IAI America ERC3 User Manual

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ERC3 Actuator with Integrated Controller

Instruction Manual

Eighth Edition

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This Instruction Manual describes all necessary information items to operate this product safely such as the operation procedure, structure and maintenance procedure. Before the operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD or DVD in this product package includes the Instruction Manual for this product. For the operation of this product, print out the necessary sections in the Instruction Manual or display them using the personal computer.

After reading through this manual, keep this Instruction Manual at hand so that the operator of this product can read it whenever necessary.

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x This Instruction Manual is original. x The product cannot be operated in any way unless expressly specified in this Instruction

Manual. IAI shall assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Instruction Manual is subject to change without notice for the

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x If you have any question or comment regarding the content of this manual, please contact

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Safety Guide ···················································································································1 Guideline for Control Method····························································································8 Precautions in Operation ·································································································· 9 International Standards Compliances············································································· 13 Names of the Parts ········································································································· 14 Actuator Coordinate········································································································ 23 Starting Procedures ········································································································ 24

Chapter 1 Specifications Check ··············································································· 31

1.1 Product Check ················································································································ 31

1.1.1 Parts················································································································· 31

1.1.2 Teaching Tool ···································································································32

1.1.3 Instruction manuals related to this product, which are contained in the DVD.······································································································· 32

1.1.4 How to read the model plate············································································33

1.1.5 How to read the model·····················································································34

1.2 Specifications·················································································································· 36

1.2.1 Actuator············································································································ 36 [1] High Output Setting·················································································36 [2] Maximum speed ······················································································38 [3] MAX. Acceleration, Payload Capacity····················································· 40 [4] Driving System • Position Detector ·························································52 [5] Positioning Precision··············································································· 53 [6] Current Limit Value and Pressing Force ················································· 54 [7] Option······································································································ 58

1.2.2 Built-in Controller ····························································································· 59 [1] Basic Specifications················································································· 59 [2] I/O Specifications····················································································· 60

1.2.3 Control Option··································································································62 [1] PIO Converter (Model: RCB-ƑƑƑ)··························································· 62 [2] Quick Teach (Model: RCM-PST-Ƒ)·························································· 66

Chapter 2 Installation ·······························································································69

2.1 Transportation·················································································································69 [1] Handling of Actuator, PIO Converter and Quick Teach ···························69 [2] Handling of Multi-Axes Type···································································· 70 [3] Handling of Robot Mounted on Mechanical Equipment (System) ··········70

2.2 Installation and Storage Environment············································································· 71 [1] Installation Environment··········································································71 [2] Storage • Preservation Environment ······················································· 72

2.3 How to Install ·················································································································· 73

2.3.1 Posture of Actuator Attachment ······································································· 73

2.3.2 Installation of Slider Type ················································································· 74 [1] Attachment of Actuator Body··································································· 74 [2] Load Attachment ·····················································································77

2.3.3 Installation of Rod Type····················································································79 [1] Installation of Actuator Type Unit····························································· 79 [2] Load Attachment ·····················································································84

2.3.4 Noise Prevention and How to Attach Electrical Devices·································· 86 [1] Noise Elimination Grounding (Frame Ground)········································ 86 [2] Precautions regarding wiring method······················································90 [3] Noise Sources and Elimination ······························································· 90 [4] Cooling Factors and Installation······························································90

Chapter 3 Wiring ······································································································ 93

3.1 Positioner Mode 1 (Standard Type)················································································93

3.1.1 Wiring Diagram (Connection of construction devices)····································· 93

3.1.2 PIO Pattern Select and PIO Signal·································································· 94 [1] PIO Pattern (Control Pattern) Selection·················································· 94 [2] PIO Patterns and Signal Assignment······················································95 [3] List of PIO Signals··················································································· 96

3.1.3 Circuit Diagram ································································································ 97 [1] Power Line and Emergency Stop Circuit················································· 97 [2] PIO Circuit ·······························································································98

3.2 Pulse Train Control Mode ·····························································································101

3.2.1 Wiring Diagram (Connection of construction devices)··································· 101

3.2.2 PIO Pattern Selection and PIO Signal··························································· 102 [1] PIO Pattern (Control Pattern) Selection················································ 102 [2] PIO pattern and Signal Allocation·························································· 102 [3] List of PIO Signals················································································· 103

3.2.3 Circuit Diagram ······························································································ 104 [1] Power Line and Emergency Stop Circuit··············································· 104 [2] Command Pulse Train Circuit································································ 105 [3] PIO Circuit ·····························································································106

3.3 Positioner Mode 2 (Extension Type by PIO Converter)················································108

3.3.1 Wiring Diagram (Connection of construction devices)··································· 108

3.3.2 PIO Pattern Selection and PIO Signal··························································· 109 [1] PIO Pattern (Control Pattern) Selection················································ 109 [2] PIO Patterns and Signal Assignment···················································· 110 [3] List of PIO Signals················································································· 112

3.3.3 Circuit Diagram ······························································································ 114 [1] Power Line and Emergency Stop Circuit··············································· 114 [2] PIO Converter to ERC3········································································· 116 [3] PIO Circuit ····························································································· 117

3.4 MEC Mode 1 (Operation with PLC)··············································································123

3.4.1 Wiring Diagram (Connection of construction devices)··································· 123

3.4.2 PIO Pattern Selection and PIO Signal··························································· 124 [1] Operation pattern ·················································································· 124 [2] Operation Patterns and Signal Assignments········································· 125 [3] List of PIO Signals················································································· 126

3.4.3 Circuit Diagram ······························································································ 127 [1] Power Line and Emergency Stop Circuit··············································· 127 [2] PIO Circuit ·····························································································128

3.5 MEC Mode 2 (Operation Using PIO Converter)··························································· 130

3.5.1 Wiring Diagram (Connection of construction devices)··································· 130

3.5.2 PIO Pattern Selection and PIO Signal··························································· 131 [1] Operation pattern ·················································································· 131 [2] Operation Patterns and Signal Assignments········································· 132 [3] List of PIO Signals················································································· 133

3.5.3 Circuit Diagram ······························································································ 134 [1] Power Line and Emergency Stop Circuit··············································· 134 [2] PIO Converter to ERC3·········································································136 [3] PIO Circuit ·····························································································137

3.6 MEC Mode 3 (Solo Operation with Quick Teach)························································· 139

3.6.1 Wiring Diagram (Connection of construction devices)··································· 139 [1] RCM-PST-0 (24V DC power supply type)·············································139 [2] RCM-PST-1 ··························································································· 140 [3] RCM-PST-2/RCM-PST-EU····································································141

3.7 Wiring Method···············································································································142

3.7.1 Wiring of Actuator··························································································· 142 [1] PIO type power and I/O cable (Model : CB-ERC3P-PWBIOƑƑƑ)········· 142 [2] SIO type power and I/O cable (Model : CB-ERC3S-PWBIOƑƑƑ)········· 143

3.7.2 Wiring between PIO Converter and Quick Teach ··········································144

3.7.3 Wiring between PIO Converter and Host Controller (e.g. PLC) ···················· 145

3.7.4 Wiring of PIO Converter Power Line Connector············································ 149

3.7.5 Pulse Converter: AK-04 (Optional accessory) ··············································· 150

3.7.6 Teaching Port Connector Connection of ERC3 Main Unit ·····························151

3.7.7 Connection of SIO Connector of PIO Converter············································ 152

Chapter 4 Operation·······························································································153

4.1 Basic Operation ············································································································153

4.1.1 Basic Operation Methods··············································································· 153 [1] Positioner Mode 1 (PIO Operation of ERC3) ········································ 153 [2] Pulse Train Control Mode (Pulse Train Operation of ERC3)·················154 [3] Positioner Mode 2 (Extended Operation of ERC3)······························· 155 [4] MEC Mode 1 ························································································· 156 [5] MEC Mode 2 ························································································· 157 [6] MEC Mode 3 ························································································· 157

4.1.2 Parameter Settings ························································································158

4.2 Operation in Positioner Mode ·······················································································159

4.2.1 Set of Position Table ······················································································ 159

4.2.2 Operation in Positioner Mode 1 ····································································· 164 [1] PIO Pattern Selection and Main Functions ···········································164 [2] Overview of major Functions································································· 165 [3] Power Supply and Emergency Stop Release (CP, MP, EMG, PEND) ·· 166 [4] Brake release BK ·················································································· 167 [5] Time Constant for Control Signal Input ················································· 167 [6] Operation Ready and Auxiliary Signals·················································168 [7] Operation with the Position No. Input =

Operations of PIO Patterns 0 and 2······················································172

[8] Direct Position Specification (3-point <Solenoid valve> type) =

PIO Pattern 1························································································· 185

4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)················ 197 [1] PIO Pattern Selection and Main Functions ···········································197 [2] Overview of major Functions································································· 198 [3] Power Supply and Emergency Stop Release

(CP24, MPI, MPO, EMG(-))··································································· 199 [4] Time Constant for Control Signal Input ················································· 199 [5] Operation Ready and Auxiliary Signals·················································200 [6] Operation with the Position No. Input =

Operations of PIO Patterns 0 to 3 ·························································209 [7] Direct Position Specification (Solenoid Valve Mode 1) =

Operation of PIO Pattern 4···································································· 226 [8] Direct Position Specification (Solenoid Valve Mode 2)

= Operations of PIO Pattern 5 in PIO Converter···································238

4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type) ··· 245 [1] Guideline for PIO Pattern Selection and Supportive Functions ············ 245 [2] Guideline for Supportive Functions······················································· 245 [3] Power Supply and Emergency Stop Release (CP, MP, EMG) ·············· 246 [4] Brake Release BK·················································································246 [5] Time Constant for Control Signal Input ················································· 247 [6] Operation Ready and Auxiliary Signals·················································247 [7] Pulse Train Input Operation··································································· 251 [8] Settings of Basic Parameters Required for Operation·························· 254 [9] Parameter Settings Required for Advanced Operations······················· 257

4.4 Operation in MEC Mode 1 and 2 (Operation with PLC) ···············································259 [1] Outline for Operation Patterns and Functions·······································259 [2] Table for Operational Conditions (Position Table) and

Positioning Complete Signal ································································· 260 [3] Power Supply and Emergency Stop Release ······································· 264 [4] Brake release BK ·················································································· 266 [5] Time Constant for Control Signal Input ················································· 266 [6] Operation when Operation Pattern is “2-Point Stop (2-Point

Positioning)”··························································································· 267 [7] Operation when Operation Pattern is “3-Point Stop (3-Point

Positioning)”··························································································· 268

4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.) ·············································271

4.5.1 Operation Panel Functions ············································································ 271

4.5.2 Operations······································································································ 272

[1] Switches Used for Mode Selection (Auto Њ Manual) ························· 272 [2] Switch Used for Servo ON/OFF Operation ··········································· 272 [3] Switch Used for Home-Return Operation··············································272 [4] Switches Used for Manual Operation····················································272 [5] Switch Used for Brake Release ···························································· 273 [6] Switches Used to Change Positioning Point Number··························· 273 [7] Switches Used for Position Teaching ···················································· 274 [8] Switches and Rotary Knobs Used in Acceleration/Deceleration and

Speed Settings ······················································································277 [9] Switches Used in Test Run···································································· 277 [10] Switches Used in Alarm Reset······························································ 277

4.5.3 Test Run with Operation Panel ······································································ 278

Chapter 5 Power-saving Function

(Automatic Servo-off and Full Servo Functions) ···································· 287

5.1 Positioner Mode 1 and 2······························································································· 287

5.2 Pulse Train Control Mode ·····························································································290

5.3 MEC Mode 1, 2 and 3··································································································· 291

5.3.1 Automatic Servo-off Function········································································· 291

5.3.2 Full Servo Function ························································································293

Chapter 6 Adjustment of Operation ········································································295

6.1 Absolute Reset and Absolute Battery···········································································295

6.1.1 Absolute Reset·······························································································295 [1] Absolute reset procedure from teaching tool ········································295 [2] Absolute reset using PIO······································································· 296 [3] Absolute Battery····················································································298

6.2 High Output Setting and Gain Scheduling Function····················································· 301

6.2.1 High Output Setting························································································ 301

6.2.2 Gain Scheduling Function··············································································301

6.2.3 Setting in Positioner Mode 1 & 2 and Pulse Train Control Mode··················· 301

6.2.4 Setting in MEC Mode 1 to 3···········································································302

6.3 I/O Parameter ··············································································································· 303

6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode·········· 304 [1] I/O Parameter List ·················································································304 [2] Detail Explanation of Parameters··························································308 [3] Servo Adjustment ··················································································335

6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3·············································· 338 [1] I/O Parameter List ·················································································338 [2] Detail Explanation of Parameters··························································340 [3] Servo Adjustment ··················································································348

Chapter 7 Troubleshooting·····················································································351

7.1 Action to Be Taken upon Occurrence of Problem·························································351

7.2 Fault Diagnosis ············································································································· 353

7.2.1 Impossible operation of controller··································································353

7.2.2 Positioning and speed of poor precision (incorrect operation) ······················ 358

7.2.3 Generation of noise and/or vibration······························································360

7.3 Alarm Level ··················································································································· 361

7.4 Alarm List······················································································································362

Chapter 8 Actuator Maintenance Check ································································375

8.1 Inspection Items and Schedule ···················································································· 375

8.2 External Visual Inspection ···························································································· 375

8.3 Cleaning························································································································375

8.4 Internal Inspections for Slider Type ··············································································376

8.5 Internal Cleaning for Slider Type ··················································································376

8.6 Grease Supply ··············································································································377

8.6.1 Grease Supply for Slider Type·······································································377

8.6.2 How to Supply Grease on Slider Type ···························································378

8.6.3 Grease Supply for Rod Type·········································································· 380

8.6.4 How to Supply Grease on Rod Type······························································381

8.7 Motor Replacement Process ························································································383

Chapter 9 External Dimensions··············································································385

9.1 ERC3-SA5C··················································································································385

9.2 ERC3-SA7C··················································································································386

9.3 ERC3-RA4C ·················································································································387

9.4 ERC3-RA6C ·················································································································388

Chapter 10 Appendix································································································389

10.1 Input and Output Response Performance When PIO Converter is Used ···················· 389

10.2 Way to Set Multiple Controllers with 1 Teaching Tool ··················································· 390

10.2.1 Connecting Example······················································································ 391

10.2.2 Detailed Connection Diagram of Communication Lines································ 392

10.2.3 Axis No. Setting······························································································ 392

10.2.4 Handling of e-CON connector (how to connect)············································ 393

10.2.5 SIO Converter ································································································394

10.2.6 Communications Cable·················································································· 396

10.3 Conformity to Safety Category ····················································································· 397 [1] System Configuration············································································397 [2] Wiring and setting of safety circuit ························································398 [3] Examples of safety circuits···································································· 400 [4] TP adapter and accessories·································································· 406

10.4 When Connecting Power Supply with + Grounding ····················································· 408

10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)········ 409

10.5.1 I/O Assignment······························································································· 409

10.5.2 Ladder Sequence··························································································· 410 [1] Servo ON (Emergency Stop) Circuit ····················································· 410 [2] Operation and Stop Circuit ····································································410 [3] Pause Circuit ························································································· 411 [4] Reset Circuit·························································································· 412 [5] Home Return Circuit·············································································· 413 [6] Decode Circuit of Positioning Complete Position No.··························· 414 [7] Actuator Start Circuit ·············································································414 [8] Position 1 Operation Circuit··································································· 415 [9] Position 2 Operation Circuit··································································· 416 [10] Position 3 Operation Circuit···································································417 [11] Commanded Position No. Output Ready Circuit··································· 418 [12] Commanded Position No. Output Circuit ··············································419 [13] Start Signal Output Circuit····································································· 419 [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode)······ 420

10.6 Life ································································································································ 421

10.6.1 Product Life of Slider Type············································································· 421

10.6.2 Product Life of Rod Type ··············································································· 421

Chapter 11 Warranty ································································································423

11.1 Warranty Period············································································································ 423

11.2 Scope of the Warranty··································································································423

11.3 Honoring the Warranty·································································································· 423

11.4 Limited Liability ············································································································· 423

11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications············································································································424

11.6 Other Items Excluded from Warranty ··········································································· 424

Change History ············································································································· 425

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.

Operation

Description

1 Model

Selection

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.

No.

Operation

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

No.

Operation

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.

4 Installation

and Start

(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

(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 100: or below).

No.

Operation

Description

4 Installation

and Start

(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.

No.

Operation

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.

No.

Operation

Description

8 Maintenance

and Inspection

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

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.

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 Degree of Danger and Damage Symbol

Danger

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

Danger

Warning

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

Warning

Caution

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

Caution

Notice

This indicates lower possibility for the injury, but should be kept to use this product properly.

Notice

Guideline for Control Method

ERC3 has numerous operation patterns and options to meet many criteria for different applications. Check Chapter 4 Operation for more details. When Quick Teach is used with Con mode only Jog Operation is available.

Codes in brackets are model codes

Controller

No.

Type of

Operation

I/O Type Controller Type

Compulsory

Option

Overview

1 Positioner

Mode 1 (Standard Type)

PIO Type (NP/PN)

CON Mode (CN)

– • Select from 3 types of PIO patterns for

the operation method

• Number of maximum positioning points: 16 points

– • An operation by pulse train input is

available.

• There are 2 types of operation methods (Positioning/Pressing)

2 Pulse Train

Control Mode

Pulse Train Control Type (PLN/PLP)

(Note 1)

CON Mode (CN)

Pulse Converter AK-04

• Applicable for open collector pulse train output

• There are 2 types of operation methods (Positioning/Pressing)

3 Positioner

Mode 2 (Expansion Type)

SIO Type (SE)

CON Mode (CN)

PIO Converter • Select from 6 types of PIO patterns for

the operation method

• Number of maximum positioning points: 512 points

• Capable for Simple Absolute Type application

4 MEC Mode 1 PIO Type

(NP/PN)

MEC Mode (MC)

Quick

(Note 2)

Teach

• The same control as air cylinder is available

• Simple operation is available with Quick Teach (teaching pendant)

• There are 2 types of operation patterns (2-Point Positioning/3-Point Positioning)

5 MEC Mode 2 SIO Type

(SE)

MEC Mode (MC)

PIO Converter

Quick

(Note 2)

Teach

• The same control as air cylinder is available

• Simple operation is available with Quick Teach (teaching pendant)

• There are 2 types of operation patterns (2-Point Positioning/3-Point Positioning)

• Capable for Simple Absolute Type application

6 MEC Mode 3 SIO Type

(SE)

MEC Mode (MC)

Quick Teach • Individual operation is available by

Quick Teach

• There are 2 types of operation patterns (2-Point Positioning/3-Point Positioning)

Note 1 The pulse train input is the differential input (Line Driver) type. For PLN, PIO is NPN type

and PLP is PNP type.

Note 2 It is also available to use any teaching tool other than Quick Teach.



Caution : The selection of the controller type is determined by the selection of the model code.

The type of built-in controller differs for each type. Since the hardware is different, it is not possible to select the type with parameters after the product is delivered out.

Precautions in Operation

1. It is set to “high output” when the machine is delivered from the factory.

There is a limit in the duty for the high output setting. Even though the transportable weight and maximum speed decrease, an operation with the duty 100% becomes available if the high output setting is set invalid in the parameters. See 1.2.1 Settings for Valid/Invalid of High Output Setting for more details.

2. Set the operation patterns.

There are some operation (PIO) patterns prepared for each model classified by the built-in controller. Set the operation pattern and parameters suitable for the operation method of each model. See Chapter 4 Operation for more details.



Caution : Please note it is very risky when the control sequence and PIO pattern setting do not

match to each other. It may not only cause the normal operation disabled, but also may cause an unexpected operation.

3. 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.

4. The allowable load moment for the slider type should be within the allowable range.

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.

5. The overhung for the slider type should be within the allowable range.

Attaching a load beyond the allowable overhang length may generate vibration or abnormal noise.

6. Do not attempt to apply a rotary torque the rod type.

Doing so may damage the internal component such as the rod stopper, and may result in an operation failure.

7. Back and forth operation in short distance may wear out the oil film of the grease.

If the actuator is moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuator back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuator with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide.

8. Do not attempt to hit the slider or rod against an obstacle with high speed.

It may destroy the coupling.

9. 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.

10. Make sure to follow the usage condition, environment and specification range of the product.

Operation out of the guarantee could cause a drop in performance or malfunction of the product.

11. Use the dedicated teaching tool.

Check 1.1.2 Teaching Tool for the PC software and teaching pendant available for this controller.

12. Do not connect Quick Teach while a tool (teaching) is being connected to the 8-pin mini DIN connector on the ERC3 main unit.

Communication between ERC3 and the tool (teaching or PC) becomes unable.

13. Do not connect Quick Teach while a tool is being connected to TP connector (8-pin mini DIN) on ERC3 side.

Since the communication with Quick Teach cannot be established, ERC3 cannot receive the high-output invalid command and runs with the high-output setting condition, resulting in a generation of the voltage drop error due to the capacity drop of the power supply unit inside Quick Teach.

14. Backup the data to secure for breakdown.

A non-volatile memory is used as the backup memory for this controller. All the registered position data and parameters are written into this memory and backed-up at the same time. Therefore, you will not usually lose the data even if the power is shut down. However, make sure to save the latest data so a quick recovery action can be taken in case when the controller is broken and needs to be replaced with another one.

How to Save Data (1) Save the data to CD-R or hard disk with using the PC software (2) Hard-copy the information of position tables and parameters on paper

15. Clock Setting in Calendar Function

When power is supplied to the PIO converter for the first time, “Error Code 069 Real Time Clock Vibration Stop Detected” May get generated. In the case this happens, set the current time with a teaching tool. If the battery is fully charged, the clock data is retained for approximately 10 days after the power is turned OFF. Even though the time setting is conducted before the product is shipped out, the battery is not fully charged. Therefore, there may be a case that the clock data is lost even with fewer days than described above passed since the product is shipped out.

16. Pulse Train Control Type cannot be operated with the serial communication.

It is able, however, to monitor the current position or the conditions of the status.

17. When using Pulse Train Control type, pay close attention to the pulse frequency; so the frequency will no exceed the actuator specification.

In the pulse train control, the acceleration/deceleration speed is also controlled by the change of the command pulse frequency from the host controller. Be careful not to exceed the maximum acceleration/deceleration speed of the actuator. The use of the actuator with excessive acceleration/deceleration rate may cause a malfunction.

18. For CON Mode Type, an operation cannot be made unless the servo-on signal and pause signal are input.

(1) Servo ON Signal SON

Servo-on signal SON is selectable from either “Enable” or “Disable” by the parameter. This setting can be performed in Parameter No.21 “Servo ON input disable selection”. [Refer to Chapter 7 Parameters.] If it is set to “Enable”, the actuator would not operate unless turning this signal ON. If parameter No.21 is set to “1”, SON is made disable. If it is set to “Disable”, the servo becomes ON and the actuator operation becomes enabled as soon as the power supply to the controller is turned ON and the emergency stop signal is cancelled. The factory setting is “0” (Enable). Have the setting that suits the desired control logic.



(2) Pause Signal *STP

The input signal of the pause signal *STP is always ON considering the safety. Therefore, in general, the actuator would not operate if this signal is not ON. It is available to make this signal to “Disable”, if this signal is undesirable. It is settable by parameter No.15 “Pause input disable”. [Refer to Chapter 7 Parameters.] If parameter No.15 is set to “1” (Disable), the actuator can operate even if this signal is not ON. This parameter is set to “0” (Enable) at delivery.

19. Transference of PIO Signal between Controllers

Please note the following when conducting transference of PIO signal between controllers. To certainly transfer the signal between controllers with different scan time, it is necessary to have longer scan time than the one longer than the other controller. To ensure to end the process safely, it is recommended to have the timer setting more than twice as long as the longer scan time at least.

䎃

Ɣ Operation Image

䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃䎃

Also, if one tries to read the signal that is being re-written by the other, the signal may be read wrongly. Make sure to read the signal after the rewriting is complete. (It is recommended to have more than 2 scan periods to wait.) Make sure not to have the output side to change the output until the other side completes the reading. Also, a setting is made on the input area not to receive the signal less than a certain time to prevent a wrong reading of noise. This duration also needs to be considered.

20. PLC Timer Setting

Do not have the PLC timer setting to be done with the minimum setting. Setting to “1” for 100msec timer turns ON at the timing from 0 to 100msec while 10msec timer from 0 to 10msec for some PLC. Therefore, the same process as when the timer is not set is held and may cause a failure such as the actuator cannot get positioned to the indicated position number in Positioner Mode. Set “2” as the minimum value for the setting of 10msec timer and when setting to 100msec, use 10msec timer and set to “10”.

This controller

(scan time 1msec)

PLC

(e.g. scan time is 20msec)

Output Process

Input Process

As shown in the diagram, the input and output timings of two devices that have different scan time do not match, of course, when transferring a signal. There is no guarantee that PLC would read the signal as soon as this controller signal turns on. In such a case, make the setting to read the signal after a certain time that is longer than the longer scan time to ensure the reading process to succeed on the PLC side. It is the same in the case this controller side reads the signal. In such a case, it is recommended to ensure 2 to 4 times of the scan time for the timer setting margin. It is risky to have the setting below the scan time since the timer is also processed in the scan process. In the diagram, PLC can only read the input once in 20msec even though this controller output once in 1msec. Because PLC only conducts output process once in 20msec, this controller identifies the same output status for that while.

International Standards Compliances

This product complies with the following overseas standard.

RoHS Directive CE Marking

{

To be scheduled

Names of the Parts

1. Main Body

In this instruction manual, the right and left sides of the actuator is expressed in the way it is placed horizontally and is looked from the motor side as shown in the figure below.

(1) Slider Type

Right Side

Left Side

Screw Cover Slider

Motor Unit

Screw for motor unit attachment

Front Cover

Base

External I/F Connector

Teaching Port

Opposite Side of the Motor

Motor Side

(2) Rod Type

Rod

Motor Unit

Screw for motor unit attachment

Rod End Fitting Range of T-groove

External I/F Connector

Teaching Port

Frame

Grease Supply Gate (Thin-Head Screw)

Right Side

Left Side

Opposite Side of the Motor

Motor Side

T-groove

Flange Surface

2. Motor Unit

1) Status Indicator LED Following show the controller operation status:

{ : Illuminating × : OFF ڏ : Flashing

LED Status of PIO Output Signal

CON Mode Type MEC Mode Type

(GN)

ALM (RD)

Operation status

*ALM Output

(Note 1)

Control Power Supply ON ON Control Power Supply OFF OFF

× ×

Servo OFF OFF Motor driving power supply

OFF

Emergency Stop OFF

{

Alarm (Operation cancellation level or more)

OFF

{

× Servo ON ON

ڏ × During automatic servo-off ON

{ (OR)

In initializing process at power being ON

OFF

Note 1 The output signals with * mark are the active low signals that turn ON in normal condition and turn

OFF while in abnormal condition.

2) Teaching Port It is the connector dedicated for the connection of a teaching tool such as PC software.

3) External I/F Connector It is I/F connector for controls with PIO and SIO.

1) Status Indicator LED (SV/ALM)

2) Teaching Port

3) External I/F Connector

3. Option

(1) PIO Converter (Model: RCB-CV/CVG-**)

The functions of CON mode type in ERC3 can be extended. See 4.2.3 Operation in Positioner Mode 2 for details. Also, if ERC3 is Simple Absolute Type, the absolute battery is to be attached to this PIO Converter, thus it is mandatory.

6) Status Indicator LED

5) Absolute Battery LED (For Simple Absolute Type)

4) Brake Release Switch

3) SIO Connector

1) PIO Connector

11) FG Terminal Block

7) Absolute Reset LED (For Simple Absolute Type)

8) Mode Changeover Switch for Status LEDs (with monitor LED)

9) Status Display Mode LED (with monitor LED)

10) Status LED (with monitor LED)

䎽䎃

2) Absolute Battery (For Simple Absolute Type)

12) Power Supply Connector

14) Absolute Battery Connector (For Simple Absolute Type)

Z View

2) Absolute Battery (For Simple Absolute Type)

13) ERC3 Connector

1) PIO Connector (I/O) [Refer to 3.2.2 [2]] The PIO connector is used for control I/O signals.

2) Absolute Battery [Refer to Chapter 6] This is the battery to retain the encoder information for Simple Absolute Type. Affix it with fabric hook-and-loop fastener on the side of PIO Converter. If ERC3 is Simple Absolute Type, it is necessary that PIO Converter is a type that is applicable for Simple Absolute Type.

3) SIO Connector (SIO) [Refer to 3.7.6] This is the connector for the communication cable connection with a teaching tool such as the PC software.

4) Brake Release Switch (RLS/NOM) For the actuator equipped with a brake, the switch is used to release the brake forcibly. RLS ···········Brake release NOM··········Normal Operation (brake is activated)

Warning : Always set the switch to “NOM” in normal operation.

(Keep the chance to set the switch to RLS side as less as possible, and make sure to set it on NOM side in ordinary use.) The brake would not work even with the servo OFF condition if the switch is on the RLS side. In the vertical oriented mount, the work may drop and cause an injury or the work to be damaged.

5) Absolute Battery LED (BAT) It shows the absolute reset status, complete or incomplete. It is equipped if applicable for Simple Absolute Type.

LED Operation Status OFF Control Power Supply OFF

Green Light is turned ON. Battery Fully Charged

Orange Light is turned ON. Battery Charging Operation

Red Light is turned ON. Battery Disconnected

6) Status Indicator LED (SYS) Following show the controller operation status:

{ : Illuminating × : OFF ڏ : Flashing

LED Status of PIO Output Signal

CON Mode Type

MEC Mode

Type

(GN)

ALM (RD)

Operation status

SV Output

(Servo ON)

*ALM Output

(Note 1)

(Alarm)

*EMGS Output

(Note 1)(Note2)

(Emergency Stop Status)

*ALM Output

(Note 1)

Control Power Supply ON OFF ON ON ON Control Power Supply OFF OFF OFF OFF OFF

× ×

Servo OFF OFF OFF – OFF Motor driving power supply

OFF

OFF OFF – OFF

Emergency Stop OFF OFF OFF OFF

{

Alarm (Operation cancellation level or more)

OFF OFF – OFF

{

× Servo ON ON ON ON ON

During automatic servo-off

(Note 3)

OFF ON – ON

{ (OR)

In initializing process at power being ON

OFF OFF – OFF

Note 1 The output signals with * mark are the active low signals that turn ON in normal condition and turn

OFF while in abnormal condition. Note 2 *EMGS output is not prepared for Pulse Train Control Type. Note 3 Servo-motor Auto OFF [Refer to Chapter 5 Power-saving Function]

7) Absolute Reset LED (ABS) It shows the absolute reset status, complete or incomplete. It is to be mounted to Simple Absolute Type.

LED Operation Status OFF Control Power Supply OFF

Green Light is turned ON. Absolute Reset Complete

Red Light is turned ON. Absolute Reset Incomplete

8) Mode Changeover Switch for Status LEDs (SCT) The display modes (0 to 3) of LED 0 to 15 switch over every time the switch is pressed and the contents of display can be changed. The selection of the mode can be checked with the color of Status Display Mode LED.

9) Status Display Mode LED (SYS) The mode selected with Status LED Mode Changeover Switch is expressed with the display colors.

LED Mode Contents of LED 0 to 15 Displays

OFF Mode 0

Command Current Ratio Level/

Control Power Supply OFF Green Light is turned ON. Mode 1 Alarm Code Yellow Light is turned ON. Mode 2 Monitoring of PIO input signal

Red Light is turned ON. Mode 3 Monitoring of PIO output signal



10) Status LED (0 to 15)

• Display while Mode 0 (Command Current Ratio Level) being selected The command current ratio level of the motor rated current as 100% is displayed in a bar graph with green lights.

{: LED Illuminating, × : LED OFF

Status of LEDs

15 × × × × × × × × × × × × × × × ×

{

14 × × × × × × × × × × × × × × ×

{ {

13 × × × × × × × × × × × × × ×

{ { {

12 × × × × × × × × × × × × ×

{ { { {

11 × × × × × × × × × × × ×

{ { { { {

10 × × × × × × × × × × ×

{ { { { { {

9 × × × × × × × × × ×

{ { { { { { {

8 × × × × × × × × ×

{ { { { { { { {

7 × × × × × × × ×

{ { { { { { { { {

6 × × × × × × ×

{ { { { { { { { { {

5 × × × × × ×

{ { { { { { { { { { {

4 × × × × ×

{ { { { { { { { { { { {

3 × × × ×

{ { { { { { { { { { { { {

2 × × ×

{ { { { { { { { { { { { { {

1 × ×

{ { { { { { { { { { { { { { {

0 ×

{ { { { { { { { { { { { { { { {

Command

Current

Ratio [%]

to 6.24

to 12.24

to 18.74

to 24.99

to 31.24

to 37.49

to 43.74

to 49.99

to 56.24

to 62.49

to 68.74

to 74.99

to 81.24

to 87.49

to 93.74

to 100.00



• Display while Mode 1 (Alarm Code) being selected [refer to Chapter 7 for Alarm Codes] The alarm code issued in ERC3 is displayed in the hexadecimal system with the LED 0 to 15 used as 1 word of bit 0 to 15.

(Example) If Alarm Code “083” (absolute position movement command at home-return

incomplete) is generated, the display is as shown below:

{: LED Illuminating, × : LED OFF

LED 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Alarm Display × × × × × × × ×

{

× × × × ×

{ {

Alarm Code 0 0 8 3

 

• Display while Mode 2 (PIO Input Signal Monitor) being selected It displays the status of PIO control input (PLC ĺ PIO Converter) whether it is ON or OFF. [Refer to 2.1 [2]]

LED turned ON in green : input signal ON LED being OFF : input signal OFF

• Display while Mode 2 (PIO Output Signal Monitor) being selected It displays the status of PIO control input (PIO Converter ĺ PLC) whether it is ON or OFF. [Refer to 2.1 [2]]

LED turned ON in green : output signal ON LED being OFF : output signal OFF



11) FG Terminal Block [Refer to 2.3.4 [1] (2)] This is the grounding terminal for protection from electric shock and noise. Make sure to conduct the Class D grounding (formerly Class 3 grounding: grounding resistance at 100 or less).

12) Power Supply Connector [Refer to 3.3.3 [1], 3.5.3 [1]] This is the connector for the connections of power supply, emergency stop input, driving cutoff and the emergency stop switch signal output for the teaching pendant.

13) ERC3 Connector [Refer to 3.3.3 [2], 3.5.3 [2]] This is the connector for the relay cable to connect ERC3 and PIO Converter.

14) Absolute Battery Connector [Refer to Chapter 6] It is the connector to plug in the enclosed battery if applicable for Simple Absolute Type.

(2) Quick Teach (Model: RCM-PST-**)

You can operate ERC3 easily. Not only JOG operation and home-return operation, but also the settings and changes of stop positions (2 or 3 points), acceleration/deceleration, speed and try run (forward / backward / continuous operations) are available. Check Chapter 4 Operation for the functions of each LED and operation switch.

1) Emergency Stop Connector

2) External 24V Connector

3) ERC3 Connector

4) Brake Release Switch

5) 24V DC Power Supply Unit

With 24V DC Power Supply Unit Model: RCM-PST-1 RCM-PST-2 RCM-PST-EU

24V Power Supply Type Model: RCM-PST-0

1) Emergency Stop Connector [Refer to Chapter 2] This is the input connector for the external emergency stop signals. There is a plug equipped with a jumper cable attached on at the delivery. Remove the jumper when a wiring for the external emergency stop is required. Connect a signal that turns ON in normal condition and OFF when in abnormal for the external emergency stop signal.

2) External 24V Connector Use this connector to supply power when it is not equipped with 24V DC power supply unit or is to be used without the power supply unit being attached.

Power Supply 24V DC ±10% 2.5A or more When the excitation detection is operating after the power is turned ON (normally for 100ms) MAX. 2.5A

3) ERC3 Connector When operating ERC3 directly with Quick Teach, plug the SIO type power supply and I/O cable. When Quick Teach is used as the teaching pendant, plug the SIO communication cable.

Power for SIO Type • I/O Cable : Model CB-ERC3S-PWBIOƑƑƑ

(ƑƑƑ shows the cable length, Example 020 = 2m, MAX. 10m)

SIO Communication Cable : Model CB-PST-SIO050 (Standard 5m)

4) Brake Release Switch This is a switch to compulsorily release the brake of the actuator equipped with a brake.

Release ····· Brake release Normal·······Normal Operation (brake is activated)

Warning : Always set the switch to “Normal” in normal operation.

(Keep the chance to set the switch to release side as less as possible, and make sure to set it on normal side in ordinary use.) The brake would not work even with the servo OFF condition if the switch is on the release side. In the vertical oriented mount, the work may drop and cause an injury or the work to be damaged.

5) 24V DC Power Supply Unit This is a 24V DC power supply unit to provide power to Quick Teach from AC power source. This can be used with being detached. It is necessary to provide power from external 24V connector when it is detached.

Quick Teach Model Power Voltage

Rated

Current

Peak

Current

Remarks

RCM-PST-1 (100V Type)

Single-phase 100 to 115V AC ±10%

2.5A 3.2A

Cable 2m Equipped with 3-pin power socket plug

RCM-PST-2 (200V Type)

Single-phase 100 to 230V AC ±10%

2.1A

RCM-PST-EU (200V type for Europe)

Single-phase 100 to 230V AC ±10%

2.1A

Cable 2m Equipped with I4.3-hole solderless ring tongue terminals

–

Actuator Coordinate

The coordinate system of ERC3 is as shown below. 0 defines the home position, and items in ( ) are for the home-reversed type (option). For MEC Mode, the home position is the origin point and positive side is the end point.

(1) Rod Type

(2) Slider Type

(0)

(+)

(0)

(+)

Starting Procedures

1. Positioner Mode 1

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

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

Ļ Yes

No ĺ

Ļ Yes

No ĺ

Check Item

Is the red light [ALM] on the LED status display OFF?

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

Servo ON

Turn the servo ON with the operation on the teaching tool such as PC.

Check Item

Does the status LED [SV] on the panel?

Safety Circuit Check

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

Check the emergency stop circuit.

Target Position Setting

Set the target position in “Position” Box in each position table. Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually with hand, supply +24V to BK in PIO to release the brake before doing so. Put the switch back after the setting is complete.

No ĺ

Ļ Yes

Safety Speed Setting

Set the Parameter No.35 if necessary. The safet

y sp

eed is set to 100mm/s at the delivery.

Test Run Adjustment 1

Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

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

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the power ON for unit. Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool such as PC.

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

Ļ Yes

ĸ Yes

Test Run Adjustment 2

1) Set Teach Mode to Monitor Mode 2 and disconnect the teaching tool.

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

Check Item

Any vibration or abnormal noise?

No ĺ

Ļ Yes

Check of Packed Items

Are there all the delivered items?

 Caution To ensure safety, it is recommended

that safety speed be enabled during initial movements.

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the actuator.

Point Check Item [Refer to Section 2.3.4]

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Warning Be careful not to pinch fingers or damage the work with the dropped actuator when releasing the brake in

vertical orientation.

PIO Pattern Settings

Set the PIO

attern used to Parameter No.25.

2. Pulse Train Control Mode

This product allows positioning control by the pulse train. It is necessary to have the positioning control function able to output the pulse train on the host controller (PLC). When using this product for the first time, make sure to avoid mistakes and incorrect wiring by referring to the procedure below. “PC” stated in this section means “RC PC software”.

Set the Electronic Gear [Refer to Section

4.3 [8] (1)]

Set the electronic gear ratio based on the amount of actuator operation per pulse in Parameters No.65 and 66.

Check Item

Is the minimum unit of operation set to the value bigger than the minimum resolution of the encoder? Is the fraction of the electronic gear ratio reduced to its lowest terms?

φYes

Pulse Train Input Output Mode Setting [Refer to Section 4.3 [8] (2)]

Set the command pulse train input status for the parameter No.63 and No.64. Set Teach Mode to Monitor Mode 2 and disconnect the teaching tool after the setting is complete.

Servo ON

Input servo ON signal from PLC.

Check Item

Does the status LED [SV] on the panel?

No ψ

Confirm the content of alarm on the teaching tool such as PC to have an appropriate treatment.

φYes

Safety Circuit Check

Check that the emergency stop circuit (or motor drive-power cutoff circuit) operates normally to turn OFF the servo.

No ψ

Check the emergency stop circuit.

ωYes

No ψ

ωYes

No ψ

Check Item

Is the red light [ALM] on the LED status display OFF?

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

Test Run Adjustment 2 [Operation Mode AUTO]

Output the pulse train from PLC to the controller and check the system operation.

No ψ

Check the electronic gear ratio setting. Confirm the command pulse train input mode setting.

Confirm that there is no problem in the actuator installation, the actuator operation condition demands a voltage more than rated voltage, and appropriate pulse trains are input.

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the power ON for unit. Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool such as PC.

ωYes

φYes

Check of Packed Items

Are there all the delivered items?

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the actuator and controller.

Point Check Item [Refer to Section 2.3.4]

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Test Run Adjustment 1 [Operation Mode MANU]

Check with a teaching tool such as the PC with no work being loaded, and check the operation range with JOG operation with the work being loaded.

Check if there is any problem in the way of actuator mount.

Check Item

Is there any risk of interfering with peripheral equipment?

No ψ

ωYes

Can the positioning operation be performed normally?

ωYes

Is it in condition without any vibration and abnormal noise?

Test Run Adjustment 3

Check the system operation conducted by PLC.

PIO Pattern Settings

Set 0 or 1 to Parameter No.25 (Pulse Train Control Mode).

3. Positioner Mode 2

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

Ļ Yes

No ĺ

Ļ Yes

No ĺ

Check Item

Is the red light [ALM] on the LED status display OFF?

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

Servo ON

Turn the servo ON with the operation on the teaching tool such as PC.

Check Item

Does the status LED [SV] on the panel?

Safety Circuit Check

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

Check the emergency stop circuit.

Target Position Setting

Set the target position in “Position” Box in each position table. Perform a home-return operation first when Direct Teaching is to be performed. When moving the actuator manually, set the Brake Release Switch to [BK RLS] side for the brake equipped type. Put the switch back after the setting is complete.

No ĺ

Ļ Yes

Safety Speed Setting

Set the Parameter No.35 if necessary. The safety speed is set to 100mm/s at the delivery.

Test Run Adjustment 1

Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

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

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the power ON for unit. Select [Teaching Mode 1 Safety Speed Activated / PIO Operation Invalid] in the teaching tool such as PC.

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

Ļ Yes

ĸ Yes

Test Run Adjustment 2

1) Set Teach Mode to Monitor Mode 2 and disconnect the teaching tool.

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

Check Item

Any vibration or abnormal noise?

No ĺ

Ļ Yes

Check of Packed Items

Are there all the delivered items?

Caution To ensure safety, it is recommended

that safety speed be enabled during initial movements.

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the actuator.

Point Check Item [Refer to Section 2.3.4]

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Warning In the case the actuator is installed in vertical orientation and put the brake release switch to [BK RLS] side, be

careful not to drop it with self-weight and pinch your hand or damage the work.

PIO Pattern Settings

Set the PIO

attern used to Parameter No.25.

4. MEC Mode 1

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

No ĺ

Ļ Yes

No ĺ

Check Item

Is the green light [SV] on the LED status display ON?

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

Safety Circuit Check

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

Check the emergency stop circuit.

No ĺ

Ļ Yes

Test Run Adjustment 1

Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

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

Ļ Yes

ĸ Yes

Test Run Adjustment 2

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

Check Item

Any vibration or abnormal noise?

No ĺ

Ļ Yes

Check of Packed Items

Are there all the delivered items?

Caution To ensure safety, it is recommended that

safety speed be enabled during initial movements.

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the actuator.

Point Check Item [Refer to Section 2.3.4]

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Settings of Initial Setting, Target Position, etc.

Establish the initial settings for such as stop positions (for 2-point stop and 3-point stop), whether to have the pressing operation, etc. Secondly, set the parameters such as target position, acceleration and deceleration in the operational condition table. Perform a home-return operation first when Direct Teaching is to be performed.

Warning When installing the product vertically and using Direct Teach, and if servo is turned on/off repeatedly at the

same position, the actuator may drop slightly with its weight. Be careful not to pinch the hand or damage the work.

Power Supply and Alarm Check

Connect a teaching tool such as PC, turn the power ON for unit.

5. MEC Mode 2

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

No ĺ

Ļ Yes

No ĺ

Check Item

Is the green [SV] turned ON in the ERC3 and PIO Converter Status Display LEDs?

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

Safety Circuit Check

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

Check the emergency stop circuit.

No ĺ

Ļ Yes

Test Run Adjustment 1

Check the operation without mounting a work and set the safety speed invalid on the teaching tool such as PC, and then check the operation with a work mounted.

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

Ļ Yes

ĸ Yes

Test Run Adjustment 2

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

Check Item

Any vibration or abnormal noise?

No ĺ

Ļ Yes

Check of Packed Items

Are there all the delivered items?

Caution To ensure safety, it is recommended that

safety speed be enabled during initial movements.

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the actuator.

Point Check Item [Refer to Section 2.3.4]

• Is frame ground (FG) connected?

• Has the noise countermeasure been taken?

Settings of Initial Setting, Target Position, etc.

Warning When installing the product vertically and using Direct Teach, and if servo is turned on/off repeatedly at the

same position, the actuator may drop slightly with its weight. Be careful not to pinch the hand or damage the work.

Power Supply and Alarm Check

Connect a teaching tool such as PC to PIO Converter and turn the power ON.

6. MEC Mode 3

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

ĻYes

Yesĺ

NoĻ

No ĺ

ĻYes

No ĺ

ĻYes

No ĺ

Check of Packed Items

Are there all the delivered items?

Installation and Wiring [Refer to Chapter 2 and Chapter 3]

Perform the installation of and wiring for the quick teach and actuator according to the instructions in the Instruction Manual for the actuator and this Instruction Manual.

Point Check Item [Refer to Section 2.3.4]

• Is the safety grounding conducted?

• Has the noise countermeasure been taken?

Power Supply and Alarm Check

Turn ON the power. The motor power (servo) automatically turns ON by supplying the power.

Check Item

Is the error display LED flashing in red?

Confirm that the emergency stop switch has been cancelled. If it is cancelled and there is a teaching tool such as PC connected, check the detail of the alarm and have an appropriate treatment.

Safety Circuit Check

Check if the emergency stop circuit is operated in normal condition.

Check the emergency stop circuit.

Setting of stop position [1.7]

Set the target position on the operation panel.

Test Run Adjustment [1.8]

Have the settings of velocity and acceleration on the operation panel. Set the speed low first. After confirming there is no problem, set the speed to the desired setting.

Is it in condition without any vibration and abnormal noise?

Check if there is a problem in the actuator attachment, or the usage of the actuator is beyond the specification.

Now it is ready for operation.

Chapter 1 Specifications Check

1.1 Product Check

1.1.1 Parts

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

(1) ERC3 Main Body

No. Part Name Model Remarks

1 ERC3 Main Body

Refer to “How to read the model plate”, “How to read the model”.

Accessories

Except for SE Type

CB-ERC3P-PWBIOƑƑƑ

Power Supply

• I/O Cable SE Type CB-ERC3S-PWBIOƑƑƑ

ƑƑƑ shows the cable length (Example)

ƑƑƑ : 020 2 [m] 3 First Step Guide 4 Instruction Manual (DVD) 5 Safety Guide

6 Pulse Converter (Option) AK-04

It is necessary when

pulse control is to be

conducted and host

controller is the

open collector type.

(2) PIO Converter (Option: SE: Serial Communicate Type)

No. Part Name Model Remarks

1 PIO Converter Main Body

Refer to “How to read the model plate”, “How to read the model”.

Accessories

2 I/O Flat Cable CB-PAC-PIOƑƑƑ

ƑƑƑ shows the

cable length

(Example)

ƑƑƑ : 020 2 [m]

3 Power Connector

FMC1.5/7-ST-3.5 (Supplier : PHOENIX CONTACT)

Recommended

cable size

AWG16 to 18

(1.25 to 0.75mm

)

Absolute Battery (For Simple Absolute Type)

AB-7

5 Safety Guide

(3) Quick Teach (Option: SE: Serial Communicate Type (Specially for MEC Mode Type))

No. Part Name Model Remarks

1 Main Body

Refer to “How to read the model plate”, “How to read the model”.

Accessories

2-pin plug connector for external 24V power input

733-102-CC (Supplier : WAGO)

Recommended

cable size

AWG20

(0.5mm

)

3 2-pin plug connector for EMG

FMC1.5/2-ST-3.5 (Supplier : PHOENIX CONTACT)

Recommended

cable size

AWG16 to 24

(0.2 to 1.25mm

) Short-circuited when delivered

4 Safety Guide

Chapter 1 Specications Check 1.1 Product Check

Chapter 1 Specications Check1.1 Product Check

1.1.2 Teaching Tool

The teaching tool is necessary to perform setup operations such as position and parameter settings through teaching or other means. The teaching tools listed below are available for ERC3. However, the available teaching tools differ for MEC Mode Type and CON Mode Type. Prepare an appropriate one considering the controller type.

({: Available ×: Unavailable)

Controller Type

No. Part Name Model

CON Mode Type

(Model: CN)

MEC Mode Type

(Model: MC)

1 Quick Teach RCM-PST-0 ×

{

PC Software (Includes RS232C Exchange Adapter  Peripheral Communication Cable)

RCM-101-MW

{

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

RCM-101-USB

{

4 MEC PC Software – ×

{

Teaching Pendant (Touch Panel Teaching)

CON-PTA

{ {

Teaching Pendant (Touch Panel Teaching with deadman switch)

CON-PDA

{ {

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

CON-PGA

{ {

8 Teaching Pendant SEP-PT ×

{

1.1.3 Instruction manuals related to this product, which are contained in the DVD.

No. Name Manual No.

1 ERC3 Controller Instruction Manual ME0297

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

ME0155

3 MEC PC Software Instruction Manual ME0248

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

5 Touch Panel Teaching SEP-PT Instruction Manual ME0217

6 Instruction Manual for the serial communication [for Modbus] ME0162

1.1.4 How to read the model plate

(1) ERC3 Main Body

(2) PIO Converter (Option)

(3) Quick Teach (Option)

Model

Serial numbe

ERC3-SA5-I-42P-20-50-SE-S-CN-B

MODEL

SERIAL No.

000049893

MADE IN JAPAN

RCB-CV-NPM-2-AB

MODEL

SERIAL No.

000049894

MADE IN JAPAN

Model

Serial numbe

Model

Serial numbe

㪤㪦㪛㪜㪣䋺㪩㪚㪤㪄㪧㪪㪫㪄㪇㪪㪆㪥䇭䇭䋺

㪠㪥㪧㪬㪫㩷䋺㪛㪚㪉㪋㪭㪃㪉㪮㩿㪤㪘㪯㪀

㪤㪘㪛㪜㩷㪠㪥㩷㪡㪘㪧㪘㪥

Chapter 1 Specications Check 1.1 Product Check

Chapter 1 Specications Check1.1 Product Check

1.1.5 How to read the model

(1) ERC3 Main Body

ERC3 – SA5 – I – 42P – 20 – 50 – SE – S – CN – B – **

Note 1 Identification for IAI use only : This may be marked for the purpose of IAI. It is not

an ID to describe the model code.

Note 2 The pulse train input is the differential input (Line Driver) type. For PLN, PIO is

NPN type and PLP is PNP type.

Series Name

<Type>

Slider Type

SA5C SA7C

Rod Type

RA4C RA6C

I : Incremental

42P : 42Ƒ 56P : 56Ƒ

<Lead> 3 : 3mm 4 : 4mm 6 : 6mm 8 : 8mm 12 : 12mm 16 : 16mm 20 : 20mm 24 : 24mm

Identification for IAI use only

(Note 1)

B : Brake NM : Reversed Home Specification ABU : Simple Absolute Type FL : Flange FT : Foot bracket

CN : CON Mode MC : MEC Mode

N : None S : 3m M : 5m XƑƑ : Specified Length

SE : Serial Communication Type NP : PIO NPN Type PLN : Pulse Train NPN Type

(Note 2)

PN : PIO PNP Type PLP : Pulse Train PNP Type

(Note 2)

[Refer to 1.2 Specifications, [2] Maximum speed]

(2) PIO Converter (Option)

RCB – CV – NPM – 2 – AB – **

(3) Quick Teach (Option)

RCM - PST - 0 – ENG – **

Note 1 Identification for IAI use only : This may be marked for the purpose of IAI. It is not

an ID to describe the model code.

Series Name

<Type>

CV : Built-in Power Cutoff Relay Type (Standard) CVG : External Power Cutoff Relay Type

NP : NPN Type (with no monitor LED) PN : PNP Type (with no monitor LED) NPM : NPN Type (with monitor LED) PNM : PNP Type (with monitor LED)

Identification for IAI use only

(Note 1)

(Not Specified) : Not applicable for Simple Absolute Type (dedicated for Incremental Type) AB : Applicable for Simple Absolute Type (equipped with simple absolute battery) ABUN : Applicable for Simple Absolute Type (not equipped with simple absolute battery)

0 : No cable 2 : with 2m cables 3 : with 3m cables 5 : with 5m cables

Series Name

<Unit Name> PST : Product Unit PS : Power Supply Unit

<Power Voltage> 0 : 24V DC (24V DC power supply type, no power supply unit) 1 : Single-phase 100V AC (100V AC power supply type) 2 : Single-phase 100 to 230V AC (200V AC power supply type) EU : Single-phase 100 to 230V AC (200V AC power supply type for Europe)

Identification for IAI use only

(Note 1)

<Japan/Overseas specifications> None : Destination Japan (Panel sheet displayed in Japanese) ENG : Destination Overseas (Panel sheet displayed in English)

Chapter 1 Specications Check 1.1 Product Check

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

1.2 Specifications

1.2.1 Actuator

[1] High Output Setting

(1) Enabling/Disabling of High Output Setting

This actuator can select whether to enable / disable the high output setting by the parameters. At the delivery, the high output setting is activated for all the controllers.

Controller Type Parameter Setting Set Value

Enabled 1 (At the delivery)

CON Mode Type

No.152

High Output Setting

Disabled 0

Enabled 1 (At the delivery)

MEC Mode Type

No.28

High Output Setting

Disabled 0

1) The maximum speed, acceleration, and transportable weight differ when high output setting is enabled and disabled. [Refer to [3] Mechanical Specifications]



2) An operation with the duty 100% is available if the high output setting is inactivated. The actuator cannot operate with 100% when it is activated.

Duty ratio is the rate of operation expressed in % that presents the time of the actuator being operated in 1 cycle of operation.

D = ×100 [%]

  Caution: Please note that the high output setting becomes invalid automatically if Quick

Teach is connected.

D : Duty T

: Operation time (pressing operation included)

: Stop time

TM+T

Speed

Deceleration

cceleration

Constant Speed

Stop

Operation time T

Stop time T

Time of one cycle

(2) Duty Ratio for High Output Setting

When high output setting is enabled, duty is restrained respective to the surrounding temperature to control heat generation by the motor unit. Perform an operation with the duty ratio below the allowable range shown in the graph below.

Make sure to have 1 cycle within the time described below:

Model Name Time of one cycle (TM+TR)

SA5/RA4 15min. or less SA7/RA6 10min. or less

  Caution: Do not attempt to perform an operation with the duty ratio above the allowable

range. An operation with the duty ratio beyond the allowable range could shorten the life of the capacitor used in the build-in controller by the generation of heat on the motor.

Surrounding temperature [qC]

Duty [%]

㪋㪇

㪌㪇

㪍㪇

㪎㪇

㪏㪇

㪇㪌㪈㪇㪈㪌㪉㪇㪉㪌㪊㪇㪊㪌㪋㪇

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

[2] Maximum speed

The maximum speed of the actuator is limited by the limit of the maximum ball screw revolution.



(1) Slider Type

• When high output setting is enabled Speed limits (Unit: mm/s)

Maximum Speed

Stroke [mm]

Size

Motor

Type

Lead [mm]

Horizontal

/ Vertical

Minimum

Speed

50 100 150 200 250 300 350 400 450

500 550 600 650 700 750 800

Horizontal

225 200 165 140 115 100 85 75

Vertical

3.75 225 200 165 140 115 100 85 75

Horizontal

450 400 330 280 235 200 175 150

Vertical

7.5 450 400 330 280 235 200 175 150

Horizontal

900 805 665 560 475 405 350 300

Vertical

900 805 665 560 475 405 350 300

Horizontal

1120

1115

935 795 680 585 510

SA5C

42P

Vertical

1120

1115

935 795 680 585 510

Horizontal

210 185 160 140 120

Vertical

210 185 160 140 120

Horizontal

490 440 375 320 280 245

Vertical

490 440 375 320 280 245

Horizontal

980 880 750 645 565 495

Vertical

840 750 645 565 495

Horizontal

1200

1130

975 850 745

SA7C

56P

Vertical

1200

1130

975 850 745

• When high output setting is disabled

Maximum speed limits (Unit: mm/s)

Size Motor Type Lead [mm] Horizontal / Vertical Minimum Speed Maximum Speed

Horizontal 150

Vertical

3.75 150

Horizontal 300

Vertical

7.5 300

Horizontal 600

Vertical

600

Horizontal 1000

SA5C 42P

Vertical

1000

Horizontal 125

Vertical

125

Horizontal 250

Vertical

250

Horizontal 450

Vertical

400

Horizontal 675

SA7C 56P

Vertical

600

  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the

respective ratings. Doing so may result in vibration, failure or shorter life. If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a creep phenomenon or slipped coupling may occur.



(2) Rod Type

• When high output setting is enabled Speed limits (Unit: mm/s)

Maximum Speed

Stroke [mm]

Size

Motor

Type

Lead [mm]

Horizontal /

Vertical

Minimum

Speed

50 100 150 200 250 300

Horizontal 225 170 120

Vertical

3.75 225 170 120

Horizontal 450 345 240

Vertical

7.5 450 345 240

Horizontal 700 695 485

Vertical

700 695 485

Horizontal 800

RA4C 42P

Vertical

800

Horizontal 210 200

Vertical

175

Horizontal 420 400

Vertical

420 400

Horizontal 700

Vertical

560

Horizontal 800

RA6C 56P

Vertical

600



• When high output setting is disabled Maximum speed limits (Unit: mm/s)

Size Motor Type

Lead [mm]

Horizontal /

Vertical

Minimum Speed Maximum Speed

Horizontal 150

Vertical

3.75 150

Horizontal 300

Vertical

7.5 300

Horizontal 600

Vertical

600

Horizontal 667

RA4C 42P

Vertical

667

Horizontal 125

Vertical

125

Horizontal 250

Vertical

200

Horizontal 450

Vertical

400

Horizontal 675

RA6C 56P

Vertical

600



  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the



Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

[3] MAX. Acceleration, Payload Capacity

If the payload capacity is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.

(1) Slider Type

• When high output setting is enabled

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 20 20 16 16 13 25 20 20 16 16 13 50 20 20 16 16 12 75 20 20 16 16 12

100 20 18 14 12 10 125 20 17 14 9.5 8 150 20 17 11 8 7 175 20 10 10 4.5 3.5 200 20 9 3 – –

Horizontal

225 15 – – – –

0 12 12 12 – – 25 12 12 12 – – 50 12 12 12 – – 75 12 12 12 – –

100 12 10.5 10.5 – – 125 12 10.5 10.5 – – 150 9.5 8 8 – – 175 7 7 6 – – 200 6 4 2 – –

Vertical

225 4.5 – – – –

0 18 18 13 12 11 50 18 18 13 12 11

100 18 18 13 12 11 150 18 18 13 12 11 200 18 18 13 12 11 250 18 17 13 12 9 300 16 16 12 11 7 350 14 14 8 8 6 400 10.5 10 7 4.5 4

Horizontal

450 7.5 7 4 2.5 1

0 6 6 6 – – 50 6 6 6 – –

100 6 6 6 – – 150 6 6 6 – – 200 6 6 6 – – 250 6 5 4.5 – – 300 4.5 4 3.5 – – 350 4 3.5 3 – – 400 2.5 2 1.5 – –

SA5C 42P

Vertical

450 1 0.5 – – –

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 9 9 9 9 8 100 9 9 9 9 8 200 9 9 9 9 8 300 9 9 9 9 7 400 9 9 8 8 6 500 9 9 8 5.5 5.5 600 9 9 8 5.5 4 700 9 7 6 4 2.5 800 – 5.5 3.5 2 1

Horizontal

900 – 5 2.5 1 –

0 2.5 2.5 2.5 – – 100 2.5 2.5 2.5 – – 200 2.5 2.5 2.5 – – 300 2.5 2.5 2.5 – – 400 2.5 2.5 2.5 – – 500 2.5 2.5 2 – – 600 2.5 2 1.5 – – 700 2.5 1 0.5 – – 800 – 0.5 0.5 – –

Vertical

900 – 0.5 – – –

0 6.5 6.5 5 5 4 160 6.5 6.5 5 5 4 320 6.5 6.5 5 5 4 480 6.5 6.5 4 4 4 640 6.5 6.5 3.5 3.5 3 800 5.5 5.5 3.5 3 1 960 – 5.5 2.5 2 1

1120 – 5.5 1 1 1 1280 – – – – –

Horizontal

1440 – – – – –

0 1 1 1 – – 160 1 1 1 – – 320 1 1 1 – – 480 1 1 1 – – 640 1 1 1 – – 800 1 1 1 – – 960 – 0.5 0.5 – –

1120 – 0.5 0.5 – – 1280 – – – – –

SA5C 42P

Vertical

1440 – – – – –

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 45 45 45 40 35 35 45 45 45 40 35 70 45 42 42 35 35

105 42 40 40 35 35 140 42 40 25 25 22 175 38 18 – – – 210 35 – – – –

Horizontal

245 – – – – –

0 22 22 22 – – 35 22 22 22 – – 70 22 22 22 – –

105 20 20 19 – – 140 15 12 11 – – 175 10 4.5 – – – 210 6.5 – – – –

Vertical

245 – – – – –

0 43 40 40 40 40 70 43 40 40 40 40

140 40 40 40 38 35 210 40 36 35 30 24 280 40 23 11 8 2 350 35 4 2 2 – 420 25 – – – –

Horizontal

490 15 – – – –

0 15 14 13 – – 70 15 14 13 – –

140 15 14 13 – – 210 11 9 9 – – 280 8 7 6 – – 350 5 3.5 1.5 – – 420 2.5 – – – –

SA7C 56P

Vertical

490 1.5 – – – –

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 35 35 35 26.5 26.5

140 35 35 35 26.5 26.5 280 35 28 28 22 18 420 30 23 12.5 11 10 560 22 15 9.5 7.5 5.5 700 20 11 5.5 3.5 2 840 – 4 2.5 – –

Horizontal

980 – 2 – – –

0 7 6 4 – –

140 7 6 4 – – 280 7 6 4 – – 420 5 5 4 – – 560 5 4 3 – – 700 3.5 2.5 1.5 – – 840 – 1 – – –

Vertical

980 – – – – –

0 20 17 15 13 11

200 20 17 15 13 11 400 20 14 14 13 10 600 20 14 10 8 8 800 10 10 8 6 2.5

1000 – 8 4 2 1

Horizontal

1200 – 4 2 – –

0 3 3 3 – –

200 3 3 3 – – 400 3 3 3 – – 600 3 3 3 – – 800 – 3 2.5 – –

1000 – 2 – – –

SA7C 56P

Vertical

1200 – 1 – – –

  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

• When high output setting is disabled

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

Acceleration/

Deceleration

[G]

Load capacity

[kg]

0 12 19 12 38 12 75 12

113 12

Horizontal

150

0.2

0 6 19 6 38 6

120 6

Vertical

150

0.2

0 12 38 12

100 12 150 12 200 12

Horizontal

300

0.3

0 3 38 3 80 3

250 3

Vertical

300

0.2

2.5

0 6 75 6

150 6 400 6

Horizontal

600

0.3

0 1.5 75 1.5

125 1.5 450 1.5

Vertical

600

0.2

0 3.5

125 3.5 250 3.5 667 3.5

Horizontal

1000

0.3

0 1

125 1 208 1 750 1

SA5C 42P

Vertical

1000

0.2

0.5

 



Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

Acceleration/

Deceleration

[G]

Load capacity

[kg]

0 20 10 20 50 20

100 20 120 20

Horizontal

125

0.2

0 10 10 10 35 10 90 10

Vertical

125

0.2

0 20 30 20

100 20 150 20 180 20

Horizontal

250

0.3

3.5

0 5 10 5 30 5

150 5 200 1

Vertical

250

0.2

0.5

0 10 50 10

100 10 300 10

Horizontal

450

0.3

0 2.5 50 2.5

100 2.5 300 2.5

Vertical

400

0.2

0.5

0 6 75 6

150 6 450 6

Horizontal

675

0.3

0 1.5 75 1.5

150 1.5 450 1.5

SA7C 56P

Vertical

600

0.2

0.5

  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

(2) Rod Type

• When high output setting is enabled

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 40 40 40 40 35 25 40 40 40 40 35 50 40 40 40 40 35 75 40 40 40 40 35

100 40 40 40 40 35 125 40 40 40 40 35 150 40 40 40 30 25 175 36 36 35 25 20 200 36 28 28 19.5 14

Horizontal

225 36 16 14 10 6

0 18 18 17 – – 25 18 18 17 – – 50 18 18 17 – – 75 16 16 16 – –

100 16 15 15 – – 125 16 12 10 – – 150 10 8 5.5 – – 175 10 5.5 5 – – 200 7 5 4.5 – –

Vertical

225 4 3.5 2 – –

0 40 40 31.5 30 25 50 40 40 31.5 30 25

100 40 40 31.5 24.5 21 150 40 40 24.5 17.5 17.5 200 40 40 21 14 12.5 250 35 24.5 17.5 14 11 300 28 21 12.5 12.5 8 350 24.5 17.5 9.5 5.5 5.5 400 17.5 9.5 7 4 2.5

Horizontal

450 17.5 5.5 2 – –

0 12 12 10 – – 50 12 12 10 – –

100 12 12 10 – – 150 11 11 7 – – 200 8 8 5.5 – – 250 7 7 4 – – 300 5.5 5.5 4 – – 350 4 3.5 3.5 – – 400 3.5 2.5 2 – –

RA4C 42P

Vertical

450 – 1 1 – –

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 25 25 14 14 12

100 25 25 14 14 12 200 25 25 11 8 8 300 25 25 11 7 5.5 400 17.5 16.5 8 4 3.5 500 – 15 5.5 2 2 600 – 10 3.5 – –

Horizontal

700 – 6 2 – –

0 4.5 4.5 3.5 – –

100 4.5 4.5 3.5 – – 200 4.5 4.5 3.5 – – 300 4 4 3.5 – – 400 3.5 3.5 2.5 – – 500 – 3.5 2 – – 600 – 2 1 – –

Vertical

700 – 1 1 – –

0 6 6 6 5 4.5

160 6 6 6 5 4.5 320 6 6 6 5 3 480 6 6 6 4.5 3 640 – 6 4 3 2

Horizontal

800 – 4 3 – –

0 1.5 1.5 1.5 – –

160 1.5 1.5 1.5 – – 320 1.5 1.5 1.5 – – 480 1 1 1 – – 640 – 1 1 – –

RA4C 42P

Vertical

800 – 0.5 0.5 – –

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 70 70 60 60 50 35 70 70 60 60 50 70 70 70 60 60 50

105 70 70 55 45 40 140 70 50 30 20 15 175 50 15 – – –

Horizontal

210 20 – – – –

0 25 25 25 – – 35 25 25 25 – – 70 25 25 25 – –

105 15 15 15 – – 140 11.5 10 8 – – 175 6 3 – – –

Vertical

210 – – – – –

0 60 55 45 40 40 70 60 55 45 40 40

140 60 55 40 40 40 210 60 50 40 28 26 280 60 32 20 15 11 350 50 14 4.5 1 –

Horizontal

420 15 – – – –

0 17.5 17.5 17.5 – – 70 17.5 17.5 17.5 – –

140 11 11 11 – – 210 7.5 7.5 7 – – 280 6 5.5 4.5 – – 350 3 2.5 2 – –

RA6C 56P

Vertical

420 2 – – – –

Payload capacity by acceleration/deceleration [kg]

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

0.1G 0.3G 0.5G 0.7G 1.0G

0 45 40 30 28 26

140 45 40 30 28 26 280 45 34 30 24 18 420 45 22 17 13 10 560 – 9.5 5 2.5 1.5

Horizontal

700 – 2 – – –

0 8 8 8 – –

140 8 8 8 – – 280 6.5 5.5 5.5 – – 420 5.5 4 3 – – 560 – 2 1 – –

Vertical

700 – – – –

0 20 13 11 10 8

200 20 13 11 10 8 400 20 13 11 10 8 600 – 13 7 5 3.5

Horizontal

800 – 3 1 – –

0 3 3 2 – –

200 3 3 2 – – 400 2 2 2 – – 600 – 2 2 – –

RA6C 56P

Vertical

800 – – – – –

  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

• When high output setting is disabled

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

Acceleration/

Deceleration

[G]

Load capacity

[kg]

0 40 19 40 38 40 75 40

113 40

Horizontal

150

0.2

0 18 19 18 38 18 50 18

Vertical

150

0.2

0 40 38 40

100 40 150 40 200 40

Horizontal

300

0.3

0 12 38 12 80 12

Vertical

300

0.2

2.5

0 25 75 25

150 25 300 12

Horizontal

600

0.3

2.5

0 4.5 75 4.5

125 4.5

Vertical

600

0.2

0.5

0 12

125 12 200 12 500 7

Horizontal

667

0.3

0 2

125 2 208 2

RA4C 42P

Vertical

667

0.2

0.5

           

Type Motor Type

Lead [mm]

Horizontal /

Vertical

Velocity

[mm/s]

Acceleration/

Deceleration

[G]

Load capacity

[kg]

0 55 10 55 20 55 50 55

100 55

Horizontal

125

0.2

0 25 10 25 35 25

Vertical

125

0.2

0 50 30 50

100 50 150 50 160 50

Horizontal

250

0.3

3.5

0 17.5 10 17.5 30 17.5

Vertical

200

0.2

0 40 50 40

100 40 125 40

Horizontal

450

0.3

0 5 50 5

100 5 150 5

Vertical

400

0.2

0.5

0 25 75 25

150 25 188 20

Horizontal

675

0.3

1.5

0 3 75 3

150 3 225 3

RA6C 56P

Vertical

600

0.2

0.5

  Caution: Do not set speeds and accelerations/decelerations equal to or greater than the

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

[4] Driving System • Position Detector

(1) Slider Type

Ball Screw Type

Type Motor Type Lead

No. of Encoder

Pulses

(Note 1)

Type Diameter Accuracy 3 6

SA5C 42P

Rolled

I10mm

C10

4 8

SA7C 56P

800

Rolled

I12mm

C10

Note 1 This is a number of pulses entered in the controller.

(2) Rod Type

Ball Screw Type

Type Motor Type Lead

No. of Encoder

Pulses

(Note 1)

Type Diameter Accuracy 3 6

RA4C 42P

Rolled

I10mm

C10

4 8

RA6C 56P

800

Rolled

I12mm

C10

Note 1 This is a number of pulses entered in the controller.

[5] Positioning Precision

(1) Slider Type

Type Lead Item Performance

Positioning repeatability ±0.02mm

3, 6, 12

Lost motion 0.1mm or less Positioning repeatability ±0.03mm

SA5C

Lost motion 0.1mm or less Positioning repeatability ±0.02mm

4, 8, 16

Lost motion 0.1mm or less Positioning repeatability ±0.03mm

SA7C

Lost motion 0.1mm or less The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

(2) Rod Type

Type Lead Item Performance

Positioning repeatability ±0.02mm

3, 6, 12

Lost motion 0.1mm or less

Positioning repeatability ±0.03mm

RA4C

Lost motion 0.2mm or less

Positioning repeatability ±0.02mm

4, 8, 16

Lost motion 0.1mm or less

Positioning repeatability ±0.03mm

RA6C

Lost motion 0.2mm or less The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

[6] Current Limit Value and Pressing Force

(1) Slider Type

• SA5C Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead [mm]

20 30 40 50 60 70

3 106 159 211 264 317 370

6 53 79 106 132 159 185 12 26 40 53 66 79 93 20 16 24 32 40 48 56

SA5C Current Limit Values and Pressing Force

100

150

200

250

300

350

400

Pressing Force [N]

Current Limit Value [%]

0 10 20 30 40 50 60 70 80

Lead 3Lead 3

Lead 6Lead 6

Lead 12

Lead 20



  Caution: (1) The relation of the current limit and the pressing force is a reference

assuming when the speed is 20mm/s.

(2) There will be a little variance in the actual pressing force. If the value of

current limit is small, the variance for the pressing force becomes big.

(3) Use the product with the current limit within the range specified in the

graph. If used below 20%, the pressing force would not be stable. An operation may not be made in some cases. An operation cannot be made also when it is beyond 70%. If use in such a condition, it may extremely shorten the product life by the degradation of insulator in the motor coil due to heat generation.

(4) When the approaching speed (setting in the position table) to the pressing

start position is 20mm/s or less, the pressing operation will be made with the approaching speed. In this case, also, the pressing force would not be stable. In such cased, check in advance that the actuator can be used with no problem before start using.

  

• SA7C Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead [mm]

20 30 40 50 60 70

4 192 288 385 481 577 673

8 96 144 192 240 288 336 16 48 72 96 120 144 168 24 32 48 64 80 96 112



100

200

300

400

500

600

700

800

Pressing Force [N]

Current Limit Value [%]

SA7C Current Limit Values and Pressing Force

0 10 20 30 40 50 60 70 80

Lead 4Lead 4

Lead 8

Lead 16

Lead 24



  Caution: (1) The relation of the current limit and the pressing force is a reference

assuming when the speed is 20mm/s.

(2) There will be a little variance in the actual pressing force. If the value of

current limit is small, the variance for the pressing force becomes big.

(3) Use the product with the current limit within the range specified in the

(4) When the approaching speed (setting in the position table) to the pressing



Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

(2) Rod Type

• RA4C

Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead [mm]

20 30 40 50 60 70

3 106 159 211 264 317 370

6 53 79 106 132 159 185 12 26 40 53 66 79 93 20 16 24 32 40 48 56



RA4C Current Limit Values and Pressing Force

100

150

200

250

300

350

400

Pressing Force [N]

Current Limit Value [%]

0 10 20 30 40 50 60 70 80

Lead 3

Lead 6

Lead 12

Lead 20



  Caution: (1) The relation of the current limit and the pressing force is a reference

assuming when the speed is 20mm/s.

(2) There will be a little variance in the actual pressing force. If the value of

current limit is small, the variance for the pressing force becomes big.

(3) Use the product with the current limit within the range specified in the

(4) When the approaching speed (setting in the position table) to the pressing

   

• RA6C Pressing Force [N]

Current Limit Value [%]

Ball Screw Lead [mm]

20 30 40 50 60 70

4 312 469 625 781 937 1094

8 156 234 312 391 469 547 16 78 117 156 195 234 273 24 52 78 104 130 156 182



RA6C Current Limit Values and Pressing Force

Pressing Force [N]

Current Limit Value [%]

200

400

600

800

1000

1200

0 10 20 30 40 50 60 70 80

Lead 8

Lead 4

Lead 16

Lead 24



  Caution: (1) The relation of the current limit and the pressing force is a reference

assuming when the speed is 20mm/s.

(2) There will be a little variance in the actual pressing force. If the value of

current limit is small, the variance for the pressing force becomes big.

(3) Use the product with the current limit within the range specified in the

(4) When the approaching speed (setting in the position table) to the pressing

Chapter 1 Specications Check 1.2 Specications

1.2.1 Actuator

[7] Option

(1) With Brake (Model: B)

This is a function that is necessary when the actuator is mounted in the vertical orientation. This prevents a drop of work piece or fixture attached on the actuator when the power or servo is turned OFF.



(2) Home Reversed Type (Model: NM)

In the standard type, the home position is set on the motor end. This is a specification when an indication is desired for the operation direction to be matched with the coordination system of the device that the actuator is to be installed.

  Caution: The home position is already adjusted when the product is shipped out from

our factory. When a change is desired to the home-reversed type after delivery, it is necessary that you return the product to us for an adjustment. Contact our sales office or an agent near you.

(3) Simple Absolute Type (Model: ABU)

It is not necessary to have a home-return operation every time the power is turned ON. PIO Converter of Simple Absolute Type is required for this function, and it is available only when the I/O type of the actuator is the serial communication type (Model Code: SE). [Refer to Chapter 6]



(4) Flange (Model: FL)

It is an option for Rod Type. This is a metal component for flange to fix the unit on the rod side. [Refer to 2.3 How to Install]



Flange Bracket



(5) Foot Brackets (Model: FT)

It is an option for Rod Type. It is a metal part to be attached on the bottom of the actuator to affix with screws from top side. [Refer to 2.3 How to Install]

Foot Brackets

Chapter 1 Specications Check1.2 Specications

1.2.1 Actuator

1.2.2 Built-in Controller

[1] Basic Specifications

Item Description

Power-supply Voltage

24V DC r10% High output setting is enabled (Set in delivery) : 3.5A (MAX. 4.2A)

Load Current (including current consumption for control)

High output setting is disabled : 2.2A

Power Supply for Electromagnetic Brake

(Note 1)

(In the case of the actuator with a brake)

24V DC ±10% 0.15A (MAX.)

High output setting is enabled (Set in delivery) : 8.0W Heat Generation High output setting is disabled : 5.0W

Rush Current

(Note 2)

8.3A

Transient Power Cutoff Durability

MAX. 500Ps Motor Control System Weak field-magnet vector control Applicable Encoder Incremental Encoder Resolution 800pulse/rev Actuator Cable Length MAX. 10m Serial Communication Interface

(SIO Port)

RS485 : 1CH (based on Modbus Protocol RTU/ASCII)

Speed : 9.6 to 230.4Kbps

Control available with serial communication in the modes other than the pulse train

PIO Type

Signal I/O dedicated for 24V DC (selected from NPN/PNP)  Input 6 points max.,

output 4 points max.

Cable length MAX. 10m

External Interface

Fieldbus Type Not applicable

Data Setting and Input PC Software, Teaching Pendant Data Retention Memory Position data and parameters are saved in the nonvolatile memory.

(There is no limitation in number of writing)

SE/NP/PN Positioner Mode Operation Mode

(I/O Type)

PLN/PNP Pulse Train Control Mode

Number of Positions in Positioner Mode

Standard 8 points, MAX. 16 points

(Note) Number of positions differs depending on the selection in PIO pattern.

Differential System (Line Driver System) : MAX.200kpps

Cable length MAX. 10m

Input Pulse

Open Collector System : Not applicable

(Note 3)

Command Pulse Magnifications (Electronic Gear: A/B)

1/50 < A/B < 50/1

Setting Range of A and B (set to parameter) : 1 to 4096

Pulse Train Interface

Feedback Pulse Output None

LED Display (Mounted on motor unit) 2 colors LED: Servo ON (GN) / Servo OFF (OFF) / Emergency Stop (RD) /

Alarm generated (RD) / Automatic servo-off (Flashing in green) Electromagnetic Brake Compulsory

Release Switch

Not equipped on main unit, equipped on PIO Converter (option)

Insulation Resistance

500V DC 10M: or more Protection Function against Electric Shock

Class I basic insulation Cooling Method Natural air-cooling

Surrounding Air Temperature

0 to 40qC

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

0 to 60qC (0 to 50qC if stored for 1 month or more.)

Surrounding Storage Humidity 85%RH or less (non-condensing) Usage Altitude 1000m or lower above sea level Protection Class IP20 Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm

Frequency 57 to 150Hz / Acceleration : 9.8m/s

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

Environment

(Note 4)

Impact 150mm/s2, 11mm/s Semi-sine wave pulse to each of the directions X, Y and Z Weight External Dimensions

Refer to specifications for actuator for it is integrated with controller

Note 1 It is the power source to be supplied when compulsorily releasing the brake. Note 2 Rush current passes for about 5ms after the power is injected (at 40qC).

The rush current value varies depending on the impedance of the power line.

Note 3 If the pulse train applies the open collector output, prepare AK-04 (option) separately to convert to the

differential type.

Note 4 The environmental specifications include the actuator main unit.

Chapter 1 Specications Check 1.2 Specications

1.2.2 Built-in Controller

Chapter 1 Specications Check1.2 Specications

1.2.2 Built-in Controller

[2] I/O Specifications

(1) PIO Interfaces

Input section Output section

Input voltage 24V DC ±10% Load voltage 24V DC ±10%

Input current 4mA/1 circuit

Peak load electric current

50mA/1 point

Specification

ON/OFF voltage

ON voltage 18V DC or more OFF voltage 6V DC or less

Leak current MAX.0.1mA/1 point

Insulation

Type

Non-insulated from external circuit Non-insulated from external circuit

NPN

Internal Power Supply 24V

5.6kΩ

Input Terminal

100kΩ

20kΩ

Internal Power Source

Output Terminal

External Power Supply 24V

Load

15Ω

PNP

External Power Supply 24V

5.6kΩ

Input Terminal

100kΩ

20kΩ

Internal Power Source

Internal Power Supply

24V

Output Terminal

Internal Power Source

Load

15Ω

Connection Cable

PIO type power and I/O cable [Refer to 3.1.3 [2]]

NPN Type PNP Type

Pin No.

A1 B1 A2 B2 A3 B3 A4 B4

…

B9 A10 B10 A11 B11 A12 B12 A13 B13

24V

Load

Pin No.

A1 B1 A2 B2 A3 B3 A4 B4

…

B9 A10 B10 A11 B11 A12 B12 A13 B13

24V

Load

(2) Pulse Train Input Interface

Interface Line Driver Input

Specification

Positioning Unit

/PP

/NP Equivalent to Line Driver 26C31

ERC3 Control Power Supply Connected to 0V line on 24V DC

Pulse Train Output

For the host positioning unit, use the line driver 26C31 or equivalent with pulse train output specification.

Format of Pulse

Train

Refer to 4.3 [7]

Connection Cable PIO type power and I/O cable [Refer to 3.2.3 [3]]

(3) Pulse converter : AK-04 (Please purchase separately)

Use this by connecting to the host controller pulse train output when the host controller output pulse is open collector type. It converts the command pulse of the open collector type to the differential type.

Item Specifications

Input Power Supply

24V DC ±10% (MAX. 50mA)

Input Pulse Open collector (Collector current MAX. 12 mA) Input Frequency 60Kpps or less Output Pulse Differential output equivalent to 26C31 (MAX.10mA) Weight 10g or less (Cable connector excluded) Accessories 37104-3122-000FL (e-CON connector) 2 Units Cover color: YW

Applicable wire AWG24

(Less than 0.2 to 0.3mm

, finished O.D. I1.0 to

1.2mm)

  Caution

1) Use the pulse converter in the surrounding temperature range between 0 and 40qC.

2) The temperature increase of about 30qC occurs during operation. Accordingly, neither install several pulse converters in close contact nor install them within a duct.

Do not install the pulse converter near other heating devices.

3) If more than one pulse converters are installed, set a pulse converter apart from another by 10mm or more. To avoid noise, connect it within 50mm of the pulse train output terminal.

Chapter 1 Specications Check 1.2 Specications

1.2.2 Built-in Controller

Chapter 1 Specications Check1.2 Specications

1.2.3 Control

1.2.3 Control Option

[1] PIO Converter (Model: RCB-ƑƑƑ)

(1) Basic Specifications

Item Description Number of Controlled Axes 1 axis Power-supply Voltage 24V DC ±10%

High output setting is enabled (Set in delivery) : 4.3A (MAX.5.0A) Load current when actuator is connected (including current consumption for control)

High output setting is disabled : 3.0A

Power Supply for Electromagnetic Brake

(Note 1)

(In the case of the actuator with a brake)

24V DC ±10㧑 0.15A (MAX.)

Heat Generation 1.3W In-rush current when actuator is

connected

(Note 2)

8.4A

Transient Power Cutoff Durability MAX. 500ȝs Serial Communication Interface

(SIO Port)

RS485: 1CH (based on Modbus Protocol RTU/ASCII)

Speed : 9.6 to 230.4Kbps

Control available with serial communication

PIO Type

Signal I/O dedicated for 24V DC (selected from NPN/PNP)  Input 16 points max.,

output 16 points max.

Cable length MAX. 10m

External Interface

Fieldbus Type Not applicable

Data Setting and Input PC Software, Teaching Pendant

Position data and parameters to be saved in the non-volatile memory inside the

built-in controller in the actuator via this unit (There is no limitation in number of

writing)

However, the clock data is to be stored in this unit (retained by capacitor power:

approx. 10 days) Actuator I/O Type SIO Type (Model: SE)

An operation with Positioner Mode is available Number of Positions in Positioner

Mode

MAX. 512 points

(Note) Number of positioning points differs depending on the selected PIO pattern

Standard Type Controller status display Simple Absolute Type Display of absolute battery status and absolute reset status

LED Display

With Monitor Monitor display with switching

Command Current Ratio / Alarm Code / PIO Input Status / PIO Output Status Electromagnetic Brake Compulsory

Release Switch

NOM (Normal Operation) / RLS (Brake release) Changeover

Insulation Resistance

500V DC 10M: or more Protection Function against Electric

Shock

Class I basic insulation

Cooling Method Natural air-cooling

Surrounding Air Temperature

0 to 40qC

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

-20 to 70qC (Excluding battery) Surrounding Storage Humidity 85%RH or less (non-condensing) Usage Altitude 1000m or lower above sea level Protection Class IP20 Vibration Durability Frequency 10 to 57Hz / Swing width : 0.075mm

Frequency 57 to 150Hz / Acceleration : 9.8m/s

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

Environment

Impact 150mm/s2, 11mm/s Semi-sine wave pulse to each of the directions X, Y and Z

Weight Standard: 103g, Simple Absolute Type: 287g (including 190g for battery) External Dimensions 25W × 90H × 98D

Note 1 It is the power source to be supplied when compulsorily releasing the brake. Note 2 Rush current passes for about 5ms after the power is injected (at 40qC).

The rush current value varies depending on the impedance of the power line.

(2) External Dimensions

 For Incremental Type (Standard)

40 from DIN rail center

35.4 (Width of 35mm DIN rail)

(5)

(10)

Operation width of DIN-fixed finger 5mm

Chapter 1 Specications Check 1.2 Specications

1.2.3 Control

Chapter 1 Specications Check1.2 Specications

1.2.3 Control

 For Simple Absolute Type (Option)

40 from DIN rail center

35.4 (Width of 35mm DIN rail)

(5)

(10)

Operation width of DIN-fixed finger 5mm

(49)

(3) PIO Input and Output Interface

Input section Output section

Input voltage 24V DC ±10% Load voltage 24V DC ±10%

Input current 4mA/1 circuit

Peak load electric current

50mA/1 point

Specification

ON/OFF voltage

ON voltage 18V DC or more OFF voltage 6V DC or less

Leak current MAX.0.1mA/1 point

Insulation

Type

Non-insulated from external circuit Non-insulated from external circuit

NPN

Internal Power Supply 24V

5.6kΩ

Input Terminal

100kΩ

20kΩ

Internal Power Source

Output Terminal

External Power Supply 24V

Load

15Ω

PNP

External Power Supply 24V

5.6kΩ

Input Terminal

100kΩ

20kΩ

Internal Power Source

Internal Power Supply

24V

Output Terminal

Internal Power Source

Load

15Ω

I/O Cable Refer to 3.3.3 [3]

NPN Type PNP Type

Load Load

Pin No. Pin No.

Same power source as that supplied

to PIO Converter

Same power source as that supplied

to PIO Converter

  Caution: Use the same power source as that supplied to PIO Converter for the power

supply to the common line. It would not operate normally if the power source is different.

Chapter 1 Specications Check 1.2 Specications

1.2.3 Control

Chapter 1 Specications Check1.2 Specications

1.2.3 Control

[2] Quick Teach (Model: RCM-PST-Ƒ)

(1) Basic Specifications

RCM-PST-0 RCM-PST-1 RCM-PST-2 RCM-PST-EU

Item

24V DC power supply type

(Main unit of teaching

pendant)

Equipped with 100V AC

power supply unit

Equipped with 200V AC

power supply unit

Equipped with 200V AC

power supply unit

dedicated for Europe

Power Supply Unit Model

–

RCM-PS-1

(Equipped with 2m

cable with 3P power

socket plug)

RCM-PS-2

(Equipped with 2m

cable with I4.3-hole

solderless ring tongue

terminals)

RCM-PS-EU

(Equipped with 2m

cable with I4.3-hole

solderless ring tongue

terminals)

Number of Controlled Axes

1 axis

Power-supply Voltage 24V DC ±10%

Single-phase

100 to 115V AC ±10㧑

50/60Hz

Single-phase

100 to 230V AC ±10㧑

50/60Hz

Single-phase

100 to 230V AC ±10㧑

50/60Hz

Load current when actuator is connected (including current consumption for control)

2.2A

(High output setting is

disabled)

1.3A

(when 100V AC is used)

0.67A

(when 100V AC is used)

0.36A

(when 200V AC is used)

0.67A

(when 100V AC is used)

0.36A

(when 200V AC is used)

Heat generation when actuator is connected

2W 11W

In-rush current when actuator is connected

(Note 1)

8.3A MAX. 30A MAX. 15A

Current leakage when actuator is connected

– MAX. 5mA MAX. 0.75mA

Transient Power Cutoff Durability

– MAX. 10ms MAX. 10ms MAX. 10ms

Emergency Stop External signal input Data Setting and Input Pressing button switches and dials on the operation panel

Data Retention Memory

Position data to be saved in non-volatile memory inside built-in controller in actuator (There is no limitation in number of writing)

Number of Settable Positions

2 or 3-point

Operation Functions/LED Display

Servo ON/OFF, try run function as JOG, power ON/OFF, error display, etc. [Refer to Section 4.5.1]

Electromagnetic Brake Compulsory Release Switch

Normal / Release (Compulsory release) changeover

Insulation Resistance

500V DC 10M: or more

Protection Function against Electric Shock

Class I basic insulation

Cooling Method Natural air-cooling

Surrounding Air Temperature

0 to 40qC

Surrounding Humidity

10 to 85%RH (non-condensing)

Surrounding Environment

[Refer to installation Environment]

Surrounding Storage Temperature

-20 to 70qC

Surrounding Storage Humidity

90%RH (non-condensing)

Usage Altitude 1000m or lower above sea level Protection Class IP20

Environment

Vibration Durability Frequency 5 to 9Hz / Swing width: 1.75mm (continuous), 3.5mm (intermittent)

Frequency 9 to 150Hz / Acceleration 4.9m/s

(continuous), 9.8m/s2 (intermittent)

XYZ Each direction Weight 120g 540g 535g External Dimensions 65W × 157H × 21.6D 65W × 157H × 64.4D

Note 1 Rush current passes for about 5ms after the power is injected (at 40qC).

The rush current value varies depending on the impedance of the power line.

Note 2 High output setting operation cannot be made with a quick teach other than RCM-PST-0.

High output setting (Parameter No.152) automatically becomes invalid if a quick teach is connected.

(2) External Dimensions

 RCM-PST-0

157

27.0

26.132.5

21.6

Chapter 1 Specications Check 1.2 Specications

1.2.3 Control

 RCM-PST-1/RCM-PST-2/RCM-PST-EU

157

27.0

32.5 68.9

64.4

Chapter 1 Specications Check1.2 Specications

1.2.3 Control

Chapter 2 Installation

2.1 Transportation

[1] Handling of Actuator, PIO Converter and Quick Teach

Unless otherwise specified, the actuators are wrapped individually when the product is shipped out. Also, PIO Converter and Quick Teach are packaged separately.

䎃

(1) Handling the Packed Unit

• Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash.

• Transport a heavy package with at least more than two operators. Consider an appropriate method for transportation.

• Keep the unit in horizontal orientation when placing it on the ground or transporting. Follow the instruction if there is any for the packaging condition.

• Do not step or sit on the package.

• Do not put any load that may cause a deformation or breakage of the package.

(2) Handling the Actuator After Unpacking

• Do not carry an actuator by a cable or attempt to move it by pulling the cable.

䎃

䎃䎃

• When carrying the actuator main unit, hold the base part for the slider type and the frame of the body for the rod type.

• When carrying the actuator, exercise caution not to bump it against nearby objects or structures.

• Do not give any excessive force to any of the sections in the actuator.

• Handle with care on the operation panel of the quick teach since it is easy to get scratched.

䎃

Chapter 2 Installation 2.1 Transportation

Chapter 2 Installation2.1 Transportation

[2] Handling of Multi-Axes Type

This is the case that this product is delivered with other actuators being combined. Multi-axes type will be delivered in a package with an outer case fixed to a wooden base. Sliders are fixed so they would not accidently move while in transportation. The end of the actuator is also fixed to avoid it swinging by external vibration.

䎃

(1) Handling the Packed Unit

• Do not damage or drop. The package is not applied with any special treatment that enables it to resist an impact caused by a drop or crash.

• Transport a heavy package with at least more than two operators. Consider an appropriate method for transportation.

• When suspending the package using ropes, pass the ropes from underneath the reinforcement frames at the bottom of the base. When lifting with a forklift, also place the forks underneath the base.

• Do not apply an impact on the package or let it bounce when putting it down.

• Do not step or sit on the package.

• Do not put any load that may cause a deformation or breakage of the package.

䎃

(2) Handling the Actuator After Unpacking

• Affix the slider and rod so they would not move while transporting.

• If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external vibration. If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G or more.

• In the case that the actuator needs to be carried up with ropes or another method, be sure to use an appropriate cushioning to avoid the robot being deformed or put on an excessive pressure. And also, be sure to keep the robot in a stable and horizontal posture. Make a tool to utilize the attachment holes and tapped holes on the actuator and attach it if necessary.

• Do not attempt to apply load to the actuator or connector box. Also, avoid the cables being pinched or caused an excessive deformation.

䎃䎃

[3] Handling of Robot Mounted on Mechanical Equipment (System)

In below, explains how to handle the actuator when transporting it in the whole mechanical equipment (system) that the actuator is built in.

• Affix the slider and rod so they would not move while transporting.

• When suspending the mechanical equipment (system) with ropes, avoid applying force to the actuator, connector box, etc. Also, avoid the cables being pinched or caused an excessive deformation.

     

2.2 Installation and Storage Environment

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

conductive pollution by frost (IEC60664-1)

䎃

[1] Installation Environment

䎃

(1) Actuator

Do not use this product in the following environment. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.

• Where the actuator receives radiant heat from strong heat sources such as heat treatment furnaces

• Where the surrounding temperature exceeds the range of 0 to 40°C

• Where the temperature changes rapidly and condensation occurs

• Where the relative humidity exceeds 85% RH

• Relative humidity less than 10%RH (Quick Teach)

• Where the actuator receives direct sunlight

• Where the actuator is exposed to corrosive or combustible gases

• Where the surrounding air contains a large amount of powder dust, salt or iron (at level exceeding what is normally expected in an assembly plant)

• Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or chemical solutions

• Where the actuator receives impact or vibration

䎃

If the actuator is used in any of the following locations, provide sufficient shielding measures:

• Where noise generates due to static electricity, etc.

• Where the actuator is subject to a strong electric or magnetic field

• Where the actuator is subject to ultraviolet ray or radiation

䎃

(2) PIO Converter • Quick Teach

Do not use this product in the following environment.

• Where the surrounding temperature exceeds the range of 0 to 40°C

• Where the temperature changes rapidly and condensation occurs

• Where the relative humidity exceeds 85% RH (10 to 85%RH for Quick Teach)

• Where the actuator is exposed to corrosive or combustible gases

• Where the surrounding air contains a large amount of powder dust, salt or iron䎃

• Where the actuator receives impact or vibration

• Where the actuator receives direct sunlight

• Where the actuator is subject to splashed water, oil or chemical solutions

䎃

If the actuator is used in any of the following locations, provide sufficient shielding measures:

• Where noise generates due to static electricity, etc.

• Where the actuator is subject to a strong electric or magnetic field

• Location with the mains or power lines passing nearby

䎃

Chapter 2 Installation 2.2 Installation and Storage Environment

[2] Storage • Preservation Environment

䎃

(1) Actuator

The storage • preservation environment should be similar to the installation environment. In addition, make sure condensation will not occur when the actuator is to be stored or preserved for a long period of time. Unless specified, we do not include drying agents when shipping the actuator. If you are storing the actuator in an environment where condensation might occur, you must treat the entire shipping box, or treat the actuator itself after unpacking, to prevent condensation. The unit can withstand temperatures up to 60qC during a short storage/preservation period, but only up to 50qC if the storage/preservation period is longer than one month. The actuator should be lying flat during storage • preservation. If the actuator is to be stored in a packed state, follow the specified actuator position if indicated.

䎃

(2) PIO Converter • Quick Teach

Storage and preservation environment follows the installation environment. However, the surrounding temperature should be from -20 to 70qC and the relative humidity to be 85%RH at maximum. Especially in a long-term storage, consider to avoid condensation of surrounding air. Unless specified, we do not include drying agents when shipping the actuator. If you are storing the actuator in an environment where condensation might occur, you must treat the entire shipping box, or treat the actuator itself after unpacking, to prevent condensation.

䎃

Chapter 2 Installation2.2 Installation and Storage Environment

2.3 How to Install

2.3.1 Posture of Actuator Attachment

{ : Possible × : Not possible

Type

Horizontal

installation

Vertical

installation

Sideway

installation

Ceiling mount

installation

Slider Type (SA5C, SA7C)

{ { { {

Rod Type (RA4C, RA6C)

{ { { {

Attachment Orientation

Horizontal Vertical Sideways Ceiling mount

Caution:

1. When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason. Putting the motor on the lower side would not cause a problem in an ordinary operation. However, it may rarely cause a problem, when it is not operated for a long period, depending on the surrounding environment (especially high temperature), caused by the grease being separated and the base oil flowing into the motor unit.

2. If the actuator is installed in horizontally oriented wall mount for the slider types SA5C and SA7C, it is easy for a foreign object to get inside the actuator from the opening on the side of the actuator. And also it becomes easy to splash the grease applied on the guide and ball screw from the opening on the side surface.

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

2.3.2 Installation of Slider Type

䎃

[1] Attachment of Actuator Body

The attachment surface should be a machined surface or a flat surface that possesses an equivalent accuracy, and the flatness should be 0.05mm or less. Also, the platform should have a structure stiff enough to install the unit so it would not generate vibration or other abnormality. Also consider enough space necessary for maintenance work such as actuator replacement and inspection. There are datum surfaces for attachment on the base. The flatness of the slider movement is designed to be 0.05mm/m at maximum to the datum surface. On the rear side of the actuator, there are tapped holes and through holes for attachment and reamed hole and oblong hole for positioning. See the appearance drawings for the details of the position and diameters. [Refer to Chapter 9] Utilize the reamed holes when repeatability in the attachment after detaching is required. However, when small tunings such as the perpendicularity is required, consider such things like to use one reamed hole.

(1) Datum Surface

There are datum surfaces for attachment on the base.

䎃

Positions of Datum Surfaces (View from shaft end of opposite side of motor)

Datum Surface Datum Surface

Through Hole Reamed Hole

Tapped Hole

Oblong Hole

Datum Surface

Detail of ERC3-SA5C Datum Surface

Detail of ERC3-SA7C Datum Surface

(For reference) Shown below is the section of platform when attaching using the datum.

Actuator Type

A Dimension for Reference [mm]

SA5C, SA7C 1.5 to 4.5 or less

R0.3એ

Datum Surface Datum Surface

Datum Surface

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

(2) Mounting Method 1 (When utilizing tapped holes)

Follow the table below for the torque to tighten the attachment screws.

Tightening Torque [N•m]

Actuator

Type

Tapping

Diameter

In the case that steel is used for the

bolt seating surface:

In the case that aluminum is used

for the bolt seating surface: SA5C M4 3.59 1.76 SA7C M5 7.27 3.42

Regarding attachment screws

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• The length of thread engagement should be 1.8 times more than the nominal diameter, and pay attention not to stick the screw out inside the actuator.

Caution: Pay attention to the bolt length. If a bolt with inappropriate length is used, it may

cause an abnormality or drop in the accuracy on the driving part, damage on tapped holes or accident or failure due to insufficient strength on the actuator attachment.

(3) Mounting Method 2 (When using through holes)

Detach the screw cover and install with hex socket head cap screws from inside the actuator. Do not lose the screws for the screw cover attachment. Be careful not to make a dent or scratch on the ball screw by dropping a screw or tool on it. After installation is finished, put the screw cover back on. Attach the actuator with the hex socket head cap screw described in the table and with the specified tightening torque.

Regarding attachment screws

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• For the effective engagement length between the bolt and female thread, provide at least the applicable value specified below: Female thread is made of steel material ψ Same length as the nominal diameter

Female thread is made of aluminum ψ 1.8 times of nominal diameter

Caution: Pay attention when selecting screws. If a bolt out of the instruction is used, it may

cause an abnormality or drop in the accuracy on the driving part, damage on tapped holes or unexpected accident or failure due to insufficient strength on the actuator attachment or interference on the driving area.

Actuator Type Mounting Holes Mounting Screw Tightening Torque [N•m]

SA5C

I4.5 through hole I8 counter boring depth 4.5

M4 1.76

SA7C

I6 through hole I9.5 counter boring depth 5.5

M5 3.42

[2] Load Attachment

• There is a restriction on the moment and load overhang length when attaching a load to the slider.



Allowable load moment and overhang load length

Allowable Static Load

Moment [N•m]

Allowable Dynamic Load

Moment

(Note 1)

[N•m]

Actuator

Type

Ma Mb Mc Ma Mb Mc

Allowable Overhung Load

Length L [mm]

SA5C 29.4 42 60.5 7.1 10.2 14.7

Ma direction: 150

Mb or Mc direction: 150

SA7C 70 100 159.5 15 21.4 34.1

Ma direction: 150

Mb or Mc direction: 150

Note 1 Provided under assumption that the operation life is 5,000km.

Mb direction

Direction of allowable overhangDirection of moment

Ma direction

Mb or Mc direction

Mc direction

Ma direction

LoadLoad



 

For the calculation of Ma and Mc moments, consider the position indicated with an arrow as the datum point.

               

Caution: An operation beyond the allowable moment and overhang load length would not only

generate abnormal noise and vibration, but also may shorten the life of actuator extremely.

ERC3-SA5C ERC3-SA7C

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

• There are tapped holes on the slider top for the load attachment. Also, there are two reamed holes. Utilize the reamed holes when repeatability in the attachment after detaching is required. Also, when a tuning of such accuracy as the perpendicularity is required, use only one of the reamed holes.

• Shown below is the detail of the attachment area. Attach a load with the bolts listed in the table below with the specified tightening torque. Pay special attention to the bolt length.

2-D

4-E

B ±0.05

Reamer Hole Pitch : ±0.02

Actuator

Type

A B C D E

Tapping

Diameter

Tightening

Torque [N•m]

SA5C 50 20.5 41

I4H7, depth 6

M4, depth 8 M4 1.76

SA7C 72 32 64

I5H7, depth 10

M5, depth 10 M5 3.42

Regarding attachment screws

• Use of high-tension bolts meeting at least ISO-10.9 is recommended.

• Make sure to have the length of at least 1.8 times to the bolt diameter below for the effective length of screw engagement for the tightening of a bolt and a female screw.

Caution: Pay attention when selecting screws. If a bolt out of the instruction is used, it may

cause damage on tapped holes or unexpected accident or failure due to insufficient strength on the actuator attachment.

2.3.3 Installation of Rod Type

[1] Installation of Actuator Type Unit

There are two ways to install, one is to use the T-shaped slots on the frame and other to install vertically with using the flange surface. The installed surface should be a machined surface or a flat surface which possesses an equivalent accuracy to it, and the flatness should be 0.05mm at the maximum. See the appearance drawings for the details of the actuator dimensions. [Refer to Chapter 9]

(1) Mounting Method 1 (When using T slots on frame)

There are T-shaped slots on the frame for installation. Attach the unit directly with using these T slots or use foot brackets (option). Square nuts (4 pieces) for T-shaped slot are enclosed in standard.

• Direct Installation

Regarding attachment screws

Caution: Pay attention to the bolt length. It may cause an unexpected accident or failure due

to an insufficient attachment strength if the screws are too long or short.

Actuator

Type

Mounting

Screw

A B

Tightening Torque

[N•m]

RA4C M4 17 7 1.76

RA6C M6 25 11.6 5.36

For RA4C For RA6C

Square nut

䎥䎃

T Slot

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

• When Using Foot Brackets (Option) When installing the unit with using the foot brackets, use the T slots as for the direct installation and affix with hex socket head cap screws.

Actuator

Type

A B C D E

Recommended

attachment screw

Tightening Torque [N•m]

RA4C 71 57 20 10

I6.6 through

hole

M6 5.36

RA6C 95 79 25 12

I9 through hole

M8 11.48

Regarding attachment screws

• Use of high-tension bolts meeting at least ISO-10.9 is recommended.

• For the effective engagement length between the bolt and female thread, provide at least the applicable value specified below: Female thread is made of steel material ĺ Same length as the nominal diameter Female thread is made of aluminum ĺ 1.8 times of nominal diameter

Caution: Pay attention when selecting screws. If a bolt out of the instruction is used, it may

cause damage on tapped holes or unexpected accident or failure due to insufficient strength on the actuator attachment.

(2) Mounting Method 2 (Installation using flange surface)

• Direct Installation

Actuator

Type

A B

Tightening Torque

[N•m]

RA4C 34 M6, depth 12 5.4

RA6C 50 M8, depth 16 11.5

Regarding attachment screws

• Use of high-tension bolts meeting at least ISO-10.9 is recommended.

• Make sure to have the length of at least 1.8 times to the bolt diameter for the effective length of screw engagement for the tightening of a bolt and a female screw.

Caution: Pay attention when selecting screws. If a bolt out of the instruction is used, it may

cause damage on tapped holes or unexpected accident or failure due to insufficient strength on the actuator attachment.

䎤䎃

䰀䎐䎥

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

• When Using Flange Bracket (Option) When installing the unit with using the flange bracket, use the tapped holes as for the direct installation and affix with hex socket head cap screws.

Regarding attachment screws

• Use of high-tension bolts meeting at least ISO-10.9 is recommended.

Caution: Pay attention when selecting screws. If a bolt out of the instruction is used, it may

cause damage on tapped holes or unexpected accident or failure due to insufficient strength on the actuator attachment.

Tightening Torque [N•m]

Actuator

Type

A B C D E F

Mounting

Screw

If the platform to

attach actuator

is steel

If the platform to

attach actuator

is aluminum

RA4C 44.5 75 10 34 60

I6.6 through

hole

M6 12.34 5.36

RA6C 63.5 99 12 50 82

I9 through

hole

M8 29.97 11.48

4-F

Caution:

• When installing on the flange, do not apply external force to the unit. It may cause an operation error or damage with the external force.

• Even if external force is not applied, when the length of the unit is 386mm or more and the actuator is installed horizontally, apply a support as shown in the figure below. Even the unit length 386mm or less, vibration may get generated in some operation conditions or installation environment, and may result in an operation error or damage. Have an appropriate support in such cases.

ٳщ

ૅӨ

External Force

Support Block

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

[2] Load Attachment

Utilize the threaded part on the rod tip to attach the load. Screw in the load or use the enclosed nut. The enclosed nut can also be used as a stopper to stop from loosened after the load is screwed in.

Maximum nut tightening torque of metal part on rod tip

(Note 1)

• RA4 31.9N•m

• RA6 88.8N•m

Note 1 Listed above are the maximum nut tightening torques in the basis of the metal part on

the tip of the rod. Tighten the nut with the appropriate torque below those values considering the condition of the load attachment. In case the load is a material other than steel, such as aluminum, or the area of the tightening contact surface is small, consider the limit interface pressure of the material of the load and set the appropriate torque below the limit value.

Looseness stopper with enclosed nut

Load

Enclosed nut

Caution:

• Do not attempt to apply the radial load to the tip of the rod. An operation with the radial load being applied may cause an abnormal noise or vibration resulted in generation of an alarm. Also, it may shorten the actuator life extremely.

• Pay attention not to rotate the rod when attaching a load. Make sure to hold 2 faces on the top with a wrench so the tightening torque would not be applied to the rod.

The allowable static rotation torque should be 0.5N•m

Radial Load

Between 2 flat faces

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

2.3.4 Noise Prevention and How to Attach Electrical Devices

[1] Noise Elimination Grounding (Frame Ground)

(1) When controlling ERC3 directly from the host controller (PLC)

Cable model code: CB-ERC3P-PWBIOƑƑƑ

ERC3 possesses a built-in controller in the actuator body. The frame ground line for this controller is equipped in the PIO type power and I/O cable. Connect this to the ground terminal using a relay terminal block. For the grounding line after the relay terminal apply a low carbon steel wire with the diameter

1.6mm (AWG14: 2mm

) or more.

PLC

Earth Terminal

Class D grounding

(Formerly Class-III grounding :

Grounding resistance at 100: or less)

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

ERC3

Other

equipment

ERC3

Other

equipment

Other

equipment

(2) When controlling with using PIO converter

There is a terminal for frame grounding on the front panel of PIO Converter. Connect it to the grounding terminal. Use a low carbon steel wire with the diameter 1.6mm (AWG14: 2mm

) or

more for grounding.

(3) How to ground Quick Teach

1) RCM-PST-0 (24V DC power supply type) It is not necessary to ground the quick teach since its frame ground is connected to the actuator with the connection cable. Have a ground on the platform to install the actuator the actuator main unit. For grounding, make sure to conduct Class D Grounding (former Class 3 Grounding: grounding resistance 100: or less).

PLC

PIO Converter

Copper Wire : Connect to a ground cable with diameter 1.6mm (AWG14: 2mm

)

or more.

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

PIO Converter

Other

equipment

PIO Converter

Other

equipment

Other

equipment

Earth Terminal

Class D grounding

(Formerly Class-III grounding :

Grounding resistance at 100: or less)

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

2) RCM-PST-1

Caution:

In case it is necessary to use a terminal block in an electromagnetic control box, cut off the 3P plug to connect the line. In that case, do not attempt to share the ground line with other devices or join with others. For the wiring, follow the cable colors described below.

Electric wire

color

Signal Name Description

BR L

BL N

Power supply

YW & GN PE Ground wire

Earth Terminal

Class D grounding

(Formerly Class-III grounding :

Grounding resistance at 100: or less)

Copper Wire : Connect to a ground cable with diameter 1.6mm (AWG14: 2mm

)

or more.

Ground wire

Connect it to a power socket with a grounding electrode. If socket is not with a grounding electrode, use a 3P-2P conversion adopter and plug into 2P power socket. Connect the ground line to a ground terminal near the socket. Otherwise, cut the cable and connect it using a terminal block in an electromagnetic control box.

3P-2P conversion adapter (generally purposed)

RCM-PST

Other

equipment

RCM-PST

Other

equipment

Other

equipment

3) RCM-PST-2/RCM-PST-EU

Electric wire

color

Signal Name Description

BR L BL N

Power supply

YW & GN PE Ground wire

Caution:

In case it is necessary to use a terminal block in an electromagnetic control box, do not attempt to share the ground line with other devices or join with others.

RCM-PST

Other

equipment

RCM-PST

Other

equipment

Other

equipment

Earth Terminal

Class D grounding

(Formerly Class-III grounding :

Grounding resistance at 100: or less)

Copper Wire : Connect to a ground cable with diameter 1.6mm (AWG14: 2mm

)

or more.

Connect a 3P power socket plug and plug into a power socket with a ground electrode as conducted in 2), or connect to a 2P power socket and have the ground line connected to a ground terminal near the socket. Otherwise, make a connection using a terminal block inside an electromagnetic control box.

Chapter 2 Installation 2.3 How to Install

Chapter 2 Installation2.3 How to Install

[2] Precautions regarding wiring method

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

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

[3] Noise Sources and Elimination

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

1) AC solenoid valves, magnet switches and relays [Measure] Install a Surge absorber parallel with the coil.

2) DC solenoid valves, magnet switches and relays [Measure] Mount the windings and diodes in parallel.

Select a diode built-in type for the DC relay.



[4] Cooling Factors and Installation

1) PIO Converter

Design and Build the system considering the size of the controller box, location of the controller and cooling factors to keep the surrounding temperature around the controller below 40°C.

100mm or more

50mm or more

100mm or more

30mm or more

90mm

30mm or more

Surge absorber

Relay coil

+24V 0V

+ -

IAI America ERC3 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Guideline for Control Method

Precautions in Operation

International Standards Compliances

Names of the Parts

Actuator Coordinate

Starting Procedures

Chapter 1 Specifications Check

1.1 Product Check

1.1.1 Parts

1.1.2 Teaching Tool

1.1.3 Instruction manuals related to this product, which are contained in the DVD.

1.1.4 How to read the model plate

1.1.5 How to read the model

1.2.1 Actuator

1.2 Specifications

[1] High Output Setting

[2] Maximum speed

[3] MAX. Acceleration, Payload Capacity

[4] Driving System • Position Detector

[5] Positioning Precision

[6] Current Limit Value and Pressing Force

[7] Option

1.2.2 Built-in Controller

[1] Basic Specifications

[2] I/O Specifications

1.2.3 Control Option

Chapter 2 Installation

2.1 Transportation

[1] Handling of Actuator, PIO Converter and Quick Teach

[2] Handling of Multi-Axes Type

[3] Handling of Robot Mounted on Mechanical Equipment (System)

2.2 Installation and Storage Environment

[1] Installation Environment

[2] Storage • Preservation Environment

2.3 How to Install

2.3.1 Posture of Actuator Attachment

2.3.2 Installation of Slider Type

[1] Attachment of Actuator Body

[2] Load Attachment

2.3.3 Installation of Rod Type

[1] Installation of Actuator Type Unit

[2] Load Attachment

2.3.4 Noise Prevention and How to Attach Electrical Devices

[1] Noise Elimination Grounding (Frame Ground)

[2] Precautions regarding wiring method

[3] Noise Sources and Elimination

[4] Cooling Factors and Installation