IAI ERC3 User Manual - page 3
Emergency Stop
Reset Switch
Emergency Stop
Switch
S1
on Teaching Pendant
Emergency Stop Switch
EMGA
EMGB
0V
0V
0V
0V
0V
SIO
Connector
(Note 1)
5
8
Power Supply Connector
3
S2
S2
S1
SIO
Connector
Power Supply Connector
EMG-
EMG-
ERC3
Gateway Unit
ERC3
Gateway Unit
CR1
CR1
CR1
CR1
CR1
CR2
CR2
CR2
CR2
CR2
CR2
CR2
CR2
CR2
MPI0
MPI0
MPO0
MPO0
MPI1
MPI1
MPO1
MPO1
MPI2
MPI2
MPI3
MPI3
MPO2
MPO2
MPO3
MPO3
+24V
+24V
+24V
+24V
24V
(Axis No.0)
(Axis No.1)
Motor Power Supply
Motor Power Supply
(Axis No.2)
Motor Power Supply
(Axis No.3)
Motor Power Supply
Control
Power
(Note 2)
(Note 2)
(Note 2)
(Note 2)
(Note 3)
(Note 4)
1
2
9
10
11
12
13
14
15
16
6
8
5
7
3
1
2
9
10
11
12
13
14
15
16
6
8
5
7
5
8
Drive cutoff relay
Operation Pattern Selected
There are five patterns of control methods. Set the most suitable operation pattern for your use with
Gateway Parameter Setting Tool.
●
Operation Patterns for PIO Type
Operation
Pattern
Description
Overview
Positioner 1
In Positioner 1 Mode, 512
points of position data can be
registered at the maximum and
is able to stop at the registered
positions. Monitoring of the
current position is also
available.
Simple Direct
Mode
In Simple Direct Mode, the
target position can be indicated
directly by inputting a value.
Monitoring of the current
position is also available.
P L C
Target Position
Target Position No.
Control Signal
Current Position
Completion Position No.
Status Signal
Communication with Fieldbus
Direct Numeric
Specification
Mode
The target position, speed
acceleration/deceleration and
pressing current limit can be
indicated with inputting a
number. Monitoring of not only
the current position, but also
the current speed and indicated
current are available.
P L C
Target Position
Positioning Width
Speed
Acceleration/Deceleration
Push %
Control Signal
Communication with Fieldbus
Current Position
Current Value
(Command Value)
Current Speed
(Command Value)
Alarm Code
Status Signal
Positioner 2
Mode
This is the operation mode of
the position data of 512 points
at maximum set in the position
table. The monitoring of the
current position is not available.
This mode is that the
transferred data is reduced
from Positioner 1 Mode.
P L C
Target Position No.
Control Signal
Completion Position No.
Status Signal
Communication with Fieldbus
Positioner 3
Mode
This is the operation mode of
the position data of 256 points
at maximum set in the position
table. The monitoring of the
current position is not available.
This is the mode to control with
the minimized number of
signals to perform the
positioning operation by
reducing the amount of sent
and received data from
Positioner 2 Mode.
P L C
Target Position
Control Signal
Completion Position No.
Status Signal
Communication with Fieldbus
I/O 6
types
(Note)
of control same as
for PIO (CON Mode) are
available.
Note They can be switched
around in PIO patterns on
ERC3 unit
2 types
(Note)
of control same as
for PIO (MEC Mode) are
available.
Note They can be switched
around in operation
patterns on ERC3 unit
Refer to ERC3 Actuator with Integrated Controller Instruction Manual
Wiring
Power Supply and Emergency Stop Circuit
The following diagram shows an example of how the emergency stop switch for the teaching pendant may
be included in the emergency stop circuit you may construct.
If supplying power with using a 24V DC, having it turned ON/OFF, keep the 0V connected and have the
+24V supplied/cut (cut one side only).
Note 1 When the teaching pendant is not connected, S1 and S2 become short-circuited inside the controller.
Note 2 When the motor driving source is cut off externally for a compliance with the safety category, connect a contact such
as a contactor to the wires between MPI* and MPO*.
Note 3 The rating for the emergency stop signal (EMG-) to turn ON/OFF at contact CR1 is 24V DC and 10mA.
Note 4 For CR1, select the one with coil current 0.1A or less.
DeviceNet
Type
Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.
Connector Name
DeviceNet Connector
Cable Side
SMSTB2.5/5-ST-5.08AU
Enclosed in standard package
Manufactured by PHOENIX
CONTACT
Controller Side
MSTBA2.5/5-G-5.08AU
Pin No.
Signal Name
(Color)
Description
Applicable cable diameter
1
V- (BK)
Power Supply Cable Negative Side
2
CAN L (BL)
Communication Data Low Side
3 Shield
(None)
Shield
4
CAN H (WT)
Communication Data High Side
5
V+ (RD)
Power Supply Cable Positive Side
Dedicated cable for DeviceNet
CC-Link Type
Refer to the instruction manuals for Field Network master unit and mounted PLC for the details.
Connector Name
CC-Link Connector
Cable Side
MSTB2.5/5-STF-5.08 AU
Enclosed in standard package
Manufactured by PHOENIX
CONTACT
Controller Side
MSTB2.5/5-GF-5.08 AU
Pin No.
Signal Name
(Color)
Description
Applicable cable diameter
1
DA (BL)
Communication Line A
2
DB (WT)
Communication Line B
3
DG (YW)
Digital GND
4
SLD
Connect the shield of the shielded cable
(Connect the FG of the 5 pins and
controller FG internally)
5
FG Frame
Ground
(Connect the SLD of the 4 pins and
controller FG internally)
Dedicated cable for CC-Link
PROFIBUS-DP
Type
Refer to the instruction manuals for each Field Network master unit and mounted PLC for the details.
Connector Name
PROFIBUS-DP Connector
Cable Side
9-pin D-sub Connector (Male)
Please prepare separately
Controller Side
9-pin D-sub Connector (Female)
Pin No.
Signal Name
Description
Applicable cable diameter
1 NC
Disconnected
2 NC
Disconnected
3
B-Line
Communication Line B (RS485)
4
RTS
Request for Sending
5
GND
Signal GND (Insulation)
6
+5V
+5V Output (Insulation)
7 NC
Disconnected
8 A-Line
Communication
Line
A
(RS485)
9 NC
Disconnected
PROFIBUS-DP Dedicated
Cable
ERC3
Gateway
Unit
ERC3
Connector
CB-ERC3S-PWBIO
□□□
□□□
shows the cable length
ERC3 for serial
communication type
1
2
3
4
5
Front View of
Connector on
Controller side
Shield
BL (CAN L)
RD (V+)
WT (CAN H)
BK (V-)
1
2
3
4
5
Front View of
Connector on
Controller side
WT (DB)
BL (DA)
Shield (SLD)
YW (DG)
5 1
9 6
Cable
Shield
Red B line (Positive side)
Green A line (Negative side)
1
6
9
5
Front View of
Connector on
Controller side
Slave Devices
ERC3 Gateway
DeviceNet Type
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
RD
WT
BL
BK
V+
Drain
(Shield)
CAN_H
CAN_L
Grounding resistance at 100
Ω
or less
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power needs to be
supplied by an external device.
Terminal Resistance is required
to be mounted on the terminal.
V-
Terminal Resistance
121
Ω
Master Unit
Terminal Resistance
121
Ω
24V
Power Supply
Slave Devices
ERC3 Gateway
CC-Link Type
SLD and FG are internally connected.
Terminal Resistance is required
to be mounted on the terminal.
The terminal resistor differs depending on the type
of the dedicated cable for CC-Link.
• Cable FANC-SBH···130
Ω
1/2W
(High Performance Cable
dedicated for CC-Link)
• Cable FANC-SB······110
Ω
1/2W
(CC-Link Dedicated Cable)
Master Unit
Terminal
Resistance
121
Ω
Terminal
Resistance
121
Ω
Grounding resistance at 100
Ω
or less
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
FG
DA
DB
DG
SLD
FG