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6-12

aram

Parameter No.5: Smooth accel/decel setting

No. Category

Name

Symbol

Unit

Input range Default setting

at shipping

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

6.4 Parameter function descriptions

Speed

Time

Содержание EC ELECYLINDER EC-RP4

Страница 1: ...edictive 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 EC RP4...

Страница 2: ...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...

Страница 3: ...ual this document ME3778 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...

Страница 4: ...odel PN 1 26 Battery less absolute encoder specification model WA 1 26 Wireless communication specification model WL 1 26 Wireless axis operation specification model WL2 1 27 2 circuit power supply ty...

Страница 5: ...tion 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 p...

Страница 6: ...ing 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 1...

Страница 7: ...n between GS4 GD4 tip radial load and operation life 10 1 10 2 Concept of life for table type TC TW 10 3 How to calculate operation life 10 3 10 3 Concept of life for controller 10 5 Chapter 11 Warran...

Страница 8: ...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...

Страница 9: ...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...

Страница 10: ...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...

Страница 11: ...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...

Страница 12: ...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...

Страница 13: ...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...

Страница 14: ...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...

Страница 15: ...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...

Страница 16: ...ased 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 acceleratio...

Страница 17: ...ial loads Radial loads are allowable when the ball screw and guide shaft are lined up vertically Radial loads are not allowable when the ball screw and guide shaft are lined up horizontally See figure...

Страница 18: ...state may lead to breakdown In extreme cases flaking may occur on the guide or ball screw 9 Do not attempt to have the rod or table collide with an obstacle at high speed This may damage the other mec...

Страница 19: ...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...

Страница 20: ...conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation of the device FCC RF Radia...

Страница 21: ...ter Pour se conformer aux exigences de conformit RF canadienne l exposition cet appareil et son antenne ne doivent pas tre co localis s ou fonctionnant en conjonction avec une autre antenne ou transme...

Страница 22: ...L3827 IAI IABL3827 Made in Japan IAI KOREA Corp Thailand IAI CORPORATION IABL3827 Made in Japan IAI Robot Thailand Co Ltd M xico Mexico N mero de Certificaci n IFT RCPIATB19 1956 Nombre de la Empresa...

Страница 23: ...with wireless connection operation testing movement to forward and backward ends jog operation inching operation is possible but the control device is not designed for purposes of automatic operation...

Страница 24: ...eft side Opposite side Motor side Front bracket Teaching port Frame Power I O connector Tap for ground line Controller cover assembly Spiral cover Tip adapter Guide shaft Motor cover Rod bracket Statu...

Страница 25: ...ng port Power I O connector Tap for ground line Motor cover Table guide Right side Left side Opposite side Motor side Guide shaft Status LED Right side Left side Opposite side Motor side Front bracket...

Страница 26: ...19 Table type TW Table Front plate Right side Left side Opposite side Motor side Table guide Controller cover assembly Teaching port Power I O connector Tap for ground line Status LED Spiral cover Fro...

Страница 27: ...tware Remove the protective cap Status indicator LED The LED below as seen from the motor side shows the servo ON OFF status and alarm status The LED on the top as seen from the motor side displays th...

Страница 28: ...Intro 21...

Страница 29: ...EC connection specification Model ACR 1 26 With brake model B 1 26 Home reverse specification model NM 1 26 PNP specification model PN 1 26 Battery less absolute encoder specification model WA 1 26 W...

Страница 30: ...ly case that any model number errors or missing parts come to light contact your local IAI distributor Body ELECYLINDER Quantity 1 Accessories Power I O Cable Quantity 1 Power I O Connector Quantity 1...

Страница 31: ...nt TC4 table right mount GT3 GS4 guidebottommount TC4 table bottommount GT4 GS4 guide left mount TC4 table left mount NM Non motor end specification PN PNP specification WA Battery lessabsoluteencoder...

Страница 32: ...1 3 1 Specifications Product list Rod type Table type 1 1 Checking the product...

Страница 33: ...or below the minimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r mov...

Страница 34: ...attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life 1 2 Mechanical specifications Lead 6 Lead 4 Orien...

Страница 35: ...n the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also whe...

Страница 36: ...nimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 mot...

Страница 37: ...attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life 1 2 Mechanical specifications Lead 6 Lead 4 Orien...

Страница 38: ...is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing speed...

Страница 39: ...1 10 1 Specifications Radial Load and Tip Deflection guideline Home Deflection mm Load N 1 2 Mechanical specifications...

Страница 40: ...nimum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 mot...

Страница 41: ...attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Ori...

Страница 42: ...d is 5mm s or more and less than 20mm s it may not satisfy the pressing force shown in the graph reference Confirm in advance that there is no problem in the pressing force Also when the pressing spee...

Страница 43: ...1 14 1 Specifications Radial Load and Tip Deflection guideline 1 2 Mechanical specifications Home Deflection mm Load N Home Deflection mm Load N...

Страница 44: ...imum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 moto...

Страница 45: ...attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Ori...

Страница 46: ...10 Positioning repeatability 0 05mm Base Material Aluminum black alumite treatment Static allowable moment Ma 5 9N m Mb 5 9N m Mc 9 3N m Dynamic allowable moment Ma 3 77N m Mb 3 77N m Mc 6 01N m Ambie...

Страница 47: ...h speed up to the pressing start position is 20mm s or less pressing operation will take place at approach speed When the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pr...

Страница 48: ...ference position and Mb direction moment applied Mc direction moment displacement angle Displacement angle with table guide center cross section and Mc direction moment applied Offset reference positi...

Страница 49: ...imum speed may lead to abnormal noise or unstable speeds The minimum speed can be calculated with the equation below Minimum speed mm s ball screw lead mm r 800 p r x 1000 1 s mm r movement per 1 moto...

Страница 50: ...attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened product life Lead 6 Lead 4 Orientation Horizontal Vertical Ori...

Страница 51: ...rew 6mm rolled C10 Positioning repeatability 0 05mm Base Material Aluminum black alumite treatment Static allowable moment Ma 8 3N m Mb 8 3N m Mc 26 3N m Dynamic allowable moment Ma 5 4N m Mb 5 4N m M...

Страница 52: ...h speed up to the pressing start position is 20mm s or less pressing operation will take place at approach speed When the pressing speed is 5mm s or more and less than 20mm s it may not satisfy the pr...

Страница 53: ...ference position and Mb direction moment applied Mc direction moment displacement angle Displacement angle with table guide center cross section and Mc direction moment applied Table displacement angl...

Страница 54: ...pecifications 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 1 2 Mechanical specif...

Страница 55: ...d if the home position direction is reversed in accordance with equipment layout or assembly direction PNP specification model PN I O input output specifications are NPN specification as standard Spec...

Страница 56: ...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 Wire...

Страница 57: ...mounting GT2 bottom mounting GT3 and left mounting GT4 View from rod side left right GT2 Right mounting GT3 Bottom mounting GT4 Left mounting The table position for the table type TC4 can be selected...

Страница 58: ...ed with the 4 way connector 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 sh...

Страница 59: ...30 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 1 4 Accessorie...

Страница 60: ...1 31 1 Specifications...

Страница 61: ...to install rod type RP 2 6 Installation surface 2 6 Fixing bolts 2 6 Mounting orientation 2 7 Body mounting 2 8 Rotation stop mounting 2 10 2 4 How to install rod type GS rod type GD 2 12 Installatio...

Страница 62: ...Mounting orientation 2 16 Body mounting 2 17 Transported object mounting surface 2 19 Mounting transported objects 2 19...

Страница 63: ...The package is not specially designed to withstand dropping or shock due to collision Keep the unit in horizontal position for storage or transportation Do not climb onto the package Do not put anythi...

Страница 64: ...er so be especially careful not to apply external force For the names of each part refer to Part Names on page Intro 15 Refere These packaging materials can be recycled as cardboard The cardboard and...

Страница 65: ...e ELECYLINDER body or any moving part is overhanging fix it appropriately to avoid large wobbles due to external vibration When transporting without fixing the tip do not apply impact of 0 3G or more...

Страница 66: ...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 assembl...

Страница 67: ...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...

Страница 68: ...ance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of h...

Страница 69: ...e greasing may cause the grease to drip from the rod When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may ev...

Страница 70: ...n the body mount it to the body mounting plate Body mounting dimensions Fixing bolts Tip adapter M6 nut Fixing bolt Tightening torque For iron mounting plate For aluminum mounting plate M4 3 59N m 1 7...

Страница 71: ...2 9 2 Installation Notice The use of high strength bolts of ISO 10 9 or higher is recommended 2 3 How to install rod type RP...

Страница 72: ...will idle and the tip will not move normally in forward or reverse Caution Do not connect a rotation stop to the actuator body with floating joints etc A radial load due to screw shaft eccentricity w...

Страница 73: ...return motion If operated without home return the unit will be unable to recognize the correct position which may lead to interference with peripheral devices RP4 guide side bracket with counterbore R...

Страница 74: ...nance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of...

Страница 75: ...sing may cause the grease to drip from the rod When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may eventual...

Страница 76: ...t Notice There are 4 mounting taps on the body mounting surface Using all the taps mount the body Each mounting surface has round holes and oblong holes for positioning pins Use as needed For mounting...

Страница 77: ...nance work such as ELECYLINDER replacement and inspection The body mounting surface should be a machined surface or a plane with similar accuracy with flatness within 0 05mm m Fixing bolts The use of...

Страница 78: ...cause the grease to drip from the ball screw guide When installing the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may eve...

Страница 79: ...s Tip adapter M6 nut Caution The tapped mounting holes in the mounting part are partially through holes Never use screws longer than the screw effective length This may lead to damage to the interior...

Страница 80: ...ll the taps mount the body Each mounting surface has round holes and oblong holes for positioning pins Use as needed For mounting dimensions see Chapter 9 External Dimensions The use of high strength...

Страница 81: ...objects are fixed leading to malfunctions Mounting transported objects Table type TC There are two transported object mounting surfaces table top surface and front plate Table type TW There are two t...

Страница 82: ...ce and the front plate which are perpendicular to one another will affect the rod shaft center and lead to malfunctions Be careful with regard to the length of the mounting bolt and positioning pin Th...

Страница 83: ...eeding allowable moment and overhang load it will not only cause noise and vibration but also may significantly reduce the life of the actuator Table type TC Moment direction and offset position Overh...

Страница 84: ...ong holes for positioning pins Use as needed For mounting dimensions see Chapter 9 External Dimensions The mounting bolts are to be prepared by the customer The use of high strength bolts of ISO 10 9...

Страница 85: ...n arrangement diagram 3 5 3 4 Wiring connections for connectors 3 7 24VDC power supply wiring 3 7 PLC wiring 3 9 Connector wiring method 3 10 Brake release wiring 3 12 3 5 Wiring connections for cable...

Страница 86: ...stem 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 conn...

Страница 87: ...ible 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...

Страница 88: ...sidual 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 P...

Страница 89: ...d 3 4 3 5 Wiring connections 2 Operate the teaching pendant to force the brake to release Refer to Brake release wiring pages 3 12 and 3 17 Frame grounding The ELECYLINDER has a built in controller ci...

Страница 90: ...an alarm occurs 3 3 Connection arrangement diagram Note 1 Brake release For PNP specification ELECYLINDER NPN specification B2 Backward complete For NPN specification Power I O connector A1 B3 B5 B4 A...

Страница 91: ...iagram For PNP specification For NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24V BKRLS ST0 ST1 RES ALM LS0 LS1 0V 24VDC Brake release 24V power supply driving source Alarm clear Alarm A1 0V Groun...

Страница 92: ...l 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 cont...

Страница 93: ...or nameplate name Compatible wire diameter Required specifications B1 24V driving source KIV 0 75mm2 AWG18 Power supply voltage 24VDC 10 Power capacity max 2 0A including control power supply 0 3A Wir...

Страница 94: ...d 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...

Страница 95: ...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...

Страница 96: ...nnector 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 inter...

Страница 97: ...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 meth...

Страница 98: ...e orientation of the connector in four ways The cable wires on the connector are the same as those for Power I O Cable CB EC PWBIO RB Model CB EC2 PWBIO RB The wiring on the opposite side of the conne...

Страница 99: ...the curved side of the cable end to your desire direction 2 Be sure to check that the cable is settled firmly and insert two tabs of the cover along the slits of socket 3 Then push the last tab to the...

Страница 100: ...rection A section of the connector protrudes Orient this section downwards and insert until it clicks into place Take appropriate care to prevent unused wiring in the loose wire end on the cable from...

Страница 101: ...r 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...

Страница 102: ...he 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 su...

Страница 103: ...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 com...

Страница 104: ...ing 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...

Страница 105: ...4 4 I O signals 4 11 I O signal list 4 11 ST0 and ST1 signals Movement command input backward forward 4 12 RES signal Alarm clear input 4 13 BKRLS input Brake release input 4 13 LS0 LS1 signals Positi...

Страница 106: ...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 a...

Страница 107: ...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...

Страница 108: ...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...

Страница 109: ...pping 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...

Страница 110: ...ust 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 gre...

Страница 111: ...s 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...

Страница 112: ...ew 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 acceler...

Страница 113: ...nsfer 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 ad...

Страница 114: ...input values in N units The pressing speed is 20 mm s If V Velocity is set to 20mm s or below pressing will take place at the speed of V Velocity Caution The pressing force displayed in N units serves...

Страница 115: ...screen will switch to the Simple Data Setting window Touch the Transfer key The numerical values will be written to the controller The BEnd button and FEnd button will turn green Press the FEnd or BEn...

Страница 116: ...ning ON when home return is not complete triggers home return operation Turning OFF midway through operation will cause a gradual stop Alarm cancel RES Turning ON resets the alarm Brake release BKRLS...

Страница 117: ...ard 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...

Страница 118: ...ty 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...

Страница 119: ...hey turn ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and LS1 signals ON is as follows In this exampl...

Страница 120: ...ccurs Always monitor the ALM signal using the master device If it turns OFF immediately take appropriate safety countermeasures with the equipment as a whole For details refer to 7 4 Troubleshooting b...

Страница 121: ...T0 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 T...

Страница 122: ...forward end 7 Input ST0 t2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat t1 Wait approximately 0 5 seconds from when the ALM signal turns ON before input...

Страница 123: ...on 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...

Страница 124: ...speed is 20 mm s The workpiece remains pressed after the pressing is completed If the workpiece moves or pushes back it may be pressed even further If the workpiece is struck during approach operatio...

Страница 125: ...device sequence or detection method based on the content below If no contact is made the PE signal will not turn ON A timer is required to determine if no contact has been made After a non contact op...

Страница 126: ...4 21 4 Operation...

Страница 127: ...ve 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 informat...

Страница 128: ...the travel count or the travel distance exceeds the set values 5 1 Preventive predictive maintenance Preventative maintenance Predictive maintenance Maintenance that is performed when based on regular...

Страница 129: ...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...

Страница 130: ...he 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 greasi...

Страница 131: ...thod 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...

Страница 132: ...e 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...

Страница 133: ...ptions 6 6 Parameter No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home positio...

Страница 134: ...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...

Страница 135: ...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...

Страница 136: ...ter 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 ch...

Страница 137: ...ption 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 s...

Страница 138: ...ting at stop SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 The categories in the table below indicate whether pa...

Страница 139: ...our desired stroke length The controller automatically adds 0 30mm and controls monitors the operation range Set the operating stroke between 0 and 30mm by changing Parameter No 1 to 30 00mm Caution S...

Страница 140: ...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 Ba...

Страница 141: ...ECYLINDER specifications The home return operation direction can be selected To set the opposite direction switch to the opposite setting value Forward Reverse or Reverse Forward For standard specific...

Страница 142: ...ction 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 peripheral devices Changing the home retu...

Страница 143: ...in the following situations 1 To match the ELECYLINDER home position and the mechanical home position after assembly into equipment 2 To adjust the new home position upon reversing the default home re...

Страница 144: ...sition as reference Do not set Parameter No 4 to a value smaller than the default setting at shipping This may result in abnormal home return operation alarm triggering or abnormal operation If the va...

Страница 145: ...celeration 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 Ena...

Страница 146: ...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 s...

Страница 147: ...led 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 P...

Страница 148: ...6 15 6 Parameters...

Страница 149: ...oubleshooting 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 abnorma...

Страница 150: ...e 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 5...

Страница 151: ...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 blinki...

Страница 152: ...nt 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 o...

Страница 153: ...n 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 Abnorm...

Страница 154: ...Controller abnormality occurred Replace the controller cover assembly D Controller encoder abnormality alarm Content Countermeasure An abnormality occurred between the controller and encoder Turn the...

Страница 155: ...nit 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...

Страница 156: ...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 disc...

Страница 157: ...ct 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 d...

Страница 158: ...l 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 sl...

Страница 159: ...ning 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...

Страница 160: ...hould 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 to 2 5 Installation method 5 T...

Страница 161: ...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 condit...

Страница 162: ...his 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 elect...

Страница 163: ...ced motor and controller are both battery less absolute specification or incremental specification For details refer to Controller replacement page 8 15 3 The communication between the controller and...

Страница 164: ...o 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...

Страница 165: ...ue 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...

Страница 166: ...tter 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 m...

Страница 167: ...uideline 8 3 8 3 Visual inspection items 8 4 External visual inspection 8 4 Internal visual inspection 8 5 8 4 Cleaning 8 7 External cleaning 8 7 Internal cleaning 8 7 8 5 Greasing method 8 8 Rod type...

Страница 168: ...t will interfere with moving parts within the operation range The slider or rod may fall possibly injuring the operator or people nearby and damaging the ELECYLINDER workpiece or equipment Caution Che...

Страница 169: ...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 atmo...

Страница 170: ...high operating rate inspect more often Rod type table type Inspection period External inspection Internal inspection Greasing Start of work inspection 1 month inspection 3 month inspection 6 month ins...

Страница 171: ...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...

Страница 172: ...avel surfaces shine First wipe off the old grease clean and then supply new grease Is there foreign matter or dust adhered to the ball screw or guide Replenish with new grease after cleaning the ball...

Страница 173: ...not move at low lead connect to the PC software or teaching pendant to move the ball screw TC TW table guide inspection method With the power off pull out the table Inspect the guide rail visually If...

Страница 174: ...low too hard with compressed air as it may cause dust to get in through gaps Do not use petroleum based solvents as they can harm resin and painted surfaces To remove severe buildup wipe gently with a...

Страница 175: ...product Default reference RP Ball screw Idemitsu Kosan Co Ltd Daphne Grease MP No 2 Idemitsu Kosan Co Ltd Daphne Grease MP No 2 GS GD Ball screw Guide shaft TC TW Ball screw Table guide Caution Never...

Страница 176: ...de toward the thick diameter side arrow direction then expose the screw shaft If the table and rod bracket will not move at low lead connect to the PC software or teaching pendant to move them 3 Wipe...

Страница 177: ...move at low lead connect to the PC software or teaching pendant to move it 2 Wipe off the grease adhered to the guide shaft and apply the designated grease 0 1 to 0 2cc per shaft 3 Move the rod brack...

Страница 178: ...and left guide apply grease to both 3 Move the table to apply the grease thoroughly TC TW Table guide grease port cross section figure Move the table to the stroke end to match the table grease port...

Страница 179: ...ts Spiral cover replacement 1 Remove the spiral cover Pull out the spiral cover base and roll the cover tip 2 Remove the spiral cover telescoping it during removal 8 6 How to replace components Screw...

Страница 180: ...end to the outside 4 Mount the replacement spiral cover Hook the replacement spiral cover end brought to the outside on the shaft After hooking it on bring the end to the inside 5 Rolling slightly pr...

Страница 181: ...on the replacement spiral cover 7 Finally bring the end to the outside and fit it into the actuator groove 8 Replenish the grease on the screw shaft Refer to 8 5 Greasing method Spiral cover model RC...

Страница 182: ...ssembly model Remarks CCA EC N NPN specification CCA EC N TMD2 NPN specification TMD2 specification CCA EC NWL NPN specification WL specification CCA EC NWL TMD2 NPN specification WL specification TMD...

Страница 183: ...External Dimensions 9 1 Rod type table type external dimensions 9 1 EC RP4 9 1 EC GS4 9 2 EC GD4 9 3 EC TC4 9 4 EC TW4 9 5 ELECYLINDER Chapter 9...

Страница 184: ...9 1 9 External Dimensions 9 1 Rod type table type external dimensions EC RP4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm...

Страница 185: ...9 2 9 External Dimensions EC GS4 M E Mechanical end S E Stroke end Unit mm 9 1 Rod type table type...

Страница 186: ...9 3 9 External Dimensions EC GD4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm...

Страница 187: ...9 4 9 External Dimensions EC TC4 M E Mechanical end S E Stroke end Unit mm 9 1 Rod type table type...

Страница 188: ...9 5 9 External Dimensions EC TW4 M E Mechanical end S E Stroke end 9 1 Rod type table type Unit mm...

Страница 189: ...e for rod type RP GS GD 10 1 Life guideline 10 1 Relation between GS4 GD4 tip radial load and operation life 10 1 10 2 Concept of life for table type TC TW 10 3 10 3 Concept of life for controller 10...

Страница 190: ...ycles guideline when it is operated under maximum payload and acceleration deceleration Relation between GS4 GD4 tip radial load and operation life The life of GS4 and GD4 decreases as the tip radial...

Страница 191: ...10 2 10 Life GD4 10 1 Concept of life for rod type RP GS GD Operation life km Radial load N Load direction Radial load Radial load...

Страница 192: ...it is operated under maximum payload and acceleration deceleration How to calculate operation life For the operation life of the linear guide use the dynamic allowable moment stated in 1 2 Mechanical...

Страница 193: ...oad coefficient fw This coefficient allows consideration of the effects on life due to operating conditions Load coefficient fw Operating conditions Guideline for acceleration deceleration 1 0 to 1 5...

Страница 194: ...or controller The controller part affecting service life is as follows Target part Life Condition Electrolytic capacitor 5 years Ambient temperature 40 C Rated operation operation within duty limits 1...

Страница 195: ...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...

Страница 196: ...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 Modi...

Страница 197: ...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 mach...

Страница 198: ...11 3 11 Warranty...

Страница 199: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 5 ELECYLINDER Chapter12...

Страница 200: ...18 TW4 2 17 to 18 Brake release signal BKRLS 3 4 3 5 to 6 3 19 4 13 C Change home return direction Parameter No 3 6 8 Cleaning 8 7 Components 1 1 Connection arrangement diagram 3 5 to 6 Controller rep...

Страница 201: ...3 Maintenance warning 1 5 2 7 16 Maintenance warning 2 5 2 7 16 Maintenance warning 3 5 3 7 17 Maximum payload RP4 1 3 1 4 GS4 1 3 1 7 GD4 1 3 1 11 TC4 1 3 1 15 TW4 1 3 1 20 Maximum pressing force RP4...

Страница 202: ...nce 5 1 Product list 1 3 R Radial load tip deflection guideline GS4 1 10 GD4 1 14 RCON EC connection specification model ACR 1 26 Rod non rotation precision GS4 1 9 GD4 1 13 S Safety Guide Intro 1 Set...

Страница 203: ...eless axis operation specification model WL2 1 27 Wireless communication specification model WL 1 26 Wireless function setting Parameter No 7 6 14 Wiring connections for cables 3 12 to 19 Wiring conne...

Страница 204: ...rcuit power supply specification model TMD2 Edition 1F Pg 3 2 Correction made max 4 0A max 2 0A Pg 3 3 Caution added stating to have groundings in common Pg 3 7 3 8 3 15 Correction made Rated 3 5A max...

Страница 205: ...EC connection specification option model ACR added Pg 1 2 3 13 3 14 Contents added for relay cable equipped with 4 way connector Pg 1 6 1 9 1 13 1 18 1 23 Caution regarding pressing added Pg 3 8 escr...

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Страница 208: ...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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