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IAI EC ELECYLINDER EC-RP4 Instruction Manual Download Page 202

 

 

12-3 

12. 
A

ppen

dix 

PE0 signal (backward/pressing complete) 

 

 ························ 3-5 to 6, 4-15, 4-19 to 20 

PE1 signal (forward/pressing complete) 

 

 ························ 3-5 to 6, 4-15, 4-19 to 20 

Positioning operation   ····················· 4-16 to 18 

Positioning repeatability 

RP4   ··················································· 1-6 

GS4   ·················································· 1-9 

GD4   ················································ 1-13 

TC4   ················································· 1-17 

TW4   ················································ 1-22 

Power I/O cable connector   ······ 1-29, 3-12 to 19 

Power I/O connector   ················ 1-30, 3-7 to 12 

Power supply for solenoid brake release 

 

 ·························· 3-2, 3-5 to 6, 3-12, 3-19 

Power supply voltage   ················ 3-2, 7-6, 7-15 

Powerful stop   ································ 6-13, 7-9 

Precautions for handling   ·············· Intro-9 to 11 

Precautions for Handling Wireless Operation   

 

 ··············································· Intro-13 

Precautions for transportation   ············· 2-1 to 3 

Precautions regarding parameters   ············· 6-1 

Pressing force and current limit value 

RP4   ··················································· 1-6 

GS4   ·················································· 1-9 

GD4   ················································ 1-13 

TC4   ················································· 1-18 

TW4   ················································ 1-23 

Pressing operation   ······························· 4-19 

Pressing operation setting  ················ 4-9 to 10 

Preventive/predictive maintenance   ············ 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 signal (forward)   ········· 3-5 to 6, 4-12, 4-15 

Stop position setting/adjustment   ··············· 4-5 

Storage/preservation environment   ············ 2-4 

System configuration   ····························· 3-1 

T 

Table displacement 

TC4   ················································· 1-19 

TW4   ················································ 1-24 

Teaching pendant connection   ·················· 4-2 

Total travel count   ···························· 5-2, 7-16 

Total travel distance   ························ 5-2, 7-16 

Troubleshooting confirmations   ············ 7-1 to 3 

Troubleshooting diagnosis   ·················· 7-4 to 5 

Troubleshooting with no alarm generated   

 

 ··············································· 7-6 to 9 

2-circuit power supply specification 

(model: TMD2) ···································· 1-27 

W 

Warning: Maintenance warning 1   ······· 5-2, 7-16 

Warning: Maintenance warning 2   ······· 5-2, 7-16 

Warning: Maintenance warning 3   ······· 5-3, 7-17 

Warranty   ······································ 11-1 to 2 

 

12.1 Index 

Summary of Contents for EC ELECYLINDER EC-RP4

Page 1: ...edictive 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...

Page 2: ...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...

Page 3: ...ual 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...

Page 4: ...odel 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 ty...

Page 5: ...tion 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 p...

Page 6: ...ing 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 1...

Page 7: ...n 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 Warran...

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: ...cations 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...

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 equival...

Page 11: ...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...

Page 12: ...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 carefu...

Page 13: ...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 t...

Page 14: ...rotection 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 t...

Page 15: ...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...

Page 16: ...ased 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 acceleratio...

Page 17: ...ial 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...

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 mec...

Page 19: ...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...

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 Radia...

Page 21: ...ter Pour se conformer aux exigences de conformit RF canadienne l exposition cet appareil et son antenne ne doivent pas tre co localis s ou fonctionnant en conjonction avec une autre antenne ou transme...

Page 22: ...L3827 IAI IABL3827 Made in Japan IAI KOREA Corp Thailand IAI CORPORATION IABL3827 Made in Japan IAI Robot Thailand Co Ltd M xico Mexico N mero de Certificaci n IFT RCPIATB19 1956 Nombre de la Empresa...

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...

Page 24: ...eft 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 Statu...

Page 25: ...ng 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...

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 Fro...

Page 27: ...tware 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 th...

Page 28: ...Intro 21...

Page 29: ...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 W...

Page 30: ...ly 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...

Page 31: ...nt 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 lessabsoluteencoder...

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 mov...

Page 34: ...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 Orien...

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 whe...

Page 36: ...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 mot...

Page 37: ...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 Orien...

Page 38: ...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...

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

Page 40: ...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 mot...

Page 41: ...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 Ori...

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 spee...

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: ...imum 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 moto...

Page 45: ...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 Ori...

Page 46: ...10 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 Ambie...

Page 47: ...h 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 pr...

Page 48: ...ference 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 positi...

Page 49: ...imum 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 moto...

Page 50: ...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 Ori...

Page 51: ...rew 6mm 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 M...

Page 52: ...h 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 pr...

Page 53: ...ference 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 angl...

Page 54: ...pecifications 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 specif...

Page 55: ...d 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 Spec...

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 Wire...

Page 57: ...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...

Page 58: ...ed 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 sh...

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 Accessorie...

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

Page 61: ...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 Installatio...

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 anythi...

Page 64: ...er 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...

Page 65: ...e 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...

Page 66: ...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 assembl...

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...

Page 68: ...ance 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 h...

Page 69: ...e 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 ev...

Page 70: ...n 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 7...

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: ...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 w...

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 R...

Page 74: ...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...

Page 75: ...sing 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 eventual...

Page 76: ...t 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...

Page 77: ...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...

Page 78: ...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 eve...

Page 79: ...s 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...

Page 80: ...ll 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...

Page 81: ...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 t...

Page 82: ...ce 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 Th...

Page 83: ...eeding 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 Overh...

Page 84: ...ong 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...

Page 85: ...n 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 cable...

Page 86: ...stem 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 conn...

Page 87: ...ible 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...

Page 88: ...sidual 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 P...

Page 89: ...d 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 ci...

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 A...

Page 91: ...iagram 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 Groun...

Page 92: ...l 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 cont...

Page 93: ...or 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 Wir...

Page 94: ...d 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...

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...

Page 96: ...nnector 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 inter...

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 meth...

Page 98: ...e 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 conne...

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...

Page 100: ...rection 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...

Page 101: ...r 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...

Page 102: ...he 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 su...

Page 103: ...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 com...

Page 104: ...ing 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...

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 Positi...

Page 106: ...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 a...

Page 107: ...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...

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 po...

Page 109: ...pping 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...

Page 110: ...ust 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 gre...

Page 111: ...s to 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...

Page 112: ...ew 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 acceler...

Page 113: ...nsfer 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 ad...

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...

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 BEn...

Page 116: ...ning 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...

Page 117: ...ard 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...

Page 118: ...ty 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...

Page 119: ...hey 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 exampl...

Page 120: ...ccurs 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 b...

Page 121: ...T0 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 T...

Page 122: ...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 input...

Page 123: ...on 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...

Page 124: ...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 operatio...

Page 125: ...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 op...

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

Page 127: ...ve 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 informat...

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...

Page 129: ...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...

Page 130: ...he 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 greasi...

Page 131: ...thod 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...

Page 132: ...e 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...

Page 133: ...ptions 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 positio...

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...

Page 135: ...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...

Page 136: ...ter 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 ch...

Page 137: ...ption 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 s...

Page 138: ...ting 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 pa...

Page 139: ...our 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 S...

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 Ba...

Page 141: ...ECYLINDER 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 specific...

Page 142: ...ction 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 retu...

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 re...

Page 144: ...sition 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 va...

Page 145: ...celeration 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 Ena...

Page 146: ...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 s...

Page 147: ...led 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 P...

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

Page 149: ...oubleshooting 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 abnorma...

Page 150: ...e 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 5...

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 blinki...

Page 152: ...nt 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 o...

Page 153: ...n 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 Abnorm...

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...

Page 155: ...nit 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...

Page 156: ...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 disc...

Page 157: ...ct 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 d...

Page 158: ...l 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 sl...

Page 159: ...ning 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...

Page 160: ...hould 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 T...

Page 161: ...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 condit...

Page 162: ...his 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 elect...

Page 163: ...ced 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...

Page 164: ...o 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...

Page 165: ...ue 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...

Page 166: ...tter 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 m...

Page 167: ...uideline 8 3 8 3 Visual inspection items 8 4 External visual inspection 8 4 Internal visual inspection 8 5 8 4 Cleaning 8 7 External cleaning 8 7 Internal cleaning 8 7 8 5 Greasing method 8 8 Rod type...

Page 168: ...t 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 Che...

Page 169: ...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 atmo...

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 ins...

Page 171: ...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...

Page 172: ...avel 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...

Page 173: ...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...

Page 174: ...low 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...

Page 175: ...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...

Page 176: ...de 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...

Page 177: ...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 brack...

Page 178: ...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...

Page 179: ...ts Spiral cover 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 8 6 How to replace components Screw...

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 pr...

Page 181: ...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 RC...

Page 182: ...ssembly 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 TMD...

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: ...e 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...

Page 190: ...ycles 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...

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...

Page 193: ...oad 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...

Page 194: ...or 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 1...

Page 195: ...ope 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 exclude...

Page 196: ...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 Modi...

Page 197: ...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 mach...

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 rep...

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...

Page 202: ...nce 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 Set...

Page 203: ...eless 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 conne...

Page 204: ...rcuit 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...

Page 205: ...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 escr...

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Page 208: ...SS 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...

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