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IAI EC-R6, Instruction Manual

The IAI EC-R6, a cutting-edge industrial robot, comes with a comprehensive Instruction Manual that users can download for free from our website. This user-friendly manual provides detailed guidelines and troubleshooting tips, ensuring smooth operation and maximum efficiency. Download now to unleash the full potential of your EC-R6 robot.

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4.4 I/O signals 

4-11 

4. Operation

 

4.4 I/O 

signals 

 

I/O signal list 

 

ELECYLINDER I/O signals are as follows. 
 

Category Signal 

name 

Signal 

abbreviation

Function overview 

Input 

Backward 

ST0 

Turning ON sends it backward. 

Turning OFF midway through operation will cause a 

gradual stop. 

Turning ON when home return is not complete 

triggers home return operation. 

Turning OFF midway through operation will cause a 

gradual stop.

 

Forward ST1 

Turning ON sends it forward. 

Turning OFF midway through operation will cause a 

gradual stop. 

Turning ON when home return is not complete 

triggers home return operation. 

Turning OFF midway through operation will cause a 

gradual stop.

 

Alarm clear 

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/ 

Pressing complete 

LS1/PE1 

ON when entering the forward end detection range. 

ON when pressing operation is complete. 

Alarm 

(b-contact) 

* ALM 

ON in normal conditions. 

OFF when an alarm occurs. 

 
 

   

Caution 

When home return is complete and when it is not, 
the [ST0] signal and [ST1] signal have different functions. 

 

Summary of Contents for EC-R6

Page 1: ...rameters 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 S6 S7 S6 H S7 H S6 AH S7 AH R6 R7 RR6 RR7 RR6 AH RR7 AH RR6 H RR7 H Instruction Manual Sixth Edition ME3766 6A ...

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: ...ER Instruction Manual this document ME3766 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 Data Setter TB 03 Instruction Manual Wireless communication ME0375 Data Setter TB 03 Instruction Manual Wired communication For position controller ME0376 ...

Page 4: ...C RR H 1 81 Duty ratio 1 94 1 3 Options 1 95 With brake model B 1 95 Tip adapter flange model FFA 1 95 Flange model FL 1 95 Foot bracket model FT 1 95 Tip adapter Internal thread model NFA 1 95 Knuckle joint model NJ 1 95 Oscillation receiving bracket knuckle joint model NJPB 1 95 Home reverse specification model NM 1 96 PNP specification model PN 1 96 Clevis bracket model QR 1 96 Oscillation rece...

Page 5: ...g 2 30 Mounting transported objects 2 31 2 6 Installation of radial cylinder type 2 33 Installation surface 2 33 Mounting orientation 2 34 Square nuts 2 35 Body mounting 2 36 Mounting transported objects 2 43 Mounting with oscillation 2 46 2 7 Installation of high rigidity radial cylinder type 2 52 Installation surface 2 52 Mounting orientation 2 53 Body mounting 2 54 Mounting transported objects ...

Page 6: ...ls Position detection output 4 14 PE0 PE1 signals Pressing complete output 4 15 ALM signal Alarm output 4 15 Signal input time constant 4 15 4 5 Operating method from master device 4 16 Home return operation positioning operation 4 16 Pressing operation 4 19 Chapter 5 Preventive Predictive Maintenance 5 1 Preventive predictive maintenance 5 1 5 2 Maintenance information 5 2 Total travel count 5 2 ...

Page 7: ...enance and Inspection 8 1 Precautions for maintenance and inspection work 8 1 8 2 Inspection items and schedule 8 3 Slider type 8 3 High rigidity slider type EC S AH High rigidity slider type EC S H 8 3 Rod type 8 3 Radial cylinder type 8 4 High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H 8 4 Grease supply timing 8 4 8 3 Visual inspection items 8 5 External vi...

Page 8: ...9 11 EC RR7 AH 9 12 9 7 High rigidity radial cylinder type external dimensions EC RR H 9 13 EC RR6 H 9 13 EC RR7 H 9 14 Chapter 10 Life 10 1 Concept of life for slider type 10 1 How to calculate operation life 10 1 Relation between operation life and moment 10 3 10 2 Concept of life for rod type 10 3 10 3 Concept of life for controller 10 3 Chapter 11 Warranty 11 1 Warranty period 11 1 11 2 Scope ...

Page 9: ......

Page 10: ...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 11: ...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 12: ... 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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...nce 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 Allowable load moment Slider type Use within the allowable range Static dynamic May lead to ab...

Page 19: ... cycles of return operation over a 50mm distance or more to regenerate the oil film Continued use of the actuator in that state may lead to breakdown In extreme cases flaking may occur on the guide or ball screw 7 Do not attempt to have sliders or rods collide with an obstacle at high speed This may damage other mechanical parts 8 Grease has been applied to the outer periphery of the rod for the r...

Page 20: ...ns as stated below you would be able to utilize this declaration EU Directives Applicable for EC Declaration of Conformity EMC Directive 2014 30 EU To be checked in CE marking described in product 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 wit...

Page 21: ... 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 22: ...いますので 以下の事項を 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 IAI Industrieroboter GmbH The product can be used in any country which is a member of EU 中国 CHINA 许可编号 CMIT ID 2017DJ6836 申请公司名 IAI 株式会社 机型名 IABL3826 制造国 日本 Made in Japan 进口企业名 IAI Shanghai Co Ltd 한국 K...

Page 23: ...nnection 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 such as that requi...

Page 24: ...sheet End cover Right side Left side Motor side Opposite side Sheet clamp Front bracket Base Side cover Motor cover Teaching port Status indicator LED Power I O connector Track housing cover Slider cover Slider Stainless steel sheet Sheet retainer End cover Right side Left side Motor side Opposite side Sheet clamp Front cover Base Cover Motor cover Teaching port Status indicator LED Power I O conn...

Page 25: ...er Base Motor cover End cover Power I O connector Status LED Teaching port Right side Left side Motor side Motor cover base Right side Left side Greasing port Rubber cap Front fixing nut Opposite side Motor side Rod bearing Front bracket Frame Bracket cover Motor cover Motor cover base End cover Teaching port Status indicator LED Power I O connector Rod Rod tip adaptor ...

Page 26: ...r Rod Frame cover End cover Front bracket Front cover Base Track housing cover Motor cover Teaching port Status LED Power I O connector Right side Left side Right side Left side Opposite side Motor side Rod tip adaptor Rod Frame cover End cover Teaching port Status LED Power I O connector Motor cover Track housing cover Base Front cover Front bracket Motor cover base ...

Page 27: ...ting remove the cap Status indicator LED The LED on the right side as seen from the motor side shows the servo ON OFF status and alarm status and the LED on the left side as seen from the motor side displays the wireless status Power I O connector This connector connects power and I O wiring Status indicator LED Teaching port Power I O connector ...

Page 28: ...Intro 19 ...

Page 29: ...slider type EC S H 1 32 Rod type 1 44 Radial cylinder type 1 54 High rigidity radial cylinder type EC RR AH 1 67 High rigidity radial cylinder type EC RR H 1 81 Duty ratio 1 94 1 3 Options 1 95 With brake model B 1 95 Tip adapter flange model FFA 1 95 Flange model FL 1 95 Foot bracket model FT 1 95 Tip adapter Internal thread model NFA 1 95 Knuckle joint model NJ 1 95 Oscillation receiving bracket...

Page 30: ...el QR 1 96 Oscillation receiving bracket clevis model QRPB 1 96 Battery less absolute encoder specification model WA 1 96 Wireless communication specification model WL 1 96 Wireless axis operation specification model WL2 1 97 1 4 Accessories 1 98 Power I O cable 1 98 Power I O connector 1 99 ...

Page 31: ... Body Accessories ELECYLINDER Quantity 1 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 Slider type accessories Radial cylinder type accessories Rod type accessories Radial cylinder type accessories Rod type accessories Square Nut Quantity 6 S6 RR6 M...

Page 32: ...Specifications How to read the model nameplate Rod type nameplate position Slider type high rigidity slider type nameplate position Model number Serial number Radial cylinder type high rigidity radial cylinder type nameplate position ...

Page 33: ...cations How to read the model number Slider type rod type radial cylinder type High rigidity slider type EC S AH high rigidity radial cylinder type EC RR AH WL WL2 Wireless axis operation specification Wireless axis operation specification ...

Page 34: ...1 1 Checking the product 1 4 1 Specifications High rigidity slider type EC S H high rigidity radial cylinder type EC RR H ...

Page 35: ...pecifications Product list Slider type High rigidity slider type EC S AH High rigidity slider type EC S H Rod type represents vertical operation represents vertical operation represents vertical operation represents vertical operation ...

Page 36: ...uct 1 6 1 Specifications Radial cylinder type High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H represents vertical operation represents vertical operation represents vertical operation ...

Page 37: ...y Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 350 mm 400 mm 20 800 727 566 12 700 521 392 305 6 450 371 265 199 155 3 225 188 134 100 79 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed ca...

Page 38: ...26 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 700 15 9 5 4 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 32 26 24 20 6 6 0 40 35 35 35 12 5 12 5 40 32 26 24 20 6 6 50 40 35 35 35 12 5 12 5 100 32 26 24 20 6 6...

Page 39: ...ad mm 50 250 Every 50mm 300 mm 350 mm 400 mm 20 800 727 566 12 680 521 392 305 6 340 265 199 155 3 170 134 100 78 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation b...

Page 40: ... 0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 20 14 5 0 25 22 10 40 20 14 5 20 25 22 10 100 20 14 5 50 25 22 10 160 2...

Page 41: ...ction Slider type overhang load length L 220mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L Pitching Yawing Rolling ...

Page 42: ...atalog specifications Pressing Force and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or...

Page 43: ...m 350 mm 400 mm 450 mm 500 mm 24 860 774 619 506 16 700 631 492 395 323 8 420 322 251 200 164 4 210 175 163 126 101 83 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed ca...

Page 44: ...6 35 28 27 8 8 420 34 20 16 14 3 3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 700 15 10 5 3 3 2 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 51 45 40 40 16 16 0 51 45 40 40 19 19 70 51 45 40 40 16 16 35 51 45 40 ...

Page 45: ...d mm 50 350 Every 50mm 400 mm 450 mm 500 mm 24 800 774 619 506 16 560 492 395 323 8 280 251 200 164 4 140 126 101 83 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equatio...

Page 46: ...on G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 25 10 0 40 30 15 70 40 25 10 35 40 30 15 140 40 25 7 70 40 30 15 2...

Page 47: ...ion Slider type overhang load length L 280mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Pitching Yawing Rolling ...

Page 48: ...atalog specifications Pressing Force and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or...

Page 49: ... 600 mm 650 mm 700 mm 750 mm 800 mm 20 1440 1280 1280 1090 940 815 715 630 560 12 900 845 705 585 515 445 390 345 305 6 450 415 350 295 255 220 190 170 140 3 225 205 170 145 125 110 95 85 70 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum ...

Page 50: ...6 18 16 14 2 5 2 5 480 12 9 8 6 1 1 320 26 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 960 8 5 3 5 1 5 1 1 700 15 9 5 4 2 1 1120 5 3 2 1 0 5 0 5 800 9 5 2 1 1 5 1 1280 1 1 0 5 0 5 900 5 3 1 1 0 5 0 5 1440 1 0 5 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 ...

Page 51: ...hanical specifications 1 21 1 Specifications Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life ...

Page 52: ...m 500 mm 550 mm 600 mm 650 mm 700 mm 750 mm 800 mm 20 800 715 630 560 12 680 585 515 445 390 345 305 6 340 295 255 220 190 170 140 3 170 145 125 110 95 85 70 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum...

Page 53: ... 0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 20 14 5 0 25 22 10 40 20 14 5 20 25 22 10 100 20 14 5 50 25 22 10 160 2...

Page 54: ...erhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Pitching Yawing Rolling ...

Page 55: ...ion of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less pressing operation will take place at approach speed When the pressing s...

Page 56: ...50 mm 700 mm 750 mm 800 mm 24 1230 1080 950 840 750 16 980 840 955 840 820 715 625 555 495 8 420 405 350 310 275 245 4 210 175 195 175 175 150 135 120 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unst...

Page 57: ...3 3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 1080 8 4 5 3 1 5 1 0 5 700 15 10 5 3 3 2 1230 3 1 5 1 0 5 0 5 840 7 4 2 0 5 980 4 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 51 45 40 40 16 16 0 51 45 40 40 25 25 ...

Page 58: ...y 50mm 450 mm 500 mm 550 mm 600 mm 650 mm 700 mm 750 mm 800 mm 20 800 750 12 560 555 495 6 280 275 245 3 140 135 120 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can ...

Page 59: ...ion G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 25 10 0 40 30 15 70 40 25 10 35 40 30 15 140 40 25 7 70 40 30 15 ...

Page 60: ...ang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Pitching Yawing Rolling 300mm ...

Page 61: ...rrent Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less pressing operation will take place at...

Page 62: ... Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 350 mm 400 mm 20 800 717 559 12 700 513 386 301 6 450 364 261 196 152 3 225 184 131 98 76 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can ...

Page 63: ...26 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 700 15 9 5 4 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 32 26 24 20 6 6 0 40 35 35 35 12 5 12 5 40 32 26 24 20 6 6 50 40 35 35 35 12 5 12 5 100 32 26 24 20 6 6...

Page 64: ... Lead mm 50 250 Every 50mm 300 mm 350 mm 400 mm 20 800 717 559 12 680 513 386 301 6 340 261 196 152 3 170 131 98 76 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation...

Page 65: ... 0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 20 14 5 0 25 22 10 40 20 14 5 20 25 22 10 100 20 14 5 50 25 22 10 160 2...

Page 66: ...overhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L Pitching Yawing Rolling ...

Page 67: ...e and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less pressing operation will take ...

Page 68: ...50mm 350 mm 400 mm 450 mm 500 mm 24 860 768 615 503 16 700 626 488 392 321 8 420 319 248 199 163 4 210 175 161 125 100 82 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed...

Page 69: ...6 35 28 27 8 8 420 34 20 16 14 3 3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 700 15 10 5 3 3 2 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 51 45 40 40 16 16 0 51 45 40 40 19 19 70 51 45 40 40 16 16 35 51 45 40 ...

Page 70: ...ead mm 50 350 Every 50mm 400 mm 450 mm 500 mm 24 800 768 615 503 16 560 488 392 321 8 280 248 199 163 4 140 125 100 82 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equat...

Page 71: ...on G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 25 10 0 40 30 15 70 40 25 10 35 40 30 15 140 40 25 7 70 40 30 15 2...

Page 72: ... overhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Pitching Yawing Rolling ...

Page 73: ...and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less pressing operation will take pl...

Page 74: ... Energy Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 20 800 12 700 547 6 450 376 268 3 225 186 133 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below...

Page 75: ... 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 40 35 30 25 10 10 0 60 50 45 40 12 5 12 5 50 40 35 30 25 10 10 50 60 50 45 40 12 5 12 5 100 40 35 3...

Page 76: ...d Energy Saving Enabled Lead mm 50 200 Every 50mm 250 mm 300 mm 20 640 12 500 6 250 3 125 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at 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 ...

Page 77: ... s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 20 10 0 40 25 12 5 50 40 20 10 25 40 25 12 5 100 40 20 10 50 40 25 12 5 150 40 20 8...

Page 78: ...e is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate ...

Page 79: ...nergy Saving Disabled Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at 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...

Page 80: ... 50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 60 50 45 40 18 18 0 80 70 65 60 19 19 70 60 50 45...

Page 81: ...gy Saving Enabled Lead mm 50 300 mm 24 600 400 16 420 280 8 210 4 105 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum s...

Page 82: ...l Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 400 11 6 1 5 280 18 12 2 420 10 5 420 1 5 1 600 1 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 50 30 17 5 0 55 50 19 70 50 30 17 5 35 55 50 19 140 50 30 7 70 55 50 1...

Page 83: ...e is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate ...

Page 84: ...t distance is short or when acceleration deceleration is set low Setting at 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 Model number Lead mm Maximum payload Maximum pressing force N ...

Page 85: ... 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 40 35 30 25 10 10 0 60 50 45 40 12 5 12 5 50 40 35 30 25 10 10 50 60 50 45 40 12 5 12 5 100 40 35 3...

Page 86: ...ergy Saving Enabled Lead mm 65 215 Every 50mm 265 mm 315 mm 20 640 12 500 480 6 250 235 3 125 115 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum spe...

Page 87: ... s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 20 10 0 40 25 12 5 50 40 20 10 25 40 25 12 5 100 40 20 10 50 40 25 12 5 150 40 20 8...

Page 88: ...e is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate ...

Page 89: ...rgy Saving Disabled Lead mm 65 315 Every 50mm 24 860 640 16 700 560 8 450 4 175 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below...

Page 90: ... 50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 60 50 45 40 18 18 0 80 70 65 60 19 19 70 60 50 45...

Page 91: ... Saving Enabled Lead mm 65 315 Every 50mm 24 600 420 16 420 280 8 210 4 105 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Min...

Page 92: ...tical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 600 1 420 1 5 1 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 50 30 17 5 0 55 50 19 70 50 30 17 5 35 55 50 19 140 50 30 7 70 55 50 13 210...

Page 93: ...e is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate ...

Page 94: ...the rod must not exceed the allowable value Type Rod tip static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 90N 45N EC RR7 120N 60N Note 1 The value assumes a basic rated life of 5 000km 2 The torque Mc acting on the rod must not exceed the allowable value Type Rod tip static allowable torque Rod tip dynamic allowable torque Note 1 EC RR6 5 5N m 5 5N m EC RR7 10 5N m ...

Page 95: ...le uniform load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 4400N 1050N 124 m 87 m 62 m EC RR7 5680N 1260N 98 m 69 m 50 m Note 1 The value assumes a basic rated life of 5 000km Type L EC RR6 111mm EC RR7 144 5mm Uniform load Ma Ka Mb Kb Mc Kc Offset reference position Ma Mb Mc Moment load Moment offset reference position ...

Page 96: ...overhang distance EC RR6 100mm 100mm EC RR7 100mm 100mm Caution Keep the radial load acting on the rod within the allowable offset amount and overhang distance for use If the allowable values are exceeded this may lead to vibration shortened product life or damage Overhang distance Rod length direction Offset amount Rod perpendicular direction ...

Page 97: ...length Option Stroke and Max Speed Energy Saving Disabled Lead mm 50 to 400 Every 50mm 20 800 12 700 6 450 3 225 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below ...

Page 98: ...3 1 5 1 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 40 35 30 25 10 10 0 60 50 45 40 20 20 50 40 35 30 25 10 10 50 60 50 45 40 20 20 100 40 35 30...

Page 99: ...x Speed Energy Saving Enabled Lead mm 50 to 400 Every 50mm 20 640 12 500 6 250 3 125 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at 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 scre...

Page 100: ...d mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 20 10 0 40 25 20 50 40 20 10 25 40 25 20 100 40 20 10 50 40 25 20 150 40 20 8 7...

Page 101: ...orce The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate normally is possible 9N ｍ Offset amount Rod...

Page 102: ...aving Disabled Lead mm 50 to 500 Every 50mm 20 860 640 12 700 560 6 350 3 175 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation b...

Page 103: ... 50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 60 50 45 40 18 18 0 80 70 65 60 28 28 70 60 50 45...

Page 104: ... Enabled Lead mm 50 to 500 Every 50mm 20 630 420 12 420 280 6 210 3 105 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below M...

Page 105: ...rtical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 630 1 420 1 5 1 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 50 30 17 5 0 55 50 26 70 50 30 17 5 35 55 50 26 140 50 30 7 70 55 50 13 21...

Page 106: ... force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate normally is possible Offset amount Rod pe...

Page 107: ...value Type Rod tip static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 AH 190N 130N Note 2 EC RR7 AH 250N 170N Note 3 Note 1 The value assumes a basic rated life of 5 000km Note 2 For stroke 300mm or more set the value specified in the table or below Stroke mm 300 350 400 Rod tip dynamic allowable radial load 40 35 25 Note 3 For stroke 300mm or more set the value speci...

Page 108: ...que Mc 2 The torque Mc acting on the rod must not exceed the allowable value Type Rod tip static allowable torque Rod tip dynamic allowable torque Note 1 EC RR6 AH 9N m 5 5N m EC RR7 AH 17 6N m 10 5N m Note 1 The value assumes a basic rated life of 5 000km ...

Page 109: ...form load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 AH 6700N 2400N 104 m 87 m 62 m EC RR7 AH 11400N 3000N 90 m 76 m 50 m Note 1 The value assumes a basic rated life of 5 000km Ma Mb Mc Moment load Moment offset reference position Type L EC RR6 AH 126mm EC RR7 AH 153 5mm Uniform load Ma Ka Mb Kb Mc Kc Offset reference position ...

Page 110: ...fset amount and overhang distance for use If the allowable values are exceeded this may lead to vibration shortened product life or damage If abnormal vibration or noise occurs during operation even when within allowable values for radial and torque loads use less stringent operating conditions Keep the mounted object center mass location at or below 1 2 the overhang distance or offset amount Over...

Page 111: ... mm 50 mm 100 mm 150 mm 200 mm 250 mm 300 mm 20 650 500 785 685 800 12 630 480 700 660 700 660 480 6 450 325 235 3 225 160 115 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The mi...

Page 112: ...3 1 5 1 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 40 35 30 25 10 10 0 60 50 45 40 20 20 50 40 35 30 25 10 10 50 60 50 45 40 20 20 100 40 35 30...

Page 113: ...00 mm 250 mm 300 mm 20 540 370 620 520 640 610 640 12 470 375 500 480 500 480 6 250 235 3 125 115 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated...

Page 114: ...d mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 40 20 10 0 40 25 20 50 40 20 10 25 40 25 20 100 40 20 10 50 40 25 20 150 40 20 8 7...

Page 115: ... force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate normally is possible Offset amount Rod pe...

Page 116: ...50 mm 100 mm 150 to 300 Every 50mm 24 655 540 835 640 860 640 16 635 490 700 560 8 350 4 175 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with...

Page 117: ... 50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 5 0 7 1 0 3 0 5 0 3 0 5 0 7 1 0 3 0 5 0 60 50 45 40 18 18 0 80 70 65 60 28 28 70 60 50 45...

Page 118: ...ad mm 50 mm 100 to 300 Every 50mm 24 525 375 600 420 16 420 280 8 210 4 105 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation bel...

Page 119: ...rtical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 600 1 420 1 5 1 Lead 8 Lead 4 Orientation Horizontal Vertical Orientation Horizontal Vertical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 50 30 17 5 0 55 50 26 70 50 30 17 5 35 55 50 26 140 50 30 7 70 55 50 13 21...

Page 120: ... force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach 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 20mm s or less the pressing force will become unstable and failure to operate normally is possible Offset amount Rod pe...

Page 121: ... static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 H 190N 130N Note 2 EC RR7 H 250N 170N Note 3 Note 1 The value assumes a basic rated life of 5 000km Note 2 For stroke of 300mm use 40N or below Note 3 For stroke of 300mm use 50N or below 2 The torque Mc acting on the rod must not exceed the allowable value Type Rod tip static allowable torque Rod tip dynamic allowab...

Page 122: ...niform load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 H 6700N 2400N 104 m 87 m 62 m EC RR7 H 11400N 3000N 90 m 76 m 50 m Note 1 The value assumes a basic rated life of 5 000km Ma Mb Mc Moment load Moment offset reference position Type L EC RR6 H 126mm EC RR7 H 153 5mm Uniform load Ma Ka Mb Kb Mc Kc Offset reference position ...

Page 123: ...set amount and overhang distance for use If the allowable values are exceeded this may lead to vibration shortened product life or damage If abnormal vibration or noise occurs during operation even when within allowable values for radial and torque loads use less stringent operating conditions Keep the mounted object center mass location at or below 1 2 the overhang distance or offset amount Overh...

Page 124: ...The duty ratio is the operating rate shown in of the actuator operating time within one cycle The duty ratio for the ELECYLINDER is limited to the values below Use so that the duty ratio falls within the specified conditions based on ambient temperature all models ...

Page 125: ...Mounting pages 2 26 40 57 for details Foot bracket model FT This bracket is used for fixing the actuator body from the top with bolts Refer to Body Mounting pages 2 10 23 38 for details Tip adapter Internal thread model NFA This adapter is used to secure jigs etc on the rod tip with one bolt for rod types Refer to Body Mounting page 2 32 44 61 for details Knuckle joint model NJ When using a clevis...

Page 126: ...e cylinder body Refer to Body Mounting page 2 49 66 for details Oscillation receiving bracket clevis model QRPB This is the oscillation receiving bracket for the clevis Refer to Body Mounting page 2 50 68 for details Battery less absolute encoder specification model WA The standard specification is for incremental encoder Specifying this option changes the unit to battery less absolute encoder spe...

Page 127: ...d backward ends jog operation inching operation as well as 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 ...

Page 128: ...cable length 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 ST0 ST1 RES LS0 PE0 LS1 PS1 ALM ...

Page 129: ... 4 Accessories 1 99 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 ...

Page 130: ...1 100 1 Specifications ...

Page 131: ...ation 2 7 Precautions regarding stainless steel sheet 2 8 Square nuts 2 8 Body mounting 2 9 Mounting transported objects 2 13 2 4 Installation of high rigidity slider type 2 14 Installation surface 2 14 Mounting orientation 2 15 Precautions regarding stainless steel sheet 2 16 Body mounting 2 17 Mounting transported objects 2 20 2 5 Installation of rod type 2 21 Installation surface 2 21 Fixing bo...

Page 132: ...pe 2 33 Installation surface 2 33 Mounting orientation 2 34 Square nuts 2 35 Body mounting 2 36 Mounting transported objects 2 43 Mounting with oscillation 2 46 2 7 Installation of high rigidity radial cylinder type 2 52 Installation surface 2 52 Mounting orientation 2 53 Body mounting 2 54 Mounting transported objects 2 60 Mounting with oscillation 2 63 ...

Page 133: ...the package Do not damage or drop the package 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 ...

Page 134: ...specially careful not to apply external force For the names of each part refer to Part Names on page Intro 14 to 17 Take out the optional part tray and remove the actuator wrapped in film Unfold the cardboard and take out the actuator Reference These packaging materials can be recycled as cardboard The cardboard and urethane film are attached only with thermal bonding and use no adhesive This mean...

Page 135: ...den movement during transport If the 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 ...

Page 136: ... the relative humidity exceeds 85 RH Where the unit 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 o...

Page 137: ...lly specified desiccant is not included in the package 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 pr...

Page 138: ...s ELECYLINDER replacement and inspection The bottom surface and left side surface viewed from motor opposite side of the body base serve as the reference surfaces for slider running accuracy Use these surfaces as the reference surfaces for mounting when running accuracy is required When mounting using the side reference surface machine the installation surface according to the figure below A dimen...

Page 139: ... 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 separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching port Clogging with foreign matter may lead to a breakdown Type EC S6 S...

Page 140: ...ackness or misalignment occurs Keep adhesive paint and other viscous material off the stainless steel sheet Such material adhering to the stainless steel sheet can lead to defective slider operation or sheet damage Avoid installation in environments of this kind or take safety measures to prevent adhesion Square nuts The square nuts regulated in JIS B1163 can be used for the T slots The square nut...

Page 141: ...e unit has a T slot at the bottom of the base for mounting Insert a square nut into the T slot and fix it from the back For details regarding the position and dimensions refer to Chapter 9 External Dimensions T slot dimensions Type W Pt A B C EC S6 63mm 38mm 4 3mm 7 3mm 6 3mm EC R7 73mm 46mm 5 3mm 8 5mm 8 5mm ...

Page 142: ...using foot brackets The groove on the side of the main body can be fixed from the top Foot bracket Part model number EC FTSB 4 pcs set Foot bracket mounting dimensions Type Pt A Screw size Minimum number of brackets Tightening torque EC S6 78mm 92mm M5 4 locations 7 27N m EC S7 88mm 102mm M5 4 locations 7 27N m ...

Page 143: ...g reproducibility after detachment is required When fine adjustment of angles etc is required consider using only the reamed hole Reamed hole oblong hole position dimensions Type Reamed hole Oblong hole EC S6 φ4H7 depth 5 A 4 B 5 depth 5 mm or less EC S7 φ4H7 depth 5 A 4 B 5 depth 5 mm or less 0 012 0 0 012 0 A B Oblong hole Oblong hole Reamed hole Reference surface ...

Page 144: ...et A on the opposite side 3 Finally fix foot bracket B Caution Sufficient fastening force may not be obtainable when mounting with methods other than the procedure above Notice The bolts for fixing foot brackets on the installation surface are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective engageme...

Page 145: ... to the figure below for the screw in depth and reamed hole depth Type A B EC S6 51mm 50mm EC S7 61mm 50mm Reamed hole pitch tolerance 0 02 Caution 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 leadin...

Page 146: ...ce work such as ELECYLINDER replacement and inspection The bottom surface and left side surface viewed from motor opposite side of the body base serve as the reference surfaces for slider running accuracy Use these surfaces as the reference surfaces for mounting when running accuracy is required When mounting using the side reference surface machine the installation surface according to the figure...

Page 147: ...nstalling the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching port Clogging with foreign matter may lead to a breakdown Type EC S6 AH ...

Page 148: ...ible it may cause slackness or misalignment of the stainless steel sheet Continued usage in this orientation may lead to damage to the stainless steel sheet Adjust the stainless steel sheet if slackness or misalignment occurs Keep adhesive paint and other viscous material off the stainless steel sheet Such material adhering to the stainless steel sheet can lead to defective slider operation or she...

Page 149: ...the position and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole and oblong hole if mounting reproducibility after detachment is required When fine adjustment of angles etc is required consider using only the reamed hole Reamed hole oblong hole position dimensions Reference surface Oblong hole Reamed hole Tap...

Page 150: ... 5mm or more Procedure for removing the side cover and stainless steel sheet 1 Remove 1 and 2 2 Loosen bolts 3 and remove 4 3 Pull out stainless steel sheet 5 4 Loosen bolts 6 and remove 7 For assembly follow the procedure in reverse No Model Part name S6 AH S6 H S7 AH S7 H 1 Sheet clamp 1 1 2 Track housing cover 1 1 3 M3 5 Bolt 2 2 4 Sheet retainer 1 1 5 ST EC S6 Stainless steel sheet 1 ST EC S7 ...

Page 151: ...ase bottom The unit has a tapped mounting hole at the bottom of the base for mounting For details regarding the position and dimensions refer to Chapter 9 External Dimensions Tapped mounting hole dimensions Type Tap diameter A Effective thread depth EC S6 AH EC S6 H M4 51mm 8mm EC S7 AH EC S7 H M5 61mm 10mm Tap ...

Page 152: ...the figure below for the screw in depth and reamed hole depth Type A B EC S6 AH EC S6 H 51mm 50mm EC S7 AH EC S7 H 61mm 50mm Reamed hole pitch tolerance 0 02 CAUTION 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 transpo...

Page 153: ...uracy with flatness within 0 05mm m Fixing bolt The bolts for fixing foot brackets and flanges on the installation surface are to be prepared by the customer 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 1 8 times the nominal diameter or more When the tightening torque is not specified tighten...

Page 154: ...ease 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 separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching port Clogging with foreign matter may le...

Page 155: ...od type 2 23 2 Installation Body mounting When using foot brackets ELECYLINDERs can be mounted with foot brackets option model FT For EC R6 Part model number EC FT R6 For EC R7 Part model number EC FT R7 Stroke 29 Stroke 27 ...

Page 156: ...oot brackets After mounting make sure to check whether it is grounded If it is not refer to Frame grounding page 3 4 and connect the ground wire to one of the two fixing screws at the bottom of the end cover Failure to ground may lead to malfunctions or damage to parts Type 1 Fixing bracket 2 Foot bracket 3 Hex socket head bolt 4 Square nut unichrome EC R6 2 pcs 2 pcs 4 pcs M4 x 10 4 pcs M4 EC R7 ...

Page 157: ...et screws can be used For precautions for mounting refer to pages 2 27 to 28 Type Mounting screw M Spigot diameter N Screw effective length A Boss height B Fixing nut thickness C Tightening torque EC R6 M42 1 5 φ42 18mm 22mm 6mm 30 00N m EC R7 M48 1 5 φ48 23mm 27mm 9mm 35 00N m A Screw effective length Front fixing nut ...

Page 158: ...nges option model FL For precautions for mounting refer to pages 2 27 to 28 For EC R6 Part model number EC FL R6 For EC R7 Part model number EC FL R7 Type Material Tightening torque when mounting ELECYLINDER EC R6 Iron unichrome 30 00N m EC R7 Iron unichrome 35 00N m 52 8 home position 64 4 home position ...

Page 159: ...tions when using front brackets flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause malfunctions or damage to parts External force External force ...

Page 160: ...uld be installed on the frame motor side We recommend either using the optional foot bracket or keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less than 150mm a support block is strongly recommended in order to avoid vibration generated due to the operation conditions or installation environment which may lead to malfunctions or damage to parts...

Page 161: ... are as follows Type Static allowable torque T0 Angular displacement θ Width across flat dimensions EC R6 0 50N m 1 5 14mm EC R7 0 50N m 1 5 19mm Caution If torque exceeding the allowable value acts on the rod the rotation stop inside the ELECYLINDER may be damaged preventing normal operation When reaction force due to pressing operation acts on the rod as lateral load make sure that the torque do...

Page 162: ...sliding resistance is constant over the entire stroke Make sure that the current value is constant using the monitoring function of the teaching tool Rigid fixing is recommended for the method of fixing to the external guide If a floating joint is used the rod rotation direction will not be restricted Therefore when operating the ELECYLINDER force will be applied to the internal rotation stopper i...

Page 163: ... Remove the male thread cap Transported objects can be secured using the male thread of the rod tip adapter For precautions for mounting refer to page 2 29 Type Male thread dimensions Tightening torque EC R6 M10 1 25 effective thread length 20 0mm 30 00N m EC R7 M14 1 5 effective thread length 27 5mm 35 00N m Male thread ...

Page 164: ...sported objects can be secured using the internal thread of the tip adapter For precautions for mounting refer to page 2 29 For EC R6 Part model number EC NFA R6 For EC R7 Part model number EC NFA R7 Type Tightening torque when mounting ELECYLINDER EC R6 30 00N m EC R7 35 00N m ...

Page 165: ...nce surfaces for rod running Use these surfaces as the reference surfaces for mounting when running accuracy is required Use these surfaces as the reference surfaces for mounting when running accuracy is required When applying radial load moment load fix the entire surface of the base bottom Flange fixing may cause deflection or reflexion throughout the product due to radial load moment load leadi...

Page 166: ... the grease may separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching port Clogging with foreign matter may lead to a breakdown Sometimes base oil separates from the grease due to the operating environment mounting orientation or operating conditions and leaks from...

Page 167: ... used for the T slots The square nut quantities enclosed at shipping and related information are as follows Type Square nut quantity enclosed Screw size Required bolt length from base bottom Minimum number of fixing bolts Tightening torque EC RR6 6 pcs M4 5 to 6mm 4 pcs 1 76N m EC RR7 6 pcs M5 6 5 to 8mm 4 pcs 3 42N m ...

Page 168: ...m The unit has a T slot at the bottom of the base for mounting Insert a square nut into the T slot and fix it from the back For details regarding the position and dimensions refer to Chapter 9 External Dimensions T slot dimensions Type W Pt A B C EC RR6 63mm 38mm 4 3mm 7 3mm 6 3mm EC RR7 73mm 46mm 5 3mm 8 5mm 8 5mm ...

Page 169: ... mounting reproducibility after detachment is required When fine adjustment of angles etc is required consider using only the reamed hole Reamed hole oblong hole position dimensions Type Reamed hole Oblong hole EC RR6 φ4H7 depth 5 A 4 B 5 depth 5 mm or less EC RR7 φ4H7 depth 5 A 4 B 5 depth 5 mm or less Referen Oblong hole Reamed hole 0 012 0 0 012 0 A B Oblong hole ...

Page 170: ...ve on the side of the main body can be fixed from the top Foot bracket For EC RR6 Part model number EC FTSB 4pcs set For EC RR7 Part model number EC FTSB 02 6pcs set Foot bracket mounting dimensions Type Pt A Screw size Minimum number of brackets Tightening torque EC RR6 78mm 92mm M5 4 locations 7 27N m EC RR7 88mm 102mm M5 6 locations 7 27N m Pt A ...

Page 171: ...racket A on the opposite side 3 Finally fix foot bracket B Caution Sufficient fastening force may not be obtainable when mounting with methods other than the procedure above Notice The bolts for fixing foot brackets on the installation surface are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended Make sure the internal thread and bolt effective enga...

Page 172: ... 42 For EC RR6 Part model number EC FL RR6 For EC RR7 Part model number EC FL RR7 Type Material Tightening torque when mounting ELECYLINDER EC RR6 Iron unichrome 3 42N m EC RR7 Iron unichrome 5 36N m φ8 H7 reamed through φ6 H7 reamed through 4 φ9 through 4 φ6 through Oblong hole through 34 home position Oblong hole through 48 5 home position Details of oblong hole Details of oblong hole ...

Page 173: ...lation Precautions when using flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause malfunctions or damage to parts External force External force ...

Page 174: ...d be installed on the frame motor side We recommend either using the optional foot bracket or keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less than 150mm a support block is strongly recommended in order to avoid vibration generated due to the operation conditions or installation environment which may lead to malfunctions or damage to parts S...

Page 175: ...ap Transported objects can be secured using the male thread of the rod tip adapter Fix the rod tip bracket width across flats with a wrench etc to prevent loads from being applied to the rod Type Male thread dimensions Tightening torque EC RR6 M10 1 25 effective thread length 20 0mm 30 00N m EC RR7 M14 1 5 effective thread length 27 5mm 35 00N m Male thread ...

Page 176: ...to the rod For EC RR6 Part model number EC NFA R6 For EC RR7 Part model number EC NFA R7 Type Tightening torque when mounting ELECYLINDER EC RR6 30 00N m EC RR7 35 00N m The angle of the width across flat is undefined M10 x 1 5 depth 15 17 Width across flat 0 15 0 20 The angle of the width across flat is undefined 67 home position 17 Width across flat 0 15 0 20 94 home position M12 x 1 75 depth 20...

Page 177: ...e when mounting ELECYLINDER EC RR6 7 1N m M6 30 00N m EC RR7 17 2N m M8 35 00N m Line through centers of φ5 hole and oblong hole 13 0 8 φ5 hole base reference surface 13 0 8 φ6 hole base reference surface Base reference surface Line through centers of φ6 hole and oblong hole 54 home position 4 M8 depth 17 Oblong hole depth 8 Base reference surface Φ5 H7 reamed depth 8 Base reference surface 4 M6 d...

Page 178: ...tical mounting for oscillation When oscillation is performed with horizontal mounting the product s self weight causes moment loads to be applied to the joint increasing the sliding friction on the joint and leading to thrust loss As well note that sliding in the joint may cause wear on the bracket Vertical installation Horizontal installation ...

Page 179: ...lied to the connector Be careful to arrange the cable so as not to exceed its flex radius allowable value Without cable processing With cable processing Bracket mounting for oscillation Oscillation requires fixing the body with a joint able to move freely in the rotation direction Configured options include the tip knuckle joint NJ the body clevis QR the tip knuckle joint oscillation receiving bra...

Page 180: ...cified dimensions Adjust the knuckle joint angle so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment Mount with the geometric tolerance in the figure below as a guideline 3 Fix by tightening the nut so that load is not applied to the rod Type A B C D Nut tightening torque EC RR6 32mm 47mm M10 1 25 64mm 30 00N m EC RR7 37 5mm 52 5mm M14 1 5 ...

Page 181: ...ot 2 Using the inserted square nuts fix the body clevis bracket with the bolt temporary fixing 3 Press the body clevis bracket reference surface against the base bottom reference surface 4 Fully tighten the bolts to complete the fixation For EC RR6 For EC RR7 Strikes the base bottom reference surface Base bottom mounting surface Mounting range ST 130 Mounting range ST 130 ...

Page 182: ...he knuckle joint and body clevis ridges 2 Match the positions of the ridges and pass the clevis pin through 3 Mount a stop ring on each end of the clevis pin Stop ring C shaped stop ring for shaft nominal diameter 12 4 Mount the oscillation receiving bracket on the equipment Adjust so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment ...

Page 183: ...2 6 Installation of radial cylinder type 2 51 2 Installation Oscillation receiving bracket movable range NJPB QRPB ...

Page 184: ...e viewed from motor opposite side of the body base serve as the reference surfaces for rod running Use these surfaces as the reference surfaces for mounting when running accuracy is required When applying radial load moment load fix the entire surface of the base bottom Flange fixing may cause deflection or reflexion throughout the product due to radial load moment load leading to vibration shorte...

Page 185: ...e grease may separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching port Clogging with foreign matter may lead to a breakdown Sometimes base oil separates from the grease due to the operating environment mounting orientation or operating conditions and leaks from th...

Page 186: ...tion and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole and oblong hole if mounting reproducibility after detachment is required When fine adjustment of angles etc is required consider using only the reamed hole Reamed hole oblong hole position dimensions Reference surface Oblong hole Reamed hole Through hol...

Page 187: ... Oblong hole EC RR6 AH EC RR6 H φ4 5 51mm 30mm φ4H7 depth 5 C 4 D 5 depth 5mm or more EC RR7 AH EC RR7 H φ5 5 61mm 35mm φ4H7 depth 5 C 4 D 5 depth 5mm or more Procedure for removing the frame cover 1 Loosen bolts 1 and remove 2 For assembly follow the procedure in reverse A B Reamed hole Through hole 0 012 0 0 012 0 RR6 AH RR6 H RR7 AH RR7 H ...

Page 188: ...base bottom The unit has a tapped mounting hole at the bottom of the base for mounting For details regarding the position and dimensions refer to Chapter 9 External Dimensions Tapped mounting hole dimensions Type Tap diameter A Effective thread depth EC RR6 AH EC RR6 H M4 51mm 8mm EC RR7 AH EC RR7 H M5 61mm 10mm A Tap ...

Page 189: ... EC RR6 H Part model number EC FL RR6 For EC RR7 AH and EC RR7 H Part model number EC FL RR7 Type Material Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H Iron unichrome 3 42N m EC RR7 AH EC RR7 H Iron unichrome 5 36N m Details of oblong hole Details of oblong hole 4 φ6 6 through 34 home position Oblong hole through φ6 H7 reamed through 4 φ9 through 43 home position Oblong hole thro...

Page 190: ... Installation Precautions when using flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause malfunctions or damage to parts External force External force ...

Page 191: ...e The support block should be installed on the frame motor side We recommend either keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less than 150mm a support block is strongly recommended in order to avoid vibration generated due to the operation conditions or installation environment which may lead to malfunctions or damage to parts Support blo...

Page 192: ...ansported objects can be secured using the male thread of the rod tip adapter Fix the rod tip bracket width across flats with a wrench etc to prevent loads from being applied to the rod Type Male thread dimensions Tightening torque EC RR6 AH EC RR6 H M10 1 25 effective thread length 20 0mm 30 00N m EC RR7 AH EC RR7 H M14 1 5 effective thread length 27 5mm 35 00N m Male thread ...

Page 193: ...ied to the rod For EC RR6 AH and EC RR6 H Part model number EC NFA R6 For EC RR7 AH and EC RR7 H Part model number EC NFA R7 Type Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H 30 00N m EC RR7 AH EC RR7 H 35 00N m 67 home position M10 x 1 5 depth 15 The angle of the width across flat is undefined width across flat width across flat The angle of the width across flat is undefined M1...

Page 194: ...d B Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H 7 1N m M6 30 00N m EC RR7 AH EC RR7 H 17 2N m M8 35 00N m 68 5 home position Reference surface 4 M8 depth 17 φ6 H7 reamed depth 8 Oblong hole depth 8 Line through centers of φ6 hole and oblong hole Base reference surface 14 0 8 φ6 hole base reference surface 54 home position φ5 H7 reamed depth 8 Reference surface 4 M6 depth 13 Oblo...

Page 195: ...end vertical mounting for oscillation When oscillation is performed with horizontal mounting the product s self weight causes moment loads to be applied to the joint increasing the sliding friction on the joint and leading to thrust loss As well note that sliding in the joint may cause wear on the bracket Vertical installation Horizontal installation ...

Page 196: ...he cable so as not to exceed its flex radius allowable value Because there is no T slot on the body side use an adhesive wiring bracket or similar to fix the cable Without cable processing With cable processing Bracket mounting for oscillation Oscillation requires fixing the body with a joint able to move freely in the rotation direction Configured options include the tip knuckle joint NJ the body...

Page 197: ...s Adjust the knuckle joint angle so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment Mount with the geometric tolerance in the figure below as a guideline 3 Fix by tightening the nut so that load is not applied to the rod Type A B C D Nut tightening torque EC RR6 AH EC RR6 H 32mm 47mm M10 1 25 64mm 30 00N m EC RR7 AH EC RR7 H 37 5mm 52 5mm ...

Page 198: ...n be adjusted at a 50 mm pitch 3 Insert 4 square nuts into the clevis mounting plate T slot 4 Using the inserted square nuts fix the body clevis bracket with the bolt temporary fixing 5 Press the body clevis bracket reference surface against the clevis mounting plate reference surface 6 Fully tighten the bolts to complete the fixation For EC RR6 AH and EC RR6 H Strikes the plate side reference sur...

Page 199: ...2 7 Installation of high rigidity radial cylinder type 2 67 2 Installation For EC RR7 AH and EC RR7 H ...

Page 200: ...tween the knuckle joint and body clevis ridges 2 Match the positions of the ridges and pass the clevis pin through 3 Mount a stop ring on each end of the clevis pin Stop ring C shaped stop ring for shaft nominal diameter 12 4 Mount the oscillation receiving bracket on the equipment Adjust so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment ...

Page 201: ...2 7 Installation of high rigidity radial cylinder type 2 69 2 Installation Oscillation receiving bracket movable range NJPB QRPB ...

Page 202: ...2 70 2 Installation ...

Page 203: ...3 3 Connection arrangement diagram 3 5 3 4 Wiring connections for connectors 3 6 24VDC power supply wiring 3 6 PLC wiring 3 7 Connector wiring method 3 8 Brake release wiring 3 10 3 5 Wiring connections for cables 3 10 Power I O cable 3 10 Power I O cable connection 3 11 24VDC power supply wiring 3 12 PLC wiring 3 13 Brake release wiring 3 14 ELECYLINDER Chapter ...

Page 204: ...ation The following shows the system 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 ...

Page 205: ...ch Modbus protocol compliant I O specifications Input x 3 output x 3 power input common with body Data setting and input methods PC compatible software teaching pendant TB 02 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 ...

Page 206: ... Leakage current MAX 0 1mA per point Isolation type Non isolated from external circuitry Non isolated from external circuitry I O logic NPN PNP Brake release method Refer to the following method to release the brake Brake release method 1 Input 24V to the brake release signal abbreviation BKRLS terminal Refer to 3 3 Connection arrangement diagram and 3 4 3 5 Wiring connections 2 Operate the teachi...

Page 207: ... mounting surface there are fixing screws 2 locations under the end cover of which either one can be used for the ground wire connection Use a tester to measure the continuity between the fixing screws and grounding surface to check whether it is grounded or not The front bracket for rod types and base bottom for slider types are not coated so can be used for checking continuity Rod type Slider ty...

Page 208: ...N in normal conditions and OFF when an alarm occurs 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 209: ...upply Connect the A1 connector terminal 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 ...

Page 210: ... the A4 connector terminal and the Forward 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 clear RES Alarm clear A3 Backward complete LS0 PE0 Backward complete pressing comple...

Page 211: ...ernal structure looks like this Insert 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 A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 Tool insertion slot Wiring inlet Wiring inlet Refer...

Page 212: ... causing the wire to fall out of the connector 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 performan...

Page 213: ... to the B2 connector terminal Power capacity of 24VDC 10 200mA or higher is required Pin No Connector nameplate name 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 ST0 ST1 RES LS0 PE0 LS1 PS1...

Page 214: ...length 10m CB EC PWBIO100 RB Power I O cable connection Connect the power I O cable Insert the connector until it clicks into place Caution The connector must be inserted in a given direction A section of the connector protrudes Orient this section downwards and insert until it clicks into place Take appropriate care to prevent unused wiring on the opposite side of the connector from shorting out ...

Page 215: ...nect 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 Power supply input Power supply voltage 24VDC 10 Power capacity 3 5A max 4 2A 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 sto...

Page 216: ...e yellow cable wire and the Forward 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 specifi...

Page 217: ...ecification with brake when installing 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 ...

Page 218: ...3 15 3 Wiring ...

Page 219: ...justment 4 6 Pressing operation setting 4 9 4 4 I O signals 4 11 I O signal list 4 11 ST0 ST1 signals Movement command input 4 12 RES signal Alarm clear input 4 13 BKRLS input Brake release input 4 13 LS0 LS1 signals Position detection output 4 14 PE0 PE1 signals Pressing complete output 4 15 ALM signal Alarm output 4 15 Signal input time constant 4 15 4 5 Operating method from master device 4 16 ...

Page 220: ...ues operation while 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 Reference Connection image Forward command Backward command Forward end detection Backward end detection PLC ELECYLINDER ...

Page 221: ...nual ME0355 Data setter operation method Data setter manual ME0375 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...

Page 222: ...yed Switch to Monitor mode by following the displayed 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 ...

Page 223: ...D setting adjustment The stop position and operating conditions are set for the ELECYLINDER at shipping 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 operatio...

Page 224: ...on you want to configure adjust 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 slo...

Page 225: ...utton to switch the units to G allowing entries 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 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 a...

Page 226: ...ill be displayed below the ten key pad To configure a 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 Action 2 1 Action 3 Action ...

Page 227: ...e BEnd button and FEnd button will turn green The Transfer 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 ...

Page 228: ...t between 20 and 70 Switch units can be used to 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 11 17 23 29 34 39 44 49 When the pressing speed is 20mm s or les...

Page 229: ...After setting the numerical value touch the ENT key The 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 Action 4 5 ...

Page 230: ...a gradual stop Turning ON when home return is not complete triggers home return operation Turning OFF midway through operation will cause a gradual stop Alarm clear 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 ...

Page 231: ...d 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 ba...

Page 232: ...The power capacity 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 slider or rod by hand Warning Before releasing the brake make sure to check there is nothing that wil...

Page 233: ... 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 adjustment...

Page 234: ...ways 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 device will ...

Page 235: ...he 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 revers...

Page 236: ...he forward end 6 Output LS1 Moved to the forward end 7 Input ST0 Δt2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat Δt1 Wait approximately 0 5 seconds from when the ALM signal turns ON before inputting the first command Δt2 The time taken for the ELECYLINDER actually to reach the forward or backward end after the LS signal turns ON Consider Δt2 when giv...

Page 237: ...ve reached the forward backward end Caution 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 ...

Page 238: ... pressing operation 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 Pres...

Page 239: ...ackward end is complete Consider a master 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 ELECYLINDE...

Page 240: ...4 21 4 Operation ...

Page 241: ...tive 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 ...

Page 242: ...he user to perform maintenance if the travel count or the travel distance exceeds the set values Preventative maintenance Predictive maintenance Maintenance that is performed when based on regular equipment monitoring an abnormality is predicted to occur Predicts unexpected breakdowns Prevents sudden line stoppages Regular maintenance that is performed based on a reference period regardless of whe...

Page 243: ...otal travel count exceeds the 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 ...

Page 244: ... rise value falls below 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 norm...

Page 245: ...d PC software manual ME0155 Teaching pendant operating method Teaching pendant manual ME0355 Data setter operation method Data setter manual ME0375 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 Maint...

Page 246: ...e ENT key The target value will change 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 distanc...

Page 247: ...ter list 6 5 6 4 Parameter function descriptions 6 6 Operation range adjustment 6 6 Auto switch LS signal detection range adjustment 6 7 Change home return direction 6 8 Home position adjustment 6 9 Smooth accel decel setting 6 10 Current control setting at stop 6 11 Wireless function setting 6 12 Power saving setting 6 13 ELECYLINDER Chapter ...

Page 248: ...ct settings may lead to mis operation 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 applic...

Page 249: ...creen The screen will 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...

Page 250: ...d touch the ENT key The parameter 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 ...

Page 251: ...ation button displays a description 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 da...

Page 252: ...SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 8 A Power saving setting BUEN Disabled enabled Disabled 6 13 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 se...

Page 253: ...minimum setting unit is 0 01mm Set to your desired stroke length The controller automatically adds 0 30mm and controls monitors the operation range Set the operating stroke between 0 and 80mm by changing Parameter No 1 to 80 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...

Page 254: ...ward end When the ELECYLINDER 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 ...

Page 255: ...rameter No 3 is Forward If Parameter No 3 is Reverse Caution Changing the home return direction reverses the operation direction After changing this parameter always perform home return reset absolute reset Even if the operation direction 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 peripher...

Page 256: ...ult 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 mechanical stopper and home position is as follows Caution If adjusting Parameter No 4 simultaneously adjust Parameter No 1 Operation range adjustment with parameter No 1 uses the home position as r...

Page 257: ...softens the shocks of acceleration deceleration 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 accelerati...

Page 258: ...inging the unit to a complete stop If 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...

Page 259: ... for the ELECYLINDER wireless function When Enabled is selected wireless communication between the ELECYLINDER and the data setting device is possible When Disabled is selected wireless communication between the ELECYLINDER and the data setting device is not possible There is no transmission or reception of wireless communication radio waves Caution This parameter is not displayed on ELECYLINDERs ...

Page 260: ...d decrease in comparison Refer to Lead and Payload Power saving Enabled Stroke and Max Speed Power saving Enabled and Payload by Speed Acceleration Power saving Enabled on pages 1 8 1 9 1 14 1 15 1 20 1 21 1 26 1 27 1 32 1 33 1 37 1 38 1 42 1 43 1 47 1 48 1 55 1 56 1 60 and 1 61 When Disabled the maximum speed maximum acceleration deceleration and payload increase compared to Enabled mode Refer to...

Page 261: ... 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 Supply voltage power capacity abnormality alarm 7 15 Maintenance warning 1 7 16 Maintenance warning 2 7 16 Maintenance warning 3 7 17 ELECYLINDER Chapter ...

Page 262: ...V ALM LED Right side as seen from the motor side Operation status ALM signal output status SV green ALM red Power OFF Servo OFF OFF Alarm generated Stop switch ON When using teaching pendant OFF 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...

Page 263: ...eless status LED Left side as seen 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 ...

Page 264: ...ove the cables around the measurement 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 eve...

Page 265: ...th the diagnosis as follows When 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 ...

Page 266: ...ller C Controller error alarm Content Countermeasure Controller abnormality occurred Replace the controller 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 replace the motor or controller E Power supply voltage Power supply capacity error alarm Content Co...

Page 267: ...s refer to 3 4 3 5 Wiring connections 2 The 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 20 If the unit still does not recover contact IAI Condition 2 SV ALM LEDs light up red No Possible cause Confirmation countermeasure 1 A...

Page 268: ...inner than the applicable value Make sure the 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 comman...

Page 269: ...ence while moving Remove the interfering object 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 4 Installation method 4 The sliding resis...

Page 270: ...ion setting Enable Parameter No 5 Smooth accel 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 ...

Page 271: ...f the power then turn it on again Warning 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 re...

Page 272: ... The ELECYLINDER mounting surface 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 2 4 Installation method 5 The peak power capacity of the 24V power supply is less than 4 2A Use a power supply with peak current of 4 2 A or higher per axis 6 If the diameter of the power wire is...

Page 273: ...untermeasure examples Remove the heat 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 appro...

Page 274: ...ECYLINDER then check to see whether 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 high...

Page 275: ... that the specifications of the replaced motor and controller are both battery less absolute specification or incremental specification For details refer to Controller replacement page 8 20 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 E...

Page 276: ...rmeasure 1 Inspect with a tester to see whether the power supply voltage is in the range of 21 6 V to 26 4 V If it is out of range the 24VDC power supply voltage has insufficient capacity Refer 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...

Page 277: ...o a value larger than the current value 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 wa...

Page 278: ... the ELECYLINDER intrusion of foreign matter 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 Countermeas...

Page 279: ... 4 High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H 8 4 Grease supply timing 8 4 8 3 Visual inspection items 8 5 External visual inspection 8 5 Internal visual inspection 8 6 8 4 Cleaning 8 8 External cleaning 8 8 Internal cleaning 8 8 8 5 Greasing method 8 9 Slider type 8 9 High rigidity slider type EC S AH High rigidity slider type EC S H 8 9 Rod type 8 11 R...

Page 280: ... AH High rigidity radial cylinder type EC RR H 8 15 8 6 How to replace components 8 17 Stainless steel sheet replacement adjustment 8 17 Controller replacement 8 20 Wireless communication circuit board replacement 8 24 Motor replacement 8 29 ...

Page 281: ...ing the brake make sure to check there is nothing that 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...

Page 282: ... new grease The degradation speed of grease may differ depending on the operating environment temperature 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 chang...

Page 283: ...lider type EC S H Inspection period External inspection Internal inspection Greasing Ball screw Guide Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Grease supply timing Guideline dependent 6 month inspection Every 6 months thereafter Rod type Inspection period External inspection Greasing Rod sliding surface Frame interior Start of work inspection 1 month ins...

Page 284: ...rnal inspection Greasing Ball screw Guide Rod sliding surface Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Depends on greasing timing guideline Every 3 months 6 month inspection Every 6 months thereafter Grease supply timing Maximum operating speed mm s Grease supply timing Guideline Operation distance Months 0 to 750 or less 1 250km 12 months Over 750 to 86...

Page 285: ...f 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 rod sliding surface grease not lubricating well Wipe away the old grease then replenish with new grease Is there foreign matter or dust adhered to the rod sliding surface Clean the rod sliding surface then replenish with new grease...

Page 286: ...er penetrated inside Remove the foreign matter clean and inspect the interior for any damage Is the ball screw or guide grease not lubricating well Even if the grease is brown lubrication is adequate if the running surface is shiny Wipe away the old grease then replenish with new grease Replenishment only for rod type Is dust or foreign matter adhered to the ball screw or guide Replenish with new ...

Page 287: ... the interior 3 Return the stainless steel sheet to normal and secure with sheet clamps How to remove the sheet clamps Grab a sheet clamp and pull It has a hooked part so lift and turn slightly while pulling to make it easier to remove To mount slightly lift the hook part and press in Sheet clamp Slider type internal inspection method ...

Page 288: ...ildup Do not 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...

Page 289: ...1 Grease used Use an equivalent product Application location During maintenance recommended product Default reference Ball screw Kyodo Yushi Multemp LRL No 3 Kyodo Yushi Multemp LRL No 3 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 actuator ...

Page 290: ...oke to apply the grease thoroughly Caution Supplying too much grease may increase sliding resistance This may increase motor load and result in decreased performance If the grease enters your eye immediately see a specialist physician for appropriate care After finishing the grease replenishment wash your hands carefully with water and soap to rinse the grease off Sheet clamp Grease fitting φ3 5 S...

Page 291: ...tation stopper 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 actuator 2 Greasing method Rod sliding parts 1 Pull the rod towards the non motor side 2 Clean the rod sliding surface and apply the grease by hand 3 Move the rod full stroke to apply the grease thoroughly Apply to rod sliding surfac...

Page 292: ...ply the grease thoroughly Caution Limit the time per spray of spray grease to 1 second or less Supplying too much grease may increase sliding resistance This may increase motor load and result in decreased performance If the grease enters your eye immediately see a specialist physician for appropriate care After finishing the grease replenishment wash your hands carefully with water and soap to ri...

Page 293: ...ion 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 2 Greasing method Rod sliding parts 1 Pull the rod towards the non motor side 2 Clean the rod sliding surface and apply the grease by hand 3 Move the rod full stroke to apply the grease thoroughly Apply to rod sliding surface 0 5 to 1 0cc R...

Page 294: ...r on the base and fix it with hex socket button bolts 4 pcs tightening torque 1 91N m Caution Supplying too much grease may increase sliding resistance This may increase motor load and result in decreased performance If the grease enters your eye immediately see a specialist physician for appropriate care After finishing the grease replenishment wash your hands carefully with water and soap to rin...

Page 295: ...mp LRL No 3 Ball screw 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 2 Greasing method Rod sliding parts 1 Pull the rod towards the non motor side 2 Clean the rod sliding surface and apply the grease by hand 3 Move the rod full stroke to apply the grease thoroughly Apply to r...

Page 296: ...the frame cover on the base and fix it with hex socket button bolts 4 pcs tightening torque 1 91N m Caution Supplying too much grease may increase sliding resistance This may increase motor load and result in decreased performance If the grease enters your eye immediately see a specialist physician for appropriate care After finishing the grease replenishment wash your hands carefully with water a...

Page 297: ...tainer 3 Pull out the old stainless steel sheet 4 Insert a new stainless steel sheet using the reverse procedure It should be inserted along the slider internal guide 5 Mount the sheet retainer 6 Secure with sheet clamp Body model Stainless steel sheet model EC S6 ST EC S6 stroke EC S7 ST EC S7 stroke Sheet clamp Stainless steel sheet Cross recessed pan screws x 2 pcs M3 x 5 tightening torque 0 41...

Page 298: ...heet using the reverse procedure It should be inserted along the slider internal guide 5 Mount the sheet retainer 6 Secure the sheet clamp and the track housing cover Body model Stainless steel sheet model EC S6 AH EC S6 H ST ECH S6 stroke EC S7 AH EC S7 H ST ECH S7 stroke Stainless steel sheet replacement method Sheet clamp Stainless steel sheet Cross recessed pan screws x 2 pcs M3 x 5 tightening...

Page 299: ...e force to the stainless steel sheet Notice As a guideline the stainless steel sheet should last for about 5 000km of motion However depending on the usage or environment replace the stainless steel sheet appropriately Stainless steel sheet replacement can be performed by the customer However if you have any concerns regarding the work we recommend that you bring the unit to IAI or have one of our...

Page 300: ...urn it to the original state 4 Mount the end cover Rod type replacement method Slider type replacement method Motor cover assembly Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m End cover Cross recessed pan screws x 2 pcs S6 S7 M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake Motor cover assembly Cross recessed tapping screws x 2 pcs M3 x 10 tighte...

Page 301: ...3 3 Mount the wiring connectors to the new motor cover assembly and return it to the original state 4 Mount the end cover High rigidity slider type replacement method Motor cover assembly Track housing cover Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m End cover Cross recessed pan screws x 2 pcs S6 AH S7 AH S6 H S7 H M3 x 110 150 tightening torque 0 60N m M3 x 150 200 fo...

Page 302: ...t the wiring connectors to the new motor cover assembly and return it to the original state 4 Mount the end cover High rigidity radial cylinder type replacement method Motor cover assembly Track housing cover Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m End cover Cross recessed pan screws x 2 pcs RR6 AH RR7 AH RR6 H RR7 H M3 x 110 150 tightening torque 0 60N m M3 x 150 2...

Page 303: ...ECH SRR7 B P WL2 B Specification with brake P PNP specification WL2 Wireless axis operation specification Motor cover assembly Precautions for connectors wiring Motor cover assembly interior A arrow view A Frame grounding wires should be jointly fastened Frame grounding wires should be jointly fastened Motor To replace remove the connector Be careful not to snag the cables Before pulling off the m...

Page 304: ...cover assembly For the connector location refer to Notes on connectors wiring page 8 28 Rod type replacement method Slider type replacement method Motor cover assembly Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m End cover assembly Cross recessed pan screws x 2 pcs R6 R7 M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake Motor cover assembly Cross ...

Page 305: ... 4 Attach the cable connector for the new end cover assembly to the controller circuit board inside the motor cover assembly For the connector location refer to Notes on connectors wiring page 8 28 5 Mount the motor cover assembly 6 Mount the new end cover assembly ...

Page 306: ...8 4 Attach the cable connector for the new end cover assembly to the controller circuit board inside the motor cover assembly For the connector location refer to Notes on connectors wiring below page 8 28 5 Mount the motor cover assembly 6 Mount the new end cover assembly High rigidity slider type replacement method Motor cover assembly Track housing cover Cross recessed tapping screws x 2 pcs M3 ...

Page 307: ...tach the cable connector for the new end cover assembly to the controller circuit board inside the motor cover assembly For the connector location refer to Notes on connectors wiring below page 8 28 5 Mount the motor cover assembly 6 Mount the new end cover assembly High rigidity radial cylinder type replacement method Motor cover assembly Track housing cover Cross recessed tapping screws x 2 pcs ...

Page 308: ... AH RR6 AH EC S6 H RR6 H EWB ECH SRR6 EC S7 AH RR7 AH EC S7 H RR7 H EWB ECH SRR7 Motor cover assembly Notes on connectors wiring Motor cover assembly interior A arrow view A Frame grounding wires should be jointly fastened For replacement remove the old end cover assembly connector and mount the new end cover assembly connector End cover assembly interior Wireless communication circuit board Model...

Page 309: ...wiring connectors and motor cover assembly to their original state 6 Attach the end cover Rod type replacement method Motor cover assembly controller substrate Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m End cover Hex socket head bolt R6 2 pcs M3 x 50 0 83N m R7 4 pcs M4 x 12 1 76N m Motor Coupling spacer Cross recessed pan screws x 2 pcs R6 R7 M3 x 110 150 tightening t...

Page 310: ...apping screws x 2 pcs M3 x 10 tightening torque 0 60N m Cross recessed pan screws x 2 pcs S6 S7 M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake End cover Hex socket head bolt S6 2 pcs M3 x 50 0 83N m S7 4 pcs M4 x 15 1 76N m Motor Coupling spacer Hex socket head bolts are used to fix the motor They are not cross recessed bolts ...

Page 311: ...s recessed pan screws x 2 pcs S6 AH S7 AH S6 H S7 H M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake End cover Hex socket head bolt S6 2 pcs M3 x 50 0 83N m S7 4 pcs M4 x 15 1 76N m Motor Coupling Spacer Hex socket head bolts are used to fix the motor They are not cross recessed bolts Track housing cover Cross recessed tapping screws S Tite x 2pcs S6 AH S7 AH S6 H S7 H M3 ...

Page 312: ... method Motor cover assembly controller substrate Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m Cross recessed pan screws x 2 pcs RR6 AH RR7 AH RR6 H RR7 H M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake End cover Hex socket head bolt RR6 2 pcs M3 x 50 0 83N m RR7 4 pcs M4 x 15 1 76N m Motor Coupling spacer Hex socket head bolts are used to fix t...

Page 313: ...rnal dimensions EC S H 9 5 EC S6 H 9 5 EC S7 H 9 6 9 4 Rod type external dimensions 9 7 EC R6 9 7 EC R7 9 8 9 5 Radial cylinder r type external dimensions 9 9 EC RR6 9 9 EC RR7 9 10 9 6 High rigidity radial cylinder type external dimensions EC RR AH 9 11 EC RR6 AH 9 11 EC RR7 AH 9 12 9 7 High rigidity radial cylinder type external dimensions EC RR H 9 13 EC RR6 H 9 13 EC RR7 H 9 14 ELECYLINDER Cha...

Page 314: ...9 1 Slider type 9 1 9 External Dimensions 9 1 Slider type external dimensions EC S6 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 315: ...9 1 Slider type 9 2 9 External Dimensions EC S7 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 316: ...5 832 5 882 5 932 5 982 5 1032 5 1082 5 1132 5 A 224 5 274 5 324 5 374 5 424 5 474 5 524 5 574 5 624 5 674 5 724 5 774 5 824 5 874 5 924 5 974 5 B 186 5 236 5 286 5 336 5 386 5 436 5 486 5 536 5 586 5 636 5 686 5 736 5 786 5 836 5 886 5 936 5 C 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 D 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 E 4 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 J 100 150 200 250 300 350 400 450 50...

Page 317: ...07 5 1157 5 1207 5 A 250 5 300 5 350 5 400 5 450 5 500 5 550 5 600 5 650 5 700 5 750 5 800 5 850 5 900 5 950 5 1000 5 B 208 5 258 5 308 5 358 5 408 5 458 5 508 5 558 5 608 5 658 5 708 5 758 5 808 5 858 5 908 5 958 5 C 50 0 50 0 50 0 50 0 50 0 50 0 50 0 50 0 D 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 E 6 6 8 8 10 10 12 12 14 14 16 16 18 18 20 20 J 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 ...

Page 318: ...9 3 High rigidity slider type EC S H 9 5 9 External Dimensions 9 3 High rigidity slider type external dimensions EC S H EC S6 H M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 319: ...9 3 High rigidity slider type EC S H 9 6 9 External Dimensions EC S7 H M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 320: ...9 4 Rod type 9 7 9 External Dimensions 9 4 Rod type external dimensions EC R6 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 321: ...9 4 Rod type 9 8 9 External Dimensions EC R7 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 322: ...9 5 Radial cylinder type 9 9 9 External Dimensions 9 5 Radial cylinder r type external dimensions EC RR6 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 323: ...9 5 Radial cylinder type 9 10 9 External Dimensions EC RR7 M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 324: ... 200 250 300 350 400 L W o Brake 345 395 445 495 545 595 645 695 With Brake 385 435 485 535 585 635 685 735 A 227 277 327 377 427 477 527 577 B 186 5 236 5 286 5 336 5 386 5 436 5 486 5 536 5 C 0 50 0 50 0 50 0 50 D 1 1 2 2 3 3 4 4 E 4 6 6 8 8 10 10 12 J 100 150 200 250 300 350 400 450 Weight kg W o Brake 2 2 2 2 5 2 8 3 3 3 3 6 3 8 With Brake 2 3 2 5 2 8 3 1 3 3 3 6 3 9 4 1 Unit mm Dimensions and...

Page 325: ...h Brake 467 5 517 5 567 5 617 5 667 5 717 5 767 5 817 5 867 5 917 5 A 260 5 310 5 360 5 410 5 460 5 510 5 560 5 610 5 660 5 710 5 B 208 5 258 5 308 5 358 5 408 5 458 5 508 5 558 5 608 5 658 5 C 50 0 50 0 50 0 50 0 50 0 D 1 2 2 3 3 4 4 5 5 6 E 6 6 8 8 10 10 12 12 14 14 J 150 200 250 300 350 400 450 500 550 600 Weight kg W o Brake 4 4 4 4 7 5 5 4 5 7 6 6 4 6 7 7 With Brake 4 5 4 9 5 2 5 5 5 9 6 2 6 ...

Page 326: ...9 7 High rigidity radial cylinder type EC RR H 9 13 9 External Dimensions 9 7 High rigidity radial cylinder type external dimensions EC RR H EC RR6 H M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 327: ...9 7 High rigidity radial cylinder type EC RR H 9 14 9 External Dimensions EC RR7 H M E Mechanical end S E Stroke end ST Stroke Unit mm ...

Page 328: ...9 15 9 External Dimensions ...

Page 329: ...t of life for slider type 10 1 How to calculate operation life 10 1 Relation between operation life and moment 10 3 10 2 Concept of life for rod type 10 3 10 3 Concept of life for controller 10 3 ELECYLINDER Chapter10 ...

Page 330: ...shown below 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 with the formula below if the life may be shortened due ...

Page 331: ... allows consideration of the effects on life due to ELECYLINDER mounting status Mounting coefficient fα 1 0 1 2 1 5 Mounting status Fixed on entire surface Fixed at both ends Fixed locally The actuator used in the explanatory figures above is not the ELECYLINDER Replace with ELECYLINDER and select the mounting coefficient Even when seated over the total length of the product select 1 2 or 1 5 for ...

Page 332: ...ger than the standard rated life which is 5 000km 10 2 Concept of life for rod type The service life of the rod type radial cylinder type high rigidity radial cylinder type EC RR AH and high rigidity radial cylinder type EC RR H is about 5 000 km guideline when it is operated under maximum payload and acceleration deceleration 10 3 Concept of life for controller The controller part affecting servi...

Page 333: ...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 334: ...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 335: ...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 336: ...11 3 11 Warranty ...

Page 337: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 7 ELECYLINDER Chapter12 ...

Page 338: ...3 3 5 4 13 Body mounting Slider type 2 9 to 12 High rigidity slider type EC S AH High rigidity slider type EC S H 2 17 to 19 Rod type 2 23 to 28 Radial cylinder type 2 36 to 42 High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H 2 54 to 59 Brake release signal BKRLS 3 3 3 5 4 13 C Cleaning 8 8 Clevis bracket model QR 1 96 Components 1 1 Connection arrangement dia...

Page 339: ...erse specification Model NM 1 96 6 8 Home return operation 4 12 4 16 Home return direction change Parameter No 3 6 8 How to change parameters 6 2 How to read the model nameplate 1 2 How to read the model number 1 2 I I O signal list 4 11 I O specification 3 2 to 3 I O specifications 3 3 Inrush current 3 2 Inspection items and schedule Slider type High rigidity slider type EC S AH High rigidity sli...

Page 340: ...1 61 EC RR6 AH energy saving disabled 1 6 1 67 EC RR6 AH energy saving enabled 1 6 1 69 EC RR7 AH energy saving disabled 1 6 1 72 EC RR7 AH energy saving enabled 1 6 1 74 EC RR6 H energy saving disabled 1 6 1 81 EC RR6 H energy saving enabled 1 6 1 83 EC RR7 H energy saving disabled 1 6 1 86 EC RR7 H energy saving enabled 1 6 1 88 Minimum speed 1 7 1 9 1 13 1 15 1 19 1 22 1 26 1 28 1 32 1 34 1 38 ...

Page 341: ...led 1 44 to 45 EC R6 energy saving enabled 1 46 to 47 EC R7 energy saving disabled 1 49 to 50 EC R7 energy saving enabled 1 51 to 52 EC RR6 energy saving disabled 1 54 to 55 EC RR6 energy saving enabled 1 56 to 57 EC RR7 energy saving disabled 1 59 to 60 EC RR7 energy saving enabled 1 61 to 62 EC RR6 AH energy saving disabled 1 67 to 68 EC RR6 AH energy saving enabled 1 69 to 70 EC RR7 AH energy s...

Page 342: ...ns AVD 4 6 to 8 Smooth accel decel setting Parameter No 5 6 10 7 9 S motion 6 10 7 9 Speed EC S6 energy saving disabled 1 5 1 7 EC S6 energy saving enabled 1 5 1 9 EC S7 energy saving disabled 1 5 1 13 EC S7 energy saving enabled 1 5 1 15 EC S6 AH energy saving disabled 1 5 1 19 EC S6 AH energy saving enabled 1 5 1 22 EC S7 AH energy saving disabled 1 5 1 26 EC S7 AH energy saving enabled 1 5 1 28...

Page 343: ...agnosis 7 4 to 5 Troubleshooting with no alarm generated 7 5 to 9 U V 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 Weight EC S6 9 1 EC S7 9 2 EC S6 AH 9 3 EC S7 AH 9 4 EC S6 H 9 5 EC S7 H 9 6 EC R6 9 7 EC R7 9 8 EC RR6 9 9 EC RR7 9 10 EC RR6 AH 9 11 EC RR7 AH 9 12 EC RR6 H 9 13 EC RR7 H 9 14 Wireless axis ...

Page 344: ...etting Parameter No 7 Edition 3C Pg Intro 11 Intro 13 Added RE Directive to CE marking Edition 3D Corrected misdescription Pg 2 1 Corrected Precautions for transportation Edition 4A Added High rigidity slider type and Radial cylinder type Added Energy saving specification Edition 4B Pg 8 13 Added Rod sliding parts greasing method Pg 8 19 8 25 Added Cross recessed tapping screw dimensions and tight...

Page 345: ... Appendix Revision date Revised content 2018 10 Edition 6A High rigidity slider type EC S6 AH and EC S7 AH added High rigidity radial cylinder type EC RR6 AH and EC RR7 AH added Wireless axis operation specification model WL2 added ...

Page 346: ......

Page 347: ......

Page 348: ...SINESS 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 intel...

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