IAI America ERC2 User Manual
Operation Manual Seventh Edition
ERC2
Actuator with Integrated Controller
(SIO Type)
Please Read Before Use
Thank you for purchasing our product.
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 or DVD 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. Using Multiple 24-V Power Supplies
If multiple 24-V power supplies are used, always connect the 0-V lines of all power supplies.
If not, damage to the controller board, SIO converter or other components may occur.
[Connection Example]
24V
0V
24V
0V
24V
0V
24V
0V
24V
0V
24-V power supply
[1]
24-V power supply
[2]
24-V power supply
[3]
24-V power supply
[4]
24-V power supply
[5]
SIO
converter
PLC
PIO unit
Actuator 1
Actuator 2
Actuator 3
Actuator 4
CAUTION
2. PC Software and Teaching Pendant Models
This product offers new functions not available in the conventional ERC series.
To support these new functions, the communication protocol has been changed to a general Modbuscompliant protocol. Accordingly, the PC software programs and teaching pendants that have been used
with the ERC series are no longer compatible with the ERC2 series.
Select a compatible program or teaching pendant from among the models listed below.
Model nu
mber Remarks
PC software (with RS232C
communication cable)
RCM-101-MW
PC software (with USB
communication cable)
RCM-101-USB
Teaching pendant RCM-T, RCM-TD
Simple teaching pendant RCM-E
Data setting unit RCM-P
These software programs/teaching
pedants can be used with the ERC
series.
3. Backup of Latest Data
The built-in controller of this actuator uses a nonvolatile memory to store position table data and
parameters. Normally data is retained after the power has been cut off, but stored data will be lost if the
nonvolatile memory is damaged.
Regular backup of latest position table data and parameters not only ensures that your important data is
safeguarded, but it also saves the data recovery time when a need arises to replace the controller board
for some reason.
To back up your data, do one of the following:
[1] Save the data to a hard disk or other storage media from the PC software.
[2] Create a position table sheet or parameter sheet and write down the settings.
4. Pamphlet on Modbus Protocols
You can download a pamphlet compiling Modbus protocols from the operation manual download page on
IAI’s website:
website:www.intelligentactuator.com
If you wish to obtain this pamphlet, please contact your IAI sales representative.
CE Marking
If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.
Table of Contents
Safety Guide.................................................................................................................................................. 1
1. Overview ................................................................................................................................................ 9
1.1 Introduction .................................................................................................................................. 9
1.2 Key Features and Functions...................................................................................................... 10
1.3 Differences from Air Cylinder Control ........................................................................................11
1.4 Meaning of the Model Number ..................................................................................................13
1.5 Specifications............................................................................................................................. 14
1.5.1 Correlation Diagrams of Speed and Payload Capacity – Slider Type .......................... 15
1.5.2 Correlation Diagrams of Speed and Payload Capacity – Rod Type............................. 16
1.5.3 The sound pressure level of this product does not exceed 70 dB................................ 17
1.6 Warranty ................................................................................................................................... 20
1.7 Transportation and Handling ..................................................................................................... 20
1.7.1 Handling before Unpacking .......................................................................................... 20
1.7.2 Handling after Unpacking.............................................................................................. 20
1.8 Installation Environment and Noise Elimination ........................................................................ 21
1.8.1 Installation Environment................................................................................................ 21
1.8.2 Storage Environment .................................................................................................... 21
1.8.3 Power Supply................................................................................................................ 22
1.8.4 Noise Elimination .......................................................................................................... 22
1.9 Cabling....................................................................................................................................... 24
2. Installation............................................................................................................................................ 27
2.1 Name of Each Part .................................................................................................................... 27
2.1.1 Slider Type (SA6C/SA7C)............................................................................................. 27
2.1.2 Rod Type (RA6C/RA7C)............................................................................................... 28
2.1.3 (1) Rod Type with a Single Guide (RGS6C/RGS7C).................................................... 28
(2) Rod Type with Double Guides (RGD6C/RGD7C)................................................... 28
2.2 Installation.................................................................................................................................. 29
2.2.1 Slider Type.................................................................................................................... 29
2.2.2 Rod Type.......................................................................................................................30
2.2.3 Installing the Load......................................................................................................... 32
3. Electrical Specifications ....................................................................................................................... 34
3.1 Controller ................................................................................................................................... 34
3.2 Input/Output Interfaces .............................................................................................................. 35
3.2.1 Extension Cable............................................................................................................ 36
3.3 SIO Converter (Optional)........................................................................................................... 37
4. Wiring ................................................................................................................................................... 39
4.1 Basic Configuration with SIO Converter.................................................................................... 39
4.1.1 SIO Communication Connection Using a Relay Terminal Block ..................................41
4.1.2 SIO Communication Connection Using a 4-Way Junction ........................................... 42
4.1.3 Address Assignment..................................................................................................... 43
4.2 Configuration Using a Gateway Unit ......................................................................................... 44
4.2.1 SIO Communication Connection Using a Relay Terminal Block ..................................44
4.2.2 SIO Communication Connection Using a 4-Way Junction ........................................... 45
4.2.3 Connecting an Emergency Stop Circuit, Etc.................................................................46
5. Explanation of Operating Functions..................................................................................................... 47
5.1 Description of Position Table ..................................................................................................... 48
5.1.1 Relationship of Push Force at Standstill and Current-Limiting Value ........................... 52
5.2 Data Set in the Numerical Specification Mode .......................................................................... 54
5.3 Explanation of Functions ........................................................................................................... 54
5.3.1 Control Signals and Control Data ................................................................................. 56
5.3.2 Timings after Power On ................................................................................................62
5.3.3 Home Return Operation................................................................................................ 64
5.3.4 Positioning Operation.................................................................................................... 66
5.3.5 Push & Hold Operation ................................................................................................. 70
5.3.6 Pause............................................................................................................................ 74
5.3.7 Speed Change during Movement................................................................................. 75
5.3.8 Operation at Different Acceleration and Deceleration .................................................. 77
5.3.9 Zone Signal................................................................................................................... 78
5.3.10 Pitch Feed by Incremental Specification.......................................................................79
5.3.11 Power-Saving Mode at Standby Positions....................................................................83
6. Parameter Settings .............................................................................................................................. 84
6.1 Parameter Table ........................................................................................................................ 84
6.2 Detailed Explanation of Parameters.......................................................................................... 85
6.2.1 Parameters Relating to the Actuator Stroke Range......................................................85
6.2.2 Parameters Relating to the Actuator Operating Characteristics................................... 87
6.2.3 Parameters Relating to the External Interface.............................................................. 91
6.2.4 Servo Gain Adjustment................................................................................................. 93
7. Troubleshooting ................................................................................................................................... 95
7.1 Action to Be Taken upon Occurrence of Problem...................................................................... 95
7.2 Alarm Level Classification..........................................................................................................96
7.2.1 How to Reset Alarms ....................................................................................................96
7.3 Alarm Description and Cause/Action......................................................................................... 97
7.4 Messages Displayed during Operation Using the Teaching Pendant or PC Software............ 102
7.5 Specific Problems.................................................................................................................... 104
8. Maintenance and Inspection.............................................................................................................. 106
8.1 Inspection Items and Schedule ...............................................................................................106
8.2 Visual Inspection of Appearance ............................................................................................. 106
8.3 Cleaning................................................................................................................................... 106
8.4 Internal Check (Slider Type) .................................................................................................... 107
8.5 Internal Cleaning (Slider Type) ................................................................................................ 108
8.6 Greasing the Guide (Slider Type) ............................................................................................ 108
8.7 Greasing the Ball Screw (Slider Type).....................................................................................110
8.8 Greasing the Rod Slide Surface.............................................................................................. 111
8.9 Motor Replacement Procedure................................................................................................112
9. Operation Examples .......................................................................................................................... 114
10. Appendix ........................................................................................................................................... 115
.......................................................................................................................... 115
..........................................................................................................................115
..........................................................................................................................116
10.1 External Dimensions
10.1.1 ERC2-SA6C
10.1.2 ERC2-SA7C
10.1.3 ERC2-RA6C
10.1.4 ERC2-RA7C
10.1.5 ERC2-RGS6C
10.1.6 ERC2-RGS7C
10.1.7 ERC2-RGD6C
10.1.8 ERC2-RGD7C
10.2
Recording of Position Table
Parameter Records
10.3
................................................................................... ....................................... 117
................................................................................... ................................ ....... 118
................................................................................... .................................... 119
................................................................................... .................................... 119
................................................................................... .................................... 120
................................................................................... ................................ .... 120
................................................................................... ............................. 121
................................................................................... ........................................... 124
Change History......................... ....................................................................................................... 125
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
1 Model
Operation
Description
Selection
Description
Ɣ This product has not been planned and designed for the application where
high level of safety is required, so the guarantee of the protection of
human life is impossible. Accordingly, do not use it in any of the following
applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving part
may drop when the power is turned OFF and may cause an accident such
as an injury or damage on the work piece.
1
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the instruction manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due to
an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
2
No.
Operation
Description
4 Installation
and Start
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the unit,
so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care of
the directions of positive and negative poles. If the connection direction is
not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection or
looseness. Failure to do so may cause a fire, electric shock or malfunction
of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric shock
or electrostatic charge, enhance the noise-resistance ability and control
the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair cable
with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for grounding
work. For security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100Ω or below).
3
No.
4 Installation
Operation
Description
and Start
Description
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the safety
measures (such as the installation of safety and protection fence) so that
nobody can enter the area within the robot’s movable range. When the
robot under operation is touched, it may result in death or serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power turning
ON. Failure to do so may start up the machine suddenly and cause an
injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure to
do so may result in an electric shock or injury due to unexpected power
input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!” etc.
Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to do
so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence, if
possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
4
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check operation
one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after operation
stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
5
No.
8 Maintenance
Operation
Description
and Inspection
Description
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the case
that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so that
the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Instruction Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in a
damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing so
may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safety.
6
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the Instruction Manual for each model.
Level Degr
Danger
Warning
Caution
Notice
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, could result in death or serious injury.
This indicates a potentially hazardous situation which, if the product
is not handled correctly, may result in minor injury or property
damage.
This indicates lower possibility for the injury, but should be kept to
use this product properly.
ee of Danger and Damage Symbol
Danger
Warning
Caution
Notice
7
Caution in Handling
1. Do not set speeds and accelerations/decelerations equal to or greater
than the respective ratings.
If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable
value, abnormal noise or vibration, failure, or shorter life may result.
In the case of interpolated operation of combined axes, the speed and
acceleration/deceleration settings should correspond to the minimum values among all
combined axes.
2. Keep the load moment within the allowable value.
If the actuator is operated under a load equal to or greater than the allowable load moment,
abnormal noise or vibration, failure, or shorter life may result. In an extreme case, flaking
may occur.
3. Make sure to attach the actuator properly by following this instruction
manual.
Using the product with the actuator not being certainly retained or affixed may cause abnormal
noise, vibration, malfunction or shorten the product life.
8
1. Overview
1.1 Introduction
Thank you for purchasing the Easy All-in-One ROBO Cylinder (hereinafter referred to as “ERC2-SE”).
This product retains all benefits of the conventional ERC series, while incorporating new features that provide
greater convenience and enhanced safety to the users.
Among the ERC2 Series actuators, this product can be operated via serial communication in the position number
specification mode or the direct numerical specification mode.
The following two communication patterns are supported by serial communication systems:
[1] Communicate with a host PLC, etc., via a gateway unit in various field network environments (DeviceNet,
CC-Link and Profibus).
[2] Communicate serially with a PC or PLC via a SIO converter based on the RS-232C protocol.
Please read this manual carefully and handle the product with utmost care while ensuring its correct operation.
It is advised that you also peruse the operation manual for your gateway unit as well as the Operation Manual for
Serial Communication Protocol.
When starting your system or in the event of failure, also refer to the operation manuals for the teaching pendant,
PC software and other components you are using with this product.
This manual does not cover all possible operations other than normal operations, or unexpected events
such as complex signal changes resulting from operating the product at critical timings.
Accordingly, think of any item not specifically mentioned in this manual as “prohibited.”
* 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. Overview
9
1.2 Key Features and Functions
(1) Input/output of control signals by means of RS485 serial communication (conforming to the Modbus
protocol)
(2) 64 positioning points
(3) Variable zone output boundaries
Before, zone output boundaries were set by parameters and therefore fixed. For greater convenience, this
product permits setting of zone output boundaries in the position table. (Available in the position number
specification mode only)
Set desired boundaries to prevent contact with peripheral equipment, shorten the tact time, etc.
(4) Different acceleration and deceleration settings (Available in the position number specification mode only)
Acceleration and deceleration can be set differently in the position table.
In situations where shock and vibration upon stopping must be minimized depending on the material or
shape of the load, you can decrease only the deceleration to allow the actuator to stop along a gradual
deceleration curve.
(5) Limitation of moving speed during adjustment by trial operation
During adjustment by trial operation, the moving speed of the actuator can be limited to ensure safety.
(6) Power-saving measure
In general, pulse motors generate greater holding current than AC servo motors in a standstill state.
Accordingly, we provide a power-saving mode to conserve electricity in situations where the actuator stands
by for a long period.
1. Overview
10
1.3 Differences from Air Cylinder Control
This section explains the key differences between an air cylinder and this controller for users who are familiar
with air cylinders but have never used a motorized cylinder before.
Refer to the table below to perform appropriate controls.
Item Air cylinder This controller
Drive method Driven by air pressure
based on electromagnetic
valve control.
Driven by a ball screw or timing belt using a pulse motor.
Target position
setting
Mechanical stopper
(including a shock absorber)
[1] Position number specification mode
Enter a coordinate in the [Position] field of the position table.
You can key in a desired coordinate using the number keys
on a PC (keyboard)/teaching pendant, or move the actuator
to a desired position and then write the coordinate to the
position table directly.
Example) Entries on a 400-mm actuator
[2] Numerical specification mode: Specify a desired value
directly.
Target position
detection
A reed switch or other
external detection sensor is
installed.
Whether or not the target position has been reached is
determined based on the internal coordinate information
received from the position detector (encoder).
Accordingly, no external detection sensor is required.
Speed setting Adjusted using a speed
controller.
[1] Enter a feed speed in the [Speed] field of the position
table (in mm/sec).
Initially, the default speed has been set automatically.
[2] Specify a desired value directly.
Acceleration/
deceleration
setting
In accordance with the load,
air supply volume, and
speed
controller/electromagnetic
valve performance.
[1] Enter an acceleration or deceleration in the [Acceleration]
or [Deceleration] field of the position table (in units of 0.01
G).
Reference: 1 G = Gravitational acceleration that generates
when the actuator drops freely.
Initially, the default acceleration and deceleration have been
set automatically.
[2] Specify a desired value directly.
Since acceleration and deceleration can be set finely, you
can define a gradual deceleration/acceleration curves.
Larger acceleration/deceleration values set steeper curves,
while smaller acceleration/deceleration values set more
gradual curves.
Position No. Position
Acceleration
Deceleration
Movement
start position
End position
1. Overview
11
Item Air cylinder This
controller
Position check
upon power on
Determined using a reed
switch or other external
detection sensor.
Immediately after the power has been turned on, the current
position is indeterminable because no mechanical
coordinates are stored in the controller.
After the power is turned on, therefore, a home return
command must always be issued to establish coordinates.
[1] The actuator moves toward the mechanical end on the
motor side at the home return speed.
[2] The actuator contacts the mechanical end and reverses its
direction, moves to the home position, and then pauses.
(Note) Make sure no obstacles are present in the home return
path.
[1]
[2]
Home
position
Power
on
position
1. Overview
12
1.4 Meaning of the Model Number
<Series name>
<Motor type>
PM: Pulse motor
<Options>
Blank: No option
B: With brake
NM: Reversed-home
specification
FT: Foot bracket (Specified
<Extension 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
<Stroke>
50 to 600 mm
(Standard lengths are multiples of 50
mm.)
(Example) 100 = 100 mm
<I/O signal pattern>
NP: PIO-NPN specification
PN: PIO-PNP specification
SE: SIO specification
<Ball screw lead>
16: 16 mm
12: 12 mm
8: 8 mm
6: 6 mm
4: 4 mm
3: 3 mm
<Type>
Slider type
x SA6C
x SA7C
Rod type
x RA6C
x RA7C
x RGS6C
x RGS7C
x RGD6C
x RGD7C
<Encoder type>
I: Incremental
ERC2-SA6C-I-PM-12-300-SE-S-NM
1. Overview
13
1.5 Specifications
(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 payload capacity is based on operation at the rated acceleration. In the case of a guide type, find the applicable payload
capacity in the above table and subtract the weight of the guide to obtain the effective payload capacity.
Model
Stroke (mm) and maximum speed (mm/sec) (Note 1)
Payload capacity (Note
Rated acceleration
Horizontal
Vertical Horizontal Vertical
Slider type
Rod type
1. Overview
14
1.5.1 Correlation Diagrams of Speed and Payload Capacity – Slider Type
(Note) In the above graphs, the number after each type name indicates the lead.
Horizontal installation Ve
rtical installation
High-speed type
Load capacity (kg)
Speed (mm/sec)
Medium-speed type Low-speed type
Load capacity (kg)
Load capacity (kg)
Load capacity (kg)
Speed (mm/sec)
Speed (mm/sec) Speed (mm/sec)
Speed (mm/sec) Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
1. Overview
15
1.5.2 Correlation Diagrams of Speed and Payload Capacity – Rod Type
(Note) In the above graphs, the number after each type name indicates the lead.
Horizontal installation Ve
rtical installation
High-speed type
Load capacity (kg)
Speed (mm/sec)
Medium-speed type
Low-speed type
Load capacity (kg)
Load capacity (kg)
Load capacity (kg)
Speed (mm/sec)
Speed (mm/sec) Speed (mm/sec)
Speed (mm/sec) Speed (mm/sec)
Load capacity (kg)
Load capacity (kg)
1. Overview
16
Load Applied to the Actuator
(1) Slider type
x 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 overhang length and payload
capacity.
x If the slider is used in an overhang application with the load overhanging 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
x Keep the load applied to the rod below the value specified in the catalog.
x Make sure the center of the rod axis corresponds to the moving direction of the load.
x Application of lateral load may cause an actuator damage or breakdown.
x If the rod is to be subjected to lateral load, provide a guide or other support in
the moving direction of the load.
x Do not apply rotating torque to the rod (slide shaft).
* It will result in internal damages.
When tightening the nut at the end of the rod, secure the rod using a
wrench of size 13 (RA6C type) or 17 (RA7C type).
1.5.3 The sound pressure level of this product does not exceed 70 dB.
1. Overview
17
1. Overview
1.6 Warranty
1 Warranty Period
One of the following periods, whichever is shorter:
y 18 months after shipment from our company
y 12 months after delivery to the specified location
2 Scope of Warranty
Our products are covered by warranty when all of the following conditions are met. Faulty products
covered by warranty will be replaced or repaired free of charge:
(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized
dealer.
(2) The breakdown or problem in question occurred during the warranty period.
(3) The breakdown or problem in question occurred while the product was in use for an appropriate
purpose under the conditions and environment of use specified in the operation manual and catalog.
(4) The breakdown of problem in question was caused by a specification defect or problem, or by a
quality issue with our product.
Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:
[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such
modification or repair)
[3] Anything that could not be easily predicted with the level of science and technology available at
the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance
Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.
3 Honoring the Warranty
As a rule, the product must be brought to us for repair under warranty.
4 Limited Liability
(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a
loss of expected profit arising from or in connection with our product.
(2) We shall not be liable for any program or control method created by the customer to operate our
product or for the result of such program or control method.
18
5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and
Applications
(1) If our product is combined with another product or any system, device, etc., used by the customer,
the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.
(2) Our product is for general industrial use. It is not intended or designed for the applications specified
below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:
[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a
vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items
(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that
differs from what is specified in the catalog or operation manual.
6 Other Items Excluded from Warranty
The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:
[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs
1. Overview
19
1.7 Transportation and Handling
1.7.1 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.
x If the box is heavy, one person should not carry it by himself.
x Place the box in a level surface.
x Do not step on the box.
x 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.
1.7.2 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.
x 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.
x Do not exert excessive force on each part of the actuator. In particular, pay attention to the motor cover and
cables.
x When unpacking, exercise due caution not to let the actuator drop and sustain damage to its mechanism.
x 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.
1. Overview
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