IAI America ERC - Manual (Page 46)

26
3.2 I/O Connections for PIO Pattern 1 [3 Points] (Air Cylinder)
The following description assumes that the ERC is used in the place of an air cylinder.
The number of positioning points is limited to three, but a direct command input and a position complete output
are provided separately for the target position in line with the conventional practice of air cylinder control.
Note: The factory setting is “8 points,” so set parameter No. 25 to “1.” The pause signal can be
disabled in parameter No. 15.
(Note) *STP and *ALM are always ON.
3.2.1 Explanation of I/O Signals
Category Signal name
Signal
abbreviation
Function overview
Rear end move ST0 The actuator starts moving to the rear end at the rise edge of the signal.
Front end move ST1 The actuator starts moving to the front end at the rise edge of the signal.
Intermediate point
move
ST2
The actuator starts moving to the intermediate point at the rise edge of the
signal.
Input
*Pause *STP ON: The actuator can be moved, OFF: The actuator decelerates to a stop
Rear end
complete
PE0 The signal turns ON when the actuator completes moving to the rear end.
Front end
complete
PE1 The signal turns ON when the actuator completes moving to the front end.
Intermediate point
complete
PE2
The signal turns ON when the actuator completes moving to the intermediate
point.
Output
*Alarm *ALM
This signal remains ON while the controller is operating properly, and turns
OFF when an alarm generates.
The *ALM signal is synchronized with the green/red indication of the LED.
(Note) The signal remains ON while the motor drive power is cut off.
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
6A ST0
6B ST1
7A ST2
7B
8A
8B *STP
9A PE0
9B PE1
10A PE2
10B *ALM
Host system
ERC actuator end
CN1 (Signal abbreviation)
Output
side
Input
side
Rear end move
Front end move
Intermediate point
move
Pause
Rear end complete
Front end complete
Intermediate point
complete
Alarm
* Robot cable
Gray (Red 2)
Gray (Black 2)