IAI America ERC2 - Manual (Page 177)


11. Appendix
152
Appendix
* Appendix
Example of Basic ERC2 Positioning Sequence
Given below is an example of basic sequence for creating a positioning sequence using the ERC2.
indicates PIO signals of the ERC2 controller.
Home return signal
HOME
HOME PEND HEND
HOME
HEND
A
A
B
A
B
C
D
H
I
J
K
L
A C
D
C
C
I
H K
H
I
J
J PEND L
K
J PEND
L
Home return
request
Home return request
Positioning
start request
to position 1
Positioning
start request
to position 1
The positioning start request signal is converted to pulse in such a
way that one start signal is issued for one positioning operation.
Auxiliary start signal
for next positioning
({)
Check if positioning to the specified position has completed.
Positioning start pulse
to position 1
Auxiliary positioning start
pulse to position 1
Auxiliary positioning
start for position 1
Start check for position 1
Completion of positioning to
position 1
B
.. ERC-RAC
C 7
18 31.7
M8s1.25 Nut 3 types
2
37.5
20
43.5 118.5
B
L
F
49.7 A
8 2
118.5
20
Stroke
(300)
PIO type SIO type
M8s1.25
4 - F
75.6
54 44
5 1
27
58
54
44
13 (2 flat faces)
(note) The angle of the 2 faces
on the actual product would
not be as shown in the drawing.
M.E.
M.E. : Mechanical End
50 100 150 200 250 300
L
A
B
C
293.5
175
393.2
91
1.6
343.5
225
493.2
141
1.7
393.5
275
593.2
191
1.8
443.5
325
693.2
241
2.0
493.5
375
793.2
291
2.1
543.5
425
893.2
341
2.2
Stroke
Weight [kg]
Cable joint
connector
Brake unit
Secure
at least
100
Teaching Port
Home
Rod Diameter
F
Appearance Figure for Brake-equipped Type
*Brake-equipped type is longer in 43.5mm and
weight heavier in 0.5kg than the standard type.
*There is no Teaching
Port for SIO Type.