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IAI EC-ST15, Instruction Manual

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IAI EC-ST15 Instruction Manual Download Page 208

 

12.2 Revision history 

12-4 

12. Appen

dix 

 

12.2  Revision history 

Revision date 

Revised content 

2020.02 
 
2020.04 
 
 
 
 
 
 
 
 
 
 
 
 
2020.06 

First Edition 
 
Edition 1B 

Pg. Intro-8  Note added stating there is play on rod tip 
Pg. Intro-12  Mexico added in Precautions for Handling Wireless Operation 
Pg. 1-3, 1-11 
 

RCON-EC connection specification (option model: ACR) added 

Pg. 1-3, 3-13, 3-14 
 

Contents added for relay cable equipped with 4-way connector 

Pg. 1-8 

Caution regarding pressing added 

Pg. 7-15 

“Overcurrent has occurred on the I/O output part” added 

Pg. 8-5 

Change made to belt figure 

Pg. 8-13 

Note added stating grease supply to be applied at only one 
inlet 

 
Pg. 3-8 

Description made stating 0.3mm

2

 (AWG22) wire is available 

for A2 24V (control) 

 

 
 

Summary of Contents for EC-ST15

Page 1: ...ntive Predictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Appendix ELECYLINDER ch 1 ch 2 ch 3 ch 4 ch 5 ch 6 ch 7 ch 8 ch 9 ch 10 ch 11 ch 12 Instruction Manual EC ST15 First Edition ME3799 1C ...

Page 2: ......

Page 3: ...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 4: ...nual this document ME3799 PC Compatible Software for RC EC RCM 101 MW RCM 101 USB Instruction Manual ME0155 Touch Panel Teaching Pendant TB 02 02D Instruction Manual ME0355 Touch Panel Teaching Pendant TB 03 Instruction Manual Wireless communication ME0375 Touch Panel Teaching Pendant TB 03 Instruction Manual Wired communication For position controller ME0376 ...

Page 5: ...el B 1 11 Home reverse specification Model NM 1 11 PNP specification Model PN 1 11 Battery less absolute encoder specification Model WA 1 11 Wireless communication specification Model WL 1 11 Wireless axis operation specification Model WL2 1 12 2 circuit power supply specification Model TMD2 1 12 1 4 Accessories 1 13 Power I O cable 1 13 Power I O connector 1 14 Chapter 2 Installation 2 1 Precauti...

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

Page 7: ...8 Parameter No 4 Home position adjustment 6 9 Parameter No 5 Smooth accel decel setting 6 10 Parameter No 6 Current control setting at stop 6 11 Parameter No 7 Wireless function setting 6 12 Parameter No 8 Power saving setting 6 13 Chapter 7 Troubleshooting 7 1 Troubleshooting confirmations 7 1 7 2 Troubleshooting diagnosis 7 4 7 3 Troubleshooting with no alarm generated 7 6 Operation failure 7 6 ...

Page 8: ...acement Controller cover End cover assembly replacement 8 17 Reversing cover Gasket replacement 8 19 Belt replacement 8 24 Motor replacement 8 32 Chapter 9 External Dimensions 9 1 Stopper cylinder external dimensions 9 1 EC ST15L 9 1 Chapter 10 Life 10 1 Concept of life for stopper cylinder 10 1 10 2 Concept of life for controller 10 1 Chapter 11 Warranty 11 1 Warranty period 11 1 11 2 Scope of th...

Page 9: ...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 10: ...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 11: ... 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 12: ...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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...bration breakdown or shortened product life 4 Make sure to observe the usage conditions and environment of the product Operation outside the warranty could cause decreased performance or product breakdown Use within the allowable range for each item Item Cautions for use Problems or breakdowns which may occur if the allowable range is exceeded Speed and acceleration deceleration Use within the all...

Page 18: ... may separate from the grease and leak from the inside of the ELECYLINDER to the exterior due to the operating environment mounting orientation operating conditions etc Protect the peripheral equipment if base oil adhesion negatively affects them 8 Grease has been applied to the outer periphery of the rod and guide shaft for the rod type Protect the peripheral equipment if grease adhesion negative...

Page 19: ...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 20: ... conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation of the device FCC RF Radiation Exposure Statement This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment End users must follow the specific operating instructions for satisfying R...

Page 21: ...onformité RF canadienne l exposition cet appareil et son antenne ne doivent pas étre co localisés ou fonctionnant en conjonction avec une autre antenne ou transmetteur 本 本製品で使 している無線モジュールは 事設計認証を受けていますので 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...

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

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

Page 24: ...aced horizontally as shown in the figure below and is looked at from the motor side Stopper cylinder Opposite side Motor side Power I O connector Motor cover Teaching port Right side Left side Controller cover End cover Status indicator LED Rod Rod tip adaptor Guide shaft Front bracket Body frame Tapped hole for grounding connection Reversing Bracket ...

Page 25: ...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 26: ...Intro 18 ...

Page 27: ...nnection specification Model ACR 1 11 With brake Model B 1 11 Home reverse specification Model NM 1 11 PNP specification Model PN 1 11 Battery less absolute encoder specification Model WA 1 11 Wireless communication specification Model WL 1 11 Wireless axis operation specification Model WL2 1 12 2 circuit power supply specification Model TMD2 1 12 1 4 Accessories 1 13 Power I O cable 1 13 Power I ...

Page 28: ......

Page 29: ...d components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor 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 Components included as selected in...

Page 30: ...1 1 Checking the product 1 2 1 Specifications How to read the model nameplate Nameplate position Model number Serial number ...

Page 31: ... motor end specification PNP specification Battery less absolute encoder specification Wireless communication specification 0 0m to 10 10m Wireless axis operation specification 2 circuit power supply specification to Cable length 0 With power I O connector 1 to 10 With relay cable with cover S1 1m to S10 10m to S1 to S10 With relay cable with 4 way connector When ACR is selected it is not availabl...

Page 32: ...ce N Horizontal kg Vertical kg EC ST15L 50 3 15 12 5 449 Legend Cable length Option Stroke and Max Speed Energy Saving Disabled Lead mm 50 mm 3 200 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 is ...

Page 33: ...rizontal direction and 0 5G in the vertical direction For input 0 5G is set as 100 Lead 3 Orientation Horizontal Vertical Speed mm s Acceleration G 0 3 0 5 0 3 0 5 0 15 15 12 5 12 5 50 15 15 12 5 12 5 100 15 15 12 5 12 5 125 15 15 10 10 160 15 11 6 5 200 9 5 3 5 3 Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakd...

Page 34: ... kg EC ST15L 50 3 12 10 449 Legend Cable length Option Stroke and Max Speed Energy Saving Enabled Lead mm 50 mm 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 is 4mm s ...

Page 35: ...eration is 0 5G in the horizontal direction and 0 3G in the vertical direction For input 0 5G is set as 100 Lead 3 Orientation Horizontal Vertical Speed mm s Acceleration G 0 3 0 5 0 3 0 12 5 10 25 12 5 10 50 12 5 10 100 12 5 9 125 12 5 5 Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product l...

Page 36: ...riance increases when the current value is low The current limit value cannot be set outside the 30 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 less than 20mm s and at 5mm s or more it is unlikely to obtain the pressing force shown in the graph for pressing performance refere...

Page 37: ...nical specifications 1 9 1 Specifications Range of Use Use the production within 50mm of dimension Workpiece Workpiece L 50mm or less L 50mm or less Range of Use Workpiece Weight kg Workpiece Impact Speed m min ...

Page 38: ...hanical specifications 1 10 1 Specifications Duty ratio The duty ratio is the operating rate shown in of the actuator operating time within one cycle Continuous operation is possible when the duty ratio is 100 ...

Page 39: ...me position direction is reversed in accordance with equipment layout or assembly direction PNP specification Model PN I O input output specifications are NPN specification as standard Specifying this option changes the unit to PNP specification Battery less absolute encoder specification Model WA The standard specification is for incremental encoder Specifying this option changes the unit to batt...

Page 40: ... 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 below Model name IABL3827 Note Changes from WL to ...

Page 41: ...EC2 PWBIO RB equipped with the 4 way connector Note1 TMD2 is 24V control Note Cable in light green and light gray not in use 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 len...

Page 42: ... 4 Accessories 1 14 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 43: ...n environment 2 4 Installation environment 2 4 Storage preservation environment 2 5 2 3 Installation of stopper cylinder 2 6 Installation surface 2 6 Mounting orientation Type EC ST15L 2 6 Fixing bolt 2 7 Square nuts 2 7 Body mounting 2 8 Installation to front bracket 2 14 ELECYLINDER Chapter ...

Page 44: ......

Page 45: ...age The package is not specially designed to withstand dropping or shock due to collision Do not have a single operator to carry a heavy package Use an appropriate method for transportation 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 ...

Page 46: ...ler cover front bracket guide shaft or motor cover Do not damage or drop the package during transportation Do not apply excessive force to any part of the ELECYLINDER The teaching port and power I O connector are connected to the built in controller so be especially careful not to apply external force For the names of each part refer to Part Names on page Intro 16 ...

Page 47: ...vement 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 48: ...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 or...

Page 49: ...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 50: ...lar accuracy with flatness within 0 05mm m The mounting frame should have a structure rigid enough to prevent the generation of vibration Also consider the necessary space for maintenance work such as ELECYLINDER replacement and inspection Mounting orientation Type EC ST15L Horizontal installation Vertical installation Horizontal lateral installation Horizontal ceiling mount installation ...

Page 51: ...motor encoder breakdown If the teaching port is not to be used cap the teaching port Clogging with foreign matter may lead to a breakdown Fixing bolt The bolts for fixing actuator 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 t...

Page 52: ...a square nut into the T shaped slot and fix it from the back For details regarding 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 T shap...

Page 53: ...uts The square nuts regulated in JIS B1163 can be used for the T shaped slots Type Square nut quantity Screw size Required bolt length from body frame bottom Minimum number of fixing bolts EC ST15L 4 pcs M8 12 to 13mm 4 pcs Type Fixing bolt Tightening torque For iron installation surface For aluminum installation surface EC ST15L M8 30N m 11 4N m 0 03 0 Reamed hole Oblong hole Reamed hole Detailed...

Page 54: ...rough holes at the body frame for mounting Utilize the through holes for installation For details regarding the position and dimensions refer to Chapter 9 External Dimensions Type Pt A B C D H EC ST15L 66mm φ8 5mm 55mm 66mm 24mm 48mm Type Fixing bolt Tightening torque For aluminum installation surface EC ST15L M8 11 4N m ...

Page 55: ... 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 Type A B M EC ST15L 24mm 48mm M10 depth 20 Type E F G J Reamed hole EC ST15L 48mm 5 dept...

Page 56: ...2 3 Installation of stopper cylinder 2 12 2 Installation Type Fixing bolt Tightening torque For iron installation surface For aluminum installation surface EC ST15L M10 59 3N m 23 3N m ...

Page 57: ...es at the back of the body frame for mounting Utilize the tapped mounting holes for installation For details regarding the position and dimensions refer to Chapter 9 External Dimensions Type A B M EC ST15L 130mm 46mm M10 depth 22 Type Fixing bolt Tightening torque For iron installation surface For aluminum installation surface EC ST15L M10 59 3N m 23 3N m ...

Page 58: ...xing surface Use these reamed holes if repeated attaching and detaching is required Refer to the figure below for the screw in depth and reamed hole depth Type A B C M EC ST15L 130mm 40mm 32mm M10 Type F G J t Reamed hole EC ST15L 5 depth 8 6mm 66mm 12mm φ5H9 depth 8 Type Fixing bolt Tightening torque For iron installation surface For aluminum installation surface EC ST15L M10 59 3N m 23 3N m 0 03...

Page 59: ... than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or unexpected accidents Notice The mounting bolts are to be prepared by the customer The mounting square nuts are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended ...

Page 60: ...2 16 2 Installation ...

Page 61: ...tion arrangement diagram 3 5 3 4 Wiring connections for connectors 3 7 24VDC power supply wiring 3 7 PLC wiring 3 9 Connector wiring method 3 10 Brake release wiring 3 12 3 5 Wiring connections for cables 3 12 Power I O cable 3 12 Power I O cable equipped with 4 way connector 3 13 Power I O cable connection 3 15 24VDC power supply wiring 3 16 PLC wiring 3 18 Brake release wiring 3 19 ELECYLINDER C...

Page 62: ......

Page 63: ...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 Model PSA 24 ...

Page 64: ...3 power input common with body Data setting and input methods PC compatible software teaching pendant TB 02 TB 03 Data retention memory Data and parameters are saved in the nonvolatile memory Unlimited number of write cycles LED display Green light ON Servo ON Red light ON Alarm or stoppage with teaching pendant Green red simultaneously ON Initializing when power comes ON Green red alternately bli...

Page 65: ...N 18VDC OFF voltage MAX 6VDC Residual voltage 2V or less Leakage current MAX 1mA per point Leakage current MAX 0 1mA per point Isolation type Non isolated from external circuitry Non isolated from external circuitry I O logic NPN PNP Caution In the PIO circuit both input and output are non isolated Make sure to have a grounding for external devices connected to ELECYLINDER such as PLC in common wi...

Page 66: ...ce the brake to release Refer to Brake release wiring pages 3 12 and 3 19 Frame grounding The ELECYLINDER has a built in controller circuit board The controller frame grounding line is connected to the ELECYLINDER body and through to ground via the ELECYLINDER mounting surface If not grounding through the mounting surface there are M3 tapped holes on the left and right sides of the reversing brack...

Page 67: ...N in normal conditions and OFF when an alarm occurs For PNP specification Backward complete For NPN specification Forward complete Alarm Backward complete Forward complete Note 1 Brake release ELECYLINDER NPN specification B2 Power I O connector A1 B3 B5 B4 A3 A4 A5 0V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Ground Alarm clear B1 24V 24V power supply Backward Forward Note 1 B1 B3 B5 B2 B4 A3 A4 A5 ...

Page 68: ...larm occurs For PNP specification For NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Brake release 24V power supply Driving Source Alarm clear Backward complete Forward complete Alarm A1 0V Ground Backward Forward ELECYLINDER PNP specification Power I O connector A2 24V 24V power supply Control Note 1 ELECYLINDER NPN specification Backward complete Powe...

Page 69: ...y 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 capa...

Page 70: ...24VDC power supply Note Wire for 24V control on A2 can apply 0 3mm2 AWG22 When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24V Driving Source power supply in the stopped state drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24V Driving Source KIV 0 75mm2 AWG18 Power supply voltage 24VDC...

Page 71: ...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 complet...

Page 72: ...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 73: ... 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 74: ...ty 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 Note1 TMD2 is 24V control Note Cable in light green and light gray no...

Page 75: ... It is a cable capable to change the orientation of the connector in four ways The cable wires on the connector are the same as those for Power I O Cable CB EC PWBIO RB Model CB EC2 PWBIO RB The wiring on the opposite side of the connector has not been processed The cable length is available from 1m to 10m Specify the length in increments of 1m The following shows a sample model number Cable lengt...

Page 76: ...orientation of your demand 1 Slide the curved side of the cable end to your desire direction 2 Be sure to check that the cable is settled firmly and insert two tabs of the cover along the slits of socket 3 Then push the last tab to the socket Curved side Straight side Insert 2 side tabs of the cover Push in ...

Page 77: ...ctor 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 in the loose wire end on the cable from shorting out other wires by protecting them with insulation tape Cable connection diagram Insert the connector until you hear the click ...

Page 78: ...t 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 Rated 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 ...

Page 79: ...C power supply Connect the 0V wire insulation color black to the 0V terminal of the 24VDC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24V Driving Source Driving Source Power supply input Power supply voltage 24VDC 10 Power capacity Rated 3 5A max 4 2A including control power supply 0 3A Light Blue 24V Control Control Power supply input Black 0V Groun...

Page 80: ...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 81: ...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 82: ...3 20 3 Wiring ...

Page 83: ... 5 Operating conditions AVD setting adjustment 4 6 Pressing operation setting 4 9 4 4 I O signals 4 11 I O signal list 4 11 ST0 ST1 signals Movement command input backward forward 4 12 RES signal Alarm clear input 4 13 BKRLS input Brake release input 4 13 LS0 LS1 signals Position detection output backward end forward end 4 14 PE0 PE1 signals Pressing complete output backward end forward end 4 15 A...

Page 84: ...4 5 Operating method from master device 4 16 Home return operation positioning operation ST0 LS0 ST1 LS1 signals 4 16 Pressing operation ST0 ST1 PE0 PE1 signals 4 19 ...

Page 85: ...on 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 PLC or or Connection image Forward command Backward command Forward end detection Backward end detection PLC ELECYLINDER connection ...

Page 86: ...el teaching pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Caution Maximum stroke operation is configured at shipping Before operating the ELECYLINDER make sure to check there is nothing that will interfere with moving parts within the operation range Teaching pendant connection Connect the teaching pendant TB 02 while the power is OFF Insert the round connector of TB 0...

Page 87: ...d instructions If the position edit password is set to a value other than 0000 enter the password and press the ENT key on the touch panel The screen will switch to the Simple Data Setting window The position edit password is set to 0000 at shipping Refer to the teaching pendant manual ME0355 for information about changing the password Touch the Homing button The ELECYLINDER returns to the home po...

Page 88: ...ns AVD 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 ope...

Page 89: ...nts of 0 01mm Touch the position 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 wil...

Page 90: ...its button 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 ...

Page 91: ...lue will 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 92: ...and the 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 ...

Page 93: ...sing operation Set between 30 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 8 When the pressing speed is 20mm s or less the...

Page 94: ...en 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 B End button and F End button will turn green Press the F End or B End buttons to operate Check the results of the new setting adjustment 3 Action 2 Action Action 4 5 ...

Page 95: ...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 96: ...ckward and Forward 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 ...

Page 97: ... is input 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 rod by hand Warning Before releasing the brake make sure to check there is nothing that wil...

Page 98: ...and forward ends They turn ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and LS1 signals ON is as follows In this example the LS signal detection range is 0 10mm To adjust the LS signal detection range open the Edit parameters window Parameter No 2 Auto switch LS signal detection range adjustment can ...

Page 99: ...F when an alarm occurs Always monitor the ALM signal using the master device If it turns OFF immediately take appropriate safety countermeasures with the equipment as a whole For details refer to 7 4 Troubleshooting by alarm groups Signal input time constant In order to prevent mis operation due to chattering or noise ST0 ST1 and RES signals are set with a 6ms input time constant For signals less ...

Page 100: ...ng the home return operation 1 When the 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 i...

Page 101: ...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 102: ...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 103: ...s as follows Caution The 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 sign...

Page 104: ...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 105: ...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 106: ......

Page 107: ...t prompts the 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 regard...

Page 108: ...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 109: ... 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 110: ...ME0155 Teaching pendant operating method Teaching pendant manual ME0355 Touch panel teaching pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Switching to maintenance information window Touch Information on the Menu 1 screen The screen will switch to the Information window If the TP operation mode is not Monitor mode a confirmation window will appear for switching to Moni...

Page 111: ...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 112: ...5 6 5 Preventive Predictive Maintenance ...

Page 113: ...er No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home position adjustment 6 9 Parameter No 5 Smooth accel decel setting 6 10 Parameter No 6 Current control setting at stop 6 11 Parameter No 7 Wireless function setting 6 12 Parameter No 8 Power saving setting 6 13 ELECYLINDER Cha...

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Page 115: ...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 116: ...Menu 1 screen 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 t...

Page 117: ...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 118: ...the explanation 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 T...

Page 119: ...top 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 th...

Page 120: ...nimum 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 30mm by changing Parameter No 1 to 30 00mm Caution Set within the ELECYLINDER movable range Setting to a value that exceeds the maximum stroke will result in collision with the forward side mechanical stopper This m...

Page 121: ... end forward 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 Forward end 50 00mm Backward end 0 00mm Parameter No 2 0 10mm Caution A value smaller than the minimum resolution cannot be set Minimum resolution mm p ball screw l...

Page 122: ...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 123: ...t 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 the...

Page 124: ...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 125: ...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 126: ...ELECYLINDER wireless function When Enabled is selected wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant is possible When Disabled is selected wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant is not possible There is no transmission or reception of wireless communication radio waves Caution This parameter is not displayed on ELEC...

Page 127: ...d up to 40 compared to Disabled mode but the maximum speed maximum acceleration deceleration and payload decrease in comparison Refer to Lead and Payload Power saving Enabled Stroke and Max Speed Power saving Enabled and Speed Acceleration Power saving Enabled on pages 1 6 and 7 When Disabled the maximum speed maximum acceleration deceleration and payload increase compared to Enabled mode Refer to...

Page 128: ...6 14 6 Parameters ...

Page 129: ...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 Total travel count 7 16 Maintenance warning 2 Total travel distance 7 16 Maintenance warning 3 Overload warning level ...

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Page 131: ... 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 OFF Stop switch ON When using teaching pendant ON Power ON Servo ON ON Green 500ms Red 500ms alternate blinking in 1 Hz cycle Maintenance warning generated When the travel count or the travel distance has exceeded the set value or when overload warning ...

Page 132: ...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 133: ...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 134: ...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 135: ...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 136: ...efer 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 14 to 16 If the unit still does not recover contact IAI Condition 2 SV ALM LEDs light up red No Possible cause Confirmation countermeasure ...

Page 137: ...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 138: ...erence 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 Installation method 4 The sliding resista...

Page 139: ...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 140: ...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 141: ...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 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 less than AWG18 thin the peak current may no...

Page 142: ...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 143: ...LINDER 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 highly ...

Page 144: ...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 14 to 16 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 145: ... 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 the applicable value Make sure the wiring processing is correct For details refer to 3 4 3 5 Wiring connections 3 Overcurrent has occurred on the I O output par...

Page 146: ... a value larger than the current value For setting refer to 5 2 Maintenance information and 5 3 Setting maintenance information Maintenance warning 2 Total travel distance 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 di...

Page 147: ...ning may be caused by the depletion of grease on the ball screw guide inside the ELECYLINDER brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Depletion of grease on the ball screw guide inside ELECYLINDER could be considered Supply grease to ELECYLINDER For details refer to 8 5 Greasing method Countermeasure 2 Remove the motor and check the sliding movement of the...

Page 148: ...7 18 7 Troubleshooting ...

Page 149: ...rnal visual inspection 8 4 Internal visual inspection 8 5 8 4 Cleaning 8 10 External cleaning 8 10 8 5 Greasing method 8 11 Stopper cylinder 8 11 8 6 How to replace components 8 14 Controller replacement 8 14 Wireless communication circuit board replacement Controller cover End cover assembly replacement 8 17 Reversing cover Gasket replacement 8 19 Belt replacement 8 24 Motor replacement 8 32 ELEC...

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Page 151: ...eleasing the brake make sure to check there is nothing that will interfere with moving parts within the operation range The rod may fall possibly injuring the operator or people nearby and damaging the ELECYLINDER workpiece or equipment Caution Check that the power to the ELECYLINDER is OFF before conducting any maintenance or inspections Be careful not to lose the cover or any removed screws Be s...

Page 152: ... 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 153: ...ontinuously night and day or otherwise running at a high operating rate inspect more often Stopper cylinder Inspection period External inspection Internal inspection Greasing Start of work inspection 1 month inspection 3 month inspection 6 month inspection Grease supply timing Guideline dependent Every 6 months thereafter Grease supply timing Guideline Grease supply timing Guideline Number of Roun...

Page 154: ...alarm generated for help Are ELECYLINDER mounting bolts loose Tighten them further Is the cable scratched Replace if the damage is severe Is the connector loose Re insert correctly Is grease dripping out especially if vertically mounted Clean up any drips Replenish the grease Is the rod sliding surface grease not lubricating well Wipe away the old grease then replenish with new grease Is there for...

Page 155: ...s stated below Inspection items Maintenance work Is the belt significantly worn out on the teeth area Is there any crack on the teeth area Is there any chipped tooth Replace the belt in case any of those stated on the left is found Refer to Belt replacement in 8 6 How to replace components Is the belt hardened softened or deformed shrunk or expanded Replace the belt in case any of those stated on ...

Page 156: ... circuit board Take off also the connector joining the wireless circuit board for the wireless circuit board equipped type option 4 Take off the controller circuit board and LED panel Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover How to inspect...

Page 157: ...e screws 4pcs fixing the reversing cover 6 Take off the reversing cover and gasket Part Name Size Number 2 screw Cross recessed pan screw M3 5 1 pc 3 screw Cross recessed flat head screw M2 6 5 3 pcs 7 Inspect the belt 2 Screw 3 Screw Ground wire Reversing cover Gasket Belt ...

Page 158: ...5 1 pc 41 4N cm 3 screw Cross recessed flat head screw M2 6 5 3 pcs 43 1N cm 10 Attach the controller circuit board Set the controller circuit board along the flange shown with a red circle and affix the board with the hex spacer and plane washer Part Name Number Tightening torque Hex spacer 1 pc 90N cm 2 Screw 3 Screw Ground wire Reversing cover Gasket LED panel Plane washer Hex spacer Controller...

Page 159: ...d type option 12 Hook the connector cover on 1 circuit board connector Push in 2 controller bottom to the reversing bracket side 13 Put the LED panel on 14 Attach the controller cover with the screws 3pcs Part Name Size Number Tightening torque 1 screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm 1 2 LED panel Plane washer Hex spacer Controller ...

Page 160: ...liding surface and its periphery wipe it off with a soft cloth etc Use a soft cloth to wipe away dirt and buildup Do not blow too hard with compressed air as it may cause dust to get in through 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 ...

Page 161: ... location During maintenance recommended product Default reference Guide shaft Kyodo Yushi Multemp LRL No 3 Kyodo Yushi Multemp LRL No 3 Ball screw Wako Chemical Spray Grease No A161 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 162: ...e to apply the grease thoroughly Recommended Grease Gun and Nozzle Grease Gun Nozzle Nozzle Manufacturer Grease gun with attachment screw R1 8 eg GC 57K Yamada NZ3 NSK Caution 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 How to supply grease on...

Page 163: ... the hex socket button head screw Part Name Size Number Tightening torque Hex socket button head screw M3 5 2 pcs 73N cm Caution Make sure to have one shot of spray grease is within 1 second 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 c...

Page 164: ...washer 3 Take off the connector joining the motor encoder to the controller circuit board Take off also the connector joining the wireless circuit board for the wireless circuit board equipped type option Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller...

Page 165: ...er and plane washer Part Name Number Tightening torque Hex spacer 1 pc 90N cm 5 Join the connector connecting the controller circuit board and the motor encoder Connect also the connector joining the wireless circuit board for the wireless circuit board equipped type option 6 Hook the connector cover on 1 circuit board connector Push in 2 controller bottom to the reversing bracket side LED panel P...

Page 166: ... screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm Body model Controller circuit board model number EC ST15L MB EC ST15 P TMD2 WL2 P PNP specification TMD2 2 Circuit Power Supply Specification WL2 Wireless axis operation specification LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover ...

Page 167: ...ntroller cover 3 Replace the controller cover with another one for replacement 4 Put on the connector joining the controller circuit board and the wireless circuit board inside the controller cover for replacement Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc 5 Hook the controller cover for replacement on 1 circuit board connector Pus...

Page 168: ...3pcs Part Name Size Number Tightening torque 1 screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm Body model Controller cover End cover assembly model number EC ST15L MWB EC ST15 LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover ...

Page 169: ...Take off the connector joining the motor encoder to the controller circuit board Take off also the connector joining the wireless circuit board for the wireless circuit board equipped type option Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover ...

Page 170: ... circuit board and LED panel 5 Remove the screws 4pcs fixing the reversing cover 6 Take off the reversing cover and gasket Part Name Size Number 2 screw Cross recessed pan screw M3 5 1 pc 3 screw Cross recessed flat head screw M2 6 5 3 pcs 2 Screw 3 Screw Ground wire Reversing cover Gasket ...

Page 171: ... pan screw M3 5 1 pc 41 4N cm 3 screw Cross recessed flat head screw M2 6 5 3 pcs 43 1N cm 9 Attach the controller circuit board Set the controller circuit board along the flange shown with a red circle and affix the board with the hex spacer and plane washer Part Name Number Tightening torque Hex spacer 1 pc 90N cm 2 Screw 3 Screw Ground wire Reversing cover Gasket LED panel Plane washer Hex spac...

Page 172: ...ped type option 11 Hook the connector cover on 1 circuit board connector Push in 2 controller bottom to the reversing bracket side 12 Put the LED panel on 13 Attach the controller cover with the screws 3pcs Part Name Size Number Tightening torque 1 screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm 1 2 LED panel Plane washer Hex spacer Controlle...

Page 173: ...8 6 How to replace components 8 23 8 Maintenance and Inspection Body model Reversing cover Gasket EC ST15L PT EC ST15 ECST GK ST15 ...

Page 174: ...the connector joining the motor encoder to the controller circuit board Take off also the connector joining the wireless circuit board for the wireless circuit board equipped type option Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover ...

Page 175: ... circuit board and LED panel 5 Remove the screws 4pcs fixing the reversing cover 6 Take off the reversing cover and gasket Part Name Size Number 2 screw Cross recessed pan screw M3 5 1 pc 3 screw Cross recessed flat head screw M2 6 5 3 pcs 2 Screw 3 Screw Ground wire Reversing cover Gasket ...

Page 176: ...or joining the motor encoder to the brake option 9 Loosen the screws 4pcs fixing the motor Part Name Size Number 4 screw Except for brake equipped battery less absolute Cross recessed small screw M3 130 4 pcs Brake equipped battery less absolute M3 135 4 pcs 5 screw Flanged hex socket set screw M3 10 3 pcs 4 Screw 5 Screw Motor cover ...

Page 177: ...g a tool such as a cable band on the motor assembly and apply the specified load tension with using a tension gauge 12 With the specified load tension kept tighten up the screws to affix the motor Part Name Size Number Tightening torque 5 screw Flanged hex socket set screw M3 10 3 pcs 162N cm Timing belt Motor assembly Tension Load Tension from 25 to 30N 5 screw ...

Page 178: ...oder to the brake option 14 Tighten up the screws 4pcs to hold the motor cover Part Name Size Number Tightening torque 4 screw Except for brake equipped battery less absolute Cross recessed small screw M3 130 4 pcs 41 4 N cm Brake equipped battery less absolute M3 135 4 pcs 41 4 N cm 4 Screw 5 Screw Motor cover ...

Page 179: ...M3 5 1 pc 41 4N cm 3 screw Cross recessed flat head screw M2 6 5 3 pcs 43 1N cm 17 Attach the controller circuit board Set the controller circuit board along the flange shown with a red circle and affix the board with the hex spacer and plane washer Part Name Number Tightening torque Hex spacer 1 pc 90N cm 2 Screw 3 Screw Ground wire Reversing cover Gasket LED panel Plane washer Hex spacer Control...

Page 180: ...ped type option 19 Hook the connector cover on 1 circuit board connector Push in 2 controller bottom to the reversing bracket side 20 Put the LED panel on 21 Attach the controller cover with the screws 3pcs Part Name Size Number Tightening torque 1 screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm 1 2 LED panel Plane washer Hex spacer Controlle...

Page 181: ...8 6 How to replace components 8 31 8 Maintenance and Inspection Body model Timing belt model number EC ST15L TB EC ST15 ...

Page 182: ...the connector joining the motor encoder to the controller circuit board Take off also the connector joining the wireless circuit board for the wireless circuit board equipped type option Part Name Size Number 1 screw Cross recessed pan screw M3 10 2 pcs 2 screw Cross recessed pan screw M3 5 1 pc LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controller cover ...

Page 183: ...troller circuit board 5 Remove the screws 4pcs fixing the reversing cover 6 Take off the reversing cover and gasket Part Name Size Number 2 screw Cross recessed pan screw M3 5 1 pc 3 screw Cross recessed flat head screw M2 6 5 3 pcs 2 Screw 3 Screw Ground wire Reversing cover Gasket ...

Page 184: ...or joining the motor encoder to the brake option 9 Remove the screws 4pcs fixing the motor Part Name Size Number 4 screw Except for brake equipped battery less absolute Cross recessed small screw M3 130 4 pcs Brake equipped battery less absolute M3 135 4 pcs 5 screw Flanged hex socket set screw M3 10 3 pcs 4 Screw 5 Screw Motor cover ...

Page 185: ... such as a cable band on the motor assembly and apply the specified load tension with using a tension gauge 12 With the specified load tension kept tighten up the screws to affix the motor Part Name Size Number Tightening torque 5 screw Flanged hex socket set screw M3 10 3 pcs 162N cm 4 Screw 5 Screw Motor assembly Tension Load Tension from 25 to 30N 5 screw ...

Page 186: ...oder to the brake option 14 Tighten up the screws 4pcs to hold the motor cover Part Name Size Number Tightening torque 4 screw Except for brake equipped battery less absolute Cross recessed small screw M3 130 4 pcs 41 4 N cm Brake equipped battery less absolute M3 135 4 pcs 41 4 N cm 4 Screw 5 Screw Motor cover ...

Page 187: ...M3 5 1 pc 41 4N cm 3 screw Cross recessed flat head screw M2 6 5 3 pcs 43 1N cm 17 Attach the controller circuit board Set the controller circuit board along the flange shown with a red circle and affix the board with the hex spacer and plane washer Part Name Number Tightening torque Hex spacer 1 pc 90N cm 2 Screw 3 Screw Ground wire Reversing cover Gasket LED panel Plane washer Hex spacer Control...

Page 188: ...er on 1 circuit board connector Push in 2 controller bottom to the reversing bracket side 20 Put the LED panel on 21 Attach the controller cover with the screws 3pcs Part Name Size Number Tightening torque 1 screw Cross recessed pan screw M3 10 2 pcs 41 4N cm 2 screw Cross recessed pan screw M3 5 1 pc 41 4N cm 1 2 LED panel Plane washer Hex spacer Controller circuit board 2 Screw 1 Screw Controlle...

Page 189: ...8 6 How to replace components 8 39 8 Maintenance and Inspection Body model Motor assembly model number EC ST15L EC MUST15 WA B WA Battery less absolute specification B Specification with brake ...

Page 190: ...8 40 8 Maintenance and Inspection ...

Page 191: ...External Dimensions 9 1 Stopper cylinder external dimensions 9 1 EC ST15L 9 1 ELECYLINDER Chapter ...

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Page 193: ...5 Status LED Power I O connector Teaching port M E S E U 24 48 48 66 φ5 H9 reamed depth 8 4 M10 depth 20 Pilot hole φ8 5 thru Oblong hole depth 8 Q 148 124 66 130 146 32 64 30 60 40 10 61 φ5 H9 reamed depth 8 4 M10 thru Oblong hole depth 8 P 120 6 1 Must be 100 or more 46 130 55 4 M10 depth 22 92 8 5 13 5 4 5 7 5 13 5 9 6 5 0 030 0 R R Detailed View P Detail of Oblong Hole on Front Bracket 6 5 0 0...

Page 194: ...9 2 9 External Dimensions ...

Page 195: ...Life 10 1 Concept of life for stopper cylinder 10 1 10 2 Concept of life for controller 10 1 ELECYLINDER Chapter10 ...

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Page 197: ...Life Guideline Number of impact times 5 000 000 times 1 1 The product life fluctuates drastically depending on the condition of use environment and condition of maintenance 10 2 Concept of life for controller The controller part affecting service life is as follows Target part Life Condition Electrolytic capacitor 5 years Ambient temperature 40 C Rated operation operation within duty limits ...

Page 198: ...10 2 10 Life ...

Page 199: ...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 ...

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Page 201: ...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 202: ...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 203: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 4 ELECYLINDER Chapter12 ...

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Page 205: ...E Electrical specifications 3 2 to 4 ELECYLINDER test operation 4 3 to 4 Encoder pulse count 3 2 Energy saving setting Parameter No 8 6 5 6 13 Energy saving stop 6 5 6 11 7 9 External Dimensions EC ST15L 9 1 External cleaning 8 10 External visual inspection 8 4 F Fixing bolt 2 7 Forward complete signal LS1 3 5 to 6 3 9 4 11 4 14 4 16 to 18 Forward signal ST1 3 5 to 6 3 9 4 11 to 12 4 16 to 20 Fram...

Page 206: ...able 1 13 3 12 to 19 Power I O connector 1 14 3 7 to 12 Power supply for solenoid brake release 3 2 3 5 to 6 3 12 3 19 Power supply voltage 3 2 7 5 to 6 7 15 Powerful stop 6 5 6 11 Precautions for Axis Operation with Wireless Connection Intro 15 Precautions for handling Intro 9 to 10 Precautions for Handling Wireless Operation Intro 12 to 14 Precautions for transportation 2 1 Precautions regarding...

Page 207: ...ecification model TMD2 1 12 W Warranty 11 1 to 2 Wireless axis operation specification model WL2 1 12 Wireless communication circuit board replacement 8 17 to 18 Wireless communication specification model WL 1 11 Wireless function setting Parameter No 7 6 5 6 12 Wiring connections for cables 3 12 to 19 Wiring connections for connectors 3 7 to 12 With brake option model B 1 11 ...

Page 208: ...eless Operation Pg 1 3 1 11 RCON EC connection specification option model ACR added Pg 1 3 3 13 3 14 Contents added for relay cable equipped with 4 way connector Pg 1 8 Caution regarding pressing added Pg 7 15 Overcurrent has occurred on the I O output part added Pg 8 5 Change made to belt figure Pg 8 13 Note added stating grease supply to be applied at only one inlet Pg 3 8 Description made stati...

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Page 210: ...ESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 354 9471 website www intellig...

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