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IAI ELECYLINDER EC-RTC9, Instruction Manual

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IAI ELECYLINDER EC-RTC9 Instruction Manual Download Page 144

 

6.4 Parameter function descriptions 

6-10 

6. Parameter

s 

 

Parameter No. 5: Smooth accel/decel setting 

 

No.  Category 

Name 

Symbol

Unit 

Input range  Default setting 

at shipping 

5 

A 

Smooth   

accel/decel setting

MOD0 

- 

Disabled, 

enabled 

Disabled 

 

● The movement waveform for ELECYLINDER operation can be selected. 
● When [Enabled], accel/decel operation becomes smoother (less abrupt). 

This 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 (acceleration) will occur, which may be dangerous. 

 
 

 

Setting 

Acceleration/deceleration 

pattern 

Operation waveform image 

Disabled 

Trapezoid 

 

 

Enabled 

S-motion 

 

 

 

Time

Speed

Speed

Time

Summary of Contents for ELECYLINDER EC-RTC9

Page 1: ...redictive 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...

Page 2: ......

Page 3: ...so that whoever is handling the product can refer to it quickly when necessary Important This instruction manual is an original document dedicated for this product This product cannot be used in ways...

Page 4: ...ual 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...

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 specific...

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 c...

Page 7: ...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 adjust...

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 di...

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: ...cations Otherwise the product life may be drastically shortened and product damage or facilities stoppage may occur Do not use it in any of the following environments 1 Locations with flammable gases...

Page 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 equival...

Page 12: ...fire electric shock or abnormal operation due to leakage or conduction malfunction Perform the wiring for the product after turning OFF the power to the unit and avoid miswiring When wiring DC power...

Page 13: ...insert fingers or objects into the openings in the product Otherwise this may lead to injury electric shock product damage or fire When releasing the brake on a vertically oriented actuator be carefu...

Page 14: ...lead to fire or damage to the product When a power failure occurs turn OFF the power switch Otherwise this may lead to injury or product damage due to unexpected product motion during recovery from t...

Page 15: ...rotection fence the movable range should be indicated 9 Modification and Disassembly Do not modify disassemble assemble or use maintenance parts not specified on your own discretion 10 Disposal When t...

Page 16: ...is not handled correctly will result in death or serious injury Danger Warning This indicates a potentially hazardous situation which if the product is not handled correctly could result in death or...

Page 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...

Page 18: ...e 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...

Page 19: ...o 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 Rad...

Page 20: ...sition cet appareil et son antenne ne doivent pas tre co localis s ou fonctionnant en conjonction avec une autre antenne ou transmetteur EU Member States For details of the applicable standards please...

Page 21: ...ON IABL3827 Made in Japan IAI Robot Thailand Co Ltd M xico Mexico N mero de Certificaci n IFT RCPIATB19 1956 Nombre de la Empresa Solicitante IAI Corporation Nombre del Modelo IABL3827 Pa s de Fabrica...

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...

Page 23: ...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 Ou...

Page 24: ...tus 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 st...

Page 25: ...ck 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 3...

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

Page 27: ...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...

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: ...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 specifica...

Page 30: ...m 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...

Page 31: ...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...

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...

Page 33: ...d 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 Accelera...

Page 34: ...om 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...

Page 35: ...e 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...

Page 36: ...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 T...

Page 37: ...tally 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...

Page 38: ...otational 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...

Page 39: ...tput 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...

Page 40: ...t 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 Accelera...

Page 41: ...ications 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...

Page 42: ...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...

Page 43: ...ving 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 Disa...

Page 44: ...ications 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...

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...

Page 46: ...e 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...

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 availabl...

Page 48: ...anical 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 rati...

Page 49: ...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 mom...

Page 50: ...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 t...

Page 51: ...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...

Page 52: ...ut 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...

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 sav...

Page 54: ...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 mo...

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 Allowable thrust load N RTC9 5 50 RTC1...

Page 56: ...ternal force N h5 Height of radial external force from output shaft attachment face mm g Gravitational acceleration m s2 Angular velocity rad s Example of calculation for moment load MT MT Moment by g...

Page 57: ...erse 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 y...

Page 58: ...ell 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 wi...

Page 59: ...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 E...

Page 60: ...eration 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 RTC...

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 processe...

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 p...

Page 63: ...reservation 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...

Page 64: ......

Page 65: ...ge 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 un...

Page 66: ...y 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...

Page 67: ...ld 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 t...

Page 68: ...he 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 iro...

Page 69: ...ly 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...

Page 70: ...racy 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 ELECYL...

Page 71: ...eign 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 rec...

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 detachm...

Page 73: ...lation 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...

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...

Page 75: ...ter 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...

Page 76: ...9 M4 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 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 3 0 h 7 1 0 H o l...

Page 77: ...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 un...

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

Page 79: ...n 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 cab...

Page 80: ......

Page 81: ...e 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 a...

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 t...

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 fro...

Page 84: ...ase 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 vi...

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...

Page 86: ...ccurs 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 comp...

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 t...

Page 88: ...pply 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 supp...

Page 89: ...he 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 diam...

Page 90: ...rnal 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 p...

Page 91: ...ausing 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 d...

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...

Page 93: ...or 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 wir...

Page 94: ...rientation 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 sock...

Page 95: ...tor 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...

Page 96: ...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...

Page 97: ...ly 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 Drivin...

Page 98: ...low 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...

Page 99: ...ication 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 over...

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

Page 101: ...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...

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: ...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 ope...

Page 104: ...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 bac...

Page 105: ...hing 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 chec...

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 po...

Page 107: ...nditions 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...

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...

Page 109: ...button 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...

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...

Page 111: ...nd 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...

Page 112: ...sing 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 spee...

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 but...

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...

Page 115: ...d 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 detail...

Page 116: ...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...

Page 117: ...onfigured 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...

Page 118: ...en 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 Trou...

Page 119: ...n 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 sig...

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...

Page 121: ...e 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...

Page 122: ...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 w...

Page 123: ...rd 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...

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

Page 125: ...ance 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 S...

Page 126: ......

Page 127: ...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 r...

Page 128: ...esent 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 a...

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 Ma...

Page 130: ...E0155 Teaching pendant operating method Teaching pendant manual ME0355 Touch panel teaching pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Switching to maintenance informat...

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...

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

Page 133: ...r 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 Pa...

Page 134: ......

Page 135: ...t 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 in...

Page 136: ...enu 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 edi...

Page 137: ...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 but...

Page 138: ...he 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...

Page 139: ...ing 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 Disable...

Page 140: ...eration 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 monito...

Page 141: ...ECYLINDER 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...

Page 142: ...termined 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 t...

Page 143: ...r 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...

Page 144: ...oftens 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 decelerati...

Page 145: ...nging 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...

Page 146: ...LECYLINDER 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 b...

Page 147: ...en 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...

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

Page 149: ...ad 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 capa...

Page 150: ......

Page 151: ...ide 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 O...

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...

Page 153: ...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 teachin...

Page 154: ...h 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 gene...

Page 155: ...ler C Controller error alarm Content Countermeasure Controller abnormality occurred Replace the controller D Controller encoder abnormality alarm Content Countermeasure An abnormality occurred between...

Page 156: ...fer 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...

Page 157: ...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...

Page 158: ...tting 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...

Page 159: ...on 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 suppres...

Page 160: ...n 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 cleare...

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 m...

Page 162: ...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 b...

Page 163: ...INDER 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...

Page 164: ...he 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 t...

Page 165: ...er 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...

Page 166: ...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 tar...

Page 167: ...g 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 t...

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

Page 169: ...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 1...

Page 170: ......

Page 171: ...g 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...

Page 172: ...e 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...

Page 173: ...ht 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...

Page 174: ...normal 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...

Page 175: ...ustment 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...

Page 176: ...orn 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 repl...

Page 177: ...ze 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 inspec...

Page 178: ...s 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 solve...

Page 179: ...pplication 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...

Page 180: ...oning 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...

Page 181: ...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 immediat...

Page 182: ...ting 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 circui...

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 Af...

Page 184: ...ntroller 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...

Page 185: ...sembly 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 reces...

Page 186: ...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 as...

Page 187: ...he 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 th...

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 cont...

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 Specificatio...

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...

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 Ti...

Page 192: ...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 Absol...

Page 193: ...ble 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...

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...

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...

Page 196: ...ews 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...

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 Plai...

Page 198: ...r 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...

Page 199: ...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 as...

Page 200: ...he 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 th...

Page 201: ...ance 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...

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 socke...

Page 203: ...pection 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...

Page 204: ...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 pc...

Page 205: ...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 co...

Page 206: ...r 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 ab...

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

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Page 209: ...depth 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...

Page 210: ...4 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 15 h7 46 33 5 21 25 5 5 0 0 030 R 105 5 From base bottom 36 C 0 5 R0 1 o...

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

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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 m...

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

Page 215: ...ope of the warranty 11 1 11 3 Honoring the warranty 11 1 11 4 Limited liability 11 2 11 5 Conformance with applicable standards regulations etc and application conditions 11 2 11 6 Other items exclude...

Page 216: ......

Page 217: ...on 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 e...

Page 218: ...ended 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 produ...

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

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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 diag...

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...

Page 223: ...0 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...

Page 224: ...for 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...

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Page 226: ...SS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street...

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