IAI ELECYLINDER EC-RTC12 Instruction Manual Download Page 3 | Manualshive

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This instruction manual is an original document dedicated for this product.

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Summary of Contents for ELECYLINDER EC-RTC12

Page 1: ...Predictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Index 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 RTC9 RTC12 First Edition ME3800 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 ME3800 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: ... 1 4 Options 1 31 RCON EC connection specification Model ACR 1 31 With brake Model B 1 31 Home reverse specification Model NM 1 31 PNP specification Model PN 1 31 Battery less absolute encoder specification Model WA 1 31 Wireless communication specification Model WL 1 31 Wireless axis operation specification Model WL2 1 32 Two Circuit power supply specification Model TMD2 1 32 Shaft adapter Model ...

Page 6: ... PLC wiring 3 18 Brake release wiring 3 19 Chapter 4 Operation 4 1 Basic operation 4 1 Caution in operation about backlash 4 2 4 2 Teaching tool connections and testing operation 4 3 Teaching pendant connection 4 3 ELECYLINDER test operation 4 4 4 3 Stop position operating conditions AVD setting adjustment 4 5 Stop position setting adjustment forward end backward end 4 6 Operating conditions AVD s...

Page 7: ...6 6 Parameter No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home position adjustment 6 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 Chap...

Page 8: ... 9 8 6 How to replace components 8 14 Controller replacement Controller cover assembly replacement 8 14 Belt replacement 8 20 Motor replacement 8 23 Chapter 9 External Dimensions 9 1 Rotary external dimensions 9 1 EC RTC9 9 1 EC RTC12 9 2 Chapter 10 Life 10 1 Concept of life for Rotary 10 1 10 2 Concept of life for controller 10 1 Chapter 11 Warranty 11 1 Warranty period 11 1 11 2 Scope of the war...

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: ... may lead to abnormal noise vibration 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 d...

Page 18: ...he conformity to EU Directives in some specific conditions 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 Conformit...

Page 19: ...wo 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...

Page 20: ...vec une autre antenne ou transmetteur 日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 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 2018DJ0331 申请公司名 IAI ...

Page 21: ...ล 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 Empresa Importadora IAI America Inc ...

Page 22: ... 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 23: ...t left and motor side anti motor side are shown as figures below Rotary type Pulley cover Motor cover Controller cover Status LED Tapped hole for service Power I O connector Teaching port Main frame Output shaft Stopper Grease supply cap Output shaft adjusting screw ...

Page 24: ...atus 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 Status indicator LED Teaching port Power I O connector Power I O connector Teaching port ...

Page 25: ...eck the load moment and thrust load 1 29 1 4 Options 1 31 RCON EC connection specification Model ACR 1 31 With brake Model B 1 31 Home reverse specification Model NM 1 31 PNP specification Model PN 1 31 Battery less absolute encoder specification Model WA 1 31 Wireless communication specification Model WL 1 31 Wireless axis operation specification Model WL2 1 32 Two Circuit power supply specificat...

Page 26: ...1 5 Accessories 1 35 Power I O cable 1 35 Power I O connector 1 36 ...

Page 27: ...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 28: ...1 1 Checking the product 1 2 1 Specifications How to read the model nameplate Nameplate position Model number Serial number ...

Page 29: ...r specification WL Wireless communication specification Cable length 0 With power I O connector 1 to 10 With relay cable with cover 0 0 m to to 10 10 m ELECYLINDER WL2 Wireless axis operation specification TMD2 Two Circuit Power Supply Specification RTC9M 330 RTC9 Flat type S size 90 mm width RTC12 Flat type S size 170 mm width SA Shaft adapter TA Table adapter S1 1m S10 10m S1 to S10 With relay c...

Page 30: ...um speed Reduction ratio 330 degree 1 45 600 Unit deg s Caution It may not reach the maximum speed when the rotary angle is small or acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed is 20 deg s Rated acceleration should be 0 3 G 2942 deg s2 and the maximum acceleration should be 0 5 G 4903 deg s2 However the ...

Page 31: ...n Non excitation brake Brake hold torque option 0 9 N m Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Motor type 28 pulse motor Encoder pulse count 800 pulse rev 1 It is the maximum moment of inertia available for rotation It is the value when operation is made with acceleration deceleration at 0 3 G The allowable moment of inertia varies with the speed The unit sho...

Page 32: ... Output torque N m Rotational speed deg s Rotational speed Output torque Allowable moment of inertia 0 3 0 5 0 20 15 100 20 15 200 20 15 300 20 15 400 20 15 500 20 15 600 15 8 Speed deg s Acceleration G Allowable moment of inertia 10 3 kg m 2 0 5 10 15 20 25 30 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable moment of inertia ...

Page 33: ...ad in a disk shape is the same as the rotary center of the output shaft Acceleration 0 3 G 0 1 2 3 4 5 6 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 500 deg s or less 600 deg s Acceleration 0 5 G 0 1 2 3 4 5 6 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 500 deg s or less 600 deg s r Radius of disk ...

Page 34: ...rom the rotary center of the output shaft Acceleration 0 3 G 0 1 2 3 4 5 6 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 500 deg s or less 600 deg s Acceleration 0 5 G 0 1 2 3 4 5 6 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 500 deg s or less 600 deg s r Offset distance ...

Page 35: ...he approach speed up to the pressing start position is 20 deg s or less pressing operation will take place at approach speed When the pressing speed is 5 deg s or more and less than 20 deg s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5 deg s the pressing force and the...

Page 36: ...s Caution It may not reach the maximum speed when the rotary angle is small or acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed is 20 deg s Rated acceleration should be 0 3 G 2942 deg s2 the maximum acceleration with the power saving invalid should be 0 7 G 6865 deg s2 and with the power saving valid be 0 5 G...

Page 37: ...ntally oriented wall mount Maximum allowable moment of inertia 1 Power saving invalid 0 13 kg m2 Power saving valid 0 1 kg m2 Radial rotation runout 0 1 mm or less Thrust rotation runout 0 1 mm or less Brake type option Non excitation brake Brake hold torque option 5 3 N m Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Motor type 42 pulse motor Encoder pulse count 80...

Page 38: ...Rotational speed deg s Rotational speed Output torque Allowable moment of inertia Energy saving Disabled 0 3 0 5 0 7 0 130 80 50 100 130 80 50 200 90 60 40 300 60 40 30 400 40 25 20 500 25 18 15 600 15 12 10 Speed deg s Acceleration G Allowable moment of inertia 10 3 kg m2 0 30 60 90 120 150 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational spe...

Page 39: ...utput torque N m Rotational speed deg s Rotational speed Output torque Allowable moment of inertia Energy saving Enabled 0 3 0 5 0 100 70 100 100 70 200 70 45 300 40 25 400 15 15 500 5 5 600 Speed deg s Acceleration G Allowable moment of inertia 10 3 kg m 2 0 30 60 90 120 150 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable mom...

Page 40: ...ft Acceleration 0 3 G Energy saving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s Acceleration 0 5 G Energy saving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s r Radius of disk ...

Page 41: ...fications 1 15 1 Specifications Acceleration 0 7 G Energy saving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s ...

Page 42: ...0 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s Acceleration 0 5 G Energy saving Enabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Radius of disk mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s ...

Page 43: ...aving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s Acceleration 0 5 G Energy saving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s r Offset distance ...

Page 44: ...fications 1 18 1 Specifications Acceleration 0 7 G Energy saving Disabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s 600 deg s ...

Page 45: ... 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s Acceleration 0 5 G Energy saving Enabled 0 5 10 15 20 25 30 35 40 45 0 50 100 150 200 250 300 Loaded weight kg Offset distance mm 100 deg s 200 deg s 300 deg s 400 deg s 500 deg s ...

Page 46: ...he approach speed up to the pressing start position is 20 deg s or less pressing operation will take place at approach speed When the pressing speed is 5 deg s or more and less than 20 deg s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed is less than 5 deg s the pressing force and the...

Page 47: ... the rotation portion The home return operation should be performed counterclockwise The axis detects the position of the mechanical stopper and stops after rotation counterclockwise It is not available to have the home return operation clockwise The direction of all the behaviors should be reversed for the home reversed type NM Positive direction Range of operation 330 deg Home position Mechanica...

Page 48: ...hanical specifications 1 22 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 49: ...t and thrust load Step 1 Check the moment of inertia When no load torque affected Used as shown in the figures below should not have the load torque by the gravity work on the unit Calculate of the moment of inertia to check if it is within the allowable inertia moment Example 1 Example 2 Example 3 Load gravity center Center of output shaft Installation of unit Horizontal standard orientation ceil...

Page 50: ...a J M D 10 3 2 8 M L 10 3 2 kg m2 5 Moment of inertia of cylinder 4 Formula J M D 10 3 2 4 H 10 3 2 3 4 M L 10 3 2 kg m2 6 Moment of inertia of prism 2 The same formula can be applied irrespective of the height of the prism also for rectangular plate Formula J M A 10 3 2 B 10 3 2 12 M L 10 3 2 kg m2 Moment of inertia of cylinder J kg m2 Cylinder weight M unit kg Cylinder diameter D mm Moment of in...

Page 51: ...o check if it is within the allowable inertia moment Step 1 Calculating the load torque T T mgr 10 3 N m m Loaded weight kg g Gravitational acceleration m s2 r Distance of load gravity center mm Step 2 Calculating the allowable moment of inertia correction factor Cj Cj Tmax T Tmax Tmax Output torque N m Example Load gravity center offset from center of output shaft Installation of unit Horizontal ...

Page 52: ...put torque Energy saving Disabled 0 8 0 100 6 5 200 6 0 300 4 5 400 3 0 500 2 0 600 1 5 Speed deg s Output torque N m 0 0 2 0 4 0 6 0 8 0 10 0 0 100 200 300 400 500 600 700 Output torque N m Rotational speed deg s Rotational speed Output torque RTC12 output torque Energy saving Enabled 0 8 0 100 6 5 200 4 0 300 2 5 400 1 5 500 1 2 600 Speed deg s Output torque N m 0 0 2 0 4 0 6 0 8 0 10 0 0 100 20...

Page 53: ... 25 30 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable moment of inertia 0 3 G 0 5 G RTC12 allowable moment of inertia Energy saving Disabled 0 3 0 5 0 7 0 130 80 50 100 130 80 50 200 90 60 40 300 60 40 30 400 40 25 20 500 25 18 15 600 15 12 10 Speed deg s Acceleration G Allowable moment of inertia 10 3 kg m2 0 30 60 90 120 15...

Page 54: ...a 10 3 kg m2 0 30 60 90 120 150 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable moment of inertia 0 3 G 0 5 G Step 4 Check the moment of inertia of the load Using the Formulae for calculating moment of inertia of typical shapes calculate the moment of inertia of the loaded object and make sure it does not exceed the corrected ...

Page 55: ...t shaft are within the allowable values Use above the allowable range could cause drop of the product life or may cause malfunction Model Allowable load moment N ｍ Allowable thrust load N RTC9 5 50 RTC12 18 12 in vertical orientation or horizontally oriented wall mount 400 Thrust load Load moment Load moment datum position RTC9 15 mm RTC12 17 mm Output shaft ...

Page 56: ...ternal force N h5 Height of radial external force from output shaft attachment face mm g Gravitational acceleration m s2 ω Angular velocity rad s Example of calculation for moment load MT MT Moment by gravity moment by centrifugal force moment by thrust external force moment by radial external force N m Moment by gravity M1g M2gR2 M3gR3 10 3 N m Moment by centrifugal force M2R2ω2 h0 h2 M3R3ω2 h0 h...

Page 57: ...verse specification It is necessary to replace the stopper for the home reverse specification Keep in mind that changing only the setting in Parameter No 3 Change home return direction would not lead you to have the home position reversed PNP specification Model PN I O input output specifications are NPN specification as standard Specifying this option changes the unit to PNP specification Battery...

Page 58: ...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 W...

Page 59: ...y Note Add the weight and moment of inertia of the shaft adapter in the consideration of 1 3 Operating conditions EC RTC9 Unit model EC SA RTC9 4 4 8 drill 8 counterbore depth 4 5 EC RTC12 Unit model EC SA RTC12 4 5 5 drill 10 counterbore depth 5 Weight 55 g Moment of inertia 0 006 10 3 kg m2 Weight 155 g Moment of inertia 0 05 10 3 kg m2 ...

Page 60: ...deration of 1 3 Operating conditions EC RTC9 Unit model EC TA RTC9 4 4 5 drill 8 counterbore depth 4 5 Equally allocated 8 M6 depth 13 Opposite side 4 H9 depth 4 5 0 030 0 EC RTC12 Unit model EC TA RTC12 4 5 5 drill 10 counterbore depth 5 Equally allocated 8 M8 through Equally allocated Opposite side 5 H9 depth 5 5 0 030 0 Weight 80 g Moment of inertia 0 04 10 3 kg m2 Weight 126 g Moment of inerti...

Page 61: ... CB EC2 PWBIO RB equipped with the 4 way connector Note 1 TMD2 is 24 V 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 1 m to 10 m Specify the length in increments of 1 m The following shows a sample model number Cable length 1 m CB EC PWBIO010 RB Cable length 3 m CB EC PWBIO030 R...

Page 62: ... 5 Accessories 1 36 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 63: ...preservation environment 2 4 Installation environment 2 4 Storage preservation environment 2 5 2 3 Installation of Rotary 2 6 Installation surface 2 6 Mounting orientation Type EC RTC9 RTC12 2 6 Fixing bolt 2 7 Body mounting 2 8 Mounting transported objects 2 11 ELECYLINDER Chapter ...

Page 64: ......

Page 65: ...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 66: ...ly external force For the names of each part refer to Part Names on page Intro 15 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 means they can be recycled as cardboar...

Page 67: ...uld not move during transportation 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 3 G or more When suspending machinery system with ropes be careful not to catch the rope on the ELECYLINDER or cable ...

Page 68: ...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 69: ...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 70: ...uracy with flatness within 0 05 mm 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 RTC9 RTC12 Horizontal installation Vertical installation Lateral installation Horizontal ceiling mount installation ...

Page 71: ...reign 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 times the nominal diameter or more ...

Page 72: ...ion and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and 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 Positioning hole Reamed hole φ4H7 depth 4 Positioning pins 2 pcs φ4h7 Mounting bracket Bolts 2 pcs RT...

Page 73: ...llation surface For aluminum installation surface EC RTC9 M8 30 N m 11 5 N m EC RTC12 M10 59 3 N m 23 3 N m 26 Oblong hole depth 4 17 5 17 5 34 2 M8 depth 12 4 H7 reamed depth 4 64 5 4 0 012 0 R Oblong hole 32 Oblong hole depth 4 22 5 22 5 44 2 M10 depth 15 4 H7 reamed depth 4 86 5 5 4 0 012 0 R Oblong hole ...

Page 74: ...to Chapter 9 External Dimensions There are a reamed hole and oblong hole for positioning pins equipped on the bottom 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 Fixing bolt Tightening torque EC RTC9 M6 5 4 N m EC RTC12 M8 11 5 N m Positioning pins 2 pcs φ4h7 Moun...

Page 75: ...r 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole if mounting reproducibility after detachment is required Hex socket head cap screws 4 pcs RTC9 M4 RTC12 M5 Positioning hole Reamed hole RTC9 φ4H7 depth 5 RTC12 φ5H7 depth 6 Outer fitting RTC9 φ30h7 RTC12 φ40h7 Inner fitting RTC9 φ11H7 RTC12 φ21H7 Tapped hole for fixing load RTC9 M4 screw...

Page 76: ...4 0 N m 1 8 N m EC RTC12 M5 7 3 N m 3 4 N m P C D 2 3 4 M4 depth 6 Equally allocated 4 H7 reamed depth 5 45 45 φ 1 1 H 7 d e p t h 5 S p ig o t C h a m fe r a t o p e n in g C 0 5 φ 3 0 h 7 φ 1 0 H o l l o w P C D 3 2 4 M5 depth 7 5 Equally allocated 5 H7 reamed depth 6 45 45 φ 2 1 H 7 d e p th 5 S p ig o t C h a m fe r a t o p e n in g C 0 5 φ 4 0 h 7 φ 2 0 H o l l o w ...

Page 77: ...e use of screw in depth greater than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or unexpected accidents Notice The bolts and pins are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended ...

Page 78: ...2 14 2 Installation ...

Page 79: ...on arrangement diagram 3 5 3 4 Wiring connections for connectors 3 7 24 V DC 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 24 V DC power supply wiring 3 16 PLC wiring 3 18 Brake release wiring 3 19 ELECYLINDER...

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Page 81: ...he following shows the system configuration Supply 24 V DC 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 82: ... specifications Input 3 output 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 com...

Page 83: ... 18 V DC OFF voltage MAX 6 V DC Residual voltage 2 V or less Leakage current MAX 1 mA per point Leakage current MAX 0 1 mA 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 com...

Page 84: ...ease wiring pages 3 12 and 3 17 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 In case it is not possible to ground at the attached face use the grounding tapped hole equipped on the side of the controller cover to establish grounding Use a te...

Page 85: ... 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 0 V BKRLS ST0 ST1 RES ALM LS0 LS1 0 V 24 V DC Ground Alarm clear B1 24 V 24 V power supply Backward Forward Note 1 B1 B3 B5 B2 B4 A3 A4 A...

Page 86: ...occurs For PNP specification For NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24 V BKRLS ST0 ST1 RES ALM LS0 LS1 0 V 24 V DC Brake release 24 V power supply Driving Source Alarm clear Backward complete Forward complete Alarm A1 0 V Ground Backward Forward ELECYLINDER PNP specification Power I O connector A2 24 V 24 V power supply Control Note 1 ELECYLINDER NPN specification Backward complete P...

Page 87: ... connector terminal and the 0 V terminal of the 24 V DC power supply When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24 V power supply in the stopped state control drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24 V KIV 0 75 mm2 AWG18 Power supply voltage 24 V DC 10 Power capacity RTC...

Page 88: ...upply 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 24 V Driving Source power supply in the stopped state drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24 V Driving Source KIV 0 75 mm2 AWG18 Power supply voltage 24 V DC 10 Powe...

Page 89: ...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 20 mm2 AWG24 Backward command B4 Forward ST1 Forward command B5 Alarm clear RES Alarm clear A3 Backward complete LS0 PE0 Backward complete pressing comple...

Page 90: ...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 91: ...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 10 m is used insufficient current may trigger an alarm and the performan...

Page 92: ... 24 V DC 10 200 mA or higher is required Pin No Connector nameplate name Signal abbreviation Compatible wire diameter Required specifications B2 Brake release BKRLS KIV 0 20 mm2 AWG24 24 V DC 10 200 mA 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 Note 1 TMD2 is 24 V control Note Cable in light green and light gra...

Page 93: ...tor 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 le...

Page 94: ...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 95: ...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 96: ...e insulation color black to the 0 V terminal of the 24 V DC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24 V Power supply input Power supply voltage 24 V DC 10 Power capacity RTC12 Rated 3 5 A max 4 2 A RTC9 Max 2 0 A Black 0 V Ground When establishing an external stop switch add a b contact switch to the red terminal wiring This shuts off the 24 V p...

Page 97: ...ply Connect the 0 V wire insulation color black to the 0 V terminal of the 24 V DC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24 V Driving Source Driving Source Power supply input Power supply voltage 24 V DC 10 Power capacity RTC12Rated 3 5 A max 4 2 A RTC9 Max 2 0 A Including control power supply 0 3 A Light Blue 24 V Control Control Power supply ...

Page 98: ...llow 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 diagram 3 4 5 6 7 8 PLC Process the terminals in accordance with PLC spe...

Page 99: ...fication with brake when installing a forcible brake release switch connect the brown cable wire Power capacity of 24 V DC 10 200 mA or higher is required Wiring color Signal abbreviation Function overview Required specifications Brown BKRLS Brake release 24 V DC 10 200 mA or higher ...

Page 100: ...3 20 3 Wiring ...

Page 101: ...d end backward end 4 6 Operating conditions AVD setting adjustment 4 7 Pressing operation setting 4 10 4 4 I O signals 4 12 I O signal list 4 12 ST0 ST1 signals Movement command input backward forward 4 13 RES signal Alarm clear input 4 14 BKRLS input Brake release input 4 14 LS0 LS1 signals Position detection output backward end forward end 4 15 PE0 PE1 signals Pressing complete output backward e...

Page 102: ...4 5 Operating method from master device 4 17 Home return operation positioning operation ST0 LS0 ST1 LS1 signals 4 17 Pressing operation ST0 ST1 PE0 PE1 signals 4 20 ...

Page 103: ...n 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 E...

Page 104: ...h While stopped if external force is applied in the rotating direction the output shaft may be displaced by the distance of the backlash The movement distance will be shortened to the extent of the backlash after the rotating direction is reversed This error can be corrected by inputting the position value with the backlash added to the movement distance Type Backlash EC RTC9 0 2 or less EC RTC12 ...

Page 105: ...ching pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Caution Maximum oscillation angle 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...

Page 106: ... instructions If the position edit password is set to a value other than 0000 enter the password and press the ENT key on the touch panel The screen will switch to the Simple Data Setting window The position edit password is set to 0000 at shipping Refer to the teaching pendant manual ME0355 for information about changing the password Touch the Homing button The ELECYLINDER returns to the home pos...

Page 107: ...ons 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 op...

Page 108: ... of 0 01 degrees 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 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 Note that pressing the button while operat...

Page 109: ...ton to switch the units to G allowing entries to be made in increments of 0 01 G The acceleration deceleration unit of G is described below 1 G 9 807 deg s2 Acceleration possible up to 9 807 deg s per second For 0 3 G the acceleration per second is 9 807 deg s2 0 3 2 942 deg s2 The procedure on the following page can be used to configure adjust the operating conditions AVD Note that the ELECYLINDE...

Page 110: ... value will be displayed below the ten key pad To configure a new setting touch the Change key The Transported load setting window will open Select Mounting orientation and enter the Payload then touch the Setting 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 111: ...and the B End button and F End button will turn green The Transfer log will also be updated Current set value and Previous set value cycle time calculation results are updated Press the F End or B End 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 112: ...ssing operation Set between 20 and 70 Switch units can be used to input values in N m units The pressing speed is 20 deg s If V Velocity is set to 20 deg s or below pressing will take place at the speed of V Velocity Caution The pressing force displayed in N m units serves as a guideline Refer to Pressing force and current limit value relationship on pages 1 9 20 When the pressing speed is 20 deg ...

Page 113: ... 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 114: ... 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 24 V DC 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 115: ...rd 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 stop...

Page 116: ...e power capacity requires 24 V DC 10 and 200 mA 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 output shaft by hand Warning Before releasing the brake make sure to check there is nothing that wil...

Page 117: ...configured at the backward 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 10 degrees To adjust the LS signal detection range open the Edit parameters window Parameter No 2 Auto switch LS signa...

Page 118: ...hen 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 6 ms input time constant For signals less th...

Page 119: ...on should be conducted without having the home return operation Caution In the home reverse specification model NM home return operation is in the reverse direction Backward signal ST0 Backward end signal LS0 ELECYLINDER movement 1 Backward 3 Forward Home Backward end Reverse at mechanical end Turning the ST signal OFF midway through operation will interrupt home return operation 1 When the ST0 si...

Page 120: ... the forward end 6 Output LS1 Moved to the forward end 7 Input ST0 t2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat t1 Wait approximately 0 5 seconds from when the ALM signal turns ON before inputting the first command t2 The time taken for the ELECYLINDER actually to reach the forward or backward end after the LS signal turns ON Consider t2 when givin...

Page 121: ...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 122: ...s as follows Caution The pressing operation speed is 20 deg 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 sig...

Page 123: ...ard 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 ELECYLINDER wi...

Page 124: ...4 22 4 Operation ...

Page 125: ...nance information 5 2 Total travel count 5 2 Count of back and forth between 0 and 180 deg To be figured out from total 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 126: ......

Page 127: ...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 128: ...resent one and update Setting it to 0 times will disable this function Count of back and forth between 0 and 180 deg To be figured out from total distance Name Symbol Unit Input range Default setting at shipping Count of back and forth between 0 and 180 deg To be figured out from total distance ODOT times 0 to 999 999 999 0 disabled setting When the count of back and forth between 0 and 180 deg To...

Page 129: ... 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 130: ...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 131: ... and Ten Key window will open Enter the value with the Ten Key pad and touch the ENT key The target value will change If you touch ESC the target value will not be changed and the original window will return If the actuator has been replaced touch the Actuator replacem button Total travel count and 0 deg 180 deg Reciprocating move count will be cleared to 0 1 Action 2 Action Action 3 ...

Page 132: ...5 6 5 Preventive Predictive Maintenance ...

Page 133: ...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...

Page 134: ......

Page 135: ...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 136: ...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 137: ...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 138: ...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 139: ...ting at stop SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 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 ...

Page 140: ...peration range can be adjusted to suit your system The minimum setting unit is 0 01 degrees Set up an angle that you would like to use The controller automatically adds 0 30 degrees and controls monitors the operation range Set the operating rotation angle between 0 and 80 degrees by changing Parameter No 1 to 80 00 degrees Caution Set within the ELECYLINDER movable range Setting to a value that e...

Page 141: ...LECYLINDER enters the detection range the backward complete or forward complete signal turns ON The minimum setting unit is 0 01 degrees The LS signal detection range for the conditions below is shown in the figure Backward end 0 00 degrees Forward end 100 00 degrees Parameter No 2 0 10 degrees Caution A value smaller than the minimum resolution cannot be set Minimum resolution deg p 360 reduction...

Page 142: ...etermined as the home position As the datum is the only difference and the rotation range should be the same 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 colli...

Page 143: ...er assembly into equipment 2 To adjust the new home position upon reversing the default home return direction after purchase 3 To eliminate a slight deviation from the previous home position generated after replacing the ELECYLINDER If Parameter No 4 is 0 30 degrees the relationship between mechanical stopper and home position is shown in the figure Caution If adjusting Parameter No 4 simultaneous...

Page 144: ...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 145: ...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 146: ...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 147: ...hen Enabled the power capacity can be reduced up to 40 compared to Disabled mode but the maximum acceleration deceleration output torque and allowable moment of inertia decrease in comparison Refer to Output torque and allowable moment of inertia Power saving Enabled on page 1 13 When Disabled the maximum acceleration deceleration output torque and allowable moment of inertia increase compared to ...

Page 148: ...6 14 6 Parameters ...

Page 149: ...oad 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 Count of back and forth between 0 and 180 deg To be figured out from total distance 7 16 Maintenance wa...

Page 150: ......

Page 151: ...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 500 ms Red 500 ms alternate blinking in 1 Hz cycle Maintenance warning generated When the travel count or the travel distance has exceeded the set value or when overload warning is generated ...

Page 152: ... 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 200 ms OFF 200 ms alternate blinking Wireless hardware error ON 150 ms OFF 150 ms alternate blinking Connecting through wireless Green Red RTC9 RTC12 Green Red ...

Page 153: ...move 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 ev...

Page 154: ...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 155: ...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 156: ...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 15 to 18 If the unit still does not recover contact IAI Condition 2 SV ALM LEDs light up red No Possible cause Confirmation countermeasure ...

Page 157: ...hinner 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 comma...

Page 158: ...itting interference 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 sl...

Page 159: ...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 160: ...in Warning Red green alternate blinking ON Continued operation Maintenance Warnings 1 2 Total travel count Count of back and forth between 0 and 180 deg To be figured out from total 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...

Page 161: ... surface should be a machined surface or a plane with similar accuracy with flatness within 0 05 mm m Refer to the recommended tightening torque of the bolts for main frame fixing in 2 3 Installation method 5 The peak power capacity of the 24 V power supply is less than 4 2 A 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 thi...

Page 162: ...s Remove the heat source turn OFF the heat source install a fan install a temperature shield improve thermal conductivity of the main frame 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 output torque allowable moment of inertia acceleration deceleration and speed a...

Page 163: ...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 164: ...the specifications of the replaced motor and controller are both battery less absolute encoder specification or incremental encoder specification For details refer to Controller replacement page 8 15 to 18 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...

Page 165: ...wer 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 10 m 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...

Page 166: ...2 Maintenance information and 5 3 Setting maintenance information Maintenance warning 2 Count of back and forth between 0 and 180 deg To be figured out from total distance This is an alert that the target value of the count of back and forth between 0 and 180 deg To be figured out from total distance set by the customer has been reached No Content Countermeasure 1 For safe use and long service lif...

Page 167: ...ng may be caused by the depletion of grease on the gears inside the ELECYLINDER brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Have a visual inspection to check on the gears inside ELECYLINDER for dry up of grease If the grease is dried up supply grease For details refer to 8 5 Greasing method Countermeasure 2 Remove the motor and check the sliding movement of t...

Page 168: ...7 18 7 Troubleshooting ...

Page 169: ...8 3 Visual inspection items 8 4 External visual inspection 8 4 Internal visual inspection 8 5 8 4 Cleaning 8 8 External cleaning 8 8 8 5 Greasing method 8 9 Rotary 8 9 8 6 How to replace components 8 14 Controller replacement Controller cover assembly replacement 8 14 Belt replacement 8 20 Motor replacement 8 23 ELECYLINDER Chapter ...

Page 170: ......

Page 171: ...ng parts within the operation range The output shaft may rotate and possibly injuring the operator or people nearby and damage the ELECYLINDER workpiece or equipment Caution Check that the power to the ELECYLINDER is OFF before conducting any maintenance or inspections Be careful not to lose the cover or any removed screws Be sure to return the product to the original condition after maintenance a...

Page 172: ...re It is recommended to shorten the grease supply period if the actuator is used under poor environmental conditions such as high temperatures high humidity or dusty atmospheres Also it is recommended to improve the environmental conditions in case the grease changes color notably due to poor operating conditions Base oil may separate from the grease due to the mounting orientation or operating co...

Page 173: ...ght and day or otherwise running at a high operating rate inspect more often Rotary Inspection period External inspection Internal inspection Greasing Note 1 Start of work inspection 1 month inspection 3 month inspection 6 month inspection Every 6 months thereafter Note 1 Make sure to follow the inspection period in the table to supply grease Being negligent of supplying grease could cause an abra...

Page 174: ...bnormal noise or vibration generated Refer to 7 3 Troubleshooting with no alarm generated for help Are ELECYLINDER mounting bolts loose Tighten them further Is the cable scratched Replace if the damage is severe Is there an abrasion on cable in case it goes through inside the hollow Replace it in case the abrasion is significant Is the connector loose Re insert correctly Is grease dripping out Cle...

Page 175: ...justment methods Internal visual inspection Inspection items Maintenance work Is the gear grease not lubricating well Even if the grease is brown lubrication is adequate if the running surface is shiny Replenish the new grease 1 Take of the grease supply cap on the side of the main frame 2 Check the lubricant condition on the internal gears from the grease supply inlet How to conduct inside visual...

Page 176: ...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 the left is found Refer to Belt replacement in 8 6 How to replace component...

Page 177: ...ize Number Tightening torque RTC9 Cross recessed pan screw M2 5 10 2 pcs 34 5 N cm RTC12 Cross recessed pan screw M3 5 2 pcs 61 5 N cm 2 Inspect the timing belt Put the pulley cover on after the inspection How to inspect belt on Rotary Timing belt Pulley cover RTC9 Cross recessed pan screw M2 5 5 RTC12 Cross recessed pan screw M3 5 ...

Page 178: ...is found wipe it off with soft cloth 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 179: ...Application location During maintenance recommended product Default reference Gear part Kyodo Yushi Multemp AC D or Sumico Lubricant Sumigrease Spray Kyodo Yushi Multemp AC D 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 ...

Page 180: ...ioning operation using a teaching tool such as PC software Approx 30 deg s Spread grease over the entire gear Make sure to prepare the emergency stop button emergency stop circuit in your reach before starting to work when using a teaching tool such as PC software 3 Move the gear back and forth several times to evenly spread grease 4 Put the grease supply cap back on to the main frame How to suppl...

Page 181: ...i Engineering Nozzle outer diameter1 27 mm needle long 12 7 mm Caution Too much grease applied could cause overflow of grease which may cause troubles and defects 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 ...

Page 182: ...sting screw or by positioning operation using a teaching tool such as PC software Approx 30 deg s Spread grease over the entire gear Make sure to prepare the emergency stop button emergency stop circuit in your reach before starting to work when using a teaching tool such as PC software 3 Move the gear back and forth several times to evenly spread grease 4 Put the grease supply cap back on to the ...

Page 183: ... within 1 second Too much grease applied could cause overflow of grease which may cause troubles and defects 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 ...

Page 184: ...ontroller cover assembly replacement RTC9 1 Remove the screws 2 pieces fixing the controller cover assembly 2 Pull off the connector joining the controller PC board and the motor unit and take off the controller cover assembly Controller cover assembly Controller cover assembly Connector Cross recessed pan screw M2 5 5 ...

Page 185: ...ssembly for replacement and put on the controller cover assembly for replacement 4 Tighten the screws 2 pieces to affix the controller cover assembly Part Name Size Number Tightening torque Cross recessed pan screw M2 5 5 2 pcs 34 5 N cm Controller cover assembly Connector How to replace Rotary Controller Controller cover assembly Cross recessed pan screw M2 5 5 ...

Page 186: ...e screws 3 pieces fixing the controller cover assembly 2 Take off the controller cover assembly 3 Pull off the cable connector connected to the motor unit assembly from the PC board Controller cover assembly Cross recessed pan screw M3 5 End plate for replacement Connector PC board ...

Page 187: ...the cable connecting the controller cover assembly and the PC board and then take the end plate off The ring tongue terminal on the internal wiring frame grounding line should be jointly fastened on the end plate Hex socket head cap screw M3 10 End plate Frame grounding line Connector PC board ...

Page 188: ... N cm 6 Join the connector on the internal wiring on the controller to the PC board 7 Fasten the ring tongue terminal on the internal wiring frame grounding line jointly on the end plate 8 Put the controller cover assembly on Part Name Size Number Tightening torque Hex socket head cap screw M3 10 1 pc 83 0 N cm End plate for replacement Connector PC board Hex socket head cap screw M3 10 Controller...

Page 189: ... 5 3 pcs 61 5 N cm Body model Controller cover assembly model number EC RTC9 CCA EC RTC9 P TMD2 WL WL2 EC RTC12 CCA EC RTC12 P TMD2 WL WL2 P PNP specification TMD2 Two Circuit Power Supply Specification WL Wireless communication specification WL2 Wireless axis operation specification Indicate either of WL or WL2 How to replace Rotary Controller Controller cover assembly Cross recessed pan screw M3...

Page 190: ...eplace it 1 Remove the screws 2 pieces fixing the pulley cover 2 Loosen the affixing screws on the motor unit 3 Take the timing belt off and put on a timing belt for replacement Timing belt RTC9 Cross recessed pan screw M2 5 5 RTC12 Cross recessed pan screw M3 5 Pulley cover RTC9 Hex socket head cap screw Plain washer M2 5 6 φ2 7 φ5 0 5 RTC12 Flanged hex socket screw M3 5 Timing belt Timing belt f...

Page 191: ...e load tensile force so it goes in parallel to the timing belt 5 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Model Part Name Size Number Tightening torque RTC9 Hex socket head cap screw M2 5 6 2 pcs 45 8 N cm Plain washer φ2 7 φ5 0 5 2 pcs RTC12 Flanged hex socket screw M3 5 2 pcs 92 0 N cm Tensile force 32 N In common for EC RTC9 RTC12 ...

Page 192: ...2 5 5 2 pcs 34 5 N cm RTC12 Cross recessed pan screw M3 5 2 pcs 61 5 N cm 7 Operation shown below should be conducted for each encoder type Incremental Home return operation Battery less absolute Absolute reset Body model Timing belt model number EC RTC9 TB EC RTC9 EC RTC12 TB EC RTC12 How to replace Rotary Belt RTC9 Cross recessed pan screw M2 5 5 RTC12 Cross recessed pan screw M3 5 Pulley cover ...

Page 193: ...able for motor replacement Ask IAI when it is necessary to replace it RTC9 1 Remove the screws 2 pieces fixing the controller cover assembly 2 Pull off the connector joining the controller PC board and the motor encoder and take off the controller cover assembly Controller cover assembly Controller cover assembly Connector Cross recessed pan screw M2 5 5 ...

Page 194: ...ction 3 Remove the screws 2 pieces fixing the pulley cover 4 Loosen the affixing screws on the motor unit 5 Take the timing belt off Timing belt Timing belt Cross recessed pan screw M2 5 5 Hex socket head cap screw Plain washer M2 5 5 φ2 7 φ5 0 5 Pulley cover ...

Page 195: ...ver assembly from the motor unit 8 Take the motor unit off and put on a motor unit for replacement Join the cables taken off in 7 to the motor unit for replacement The motor for replacement should be kept temporarily fastened End plate Motor cover Motor unit for replacement Hex socket head cap screw Plain washer M2 5 6 φ2 7 φ5 0 5 Hex socket head cap screw M3 10 Hex socket head cap screw M3 10 Pul...

Page 196: ...rews on the pulley side Put on the end plate on the controller side Part Name Size Number Tightening torque Hex socket head cap screw M3 10 3 pcs 83 0 N cm 11 Put the timing belt on Motor cover Timing belt End plate Hex socket head cap screw M3 10 Hex socket head cap screw M3 10 Pulley side Controller side ...

Page 197: ...3 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Part Name Size Number Tightening torque Hex socket head cap screw M2 5 6 2 pcs 45 8 N cm Plain washer φ2 7 φ5 0 5 2 pcs 14 Tighten the screws 2 pieces to affix the pulley cover Part Name Size Number Tightening torque Cross recessed pan screw M2 5 5 2 pcs 34 5 N cm Cross recessed pan screw M2 ...

Page 198: ...or unit and put on the controller cover assembly 16 Tighten the screws 2 pieces to affix the controller cover assembly Part Name Size Number Tightening torque Cross recessed pan screw M2 5 5 2 pcs 34 5 N cm How to replace Rotary Motor Unit Controller cover assembly Connector Controller cover assembly Cross recessed pan screw M2 5 5 ...

Page 199: ...e screws 3 pieces fixing the controller cover assembly 2 Take off the controller cover assembly 3 Pull off the cable connector connected to the motor unit assembly from the PC board Controller cover assembly Cross recessed pan screw M3 5 End plate for replacement Connector PC board ...

Page 200: ...the cable connecting the controller cover assembly and the PC board and then take the end plate off The ring tongue terminal on the internal wiring frame grounding line should be jointly fastened on the end plate Hex socket head cap screw M3 10 End plate Frame grounding line Connector PC board ...

Page 201: ...nance and Inspection 5 Remove the screws 2 pieces fixing the pulley cover 6 Loosen the affixing screws on the motor unit 7 Take the timing belt off Timing belt Timing belt Cross recessed pan screw M3 5 Pulley cover Flanged hex socket screw M3 5 ...

Page 202: ... side 9 Take the motor cover off 10 Take the motor unit assembly off and put on a motor unit assembly for replacement The motor for replacement should be kept temporarily fastened Motor cover Hex socket head cap screw M3 10 Pulley side Flanged hex socket screw M3 5 Motor unit assembly for replacement ...

Page 203: ...spection 11 Put the motor cover on 12 Tighten the screws on the pulley side Part Name Size Number Tightening torque Hex socket head cap screw M3 10 3 pcs 83 0 N cm 13 Put the timing belt on Motor cover Timing belt Hex socket head cap screw M3 10 Pulley side ...

Page 204: ...o the timing belt 15 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Part Name Size Number Tightening torque Hex socket head cap screw M3 5 2 pcs 92 0 N cm 16 Tighten the screws 2 pieces to affix the pulley cover Part Name Size Number Tightening torque Cross recessed pan screw M3 5 2 pcs 61 5 N cm Cross recessed pan screw M3 5 Pulley cover T...

Page 205: ...N cm 18 Join the connector on the internal wiring on the controller to the PC board 19 Fasten the ring tongue terminal on the internal wiring frame grounding line jointly on the end plate 20 Put the controller cover assembly on Part Name Size Number Tightening torque Hex socket head cap screw M3 10 1 pc 83 0 N cm End plate for replacement Connector PC board Hex socket head cap screw M3 10 Controll...

Page 206: ...er cover assembly Part Name Size Number Tightening torque Cross recessed pan screw M3 5 3 pcs 61 5 N cm Body model Motor unit model number EC RTC9 EC MURTC9 WA EC RTC12 EC MURTC12 WA WA Battery less absolute encoder specification How to replace Rotary Motor Unit Controller cover assembly Cross recessed pan screw M3 5 ...

Page 207: ...External Dimensions 9 1 Rotary external dimensions 9 1 EC RTC9 9 1 EC RTC12 9 2 ELECYLINDER Chapter ...

Page 208: ......

Page 209: ...pth 4 26 17 5 17 5 34 Oblong hole depth 4 2 M8 depth 12 S 22 5 22 5 8 M6 Screw depth 12 P C D 43 Table Adapter Specification Oblong hole depth 4 5 U 6 2 0 1 0 Shaft Adapter Specification R0 1 orless φ34 φ8 h7 φ14 16 18 72 5 From base bottom 13 1 5 3 0 004 0 029 R C0 5 φ10 φ32 H7 4 C0 5 φ60 h7 58 7 From base bottom 13 5 C 0 5 5 4 0 012 0 R Detailed View S Detail of Oblong Hole on Base Detailed View...

Page 210: ...22 5 22 5 44 32 2 M10 depth 15 Oblong hole depth 4 S 8 M8 Screw depth 14 22 5 22 5 P C D 5 5 Oblong hole depth 5 5 U 12 0 0 1 φ15 h7 φ46 33 5 φ21 25 5 5 0 0 030 R 105 5 From base bottom 36 C 0 5 R0 1 or less φ44 H7 5 φ20 C0 5 φ75 h7 15 74 From base bottom C 0 5 4 0 012 0 R 5 Detailed View S Detail of Oblong Hole on Base Detailed View X 18 6 R 9 6 Detail of Grease Supply Inlet 7 5 0 030 0 Detailed ...

Page 211: ...Life 10 1 Concept of life for Rotary 10 1 10 2 Concept of life for controller 10 1 ELECYLINDER Chapter10 ...

Page 212: ......

Page 213: ... 1 1 It is a reference of life when conducting rotation back and forth between 0 deg and 180 deg 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 operat...

Page 214: ...10 2 10 Life ...

Page 215: ...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 216: ......

Page 217: ...ion manual and catalog 4 The breakdown or malfunction in question was caused 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 ...

Page 218: ...tended or designed for the applications specified below which require a high level of safety Accordingly as a rule our product cannot be used in these 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 transp...

Page 219: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 4 ELECYLINDER Chapter12 ...

Page 220: ......

Page 221: ... to 10 Brake hold torque EC RTC9 1 5 EC RTC12 1 11 Brake release signal BKRLS 3 4 to 6 3 12 3 19 4 12 4 14 Brake type EC RTC9 1 5 EC RTC12 1 11 C Cleaning 8 8 Components 1 1 Connection arrangement diagram 3 5 to 6 Controller replacement 8 14 to 18 Count of back and forth between 0 and 180 deg To be figured out from total distance 5 2 7 16 Current control setting at stop Parameter No 6 6 5 6 11 7 9...

Page 222: ... 16 7 1 to 2 Life Controller 10 1 Rotary 10 1 LS0 signal backward complete 3 5 to 6 3 9 4 12 4 15 4 17 to 19 LS1 signal forward complete 3 5 to 6 3 9 4 12 4 15 4 17 to 19 M Maintenance information 5 2 to 3 Maintenance warning 1 5 2 7 16 Maintenance warning 2 5 2 7 16 Maintenance warning 3 5 3 7 17 Mass EC RTC9 9 1 EC RTC12 9 2 Maximum allowable moment EC RTC9 1 5 EC RTC12 1 11 Maximum allowable mo...

Page 223: ...10 S Safety Guide Intro 1 Setting maintenance information 5 4 to 5 Setting adjustment of operating conditions AVD 4 7 to 9 Shaft adapter option model SA 1 33 Smooth accel decel setting Parameter No 5 6 5 6 10 7 9 S motion 6 10 ST0 signal backward 3 5 to 6 3 9 4 12 to 13 4 16 to 21 ST1 signal forward 3 5 to 6 3 9 4 12 to 13 4 16 to 21 Stop position setting adjustment 4 6 Storage preservation enviro...

Page 224: ...or relay cable equipped with 4 way connector Pg 6 8 Correction made to figure of parameter No 3 home reversed setting Pg 7 15 Overcurrent has occurred on the I O output part added Pg 8 6 Change made to belt figure Edition 1C Pg 1 9 1 20 Caution regarding pressing added Pg 1 30 Correction made to moment by centrifugal force formula ω ω2 Pg 3 8 Description made stating 0 3mm2 AWG22 wire is available...

Page 225: ......

Page 226: ...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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