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System Configuration For enquiries, call 0800-888-0088 (toll-free). ERC2 Controller Controller - Integrated Type Category SIO 24V 0V Input Output Signal name Serial communication Emergency stop Brake release Command position number Position movement Home return Start Pause Position complete Completed position number Home return complete Zone Position zone Alarm Abbreviation SGA SGB EMS1 EMS2 BKR PC1 PC2 PC4 PC8 ST0 ST1 ST2 HOME CSTR *STP PEND PE0 PE1 PE2 HEND ZONE PZONE *ALM Function overview Used in serial communication. These signals are wired to enable the emergency stop switch on the teaching pendant. (Refer to p. 301) Connection to 0 V forcibly releases the brake. (150 mA is required) Specify a target position number using 4-bit binary signals (or 3-bit binary signals if the 8-point PIO pattern is selected). (Example) Position 3 → Input PC1 and PC2. Position 7 → Input PC1, PC2 and PC4. Turn the ST0 signal ON to move the actuator to position 0. Same for ST1 and ST2. (Operation can be started with these signals alone. No need to input a start signal.) Home-return operation starts at the leading edge of this signal. Input a command position number signal and turn this signal ON, and the actuator will start moving to the specified position. This signal is always ON while the actuator is operating normally (negative logic). The actuator starts to decelerate to a stop at the ON → OFF leading edge of this signal. This signal turns ON once the actuator has moved to the target position and completed the positioning by entering the specified positioning band. Used to determine if positioning has completed. PE0 is output upon completion of movement to position 0. Same for PE1 and PE2. (These signals are valid only when the 3-point PIO pattern is selected.)) This signal turns ON upon completion of home return. This signal turns ON upon entry into the zone signal range set by parameters. This signal turns ON upon entry into the zone signal range set by position data. This signal remain ON in normal conditions and turns OFF upon generation of an alarm (negative logic). Synchronized with the LED at the top of the motor cover. (A green light stays on in normal conditions, and a red light comes on upon generation of an alarm.) Slider Type Rod Type Arm / Flat Type Gripper / Rotary Type Cleanroom Type Splash Proof Type Controller (Note) The signals denoted by an asterisk (*) (ALM/STP) are negative-logic signals that always remain ON. Specification Table Specification item Description Type Control method Positioning command Position numbers PIO specification (NP/PN) Field-weakening vector control (patent pending) Position number specification Maximum 16 points SIO specification (SE) Position number specification/direct numerical specification Maximum 64 points Backup memory Position number data and parameters are stored in nonvolatile memory. Serial EEPROM with a rewrite life of 100,000 times. PIO Electromagnetic brake 6 dedicated input points / 4 dedicated output points Built-in circuit, 24VDC ± 10%, 0.15A max. None 2-color LED indicator I/F power supply (Note 1) Serial communication Absolute function Servo ON (green), alarm/motor drive-power cutoff (red) Same as the control power supply (not insulated) RS485, 1 channel (terminated externally) None Forced release of electromagnetic brake Cable length Dielectric strength voltage EMC Power-supply voltage Power-supply current Ambient operating temperature Forcibly released upon connection to 0V (NP) or 24V (PN) I/F cable: 10m max. SIO connector communication cable: 5m max. DC500V 10MΩ EN55011 Class A Group1 (3m) 24V±10% 2A max. 0~40˚C Forcibly released upon connection to 24V Ambient operating humidity 85% RH or below (non-condensing) Operating ambience Free from corrosive gases Protection class IP20 (Note 1) Use an insulated PIO terminal block (optional, refer to p. 302) to insulate the I/F power supply. Environment Controller Models Gateway unit PS-24 ERC2 PCON ACON SCON PSEL ASEL SSEL Controller-Integrated Type 298 XSEL
Controller - Integrated Type ERC2 Controller I/O Wiring Diagram Slider Type PIO Type NP (NPN Specification) ERC2 PIO type Rod Type EMG signal CN1 Arm / Flat Type Gripper / Rotary Type Cleanroom Type Input power supply (2A min.) 24V 0V FG MC 2A 60mA Max 2B Brake forced-release switch (Note) 4A 4B 5A 5B 3A 3B EMS1 EMS2 MPI GND MPI GND 24V BKR Output for teachingpendant EMG switch contacts Motor drive power Control power Normally OFF, ON when released (models with brake) Splash Proof Type Controller Controller Models Gateway unit * With a robot cable, the colors change as follows. 2A 2B 7A 7B Host system < PLC > (Note) To forcibly release the brake, connect a switch between BKR and 0V and turn on the switch. PIO Type NP (PNP Specification) Output side Input side (Not used) 6A 6B 7A CN2 FG 7B 8A 8B 9A 9B 10A 10B 1A 1B I/O interface (Refer to I/O connections under each PIO pattern) SGA SGB Serial communication Drain wire ERC2 PIO type PSEL SCON ACON PCON ERC2 PS-24 XSEL SSEL ASEL * With a robot cable, the colors change as follows. Input power supply (2A min.) 24V 2A 2B 7A 7B (Note) To forcibly release the brake, connect a switch between BKR and 24V and turn on the switch. 299 Controller-Integrated Type 0V FG EMG signal Host system < PLC > MC CN1 2A 4A 4B 5A 5B 3A 3B 6A 6B 7A 7B 8A 8B 9A 9B 10A 10B 1A 1B EMS1 60mA Max 2B EMS2 (Not used) CN2 FG Brake forced-release switch (Note) Output side Input side MPI GND MPI SGA SGB Output for teachingpendant EMG switch contacts Motor drive power Control power Normally OFF, ON when released (models with brake) I/O interface (Refer to I/O connections under each PIO pattern) Serial communication Drain wire
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Technical Reference/Information / T
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Notes on Switching from Air Cylinde
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Explanation of Moments Notes on Act
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Explanation of Options Explanation
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1 Explanation of Options RCS2-RA7 D
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Explanation of Options RCS2-RA5C /
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C0.5 C0.5 Explanation of Options Op
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Explanation of Options Front Trunni
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Spare Parts List of Spare Part Mode
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Model Selection Information (Push F
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Model Selection Information (Guide)
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Index List of Products Featured in
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Index RCA-RGD4C RCA-RGD4D RCA-RGS3C
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Index [S] [T] [V] RCS2-RGS7BD RCS2-
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