IAI America ERC2 - Manual (Page 176)

11. Appendix
152
Appendix
* Appendix
Example of Basic ERC2 Positioning Sequence
Given below is an example of basic sequence for creating a positioning sequence using the ERC2.
indicates PIO signals of the ERC2 controller.
Home return signal
HOME
HOME PEND HEND
HOME
HEND
A
A
B
A
B
C
D
H
I
J
K
L
A C
D
C
C
I
H K
H
I
J
J PEND L
K
J PEND
L
Home return
request
Home return request
Positioning
start request
to position 1
Positioning
start request
to position 1
The positioning start request signal is converted to pulse in such a
way that one start signal is issued for one positioning operation.
Auxiliary start signal
for next positioning
({)
Check if positioning to the specified position has completed.
Positioning start pulse
to position 1
Auxiliary positioning start
pulse to position 1
Auxiliary positioning
start for position 1
Start check for position 1
Completion of positioning to
position 1
B
.. ERC-SAC
40
49
51.5
22.5
16 118.5
118.5 16
92.1
A
50 50 B
Ｍ .E.
2.5 3
L
10 49.8 75 55.2
75
5 65 5
9 9 47
34.5
66.5 60 58.5
68
32 40 47.4
4
4.5
F 4.5
F 8
2.5
4
22.5
46
63
Ns100 P
Stroke
p 0.02 (300)
(3.5) (3.5)
S .E. Ｍ .E.*2
PIO type SIO type
50 100 150 200 250 300 350 400 450 500 550 600
L
A
B
N
S
374.5
230
30
1
6
3.1
424.5
280
80
1
6
3.2
474.5
330
30
2
8
3.4
524.5
380
80
2
8
3.6
574.5
430
30
3
10
3.7
624.5
480
80
3
10
3.9
674.5
530
30
4
12
4.0
724.5
580
80
4
12
4.2
774.5
630
30
5
14
4.3
824.5
680
80
5
14
4.5
874.5
730
30
6
16
4.6
924.5
780
80
6
16
4.8
Stroke
Weight [kg]
Ma Moment
Offset Datum Position
Part A
Datum Surface
DETAIL : A
(Attachment Hole and Datum Surface)
(Reamer Pitch Tolerance
p0.02) 2-F
4-M5 Depth 10
Home
S-4.5 Drilled Hole,
F 8 Counter Boring Depth 4.5 Secure
at least
100
Cable joint
connector
S E : Stroke End
ME : Mechanical End
Teaching Port
*There is no Teaching
Port for SIO Type.
Appearance Figure for Brake-equipped Type
*Brake-equipped type is longer in 43.5mm and
weight heavier in 0.5kg than the standard type.
Brake unit