IAI America ERC2 - Manual (Page 178)

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-RAC
C 9
21 40
49
4
51.5
20
118.5
B
L
61
8.5 2
A 118.5
20
Stroke
M10s1.5
(300)
SIO type
F
45h7
M.E.
PIO type
50 100 150 200 250 300
L
A
B
C
312.5
194
423.5
106
2.7
362.5
244
523.5
156
2.9
412.5
294
623.5
206
3.0
462.5
344
723.5
256
3.2
512.5
394
823.5
306
3.3
562.5
444
923.5
356
3.5
Stroke
Weight [kg]
Home
Secure
at least
100
Teaching Port
M.E. : Mechanical End
Brake unit
Cable joint
connector
M10s1.5 Nut 3 types
64
7
50
32
1
68
64
50
89.6
4- F
17 (2 flat faces)
(note) The angle of the 2 faces
on the actual product would
not be as shown in the drawing.
Appearance Figure for Brake-equipped Type
*Brake-equipped type is longer in 43.5mm and
weight heavier in 0.5kg than the standard type.
*There is no Teaching
Port for SIO Type.
Rod Diameter
F