IAI EC ELECYLINDER EC-GD4 Instruction Manual Download | Manualshive

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Caution

If adjusting Parameter No.4, simultaneously adjust Parameter No.1.
Operation range adjustment with parameter No.1 uses the home position as reference.
Do not set Parameter No.4 to a value smaller than the default setting at shipping.
This may result in abnormal home return operation, alarm triggering or abnormal
operation. If the value must be set small, please contact IAI.
After changing this parameter, always perform home return reset (absolute reset).

6.4 Parameter function descriptions

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Summary of Contents for EC ELECYLINDER EC-GD4

Page 1: ...redictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Appendix ELECYLINDER ch 1 ch 2 ch 3 ch 4 ch 5 ch 6 ch 7 ch 8 ch 9 ch 10 ch 11 ch 12 EC RP4 GS4 GD4 TC4 TW4 Instruction Manual First Edition ME3778 1L ...

Page 2: ...e so that whoever is handling the product can refer to it quickly when necessary Important This instruction manual is an original document dedicated for this product This product cannot be used in ways not shown in this instruction manual IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual The information contained...

Page 3: ...nual this document ME3778 PC Compatible Software for RC EC RCM 101 MW RCM 101 USB Instruction Manual ME0155 Touch Panel Teaching Pendant TB 02 02D Instruction Manual ME0355 Touch Panel Teaching Pendant TB 03 Instruction Manual Wireless communication ME0375 Touch Panel Teaching Pendant TB 03 Instruction Manual Wired communication For position controller ME0376 ...

Page 4: ...model PN 1 26 Battery less absolute encoder specification model WA 1 26 Wireless communication specification model WL 1 26 Wireless axis operation specification model WL2 1 27 2 circuit power supply type Model TMD2 1 27 S4 guide mounting direction TC4 table mounting direction Model GT2 GT3 GT4 1 28 1 4 Accessories 1 29 Power I O cable 1 29 Power I O connector 1 30 Chapter 2 Installation 2 1 Precau...

Page 5: ...ation 4 1 4 2 Teaching tool connections and testing operation 4 2 Teaching pendant connection 4 2 ELECYLINDER test operation 4 3 4 3 Stop position operating conditions AVD setting adjustment 4 4 Stop position setting adjustment forward end backward end 4 5 Operating conditions AVD setting adjustment 4 6 Pressing operation setting 4 9 4 4 I O signals 4 11 I O signal list 4 11 ST0 and ST1 signals Mo...

Page 6: ...ting confirmations 7 1 7 2 Troubleshooting diagnosis 7 4 7 3 Troubleshooting with no alarm generated 7 6 Operation failure 7 6 Abnormal or unstable operation 7 8 7 4 Troubleshooting by alarm groups 7 10 Alarm group A Overload alarm 7 11 Alarm group B Motor abnormality alarm 7 12 Alarm group C Controller abnormality alarm 7 13 Alarm group D Controller encoder abnormality alarm 7 14 Alarm group E Su...

Page 7: ...on between GS4 GD4 tip radial load and operation life 10 1 10 2 Concept of life for table type TC TW 10 3 How to calculate operation life 10 3 10 3 Concept of life for controller 10 5 Chapter 11 Warranty 11 1 Warranty period 11 1 11 2 Scope of the warranty 11 1 11 3 Honoring the warranty 11 1 11 4 Limited liability 11 2 11 5 Conformance with applicable standards regulations etc and application con...

Page 8: ...Safety Guide Intro 1 Safety Guide The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property damage Be sure to read it before handling the product ...

Page 9: ...ications Otherwise the product life may be drastically shortened and product damage or facilities stoppage may occur Do not use it in any of the following environments 1 Locations with flammable gases ignitable objects or explosives 2 Locations with potential exposure to radiation 3 Locations with ambient temperature or relative humidity exceeding the specifications range 4 Locations where radiant...

Page 10: ... Do not put anything heavy that could deform the package on it When using a crane with capacity of 1t or more have an operator qualified for crane operation and sling work When using a crane or equivalent equipment make sure not to suspend loads exceeding the equipment s rated load Use a hook that is suitable for the load Consider the safety factor of the hook in such factors as shear strength Als...

Page 11: ...o fire electric shock or abnormal operation due to leakage or conduction malfunction Perform the wiring for the product after turning OFF the power to the unit and avoid miswiring When wiring DC power 24V be careful with the positive negative polarity Incorrect connections may lead to fire product breakdown or abnormal operation Connect the cable connector securely so that there is no disconnectio...

Page 12: ...t insert fingers or objects into the openings in the product Otherwise this may lead to injury electric shock product damage or fire When releasing the brake on a vertically oriented actuator be careful that it does not fall under its own weight catching the operator s hand or damaging workpieces 5 Teaching When working with two or more persons make it clear who is to be in charge and communicate ...

Page 13: ...y lead to fire or damage to the product When a power failure occurs turn OFF the power switch Otherwise this may lead to injury or product damage due to unexpected product motion during recovery from the power failure 8 Maintenance and Inspection When working with two or more persons make it clear who is to be in charge and communicate well with each other to ensure safety Perform the work outside...

Page 14: ...protection fence the movable range should be indicated 9 Modification and Disassembly Do not modify disassemble assemble or use maintenance parts not specified on your own discretion 10 Disposal When the product exceeds its useful life or is no longer needed dispose of it properly as industrial waste When removing the actuator for disposal avoid dropping components when detaching screws Do not put...

Page 15: ...t is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or serious injury Warning Caution This indicates a potentially hazardous situation which if the product is not handled correctly may result in minor injury or property damage Caution Notice This indicat...

Page 16: ...eased performance or product breakdown Use within the allowable range for each item Item Cautions for use Problems or breakdowns which may occur if the allowable range is exceeded Speed and acceleration deceleration Use within the allowable range May lead to abnormal noise vibration breakdown or shortened product life 5 For the rod type RP do not apply radial load and load moment to the rod Loads ...

Page 17: ...dial loads Radial loads are allowable when the ball screw and guide shaft are lined up vertically Radial loads are not allowable when the ball screw and guide shaft are lined up horizontally See figure below Guide shaft Ball screw Radial load Load torque Ball screw Guide shaft Radial load ...

Page 18: ... state may lead to breakdown In extreme cases flaking may occur on the guide or ball screw 9 Do not attempt to have the rod or table collide with an obstacle at high speed This may damage the other mechanical parts 10 Handling the spiral cover The spiral cover is made by rolling a thin plate into a helix Handle with care as it will deform if struck by a tool or pushed hard by hand 11 Base oil may ...

Page 19: ...t nameplate RoHS Directive 2011 65 EU Same as above RE Directive 2014 53 EU To be checked in EC Declaration of Conformity EC Declaration of Conformity proving conformity to RE Directive may be modified without notice according to addition of conformed models specification change and so on Visit our homepage http www iai robot or contact our sales site if necessary Note 1 EC Declaration of Conformi...

Page 20: ... conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation of the device FCC RF Radiation Exposure Statement This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment End users must follow the specific operating instructions for satisfying R...

Page 21: ...nformité RF canadienne l exposition cet appareil et son antenne ne doivent pas étre co localisés ou fonctionnant en conjonction avec une autre antenne ou transmetteur 日本本製品で使用している無線モジュールは工事設計認証を受けていますので以下の事項を行うと法律で罰せられることがあります無線モジュールを分解改造すること EU Member States For details of the applicable standards please refer to above mentioned international standards compliances Import Corporation Name IA...

Page 22: ...in Japan 수입업자명 IAI KOREA Corp 해당 무선설비는 전파혼신 가능성이 있으므로 인명안전과 관련된 서비스는 할 수 없습니다 ประเทศไทย Thailand ผู ผลิต IAI CORPORATION ชื อโมเดล IABL3827 ประเทศผู ผลิต ญี ปุ น Made in Japan ผู นําเข า IAI Robot Thailand Co Ltd México Mexico Número de Certificación IFT RCPIATB19 1956 Nombre de la Empresa Solicitante IAI Corporation Nombre del Modelo IABL3827 País de Fabricación Japón Hecho en Japón Nombre de la ...

Page 23: ... with wireless connection operation testing movement to forward and backward ends jog operation inching operation is possible but the control device is not designed for purposes of automatic operation Construct a mechanical system based on the risks of the operating environment Carry out risk assessment based on the standard spec requirements of the machinery for installation Dangerous operation s...

Page 24: ...Left side Opposite side Motor side Front bracket Teaching port Frame Power I O connector Tap for ground line Controller cover assembly Spiral cover Tip adapter Guide shaft Motor cover Rod bracket Status LED Right side Left side Opposite side Motor side Spiral cover Front bracket Frame Controller cover assembly Teaching port Power I O connector Tap for ground line Status LED ...

Page 25: ...ing port Power I O connector Tap for ground line Motor cover Table guide Right side Left side Opposite side Motor side Guide shaft Status LED Right side Left side Opposite side Motor side Front bracket Motor cover Controller cover assembly Teaching port Power I O connector Tap for ground line Status LED Spiral cover Table Front plate ...

Page 26: ... 19 Table type TW Table Front plate Right side Left side Opposite side Motor side Table guide Controller cover assembly Teaching port Power I O connector Tap for ground line Status LED Spiral cover Front bracket Frame ...

Page 27: ...ftware Remove the protective cap Status indicator LED The LED below as seen from the motor side shows the servo ON OFF status and alarm status The LED on the top as seen from the motor side displays the wireless status Power I O connector This connector connects power and I O wiring Status LED Teaching port Power I O connector ...

Page 28: ...Intro 21 ...

Page 29: ...N EC connection specification Model ACR 1 26 With brake model B 1 26 Home reverse specification model NM 1 26 PNP specification model PN 1 26 Battery less absolute encoder specification model WA 1 26 Wireless communication specification model WL 1 26 Wireless axis operation specification model WL2 1 27 2 circuit power supply type Model TMD2 1 27 S4 guide mounting direction TC4 table mounting direc...

Page 30: ...ely case that any model number errors or missing parts come to light contact your local IAI distributor Body ELECYLINDER Quantity 1 Accessories Power I O Cable Quantity 1 Power I O Connector Quantity 1 Protective Cap Quantity 1 Accessories Documents DVD Quick Start Guide Quantity 1 Safety Guide Quantity 1 Instruction Manual DVD Quantity 1 1 1 Checking the product Components included as selected in...

Page 31: ...unt TC4 table right mount GT3 GS4 guidebottommount TC4 table bottommount GT4 GS4 guide left mount TC4 table left mount NM Non motor end specification PN PNP specification WA Battery lessabsoluteencoderspecification WL Wireless communication specification WL2 Wireless axis operation specification Cable length 0 With power I O connector 1 to 10 With relay cable with cover 0 0m 10 10m Blank Rod type ...

Page 32: ...1 3 1 Specifications Product list Rod type Table type 1 1 Checking the product ...

Page 33: ... or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 motor revolution p r pulse per 1 motor revolution 1 2 Mechanical specifications Model number Lead mm Maximum payload Maximum pressing force N Horizontal kg Vertical kg EC RP4H 6 2 5 1 30 ...

Page 34: ...t attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life 1 2 Mechanical specifications Lead 6 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 3 0 5 0 3 0 5 0 2 5 2 5 1 1 0 4 4 1 5 1 5 300 2 5 2 5 1 1 200 4 4 1 5 ...

Page 35: ...n the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5mm s the pressing force and the operation may get unstable Make sure that the speed is set at 5mm s or more 1 2 Mechanical specifications Item Content Drive system B...

Page 36: ...inimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 motor revolution p r pulse per 1 motor revolution 1 2 Mechanical specifications Model number Lead mm Maximum payload Maximum pressing force N Horizontal kg Vertical kg EC GS4H 6 2 5 1 30 EC GS4M 4 4 1 5...

Page 37: ...t attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life 1 2 Mechanical specifications Lead 6 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 3 0 5 0 3 0 5 0 2 5 2 5 1 1 0 4 4 1 5 1 5 300 2 5 2 5 1 1 200 4 4 1 5 ...

Page 38: ...d is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5mm s the pressing force and the operation may get unstable Make sure that the speed is set at 5mm s or more 1 2 Mechanical specifications Item Content Drive system Ball screw φ6mm roll...

Page 39: ...1 10 1 Specifications Radial Load and Tip Deflection guideline Home Deflection mm Load N 1 2 Mechanical specifications ...

Page 40: ...inimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 motor revolution p r pulse per 1 motor revolution 1 2 Mechanical specifications Model number Lead mm Maximum payload Maximum pressing force N Horizontal kg Vertical kg EC GD4H 6 2 5 1 30 EC GD4M 4 4 1 5...

Page 41: ...t attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 3 0 5 0 3 0 5 0 2 5 2 5 1 1 0 4 4 1 5 1 5 300 2 5 2 5 1 1 200 4 4 1 5 1 5 Lead 2 Orientation Horizon...

Page 42: ...d is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5mm s the pressing force and the operation may get unstable Make sure that the speed is set at 5mm s or more 1 2 Mechanical specifications Item Content Drive system Ball screw φ6mm roll...

Page 43: ...1 14 1 Specifications Radial Load and Tip Deflection guideline 1 2 Mechanical specifications Home Deflection mm Load N Home Deflection mm Load N ...

Page 44: ...nimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 motor revolution p r pulse per 1 motor revolution Model number Lead mm Maximum payload Maximum pressing force N Horizontal kg Vertical kg EC TC4H 6 2 5 1 30 EC TC4M 4 4 1 5 45 EC TC4L 2 8 2 5 90 Lead mm ...

Page 45: ...t attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 3 0 5 0 3 0 5 0 2 5 2 5 1 1 0 4 4 1 5 1 5 300 2 5 2 5 1 1 200 4 4 1 5 1 5 Lead 2 Orientation Horizon...

Page 46: ... C10 Positioning repeatability 0 05mm Base Material Aluminum black alumite treatment Static allowable moment Ma 5 9N m Mb 5 9N m Mc 9 3N m Dynamic allowable moment Ma 3 77N m Mb 3 77N m Mc 6 01N m Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Operation life 5000 km or 50 million cycles Mb Mc direction 120mm or less Ma direction 50mm or less 1 2 Mechanical specificat...

Page 47: ...ch speed up to the pressing start position is 20mm s or less pressing operation will take place at approach speed When the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5mm s the pressing force and the operation may ge...

Page 48: ...eference position and Mb direction moment applied Mc direction moment displacement angle Displacement angle with table guide center cross section and Mc direction moment applied Offset reference position Guide center cross section Table displacement angle Ma direction Moment N m Displacement Angle deg Offset reference position Table displacement angle Mb direction Table displacement angle Mc direc...

Page 49: ...nimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 motor revolution p r pulse per 1 motor revolution Model number Lead mm Maximum payload Maximum pressing force N Horizontal kg Vertical kg EC TW4H 6 2 5 1 30 EC TW4M 4 4 1 5 45 EC TW4L 2 8 2 5 90 Lead mm ...

Page 50: ...t attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 3 0 5 0 3 0 5 0 2 5 2 5 1 1 0 4 4 1 5 1 5 300 2 5 2 5 1 1 200 4 4 1 5 1 5 Lead 2 Orientation Horizon...

Page 51: ...rew φ6mm rolled C10 Positioning repeatability 0 05mm Base Material Aluminum black alumite treatment Static allowable moment Ma 8 3N m Mb 8 3N m Mc 26 3N m Dynamic allowable moment Ma 5 4N m Mb 5 4N m Mc 17 2N m Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Operation life 5000 km or 50 million cycles 120mm or less 50mm or less 100mm or less 1 2 Mechanical specificati...

Page 52: ...ch speed up to the pressing start position is 20mm s or less pressing operation will take place at approach speed When the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5mm s the pressing force and the operation may ge...

Page 53: ...eference position and Mb direction moment applied Mc direction moment displacement angle Displacement angle with table guide center cross section and Mc direction moment applied Table displacement angle Ma direction Moment N m Displacement Angle deg Offset reference position Guide center cross section Offset reference position Displacement Angle deg Moment N m Moment N m Displacement Angle deg Tab...

Page 54: ...Specifications Duty ratio The duty ratio is the operating rate shown in of the actuator operating time within one cycle Continuous operation is possible when the duty ratio is 100 1 2 Mechanical specifications ...

Page 55: ...ed if the home position direction is reversed in accordance with equipment layout or assembly direction PNP specification model PN I O input output specifications are NPN specification as standard Specifying this option changes the unit to PNP specification Battery less absolute encoder specification model WA The standard specification is for incremental encoder Specifying this option changes the ...

Page 56: ... the operation via wireless communication enabled with WL However the control device is not designed for purposes of automatic operation Be sure to refer to the Precautions for Axis Operation with Wireless Communication Certification and self declaration regarding the wireless function are handled with the wireless circuit board model name below Model name IABL3827 Note Changes from WL to WL2 and ...

Page 57: ...t mounting GT2 bottom mounting GT3 and left mounting GT4 View from rod side left right GT2 Right mounting GT3 Bottom mounting GT4 Left mounting The table position for the table type TC4 can be selected from right mounting GT2 bottom mounting GT3 and left mounting GT4 View from front left right GT2 Right mounting GT3 Bottom mounting GT4 Left mounting 1 3 Options ...

Page 58: ...ped with the 4 way connector The wiring on the opposite side of the connector has not been processed The cable length is available from 1m to 10m Specify the length in increments of 1m The following shows a sample model number Cable length 1m CB EC PWBIO010 RB Cable length 3m CB EC PWBIO030 RB Cable length 10m CB EC PWBIO100 RB 1 4 Accessories ST0 ST1 RES LS0 PE0 LS1 PS1 ALM Note 1 TMD2 is 24V con...

Page 59: ... 30 1 Specifications Power I O connector Supplied when cable length is specified as 0 in the model number Name Model number Quantity Power I O connector 1 1871940 6 Tyco Electronics 1 pc 1 4 Accessories ...

Page 60: ...1 31 1 Specifications ...

Page 61: ...w to install rod type RP 2 6 Installation surface 2 6 Fixing bolts 2 6 Mounting orientation 2 7 Body mounting 2 8 Rotation stop mounting 2 10 2 4 How to install rod type GS rod type GD 2 12 Installation surface 2 12 Fixing bolts 2 12 Mounting orientation 2 13 Body mounting 2 14 2 5 How to install table type TC table type TW 2 15 Installation surface 2 15 Fixing bolts 2 15 ELECYLINDER Chapter 2 ...

Page 62: ...Mounting orientation 2 16 Body mounting 2 17 Transported object mounting surface 2 19 Mounting transported objects 2 19 ...

Page 63: ... The package is not specially designed to withstand dropping or shock due to collision Keep the unit in horizontal position for storage or transportation Do not climb onto the package Do not put anything that could deform the package on it Package opened With 2 units packed 2 1 Precautions for transportation ...

Page 64: ...ler so be especially careful not to apply external force For the names of each part refer to Part Names on page Intro 15 Refere These packaging materials can be recycled as cardboard The cardboard and urethane film are attached only with thermal bonding and use no adhesive This means they can be recycled as cardboard when disposed of reducing industrial waste cost burdens Unfold the cardboard as i...

Page 65: ...he ELECYLINDER body or any moving part is overhanging fix it appropriately to avoid large wobbles due to external vibration When transporting without fixing the tip do not apply impact of 0 3G or more When suspending machinery system with ropes be careful not to catch the rope on the ELECYLINDER or cable 2 1 Precautions for transportation ...

Page 66: ...t receives direct sunlight Where the unit is exposed to corrosive or combustible gases Where the ambient air contains a large amount of dust salt or iron at levels exceeding those typical of an assembly plant Where the unit is subject to splashed water or oil including oil mist or cutting fluid or chemical solutions Where the body receives impact or vibration Where the altitude is more than 1000m ...

Page 67: ... at shipping If the product is to be stored preserved in an environment where condensation is anticipated take condensation preventive measures For short term storage it can be stored at 60 C or below For storage of one month or more make sure that the temperature does not exceed 50 C The product should be placed horizontally for storage and preservation If storing in the packaged condition observ...

Page 68: ...nance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective engagement length is approximately equal to the nominal diameter or greater 2 3 How to install...

Page 69: ...ve greasing may cause the grease to drip from the rod When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may eventually separate causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown 2 3 How to install rod type RP ...

Page 70: ...on the body mount it to the body mounting plate Body mounting dimensions Fixing bolts Tip adapter M6 nut Fixing bolt Tightening torque For iron mounting plate For aluminum mounting plate M4 3 59N m 1 76N m Tightening torque 4 2N m Body mounting plate 9 5 Screw effective length 4 Width across flat 4 M4 Depth 8 2 3 How to install rod type RP ...

Page 71: ...2 9 2 Installation Notice The use of high strength bolts of ISO 10 9 or higher is recommended 2 3 How to install rod type RP ...

Page 72: ...r will idle and the tip will not move normally in forward or reverse Caution Do not connect a rotation stop to the actuator body with floating joints etc A radial load due to screw shaft eccentricity will be applied leading to actuator misoperation or rapid damage 2 3 How to install rod type RP Rotation stop guide Guide side bracket Tip adapter mounting hole Body mounting plate Body mounting hole ...

Page 73: ... return motion If operated without home return the unit will be unable to recognize the correct position which may lead to interference with peripheral devices RP4 guide side bracket with counterbore RP4 guide side bracket no counterbore Flat washer M6 nut Tip adapter Flat washer M6 nut Tip adapter Guide side bracket Tip adapter mounting hole Rotation stop guide Body mounting hole Body mounting pl...

Page 74: ...enance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective engagement length is approximately equal to the nominal diameter or greater 2 4 How to instal...

Page 75: ...asing may cause the grease to drip from the rod When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may eventually separate causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown 2 4 How to install rod type GS rod type GD ...

Page 76: ...ut Notice There are 4 mounting taps on the body mounting surface Using all the taps mount the body Each mounting surface has round holes and oblong holes for positioning pins Use as needed For mounting dimensions see Chapter 9 External Dimensions The use of high strength bolts of ISO 10 9 or higher is recommended Fixing bolt Tightening torque For iron mounting plate For aluminum mounting plate M4 ...

Page 77: ...enance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective engagement length is approximately equal to the nominal diameter or greater 2 5 How to instal...

Page 78: ...y cause the grease to drip from the ball screw guide When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may eventually separate causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown 2 5 How to install table type TC table type TW ...

Page 79: ...ts Tip adapter M6 nut Caution The tapped mounting holes in the mounting part are partially through holes Never use screws longer than the screw effective length This may lead to damage to the interior mechanism and electrical components Fixing bolt Tightening torque For iron mounting plate For aluminum mounting plate M4 3 59N m 1 76N m Tightening torque 4 2N m Mounting is also possible from the op...

Page 80: ...all the taps mount the body Each mounting surface has round holes and oblong holes for positioning pins Use as needed For mounting dimensions see Chapter 9 External Dimensions The use of high strength bolts of ISO 10 9 or higher is recommended 2 5 How to install table type TC table type TW ...

Page 81: ...d objects are fixed leading to malfunctions Mounting transported objects Table type TC There are two transported object mounting surfaces table top surface and front plate Table type TW There are two transported object mounting surfaces table top surface and front plate Fixing bolts Fixing bolt Tightening torque For iron mounting plate For aluminum mounting plate M4 3 59N m 1 76N m 2 5 How to inst...

Page 82: ...ace and the front plate which are perpendicular to one another will affect the rod shaft center and lead to malfunctions Be careful with regard to the length of the mounting bolt and positioning pin The use of screw in depth greater than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or ...

Page 83: ...ceeding allowable moment and overhang load it will not only cause noise and vibration but also may significantly reduce the life of the actuator Table type TC Moment direction and offset position Overhang load length Table type TW Moment direction and offset position Overhang load length 120mm or less Ma direction Mb Mc direction 120mm or less Ma direction Mb Mc direction 100mm or less 100mm or le...

Page 84: ...long holes for positioning pins Use as needed For mounting dimensions see Chapter 9 External Dimensions The mounting bolts are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended 2 5 How to install table type TC table type TW ...

Page 85: ...on arrangement diagram 3 5 3 4 Wiring connections for connectors 3 7 24VDC power supply wiring 3 7 PLC wiring 3 9 Connector wiring method 3 10 Brake release wiring 3 12 3 5 Wiring connections for cables 3 12 Power I O cable connector 3 12 Power I O cable equipped with 4 way connector 3 13 Power I O cable connection 3 15 24VDC power supply wiring 3 16 PLC wiring 3 18 Brake release wiring 3 19 ELECY...

Page 86: ...ystem configuration Supply 24VDC to the ELECYLINDER and input a signal from a master device to the ELECYLINDER This enables the ELECYLINDER to operate This manual introduces an example using a PLC connected as the master device 3 1 System configuration Model PSA 24 ...

Page 87: ...tible software teaching pendant TB 02 TB 03 Data retention memory Data and parameters are saved in the nonvolatile memory Unlimited number of write cycles LED display Green light ON Servo ON Red light ON Alarm or stoppage with teaching pendant Green red simultaneously ON Initializing when power comes ON Green red alternately blinking Minor failure alarm Insulation resistance 500VDC 10MΩ Electric s...

Page 88: ...esidual voltage 2V or less Leakage current MAX 1mA per point Leakage current MAX 0 1mA per point Isolation type Non isolated from external circuitry Non isolated from external circuitry I O logic NPN PNP Caution In the PIO circuit both input and output are non isolated Make sure to have a grounding for external devices connected to ELECYLINDER such as PLC in common with the grounding for ELECYLIND...

Page 89: ...nd 3 4 3 5 Wiring connections 2 Operate the teaching pendant to force the brake to release Refer to Brake release wiring pages 3 12 and 3 17 Frame grounding The ELECYLINDER has a built in controller circuit board Connect the ground wire to the tap for ground line and perform grounding The controller frame grounding line is connected to the ELECYLINDER body tap for ground line Fixing screws Control...

Page 90: ... an alarm occurs 3 3 Connection arrangement diagram Note 1 Brake release For PNP specification ELECYLINDER NPN specification B2 Backward complete For NPN specification Power I O connector A1 B3 B5 B4 A3 A4 A5 0V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Ground Alarm clear Forward complete Alarm B1 24V 24V power supply Backward Forward Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24V BKRLS ST0 ST1 RES ALM LS0 LS1 0...

Page 91: ...diagram For PNP specification For NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Brake release 24V power supply driving source Alarm clear Alarm A1 0V Ground Backward Forward ELECYLINDER PNP specification Power I O connector Backward complete Forward complete A2 24V 24V power supply control Alarm Note 1 Brake release ELECYLINDER NPN specification B2 Bac...

Page 92: ...al and the 0V terminal of the 24VDC power supply When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24V power supply in the stopped state control drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24V KIV 0 75mm2 AWG18 Power supply voltage 24VDC 10 Power capacity max 2 0A Wiring length 10m o...

Page 93: ...tor nameplate name Compatible wire diameter Required specifications B1 24V driving source KIV 0 75mm2 AWG18 Power supply voltage 24VDC 10 Power capacity max 2 0A including control power supply 0 3A Wiring length 10m or less A2 24V control A1 0V Note Wire for 24V control on A2 can apply 0 3mm2 AWG22 When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shut...

Page 94: ...rd complete input terminal Connect the A5 connector terminal and the Alarm input terminal Pin No Connector nameplate name Signal abbreviation Compatible wire diameter Function overview B3 Backward ST0 KIV 0 20mm2 AWG24 Backward command B4 Forward ST1 Forward command B5 Alarm cancel RES Alarm cancel A3 Backward complete LS0 PE0 Backward complete pressing complete A4 Forward complete LS1 PE1 Forward...

Page 95: ... a precision screwdriver fully into the tool insertion slot Press the spring within the connector down then insert the core wire slightly twisted Pulling out the precision screwdriver causes the spring within the connector to rebound clamping the core wire inserted in place 3 4 Wiring connections for connectors A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 Tool insertion slot Wiring inlet Wiring inlet Refer...

Page 96: ...onnector and possibly causing insufficient current or short circuit Do not insert the precision screwdriver violently into the connector or twist it hard This may damage the connector housing and internal spring If an electric wire thinner than the applicable diameter or wiring longer than 10m is used insufficient current may trigger an alarm and the performance of the ELECYLINDER may be degraded ...

Page 97: ... Signal abbreviation Compatible wire diameter Required specifications B2 Brake release BKRLS KIV 0 20mm2 AWG24 24VDC 10 200mA or higher 3 5 Wiring connections for cables Here the wiring connection method with a power I O cable is introduced Power I O cable 3 5 Wiring connections for cables 3 4 Wiring connections for connectors ST0 ST1 RES LS0 PE0 LS1 PS1 ALM Note 1 MD2 is 24V control Note Cable in...

Page 98: ...he orientation of the connector in four ways The cable wires on the connector are the same as those for Power I O Cable CB EC PWBIO RB Model CB EC2 PWBIO RB The wiring on the opposite side of the connector has not been processed The cable length is available from 1m to 10m Specify the length in increments of 1m The following shows a sample model number Cable length 1m CB EC2 PWBIO010 RB Cable leng...

Page 99: ... the curved side of the cable end to your desire direction 2 Be sure to check that the cable is settled firmly and insert two tabs of the cover along the slits of socket 3 Then push the last tab to the socket 3 5 Wiring connections for cables Curved side Straight side Insert 2 side tabs of the cover Push in ...

Page 100: ...irection A section of the connector protrudes Orient this section downwards and insert until it clicks into place Take appropriate care to prevent unused wiring in the loose wire end on the cable from shorting out other wires by protecting them with insulation tape Cable connection diagram Insert the connector until you hear the click 3 5 Wiring connections for cables ...

Page 101: ...or black to the 0V terminal of the 24VDC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24V Power supply input Power supply voltage 24VDC 10 Power capacity max 2 0A Black 0V Ground When establishing an external stop switch add a b contact switch to the red terminal wiring This shuts off the 24V power supply in the stopped state control drive power OFF 1...

Page 102: ...the 0V wire insulation color black to the 0V terminal of the 24VDC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24V driving source Driving source power supply input Power supply voltage 24VDC 10 Power capacity max 2 0A including control power supply 0 3A Light blue 24V control Control power supply input Black 0V Ground When establishing an external st...

Page 103: ...d output terminal Connect the green cable wire and the Alarm clear output terminal Connect the blue cable wire and the Backward complete input terminal Connect the purple cable wire and the Forward complete input terminal Connect the gray cable wire and the Alarm input terminal 3 8 PLC connection 3 4 5 6 7 8 PLC Process the terminals in accordance with PLC specifications in order to conduct wiring...

Page 104: ...ling a forcible brake release switch connect the brown cable wire Power capacity of 24VDC 10 200mA or higher is required Wiring color Signal abbreviation Function overview Required specifications Brown BKRLS Brake release 24VDC 10 200mA or higher 3 5 Wiring connections for cables ...

Page 105: ... 4 4 I O signals 4 11 I O signal list 4 11 ST0 and ST1 signals Movement command input backward forward 4 12 RES signal Alarm clear input 4 13 BKRLS input Brake release input 4 13 LS0 LS1 signals Position detection output backward end forward end 4 14 PE0 PE1 signals Pressing complete output backward end forward end 4 15 ALM signal Alarm output 4 15 Signal input time constant 4 15 4 5 Operating met...

Page 106: ...a movement command signal is input outputting a position detected signal when the movement is complete Turning the movement command signal OFF before the movement is complete interrupts the operation and causes a gradual stop Home return operation is similar 4 1 Basic operation Reference Connection image Forward command Backward command Forward end detection Backward end detection PLC ELECYLINDER ...

Page 107: ...5 ME0376 Caution Maximum stroke operation is configured at shipping Before operating the ELECYLINDER make sure to check there is nothing that will interfere with moving parts within the operation range Teaching pendant connection Connect the teaching pendant TB 02 while the power is OFF Insert the round connector of TB 02 to the SIO port of the ELECYLINDER Connect with wires in the same way for TB...

Page 108: ... instructions If the position edit password is set to a value other than 0000 enter the password and press the ENT key on the touch panel The screen will switch to the Simple Data Setting window The position edit password is set to 0000 at shipping Refer to the teaching pendant manual ME0355 for information about changing the password Touch the Homing button The ELECYLINDER returns to the home pos...

Page 109: ...g The Simple Data Setting screen can be used to adjust the stop position and operating conditions Caution Be sure to touch the Transfer key after configuring or adjusting data The data will return to the previous state if the screen is changed without pressing Transfer Moreover the Manual operation button will not work if data is not transferred 4 Action A Acceleration V Velocity D Deceleration 加速...

Page 110: ...just Ten Key window will open After setting the numerical value touch the ENT key Then touch the Transfer key A value will be written to the controller and the BEnd button and FEnd button will turn green Press the FEnd or BEnd buttons to operate Check the results of the new setting adjustment Note that pressing the button while operating will cause the ELECYLINDER to slow to a stop in place Action...

Page 111: ...be made in increments of 0 01G The acceleration deceleration unit of G is described below 1G 9 800mm s2 Acceleration possible up to 9 800mm s per second For 0 3G the acceleration per second is 9 800mm s2 x 0 3 2 940mm s2 The procedure on the following page can be used to configure adjust the operating conditions AVD Note that the ELECYLINDER has an automatic calculation function for Maximum veloci...

Page 112: ...new setting touch the Change key The Transport load setting window will open Select Installation orientation and enter the Transport load then touch the Set button The Optimal speed and Optimal acceleration deceleration for the shortest cycle time for the configured conditions will be displayed 4 3 Setting adjustment of operating conditions AVD Action 2 1 Action 3 Action 3 8 4 ...

Page 113: ...ansfer history will also be updated Present set value and Previous set value cycle time calculation results are updated Press the FEnd or BEnd buttons to operate Check the results of the new setting adjustment Caution If abnormal noise vibration or impacts occur when the ELECYLINDER is operated lower the acceleration and deceleration rates Usage without lowering these rates may lead to breakdowns ...

Page 114: ... input values in N units The pressing speed is 20 mm s If V Velocity is set to 20mm s or below pressing will take place at the speed of V Velocity Caution The pressing force displayed in N units serves as a guideline Refer to Pressing force and current limit value relationship on pages 1 6 9 13 18 23 When the pressing speed is 20mm s or less the pressing force will become unstable and failure to o...

Page 115: ... screen will switch to the Simple Data Setting window Touch the Transfer key The numerical values will be written to the controller The BEnd button and FEnd button will turn green Press the FEnd or BEnd buttons to operate Check the results of the new setting adjustment 3 Action 2 Action 4 3 Setting adjustment of operating conditions AVD Action 4 5 2 3 2 3 ...

Page 116: ...rning ON when home return is not complete triggers home return operation Turning OFF midway through operation will cause a gradual stop Alarm cancel RES Turning ON resets the alarm Brake release BKRLS Inputting 24VDC releases the brake Output Backward complete Pressing complete LS0 PE0 ON when entering the backward end detection range ON when pressing operation is complete Forward complete Pressin...

Page 117: ...ward While the ST signal is ON operation will continue until the Backward end or Forward end is reached Turning the ST signal OFF midway through operation will cause a gradual stop For details refer to 4 5 Operating method from master device Caution If stopped when the LS or PE signals are not ON the ELECYLINDER may be stopped on the way to the backward or forward end or it may have stopped at the...

Page 118: ...ity requires 24VDC 10 and 200mA or more The ELECYLINDER brake is a non excitation actuating solenoid brake In normal operation the brake is automatically released but when the servo is OFF or power is OFF the brake engages The brake must be released in order to move the movable part rod or table by hand Warning Before releasing the brake make sure to check there is nothing that will interfere with...

Page 119: ...They turn ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and LS1 signals ON is as follows In this example the LS signal detection range is 0 10mm To adjust the LS signal detection range open the Edit parameters window Parameter No 2 Auto switch LS signal detection range adjustment can be used to make a...

Page 120: ...occurs Always monitor the ALM signal using the master device If it turns OFF immediately take appropriate safety countermeasures with the equipment as a whole For details refer to 7 4 Troubleshooting by alarm groups Signal input time constant In order to prevent mis operation due to chattering or noise ST0 ST1 and RES signals are set with a 6ms input time constant For signals less than 6ms the dev...

Page 121: ...ST0 signal is turned ON backward motion begins towards the mechanical end The movement speed is 20mm s 2 Once the mechanical end is struck the direction will be reversed and forward motion will begin The unit will move forward until the home position then stop 3 After that it will continuously move forward until the backward end where it stops as operation is complete Caution In the home reverse s...

Page 122: ...e forward end 7 Input ST0 t2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat t1 Wait approximately 0 5 seconds from when the ALM signal turns ON before inputting the first command t2 The time taken for the ELECYLINDER actually to reach the forward or backward end after the LS signal turns ON Consider t2 when giving instructions for the next operation fro...

Page 123: ...ion Turning the ST signal ON again after the gradual stop causes the ELECYLINDER to begin operation again Within the detection range the LS signal turns ON even if the ELECYLINDER is mid operation Make sure that ST0 and ST1 do not turn ON simultaneously This may result in unpredictable operation ST signal LS signal ELECYLINDER movement Original deceleration start position Backward end LS signal ON...

Page 124: ...n speed is 20 mm s The workpiece remains pressed after the pressing is completed If the workpiece moves or pushes back it may be pressed even further If the workpiece is struck during approach operation Alarm group A Overload alarm will be triggered For details refer to Alarm group A Overload alarm page 7 11 ST signal PE signal ELECYLINDER movement PE signal ON ST signal OFF Pressing operation App...

Page 125: ...r device sequence or detection method based on the content below If no contact is made the PE signal will not turn ON A timer is required to determine if no contact has been made After a non contact operation the unit will stop in the pressing operation status If the workpiece shifts once pressing complete is determined and the PE signal is ON the ELECYLINDER will start another approach operation ...

Page 126: ...4 21 4 Operation ...

Page 127: ...ive maintenance 5 1 5 2 Maintenance information 5 2 Total travel count 5 2 Total travel distance 5 2 Overload warning level 5 3 5 3 Setting maintenance information 5 4 Switching to maintenance information window 5 4 Basic operation 5 5 ELECYLINDER Chapter 5 ...

Page 128: ... the travel count or the travel distance exceeds the set values 5 1 Preventive predictive maintenance Preventative maintenance Predictive maintenance Maintenance that is performed when based on regular equipment monitoring an abnormality is predicted to occur Prevents unexpected breakdowns Extends service life Regular maintenance that is performed based on a reference period regardless of whether ...

Page 129: ...e set value the user will be notified with Maintenance warning 1 When Maintenance warning 1 is output maintenance is recommended such as greasing Set the target value to a value larger than the present one and update Setting it to 0 times will disable this function Total travel distance Name Symbol Unit Input range Default setting at shipping Total travel distance ODOT m 0 to 999 999 999 0 disable...

Page 130: ...the ratio set as overload warning level Maintenance warning 3 will be automatically cleared When Maintenance warning 3 is output investigate the cause of the increase in load Maintenance such as greasing or reviewing the operating conditions is recommended Setting it to 100 will disable this function Temperature change under abnormal conditions Temperature change under normal conditions Time Warni...

Page 131: ...ethod Teaching pendant manual ME0355 Touch panel teaching pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Switching to maintenance information window Touch Information on the Menu 1 screen The screen will switch to the Information window If the TP operation mode is not Monitor mode a confirmation window will appear for switching to Monitor mode Touch Maintenance informat...

Page 132: ...ge If you touch ESC the target value will not be changed and the original window will return Touch the Information Edit button A confirmation message for rebooting the controller will be displayed The setting change will take effect after rebooting If the actuator has been replaced touch the Actuator replacement button Total travel count and Total travel distance will be cleared to 0 1 Action 2 Ac...

Page 133: ...iptions 6 6 Parameter No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home position adjustment 6 10 Parameter No 5 Smooth accel decel setting 6 12 Parameter No 6 Current control setting at stop 6 13 Parameter No 7 Wireless function setting 6 14 ELECYLINDER Chapter 6 ...

Page 134: ... When making a change back up the data before the change so the settings can be recovered Back up the data after making changes as well This will be required for investigating causes of failure or when the ELECYLINDER is replaced Caution Understand the control methods in advance if making a change or performing a setting in accordance with the system and application Contact IAI if anything is uncl...

Page 135: ...l switch to the Edit parameters window If the TP operation mode is not Monitor mode a confirmation window will appear for switching to Monitor mode Also if the parameter edit password is set to a value other than 0000 the password input screen will be displayed If the parameter edit password is set to a value other than 0000 enter the password and press the ENT key on the touch panel The Edit para...

Page 136: ...eter will be changed However if you touch ESC the parameter will not be changed and the edit window will return If setting parameters with radio buttons touch the radio buttons The parameter will be changed When all parameter changes are complete touch the Home button If parameters have been changed the Restart the controller screen will be displayed 1 Action 2 Action Action 3 Action 4 6 2 How to ...

Page 137: ...iption of each parameter at the bottom of the screen Caution Simply changing the parameters alone is not sufficient to enable the changes After making changes the power must be turned off and on or a software reset performed After the ELECYLINDER restarts the parameter changes will be enabled Do not attempt to turn OFF the power while writing the parameters This may damage the controller 5 Action ...

Page 138: ...tting at stop SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 The categories in the table below indicate whether parameters should be set or not There are 3 categories as follows Not displayed on PC compatible software teaching pendant screen A Check or change the settings based on the usage method B Use as set a...

Page 139: ...your desired stroke length The controller automatically adds 0 30mm and controls monitors the operation range Set the operating stroke between 0 and 30mm by changing Parameter No 1 to 30 00mm Caution Set within the ELECYLINDER movable range Setting to a value that exceeds the maximum stroke will result in collision with the forward side mechanical stopper This may damage the ELECYLINDER workpiece ...

Page 140: ... enters the detection range the backward complete or forward complete signal turns ON The minimum setting unit is 0 01mm The LS signal detection range for the conditions below is shown in the figure Backward end 0 00mm Forward end 100 00mm Parameter No 2 0 10mm Caution A value smaller than the minimum resolution cannot be set Minimum resolution mm p ball screw lead mm r 800 p r Backward end 0 00mm...

Page 141: ...LECYLINDER specifications The home return operation direction can be selected To set the opposite direction switch to the opposite setting value Forward Reverse or Reverse Forward For standard specification the motor side is home If Parameter No 3 is Forward If Parameter No 3 is Reverse Configuration example Home position motor side Home position non motor side 6 4 Parameter function descriptions ...

Page 142: ...ection is reversed check that the moving parts do not interfere with any other objects If the moving parts collide they may damage the ELECYLINDER workpiece or peripheral devices Changing the home return direction after purchasing will cause a mismatch with the ELECYLINDER model number Make sure to change parameters again if the controller or body is replaced 6 4 Parameter function descriptions ...

Page 143: ... in the following situations 1 To match the ELECYLINDER home position and the mechanical home position after assembly into equipment 2 To adjust the new home position upon reversing the default home return direction after purchase 3 To eliminate a slight deviation from the previous home position generated after replacing the ELECYLINDER If Parameter No 4 is 0 30mm the relationship between mechanic...

Page 144: ...osition as reference Do not set Parameter No 4 to a value smaller than the default setting at shipping This may result in abnormal home return operation alarm triggering or abnormal operation If the value must be set small please contact IAI After changing this parameter always perform home return reset absolute reset 6 4 Parameter function descriptions ...

Page 145: ...eceleration without delaying the operation time If Disabled the above functionality is not enabled Caution For operation in which the acceleration time or deceleration time exceeds 2 seconds do not Enable smooth accel decel settings Normal operation will not be possible Avoid momentary stops during acceleration or deceleration operation Sudden changes acceleration will occur which may be dangerous...

Page 146: ...f Enabled a current appropriate to the load will be transmitted to the motor stopping it This limits the amount of power consumed while stopping If abnormal noise or vibration occurs during a gradual stop setting to Enabled may fix the issue Moreover setting to Enabled can also fix issues in which the command position cannot quite be attained Caution If Disabled even if a pulse deviation within 2 ...

Page 147: ...bled is selected wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant is possible When Disabled is selected wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant is not possible There is no transmission or reception of wireless communication radio waves Caution This parameter is not displayed on ELECYLINDERs without wireless circuit boar...

Page 148: ...6 15 6 Parameters ...

Page 149: ...roubleshooting by alarm groups 7 10 Alarm group A Overload alarm 7 11 Alarm group B Motor abnormality alarm 7 12 Alarm group C Controller abnormality alarm 7 13 Alarm group D Controller encoder abnormality alarm 7 14 Alarm group E Supply voltage power capacity abnormality alarm 7 15 Warning Maintenance warning 1 7 16 Warning Maintenance warning 2 7 16 Warning Maintenance warning 3 7 17 ELECYLINDER...

Page 150: ...he motor side Operation status ALM signal output status SV green ALM red Power OFF Servo OFF OFF Alarm generated OFF Stop switch ON When using teaching pendant ON Power ON Servo ON ON Green 500ms Red 500ms alternate blinking in 1 Hz cycle Maintenance warning generated When the travel count or the travel distance has exceeded the set value or when overload warning is generated ON both green red ON ...

Page 151: ... from the motor side Wireless status Green Red Wireless hardware initializing Wireless not connected transmitting monitor data Connecting from wired teaching pendant ON 200ms OFF 200ms alternate blinking Wireless hardware error ON 150ms OFF 150ms alternate blinking Connecting through wireless Green Red 7 1 Troubleshooting confirmations ...

Page 152: ...ent point to avoid conductivity through the surrounding circuit before checking the conductivity 8 Check the I O signals Use the master device and ELECYLINDER teaching tool to check for inconsistency or abnormality in the input output signal status of the two units 9 Check the noise elimination measures grounding connection of noise suppressor etc 10 Check the events leading to the occurrence of t...

Page 153: ...en no alarm is generated Abnormal conditions can be roughly divided into the following two types For details and countermeasures see 7 3 Troubleshooting with no alarm generated Operation failure Abnormal or unstable operation If the issue is not resolved after checking and taking countermeasures contact IAI 7 2 Troubleshooting diagnosis ...

Page 154: ... Controller abnormality occurred Replace the controller cover assembly D Controller encoder abnormality alarm Content Countermeasure An abnormality occurred between the controller and encoder Turn the power off and then on again If the unit still does not recover contact the manufacturer and replace the controller cover assembly or motor E Power supply voltage Power supply capacity error alarm Con...

Page 155: ...unit is switched to servo OFF with the teaching tool Turn ON the servo with PC software or teaching pendant 3 Controller breakdown Replace the controller cover assembly For details refer to Controller replacement page 8 15 If the unit still does not recover contact IAI Condition 2 SV ALM LEDs light up red No Possible cause Confirmation countermeasure 1 Alarm generated Connect the teaching tool Upo...

Page 156: ...e wiring processing is correct For details refer to 3 4 3 5 Wiring connections 2 Disconnection of power I O cable disconnection or contact failure of power I O connector Check whether the cable is disconnected partially disconnected Make sure that the connector and cable are not pulled out For details refer to 3 4 3 5 Wiring connections 3 Movement command issued to stopping position When stopping ...

Page 157: ...ect 3 The body or guide is twisted due to the fixing method of the ELECYLINDER Loosen the fixing bolt and check whether the moving part moves smoothly If it does check whether the mounting surface is distorted Re mount according to the mounting method described in the instruction manual For details refer to 2 3 2 5 Installation method 4 The sliding resistance of the ELECYLINDER is excessive Contac...

Page 158: ...el decel setting and check its effect For details refer to 6 4 Parameter function descriptions 2 Load inertia is excessive Lower the deceleration and suppress overshoot Situation 4 The unit vibrates slightly while stopped No Possible cause Confirmation countermeasure 1 A load susceptible to vibration is mounted The ELECYLINDER is mounted on a frame with a structure susceptible to vibration Lower t...

Page 159: ...rning Red green alternate blinking ON Continued operation Maintenance Warnings 1 2 Total travel count Total travel distance are cleared by updating the set values in the maintenance information window Maintenance Warning 3 Overload warning is cleared by resetting the alarm Caution Clear alarms only after investigating and resolving the cause If the same alarm recurs after clearance it is highly pr...

Page 160: ...should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Refer to the recommended tightening torque of the bolts for base fixing in 2 3 to 2 5 Installation method 5 The peak power capacity of the 24V power supply is less than 2 0A Use a power supply with peak current of 2 0A or higher per axis 6 If the diameter of the power wire is less than AWG18 thin the peak c...

Page 161: ...t source turn OFF the heat source install a fan install a temperature shield improve thermal conductivity of the base install a heat dissipation fin etc 2 The ELECYLINDER may be being used under conditions exceeding the specifications described in the catalog Check the specification values such as payload acceleration deceleration and speed and adjust them appropriately 3 If this alarm recurs afte...

Page 162: ...this alarm persists If it does not there is a possibility that the ELECYLINDER is affected by the noise from the peripheral device Reconsider the noise countermeasures grounding power line wiring electrostatic shielding etc for the peripheral device 2 If this alarm recurs after performing the inspection above and improving the power supply environment it is highly likely that the controller has fa...

Page 163: ...aced motor and controller are both battery less absolute specification or incremental specification For details refer to Controller replacement page 8 15 3 The communication between the controller and encoder is affected by the noise of a peripheral device and cannot operate normally Shut down the power supply of the peripheral device and operate only with the ELECYLINDER then check to see whether...

Page 164: ...to our catalog for the required capacity and improve the power supply environment Countermeasure 2 Check whether the length of the power I O cable is within 10m and whether the wire diameter is smaller than the applicable value Make sure the wiring processing is correct For details refer to 3 4 3 5 Wiring connections 3 Overcurrent has occurred on the I O output part 1 Check if the current has exce...

Page 165: ...lue For setting refer to 5 2 Maintenance information and 5 3 Setting maintenance information Warning Maintenance warning 2 This is an alert that the target value of the total travel distance set by the customer has been reached No Content Countermeasure 1 For safe use and long service life of the ELECYLINDER periodic lubrication is recommended To disable this warning change the target value to 0 C...

Page 166: ...atter brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Visually check for the depletion of grease on the ball screw guide inside the ELECYLINDER intrusion of foreign matter etc If this is the case clean the inside of the ELECYLINDER and replenish the grease For details refer to 8 4 Cleaning and 8 5 Greasing method Countermeasure 2 Check the sliding movement of the...

Page 167: ...ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 5 8 4 Cleaning ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 7 External cleaningꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 7 Internal cleaningꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 7 8 5 Greasing methodꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8 8 Rod type table...

Page 168: ...at will interfere with moving parts within the operation range The slider or rod may fall possibly injuring the operator or people nearby and damaging the ELECYLINDER workpiece or equipment Caution Check that the power to the ELECYLINDER is OFF before conducting any maintenance or inspections Be careful not to lose the cover or any removed screws Be sure to return the product to the original condi...

Page 169: ...e humidity and ambient atmosphere It is recommended to shorten the grease supply period if the actuator is used under poor environmental conditions such as high temperatures high humidity or dusty atmospheres Also it is recommended to improve the environmental conditions in case the grease changes color notably due to poor operating conditions Base oil may separate from the grease due to the mount...

Page 170: ... high operating rate inspect more often Rod type table type Inspection period External inspection Internal inspection Greasing Start of work inspection 1 month inspection 3 month inspection 6 month inspection Depends on grease supply timing guideline Every 6 months thereafter Grease supply timing Guideline Maximum operating speed mm s Grease supply timing Guideline Travel distance Months 0 to 300 ...

Page 171: ...d for help Are ELECYLINDER mounting bolts loose Tighten them further Is the cable scratched Replace if the damage is severe Is the connector loose Re insert correctly Is grease dripping out especially if vertically mounted Clean up any drips Replenish the grease Is the spiral cover scratched or dented Replace if the damage is severe The life of the spiral cover is 2 million cycles guideline Replac...

Page 172: ...ravel surfaces shine First wipe off the old grease clean and then supply new grease Is there foreign matter or dust adhered to the ball screw or guide Replenish with new grease after cleaning the ball screw Ball screw inspection method With the power off pull out the ball screw and pull the spiral cover narrow diameter side toward the thick diameter side arrow direction then expose the screw shaft...

Page 173: ...l not move at low lead connect to the PC software or teaching pendant to move the ball screw TC TW table guide inspection method With the power off pull out the table Inspect the guide rail visually If the ball screw will not move at low lead connect to the PC software or teaching pendant to move the ball screw 8 3 Visual inspection items Guide shaft Table Guide rail ...

Page 174: ...blow too hard with compressed air as it may cause dust to get in through gaps Do not use petroleum based solvents as they can harm resin and painted surfaces To remove severe buildup wipe gently with a soft cloth soaked in a neutral detergent or alcohol Internal cleaning Use a soft cloth to wipe away dirt and buildup Do not blow too hard with compressed air as it may cause dust to get in through g...

Page 175: ...d product Default reference RP Ball screw Idemitsu Kosan Co Ltd Daphne Grease MP No 2 Idemitsu Kosan Co Ltd Daphne Grease MP No 2 GS GD Ball screw Guide shaft TC TW Ball screw Table guide Caution Never use fluorine based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the ELECYLINDER 8 5 Greasing method ...

Page 176: ...ide toward the thick diameter side arrow direction then expose the screw shaft If the table and rod bracket will not move at low lead connect to the PC software or teaching pendant to move them 3 Wipe off the grease adhered to the ball screw and apply the designated grease 0 1 to 0 3cc 4 Return the spiral cover to its original position and move the table and rod bracket to apply the grease thoroug...

Page 177: ...t move at low lead connect to the PC software or teaching pendant to move it 2 Wipe off the grease adhered to the guide shaft and apply the designated grease 0 1 to 0 2cc per shaft 3 Move the rod bracket to apply the grease thoroughly To release the brake refer to Brake release method page 3 3 8 5 Greasing method Guide shaft ...

Page 178: ...t and left guide apply grease to both 3 Move the table to apply the grease thoroughly TC TW Table guide grease port cross section figure Move the table to the stroke end to match the table grease port with the table guide grease port Insert the syringe from the table grease port and apply grease to the table guide grease port Be careful not to let the grease leak to the exterior To release the bra...

Page 179: ...replacement 1 Remove the spiral cover Pull out the spiral cover base and roll the cover tip 2 Remove the spiral cover telescoping it during removal スパイラルカバーネジ軸の古いグリースを拭き取ってくださいネジ軸 8 6 How to replace components Screw shaft Wipe off the old grease on the screw shaft Spiral cover ...

Page 180: ...end to the outside 4 Mount the replacement spiral cover Hook the replacement spiral cover end brought to the outside on the shaft After hooking it on bring the end to the inside 5 Rolling slightly press the end onto the shaft end side 軸端側 8 6 How to replace components The end should be on the inside Shaft end side ...

Page 181: ...l on the replacement spiral cover 7 Finally bring the end to the outside and fit it into the actuator groove 8 Replenish the grease on the screw shaft Refer to 8 5 Greasing method Spiral cover model RCA2 SPC 50 8 6 How to replace components ...

Page 182: ...assembly model Remarks CCA EC N NPN specification CCA EC N TMD2 NPN specification TMD2 specification CCA EC NWL NPN specification WL specification CCA EC NWL TMD2 NPN specification WL specification TMD2 specification CCA EC NWL2 NPN specification WL2 specification CCA EC P PNP specification CCA EC NWL2 TMD2 NPN specification WL2 specification TMD2 specification CCA EC PWL PNP specification WL spec...

Page 183: ...External Dimensions 9 1 Rod type table type external dimensions 9 1 EC RP4 9 1 EC GS4 9 2 EC GD4 9 3 EC TC4 9 4 EC TW4 9 5 ELECYLINDER Chapter 9 ...

Page 184: ...9 1 9 External Dimensions 9 1 Rod type table type external dimensions EC RP4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm ...

Page 185: ...9 2 9 External Dimensions EC GS4 M E Mechanical end S E Stroke end Unit mm 9 1 Rod type table type ...

Page 186: ...9 3 9 External Dimensions EC GD4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm ...

Page 187: ...9 4 9 External Dimensions EC TC4 M E Mechanical end S E Stroke end Unit mm 9 1 Rod type table type ...

Page 188: ...9 5 9 External Dimensions EC TW4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm ...

Page 189: ...fe for rod type RP GS GD 10 1 Life guideline 10 1 Relation between GS4 GD4 tip radial load and operation life 10 1 10 2 Concept of life for table type TC TW 10 3 10 3 Concept of life for controller 10 5 ELECYLINDER Chapter10 ...

Page 190: ...cycles guideline when it is operated under maximum payload and acceleration deceleration Relation between GS4 GD4 tip radial load and operation life The life of GS4 and GD4 decreases as the tip radial load increases GS4 10 1 Concept of life for rod type RP GS GD Operation life km Load direction Radial load Radial load N ...

Page 191: ...10 2 10 Life GD4 10 1 Concept of life for rod type RP GS GD Operation life km Radial load N Load direction Radial load Radial load ...

Page 192: ... it is operated under maximum payload and acceleration deceleration How to calculate operation life For the operation life of the linear guide use the dynamic allowable moment stated in 1 2 Mechanical specifications and calculate with the formula below L 5 000km L Operation life km CM Dynamic allowable moment N m M Moment acting N m 5 000km Standard rated life of ELECYLINDER In addition calculate ...

Page 193: ...Load coefficient fw This coefficient allows consideration of the effects on life due to operating conditions Load coefficient fw Operating conditions Guideline for acceleration deceleration 1 0 to 1 5 Low vibration impact slow operation 1 0G or less Mounting coefficient fα This coefficient allows consideration of the effects on life due to ELECYLINDER mounting status Calculate with fa 1 for table ...

Page 194: ...for controller The controller part affecting service life is as follows Target part Life Condition Electrolytic capacitor 5 years Ambient temperature 40 C Rated operation operation within duty limits 10 3 Concept of life for controller ...

Page 195: ...cope of the warranty 11 1 11 3 Honoring the warranty 11 1 11 4 Limited liability 11 2 11 5 Conformance with applicable standards regulations etc and application conditions 11 2 11 6 Other items excluded from warranty 11 2 ELECYLINDER Chapter11 ...

Page 196: ...d by a specification defect malfunction or poor product quality Note that breakdowns due to any of the following reasons are excluded from the scope of warranty a Anything other than our product b Modification or repair performed by a party other than IAI unless approved by IAI c Anything that could not be easily predicted with the level of science and technology available at the time of shipment ...

Page 197: ...e applications Contact IAI if you must use our product for any of these applications a Medical equipment used to maintain control or otherwise affect human life or physical health b Mechanisms and machinery designed for the purpose of moving or transporting people vehicles railway facilities aviation facilities etc c Machinery components essential for safety safety devices etc d Equipment used to ...

Page 198: ...11 3 11 Warranty ...

Page 199: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 5 ELECYLINDER Chapter12 ...

Page 200: ... 18 TW4 2 17 to 18 Brake release signal BKRLS 3 4 3 5 to 6 3 19 4 13 C Change home return direction Parameter No 3 6 8 Cleaning 8 7 Components 1 1 Connection arrangement diagram 3 5 to 6 Controller replacement 7 5 8 15 Current control setting at stop Parameter No 6 6 13 7 9 D Diameter of electric wire 3 7 to 9 3 12 7 6 to 7 7 11 7 15 Duty ratio 1 25 E Electrical specifications 3 2 to 4 ELECYLINDER...

Page 201: ... 3 Maintenance warning 1 5 2 7 16 Maintenance warning 2 5 2 7 16 Maintenance warning 3 5 3 7 17 Maximum payload RP4 1 3 1 4 GS4 1 3 1 7 GD4 1 3 1 11 TC4 1 3 1 15 TW4 1 3 1 20 Maximum pressing force RP4 1 3 1 4 GS4 1 3 1 7 GD4 1 3 1 11 TC4 1 3 1 15 TW4 1 3 1 20 Maximum speed RP4 1 3 1 4 GS4 1 3 1 7 GD4 1 3 1 11 TC4 1 3 1 15 TW4 1 3 1 20 Minimum speed 1 4 1 7 1 11 1 15 1 20 Momentary power failure r...

Page 202: ...ance 5 1 Product list 1 3 R Radial load tip deflection guideline GS4 1 10 GD4 1 14 RCON EC connection specification model ACR 1 26 Rod non rotation precision GS4 1 9 GD4 1 13 S Safety Guide Intro 1 Setting maintenance information 5 4 to 5 Smooth accel decel setting Parameter No 5 6 12 7 9 S motion 6 12 Speed RP4 1 4 GS4 1 7 GD4 1 11 TC4 1 15 TW4 1 20 ST0 signal backward 3 5 to 6 4 12 4 15 ST1 sign...

Page 203: ...reless axis operation specification model WL2 1 27 Wireless communication specification model WL 1 26 Wireless function setting Parameter No 7 6 14 Wiring connections for cables 3 12 to 19 Wiring connections for connectors 3 7 to 12 With brake model B 1 26 12 1 Index ...

Page 204: ...ircuit power supply specification model TMD2 Edition 1F Pg 3 2 Correction made max 4 0A max 2 0A Pg 3 3 Caution added stating to have groundings in common Pg 3 7 3 8 3 15 Correction made Rated 3 5A max 4 2A max 2 0A Edition 1G Pg 8 8 Grease changed from Daphne Eponex Grease No 2 to Daphne Grease MP No 2 Pg 8 9 to 8 11 Note added for amount of grease to supply Correction made Data Setter Touch Pane...

Page 205: ...N EC connection specification option model ACR added Pg 1 2 3 13 3 14 Contents added for relay cable equipped with 4 way connector Pg 1 6 1 9 1 13 1 18 1 23 Caution regarding pressing added Pg 3 8 escription made stating 0 3mm2 AWG22 wire is available for A2 24V control Pg 7 15 Overcurrent has occurred on the I O output part added 12 2 Revision history ...

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Page 208: ...ESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 354 9471 website www intellig...

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