IAI America ERC3 - Manual (Page 137)

Chapter 3 Wiring
3.4 MEC Mode 1 (Operation with PLC)
127
3.4.3 Circuit Diagram
Sample circuit diagrams are shown below.
[1] Power Line and Emergency Stop Circuit

+ 24V 0V
External
emergency
stop
reset switch
External
emergency
stop switch
Emergency-stop switch
on the teaching pendant
CR
CR
Connection
detection circuit (Note 3)
Driving power
interrupting circuit
CR (Note 1)
CR
ERC3
EMG
MP
CP
BK
Motor
power
supply
Control power supply
OR 1
OR
BR
RD 1
Brake release
switch (Note 2)
Brake forcible release
MP_GND
B4
CP_GND
B2
YW
RD
CR (Note 1)
CR
ERC3 2nd unit
OR 1
OR
BR
RD 1
EMG
MP
BK
CP
MP_GND
CP_GND
YW
RD
CR (Note 1)
CR
ERC3 3th unit or later
OR 1
OR
BR
RD 1
EMG
MP
BK
CP
MP_GND
CP_GND
YW
RD
B4
B2
B4
B2
A4
B3
B1
A3
A4
B3
B1
A3
A4
B3
B1
A3


Note 1 The load current for the emergency stop signal to turn ON/OFF at contact CR is 24V DC and
10mA.
Note 2 This is a switch to compulsorily release the brake of the actuator equipped with a brake. It is
convenient when in maintenance or adjustment work if it is installed. It is necessary to have at
least 24V DC and 150mA for the switch contact capacity.
Note 3 The controller automatically identifies that the teaching tool is connected and activates the
emergency stop switch of the teaching pendant.
Caution:
• Do not attempt to shut the 0V circuit of MP_GND and CP_GND with the emergency stop. Doing
so may burn the internal circuit. If an absolute shutoff of the power supply is required, conduct it
on the primary side of DC power supply (alternating current side).
• The emergency stop switch of the teaching pendant cannot be reflected to the emergency stop
circuit of the whole system.
• In case the power source for each controller is different, join the 0V of each power supply
together.