Document Outline

• 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 Specifications
    • 1.2.1 Actuator
      • [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
      • [1] PIO Converter (Model: RCB-)
      • [2] Quick Teach (Model: RCM-PST-)
• 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
• Chapter 3 Wiring
  • 3.1 Positioner Mode 1 (Standard Type)
    • 3.1.1 Wiring Diagram (Connection of construction devices)
    • 3.1.2 PIO Pattern Select and PIO Signal
      • [1] PIO Pattern (Control Pattern) Selection
      • [2] PIO Patterns and Signal Assignment
      • [3] List of PIO Signals
    • 3.1.3 Circuit Diagram
      • [1] Power Line and Emergency Stop Circuit
      • [2] PIO Circuit
  • 3.2 Pulse Train Control Mode
    • 3.2.1 Wiring Diagram (Connection of construction devices)
    • 3.2.2 PIO Pattern Selection and PIO Signal
      • [1] PIO Pattern (Control Pattern) Selection
      • [2] PIO pattern and Signal Allocation
      • [3] List of PIO Signals
    • 3.2.3 Circuit Diagram
      • [1] Power Line and Emergency Stop Circuit
      • [2] Command Pulse Train Circuit
      • [3] PIO Circuit
  • 3.3 Positioner Mode 2 (Extension Type by PIO Converter)
    • 3.3.1 Wiring Diagram (Connection of construction devices)
    • 3.3.2 PIO Pattern Selection and PIO Signal
      • [1] PIO Pattern (Control Pattern) Selection
      • [2] PIO Patterns and Signal Assignment
      • [3] List of PIO Signals
    • 3.3.3 Circuit Diag
      • [1] Power Line and Emergency Stop Circuit
      • [2] PIO Converter to ERC3
      • [3] PIO Circuit
  • 3.4 MEC Mode 1 (Operation with PLC)
    • 3.4.1 Wiring Diagram (Connection of construction devices)
    • 3.4.2 PIO Pattern Selection and PIO Signal
      • [1] Operation pattern
      • [2] Operation Patterns and Signal Assignments
      • [3] List of PIO Signals
    • 3.4.3 Circuit Diagram
      • [1] Power Line and Emergency Stop Circuit
      • [2] PIO Circuit
  • 3.5 MEC Mode 2 (Operation Using PIO Converter)
    • 3.5.1 Wiring Diagram (Connection of construction devices)
    • 3.5.2 PIO Pattern Selection and PIO Signal
      • [1] Operation pattern
      • [2] Operation Patterns and Signal Assignments
      • [3] List of PIO Signals
    • 3.5.3 Circuit Diagram
      • [1] Power Line and Emergency Stop Circuit
      • [2] PIO Converter to ERC3
      • [3] PIO Circuit
  • 3.6 MEC Mode 3 (Solo Operation with Quick Teach)
    • 3.6.1 Wiring Diagram (Connection of construction devices)
      • [1] RCM-PST-0 (24V DC power supply type)
      • [2] RCM-PST-1
      • [3] RCM-PST-2/RCM-PST-EU
  • 3.7 Wiring Method
    • 3.7.1 Wiring of Actuator
      • [1] PIO type power and I/O cable (Model : CB-ERC3P-PWBIO)
      • [2] SIO type power and I/O cable (Model : CB-ERC3S-PWBIO)
    • 3.7.2 Wiring between PIO Converter and Quick Teach
    • 3.7.3 Wiring between PIO Converter and Host Controller (e.g. PLC)
    • 3.7.4 Wiring of PIO Converter Power Line Connector
    • 3.7.5 Pulse Converter: AK-04 (Optional accessory)
    • 3.7.6 Teaching Port Connector Connection of ERC3 Main Unit
    • 3.7.7 Connection of SIO Connector of PIO Converter
• Chapter 4 Operation
  • 4.1 Basic Operation
    • 4.1.1 Basic Operation Methods
      • [1] Positioner Mode 1 (PIO Operation of ERC3)
      • [2] Pulse Train Control Mode (Pulse Train Operation of ERC3)
      • [3] Positioner Mode 2 (Extended Operation of ERC3)
      • [4] MEC Mode 1
      • [5] MEC Mode 2
      • [6] MEC Mode 3
    • 4.1.2 Parameter Settings
  • 4.2 Operation in Positioner Mode
    • 4.2.1 Set of Position Table
    • 4.2.2 Operation in Positioner Mode 1
      • [1] PIO Pattern Selection and Main Functions
      • [2] Overview of major Functions
      • [3] Power Supply and Emergency Stop Release (CP, MP, EMG, PEND)
      • [4] Brake release BK
      • [5] Time Constant for Control Signal Input
      • [6] Operation Ready and Auxiliary Signals
      • [7] Operation with the Position No. Input = Operations of PIO Patterns 0 and 2
      • [8] Direct Position Specification (3-point <Solenoid valve> type) = PIO Pattern 1
    • 4.2.3 Operation in Positioner Mode 2 (Operation Using PIO Converter)
      • [1] PIO Pattern Selection and Main Functions
      • [2] Overview of major Functions
      • [3] Power Supply and Emergency Stop Release (CP24, MPI, MPO, EMG(-))
      • [4] Time Constant for Control Signal Input
      • [5] Operation Ready and Auxiliary Signals
      • [6] Operation with the Position No. Input = Operations of PIO Patterns 0 to 3
      • [7] Direct Position Specification (Solenoid Valve Mode 1) = Operation of PIO Pattern 4
      • [8] Direct Position Specification (Solenoid Valve Mode 2) = Operations of PIO Pattern 5 in PIO Converter
  • 4.3 Operation in Pulse Train Control Mode (How to Operate Pulse Train Control Type)
    • [1] Guideline for PIO Pattern Selection and Supportive Functions
    • [2] Guideline for Supportive Functions
    • [3] Power Supply and Emergency Stop Release (CP, MP, EMG)
    • [4] Brake Release BK
    • [5] Time Constant for Control Signal Inp
    • [6] Operation Ready and Auxiliary Signals
    • [7] Pulse Train Input Operation
    • [8] Settings of Basic Parameters Required for Operation
    • [9] Parameter Settings Required for Advanced Operations
  • 4.4 Operation in MEC Mode 1 and 2 (Operation with PLC)
    • [1] Outline for Operation Patterns and Functions
    • [2] Table for Operational Conditions (Position Table) and Positioning Complete Signal
    • [3] Power Supply and Emergency Stop Release
    • [4] Brake release BK
    • [5] Time Constant for Control Signal Input
    • [6] Operation when Operation Pattern is “2-Point Stop (2-Point Positioning)”
    • [7] Operation when Operation Pattern is “3-Point Stop (3-Point Positioning)”
  • 4.5 Operation in MEC Mode 3 (Test Run with Quick Teach.)
    • 4.5.1 Operation Panel Functions
    • 4.5.2 Operations
      • [1] Switches Used for Mode Selection (Auto ↔ Manual)
      • [2] Switch Used for Servo ON/OFF Operation
      • [3] Switch Used for Home-Return Operation
      • [4] Switches Used for Manual Operation
      • [5] Switch Used for Brake Release
      • [6] Switches Used to Change Positioning Point Number
      • [7] Switches Used for Position Teaching
      • [8] Switches and Rotary Knobs Used in Acceleration/Deceleration and Speed Settings
      • [9] Switches Used in Test Run
      • [10] Switches Used in Alarm Reset
    • 4.5.3 Test Run with Operation Panel
• Chapter 5 Power-saving Function (Automatic Servo-off and Full Servo Functions)
  • 5.1 Positioner Mode 1 and 2
  • 5.2 Pulse Train Control Mode
  • 5.3 MEC Mode 1, 2 and 3
    • 5.3.1 Automatic Servo-off Function
    • 5.3.2 Full Servo Function
• Chapter 6 Adjustment of Operation
  • 6.1 Absolute Reset and Absolute Battery
    • 6.1.1 Absolute Reset
      • [1] Absolute reset procedure from teaching tool
      • [2] Absolute reset using PIO
      • [3] Absolute Battery
  • 6.2 High Output Setting and Gain Scheduling Function
    • 6.2.1 High Output Setting
    • 6.2.2 Gain Scheduling Function
    • 6.2.3 Setting in Positioner Mode 1 & 2 and Pulse Train Control Mode
    • 6.2.4 Setting in MEC Mode 1 to 3Making the high output setting enable/
  • 6.3 I/O Parameter
    • 6.3.1 Positioner Mode 1, Positioner Mode 2 and Pulse Train Control Mode
      • [1] I/O Parameter List
      • [2] Detail Explanation of Parameters
      • [3] Servo Adjustment
    • 6.3.2 MEC Mode 1, MEC Mode 2 and MEC Mode 3
      • [1] I/O Parameter List
      • [2] Detail Explanation of Parameters
      • [3] Servo Adjustment
• Chapter 7 Troubleshooting
  • 7.1 Action to Be Taken upon Occurrence of Problem
  • 7.2 Fault Diagnosis
    • 7.2.1 Impossible operation of controller
    • 7.2.2 Positioning and speed of poor precision (incorrect operation)
    • 7.2.3 Generation of noise and/or vibration
  • 7.3 Alarm Level
  • 7.4 Alarm List
• Chapter 8 Actuator Maintenance Check
  • 8.1 Inspection Items and Schedule
  • 8.2 External Visual Inspection
  • 8.3 Cleaning
  • 8.4 Internal Inspections for Slider Type
  • 8.5 Internal Cleaning for Slider Type
  • 8.6 Grease Supply
    • 8.6.1 Grease Supply for Slider Type
    • 8.6.2 How to Supply Grease on Slider Type
    • 8.6.3 Grease Supply for Rod Type
    • 8.6.4 How to Supply Grease on Rod Type
  • 8.7 Motor Replacement Process
• Chapter 9 External Dimensions
  • 9.1 ERC3-SA5C
  • 9.2 ERC3-SA7C
  • 9.3 ERC3-RA4C
  • 9.4 ERC3-RA6C
• Chapter 10 Appendix
  • 10.1 Input and Output Response Performance When PIO Converter is Used
  • 10.2 Way to Set Multiple Controllers with 1 Teaching Tool
    • 10.2.1 Connecting Example
    • 10.2.2 Detailed Connection Diagram of Communication Lines
    • 10.2.3 Axis No. Setting
    • 10.2.4 Handling of e-CON connector (how to connect)
    • 10.2.5 SIO Converter
    • 10.2.6 Communications Cable
  • 10.3 Conformity to Safety Category
    • [1] System Configuration
    • [2] Wiring and setting of safety circuit
    • [3] Examples of safety circuits
    • [4] TP adapter and accessories
  • 10.4 When Connecting Power Supply with + Grounding
  • 10.5 Example of Basic Positioning Sequence (PIO Patterns 0 to 3 in PIO Converter)
    • 10.5.1 I/O Assignment
    • 10.5.2 Ladder Sequence
      • [1] Servo ON (Emergency Stop) Circuit
      • [2] Operation and Stop Circuit
      • [3] Pause Circuit
      • [4] Reset Circuit
      • [5] Home Return Circuit
      • [6] Decode Circuit of Positioning Complete Position No.
      • [7] Actuator Start Circuit
      • [8] Position 1 Operation Circuit
      • [9] Position 2 Operation Circuit
      • [10] Position 3 Operation Circuit
      • [11] Commanded Position No. Output Ready Circuit
      • [12] Commanded Position No. Output Circuit
      • [13] Start Signal Output Circuit
      • [14] Other Display Circuits (Zone 1, Position Zone, and Manual Mode)
  • 10.6 Life
    • 10.6.1 Product Life of Slider Type
    • 10.6.2 Product Life of Rod Type
• Chapter 11 Warranty
  • 11.1 Warranty Period
  • 11.2 Scope of the Warranty
  • 11.3 Honoring the Warranty
  • 11.4 Limited Liability
  • 11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
  • 11.6 Other Items Excluded from Warranty
• Change History