IAI America ERC - Manual (Page 43)

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3. Wiring
3.1 Basic Structure
PERSONAL
COMPUTER
PC software
<RCB-101-MW>
Optional
Teaching pendant
<RCA-T>
Optional
Cable length: 5 m
Host system <PLC>
Relay cable
Standard cable <CB-ERC-PWBIO * * *>
Robot cable <CB-ERC-PWBIO * * *-RB>
Cable length: 1 m, 3 m, 5 m
 PIO SIO 
ERC actuator
(Not used)
24-VDC control/motor power supply (2 A or more)
Brake release switch
Emergency-stop/motor-power cutoff circuit
Drain wire