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IAI EYECYLINDER EC-B6 Series Instruction Manual Download Page 125

 
 
 
 
 
 
 
 
 
 
 
 
 
 

 

Troubleshooting

 

 

 

7.1

 

Troubleshooting confirmations ···································· 7-1

 

7.2

 

Troubleshooting diagnosis ········································· 7-4

 

7.3

 

Troubleshooting with no alarm generated ····················· 7-6

 

Operation failure ······································································ 7-6

 

Abnormal or unstable operation ·················································· 7-8

 

7.4

 

Troubleshooting by alarm groups ······························ 7-10

 

Alarm group A: Overload alarm ················································· 7-11

 

Alarm group B: Motor abnormality alarm ···································· 7-12

 

Alarm group C: Controller abnormality alarm ······························· 7-13

 

Alarm group D: Controller-encoder abnormality alarm ··················· 7-14

 

Alarm group E: Supply voltage/power capacity abnormality alarm ··· 7-15

 

Maintenance warning 1 ··························································· 7-16

 

Maintenance warning 2 ··························································· 7-16

 

Maintenance warning 3 ··························································· 7-17

 

 

 

 

 

ELECYLINDER 

 

 

Chapter 

 

Summary of Contents for EYECYLINDER EC-B6 Series

Page 1: ...ntive Predictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Appendix ELECYLINDER ch 1 ch 2 ch 3 ch 4 ch 5 ch 6 ch 7 ch 8 ch 9 ch 10 ch 11 ch 12 Instruction Manual EC B6 B7 First Edition ME3798 1C ...

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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 ME3798 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: ... alcom grease Model G5 1 16 Home reverse specification Model NM 1 16 PNP specification Model PN 1 16 Battery less absolute encoder specification Model WA 1 16 Wireless communication specification Model WL 1 16 Wireless axis operation specification Model WL2 1 17 2 Circuit power supply specification Model TMD2 1 17 1 4 Accessories 1 18 Power I O cable 1 18 Power I O connector 1 19 Chapter 2 Install...

Page 6: ...Brake release wiring 3 18 Chapter 4 Operation 4 1 Basic operation 4 1 4 2 Teaching tool connections and testing operation 4 2 Teaching pendant connection 4 2 ELECYLINDER test operation 4 3 4 3 Stop position operating conditions AVD setting adjustment 4 4 Stop position setting adjustment 4 5 Operating conditions AVD setting adjustment 4 6 4 4 I O signals 4 9 I O signal list 4 9 ST0 ST1 signals Move...

Page 7: ... 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 Chapter 7 Troubleshooting 7 1 Troubleshooting confirmations 7 1 7 2 Troubleshooting diagnosis 7 4 7 3 Troubleshooting with no alarm gene...

Page 8: ...components 8 12 Stainless steel sheet replacement adjustment 8 12 Sheet slider replacement 8 14 Controller replacement motor cover assembly replacement 8 15 Wireless communication circuit board replacement End cover assembly replacement 8 17 Belt adjustment 8 19 Belt replacement 8 22 Motor replacement 8 30 Chapter 9 External Dimensions 9 1 Belt type external dimensions 9 1 EC B6 9 1 EC B7 9 2 Chap...

Page 9: ...ranty 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 Chapter 12 Appendix 12 1 Index 12 1 12 2 Revision history 12 4 ...

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Page 11: ...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 12: ...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 13: ... 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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...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 19: ...e to observe the usage conditions and environment of the product Operation outside the warranty could cause decreased performance or product breakdown Use within the allowable range for each item Item Cautions for use Problems or breakdowns which may occur if the allowable range is exceeded Speed and acceleration deceleration Use within the allowable range May lead to abnormal noise vibration brea...

Page 20: ... in every 5 000 to 10 000 cycles have approximately 5 cycles of return operation over a 50mm distance or more to regenerate the oil film Continued use of the actuator in that state may lead to breakdown In extreme cases flaking may occur on the guide 6 Pressing operation cannot be performed 7 The Allow mm or more indicated in the External Dimensions is intended to enable wiring without excessive f...

Page 21: ...ns as stated below you would be able to utilize this declaration EU Directives Applicable for EC Declaration of Conformity EMC Directive 2014 30 EU To be checked in CE marking described in product nameplate RoHS Directive 2011 65 EU Same as above RE Directive 2014 53 EU To be checked in EC Declaration of Conformity EC Declaration of Conformity proving conformity to RE Directive may be modified wit...

Page 22: ... conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation of the device FCC RF Radiation Exposure Statement This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment End users must follow the specific operating instructions for satisfying R...

Page 23: ...ec 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 2017DJ6836 申请公司名 IAI 株...

Page 24: ...IABL3826 ประเทศผู ผลิต ญี ปุ น Made in Japan ผู นําเข า IAI Robot Thailand Co Ltd México Mexico Número de Certificación IFT RCPIATB19 1956 A1 Nombre de la Empresa Solicitante IAI Corporation Nombre del Modelo IABL3826 País de Fabricación Japón Hecho en Japón Nombre de la Empresa Importadora IAI America Inc ...

Page 25: ... 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 26: ...nd left sides of the actuator are expressed in the way it is placed horizontally as shown in the figure below and is looked at from the motor side Belt type Opposite side Motor side Power I O connector Motor cover Teaching port Right side Left side Bracket cover End cover Status indicator LED Slider Slider cover Stainless steel sheet Sheet clamp Motor bracket Base Front cover ...

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

Page 28: ...Intro 18 ...

Page 29: ...ed grease applied type Food machinery grade grease white alcom grease Model G5 1 16 Home reverse specification Model NM 1 16 PNP specification Model PN 1 16 Battery less absolute encoder specification Model WA 1 16 Wireless communication specification Model WL 1 16 Wireless axis operation specification Model WL2 1 17 2 Circuit power supply specification Model TMD2 1 17 1 4 Accessories 1 18 Power I...

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Page 31: ...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 32: ...1 1 Checking the product 1 2 1 Specifications How to read the model nameplate EC B Model number Serial number Nameplate position ...

Page 33: ...n NPN specification no option B Brake NM Non motor end specification PN PNP specification WA Battery less Absolute Encoder specification G5 Indicated grease applied type Food machinery grade grease WL Wireless communication specification 0 0m to 10 10m WL2 Wireless axis operation specification TMD2 2 Circuit Power Supply Specification Blank Motor Upper Mount U Motor Lower Mount to Cable length 0 W...

Page 34: ...n in height does not include brake Type External view Body width Lead Positioning repeatability Stroke Max speed MAX payload kg Horizontal mm mm mm mm mm s B6 165 5 63 63mm 300 to 2600 per 100st 1500 11 B7 73 204 5 73mm 300 to 2600 per 100st 48 or equiv 20 1600 0 08 0 08 48 or equiv ...

Page 35: ...ngth Option Stroke and Max Speed Energy Saving Disabled Lead mm 300 mm 400 mm 500 mm 600 mm 700 mm 800 mm 900 to 2600 Every 100mm 48 or equiv 890 1070 1220 1340 1400 1440 1500 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable ...

Page 36: ...n is 1 0G For input 1 0G is set as 100 Lead 48 or equiv Orientation Horizontal Speed mm s Acceleration G 0 3 0 5 0 7 1 0 0 11 10 8 7 200 11 10 8 7 300 11 8 5 7 6 600 7 5 4 3 1000 4 3 2 1 1200 3 2 1 0 5 1400 2 1 1 0 5 1500 2 1 1 0 5 Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life ...

Page 37: ... and Max Speed Energy Saving Enabled Lead mm 300 mm 400 mm 500 mm 600 mm 700 mm 800 to 2600 Every 100mm 48 or equiv 890 1070 1220 1300 1350 1400 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed is 100...

Page 38: ... lead to vibration breakdown or shortened product life Actuator Specifications Item Content Drive system Timing belt Lead 48mm or equiv Positioning repeatability 0 08mm Base Material Aluminum black alumite treatment Static allowable moment Ma direction 48N m Mb direction 69N m Mc direction 97N m Dynamic allowable moment Ma direction 11N m Mb direction 16N m Mc direction 23N m Ambient operating tem...

Page 39: ...less Ma direction Mb Mc direction Ma and Mb Direction Moment Offset Datum Position Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Datum Position ...

Page 40: ... Speed Energy Saving Disabled Lead mm 300 mm 400 mm 500 mm 600 mm 700 mm 800 mm 900 mm 1000 to 2600 Every 100mm 48 or equiv 890 1070 1220 1340 1450 1520 1550 1600 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The mi...

Page 41: ...s 1 0G For input 1 0G is set as 100 Lead 48 or equiv Orientation Horizontal Speed mm s Acceleration G 0 3 0 5 0 7 1 0 0 20 20 18 16 100 20 20 18 16 200 20 20 17 15 300 19 17 15 13 600 11 9 8 7 1000 6 5 4 3 1400 3 2 1 0 5 1600 3 2 1 0 5 Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life...

Page 42: ...Option Stroke and Max Speed Energy Saving Enabled Lead mm 300 mm 400 mm 500 mm 600 to 2600 Every 100mm 48 or equiv 890 1070 1120 1200 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed is 100mm s ...

Page 43: ... This may lead to vibration breakdown or shortened product life Actuator Specifications Item Content Drive system Timing belt Lead 48mm or equiv Positioning repeatability 0 08mm Base Material Aluminum black alumite treatment Static allowable moment Ma direction 79N m Mb direction 114N m Mc direction 157N m Dynamic allowable moment Ma direction 17N m Mb direction 25N m Mc direction 34N m Ambient op...

Page 44: ... less Ma direction Mb Mc direction Ma and Mb Direction Moment Offset Datum Position Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal noise and vibration but also significantly reduce the life of the ELECYLINDER L L Datum Position ...

Page 45: ...hanical specifications 1 15 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 46: ...ipment layout or assembly direction PNP specification Model PN I O input output specifications are NPN specification as standard Specifying this option changes the unit to PNP specification Battery less absolute encoder specification Model WA The standard specification is for incremental encoder Specifying this option changes the unit to battery less absolute encoder specification Wireless communi...

Page 47: ... 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 IABL3826 Note Changes from WL to ...

Page 48: ...e1 TMD2 is 24V control The wiring on the opposite side of the connector has not been processed The cable length is available from 1m to 10m Specify the length in increments of 1m The following shows a sample model number Cable length 1m CB EC PWBIO010 RB Cable length 3m CB EC PWBIO030 RB Cable length 10m CB EC PWBIO100 RB ST0 ST1 RES LS0 PE0 LS1 PS1 ALM Note1 ...

Page 49: ... 4 Accessories 1 19 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 50: ...1 20 1 Specifications ...

Page 51: ...vironment 2 2 Installation environment 2 2 Storage preservation environment 2 3 2 3 Installation of belt type 2 4 Installation surface 2 4 Mounting orientation 2 5 Precautions regarding stainless steel sheet 2 6 Fixing bolt 2 6 Body mounting 2 7 Mounting transported objects 2 9 ELECYLINDER Chapter ...

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Page 53: ...sheet Do not damage or drop the package during transportation Do not apply excessive force to any part of the ELECYLINDER In particular pay attention not to apply force on the stainless steel sheet The teaching port and power I O connector are connected to the built in controller so be especially careful not to apply external force For the names of each part refer to Part Names on page Intro 15 Ha...

Page 54: ...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 55: ...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 56: ...sider the necessary space for maintenance work such as ELECYLINDER replacement and inspection The bottom surface and left side surface viewed from motor opposite side of the body base serve as the datum surfaces for slider running accuracy Use these surfaces as the datum surfaces for mounting when running accuracy is required When mounting using the side datum surface machine the installation surf...

Page 57: ...2 3 Installation of belt type 2 5 2 Installation Mounting orientation Horizontal installation Vertical installation Horizontal lateral installation Horizontal ceiling mount installation Type EC B6 B7 ...

Page 58: ...material off the stainless steel sheet Such material adhering to the stainless steel sheet can lead to defective slider operation or sheet damage Avoid installation in environments of this kind or take safety measures to prevent adhesion Fixing bolt The bolts and positioning pins for fixing are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is recommended Make ...

Page 59: ...the reamed hole and oblong hole if mounting reproducibility after detachment is required When fine adjustment of angles etc is required consider using only the reamed hole Reamed hole oblong hole position dimensions Type Through Hole Dimension Through hole Width C Through hole Depth D Reamed hole Oblong hole EC B6 φ4 5 54 13 φ4H7 depth 4 A 4 B 5 depth 4mm or less EC B7 φ5 5 63 12 φ4H7 depth 4 A 4 ...

Page 60: ...y in drive is not required it is available to make foot brackets to hold the unit In this case also all the through holes are to be used to hold the unit Do not attempt to hold only on ends It could make the base warped and sliding resistance may get high on ends It could cause an error Hold on Whole Area Use All of Through Holes Hold with Foot Brackets Use All of Through Holes Hold Only on Ends ...

Page 61: ...med holes on the top surface of the slider Use these reamed holes if repeated attaching and detaching is required If fine tuning of perpendicularity etc is required use one of the reamed holes for this adjustment Refer to the figure below for the screw in depth and reamed hole depth Model A mm B mm B6 51 50 B7 61 50 4 M5 depth 10 Reamed hole pitch tolerance 0 02 2 φ5 H7 depth 5 A B ...

Page 62: ...he motor Model A mm B6 78 7 B7 87 7 Caution Be careful with regard to the length of the mounting bolt and positioning pin The use of screw in depth greater than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or unexpected accidents Notice The mounting bolts are to be prepared by the cust...

Page 63: ... 3 Connection arrangement diagram 3 6 3 4 Wiring connections for connectors 3 8 24VDC power supply wiring 3 8 PLC wiring 3 10 Connector wiring method 3 11 Brake release wiring 3 13 3 5 Wiring connections for cables 3 13 Power I O cable 3 13 Power I O cable connection 3 14 24VDC power supply wiring 3 15 PLC wiring 3 17 Brake release wiring 3 18 ELECYLINDER Chapter ...

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Page 65: ...The following shows the system configuration Supply 24VDC to the ELECYLINDER and input a signal from a master device to the ELECYLINDER This enables the ELECYLINDER to operate This manual introduces an example using a PLC connected as the master device Model PSA 24 ...

Page 66: ...x 3 power input common with body Data setting and input methods PC compatible software teaching pendant TB 02 TB 03 Data retention memory Data and parameters are saved in the nonvolatile memory Unlimited number of write cycles LED display Green light ON Servo ON Red light ON Alarm or stoppage with teaching pendant Green red simultaneously ON Initializing when power comes ON Green red alternately b...

Page 67: ...N 18VDC OFF voltage MAX 6VDC Residual voltage 2V or less Leakage current MAX 1mA per point Leakage current MAX 0 1mA per point Isolation type Non isolated from external circuitry Non isolated from external circuitry I O logic NPN PNP Caution In the PIO circuit both input and output are non isolated Make sure to have a grounding for external devices connected to ELECYLINDER such as PLC in common wi...

Page 68: ...brake Brake release method 1 Input 24V to the brake release signal abbreviation BKRLS terminal Refer to 3 3 Connection arrangement diagram and 3 4 3 5 Wiring connections 2 Operate the teaching pendant to force the brake to release Refer to Brake release wiring pages 3 13 and 3 18 for specifications with brakes ...

Page 69: ...surface If not grounding through the mounting surface there are fixing screws 2 locations under the end cover of which either one can be used for the ground wire connection Use a tester to measure the continuity between the fixing screws and grounding surface to check whether it is grounded or not Conduction can be checked in the area on the base bottom where no paint is applied Base non coated se...

Page 70: ...N in normal conditions and OFF when an alarm occurs For PNP specification Backward complete For NPN specification Forward complete Alarm Backward complete Forward complete Note 1 Brake release ELECYLINDER NPN specification B2 Power I O connector A1 B3 B5 B4 A3 A4 A5 0V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Ground Alarm clear B1 24V 24V power supply Backward Forward Note 1 B1 B3 B5 B2 B4 A3 A4 A5 ...

Page 71: ... NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Brake release 24V power supply Driving Source Alarm clear Backward complete Forward complete Alarm A1 0V Ground Backward Forward ELECYLINDER PNP specification Power I O connector A2 24V 24V power supply Control Note 1 ELECYLINDER NPN specification Backward complete Power I O connector A1 B3 B5 B4 A3 A4 A5 ...

Page 72: ...y Connect the A1 connector terminal and the 0V terminal of the 24VDC power supply When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24V power supply in the stopped state control drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24V KIV 0 75mm2 AWG18 Power supply voltage 24VDC 10 Power capa...

Page 73: ...and the 0V terminal of the 24VDC power supply When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24V Driving Source power supply in the stopped state drive power OFF Pin No Connector nameplate name Compatible wire diameter Required specifications B1 24V Driving Source KIV 0 75mm2 AWG18 Power supply voltage 24VDC 10 Power capacity Rated 3 5...

Page 74: ...input terminal Connect the A4 connector terminal and the Forward complete input terminal Connect the A5 connector terminal and the Alarm input terminal Pin No Connector nameplate name Signal abbreviation Compatible wire diameter Function overview B3 Backward ST0 KIV 0 20mm2 AWG24 Backward command B4 Forward ST1 Forward command B5 Alarm clear RES Alarm clear A3 Backward complete LS0 Backward comple...

Page 75: ...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 76: ... causing the wire to fall out of the connector and possibly causing insufficient current or short circuit Do not insert the precision screwdriver violently into the connector or twist it hard This may damage the connector housing and internal spring If an electric wire thinner than the applicable diameter or wiring longer than 10m is used insufficient current may trigger an alarm and the performan...

Page 77: ...ctor terminal Power capacity of 24VDC 10 200mA or higher is required Pin No Connector nameplate name Signal abbreviation Compatible wire diameter Required specifications B2 Brake release BKRLS KIV 0 20mm2 AWG24 24VDC 10 200mA or higher 3 5 Wiring connections for cables Here the wiring connection method with a power I O cable is introduced Power I O cable Note1 TMD2 is 24V control Note1 ST0 ST1 RES...

Page 78: ...length 10m CB EC PWBIO100 RB Power I O cable connection Connect the power I O cable Insert the connector until it clicks into place Caution The connector must be inserted in a given direction A section of the connector protrudes Orient this section downwards and insert until it clicks into place Take appropriate care to prevent unused wiring on the opposite side of the connector from shorting out ...

Page 79: ...t the 0V wire insulation color black to the 0V terminal of the 24VDC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24V Power supply input Power supply voltage 24VDC 10 Power capacity Rated 3 5A max 4 2A Black 0V Ground When establishing an external stop switch add a b contact switch to the red terminal wiring This shuts off the 24V power supply in the ...

Page 80: ...C power supply Connect the 0V wire insulation color black to the 0V terminal of the 24VDC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24V Driving Source Driving Source Power supply input Power supply voltage 24VDC 10 Power capacity Rated 3 5A max 4 2A including control power supply 0 3A Light Blue 24V Control Control Power supply input Black 0V Groun...

Page 81: ...e yellow cable wire and the Forward output terminal Connect the green cable wire and the Alarm clear output terminal Connect the blue cable wire and the Backward complete input terminal Connect the purple cable wire and the Forward complete input terminal Connect the gray cable wire and the Alarm input terminal 3 8 PLC connection 3 4 5 6 7 8 PLC Process the terminals in accordance with PLC specifi...

Page 82: ...ecification with brake when installing a forcible brake release switch connect the brown cable wire Power capacity of 24VDC 10 200mA or higher is required Wiring color Signal abbreviation Function overview Required specifications Brown BKRLS Brake release 24VDC 10 200mA or higher ...

Page 83: ...g adjustment 4 5 Operating conditions AVD setting adjustment 4 6 4 4 I O signals 4 9 I O signal list 4 9 ST0 ST1 signals Movement command input 4 10 RES signal Alarm clear input 4 11 BKRLS input Brake release input 4 11 LS0 LS1 signals Position detection output 4 12 ALM signal Alarm output 4 13 Signal input time constant 4 13 4 5 Operating method from master device 4 14 Home return operation posit...

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Page 85: ...on while a movement command signal is input outputting a position detected signal when the movement is complete Turning the movement command signal OFF before the movement is complete interrupts the operation and causes a gradual stop Home return operation is similar PLC or or 2 Operation Connection image Forward command Backward command Forward end detection Backward end detection PLC ELECYLINDER...

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

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

Page 88: ...ns AVD setting adjustment The stop position and operating conditions are set for the ELECYLINDER at shipping The Simple Data Setting screen can be used to adjust the stop position and operating conditions Caution Be sure to touch the Transfer key after configuring or adjusting data The data will return to the previous state if the screen is changed without pressing Transfer Moreover the Manual ope...

Page 89: ...osition you want to configure adjust Ten Key window will open After setting the numerical value touch the ENT key Then touch the Transfer key A value will be written to the controller and the BEnd button and FEnd button will turn green Press the FEnd or BEnd buttons to operate Check the results of the new setting adjustment Note that pressing the button while operating will cause the ELECYLINDER t...

Page 90: ...its button to switch the units to G allowing entries to be made in increments of 0 01G The acceleration deceleration unit of G is described below 1G 9 800mm s2 Acceleration possible up to 9 800mm s per second For 0 3G the acceleration per second is 9 800mm s2 x 0 3 2 940mm s2 The procedure on the following page can be used to configure adjust the operating conditions AVD Note that the ELECYLINDER ...

Page 91: ...lue will be displayed below the ten key pad To configure a new setting touch the Change key The Transport load setting window will open Select Installation orientation and enter the Transport load then touch the Set button The Optimal speed and Optimal acceleration deceleration for the shortest cycle time for the configured conditions will be displayed Action 2 1 Action 3 Action ...

Page 92: ...and the BEnd button and FEnd button will turn green The Transfer history will also be updated Present set value and Previous set value cycle time calculation results are updated Press the FEnd or BEnd buttons to operate Check the results of the new setting adjustment Caution If abnormal noise vibration or impacts occur when the ELECYLINDER is operated lower the acceleration and deceleration rates ...

Page 93: ... it forward Turning OFF midway through operation will cause a gradual stop Turning ON when home return is not complete triggers home return operation Turning OFF midway through operation will cause a gradual stop Alarm clear RES Turning ON resets the alarm Brake release BKRLS Inputting 24VDC releases the brake Output Backward complete LS0 ON when entering the backward end detection range Forward c...

Page 94: ...turned ON the ELECYLINDER moves Backward 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 signals are not ON the ELECYLINDER may be stopped on the way to the backward or...

Page 95: ... input The power capacity requires 24VDC 10 and 200mA or more The ELECYLINDER brake is a non excitation actuating solenoid brake In normal operation the brake is automatically released but when the servo is OFF or power is OFF the brake engages The brake must be released in order to move the movable part slider by hand Warning Before releasing the brake make sure to check there is nothing that wil...

Page 96: ... ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and LS1 signals ON is as follows In this example the LS signal detection range is 0 10mm To adjust the LS signal detection range open the Edit parameters window Parameter No 2 Auto switch LS signal detection range adjustment can be used to make adjustment...

Page 97: ...ety countermeasures with the equipment as a whole For details refer to 7 4 Troubleshooting by alarm groups Signal input time constant In order to prevent mis operation due to chattering or noise ST0 ST1 and RES signals are set with a 6ms input time constant For signals less than 6ms the device will not consistently recognize the signal so input signals continuously for 6ms or longer 6ms Input sign...

Page 98: ...he ST0 signal is turned ON backward motion begins towards the mechanical end The movement speed is 20mm s 2 Once the mechanical end is struck the direction will be reversed and forward motion will begin The unit will move forward until the home position then stop 3 After that it will continuously move forward until the backward end where it stops as operation is complete Caution In the home revers...

Page 99: ...he forward end 6 Output LS1 Moved to the forward end 7 Input ST0 Δt2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat Δt1 Wait approximately 0 5 seconds from when the ALM signal turns ON before inputting the first command Δt2 The time taken for the ELECYLINDER actually to reach the forward or backward end after the LS signal turns ON Consider Δt2 when giv...

Page 100: ...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 101: ...tive maintenance 5 1 5 2 Maintenance information 5 2 Total travel count 5 2 Total travel distance 5 2 Overload warning level 5 3 5 3 Setting maintenance information 5 4 Switching to maintenance information window 5 4 Basic operation 5 5 ELECYLINDER Chapter ...

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Page 103: ...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 104: ...otal travel count exceeds the set value the user will be notified with Maintenance warning 1 When Maintenance warning 1 is output maintenance is recommended such as greasing Set the target value to a value larger than the present one and update Setting it to 0 times will disable this function Total travel distance Name Symbol Unit Input range Default setting at shipping Total travel distance ODOT ...

Page 105: ... 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 106: ...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 107: ...e ENT key The target value will change If you touch ESC the target value will not be changed and the original window will return Touch the Information Edit button A confirmation message for rebooting the controller will be displayed The setting change will take effect after rebooting If the actuator has been replaced touch the Actuator replacement button Total travel count and Total travel distanc...

Page 108: ...5 6 5 Preventive Predictive Maintenance ...

Page 109: ...er No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home position adjustment 6 9 Parameter No 5 Smooth accel decel setting 6 10 Parameter No 6 Current control setting at stop 6 11 Parameter No 7 Wireless function setting 6 12 Parameter No 8 Power saving setting 6 13 ELECYLINDER Cha...

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Page 111: ...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 112: ...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 113: ...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 114: ...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 115: ...top SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 8 A Power saving setting BUEN Disabled enabled Disabled 6 13 The categories in the table below indicate whether parameters should be set or not There are 3 categories as follows Not displayed on PC compatible software teaching pendant screen A Check or change th...

Page 116: ...nimum setting unit is 0 01mm Set to your desired stroke length The controller automatically adds 0 30mm and controls monitors the operation range Set the operating stroke between 0 and 80mm by changing Parameter No 1 to 80 00mm Caution Set within the ELECYLINDER movable range Setting to a value that exceeds the maximum stroke will result in collision with the forward side mechanical stopper This m...

Page 117: ...range relative to the backward end forward end When the ELECYLINDER enters the detection range the backward complete or forward complete signal turns ON The minimum setting unit is 0 01mm The LS signal detection range for the conditions below is shown in the figure Backward end 0 00mm Forward end 100 00mm Parameter No 2 0 10mm Caution A value smaller than the 100mm s cannot be set Configuration ex...

Page 118: ...rameter No 3 is Reverse If Parameter No 3 is Forward Caution Changing the home return direction reverses the operation direction After changing this parameter always perform home return reset absolute reset Even if the operation direction is reversed check that the moving parts do not interfere with any other objects If the moving parts collide they may damage the ELECYLINDER workpiece or peripher...

Page 119: ...t home return direction after purchase 3 To eliminate a slight deviation from the previous home position generated after replacing the ELECYLINDER If Parameter No 4 is 0 30mm the relationship between mechanical stopper and home position is as follows Caution If adjusting Parameter No 4 simultaneously adjust Parameter No 1 Operation range adjustment with parameter No 1 uses the home position as the...

Page 120: ...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 121: ...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 122: ...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 123: ... to 40 compared to Disabled mode but the maximum speed maximum acceleration deceleration and payload decrease in comparison Refer to Lead and Payload Power saving Enabled Stroke and Max Speed Power saving Enabled and Payload by Speed Power saving Enabled on pages 1 7 8 12 and 13 When Disabled the maximum speed maximum acceleration deceleration and payload increase compared to Enabled mode Refer to...

Page 124: ...6 14 6 Parameters ...

Page 125: ... 8 7 4 Troubleshooting by alarm groups 7 10 Alarm group A Overload alarm 7 11 Alarm group B Motor abnormality alarm 7 12 Alarm group C Controller abnormality alarm 7 13 Alarm group D Controller encoder abnormality alarm 7 14 Alarm group E Supply voltage power capacity abnormality alarm 7 15 Maintenance warning 1 7 16 Maintenance warning 2 7 16 Maintenance warning 3 7 17 ELECYLINDER Chapter ...

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Page 127: ... ALM LED Right side as seen from the motor side Operation status ALM signal output status SV green ALM red Power OFF Servo OFF OFF Alarm generated OFF Stop switch ON When using teaching pendant ON Power ON Servo ON ON Green 500ms Red 500ms alternate blinking in 1 Hz cycle Maintenance warning generated When the travel count or the travel distance has exceeded the set value or when overload warning ...

Page 128: ...eless status LED Left side as seen from the motor side Wireless status Green Red Wireless hardware initializing Wireless not connected transmitting monitor data Connecting from wired teaching pendant ON 200ms OFF 200ms alternate blinking Wireless hardware error ON 150ms OFF 150ms alternate blinking Connecting through wireless Green Red ...

Page 129: ...ove the cables around the measurement point to avoid conductivity through the surrounding circuit before checking the conductivity 8 Check the I O signals Use the master device and ELECYLINDER teaching tool to check for inconsistency or abnormality in the input output signal status of the two units 9 Check the noise elimination measures grounding connection of noise suppressor etc 10 Check the eve...

Page 130: ...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 131: ...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 132: ...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 16 If the unit still does not recover contact IAI Condition 2 SV ALM LEDs light up red No Possible cause Confirmation countermeasure ...

Page 133: ...inner than the applicable value Make sure the wiring processing is correct For details refer to 3 4 3 5 Wiring connections 2 Disconnection of power I O cable disconnection or contact failure of power I O connector Check whether the cable is disconnected partially disconnected Make sure that the connector and cable are not pulled out For details refer to 3 4 3 5 Wiring connections 3 Movement comman...

Page 134: ...ence while moving Remove the interfering object 3 The body or guide is twisted due to the fixing method of the ELECYLINDER Loosen the fixing bolt and check whether the moving part moves smoothly If it does check whether the mounting surface is distorted Re mount according to the mounting method described in the instruction manual For details refer to 2 3 2 4 Installation method 4 The sliding resis...

Page 135: ...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 136: ...f the power then turn it on again Warning Red green alternate blinking ON Continued operation Maintenance Warnings 1 2 Total travel count Total travel distance are cleared by updating the set values in the maintenance information window Maintenance Warning 3 Overload warning is cleared by resetting the alarm Caution Clear alarms only after investigating and resolving the cause If the same alarm re...

Page 137: ... The ELECYLINDER mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Refer to the recommended tightening torque of the bolts for base fixing in 2 3 2 4 Installation method 5 The peak power capacity of the 24V power supply is less than 4 2A Use a power supply with peak current of 4 2 A or higher per axis 6 If the diameter of the power wire is...

Page 138: ...untermeasure examples Remove the heat source turn OFF the heat source install a fan install a temperature shield improve thermal conductivity of the base install a heat dissipation fin etc 2 The ELECYLINDER may be being used under conditions exceeding the specifications described in the catalog Check the specification values such as payload acceleration deceleration and speed and adjust them appro...

Page 139: ...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 140: ...the specifications of the replaced motor and controller are both battery less absolute specification or incremental specification For details refer to Controller replacement page 8 15 to 16 3 The communication between the controller and encoder is affected by the noise of a peripheral device and cannot operate normally Shut down the power supply of the peripheral device and operate only with the E...

Page 141: ...asure 1 Inspect with a tester to see whether the power supply voltage is in the range of 21 6 V to 26 4 V If it is out of range the 24VDC power supply voltage has insufficient capacity Refer to our catalog for the required capacity and improve the power supply environment Countermeasure 2 Check whether the length of the power I O cable is within 10m and whether the wire diameter is smaller than th...

Page 142: ...o a value larger than the current value For setting refer to 5 2 Maintenance information and 5 3 Setting maintenance information Warning Maintenance warning 2 This is an alert that the target value of the total travel distance set by the customer has been reached No Content Countermeasure 1 For safe use and long service life of the ELECYLINDER periodic lubrication is recommended To disable this wa...

Page 143: ... the ELECYLINDER intrusion of foreign matter brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Visually check for the depletion of grease on the ball screw guide inside the ELECYLINDER intrusion of foreign matter etc If this is the case clean the inside of the ELECYLINDER and replenish the grease For details refer to 8 4 Cleaning and 8 5 Greasing method Countermeas...

Page 144: ...7 18 7 Troubleshooting ...

Page 145: ... inspection 8 5 8 4 Cleaning 8 8 External cleaning 8 8 Internal cleaning 8 8 8 5 Greasing method 8 9 8 6 How to replace components 8 12 Stainless steel sheet replacement adjustment 8 12 Sheet slider replacement 8 14 Controller replacement motor cover assembly replacement 8 15 Wireless communication circuit board replacement End cover assembly replacement 8 17 Belt adjustment 8 19 Belt replacement ...

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Page 147: ...ormance degradation or shortening of product life Before releasing the brake make sure to check there is nothing that will interfere with moving parts within the operation range 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 m...

Page 148: ...f the old grease and then supply new grease The degradation speed of grease may differ depending on the operating environment temperature humidity and ambient atmosphere It is recommended to shorten the grease supply period if the actuator is used under poor environmental conditions such as high temperatures high humidity or dusty atmospheres Also it is recommended to improve the environmental con...

Page 149: ... B S Inspection period External inspection Internal inspection Greasing Tension Adjustment of the Belt Guide Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Grease supply timing Guideline dependent 6 month inspection Every 6 months thereafter Every 1 year after operation started Grease supply timing Maximum operating speed mm s Grease supply timing Guideline Op...

Page 150: ...n items Maintenance work Is abnormal 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 the connector loose Re insert correctly Is grease dripping out especially if vertically mounted Clean up any drips Replenish the grease Is the stainless ste...

Page 151: ...nspection Inspection items Maintenance work Is play or dust generated The guide may be damaged Contact IAI Has foreign matter penetrated inside Remove the foreign matter clean and inspect the interior for any damage Is the guide grease not lubricating well Even if the grease is brown lubrication is adequate if the running surface is shiny Wipe away the old grease then replenish with new grease Is ...

Page 152: ...gnificantly 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 repla...

Page 153: ...pect the interior 3 Return the stainless steel sheet to normal and secure with sheet clamps How to remove the sheet clamps Grab a sheet clamp and pull It has a hooked part so lift and turn slightly while pulling to make it easier to remove To mount slightly lift the hook part and press in Sheet clamp How to have internal inspection ...

Page 154: ... dust to get in through gaps Do not use petroleum based solvents as they can harm resin and painted surfaces To remove severe buildup wipe gently with a soft cloth soaked in a neutral detergent or alcohol Internal cleaning Use a soft cloth to wipe away dirt and buildup Do not blow too hard with compressed air as it may cause dust to get in through gaps Do not use petroleum based solvents neutral d...

Page 155: ...grease not only reduces the performance of the grease it may even cause damage to the actuator For Grease Option G5 use the recommended grease Grease option Application location During maintenance recommended product Default reference G5 Guide Sumitomo Lubricant Co Ltd White Alcom Grease No 2 Sumitomo Lubricant Co Ltd White Alcom Grease No 2 Caution Do not attempt to use any grease other than the ...

Page 156: ...g a grease gun through the φ3 5 grease fitting B6 1 5 to 2 0cc B7 2 0 to 2 5cc 3 Move the slider full stroke to apply the grease thoroughly Confirm the ball feeding surface on the guide is glossy with oil of the grease Do the same work again and again till the grease gets spread out enough In case excess grease has been applied wipe it away 4 Put the sheet back on in the back order 5 Secure with s...

Page 157: ...R1 8 eg GC 57K Yamada NZ3 NSK Caution Supplying too much grease may increase sliding resistance This may increase motor load and result in decreased performance If the grease enters your eye immediately see a specialist physician for appropriate care After finishing the grease replenishment wash your hands carefully with water and soap to rinse the grease off ...

Page 158: ...l out the old stainless steel sheet 4 Insert a new stainless steel sheet using the reverse procedure It should be inserted along the slider internal guide 5 Tighten the screws 6 Secure with sheet clamp Body model Stainless steel sheet model number EC B6 ST EC B6 stroke EC B7 ST EC B7 stroke Stainless steel sheet How to replace stainless steel sheet Sheet clamp Cross recessed pan screws 2 pcs B6 B7...

Page 159: ...e force to the stainless steel sheet Notice As a guideline the stainless steel sheet should last for about 5 000km of motion However depending on the usage or environment replace the stainless steel sheet appropriately Stainless steel sheet replacement can be performed by the customer However if you have any concerns regarding the work we recommend that you bring the unit to IAI or have one of our...

Page 160: ...er cover 4 Remove the old sheet slider 5 Mount the new sheet slider using the reverse procedure 6 Mount the slider cover 7 Mount the stainless steel sheet and tighten the screws 8 Secure with sheet clamp Body model Sheet slider model number EC B6S SHS EC B6 EC B7S SHS EC B7 Sheet clamp Stainless steel sheet Cross recessed pan screw 2 pcs B6 B7 M3 5 Tightening torque 0 41N m How to replace sheet sl...

Page 161: ...to Precautions for connectors wiring on page 8 16 3 Mount the wiring connectors to the new motor cover assembly and return it to the original state 4 Mount the end cover How to replace the motor cover assembly Motor cover assembly bottom plate Cross recessed tapping screws 2 pcs M3 10 Tightening torque 0 60N m End cover Cross recessed pan screws 2 pcs B6 B7 M3 110 150 Tightening torque 0 60N m M3 ...

Page 162: ... Circuit Power Supply Specification WL2 Wireless axis operation specification Precautions for connectors wiring Motor cover assembly interior A arrow view Frame grounding wires should be jointly fastened Motor To replace remove the connector Be careful not to snag the cables Before pulling off the motor cover assembly make sure to remove the connector Motor cover assembly Ａ Frame grounding wires s...

Page 163: ...over assembly For the connector location refer to Notes on connectors wiring page 8 18 4 Attach the cable connector for the new end cover assembly to the controller circuit board inside the motor cover assembly For the connector location refer to Notes on connectors wiring page 8 18 5 Mount the motor cover assembly 6 Mount the new end cover assembly How to replace the end cover assembly Cross rece...

Page 164: ...6S EWB EC SR6 EC B7S EWB EC SR7 Notes on connectors wiring Motor cover assembly Ａ Frame grounding wires should be jointly fastened Motor cover assembly interior A arrow view For replacement remove the old end cover assembly connector and mount the new end cover assembly connector End cover assembly interior Wireless communication circuit board Model IABL3826 ...

Page 165: ...removal method 2 Remove the slider cover 3 Loosen the screws and remove the stainless steel sheet 4 Remove the sheet slider 5 Remove the front cover Hex socket head cap screws 2 pcs B6 B7 M4 5 Front cover Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Tightening torque 0 41N m Sheet slider Slider cover ...

Page 166: ... evenly by applying tension described in the table below with a tension gauge Once the tension reaches the specified load tighten the flanged hex socket set screws to affix it Body model Tension EC B6S 156 to 176N 15 9 to 18 0kgf EC B7S Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Wire Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Tightening torque 3 59N mm Tensi...

Page 167: ...er 10 Mount the stainless steel sheet and affix it with screws 11 Mount the slider cover 12 Mount the sheet clamp Hex socket head cap screws 2 pcs B6 B7 M4 5 Tightening torque 1 14N m Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Tightening torque 0 41N m Sheet slider Slider cover ...

Page 168: ...removal method 2 Remove the slider cover 3 Loosen the screws and remove the stainless steel sheet 4 Remove the sheet slider 5 Remove the front cover Hex socket head cap screws 2 pcs B6 B7 M4 5 Front cover Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Tightening torque 0 41N m Sheet slider Slider cover ...

Page 169: ...crews slide the slider and have belt retainer 1 seeable 8 Loosen the flanged hex socket set screws affixing idler pulley assembly and take off idler pulley assembly Bracket cover Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Slider Belt retainer 1 Hex socket head cap screws 2 pcs B6 B7 M4 10 ...

Page 170: ...ion 9 Take off belt and take belt retainer 1 rolled bush fixing belt and belt retainer 2 off the long belt 10 Pull out the old long belt Old long belt Belt retainer 1 Hex socket head cap screws 2 pcs B6 B7 M3 10 Rolled bush Fixing belt Long belt Belt retainer 2 ...

Page 171: ...Inspection 11 Put a new long belt through the pulley on motor unit assembly and idler pulley assembly Note Pay attention to the long belt so it will not twist Put long belt through this gap New long belt Idler pulley assembly Pulley on motor unit assembly ...

Page 172: ...Make sure long belt and fixing belt are aligned with each other Note Insert rolled bush to fixing belt 13 Affix idler pulley assembly with screws temporarily Keep the screws loose Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Belt retainer 1 Hex socket head cap screws 2 pcs B6 B7 M3 10 Tightening torque 1 54N m Rolled bush Fixing belt Long belt Belt retainer 2 ...

Page 173: ...n described in the table below with a tension gauge Once the tension reaches the specified load tighten the flanged hex socket set screws to affix it Body model Tension EC B6S 156 to 176N 15 9 to 18 0kgf EC B7S Slider Belt retainer 1 Wire Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Tightening torque 3 59N mm Tension gauge Hex socket head cap screws 2 pcs B6 B7 M4 10 Tightening t...

Page 174: ...8 6 How to replace components 8 28 8 Maintenance and Inspection 16 Mount the bracket cover 17 Mount the front cover Hex socket head cap screws 2 pcs B6 B7 M4 5 Tightening torque 1 14N m Bracket cover ...

Page 175: ...e stainless steel sheet and affix it with screws 20 Mount the slider cover 21 Mount the sheet clamp Body model Belt model number EC B6S LB EC B6 stroke EC B7S LB EC B7 stroke Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Tightening torque 0 41N m Sheet slider Slider cover ...

Page 176: ...e 8 7 for the removal method 2 Remove the slider cover 3 Loosen the screws and remove the stainless steel sheet 4 Remove the sheet slider 5 Remove the front cover Hex socket head cap screws 2 pcs B6 B7 M4 5 Front cover Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Sheet slider Slider cover ...

Page 177: ...ce and Inspection 6 Remove the bracket cover 7 Loosen the flanged hex socket set screws affixing idler pulley assembly and take off idler pulley assembly Loosen long belt Bracket cover Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 ...

Page 178: ...out long belt slightly when taking off the motor unit 11 Attach a new motor unit and fix it with screws Motor unit Coupling spacer The screws to hold the motor are hex socket head cap screws They are not cross recessed screws Pull out long belt Hex socket head cap screw B6 2 pcs M3 50 0 83N m B7 4 pcs M4 15 1 76N m Motor cover assembly Controller circuit board Cross recessed pan screws 2 pcs B6 B7...

Page 179: ... with screws 14 Affix Idler Pulley Assembly with screws Keep the screws loose Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Motor cover assembly Controller circuit board Cross recessed tapping screws 2 pcs M3 10 Tightening torque 0 60N m End cover Cross recessed pan screws 2 pcs B6 B7 M3 110 150 Tightening torque 0 60N m M3 150 200 for models with brake Pan screws 2 pcs ...

Page 180: ...on described in the table below with a tension gauge Once the tension reaches the specified load tighten the flanged hex socket set screws to affix it Body model Tension EC B6S 156 to 176N 15 9 to 18 0kgf EC B7S 16 Mount the bracket cover Wire Idler pulley assembly Flanged hex socket set screw B6 B7 M4 12 Tightening torque 3 59N m Tension gauge Bracket cover Wire ...

Page 181: ...der 19 Mount the stainless steel sheet and affix it with screws 20 Mount the slider cover 21 Mount the sheet clamp Hex socket head cap screws 2 pcs B6 B7 M4 5 Tightening torque 1 14N m Sheet clamp Stainless steel sheet Cross recessed pan screws 2 pcs B6 B7 M3 5 Tightening torque 0 41N m Sheet slider Slider cover ...

Page 182: ... 6 How to replace components 8 36 8 Maintenance and Inspection Body model Motor unit model number EC B6S EC MUB6 WA B EC B7S EC MUB7 WA B WA Battery less absolute specification B Specification with brake ...

Page 183: ...External Dimensions 9 1 Belt type external dimensions 9 1 EC B6 9 1 EC B7 9 2 ELECYLINDER Chapter ...

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Page 185: ...1330 1430 1530 1630 1730 1830 1930 2030 2130 2230 2330 2430 2530 2630 Mass kg B6 B6 U W o brake 2 7 3 0 3 4 3 7 4 0 4 3 4 7 5 0 5 3 5 6 5 9 6 3 6 6 6 9 7 2 7 5 7 8 8 2 8 5 8 8 9 2 9 5 9 8 10 2 With brake 3 0 3 3 3 7 4 0 4 3 4 6 5 0 5 3 5 6 5 9 6 2 6 6 6 9 7 2 7 5 7 8 8 1 8 5 8 8 9 1 9 5 9 8 10 1 10 5 Unit mm Z Z 0 5 ST 5 5 27 5 59 8 22 L 50 69 51 Reamed hole tolerance 0 02 59 110 14 60 2 φ5 H7 Rea...

Page 186: ...930 2030 2130 2230 2330 2430 2530 2630 Mass kg B7 B7 U W o brake 4 6 4 9 5 2 5 6 5 9 6 2 6 5 6 8 7 1 7 5 7 8 8 1 8 4 8 7 9 1 9 4 9 7 10 0 10 3 10 7 11 0 11 3 11 6 12 0 With brake 5 1 5 4 5 7 6 1 6 4 6 7 7 0 7 3 7 6 8 0 8 3 8 6 8 9 9 2 9 6 9 9 10 2 10 5 10 8 11 2 11 5 11 8 12 1 12 5 Unit mm Z Z 0 5 27 5 32 60 8 ST 5 5 L 71 15 5 126 78 5 50 77 61 Reamed hole tolerance 0 02 69 2 φ5H7 Reamed depth 5 4...

Page 187: ...Life 10 1 Concept of life for belt type 10 1 How to calculate operation life 10 1 Relation between operation life and moment 10 3 10 2 Concept of life for controller 10 3 ELECYLINDER Chapter10 ...

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Page 189: ...own below How to calculate operation life For the operation life of the linear guide use the dynamic allowable moment stated in 1 2 Mechanical specifications and calculate with the formula below L 5 000km L Operation life km CM Dynamic allowable moment N m M Moment acting N m 5 000km Standard rated life of ELECYLINDER In addition calculate with the formula below if the life may be shortened due to...

Page 190: ... coefficient fα This coefficient allows consideration of the effects on life due to ELECYLINDER mounting status Mounting coefficient fα 1 0 1 2 1 5 Mounting status Fixed on entire surface Fixed at both ends Fixed locally The actuator used in the explanatory figures above is not the ELECYLINDER Replace with ELECYLINDER and select the mounting coefficient Even when seated over the total length of th...

Page 191: ...nd mounting conditions the operation life is 40 000km according to the calculation with the formula on the previous page assuming that 0 5 CM half of dynamic allowable moment of moment is applied We see that it can be 8 times longer than the standard rated life which is 5 000km 10 2 Concept of life for controller The controller part affecting service life is as follows Target part Life Condition E...

Page 192: ...10 4 10 Life ...

Page 193: ...cope of the warranty 11 1 11 3 Honoring the warranty 11 1 11 4 Limited liability 11 2 11 5 Conformance with applicable standards regulations etc and application conditions 11 2 11 6 Other items excluded from warranty 11 2 ELECYLINDER Chapter11 ...

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Page 195: ...d by a specification defect malfunction or poor product quality Note that breakdowns due to any of the following reasons are excluded from the scope of warranty a Anything other than our product b Modification or repair performed by a party other than IAI unless approved by IAI c Anything that could not be easily predicted with the level of science and technology available at the time of shipment ...

Page 196: ...e applications Contact IAI if you must use our product for any of these applications a Medical equipment used to maintain control or otherwise affect human life or physical health b Mechanisms and machinery designed for the purpose of moving or transporting people vehicles railway facilities aviation facilities etc c Machinery components essential for safety safety devices etc d Equipment used to ...

Page 197: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 4 ELECYLINDER Chapter12 ...

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Page 199: ...to 5 ELECYLINDER test operation 4 3 to 4 Encoder pulse count 3 2 Energy saving setting Parameter No 8 6 5 6 13 Energy saving stop 6 5 6 11 7 9 External Dimensions EC B6 9 1 EC B7 9 2 External cleaning 8 8 External visual inspection 8 4 F Fixing bolt 2 6 Forward complete signal LS1 3 6 to 7 4 12 4 14 to 16 Forward signal ST1 3 6 to 7 4 10 4 14 to 16 Frame grounding 3 5 G Generated heat 3 2 Grease u...

Page 200: ...Intro 12 to 13 Precautions for transportation 2 1 Precautions regarding parameters 6 1 Preventive predictive maintenance 5 1 Product list 1 4 S Safety Guide Intro 1 Setting maintenance information 5 4 to 5 Setting adjustment of operating conditions AVD 4 6 to 8 Sheet slider replacement 8 14 Smooth accel decel setting Parameter No 5 6 5 6 10 7 9 S motion 6 10 Speed EC B6 energy saving disabled 1 5 ...

Page 201: ...12 1 Index 12 3 12 Appendix Wiring connections for connectors 3 8 to 13 With brake option model B 1 16 ...

Page 202: ... made Pollution degree 3 Pollution degree 2 1C Edition Pg Intro 14 Mexico added in Precautions for Handling Wireless Operation Pg 6 8 Correction made Configuration example Forward Reverse Reverse Forward Pg 8 36 Correction made Motor unit model number EC MUSR6 WA B EC MUB6 WA B EC MUS7 WA B EC MUB7 WA B Pg 9 2 External Dimensions Unnecessary points deleted ...

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Page 204: ...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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