC8)
When a movement command is effected upon OFF ON of the start signal, the four-bit binary code consisting
of signals PC1 to PC8 will be read as the command position number.
(Conventional type: 3-bit code consisting of signals PC1 to PC4)
The weight of each bit is as follows: 2
number from 0 to 16 (maximum) can be specified.
0
for PC1, 21 for PC2, 22 for PC4, and 23 for PC8. A desired position
Pause (*STP)
When this signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The remaining movement is retained and will be resumed when the signal is turned ON again.
The *STP signal can be used for the following purposes:
[1] Provide a low-level safety measure to stop the axis while the servo is ON, such as a sensor that detects a
person approaching the system
[2] Prevent contact with other equipment
[3] Perform positioning based on sensor or LS detection
(Note) If the *STP signal is input while the actuator is performing home return, the movement command will
be retained if the actuator is yet to contact a mechanical end. If the signal is input after the actuator has
reversed upon contacting a mechanical end, home return will be performed again from the beginning.
Home return (HOME)
The controller will start home return operation upon detection of an OFF ON edge of this signal.
When the home return is complete, the HEND signal will be output. The HOME signal can be input as many
times as required.
(Note) The HOME signal is not an absolute requirement, because even if home return has not yet been
performed after the power was input, the controller will automatically perform home return operation
before positioning to the target position.
3.4.3 Details of Output Signals
Position complete (PEND)
This signal indicates that the target position was reached and positioning has completed.
When the controller becomes ready after the power was input and the servo has turned ON, this signal will turn
ON if the position deviation is within the in-position band.
Then, when a movement command is issued by turning ON the start signal, the PEND signal will turn OFF. It will
turn ON again when the deviation from the target position falls within the in-position band.
Once turned ON, the PEND signal will not turn OFF even when the position deviation subsequently exceeds the
in-position range.
(Note) If the start signal remains ON, the PEND signal will not turn OFF even when the deviation from the
target position falls within the in-position range: it will turn ON when the start signal turns OFF.
Even when the motor is stopped, the PEND signal will remain OFF if the pause signal is input or the
servo is OFF.
31
Home return completion (HEND)
This signal is OFF immediately after the power is input, and turns ON in either of the following two conditions:
[1] Home return operation has completed with respect to the first movement command issued with the start
signal.
[2] Home return operation has completed following an input of the home return signal.
Once turned ON, this signal will not turn OFF until the input power is cut off or the home return signal is input
again.
The HEND signal can be used for the following purposes:
[1] Check prior to establishing the home if movement toward the home direction is permitted, in cases where an
obstacle is located in the direction of the home
[2] Use as a condition for enabling the zone output signal
Zone (ZONE)
Use a ZONE signal as a limit switch at an intermediate point or as a simple ruler.
This signal will turn ON when the current position is inside the range specified by parameter Nos. 1 and 2, and
turn OFF if the current position is outside this range.
(Note) The ZONE signal is enabled after the coordinate system is established following a completion of home
return. It will not be output simply by turning on the power.
As long as home return has completed, the ZONE signal remains enabled while the motor drive power
is cut off.
Alarm (*ALM)
This signal remains ON while the controller is operating properly, and turns OFF when an alarm has generated.
Provide an appropriate safety measure for the entire system by allowing the PLC to monitor the OFF status of
this signal.
For details of alarms, refer to 9, “Troubleshooting.”
(Reference) Output Signal Changes in Each Mode
Mode classification PEND HEND
Actuator is stopped with the servo ON after the power was input ON OFF
Home return is in progress following an input of the home return signal OFF OFF
Home return has completed following an input of the home return signal ON ON
Actuator is moving in the positioning/push & hold mode OFF ON
Actuator is paused in the positioning/push & hold mode OFF ON
Positioning has completed in the positioning mode ON ON
Actuator has stopped after contacting the load in the push & hold mode ON ON
Actuator has stopped after missing the load (no load) in the push & hold modeOFF ON
Motor drive power is cut off after home return OFF ON
(Note) Use PEND to determine whether the actuator has stopped after contacting the load or missing the load
in the push & hold mode.
32
3.5 Configuration Using a SIO Converter
If any of the following conditions applies, use a SIO converter to connect the teaching pendant, PC or PLC’s
communication module:
[1] The actuator’s rear cover cannot be reached and therefore the teaching pendant or PC cannot be connected.
[2] Want to execute movement operation or parameter edit for all axes when multiple axes are connected to the
single equipment.
[3] Want to operate the actuator via serial communication using the PLC’s communication module.
Teaching pendant <RCA-T>
Optional
Cable length: 5 m
ERC actuator
RS232C crossed
cable (provided
by the user)
Host system <PLC>
Relay cable
Standard cable
<CB-ERC-PWBIO * * *>
Robot cable
<CB-ERC-PWBIO * * *-RB>
Cable length: 1 m, 3 m, 5 m
PIO
TB2
EMG2
EMG1
24V
FG
0V
SIO converter
<RCB-TU-SIO-A>
<RCB-TU-SIO-B>
SIO
24-VDC control/motor power supply (2 A or more)
Brake release switch
Emergency-stop/motor-power cutoff circuit
Drain wire
Note: Do not connect a teaching pendant and a PC at the same time. If both are connected at the
same time, a communication error (message level) will occur.
PC software
<RCB-101-MW>
Optional
PERSONAL
COMPUTER
B A
TB1
33
Connection diagram
[1] When the control board is of the NPN specification [sink type]
EMG signal
Input power supply
24V
0V
FG
* In the case of a robot cable, the wire colors change as follows.
Wire color Pin number
Gray (Red 1) 2A
Gray (Black 1) 2B
Gray (Red 2) 7A
Gray (Black 2) 7B
(Note) To release the brake, connect a switch between BKR and 0 V and turn on the switch.
SIO converter (RCB-TU-SIO-A/B)
TB2
Brake release
switch
side
Output
side
Input
(Not used)
60 mA
MC
Host system
<PLC>
Relay
MC
EMG2
EMG1
24V
0V
FG
TB1
A
B
*Light blue (Black 2)
*Light blue (Black 1)
Contact output for EMG switch on
teaching pendant
CN1
Orange (Red 1)
Orange (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Red 1)
Pink (Black 1)
White (Red 1)
White (Black 1)
(Note)
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
*Light blue (Red 1)
FG
1A SGA
1B SGB
4A MPI
4B GND
5A MPI
5B GND
3A 24V
3B BKR
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
2A EMS1
2B EMS2
ERC actuator
Serial communication
Motor drive power supply
Control power supply
I/O interface
(Refer to the I/O connections for
each PIO pattern)
Drain wire
34
[2] When the control board is of the PNP specification [source type]
Input power supply
EMG signal
24V
0V
FG
Host system
SIO converter (RCB-TU-SIO-A/B)
TB2
A
B
Brake release
switch
side
Output
side
Input
(Not used)
60 mA
MC
<PLC>
Relay
MC
EMG2
EMG1
24V
0V
FG
TB1
Orange (Red 1)
Orange (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Black 1)
White (Red 1)
White (Black 1)
(Note)
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
*Light blue (Red 1)
*Light blue (Black 1)
FG
Contact output for EMG switch on
teaching pendant
ERC actuator
CN1
1A SGA
1B SGB
4A MPI
Pink (Red 1)
4B GND
5A MPI
5B GND
3A 24V
3B BKR
6A
6B
7A
7B
8A
I/O interface
(Refer to the I/O connections for
8B
each PIO pattern)
9A
9B
10A
10B
2A EMS1
2B EMS2
Serial communication
Motor drive power supply
Control power supply
Drain wire
* In the case of a robot cable, the wire colors change as follows.
Wire color Pin number
Gray (Red 1) 2A
Gray (Black 1) 2B
Gray (Red 2) 7A
Gray (Black 2) 7B
(Note) To release the brake, connect a switch between BKR and 24 V and turn on the switch.
35
3.6 Configuration Using an Insulated PIO Terminal Block
If either of the following conditions applies, use an insulated PIO terminal block:
[1] Want to insulate the control power supply from the PIO power supply.
[2] Want to change the I/O logic of the control board
ERC actuator
Relay cable
Standard cable <CB-ERC-PWBIO * * *-H6>
Robot cable <CB-ERC-PWBIO * * *-RB-H6>
Cable length: 1 m, 3 m, 5 m
[1] When the control board is of the NPN specification [sink type]
EMG signal
Relay
60 mA Max
MC
(Not used)
Input power supply
24V
0V
FG
MC
Brake release
switch
(Note)
Host system
<PLC>
Input
common
side
Output
side
Input
Output
common
[1] Insulate the power supply [2] Change to PNP
Input common 24 V 0 V
Output common 0 V 24 V
(Note) To release the brake, connect a switch between the TB1-BK terminal and 0 V and turn on the switch.
SIO converter (RCB-TU-SIO-A/B)
TB2
EMG2
EMG1
24V
0V
FG
Insulated PIO terminal block (RCB-TU-PIO-A/B)
TB1
TB4
TB3
Contact output for EMG
switch on teaching pendant
EMS2
EMS1
BK
MP
Motor drive power supply
24V
Control
0V
FG
1
2
3
4
5
6
I/O interface
(Refer to 4.4, “Insulated PIO
7
Terminal Block.”)
8
9
10
11
12
A
B
TB2
A
B
ower suppl
J1
Twisted pair
Connect to FG
Relay cable
41
p
y
[2] When the control board is of the PNP specification [source type]
EMG signal
60 mA Max
Relay
MC
SIO converter (RCB-TU-SIO-A/B)
TB2
Contact output for EMG
EMG2
switch on teaching pendant
EMG1
24V
0V
FG
Insulated PIO terminal block (RCB-TU-PIO-AP/BP)
Input power supply
24V
0V
FG
MC
(Not used)
Brake release
switch
(Note)
TB1
TB4
EMS2
EMS1
BK
Motor drive power supply
MP
24V
Control
0V
FG
ower suppl
Host system
<PLC>
Input
common
side
Output
Input
Output
common
side
TB3
1
2
3
4
5
6
I/O interface
(Refer to 4.4, “Insulated PIO
7
Terminal Block.”)
8
9
10
11
12
TB1
A
B
Twisted pair
TB2
A
B
Connect to FG
J1
Relay cable
[1] Insulate the power supply [2] Change to NPN
Input common 0 V 24 V
(Note) To release the brake, connect a switch between the TB1-BK terminal and 24 V and turn on the switch.
42
Output common 24 V 0 V
3.8 Controlling Multiple Axes via Serial Communication
The following operations become possible if multiple axes are controlled:
[1] Executing movement operations or parameter edit to all axes by connecting teaching pendant or PC via
SIO converter.
[2] Performing operations via serial communication with the PLC’s communication module as a host by way of
a SIO converter.
3.8.1 Basic Specifications
Specification item Description
Communication format RS485
Transmission speed
Maximum number of units that
can be connected
Maximum cable length 100 m or less
Terminal resistor
(9600 bps, 19200 bps or 38400 bps may also be selected)
120 (built into the SIO converter/insulated PIO terminal block);
required if the cable length is 10 m or more.
115200 bps
16 axes
3.8.2 Address Assignment
In a linked configuration where multiple axes are connected via serial communication, the host (teaching
pendant, PC or communication module) assigns an address to each axis in order to recognize the corresponding
actuator.
Assign addresses in the setting screen of the teaching pendant or PC.
Overview of operation on the PC
[1] Open the main window [2] Click Setup (S) [3] Bring the cursor to Controller Setup (C) [4] Bring
the cursor to Assign Address (N) and click the mouse [5] Enter an appropriate number in the
address table.
Overview of operation on the teaching pendant RCA-T
[1] Open the User Adjustment screen [2] Use the key to bring the cursor to Address No. [3] Enter
an appropriate address and press the ENTER key [4] Enter “2” under Adjust m ent No. and press the
ENTER key [5] Restart the actuator.
Overview of operation on the simple teaching pendant RCA-E
[1] Open the User Adjustment screen [2] Press the ENTER key to open the screen showing Address No.
[3] Enter an appropriate address and press the ENTER key [4] Enter “2” under Adjus t ment No.
and press the ENTER key [5] Restart the actuator.
Overview of operation on the jog teacher RCB-J
[1] Press the ON/OFF and RUN keys together to turn on the power [2] Press the – key to open the
screen showing Axis No. [3] Use the + and – keys to set an appropriate address [4] Press the SET
key [5] Restart the actuator.
Refer to the operation manual for the teaching pendant or PC software for the specific operating procedure.
In the actual process of assigning addresses, the teaching pendant or PC and the target actuator must have a
one-on-one link. Therefore, disconnect the communication cables (SGA/SGB) from other axes to tentatively
provide a condition where not more than one axis is connected.
43
3.8.3 Wiring Examples for Linking Multiple Axes
Using only a SIO converter
(The same wiring applies to a configuration for automatic operation via serial communication.)
Teaching pendant PC PLC’s communication module
A
B
One-pair
shielded cable
(with built-in terminal resistor)
SIO converter
TB1
A
B
(Note 1) If a communication error occurs when the overall length of communication cable is 10 m or
more, connect a SIO converter to the last axis.
(Note 2) If the actuators use different power supplies, align 0 [V] on all power supplies.
(Note 3) Connect the shielded wire of each axis to FG.
(Note 4) If the overall length of link cable exceeds 30 m, use wire of 22AWG or larger size.
SIO converter
TB1
Relay terminal block
FG
SGA
SGB
Actuator 1
Actuator 2
Actuator 3
Actuator 16
44
Using both SIO converter and insulated PIO terminal block
(Communication with the PLC is performed via parallel I/O connection.)
One-pair
shielded cable
FG
(Note 1) Only on the last axis set the terminal-resistor connection switch to the [RTON] side.
(Note 2) If the actuators use different power supplies, align 0 [V] on all power supplies.
(Note 3) Connect the shielded wire of each axis to FG.
(Note 4) If the overall length of link cable exceeds 30 m, use wire of 22AWG or larger size.
Teaching pendant PC PLC’s communication module
SIO converter
TB1
A
B
Insulated PIO terminal block
TB2
A
B
TB2
A
B
TB2
A
B
TB2
A
B
J1
J1
J1
J1
Actuator 1
Actuator 2
Actuator 3
Actuator 16
45
(
)
3.9 Emergency-Stop Circuit
Examples of internal circuit and recommended circuit are shown below.
For auxiliary relays, use relays with a diode for absorbing coil surge.
24V
External EMG
reset switch
External
EMG switch
EMS1
ERC
MC
Relay
MC
EMS2
60 mA MAX)
24V
Motor drive source
MPI
Connection detection
relay
(Rush current: 6 A /
Rated current: 2 A
MPI
GND
GND
Motor power
supply
Controller
power
supply
0V
[Reference] Recommended relays are listed below. Use this information as a reference when selecting a relay.
Manufacturer Product name
Omron LY Series
Panasonic HC Relay Series
For the detailed specifications of each product, check the
specification sheet issued by the manufacturer.
Teaching pendant
EMG
switch
Power supply
46
Example of multi-axes circuit allowing each axis to be connected/disconnected to the teaching
pendant
24V
External EMG
reset switch
External
EMG switch
Relay
MC
MC M1 M2 M3
Actuator 1
Teaching pendant
EMG switch
EMS1EMS2
Actuator 2
Teaching pendant
EMG switch
EMS1EMS2
Actuator 3
Teaching pendant
EMG switch
EMS1EMS2
M1
Actuator 1
MP1 GND
MP1 GND
M2
Actuator 2
MP1 GND
MP1 GND
M3
Actuator 3
MP1 GND
MP1 GND
0V
M1
M2
M3
47
SG
r
3.10 Relay Cable
No connector on the counter-actuator end (When connecting the actuator directly to a host system)
To prevent miswiring, a two-pin connector is installed at the ends of the applicable lines.
If multiple axes are linked, connect these supplied cables to the CN2 connector and extend as required,
or cut them off at the base of the CN2 connector and install crimp terminals directly.
48
(
)
Connectors on both ends (When using an insulated PIO terminal block)
This unit is required if any of the following conditions applies:
[1] The actuator’s rear cover cannot be reached and therefore the teaching pendant or PC cannot be
connected.
[2] Want to execute movement operation or parameter edit for all axes when multiple axes are connected to
the single equipment.
[3] Want to operate the actuator via serial communication using the PLC’s communication module.
Explanation of functions
[2] Link-connection
terminal block (TB1)
TB1
[6] Monitor LEDs
A B
LED1 LED2
RS232
[3] D-sub, 9-pin connector
[1] Power/emergency-stop terminal block (TB2)
EMG1,
EMG2
24V
0V
FG
Provide a contact output for the emergency-stop switch on the teaching pendant (RCA-T/E).
EMG1 and EMG2 connect to the emergency-stop switch on the teaching pendant when the
PORT switch is ON, or are shorted when the PORT switch is OFF.
These terminals comprise an interlock with a safety circuit provided by the user.
Positive side of the 24-V power supply
Power supply for the teaching pendant and conversion circuit
Current consumption: 0.1 A max.
Negative side of the 24-V power supply
FG of the 24-V power supply
[2] Link-connection terminal block (TB1)
A connection port for linking the controller.
“A” on the left side connects to SGA (wire color: orange/red 1) in the relay cable or “A” on the insulated PIO
terminal block TB2.
“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.
[1] Power/emergency-stop
terminal block (TB2)
0V
FG
24V
EMG2
EMG1
TB2
ON
PORT
SW1
[5] PORT switch
[4] Mini DIN, 8-pin connector
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.
[2] Want to change the I/O logic of the control board.
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
[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).
(2) A connection port for the ground wire leading to the enclosure.
Ground terminal (0 V) . . . 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. Detailed signal specifications are shown below.
[1] RCB-TU-PIO-A/B (When the control board is of the NPN specification)
2 Command position 1 (PC1) Move to rear end (ST0) Command position 1 (PC1)
3 Command position 2 (PC2) Move to front end (ST1) Command position 2 (PC2)
4 Command position 4 (PC4)
5 Home return (HOME) Command position 8 (PC8)
6 Start (CSTR) Start (CSTR)
7 *Pause (*STP) *Pause (*STP) *Pause (*STP)
8 Position complete (PEND) Rear end (PE0) Position complete (PEND)
Home-return completion
9
(HEND)
10 Zone output (ZONE) Intermediate point (PE2) Zone output (ZONE)
11 *Alarm (*ALM) *Alarm (*ALM) *Alarm (*ALM)
12 Output common (Out-COM) 0 [V] (Note 1)
Move to intermediate point
(ST2)
Front end (PE1)
PIO pattern
Command position 4 (PC4)
Home-return completion
(HEND)
LED 11 illuminates when 24 V is
supplied.
LED1 illuminates when this signal
turns ON.
LED2 illuminates when this signal
turns ON.
LED3 illuminates when this signal
turns ON.
LED4 illuminates when this signal
turns ON.
LED5 illuminates when this signal
turns ON.
LED6 illuminates when this signal
turns ON.
LED7 illuminates when this signal
turns ON.
LED8 illuminates when this signal
turns ON.
LED9 illuminates when this signal
turns ON.
LED10 illuminates when this
signal turns ON.
(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)
2 Command position 1 (PC1) Move to rear end (ST0) Command position 1 (PC1)
3 Command position 2 (PC2) Move to front end (ST1) Command position 2 (PC2)
4 Command position 4 (PC4)
5 Home return (HOME) Command position 8 (PC8)
6 Start (CSTR) Start (CSTR)
7 *Pause (*STP) *Pause (*STP) *Pause (*STP)
8 Position complete (PEND) Rear end (PE0) Position complete (PEND)
Home-return completion
9
(HEND)
10 Zone output (ZONE) Intermediate point (PE2) Zone output (ZONE)
11 *Alarm (*ALM) *Alarm (*ALM) *Alarm (*ALM)
12 Output common (Out-COM) 24 [V] (Note 2)
Move to intermediate point
(ST2)
Front end (PE1)
PIO pattern
Command position 4 (PC4)
Home-return completion
(HEND)
LED 11 illuminates when 24 V is
supplied.
LED1 illuminates when this signal
turns ON.
LED2 illuminates when this signal
turns ON.
LED3 illuminates when this signal
turns ON.
LED4 illuminates when this signal
turns ON.
LED5 illuminates when this signal
turns ON.
LED6 illuminates when this signal
turns ON.
LED7 illuminates when this signal
turns ON.
LED8 illuminates when this signal
turns ON.
LED9 illuminates when this signal
turns ON.
LED10 illuminates when this
signal turns ON.
(Note 1) The input common and output common become 24 [V] and 0 [V], respectively, in the NPN specification.
Remarks
Remarks
57
Internal connection diagram
[1] RCB-TU-PIO-A/B
Actuator end
Connector
6 circuits
4 circuits
Nonpolar input
photocoupler
Host system end
Input common
6 circuits
Fusing chip resistor
4 circuits
Output common
58
[2] PCB-TU-PIO-AP/BP
Actuator end
Connector
6 circuits
4 circuits
Nonpolar input
photocoupler
Host system end
Input common
6 circuits
Fusing chip resistor
4 circuits
Output common
59
I/O interface specifications
Input Specifications
Specification item Description
Number of input points 6 points
Input voltage
24VDC 10%
Input current 7 mA/point (bipolar)
Allowable leak current 1 mA/point (approx. 2 mA at normal temperature)
Operating voltage
ON voltage: 16 V min. (4.5 mA)
OFF voltage: 5 V max. (1.3 mA)
Output Specifications
Specification item Description
Number of output points 4 points
Rated load voltage 24VDC
Maximum current 60 mA/point
Residual voltage 2 V or less/60 mA
Shorting/overcurrent protection
Fusing resistor (27 , 0.1 W)
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. band), and acceleration only MAX (ACC MAX). The description in
parentheses is as displayed on the teaching pendant.
The target position can be specified in two different modes: by absolute coordinate specification (absolute mode)
in which the distance from the home is entered, or by relative coordinate specification (incremental mode) in
which the incremental movement from the current position is entered.
Position-data table
No.
Position Note
Speed
Acceleration/
deceleration
Push
0 0 100 0.3 0 0.1 0
1 30 100 0.3 0 0.1 0
=
2 10 100 0.3 0 0.1 0
~
~
15
100
100
0.3
0
When data is entered in the position column of the position-data table, the default values will be automatically
entered in the remaining columns. Change the default values as necessary.
To change a default value, change the corresponding parameters starting with “Default.”
The default values vary depending on the actuator type.
This indicates that the incremental mode is active. (This symbol is displayed only on the teaching pendant.
Separate columns for incremental specification are provided in the PC software.)
Positioning
band
0.1
Acceleration
only MAX
0
~
~
Note: Enter position data first. Any attempt to enter other data before position data will be rejected.
You can enter position data containing two decimal places.
However, the controller only recognizes position data as a multiple of its minimum resolution.
The minimum resolution of the controller varies depending on the actuator lead.
For the above reason, the second decimal place in the entered position data may be rewritten
in accordance with the actuator lead.
Example: Entered value Stored value
50.01 50.03
61
5.1 Description of Position-Data Table
(1) No.
(2) Target position (Position)
(3) Speed (Speed)
(4) Acceleration/deceleration
(ACC)
Note: Enter appropriate values for speed and acceleration/deceleration by referring to 1.3, “Specifications”
and considering the installation conditions and shape of the load, to make sure the actuator will not
receive excessive impact or vibration.
Whether or not the values of speed and acceleration/deceleration should be raised has a lot to do
with the transferring mass and how the actuator characteristics will change also varies depending on
the model. Consult IAI’s Sales Engineering Section for the maximum values of speed and
acceleration/deceleration you can enter.
Indicate the position data number.
To enter an incremental movement, press the minus key in this column.
On the teaching pendant, a “=” will be displayed between the number and
position columns.
The minus key need not be pressed in the absolute mode.
Enter the target position to move the actuator to, in [mm].
Absolute mode: Enter the distance to the target actuator position from the
home.
Incremental mode: Enter the distance to the target actuator position from the
current position. A negative value can also be entered (for
movement in the negative direction along the displayed
coordinate axis).
No. Position
0 30 Absolute mode 30 mm from the home
=
1
2
3 100 Absolute mode 100 mm from the home
10 Incremental mode +10 mm from the current position
=
-10 Incremental mode -10 mm from the current position
Enter the speed at which the actuator will be moved, in [mm/sec].
The default value varies depending on the actuator type.
Enter the acceleration/deceleration at which the actuator will be moved, in [G].
Use the rated acceleration specified in the catalog, as a rule.
This product can be used at higher accelerations to shorten the takt time, but
only if the actual use conditions are such that the “load is significantly more
than the rating.”
To support the above function, the acceleration field in the position table
accepts values greater than the rated acceleration.
Speed
Acceleration/deceleration (ACC)
Start Completion Time
Acceleration/deceleration G --- MIN 0.01 G (Slow rise)
MAX 1.00 G (Quick rise)
62
(5) Push (Push)
Select the positioning mode or push & hold mode.
The default value is “0.”
0: Positioning mode (= Normal operation)
Other than 0: Push & hold mode [%]
To select the push & hold mode, enter the current-limiting value for the servo
motor during push & hold operation. Enter an appropriate value up to 70% in
accordance with the actuator type.
Be sure to refer to 5.1.1, “Relationship of Push Force at Standstill and Current-Limiting Value” that specifies
the relationship of the push force to be applied to the load at standstill [kgf] on one hand, and the currentlimiting value on the other, for each actuator type.
Note: If the push force is too small, a false detection of push & hold condition may occur due to slide
resistance, etc., so exercise caution.
(6) Positioning band
(Pos. band)
The function of the positioning band varies depending on whether the push &
hold setting in (5) is “0” or “other than 0.”
(A) Push = 0 (Positioning mode)
In the positioning mode, enter the position-complete detection width
(distance to the target position), in [mm].
The distance to the target position indicates the range prior to the target
position, upon entry of the actuator in which range a position complete signal
will be output.
The default value is “0.1 [mm]” (Fig. A).
(B) Push = Other than 0 (Push & hold mode)
Enter the maximum push amount (distance from the target) in the push &
hold mode, in [mm] (Fig. B).
If the push direction corresponds to the negative direction along the
displayed coordinate axis, add a – (minus) sign to the entered value.
(5) Push = 0
Distance to the position set in (2)
Speed
Moving distance
(6) Positioning band(6) Positioning band
Fig. A Fig. B
(5) Push = Other than 0
Distance to the position set in (2)
Speed
Moving distance
63
(7) Acceleration only MAX
(ACC MAX)
Select the specified acceleration or maximum acceleration by entering
“0” or “1.”
The default value is “0.”
0: Specified acceleration --- The value entered in (4) becomes the
actual acceleration/deceleration.
1: Maximum acceleration --- The maximum acceleration is applied only
during acceleration.
During deceleration, the value input in (4)
is used.
(7) Acceleration only MAX = 0 (7) Acceleration only MAX = 1
Speed
Acceleration/deceleration
set in (4)
Maximum acceleration
Speed
Acceleration/deceleration
set in (4)
Moving distance
Moving distance
Note: A rough guide for enabling the acceleration only MAX function is when the actual payload capacity
is one-third the load rating or less.
Check the payload rating by referring to 1.3, “Specifications.”
64
65
5.1.1 Relationship of Push Force at Standstill and Current-Limiting Value
When performing operation in the push & hold mode, enter the current-limiting value (%) in the push column of
the position-data table.
Determine the current-limiting value (%) from the push force to be applied to the load at standstill.
The graphs below illustrate the relationship of push force at standstill and current-limiting value for each actuator
type:
● Slider type
(1) SA6 type (2) SA7 type
Low-speed type Low-speed type
350
300
250
200
150
100
Push force (N)
50
0
203040506070
Current-limiting value (%) Current-limiting value (%)
(Lead: 3 mm) (Lead: 4 mm)
160
140
120
100
80
60
40
20
Push force (N)
0
Medium-speed type
(Lead: 6 mm)
203040506070
Current-limiting value (%) Current-limiting value (%)
80
70
60
50
40
30
20
Push force (N)
10
0
203040506070
High-speed type
(Lead: 12 mm)
Current-limiting value (%) Current-limiting value (%)
900
800
700
600
500
400
300
200
Push force (N)
100
0
203040506070
Medium-speed type
450
400
350
300
250
200
150
100
Push force (N)
50
0
203040506070
(Lead: 8 mm)
High-speed type
250
200
150
100
50
Push force (N)
0
203040506070
(Lead: 16 mm)
Note: The accuracy of push force at standstill is not guaranteed. The above graphs are provided for
reference purposes only. If the push force is too small, malfunction may occur during push &
hold operation due to slide resistance, etc., so exercise caution.
The maximum current-limiting value is shown in the above graphs. The minimum value is 20%.
66
r
● Rod type
(1) RA54 type (2) RA64 type
Low-speed type Low-speed type
(Lead: 3 mm) (Lead: 4 mm)
350
300
250
200
150
100
50
Push force (N)
0
203040506070
900
800
700
600
500
400
300
200
Push force (N)
100
0
203040506070
Current-limiting value (%) Current-limiting value (%)
160
140
120
100
80
60
40
Push force (N)
20
0
203040506070
80
70
60
50
ce (N)
40
30
20
Push fo
10
0
203040506070
Medium-speed type
(Lead: 6 mm)
450
400
350
300
250
200
150
Push force (N)
100
50
0
203040506070
Current-limiting value (%) Current-limiting value (%)
High-speed type
(Lead: 12 mm)
250
200
150
100
Push force (N)
50
0
203040506070
Current-limiting value (%) Current-limiting value (%)
Medium-speed type
(Lead: 8 mm)
High-speed type
(Lead: 16 mm)
Note: The accuracy of push force at standstill is not guaranteed. The above graphs are provided for
reference purposes only. If the push force is too small, malfunction may occur during push &
hold operation due to slide resistance, etc., so exercise caution.
The maximum current-limiting value is shown in the above graphs. The minimum value is 20%.
67
5.2 Explanation of Modes
5.2.1 Positioning Mode Push = 0
Speed
Moving distance
5.2.2 Push & Hold Mode Push = Other than 0
(1) Load was contacted successfully
Speed
Moving distance
The actuator continues to push the load at the push force at standstill determined by the
Warning
The push speed is set as follows in accordance with the speed set in the position-data table:
Push speed 20 mm/sec Set speed
current-limiting value. Since the actuator is not inactive, exercise due caution when
handling the machine in this condition.
Position complete signal
Output
Positioning band
Position complete signal
Output
Positioning band
20 mm/sec or more Less than 20 mm/sec
(1) The position complete output will turn
ON at a position preceding the target
position by the positioning band.
(1) After reaching the target position, the actuator
will move at low speed (75 rpms).
When the Pos. band set in the data table (see
Note) is reached after the actuator contacts the
load and the stepper motor current has reached
the current-limiting value, the position complete
output will turn ON.
Note: Set the parameter “Push & hold stop
judgment period.” The default value of
“255 [msec]” is already entered.
The actuator is holding the load in position while
pushing it.
Set speed
68
(2) Load was not contacted (missed)
Position complete
signal is not output
Speed
Moving distance
Positioning band
(3) Load moves during push & hold operation
(a) Load moves in the pushed direction
Position complete signal
Output
Speed
Moving distance
(b) Load moves in the opposite direction
(Actuator is pushed back by the reactive force of the load)
Speed
Moving distance
Positioning band
Position complete signal
Output
(1) After reaching the target position, the actuator
will move at low speed.
Even after contacting the load, the actuator will
move to the end of the positioning band if the
stepper motor current is yet to reach the currentlimiting value.
The position complete output will not turn ON
even when the end of the positioning band is
reached. (Provide a timeout check process after
a sufficient period with a PLC.)
If the load moves in the pushed direction after the
position complete output has turned ON, the
actuator will push the load within the positioning
band.
If the current drops below the limiting value, the
position complete signal will turn OFF. The signal
will turn ON when the current rises to or above the
limiting value.
If the actuator is pushed back after the position
complete output has turned ON because the
actuator thrust is smaller than the reactive force of
the load, the actuator will be pushed back all the
way until its thrust balances out with the reactive
force of the load.
The position complete output will remain ON.
69
g
(4) Positioning band was entered with a wrong sign
If the positioning band is entered with a wrong sign,
Speed
the position will deviate by twice the positioning
band, as shown to the left, so exercise due caution.
Moving distance
Positioning
band
Positioning
band
5.2.3 Speed Change during Movement
Speed control involving multiple speed levels is possible in a single operation. The actuator speed can be
decreased or increased at a certain point during movement.
However, the position at which to implement each speed change must be set.
Position 1 Position 2 Position 1 Position 2 Position 1 Position 2 Position 3
5.2.4 Operation at Different Acceleration and Deceleration Settings
The actuator will accelerate and decelerate at different speeds if “1” is entered under “Acceleration only MAX” in
the position data.
The acceleration will conform to the maximum acceleration set according to the load, while the deceleration will
conform to the value entered in “Acceleration/deceleration” of the position data.
Note: The maximum acceleration varies from actuator to actuator, but the limit is generally three times the
rated acceleration.
Accordingly, enable this function only when the transferring mass is one-third the rating or less and
you want to decelerate the actuator over a gradual acceleration curve when stopping.
If this function is enabled when the transferring mass is equal to the rating, an overload error may
occur.
Exercise due caution because even if an overload error does not occur, the actuator will receive an
excessive impact load and its life will be negatively affected.
Check the payload rating by referring to 1.3, “Specifications.”
Speed
Maximum acceleration
accordin
to the load
Time
Deceleration can be set freely
70
5.2.5 Pause
The actuator can be paused during movement using an external input signal (*pause).
The pause signal uses the contact B logic (always ON) to ensure safety.
Turning OFF the *pause input will cause the actuator to decelerate to a stop, while turning it ON will allow the
actuator to complete the remaining operation.
*Pause signal
ON ON
OFF
Actuator operation
Target position
(Note) During deceleration, the acceleration/deceleration set in the position table under the currently executed
position number is used.
5.2.6 Zone Signal Output
A signal will be output when the actuator enters the specified zone.
The zone signal will turn ON when the actuator enters the zone predefined by the applicable parameters. (The
zone can be set arbitrarily.)
Zone signal
Actuator operation
Zone signal setting range
5.2.7 Home Return
After the power is turned on, home return must be executed to establish the home.
Upon occurrence of a cold-start level error, the power must be reconnected to restore the system. In this case,
home return is also required after the reconnection of power.
Which home return method is used will vary depending on the PIO pattern selected.
Home return using a dedicated input [PIO pattern = 0 (8 points)]
Home return can be executed using the home return (HOME) input.
Turning ON this input will execute home return regardless of whether or not it has already been executed
once.
When the home return is complete, the home return completion (HEND) output will turn ON.
Home return not using a dedicated input [PIO pattern = 2 (16 points)]
Even if home return has not been executed yet, issuing a start command by specifying a position will cause
the actuator to return to the home before moving to the specified position.
For details, refer to 7.2, “How to Execute Home Return.”
71
p
6. Operation in the “3 Points (Air Cylinder)” Mode <Practical Operation>
6.1 Overview of the “3 Points” Mode
This mode provides a control method adjusted to that of an air cylinder by assuming that the ERC is used as an
air cylinder.
The key differences between the ERC and an air cylinder are summarized below. Perform proper control by
referring to this table.
Item Air cylinder ERC
Drive method Air pressure supplied
via electromagnetic
valve control
Target
position
setting
Target
position
detection
Speed
setting
Acceleration/
deceleration
setting
Mechanical stopper
(including shock
absorber)
An external detection
sensor, such as a reed
switch, is installed.
Adjusted by a speed
controller.
Determined in
accordance with the
load, supplied air
volume, as well as the
performance of the
speed controller and
electromagnetic valve.
Position
check upon
power ON
Determined by an
external detection
sensor, such as a reed
switch.
Ball screw/timing belt driven by a motor
Desired coordinates are entered in the [Target position] field of the
position table.
The coordinates can be typed in from the number keys on the PC
keyboard or on the teaching pendant, or set directly by moving the
actuator to the target position.
Determined based on the internal coordinates provided by the
position information from the position detector (encoder).
Accordingly, external detection sensor is not required.
A desired feed speed is entered in the [Speed] field of the position
table (unit: mm/sec).
Note that the rated speed is automatically set as the initial value.
A desired acceleration/deceleration is entered in the
[Acceleration/deceleration] field of the position table (unit: 0.01 G).
(Reference) 1 G = Gravitational acceleration
Note that the rated acceleration/deceleration is automatically set
as the initial value.
Since the acceleration/deceleration can be set in fine steps, a
gradual acceleration/deceleration curve can be programmed.
Immediately after the power is turned on, the controller cannot
identify the current position because the mechanical coordinates
have been lost.
Therefore, when the first movement command is issued after the
power has been input, the controller will automatically perform
home return before moving the actuator to the target position.
[1]
[2]
[3]
Home
osition
Power is turned on here.
Target position
[1] The actuator moves at the home return speed toward the
mechanical end on the motor side.
[2] The actuator hits the mechanical end and turns back, and then
stops temporarily at the home position.
[3] The actuator moves to the target position at the speed
specified in the [Speed] field of the position table.
(Note) Pay attention not to allow any obstacle in the travel
path of the actuator during home return.
72
The relationships of movement command inputs/position complete outputs and corresponding position numbers
are shown below.
For easier identification, each input/output signal has a name similar to the naming convention used with air
cylinders.
However, note that the target position is determined by the value set in the [Target position] field under each
position number. Therefore, changing the magnitude correlation of the settings in Nos. 0 to 2 will change the
meanings of the corresponding input/output signals.
Accordingly, the settings in the respective position numbers should match the semantic meanings of the
corresponding signal names used in this operation manual, unless doing so will pose a problem.
Input signal Output signal Target position
Rear end move (ST0) Rear end complete (PE0)
Front end move (ST1) Front end complete (PE1)
Intermediate point move (ST2) Intermediate point complete (PE2)
Setting in the [Target position] field under
position No. 0 Example: 5 mm
Setting in the [Target position] field under
position No. 1 Example: 390 mm
Setting in the [Target position] field under
position No. 2 Example: 200 mm
Positioning relationships on the Robo Cylinder
This example assumes the use of a slider type actuator with a 400 mm stroke.
[Motor side] [Counter-motor side]
Home (0 mm)
Rear end complete (5 mm)
Intermediate point complete (200 mm)
Position table (Field(s) within thick line must be entered.)
No. Position Speed Acceleration/decelerationPushPositioning band Acceleration only MAX
Front end complete (390 mm)
0 5 500 0.3 0 0.1 0
1 390 500 0.3 0 0.1 0
2 200 500 0.3 0 0.1 0
73
6.2 How to Start
(1) Confirm that the connector end (CN1) of the relay cable is firmly plugged into the connector on the actuator
cable.
(2) Connect the PLC and the parallel I/O.
(3) If the actuator has brake, set the brake release switch to OFF.
(4) Supply 24 VDC to the control power supply.
Cut off the motor-drive power supply (actuate an emergency stop) beforehand.
(5) Confirm that the slider or rod is not contacting the mechanical end. If the slider or rod is contacting the
mechanical end, or when the slider or rod is positioned between the mechanical end and home, move the
slider/rod away from the home position toward the direction opposite to the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after releasing the brake by turning on the
brake release switch. At this time, pay attention to prevent the work from falling by its dead weight and
protect your hand, robot, and the work from injuries/damages.
If the screw lead is short and you cannot adjust it manually, set the excited-phase signal detection direction
in parameter No. 28 to opposite the mechanical end.
Warning: Turning on the servo while the slider or rod is still contacting the mechanical end may
disable accurate detection of the excited phase, resulting in malfunction or excitation
detection error.
(6) Connect a PC or teaching pendant and set the minimum parameters required.
If the pause input is not used, set parameter No. 15 “Pause input disable selection” to “1.”
Set parameter No. 25 “PIO pattern selection” to “1” (this setting is required).
If you want to use the movement command input based on the “edge mode,” set parameter No. 27 to “1.”
Refer to 8, “Parameters” for details.
(7) Cancel the emergency stop so that the motor drive power will be supplied.
The controller servo will be turned on and a green LED lamp will illuminate on the motor cover.
(8) If the pause signal (*STP) is enabled, turn the signal ON from the PLC.
A red LED lamp indicates an alarm. Remove the cause of the alarm.
For details, refer to 9, “Troubleshooting.”
(9) Perform home return.
Overview of operation on the teaching pendant
On the RCA-T, select the Edit/Teach screen, bring the cursor to *Home in the sub-display area, and then
press the ENTER key.
On the RCA-E, select the Teach/Play screen, scroll the pages until *Home Return is shown, and then
press the ENTER key.
On the RCB-J, the screen showing RUN Key Home Return is displayed automatically. Press the
RUN key.
Overview of operation in the PC software
In the main window, select the applicable position data, and then click Home.
For details of each operation, refer to the operation manual for the applicable teaching pendant
or PC software.
74
If the actuator does not perform home return, confirm that the *pause signal is ON, the motor-drive power
supply is receiving power, and no error messages are displayed, among others.
(10) Set the target position, speed, acceleration/deceleration, positioning band and other data in the position
table. For details on how to set data in the position table, refer to the operation manual for the teaching
pendant or PC software, whichever is applicable.
Now, you can operate the actuator automatically via control from the PLC.
Note: Move the actuator to the target position after confirming that the *ALM output is ON and the
motor drive power is supplied.
Timing chart at start
Motor-drive power
supply
Input of 24-VDC
power supply
LED lamp
Alarm output (*ALM)
Pause input (*STP)
Home return
Cut off
Initial parameter setting
Red
Supplied
Green
Pause is released.
Movement starts
Mechanical end
Home position
Create a position table
via teaching pendant or
PC operation.
75
6.3 Moving Operation
First, make the controller ready to accept movement commands by referring to 6.2, “How to Start.”
Example of use in operation) Turn on the power, and then cause the actuator to move back and forth between
the rear end (5 mm) and front end (390 mm) via an intermediate point (200 mm).
ERC controller
P
L
C
[1] [3] [12]
[8] [11]
[4] [7]
[2] [5]
[10] [13]
[6] [9]
Signal name
Rear end move
Front end move
Intermediate point move
*Pause
Rear end complete
Front end complete
Intermediate point complete
*Alarm
PIO
Category
Input
Output
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
Reference flow
The rear end move input turns ON
Home return starts
The actuator hits the mechanical
ends and turns back
The actuator arrives and stops at
the home temporarily
The actuator starts moving to the rear end
The actuator arrives at the rear
end, upon which the rear end
complete output turns ON
The rear end move input turns OFF
The intermediate point move input
turns ON
The actuator starts moving to the
intermediate point
The rear end complete output turns OFF
The actuator arrives at the intermediate
point, upon which the intermediate point
complete output turns ON
The intermediate point move input turns
OFF
The front end move input turns ON
The actuator starts moving to the front end
The intermediate point complete output
turns OFF
The actuator arrives at the front
end, upon which the front end
complete output turns ON
The front end move input turns
OFF
The rear end move input turns ON
The actuator starts moving to the rear end
The front end complete output turns OFF
76
[Operation timings]
Rear end move
Intermediate point move
Front end move
Rear end complete
Intermediate point complete
Front end complete
Speed
Actuator movement
Mechanical
end
Home
position
Rear end
Intermediate point
Front end
Note: Movement commands are executed based on the rise edge, so input each signal continuously
for 6 msec or more.
If two or more movement commands are input simultaneously, they will be executed according
to the following priorities:
Priorities: [1] Rear end, [2] Front end, [3] Intermediate point
The sequence circuit on the PLC side must ensure only one command is input at a time.
77
The movement command input operates in two modes.
You can select the operation condition of the movement command input (ST0 to ST2) in parameter No. 27.
The factory setting is “0: [Level mode].”
Description of the movement command input Setting
Level mode:
The actuator starts moving when the input signal turns ON. When the
signal turns OFF during the movement, the actuator will decelerate to a
stop and complete its operation.
Edge mode:
The actuator starts moving when the rise edge of the input signal is
detected. The actuator will not stop even when the signal turns OFF
during the movement, until the target position is reached.
[Level mode]
Movement command input
(ST0 to ST2)
Position complete
(PE0 to PE2)
Actuator movement
(Note) Turn OFF the movement command input after confirming that the target position has been reached.
[Edge mode]
Movement command input
(ST0 to ST2)
Position complete
(PE0 to PE2)
Actuator movement
Stopped
Target position
Target position
0
1
78
Handling of the pause (*STP) signal
This signal is a Contact B signal, meaning that it must remain ON while the actuator is moving.
If the pause signal turns OFF while the actuator is moving, the actuator will decelerate to a stop.
The actuator will start moving when the signal turns ON again.
Use this signal as an interlock that actuates when an operator entry prohibition sensor or contact prevention
sensor is activated.
If the pause signal is not to be used, set parameter No. 15 (Pause input disable selection) to “1,” and
the actuator will move even when this signal is OFF.
(Note) When the “edge mode” is selected as the movement command type, you may want to change the
target position while the actuator is stopped with this signal turned OFF. In this case, input a
movement command specifying the new target position, and then turn ON this signal.
(Example) If the pause signal is turned OFF while the actuator is moving following the input of an
intermediate point move command, the accelerator will decelerate to a stop.
Turn OFF the intermediate point move signal, and then turn ON the front end move
signal.
When the pause signal is turned ON again, the controller will recognize the front end
as the new target position.
Intermediate point move
Front end move
Pause
Front end complete
Actuator movement
Stopped
The front end becomes
the target position.
79
7. Operation in the “8 Points” and “16 Points” Modes <Practical Operation>
7.1 How to Start
(1) Confirm that the connector end (CN1) of the relay cable is firmly plugged into the connector on the actuator
cable.
(2) Connect the PLC and the parallel I/O.
(3) If the actuator has a brake, set the brake release switch to OFF.
(4) Supply 24 VDC to the control power supply.
Cut off the motor-drive power supply (actuate an emergency stop) beforehand.
(5) Confirm that the slider or rod is not contacting the mechanical end. If the slider or rod is contacting the
mechanical end, or when the slider or rod is positioned between the mechanical end and home, move the
slider/rod away from the home position toward the direction opposite to the mechanical end.
If the actuator is equipped with a brake, move the slider/rod after releasing the brake by turning on the
brake release switch. At this time, pay attention to prevent the work from falling by its dead weight and
protect your hand, robot, and the work from injuries/damages.
If the screw lead is short and you cannot adjust it manually, set the excited-phase signal detection direction
in parameter No. 28 to opposite the mechanical end.
Warning: Turning on the servo while the slider or rod is still contacting the mechanical end
may disable accurate detection of the excited phase, resulting in malfunction or
excitation detection error.
(6) Connect a PC or teaching pendant and set the minimum parameters required.
If the pause input is not used, set parameter No. 15 “Pause input disable selection” to “1.”
To select “16 points,” set parameter No. 25 “PIO pattern selection” to “2” (this setting is required).
For details, refer to 8, “Parameters.”
(7) Cancel the emergency stop so that the motor drive power will be supplied.
The controller servo will be turned on and a green LED lamp will illuminate on the motor cover.
(8) If the pause signal (*STP) is enabled, turn the signal ON from the PLC.
The position complete output (PEND) will turn ON.
A red LED lamp indicates an alarm. Remove the cause of the alarm.
For details, refer to 9, “Troubleshooting.”
(9) Perform home return.
Overview of operation on the teaching pendant
On the RCA-T, select the Edit/Teach screen, bring the cursor to *Home in the sub-display area, and then
press the ENTER key.
On the RCA-E, select the Teach/Play screen, scroll the pages until *Home Return is shown, and then
press the ENTER key.
On the RCB-J, the screen showing RUN Key Home Return is displayed automatically. Press the
RUN key.
Overview of operation in the PC software
In the main window, select the applicable position data, and then click Home.
For details of each operation, refer to the operation manual for the applicable teaching pendant
or PC software.
80
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