IAI America RCM-GW-DV - Manual (Page 35)

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DeviceNet Gateway
(3) Linking ERC2-SE controllers via SIO communication
For details, refer to the operation manual for your ERC2-SE controller.
Use 4-way junctions to link the controllers as shown below.
The power-supply & I/O cable and network connection cable (including a 4-way junction or e-CON
connectors) are standard accessories of each ERC2-SE controller.
Caution
(1) If the total communication cable length is 10 m or longer and a communication error occurs
because of difficulty establishing successful communication, connect a terminal resistor to the last
axis.
(2) If each actuator uses a separate power supply, use a same ground 0 [V].
(3) The power supply of the Gateway Unit and the control power supply of each ERC2 controller
must share a common ground 0 V.
(4) Connect the shield line to the FG terminal for each axis.
(5) If the total link cable length exceeds 30 m, use a cable with a wire size of AWG22 or greater.
Gateway Unit
To be provided by
the customer.
Controller 1
Controller 2
Controller 3
Terminal resistor
(220
Ω, 1/4 W)
PIO/24-VDC control power supply, motor
power supply, brake signal, ground, shield
Controller 16
Network connection cable (CB-ERC2-CTL001)
Power-supply & I/O cable (CB-ERC2-PWBIO)
JST JST
4-way junction
e-CON connector