Quality and Innovation. Easy to use RoboCylinder.

Transcription

1 Quality and Innovation Easy to use RoboCylinder

2 ERC Series Easy to use RoboCylinder [ Slider type ] Rod type An Electric Cylinder with uilt-in Controller Offering the Ultimate in Simplicity The ERC Series is a family of new-concept, low-cost electric cylinders. The assembly, wiring and adjustment procedures became even simpler than the traditional user-friendly RoboCylinder Series, allowing machine engineers to operate and adjust the cylinder with greater ease. Installing the Actuator Install the slider type on the mounting surface by inserting bolts from above into the through holes provided in the bottom face. The rod type is installed on the mounting surface using the flange at the front end of the actuator or with optional foot brackets. Complex wiring PLC Controller PLC Just connect the cable 24-VDC power supply Cumbersome Guide Motor Difficult to adjust uilt-in motor, driver and controller all screw It's THAT easy! You can enter position data and check the operation using a teaching pendant or PC software. Multipoint Positioning of Up to Eight Points, and Useful Functions A maximum of eight positions can be set for both slider and rod types, so non-uniform objects can be handled without the need for changeover. The ERC Series also provides the Pause input signal and Zone Output signal (refer to page 6) - the two popular functions in the Robo Cylinder Series - to let you effortlessly achieve those operations that are difficult to implement with air cylinders. Zone signal Zone signal OFF Zone signal ON Zone signal OFF

3 Ensuring High Accuracy and Rigidity with all Screw and Linear Guides The affordably priced ERC Series features an accurate ball screw mechanism as the drive means. Reducing the frictional resistance over a lead screw, the ball screw allows for smooth operation and accurate positioning over a long period with less wear. The slider type with built-in linear guides achieves excellent linear motion even when transferring an overhung load. Large friction from sliding Rattle Unsmooth movement Linear guide all screw Section view of lead screw Rolling by balls Low friction Little rattle Smooth movement Section view of ball screw Linear guide Section view of actuator Linear guide Actuator controller PLC (No need for additional controller space) Empty PLC Space-Saving The ERC actuator has a built-in controller, so there is no need to provide additional space for the actuator controller. Space savings and cost reduction can be achieved in various applications such as when multiple actuators are connected to a single equipment. Amazing Low Price oth the slider and rod types are available at amazing low prices. These let you build a positioning mechanism with greater ease and at lower costs over a rodless air cylinder used with guides or a combination of ball screw, guides and motor.

4 How to Use the ERC Actuator Operating the ERC actuator is easy. Just follow the five simple steps shown below. Installing the Actuator Install the slider type on the mounting surface by inserting bolts from above into the through holes provided in the bottom face. The rod type is installed on the mounting surface using the flange at the front end of the actuator or with optional foot brackets. Slider type Rod type Wiring Connect the ERC actuator to the PLC (or PC, etc.) using the power and I/O cable. Supply 24 VDC from the main power supply to the specified wires in the power and I/O cable. PLC 24 VDC power supply Attach a crimp terminal to the cable end Entry of Positioning Data Enter positions (coordinates) to be used in the positioning operation. Position data can be entered in three different ways as shown to the right. Positions can be entered in the following three ways Enter coordinates directly. Jog the actuator to a desired position, and enter the position. Move the actuator by hand to a desired position, and enter the position.

5 Operation Check Simply select a target position using the teaching pendant or PC software and execute a movement command on the screen, and the actuator will move to the specified position. (Teaching pendant screens are shown to the left.) Open the main screen and move the cursor to the number corresponding to the target position. Pressing [Enter] will display the Move command at the bottom of the screen. Move the cursor to the Move command and press [Enter]. Select a speed and press [Enter], and the cylinder will move to the selected position. Movement instruction Move to position 1 PLC Operation Specify a target position number from the PLC and input the Start signal, and the actuator will move to the specified position. Create a PLC program by setting actuator operation patterns matching the operation patterns of your equipment, and run the program to implement desired moves. Moves to position 1

6 Functions of the Robo Cylinder Series Operation pattern 1 Positioning Operation The Robo Cylinder moves the load installed on the axis slider or rod and performs positioning with a repeatability of 0.05mm. Used for opening/closing of a door Used for pick & place applications Example of operation 200mm/sec 100mm/sec Stationary Accelerating Decelerating Accelerating Decelerating Time Position 1 Position 2 Application Features Multi-point positioning covering a maximum of eight points. and acceleration/deceleration rates can be set for each position. A Position Complete signal can be output at an arbitrary position before a specified position simply by setting an appropriate positioning width. Acceleration and deceleration rates can be set separately for each point. can be changed during movement without stopping. Operation pattern 2 Transferring or moving work, etc. Input of position 1 Input of position 2 Incremental Moves The Robo Cylinder performs positioning based on coordinates specified with respect to origin, or travels an arbitrary distance relative to the current position Input of start signal (Start of movement) Input of start signal (Start of movement) Position Data Table Output of Position Complete signal Output of Position Complete signal (Set by the teaching pendant or PC software) No. Position (mm/sec) Accel/ Push force decel (G) (%) Movement complete Movement complete Positioning MAX Accel width only (O or 1) 0 0 Raising/lowering a stocker Feeding objects for marking Example of operation 300mm/sec Position 1 Position 2 Stationary Time Application Features Raising/lowering a stocker, pallet transfer, etc. Positioning to eight points or more at a constant pitch is enabled by specifying repeated travel. (Movement can be initiated for as many times as possible within the stroke range.) The desired pitch is easily specified using the position data table. A "=" is indicated during Incremental Move mode. Position number Input of position 1 Input of Start signal (Positioning mode) Position 0 Coordinate 0 Completion of movement to position 1 (100mm position) Position Data Table Position 1 Coordinate 100 Input of position 2 Input of Start signal (Set by the teaching pendant or PC software) No. 1 2 Position (mm/sec) Accel/ Push force decel (G) (%) Position 2 Coordinate 25 Movement of 25mm is repeated each time position 2 is specified and the Start signal is input Positioning MAX Accel width only (O or 1)

7 Push & Hold Operation Operation pattern 3 Positioning Operation Accelerating ERC ROO Cylinder With the Robo Cylinder the rod can be maintained in a condition where it is continually pressed against the load, etc., just like an air cylinder. Pressing the rod against the load Affixing the load Example of operation 300mm/sec Decelerating Stationary Time Position 1 Coordinate 100 Load Positioning width: 50 If the load is not contacted at the end of the positioning width, the Position Complete signal will not be output. Application Detection, press-fitting or clamping of load, etc. Features A Position Complete signal is output the moment the rod contacts the load, so the Robo Cylinder can be used for the screening of work, etc., by combining a Position Complete signal with Zone signals. The force to push the load (push force) can be changed up to 873N by changing the setting in the Position Data table. Pause Input Example of operation ON OFF Push force in stationary state (N) Current-limiting value (RA64 type) The slider decelerates to a stop upon the input of an external signal. You can set an interlock (interference prevention) with peripheral equipment to cause the slider to decelerate and stop the moment the Pause input turns OFF. When the Pause input turns ON, the operation will resume to complete Pause input signal the remaining movements. For safety reasons, this signal uses contact logic (the slider operates when the signal turns OFF). Input of position 1 Input of Start signal (start of movement) Low speed movement without stopping Stop & continue pressing load at specified push force Position Data Table (Set by the teaching pendant or PC software) No. Caution Position (mm/sec) Accel/ Push force decel (G) (%) Output of Position Complete signal Positioning MAX Accel width only (O or 1) Zone Output Example of operation The accuracy of push force is not guaranteed in the stationary state. The above figure is provided only as a reference. Caution should be exercised, because if the push force is too small, push-motion operation may not be performed properly due to slide resistance, etc. ON OFF A signal is output when the slider enters the specified range. A signal can be output at arbitrary positions during movement (the range of positions being set by parameter), so the Robo Cylinder can be used to set a danger area, shorten the tact time, etc. Pause input signal Accelerating Accelerating Accelerating Decelerating Stationary Time Decelerating Decelerating Pause signal input OFF Stationary Time Specified Zone signal output range Input of position 1 Input of Start signal (Start of movement) Deceleration to stop at Pause OFF Resumption of movement at Pause ON Accelerating Max. acceleration by load Movement complete The acceleration and deceleration rates can be set separately. Decelerating Output of Position Complete signal The acceleration and deceleration rates of the Robo Cylinder are set using the Position Data table. Normally the Robo Cylinder accelerates/decelerates at the specified rate, but setting "1" under "MAX Command speed Acceleration only" enables quick acceleration and gradual deceleration. Time Stationary Position Data Table (Set by the teaching pendant or PC software) No. 1 2 Position (mm/sec) Accel/ Push force decel (G) (%) Decelerates at the value set under "Accel/decel." Positioning MAX Accel width only (O or 1) Input of position 1 Input of Start signal (Start of movement) Zone signal ON on entry into specified range No micro-vibration at stop There is no micro-vibration, which is experienced by conventional servo motors in the action of stopping. This makes the Robo Cylinder ideal for measurement in tandem with an attached camera, etc. Conventional AC servo Hunting Zone signal OFF on exit from specified range Movement complete Robo Cylinder Stops immediately If "MAX Acceleration only" is set to "0", the setting under "Acceleration/deceleration" will apply to both acceleration and deceleration. If "MAX Acceleration only" is set to "1", the Robo Cylinder will accelerate at the maximum acceleration rate and decelerate at the setting under "Acceleration/deceleration." Output of Position Complete signal

8 ERC Series Specification Table Explanation of Actuator Types Type Actuator model Description Actuator width stroke Page Slider type SA6 SA7 A table or other device is installed on the slider to implement movement/positioning in the horizontal or vertical direction. The builtin guides ensure excellent linearity and allow the actuator to accept even an overhung load P15 P16 Slider type Rod type Specification Table Type SA6 ase width: 58mm SA7 ase width: 68mm RA54 RA64 A chuck or other device is installed at the tip of the rod that extends/contracts from/into the actuator. Although this type has no builtin guides, external guides can be installed in horizontal applications, or even in vertical applications where linearity is required. Load capacity Stroke, speed (mm/sec) Horizontal Vertical Lead (kg) (kg) P17 P18 Page P15 P16 Rod type RA54 Flange angle: 54mm RA64 Flange angle: 64mm P17 P18 The figures in parentheses apply to a vertical application.

9 Explanation of Specification Items The ERC Series actuators are classified into the following two types. Refer to the text underneath for the explanation of each specification item ( to ). ERC ROO Cylinder Series Type Encoder type Motor Lead Stroke Cable length Options SA6 Slider type Rod type ERC SA7 RA54 RA64 I PM N P S M X W NM FT NM Series Indicate the name of the actuator series. Encoder type Motor Stroke Options Type Indicate the classification by shape (slider or rod), size (SA6 or SA7), etc. Indicate the type of the encoder installed in the actuator. I: Incremental type - Since the slider position data are cleared each time the power is turned off, homing must be performed every time the actuator is powered up. * All ERC Series actuators are equipped with an incremental encoder, so "I" is shown here in all model names. Indicate the type of the motor installed in the actuator. * All ERC Series actuators are equipped with a pulse motor, so "PM" is shown here in all model names. Indicate the actuator stroke (operating range) (unit: mm). Lead Indicate the lead of the ball screw. "Lead" refers to the distance the slider moves when the ball screw rotates by one revolution. The larger the lead, the faster the maximum speed becomes. Cable length Indicate the length of the power & I/O cable connecting the actuator to the power supply (24 VDC) and PLC. N: No cable P: 1m S: 3m M: 5m X : Fill in these boxes to specify a length other than 1, 3 or 5 m (e.g., X08=8m). ( cable length: 10m) W : Fill in these boxes to specify the length of a cable with connectors on both ends for use with a PIO terminal block (e.g., W03=3m cable with connectors on both ends). Indicate a desired option to be equipped on the actuator. * When selecting multiple options, enter them in alphabetical order (e.g., FT-NM). : [rake] A brake for preventing the slider (rod) from falling in a vertical application when the power is cut off or the servo is turned off. FT: [Foot bracket] A bracket for affixing the rod type actuator from above using bolts (refer to page 23). NM: [Reverse homing specification] Normally the home is set on the motor side. Enter this option to specify the home on the non-motor side.

10 System Configuration Diagram asic Diagram PC software (Optional) <: RC-101-MW> RS485 conversion adapter (Supplied with PC software) <: RC-CV-MW> PERSONAL COMPUTER Teaching pendant <: RCA-T/TD/E/P> 24 VDC power supply (Optional) <: PS-241 (100V input)> <: PS-242 (200V input)> PLC External equipment communication cable (Supplied with PC software) <: C-RCA-SIO020(050)> Cable length (5m) Cable length (5m) Teaching port Power & I/O cable (No connector) (Required option) <: C-ERC-PWIO***> Standard: 1m/3m/5m asic Diagram Name Remarks Page Teaching Pendant (high function type) RCA-T Position data input, actuator test operation, etc. Teaching Pendant (with deadman switch) Teaching Pendant (simple type) Data Setting Unit PC Software 24 VDC Power Power & I/O Cable (connectors on both ends) Insulated PIO Terminal lock SIO Converter RCA-TD RCA-E RCA-P RC-101-MW PS-241 PS-242 C-ERC-PWIO***-H6 RC-TU-PIO-A RC-TU-PIO- RC-TU-SIO-A RC-TU-SIO- RCA-T with a deadman switch Economical version of RCA-T (cannot be used for Used exclusively for data input actuator operation) Position data input, actuator test operation, etc. Input power supply, 100 V specification Input power supply, 200 V specifiction Power & I/O cable for use with an insulated PIO terminal block Vertical mounting specification Horizontal mounting specification Vertical mounting specification Horizontal mounting specification P24 P25 P10 Precautions for Use The enclosure of the ERC Series is not dustproof or splash-proof. If your ERC actuator will be used in an environment subject to water, oil or significant dust, please contact your IAI sales representative.

11 Insulated PIO Terminal lock A terminal block for facilitating wiring with the PLC When this terminal block is used, the power & I/O cable must be of the optional specification with connectors on both ends. Features The I/O ports are nonpolar, so they accept a PLC of either the NPN or PNP I/O specification. This terminal block is equipped with I/O signal monitor LEDs that can be used to check the ON/OFF status of each signal. Vertical specification Specifications Item Specification Power supply voltage Operating temperature, humidity Input Output Number of input points Input voltage Input current Allowable leak current Operating voltage (with respect to ) Number of output points Rated load voltage current Residual voltage Short/overcurrent protection DC24V 10% 0~55 C, 85%RH or less (non-condensing) 6 points 24V 10% 7mA/point (bipolar) 1mA/point (approx. 2mA in normal temperature) Input ON: 16V or more (4.5mA)/ OFF: 5V or less (1.3mA) 4 points 24V 60mA/point 2V or less/60ma Fuse (27 0.1W) : RC-TU-PIO-A Horizontal specification : RC-TU-PIO- Wiring Diagram Teaching pendant PC software DC24V Emergency stop circuit Power & I/O cable (Connectors on both ends) (Optional) <: C-ERC-PWIO***-H6> Standard: 1m/3m/5m SIO Converter (Optional) <: RC-TU-PIO-A()> (Parallel communication) PLC SIO Converter This converter connects the serial communication lines (SGA, SG) of the power & I/O cable, allowing for RS232 communication using a D-sub, 9-pin cross cable for PC connection. Vertical specification : RC-TU-SIO-A Features The connection end of the teaching pendant or PC cable can be set in a desired position away from the actuator. Multiple axes can be connected and operated from the PC via serial communication (refer to page 21 for details). Specifications Item Power supply voltage Operating temperature, humidity Terminal resistor Specification DC24V 10% 0~55 C, 85%RH Horizontal specification : RC-TU-SIO- Wiring Diagram DC24V Emergency stop circuit Teaching pendant Power & I/O cable (No connector) (Required option) <: C-ERC-PWIO***> Standard: 1m/3m/5m SIO Converter (Optional) <: RC-TU-SIO-A()> PERSONAL COMPUTER D-sub, 9-pin cross cable (provided by user) PC

12 Points to Note Notes on Catalog Specifications <Common to all models> "" refers to the specified speed at which the actuator slider (or rod) will move. The slider accelerates from a stationary state, and once the specified speed is reached it will maintain that speed until immediately before the target position (specified position), where it will begin decelerating to a stop at the target position. <Caution> The maximum speed of the ERC Series will vary according to the weight of the load placed on the slider (rod). Select an appropriate model by referring to "Correlation Diagrams of and Load Capacity" on pages 13 and 14. The time needed to reach the specified speed will vary according to the acceleration (deceleration). If the travel distance is short, the specified speed may not be reached. As for the SA6 slider type with a 600mm stroke or RA54 rod type with a 300mm stroke, the maximum speed will drop to avoid reaching a dangerous speed. (Check the maximum speed for the applicable stroke in the corresponding dimensional drawing." When calculating the travel time, consider acceleration, deceleration and stabilization periods in addition to the travel time at the specified speed. can be set in increments of 1mm/sec in position data. Acceleration/ Deceleration Positioning Repeatability "Acceleration" refers to the rate of change of speed when the speed rises from zero (stationary state) to the specified speed. "Deceleration" refers to the rate of change of speed when the specified speed drops to zero (stationary state). In the programs, both are specified in "G" (0.3G = 2940 mm/sec 2 ). <Caution> Increasing the acceleration (deceleration) will shorten the duration the actuator accelerates (decelerates) and decrease the travel time. However, doing so will also cause rapid acceleration (deceleration), resulting in increased shock. The rated acceleration is 0.3G for the slider type (or 0.2G if the lead is 3 or 4mm or in the case of a vertical application), and 0.2G for the rod type in both horizontal and vertical applications. (The load capacity is set based on the rated acceleration.) If the ERC Series is operated at an acceleration (deceleration) exceeding the rated acceleration, its life may be significantly reduced or breakdown may occur. e sure to use an acceleration/deceleration setting not exceeding the rated acceleration, or use a single-axis robot of the high-acceleration/deceleration type. (The ISPA Series supports the maximum acceleration of 1G). Note that increasing the acceleration (deceleration) will decrease the load capacity from the level corresponding to the rated acceleration. "Positioning repeatability" refers to the positioning accuracy of repeated movements to a pre-stored position. This is not the same as "absolute positioning accuracy," so exercise caution. Home The home is set on the motor side for the standard specification, or on the non-motor side for the reverse homing specification. <Caution> An actuator with an incremental encoder always requires homing each time the power is reconnected. During homing the slider (or rod) will move to the mechnical end before reversing, so be careful to prevent contact with surrounding parts. Allowable Load Moment (Slider SA6, SA7) Each allowable load moment is calculated by assuming the life of the guide as 5,000 km. Exercise caution, because applying a moment exceeding the specified value will cause the guide to end its life prematurely. Directions of load moment for slider type Ma Mb Mc Overhung Load Length When each model is used with an overhung load exceeding the allowable length, vibration or stabilization delay may result. Therefore, be sure to keep the overhung load length within the allowable value. L L

13 Correlation Diagrams - Push Force & Current-Limiting Value Correlation Diagrams of Push Force & Current-Limiting Value Push & Hold Operation The push force used in push & hold operations can be changed freely by changing the controller's current-limiting value. The maximum push force will vary according to the model. Confirm the required push force from the graphs below and select a type that meets your purpose. Precautions for Use The relationships of push force and currentlimiting value are provided for reference only. The actual figures may vary slightly. If the current-limiting value is under 20%, the push force may become subject to fluctuation. Therefore, set the currentlimiting value to 20% or more. RA54 type RA64 type High-speed type Push force (N) RA54-12 Push force (N) RA64-16 Current-limiting value (%) Current-limiting value (%) Medium-speed type Push force (N) RA54-6 Push force (N) RA64-8 Current-limiting value (%) Current-limiting value (%) Low-speed type Push force (N) RA54-3 Push force (N) RA64-4 Current-limiting value (%) Current-limiting value (%) The figure after the type code indicates the lead.

14 Correlation Diagrams - & Load Capacity ERC Slider Type speed 600 mm/sec Selection of horizontal or vertical installation Selection of speed type based on equipment cycle time Select a desired type that meets your purpose by referring to the diagrams for speed and load capacity below. Horizontal installation Precautions for Use If you are using the slider type and the load on the slider will extend considerably from the center, give consideration to the load moments and overhung load length. Load moments Ma, Mb and Mc must be within the specified range of load moment. Ma Mb Mc Overhung load length The specified value applies when the load's center of gravity is L/2. If L the load extends in the direction of Ma, Mb or Mc, keep within the specified range. Take note that with the SA6 type L with a 600mm stroke, the maximum speed will be limited to avoid reaching a dangerous speed. 600mm stroke (lead 12: 515mm/sec, lead 6: 255 mm/sec, lead 3: 125mm/sec) Vertical installation High-speed type Load capacity (kg) Slider SA7-16 Slider SA6-12 Load capacity (kg) Slider SA7-16 Slider SA mm/sec (mm/sec) (mm/sec) Medium-speed type Load capacity (kg) Slider SA7-8 Slider SA6-6 Load capacity (kg) Slider SA7-8 Slider SA mm/sec (mm/sec) (mm/sec) Low-speed type Load capacity (kg) Slider SA7-4 Slider SA6-3 Load capacity (kg) Slider SA7-4 Slider SA6-3 (mm/sec) (mm/sec) The figure after the type code indicates the lead.

15 Correlation Diagrams - & Load Capacity ERC Rod Type, Standard ERC ROO Cylinder speed 600 mm/sec Selection of horizontal or vertical installation Selection of speed type based on equipment cycle time Select a desired type that meets your purpose by referring to the diagrams for speed and load capacity below. Horizontal installation Precautions for Use The rod type only considers external forces from the rod's direction of movement. If the rod will receive external forces from the vertical direction or rotary direction, it is highly recommended that you purhcase a guide separately. Note that with the RA54 type with a 300mm stroke, the maximum speed will be limited to avoid reaching a dangerous speed. 300mm stroke (lead 12: 500mm/sec, lead 6: 250mm/sec, lead 3: 125mm/sec) Vertical installation High-speed type Load capacity (kg) Rod RA64-16 Rod RA54-12 Load capacity (kg) Rod RA64-16 Rod RA mm/sec (mm/sec) (mm/sec) Medium-speed type Load capacity (kg) Rod RA64-8 Rod RA54-6 Load capacity (kg) Rod RA64-8 Rod RA54-6 (mm/sec) (mm/sec) 150 mm/sec Low-speed type Load capacity (kg) Rod RA64-4 Rod RA54-3 Load capacity (kg) Rod RA64-4 Rod RA54-3 (mm/sec) (mm/sec) The figure after the type code indicates the lead.

16 ERC-SA6 Robo Cylinder Slider Type: Actuator Width 58mm, Pulse Motor, Straight Shape Type Slider (58mm wide) Stroke 50~600mm Load capacity 12kg (horizontal/6kg (vertical) Series Type Encoder type Motor Lead Stroke Cable length Options specification items (Example) ERC SA6 I PM S NM Refer to page 8 for the details of model specification items. /Specifications ERC-SA6-I-PM-12- ERC-SA6-I-PM-6- ERC-SA6-I-PM-3- Encoder type Incremental Motor (W) Pulse motor Lead Stroke (Note1) (in 50mm increments) (mm/s) 10~600 Load capacity (Note2) Horizontal (kg) Vertical (kg) push force (N) Positioning repeatability 50~600 5~ ~ ~150 6~ ~1 6~4 Options Common Specifications Refer to page 8 for the details of common specification items. rake Name Reverse homing specification Code NM Page P23 P23 Drive system acklash Guide Allowable load moment Overhung load length ase Cable length (Note3) all screw φ10mm, rolled C10 0.1mm or less Integrated with base Ma: 8.9 N-m Mb: 12.7 N-m Mc: 18.6 N-m Ma direction: 150mm or less, Mb/Mc directions: 150mm or less Material: Aluminum with white alumite treatment N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, W : Connectors on both ends Dimensions With the reverse homing specification, the dimension on the motor side (distance from the mechanical end to the home) and that on the non-motor side are reversed Stroke M5, depth L 60 M.E. S.E. Home 2-φ5H10, reamer depth M.E.* (300) Cable joint connector *1 *1 Connect the power & I/O cable. Refer to page 26 for details on the cable. SE: Stroke end ME: Mechanical end *2 During homing the slider will move to the ME, so be careful to prevent contact with surrounding parts. Teaching port (refer to page 9) S-4.5 through, φ8 counterbore depth 4.5 φ External view of the brake specification * The overall length of the brake specification is 43.5 mm longer than that of the standard specification φ4.5 4 Detail view of base mounting part 50 N x 100 P 50 A Dimensions, Weight and by Stroke Stroke L A N S Weight (kg) (mm/s) Lead 12 Lead 6 Lead rake unit Applicable Controller Specifications Applicable Compatible Program Positioner Pulse-train Power supply number of Page Controller controlled axes encoder type operation operation control voltage uilt-in 1 axis Incremental DC24V P19 (Note1) A longer stroke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (Refer to the above table for the maximum speed at a given stroke). Caution (Note2) Load capacity at the rated acceleration (Refer to page 11). (Note3) The maximum cable length is 10m. Specify the desired length in meters (e.g., X08 = 8m). * Refer to page 11 for other points to note.

17 ERC-SA7 Robo Cylinder Slider Type: Actuator Width 68mm, Pulse Motor, Straight Shape Type Slider (68mm wide) Stroke 50~600mm Load capacity 20kg (horizontal/10kg (vertical) Series Type Encoder type Motor Lead Stroke Cable length Options specification items (Example) ERC SA6 I PM S NM Refer to page 8 for the details of model specification items. ERC-SA6-I-PM-16- ERC-SA6-I-PM-8- ERC-SA6-I-PM-4- Encoder type Incremental Motor (W) Pulse motor Lead Stroke (Note1) (in 50mm increments) (mm/s) 10~450(400) Load capacity (Note2) Horizontal (kg) Vertical (kg) push force (N) Positioning repeatability 50~600 5~250 20~35 5~ ~125 10~ ~0.5 10~2 Options Common Specifications Refer to page 8 for the details of common specification items. rake Name Reverse homing specification Code NM Page P23 P23 Drive system acklash Guide Allowable load moment Overhung load length ase Cable length (Note3) all screw φ12mm, rolled C10 0.1mm or less Integrated with base Ma: 13.8 N-m Mb: 19.7 N-m Mc: 29.0 N-m Ma direction: 150mm or less, Mb/Mc directions: 150mm or less Material: Aluminum with white alumite treatment N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, W : Connectors on both ends Dimensions With the reverse homing specification, the dimension on the motor side (distance from the mechanical end to the home) and that on the non-motor side are reversed φ M5, depth 10 (300) φ5H10, reamer depth 10 L Stroke M.E. S.E. Home M.E.*2 S-4.5 through, φ8 counterbore depth 4.5 Cable joint connector *1 *1 Connect the power & I/O cable. Refer to page 26 for details on the cable. SE: Stroke end ME: Mechanical end *2 During homing the slider will move to the ME, so be careful to prevent contact with surrounding parts. Teaching port (refer to page 9) External view of the brake specification * The overall length of the brake specification is 49 mm longer than that of the standard specification φ A N x 100 P 50 Detail view of base mounting part rake unit Dimensions, Weight and by Stroke Stroke L A N S Weight (kg) (mm/s) (Note1) Lead 16 Lead 8 Lead (400) Applicable Controller Specifications Applicable Compatible Program Positioner Pulse-train Power supply number of Page Controller controlled axes encoder type operation operation control voltage uilt-in 1 axis Incremental DC24V P19 Caution (Note1) The figures in parentheses apply to a vertical application. (Note2) Load capacity at the rated acceleration (refer to page 11). (Note3) The maximum cable length is 10m. Specify the desired length in meters (e.g., X08 = 8m). * Refer to page 11 for other points to note.

18 ERC-RA54 Robo Cylinder Rod Type: Flange Width 54mm, Pulse Motor, Straight Shape Type Rod (58mm wide), no guide Stroke 50~300mm Load capacity 40kg (horizontal/18kg (vertical) Series Type Encoder type Motor Lead Stroke Cable length Options specification items (Example) ERC RA54 I PM S Refer to page 8 for the details of model specification items. ERC-RA54-I-PM-12- ERC-RA54-I-PM-6- ERC-RA54-I-PM-3- Encoder type Incremental Motor (W) Pulse motor Lead Stroke (Note1) (in 50mm increments) (mm/s) 10~600 Load capacity (Note2) Horizontal (kg) Vertical (kg) push force (N) 78 Positioning repeatability 50~300 5~300 40~12 12~ ~150 25~ ~0.5 18~4 304 Options Common Specifications Refer to page 8 for the details of common specification items. Name Code Page rake P23 * Due to its structure, the rod type is not available in the reverse homing (NM) specification. Drive system acklash Guide Rod diameter Rod non-rotation accuracy Actuator Cable length (Note3) all screw φ10mm, rolled C10 0.1mm or less No guide φ22mm dedicated SUS pipe 1.5 Pipe (φ45 SUS), flange (aluminum die-cast), motor cover (extruded aluminum) N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, W : Connectors on both ends Home 2 M.E.*2 (300) 13 (width across flats) 4-φ5.5 Stroke M8 x 1.25 M8 x 1.25 nut, 3 types L Cable joint connector *1 *1 Connect the power & I/O cable. Refer to page 26 for details on the cable. *2 During homing the slider will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end Teaching port (refer to page 9) φ40h7 φ C A External view of the brake specification * The overall length of the brake specification is 43.5 mm longer than that of the standard specification rake unit Dimensions, Weight and by Stroke Stroke L A C Weight (kg) (mm/s) Lead 12 Lead 6 Lead Applicable Controller Specifications Applicable Compatible Program Positioner Pulse-train Power supply number of Page Controller controlled axes encoder type operation operation control voltage uilt-in 1 axis Incremental DC24V P19 Caution (Note1) A longer stroke will result in a lower maximum speed to prevent the ball screw from reaching a dangerous speed. (Refer to the above table for the maximum speed at a given stroke). (Note2) Load capacity at the rated acceleration (Refer to page 11). (Note3) The maximum cable length is 10m. Specify the desired length in meters (e.g., X08 = 8m). * Refer to page 11 for other points to note.

19 ERC-RA64 Robo Cylinder Rod Type: Flange Width 64mm, Pulse Motor, Straight Shape Type Rod (68mm wide), no guide Stroke 50~300mm Load capacity 55kg (horizontal/25kg (vertical) Series Type Encoder type Motor Lead Stroke Cable length Options specification items (Example) ERC RA64 I PM S Refer to page 8 for the details of model specification items. ERC-RA64-I-PM-16- ERC-RA64-I-PM-8- ERC-RA64-I-PM-4- Encoder type Incremental Motor (W) Pulse motor Lead Stroke (Note1) (in 50mm increments) (mm/s) 10~450(400) Load capacity (Note2) Horizontal (kg) Vertical (kg) push force (N) 220 Positioning repeatability 50~300 2~250(200) 50~ ~ ~125 40~2 55~25 6~0.5 25~2 873 Options Common Specifications Refer to page 8 for the details of common specification items. Name Code Page rake P23 Foot bracket FT P23 * Due to its structure, the rod type is not available in the reverse homing (NM) specification. Drive system acklash Guide Rod diameter Rod non-rotation accuracy Actuator Cable length (Note3) all screw φ12mm, rolled C10 0.1mm or less No guide φ30mm dedicated SUS pipe 1.5 Pipe (φ55 SUS), flange (aluminum die-cast), motor cover (extruded aluminum) N: No cable, P: 1m, S: 3m, M: 5m, X : Length specification, W : Connectors on both ends Home 4 M.E.*2 (300) Cable joint connector *1 17 (width across flats) 4-φ6.6 Stroke M10 x 1.5 M10 x 1.5 nut, 3 types L *1 Connect the power & I/O cable. Refer to page 26 for details on the cable. *2 During homing the slider will move to the ME, so be careful to prevent contact with surrounding parts. ME: Mechanical end Teaching port (refer to page 9) φ45h7 φ C A External view of the brake specification * The overall length of the brake specification is 49 mm longer than that of the standard specification rake unit Dimensions, Weight and by Stroke Stroke L A C Weight (kg) (mm/s) Lead 16 Lead 8 Lead (400) 250(200) Applicable Controller Specifications Applicable Compatible Program Positioner Pulse-train Power supply number of Page Controller controlled axes encoder type operation operation control voltage uilt-in 1 axis Incremental DC24V P19 Caution (Note1) The figures in parentheses apply to a vertical application. (Note2) Load capacity at the rated accleration (refer to page 11). (Note3) The maximum cable length is 10m. Specify the desired length in meters (e.g., X08 = 8m). * Refer to page 11 for other points to note.

20 Explanation of Controller I/O Wiring Diagrams Input Specifications (Not insulated from the ERC actuator) Number of input points Input voltage Input current Leak current Operating voltage (with respect to ) Input Output Specifications (Not insulated from the ERC actuator) Specification item Description Specification item Description 6 points Number of input points DC24V 10% Rated load voltage 4mA/point current 1mA or less/point Residual voltage ON: Min6V (3.5mA) Short/reverse-voltage protection OFF: Max18V (1mA) 4 points DC24V 60mA/point 2V or less Fuse resistor (27W, 0.1W) External power supply 24V Each input Control power supply 24V IN [0~5] FUSE 5.6K Vin ERC (VP24) 18V "0" 6V "1" Internal circuit 4 output points (VP24) Internal circuit ERC FUSE 24V Fuse resistor OUT W (4 circuits) Power MOS FET (x4) Load 24V I/O Signal Table Pin No. Category Wire color Signal abbreviation Signal name 1A Orange (red 1) SGA Serial communication SIO 1 Orange (black 1) SG Serial communication 2A Signal Light blue (red 1) EMS1 Emergency stop 2 Signal Light blue (black 1) EMS2 Emergency stop 3A 24V White (red 1) 24V Positive side of the main power supply 3 0V White (black 1) KR rake release 4A 24V Yellow (red 1) MPI Motor drive power supply, 24V 4 0V Yellow (black 1) Power supply, 0V 5A 24V Pink (red 1) MPI Motor driver power supply, 24V 5 0V Pink (black 1) Power supply, 0V 6A Orange (red 2) PC1 Command position number 1 6 Orange (black 2) PC2 Command position number 2 7A Input Light blue (red 2) PC4 Command position number 4 7 Light blue (black 2) HOME Home 8A White (red 2) CSTR Start 8 White (black 2) *STP Pause 9A Yellow (red 2) PEND Position complete 9 Yellow (black 2) HEND Home complete Output 10A Pink (red 2) ZONE Zone 10 Pink (black 2) *ALM Alarm (Note) The signals indicated by * (ALM and STP) use the negative logic, so they remain ON in normal conditions of use.

21 Explanation of Signal Names Category Signal name Signal abbreviation Function overview SIO 24V 0V Input Output Serial communication Emergency stop rake release Command position number Home Start Pause Position complete Home complete Zone Alarm SGA SG EMS1 EMS2 KR PC1 PC2 PC4 HOME CSTR *STP PEND HEND ZONE *ALM Used to establish serial communication (refer to page 21). Wiring for enabling the emergency stop switch on the teaching pendant (refer to page 22). (Allowable current: 60 ma) Connect to 0V to forcibly release the brake (150 ma is required). The target position number is specified using a three-bit binary signal. (Example) Position 3 Input to PC1 and PC2. Position 7 Input to PC1, PC2 and PC4. Signal to begin homing. This signal inputs a command position number. When the Start signal turns ON, the actuator will start moving to the specified position. The actuator will decelerate to a stop at a fall of this signal (ON OFF). This signal will turn ON when the actuator enters the specified positioning width after moving to the target position and completing positioning. Used to determine that homing has been completed. This signal will turn ON when the actuator enters the zone signal range set by the applicable parameters. It is synchronized with the LED on top of the motor cover. (A green lamp illuminates in normal conditions of use, and a rage lamp will come on when an alarm generates. (Note) The signals indicated by * (ALM and STP) use the negative logice, so they remain ON in normal conditions of use. Specification Table Specification item Control method Positioning command Position number ackup memory PIO Electromagnetic brake Two-color LED indicator I/F power supply Serial communication Absolute function Forced release of electromagnetic brake Cable length Insulation strength EMC Power supply voltage Current Operating temperature Environment Operating humidity Operating environment Protection class Description Weak field-magnet vector control (patent pending) Position number specification 8 points Position number data and parameters are saved in the nonvolatile memory The serial EEPROM can be rewritten 100,000 times 6 dedicated inputs / 4 dedicated outputs uilt-in circuit, 24VDC 10%, 0.15A or less Two-color LED indicator Servo ON (green), Alarm/motor drive-power cutoff (red) I/F power supply, common with the control power supply (not insulated) RS485 1channel (terminated externally) None Connect to 0V to forcibly release the brake I/F cables: 10m or less SIO connector communication cable: 5m or less DC500V 10M EN55011 Class A Group 1 (3m) 24V 10% 2A or less 0~40 C 85%RH or less (non-condensing) Not subject to corrosive gases IP20

22 Connection for Multiple Axes Control y using the optional insulated PIO terminal block or SIO converter, position data for multiple axes can be rewritten from a single SIO converter or multiple axes can be operated from the PC via serial communication. asic specifications Specification item number of axes that can be connected cable length Terminal resistor Description 16 axes 100m or less 120W (built into the insulated PIO terminal blocks/sio converter). Required when the length of the serial communication cable exceeds 10m. Perform automatic operation using PIO and rewrite position data for multiple axes from a single point (SIO converter) Operate multiple axes automatically from the PC, etc., only via serial communication without using parallel I/O Teaching pendant PC PERSONAL COMPUTER PLC Teaching pendant PC PERSONAL COMPUTER PLC communication module Rewriting of position data Serial communication T1 A DC24V Insulated PIO terminal block T2 T3 A J1 DC24V SIO converter Parallel communication Axis 1 DC24V T1 A * The relay terminal block is provided by the user. SIO converter Relay terminal block DC24V DC24V SGA SG Axis 1 Axis 2 Axis 3 T2 T3 A J1 DC24V Axis 2 SIO converter (Terminal resistor) DC24V T2 T3 A J1 RTON T2 A DC24V DC24V J1 Power & I/O cable with connectors on both ends Axis 3 Axis 16 T1 A DC24V Axis 16 (Note) If a communication error occurs when the total communication cable length exceeds 10m, connect a SIO converter to the last axis as the terminal resistor. (Note) The user must provide the serial communication program. (Note) For the last axis only, set the terminal-resistor connection switch to the [RTON] side.

23 Emergency Stop Circuit The ERC Series has no built-in emergency stop circuit, so the user must provide an emergency stop circuit based on the logic specified below. (The circuit shown below has been simplified for clarification purposes. Refine the ready circuit, etc., in accordance with the specifications of your system.) Single Axis ERC ROO Cylinder To build an emergency stop circuit for a system comprised of a single axis, operate the relay using the contacts provided by EMS1 and EMS2 in the power & I/O cable to cut off the MPI (motor power supply). 24V (Emergency stop signal) The EMS1 and EMS2 lines cannot withstand current exceeding 60mA. EMS1 (Emergency stop contact 1) Teaching pendant PC MC EMS2 (Emergency stop contact 2) 24V (Main power supply) MPI (Motor power supply) (0V) 0V Other wiring Multiple Axes To build an emergency stop circuit for a system comprised of multiple axes, operate the relay using the contacts provided by EMG1 and EMG2 on the SIO converter to cut off the MPI (motor power supply) of each axis. 24V Teaching pendant PC (Emergency stop signal) SIO converter : RC-TU-SIO-A() MC 24V (Main power supply) MPI (Motor power supply) 24V (Main power supply) MPI (Motor power supply) 24V (Main power supply) MPI (Motor power supply) 0V

24 Actuator Options rake Explanation This brake is used with the ERC installed vertically in order to prevent the load attached to the slider or rod from falling due to dead weight when the servo or power is turned off. Reverse Homing Specification NM Explanation Normally the home is set on the motor side. Specify this option if the home must be set on the nonmotor side due to the equipment structure. Foot racket FT Explanation This bracket is used to affix the actuator from above using bolts. Install foot brackets at the front and rear ends of the actuator pipe. (If foot brackets are ordered, the actuator will be shipped with the brackets installed.) External view of RA54 foot bracket. External dimensions of RA54 foot bracket 71 2-φ φ40h7 φ22 45 Stroke * The mounting bolts (M6) are provided by the user through External view of RA64 foot bracket. External dimensions of RA64 foot bracket 80 2-φ Stroke φ45h7 φ * The mounting bolts (M8) are provided by the user through

25 Controller Options Teaching pendant RCA-T RCA-TD A product older than Ver cannot be used with the ERC. (The customer's existing product can be sent to IAI for a version upgrade.) Features A teaching pendant that provides all of the functions needed for test operation/adjustment, such as position data input, test operation and monitoring of the current axis position and I/O signals. The interactive-type panel ensures easy operation. All you need is to enter values in the required fields, so you won't need the operation manual for basic operations. The built-in help panel allows you to quickly check the desired operating procedure whenever necessary. Specification Specification item Operating temperature, humidity Weight Cable length Display Dimensions Description Temperature: 0~40 C, humidity: 85%RH or less Approx. 550g (including cable) 5m 21 characters x 16 lines, LCD Simple Teaching Pendant RCA-E Features A product older than Ver cannot be used with the ERC. (The customer's existing product can be sent to IAI for a version upgrade.) A highly cost-effective teaching pendant that provides the same functions as the RCA-T at a significantly lower price. The unit size has been reduced through the use of a two-line display. Specification Specification item Operating temperature, humidity Weight Cable length Display Dimensions (113.5) ERC ROO Cylinder Description Temperature: 0~40 C, humidity: 85%RH or less Approx. 400g (including cable) 5m 16 characters x 2 lines, LCD 21 Help panel (34) 80 φ4.8 Data Setting Unit A product older than Ver cannot be used with the ERC. RCA-P (The customer's existing product can be sent to IAI for a version upgrade.) * Operations involving axis movement cannot be performed. Features Edit functions Specification An affordable data setting unit offering edit functions, except for operations involving axis movement. Position data input Confirmation of current axis position I/O signal monitoring, etc. PC Software RC-101-MW (DOS/V, Windows version) [Content] Floppy disk, PC communication cable (5m) Features A support software for position data input and test operation. This software significantly improves the equipment debugging operations by offering wide-ranging functions such as jogging, inching, step operation and continuous operation, and also by allowing easy operation via a large PC screen. Specification item Description Operating temperature, humidity Temperature: 0~40 C, humidity: 85%RH or less Weight Approx. 360g (including cable) Cable length 5m Display 16 characters x 2 lines, LCD Dimensions *If you are using RCA-101-MW, the software can be used with the ERC after a proper version upgrade. The shape of RC-101-MW's RS485 conversion adapter has changed from that of the adapter used with RCA-101-MW, but functionality remains the same.

26 Controller Options 24 VDC Power Supply for Robo Cylinder PS-241 Features (100V specification) PS-242 (200V specification) The PS-241 and PS-242 are 24 VDC power supply developed exclusively for use with the Robo Cylinder. instantaneous output of 17A The PS-241/242 accommodates instantaneous output current of up to 17A with the rated output current of 8.5A. Therefore, you can select the required power capacity as a simple sum of rated current for the number of axes used, without worrying about the maximum instantaneous current that will generate when each actuator accelerates. This results in significant cost savings, since there is no need to purchase an expensive power supply offering a larger capacity. Parallel operation of multiple units A maximum of five PS-241/242 units can be operated in parallel. Therefore, if the power capacity of your PS-241/242 is found insufficient, you can simply add another PS-241/242 without Load replacing the current power supply with a largercapacity model. Power supply 1 Power supply 2 Power supply Specification Table Rated DC output voltage Rated DC output current instantaneous DC output current Rated output capacity Efficiency Rated input voltage (frequency) Input voltage range Input current Output retention time Protective circuits Parallel operation Operating temperature Operating humidity Cooling method Withstand voltage Insulation strength Circuit system Weight External Dimensions 24 VDC Power Supply PS-241/242 Load detection function The load factor can be detected using the RDY (ready) indicator lamp and RDY output signal. RDY lamp RDY output Number of ERC actuator axes and reference capacity. One PS-241/242 unit can power around seven ERC actuator axes. (The specific number of axes will vary depending on the conditions of use). Item PS-241 PS V 10% (varies by load) 8.5A 17A 204W 80% AC100~115V (50/60Hz) AC85~125V 80% AC200~230V (50/60Hz) AC170~250V 3.5A (at full 100 VAC load) 1.8A (at full 200 VAC load) 20[msec] (at 25 C and rated I/O conditions) Protection against: overcurrent, overvoltage, overheat, overload Possible 0~50 C (with derating) 30~80%RH (non-condensing) Natural air-cooling etween input and output - 2.0kVA for 1 minute (20mA) etween input and enclosure - 2.0kVA for 1 minute (20mA) etween output and enclosure - 100MW or more at 500 VDC Separately-excited flyback converter Approx. 0.9kg φ5 (for mounting) M3.5 terminal screw R Caution The PS-24 is not a constant voltage power supply. Its output voltage will vary depending on the load (the voltage will drop according to the load factor). Therefore, do not connect the PS-24s to any equipment other than an IAI actuator. Limit the number of PS-24s to be connected in parallel to five units. Do not connect other type of power supply units in parallel with the PS-24s. PS-24s cannot be connected in series. If multiple PS-24s are used, provide a minimum clearance of about 20mm between the adjacent units. The PS-24 power supply is designed with natural air-cooling. Therefore, when installing the PS-24 give due consideration to allowing sufficient airflows so that head will not stagnate around the power supply. The enclosure of the PS-24 also provides a heat radiation effect. Since the enclosure can become very hot, touching it may cause burns. Therefore, never touch the enclosure after installation.