IAI EC-RR6*AH series Скачать руководство пользователя страница 206

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3.2 Electrical specifications

3-3

3. Wiring

I/O specifications

I/O

Input part

Output part

Specs

Input voltage 24VDC ±10%

Load voltage 24VDC ±10%

Input current 5mA per circuit

Max. load

current

50mA per point

ON/OFF

voltage

ON voltage MIN 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

I/O

logic

NPN

PNP

Brake release method

Refer to the following method to release the brake.

Brake release method

Input 24V to the brake release (signal abbreviation: BKRLS) terminal.

→

Refer to "3.3 Connection arrangement diagram" and "3.4/3.5 Wiring connections".

Operate the teaching pendant to force the brake to release.

→

Refer to "

Brake release wiring

(pages 3-10 and 3-14)".

(for specifications with brakes)

Содержание EC-RR6*AH series

Страница 1: ...ameters 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 S6 S7 S6 H S7 H S6 AH S7 AH...

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: ...R Instruction Manual this document ME3766 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 Data Setter...

Страница 4: ...RR H 1 81 Duty ratio 1 94 1 3 Options 1 95 With brake model B 1 95 Tip adapter flange model FFA 1 95 Flange model FL 1 95 Foot bracket model FT 1 95 Tip adapter Internal thread model NFA 1 95 Knuckle...

Страница 5: ...2 30 Mounting transported objects 2 31 2 6 Installation of radial cylinder type 2 33 Installation surface 2 33 Mounting orientation 2 34 Square nuts 2 35 Body mounting 2 36 Mounting transported objec...

Страница 6: ...s Position detection output 4 14 PE0 PE1 signals Pressing complete output 4 15 ALM signal Alarm output 4 15 Signal input time constant 4 15 4 5 Operating method from master device 4 16 Home return ope...

Страница 7: ...nance and Inspection 8 1 Precautions for maintenance and inspection work 8 1 8 2 Inspection items and schedule 8 3 Slider type 8 3 High rigidity slider type EC S AH High rigidity slider type EC S H 8...

Страница 8: ...11 EC RR7 AH 9 12 9 7 High rigidity radial cylinder type external dimensions EC RR H 9 13 EC RR6 H 9 13 EC RR7 H 9 14 Chapter 10 Life 10 1 Concept of life for slider type 10 1 How to calculate operat...

Страница 9: ......

Страница 10: ...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 11: ...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 12: ...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 13: ...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 14: ...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 15: ...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 16: ...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 17: ...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 18: ...ce 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...

Страница 19: ...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 or...

Страница 20: ...s 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 name...

Страница 21: ...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 22: ...oivent pas tre co localis s ou fonctionnant en conjonction avec une autre antenne ou transmetteur EU Member States For details of the applicable standards please refer to above mentioned international...

Страница 23: ...nection 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 mecha...

Страница 24: ...heet End cover Right side Left side Motor side Opposite side Sheet clamp Front bracket Base Side cover Motor cover Teaching port Status indicator LED Power I O connector Track housing cover Slider cov...

Страница 25: ...r Base Motor cover End cover Power I O connector Status LED Teaching port Right side Left side Motor side Motor cover base Right side Left side Greasing port Rubber cap Front fixing nut Opposite side...

Страница 26: ...Rod Frame cover End cover Front bracket Front cover Base Track housing cover Motor cover Teaching port Status LED Power I O connector Right side Left side Right side Left side Opposite side Motor sid...

Страница 27: ...ing 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 di...

Страница 28: ...Intro 19...

Страница 29: ...lider type EC S H 1 32 Rod type 1 44 Radial cylinder type 1 54 High rigidity radial cylinder type EC RR AH 1 67 High rigidity radial cylinder type EC RR H 1 81 Duty ratio 1 94 1 3 Options 1 95 With br...

Страница 30: ...l QR 1 96 Oscillation receiving bracket clevis model QRPB 1 96 Battery less absolute encoder specification model WA 1 96 Wireless communication specification model WL 1 96 Wireless axis operation spec...

Страница 31: ...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...

Страница 32: ...pecifications How to read the model nameplate Rod type nameplate position Slider type high rigidity slider type nameplate position Model number Serial number Radial cylinder type high rigidity radial...

Страница 33: ...ations How to read the model number Slider type rod type radial cylinder type High rigidity slider type EC S AH high rigidity radial cylinder type EC RR AH WL WL2 Wireless axis operation specification...

Страница 34: ...1 1 Checking the product 1 4 1 Specifications High rigidity slider type EC S H high rigidity radial cylinder type EC RR H...

Страница 35: ...ecifications Product list Slider type High rigidity slider type EC S AH High rigidity slider type EC S H Rod type represents vertical operation represents vertical operation represents vertical operat...

Страница 36: ...ct 1 6 1 Specifications Radial cylinder type High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H represents vertical operation represents vertical operation represen...

Страница 37: ...Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 350 mm 400 mm 20 800 727 566 12 700 521 392 305 6 450 371 265 199 155 3 225 188 134 100 79 Unit mm s Caution The maximum speed may not be achie...

Страница 38: ...6 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 700 15 9 5 4 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Sp...

Страница 39: ...d mm 50 250 Every 50mm 300 mm 350 mm 400 mm 20 800 727 566 12 680 521 392 305 6 340 265 199 155 3 170 134 100 78 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement dis...

Страница 40: ...0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Ho...

Страница 41: ...tion Slider type overhang load length L 220mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal no...

Страница 42: ...talog specifications Pressing Force and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pres...

Страница 43: ...350 mm 400 mm 450 mm 500 mm 24 860 774 619 506 16 700 631 492 395 323 8 420 322 251 200 164 4 210 175 163 126 101 83 represents vertical operation Unit mm s Caution The maximum speed may not be achie...

Страница 44: ...35 28 27 8 8 420 34 20 16 14 3 3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 700 15 10 5 3 3 2 Lead 8 Lead 4 Orientation Horizontal Vertical Or...

Страница 45: ...mm 50 350 Every 50mm 400 mm 450 mm 500 mm 24 800 774 619 506 16 560 492 395 323 8 280 251 200 164 4 140 126 101 83 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement...

Страница 46: ...n G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation...

Страница 47: ...on Slider type overhang load length L 280mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load it may not only lead to abnormal nois...

Страница 48: ...talog specifications Pressing Force and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pres...

Страница 49: ...600 mm 650 mm 700 mm 750 mm 800 mm 20 1440 1280 1280 1090 940 815 715 630 560 12 900 845 705 585 515 445 390 345 305 6 450 415 350 295 255 220 190 170 140 3 225 205 170 145 125 110 95 85 70 represents...

Страница 50: ...18 16 14 2 5 2 5 480 12 9 8 6 1 1 320 26 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 960 8 5 3 5 1 5 1 1 700 15 9 5 4 2 1 1120 5 3 2 1 0 5 0 5...

Страница 51: ...anical specifications 1 21 1 Specifications Caution Do not attempt to configure settings for acceleration deceleration above the allowable values This may lead to vibration breakdown or shortened prod...

Страница 52: ...500 mm 550 mm 600 mm 650 mm 700 mm 750 mm 800 mm 20 800 715 630 560 12 680 585 515 445 390 345 305 6 340 295 255 220 190 170 140 3 170 145 125 110 95 85 70 Unit mm s Caution The maximum speed may not...

Страница 53: ...0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Ho...

Страница 54: ...rhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang loa...

Страница 55: ...on of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the current value is low The current li...

Страница 56: ...0 mm 700 mm 750 mm 800 mm 24 1230 1080 950 840 750 16 980 840 955 840 820 715 625 555 495 8 420 405 350 310 275 245 4 210 175 195 175 175 150 135 120 represents vertical operation Unit mm s Caution Th...

Страница 57: ...3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 1080 8 4 5 3 1 5 1 0 5 700 15 10 5 3 3 2 1230 3 1 5 1 0 5 0 5 840 7 4 2 0 5 980 4 Lead 8 Lead 4 O...

Страница 58: ...50mm 450 mm 500 mm 550 mm 600 mm 650 mm 700 mm 750 mm 800 mm 20 800 750 12 560 555 495 6 280 275 245 3 140 135 120 represents vertical operation Unit mm s Caution The maximum speed may not be achieve...

Страница 59: ...on G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation...

Страница 60: ...ng length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang load i...

Страница 61: ...rent Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases when the...

Страница 62: ...Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 350 mm 400 mm 20 800 717 559 12 700 513 386 301 6 450 364 261 196 152 3 225 184 131 98 76 Unit mm s Caution The maximum speed may not be achieve...

Страница 63: ...6 18 14 12 2 5 2 5 640 12 8 6 5 1 1 440 26 18 12 10 2 5 2 5 800 10 6 5 4 5 3 1 1 560 20 12 8 7 2 5 2 5 700 15 9 5 4 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertical Sp...

Страница 64: ...Lead mm 50 250 Every 50mm 300 mm 350 mm 400 mm 20 800 717 559 12 680 513 386 301 6 340 261 196 152 3 170 131 98 76 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement d...

Страница 65: ...0 3 0 7 0 3 0 8 5 0 75 0 14 10 2 160 8 5 0 75 80 14 10 2 320 8 5 0 75 200 14 10 2 480 8 4 0 75 320 14 10 2 640 6 3 0 75 440 11 7 1 5 800 4 1 5 0 75 560 7 2 5 1 680 4 1 0 5 Lead 6 Lead 3 Orientation Ho...

Страница 66: ...verhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang l...

Страница 67: ...and Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases w...

Страница 68: ...0mm 350 mm 400 mm 450 mm 500 mm 24 860 768 615 503 16 700 626 488 392 321 8 420 319 248 199 163 4 210 175 161 125 100 82 represents vertical operation Unit mm s Caution The maximum speed may not be ac...

Страница 69: ...35 28 27 8 8 420 34 20 16 14 3 3 280 46 35 25 24 8 8 640 20 15 10 9 3 3 420 34 25 15 10 5 4 5 860 12 10 7 4 3 2 5 560 20 15 10 6 4 3 700 15 10 5 3 3 2 Lead 8 Lead 4 Orientation Horizontal Vertical Or...

Страница 70: ...ad mm 50 350 Every 50mm 400 mm 450 mm 500 mm 24 800 768 615 503 16 560 488 392 321 8 280 248 199 163 4 140 125 100 82 Unit mm s Caution The maximum speed may not be achieved when the stroke or movemen...

Страница 71: ...n G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 10 2 0 35 20 5 200 18 10 2 140 35 20 5 420 18 10 2 280 25 12 3 640 10 2 1 420 15 6 1 5 800 5 0 5 0 5 560 7 0 5 0 5 Lead 8 Lead 4 Orientation...

Страница 72: ...overhang length Slider type moment direction Slider type overhang load length L 300mm or less Ma direction Mb Mc direction Caution If the actuator is used with excessive allowable moment and overhang...

Страница 73: ...nd Current Limit Value Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm s There is some variance in the actual pressing force The variance increases whe...

Страница 74: ...Energy Saving Disabled Lead mm 50 200 Every 50mm 250 mm 300 mm 20 800 12 700 547 6 450 376 268 3 225 186 133 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distanc...

Страница 75: ...5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertica...

Страница 76: ...Energy Saving Enabled Lead mm 50 200 Every 50mm 250 mm 300 mm 20 640 12 500 6 250 3 125 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when a...

Страница 77: ...s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertic...

Страница 78: ...is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the p...

Страница 79: ...ergy Saving Disabled 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...

Страница 80: ...50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation...

Страница 81: ...y Saving Enabled Lead mm 50 300 mm 24 600 400 16 420 280 8 210 4 105 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short...

Страница 82: ...Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 400 11 6 1 5 280 18 12 2 420 10 5 420 1 5 1 600 1 Lead 8 Lead 4 Orientation H...

Страница 83: ...is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the p...

Страница 84: ...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 can be calculated with the equatio...

Страница 85: ...5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal Vertica...

Страница 86: ...rgy Saving Enabled Lead mm 65 215 Every 50mm 265 mm 315 mm 20 640 12 500 480 6 250 235 3 125 115 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short o...

Страница 87: ...s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Vertic...

Страница 88: ...is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the p...

Страница 89: ...gy Saving Disabled Lead mm 65 315 Every 50mm 24 860 640 16 700 560 8 450 4 175 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distanc...

Страница 90: ...50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation...

Страница 91: ...Saving Enabled Lead mm 65 315 Every 50mm 24 600 420 16 420 280 8 210 4 105 represents vertical operation Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is...

Страница 92: ...ical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 600 1 420 1 5 1 Lead 8 Lead 4 Orientation Horizo...

Страница 93: ...is some variance in the actual pressing force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the p...

Страница 94: ...he rod must not exceed the allowable value Type Rod tip static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 90N 45N EC RR7 120N 60N Note 1 The value assumes a basic rated...

Страница 95: ...e uniform load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 4400N 1050N 124 m 87 m 62 m EC RR7 5680N 1260N 98 m 69 m 50 m Note 1 The value assumes...

Страница 96: ...verhang distance EC RR6 100mm 100mm EC RR7 100mm 100mm Caution Keep the radial load acting on the rod within the allowable offset amount and overhang distance for use If the allowable values are excee...

Страница 97: ...ength Option Stroke and Max Speed Energy Saving Disabled Lead mm 50 to 400 Every 50mm 20 800 12 700 6 450 3 225 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement dist...

Страница 98: ...1 5 1 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal...

Страница 99: ...Speed Energy Saving Enabled Lead mm 50 to 400 Every 50mm 20 640 12 500 6 250 3 125 Unit mm s Caution The maximum speed may not be achieved when the stroke or movement distance is short or when accele...

Страница 100: ...mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Ve...

Страница 101: ...orce The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less p...

Страница 102: ...ving Disabled Lead mm 50 to 500 Every 50mm 20 860 640 12 700 560 6 350 3 175 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement...

Страница 103: ...50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation...

Страница 104: ...Enabled Lead mm 50 to 500 Every 50mm 20 630 420 12 420 280 6 210 3 105 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement dista...

Страница 105: ...tical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 630 1 420 1 5 1 Lead 8 Lead 4 Orientation Horiz...

Страница 106: ...force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less...

Страница 107: ...alue Type Rod tip static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 AH 190N 130N Note 2 EC RR7 AH 250N 170N Note 3 Note 1 The value assumes a basic rated life of 5 000km...

Страница 108: ...ue Mc 2 The torque Mc acting on the rod must not exceed the allowable value Type Rod tip static allowable torque Rod tip dynamic allowable torque Note 1 EC RR6 AH 9N m 5 5N m EC RR7 AH 17 6N m 10 5N m...

Страница 109: ...orm load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 AH 6700N 2400N 104 m 87 m 62 m EC RR7 AH 11400N 3000N 90 m 76 m 50 m Note 1 The value assumes...

Страница 110: ...set amount and overhang distance for use If the allowable values are exceeded this may lead to vibration shortened product life or damage If abnormal vibration or noise occurs during operation even wh...

Страница 111: ...mm 50 mm 100 mm 150 mm 200 mm 250 mm 300 mm 20 650 500 785 685 800 12 630 480 700 660 700 660 480 6 450 325 235 3 225 160 115 Values in brackets are for vertical use Unit mm s Caution The maximum spee...

Страница 112: ...1 5 1 5 200 25 18 16 10 4 4 480 6 6 5 3 1 5 1 5 400 20 14 10 6 4 4 640 6 4 3 2 1 5 1 5 500 15 8 6 4 3 5 3 800 4 3 1 1 700 6 2 2 1 Lead 6 Lead 3 Orientation Horizontal Vertical Orientation Horizontal...

Страница 113: ...0 mm 250 mm 300 mm 20 540 370 620 520 640 610 640 12 470 375 500 480 500 480 6 250 235 3 125 115 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when th...

Страница 114: ...mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 6 5 1 0 25 10 4 160 6 5 1 100 25 10 4 320 6 5 1 200 25 10 4 480 4 3 1 300 20 8 3 640 3 1 0 5 400 10 5 2 500 5 2 1 Lead 6 Lead 3 Orientation Horizontal Ve...

Страница 115: ...force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less...

Страница 116: ...0 mm 100 mm 150 to 300 Every 50mm 24 655 540 835 640 860 640 16 635 490 700 560 8 350 4 175 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the str...

Страница 117: ...50 40 35 30 8 8 400 20 14 12 8 3 3 280 50 35 25 20 7 7 420 17 12 10 6 3 3 420 25 18 14 10 4 5 4 600 14 6 5 4 3 2 560 10 5 3 2 2 1 640 5 3 2 1 5 2 1 700 2 800 5 1 1 860 2 0 5 Lead 8 Lead 4 Orientation...

Страница 118: ...d mm 50 mm 100 to 300 Every 50mm 24 525 375 600 420 16 420 280 8 210 4 105 Values in brackets are for vertical use Unit mm s Caution The maximum speed may not be achieved when the stroke or movement d...

Страница 119: ...tical Speed mm s Acceleration G Speed mm s Acceleration G 0 3 0 7 0 3 0 3 0 7 0 3 0 18 9 5 3 0 40 25 5 200 18 9 5 3 140 40 25 5 420 10 5 1 5 280 18 12 2 600 1 420 1 5 1 Lead 8 Lead 4 Orientation Horiz...

Страница 120: ...force The variance increases when the current value is low The current limit value cannot be set outside the 20 to 70 range When the approach speed up to the pressing start position is 20mm s or less...

Страница 121: ...static allowable radial load Rod tip dynamic allowable radial load Note 1 EC RR6 H 190N 130N Note 2 EC RR7 H 250N 170N Note 3 Note 1 The value assumes a basic rated life of 5 000km Note 2 For stroke o...

Страница 122: ...iform load Note 1 Load uniform coefficient Ka Load uniform coefficient Kb Load uniform coefficient Kc EC RR6 H 6700N 2400N 104 m 87 m 62 m EC RR7 H 11400N 3000N 90 m 76 m 50 m Note 1 The value assumes...

Страница 123: ...et amount and overhang distance for use If the allowable values are exceeded this may lead to vibration shortened product life or damage If abnormal vibration or noise occurs during operation even whe...

Страница 124: ...he duty ratio is the operating rate shown in of the actuator operating time within one cycle The duty ratio for the ELECYLINDER is limited to the values below Use so that the duty ratio falls within t...

Страница 125: ...ounting pages 2 26 40 57 for details Foot bracket model FT This bracket is used for fixing the actuator body from the top with bolts Refer to Body Mounting pages 2 10 23 38 for details Tip adapter Int...

Страница 126: ...cylinder body Refer to Body Mounting page 2 49 66 for details Oscillation receiving bracket clevis model QRPB This is the oscillation receiving bracket for the clevis Refer to Body Mounting page 2 50...

Страница 127: ...backward ends jog operation inching operation as well as the operation via wireless communication enabled with WL However the control device is not designed for purposes of automatic operation Be sur...

Страница 128: ...able length 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 mod...

Страница 129: ...4 Accessories 1 99 1 Specifications Power I O connector Supplied when cable length is specified as 0 in the model number Name Model number Quantity Power I O connector 1 1871940 6 Tyco Electronics 1 p...

Страница 130: ...1 100 1 Specifications...

Страница 131: ...tion 2 7 Precautions regarding stainless steel sheet 2 8 Square nuts 2 8 Body mounting 2 9 Mounting transported objects 2 13 2 4 Installation of high rigidity slider type 2 14 Installation surface 2 1...

Страница 132: ...e 2 33 Installation surface 2 33 Mounting orientation 2 34 Square nuts 2 35 Body mounting 2 36 Mounting transported objects 2 43 Mounting with oscillation 2 46 2 7 Installation of high rigidity radial...

Страница 133: ...he package Do not damage or drop the package 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...

Страница 134: ...pecially careful not to apply external force For the names of each part refer to Part Names on page Intro 14 to 17 Take out the optional part tray and remove the actuator wrapped in film Unfold the ca...

Страница 135: ...en movement during transport If the ELECYLINDER body or any moving part is overhanging fix it appropriately to avoid large wobbles due to external vibration When transporting without fixing the tip do...

Страница 136: ...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 ir...

Страница 137: ...ly specified desiccant is not included in the package at shipping If the product is to be stored preserved in an environment where condensation is anticipated take condensation preventive measures For...

Страница 138: ...ELECYLINDER replacement and inspection The bottom surface and left side surface viewed from motor opposite side of the body base serve as the reference surfaces for slider running accuracy Use these...

Страница 139: ...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 separate due to long term disuse causing the base oil to flo...

Страница 140: ...ckness or misalignment occurs Keep adhesive paint and other viscous material off the stainless steel sheet Such material adhering to the stainless steel sheet can lead to defective slider operation or...

Страница 141: ...unit has a T slot at the bottom of the base for mounting Insert a square nut into the T slot and fix it from the back For details regarding the position and dimensions refer to Chapter 9 External Dim...

Страница 142: ...sing foot brackets The groove on the side of the main body can be fixed from the top Foot bracket Part model number EC FTSB 4 pcs set Foot bracket mounting dimensions Type Pt A Screw size Minimum numb...

Страница 143: ...g 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 Reamed hole Oblong ho...

Страница 144: ...t A on the opposite side 3 Finally fix foot bracket B Caution Sufficient fastening force may not be obtainable when mounting with methods other than the procedure above Notice The bolts for fixing foo...

Страница 145: ...to the figure below for the screw in depth and reamed hole depth Type A B EC S6 51mm 50mm EC S7 61mm 50mm Reamed hole pitch tolerance 0 02 Caution Be careful with regard to the length of the mounting...

Страница 146: ...e 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 reference surfaces for slider running accur...

Страница 147: ...stalling the unit vertically keep the motor on top to the greatest extent possible If the motor is installed on the bottom the grease may separate due to long term disuse causing the base oil to flow...

Страница 148: ...ble it may cause slackness or misalignment of the stainless steel sheet Continued usage in this orientation may lead to damage to the stainless steel sheet Adjust the stainless steel sheet if slacknes...

Страница 149: ...he position and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole and oblong hole if mounting reproducibility af...

Страница 150: ...m or more Procedure for removing the side cover and stainless steel sheet 1 Remove 1 and 2 2 Loosen bolts 3 and remove 4 3 Pull out stainless steel sheet 5 4 Loosen bolts 6 and remove 7 For assembly f...

Страница 151: ...se bottom The unit has a tapped mounting hole at the bottom of the base for mounting For details regarding the position and dimensions refer to Chapter 9 External Dimensions Tapped mounting hole dimen...

Страница 152: ...he figure below for the screw in depth and reamed hole depth Type A B EC S6 AH EC S6 H 51mm 50mm EC S7 AH EC S7 H 61mm 50mm Reamed hole pitch tolerance 0 02 CAUTION Be careful with regard to the lengt...

Страница 153: ...racy with flatness within 0 05mm m Fixing bolt The bolts for fixing foot brackets and flanges on the installation surface are to be prepared by the customer The use of high strength bolts of ISO 10 9...

Страница 154: ...ase 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 separate due to long term disu...

Страница 155: ...d type 2 23 2 Installation Body mounting When using foot brackets ELECYLINDERs can be mounted with foot brackets option model FT For EC R6 Part model number EC FT R6 For EC R7 Part model number EC FT...

Страница 156: ...ot brackets After mounting make sure to check whether it is grounded If it is not refer to Frame grounding page 3 4 and connect the ground wire to one of the two fixing screws at the bottom of the end...

Страница 157: ...et screws can be used For precautions for mounting refer to pages 2 27 to 28 Type Mounting screw M Spigot diameter N Screw effective length A Boss height B Fixing nut thickness C Tightening torque EC...

Страница 158: ...ges option model FL For precautions for mounting refer to pages 2 27 to 28 For EC R6 Part model number EC FL R6 For EC R7 Part model number EC FL R7 Type Material Tightening torque when mounting ELECY...

Страница 159: ...ions when using front brackets flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause malfu...

Страница 160: ...ld be installed on the frame motor side We recommend either using the optional foot bracket or keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less...

Страница 161: ...are as follows Type Static allowable torque T0 Angular displacement Width across flat dimensions EC R6 0 50N m 1 5 14mm EC R7 0 50N m 1 5 19mm Caution If torque exceeding the allowable value acts on...

Страница 162: ...liding resistance is constant over the entire stroke Make sure that the current value is constant using the monitoring function of the teaching tool Rigid fixing is recommended for the method of fixin...

Страница 163: ...Remove the male thread cap Transported objects can be secured using the male thread of the rod tip adapter For precautions for mounting refer to page 2 29 Type Male thread dimensions Tightening torque...

Страница 164: ...ported objects can be secured using the internal thread of the tip adapter For precautions for mounting refer to page 2 29 For EC R6 Part model number EC NFA R6 For EC R7 Part model number EC NFA R7 T...

Страница 165: ...ce surfaces for rod running Use these surfaces as the reference surfaces for mounting when running accuracy is required Use these surfaces as the reference surfaces for mounting when running accuracy...

Страница 166: ...the grease may separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teach...

Страница 167: ...used for the T slots The square nut quantities enclosed at shipping and related information are as follows Type Square nut quantity enclosed Screw size Required bolt length from base bottom Minimum nu...

Страница 168: ...The unit has a T slot at the bottom of the base for mounting Insert a square nut into the T slot and fix it from the back For details regarding the position and dimensions refer to Chapter 9 External...

Страница 169: ...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 Reamed hole O...

Страница 170: ...e on the side of the main body can be fixed from the top Foot bracket For EC RR6 Part model number EC FTSB 4pcs set For EC RR7 Part model number EC FTSB 02 6pcs set Foot bracket mounting dimensions Ty...

Страница 171: ...acket A on the opposite side 3 Finally fix foot bracket B Caution Sufficient fastening force may not be obtainable when mounting with methods other than the procedure above Notice The bolts for fixing...

Страница 172: ...o 42 For EC RR6 Part model number EC FL RR6 For EC RR7 Part model number EC FL RR7 Type Material Tightening torque when mounting ELECYLINDER EC RR6 Iron unichrome 3 42N m EC RR7 Iron unichrome 5 36N m...

Страница 173: ...ation Precautions when using flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause malfunc...

Страница 174: ...be installed on the frame motor side We recommend either using the optional foot bracket or keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less t...

Страница 175: ...p Transported objects can be secured using the male thread of the rod tip adapter Fix the rod tip bracket width across flats with a wrench etc to prevent loads from being applied to the rod Type Male...

Страница 176: ...o the rod For EC RR6 Part model number EC NFA R6 For EC RR7 Part model number EC NFA R7 Type Tightening torque when mounting ELECYLINDER EC RR6 30 00N m EC RR7 35 00N m The angle of the width across f...

Страница 177: ...que when mounting ELECYLINDER EC RR6 7 1N m M6 30 00N m EC RR7 17 2N m M8 35 00N m Line through centers of 5 hole and oblong hole 13 0 8 5 hole base reference surface 13 0 8 6 hole base reference surf...

Страница 178: ...ical mounting for oscillation When oscillation is performed with horizontal mounting the product s self weight causes moment loads to be applied to the joint increasing the sliding friction on the joi...

Страница 179: ...ied to the connector Be careful to arrange the cable so as not to exceed its flex radius allowable value Without cable processing With cable processing Bracket mounting for oscillation Oscillation req...

Страница 180: ...ified dimensions Adjust the knuckle joint angle so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment Mount with the geometric tolerance in the...

Страница 181: ...t 2 Using the inserted square nuts fix the body clevis bracket with the bolt temporary fixing 3 Press the body clevis bracket reference surface against the base bottom reference surface 4 Fully tighte...

Страница 182: ...e knuckle joint and body clevis ridges 2 Match the positions of the ridges and pass the clevis pin through 3 Mount a stop ring on each end of the clevis pin Stop ring C shaped stop ring for shaft nomi...

Страница 183: ...2 6 Installation of radial cylinder type 2 51 2 Installation Oscillation receiving bracket movable range NJPB QRPB...

Страница 184: ...viewed from motor opposite side of the body base serve as the reference surfaces for rod running Use these surfaces as the reference surfaces for mounting when running accuracy is required When apply...

Страница 185: ...grease may separate due to long term disuse causing the base oil to flow into the motor part and leading to controller or motor encoder breakdown If the motor is installed on the top cap the teaching...

Страница 186: ...ion and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole and oblong hole if mounting reproducibility after deta...

Страница 187: ...e Oblong hole EC RR6 AH EC RR6 H 4 5 51mm 30mm 4H7 depth 5 C 4 D 5 depth 5mm or more EC RR7 AH EC RR7 H 5 5 61mm 35mm 4H7 depth 5 C 4 D 5 depth 5mm or more Procedure for removing the frame cover 1 Loo...

Страница 188: ...ase bottom The unit has a tapped mounting hole at the bottom of the base for mounting For details regarding the position and dimensions refer to Chapter 9 External Dimensions Tapped mounting hole dime...

Страница 189: ...d EC RR6 H Part model number EC FL RR6 For EC RR7 AH and EC RR7 H Part model number EC FL RR7 Type Material Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H Iron unichrome 3 42N m EC RR7...

Страница 190: ...Installation Precautions when using flanges Do not apply external force to the ELECYLINDER body Caution Do not apply external force to the ELECYLINDER body after installation External force may cause...

Страница 191: ...The support block should be installed on the frame motor side We recommend either keeping the support block aluminum alloy etc close against the frame Caution Even when the stroke is less than 150mm...

Страница 192: ...nsported objects can be secured using the male thread of the rod tip adapter Fix the rod tip bracket width across flats with a wrench etc to prevent loads from being applied to the rod Type Male threa...

Страница 193: ...ed to the rod For EC RR6 AH and EC RR6 H Part model number EC NFA R6 For EC RR7 AH and EC RR7 H Part model number EC NFA R7 Type Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H 30 00N m...

Страница 194: ...and B Tightening torque when mounting ELECYLINDER EC RR6 AH EC RR6 H 7 1N m M6 30 00N m EC RR7 AH EC RR7 H 17 2N m M8 35 00N m 68 5 home position Reference surface 4 M8 depth 17 6 H7 reamed depth 8 Ob...

Страница 195: ...nd vertical mounting for oscillation When oscillation is performed with horizontal mounting the product s self weight causes moment loads to be applied to the joint increasing the sliding friction on...

Страница 196: ...e cable so as not to exceed its flex radius allowable value Because there is no T slot on the body side use an adhesive wiring bracket or similar to fix the cable Without cable processing With cable p...

Страница 197: ...Adjust the knuckle joint angle so as to operate smoothly with no load applied to the bracket or rod when operating embedded in the equipment Mount with the geometric tolerance in the figure below as...

Страница 198: ...be adjusted at a 50 mm pitch 3 Insert 4 square nuts into the clevis mounting plate T slot 4 Using the inserted square nuts fix the body clevis bracket with the bolt temporary fixing 5 Press the body...

Страница 199: ...2 7 Installation of high rigidity radial cylinder type 2 67 2 Installation For EC RR7 AH and EC RR7 H...

Страница 200: ...ween the knuckle joint and body clevis ridges 2 Match the positions of the ridges and pass the clevis pin through 3 Mount a stop ring on each end of the clevis pin Stop ring C shaped stop ring for sha...

Страница 201: ...2 7 Installation of high rigidity radial cylinder type 2 69 2 Installation Oscillation receiving bracket movable range NJPB QRPB...

Страница 202: ...2 70 2 Installation...

Страница 203: ...3 Connection arrangement diagram 3 5 3 4 Wiring connections for connectors 3 6 24VDC power supply wiring 3 6 PLC wiring 3 7 Connector wiring method 3 8 Brake release wiring 3 10 3 5 Wiring connection...

Страница 204: ...tion 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 introdu...

Страница 205: ...h Modbus protocol compliant I O specifications Input x 3 output x 3 power input common with body Data setting and input methods PC compatible software teaching pendant TB 02 Data retention memory Data...

Страница 206: ...Leakage current MAX 0 1mA per point Isolation type Non isolated from external circuitry Non isolated from external circuitry I O logic NPN PNP Brake release method Refer to the following method to rel...

Страница 207: ...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...

Страница 208: ...in normal conditions and OFF when an alarm occurs 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 209: ...pply 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 p...

Страница 210: ...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 dia...

Страница 211: ...rnal structure looks like this Insert a precision screwdriver fully into the tool insertion slot Press the spring within the connector down then insert the core wire slightly twisted Pulling out the p...

Страница 212: ...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...

Страница 213: ...to the B2 connector 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 releas...

Страница 214: ...ength 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...

Страница 215: ...ect 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 v...

Страница 216: ...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 pur...

Страница 217: ...cification 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 over...

Страница 218: ...3 15 3 Wiring...

Страница 219: ...ustment 4 6 Pressing operation setting 4 9 4 4 I O signals 4 11 I O signal list 4 11 ST0 ST1 signals Movement command input 4 12 RES signal Alarm clear input 4 13 BKRLS input Brake release input 4 13...

Страница 220: ...es operation 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 interr...

Страница 221: ...ual ME0355 Data setter operation method Data setter manual ME0375 Caution Maximum stroke operation is configured at shipping Before operating the ELECYLINDER make sure to check there is nothing that w...

Страница 222: ...ed Switch to Monitor mode by following the displayed 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...

Страница 223: ...s 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 conditi...

Страница 224: ...n 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 an...

Страница 225: ...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 pe...

Страница 226: ...ll 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 touc...

Страница 227: ...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 button...

Страница 228: ...between 20 and 70 Switch units can be used to input values in N units The pressing speed is 20 mm s If V Velocity is set to 20mm s or below pressing will take place at the speed of V Velocity Caution...

Страница 229: ...fter setting the numerical value touch the ENT key The screen will switch to the Simple Data Setting window Touch the Transfer key The numerical values will be written to the controller The BEnd butto...

Страница 230: ...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 Brak...

Страница 231: ...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...

Страница 232: ...he 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 O...

Страница 233: ...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...

Страница 234: ...ays monitor the ALM signal using the master device If it turns OFF immediately take appropriate safety countermeasures with the equipment as a whole For details refer to 7 4 Troubleshooting by alarm g...

Страница 235: ...e 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 begi...

Страница 236: ...he forward end 6 Output LS1 Moved to the forward end 7 Input ST0 t2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat t1 Wait approximately 0 5 seconds from w...

Страница 237: ...e reached the forward backward end Caution Turning the ST signal ON again after the gradual stop causes the ELECYLINDER to begin operation again Within the detection range the LS signal turns ON even...

Страница 238: ...pressing operation speed is 20 mm s The workpiece remains pressed after the pressing is completed If the workpiece moves or pushes back it may be pressed even further If the workpiece is struck during...

Страница 239: ...ckward end is complete Consider a master device sequence or detection method based on the content below If no contact is made the PE signal will not turn ON A timer is required to determine if no cont...

Страница 240: ...4 21 4 Operation...

Страница 241: ...ive 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 informa...

Страница 242: ...e 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 equi...

Страница 243: ...tal 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 v...

Страница 244: ...rise value falls below the ratio set as overload warning level Maintenance warning 3 will be automatically cleared When Maintenance warning 3 is output investigate the cause of the increase in load Ma...

Страница 245: ...PC software manual ME0155 Teaching pendant operating method Teaching pendant manual ME0355 Data setter operation method Data setter manual ME0375 Switching to maintenance information window Touch Inf...

Страница 246: ...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 t...

Страница 247: ...er list 6 5 6 4 Parameter function descriptions 6 6 Operation range adjustment 6 6 Auto switch LS signal detection range adjustment 6 7 Change home return direction 6 8 Home position adjustment 6 9 Sm...

Страница 248: ...t settings may lead to mis operation When making a change back up the data before the change so the settings can be recovered Back up the data after making changes as well This will be required for in...

Страница 249: ...reen 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 passwo...

Страница 250: ...touch the ENT key The parameter will be changed However if you touch ESC the parameter will not be changed and the edit window will return If setting parameters with radio buttons touch the radio but...

Страница 251: ...tion 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 mus...

Страница 252: ...MOD 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 ca...

Страница 253: ...inimum 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 changi...

Страница 254: ...ard 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 be...

Страница 255: ...ameter No 3 is Forward If Parameter No 3 is Reverse Caution Changing the home return direction reverses the operation direction After changing this parameter always perform home return reset absolute...

Страница 256: ...lt 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...

Страница 257: ...oftens the shocks of acceleration deceleration without delaying the operation time If Disabled the above functionality is not enabled Caution For operation in which the acceleration time or decelerati...

Страница 258: ...nging the unit to a complete stop If Enabled a current appropriate to the load will be transmitted to the motor stopping it This limits the amount of power consumed while stopping If abnormal noise or...

Страница 259: ...for the ELECYLINDER wireless function When Enabled is selected wireless communication between the ELECYLINDER and the data setting device is possible When Disabled is selected wireless communication b...

Страница 260: ...decrease in comparison Refer to Lead and Payload Power saving Enabled Stroke and Max Speed Power saving Enabled and Payload by Speed Acceleration Power saving Enabled on pages 1 8 1 9 1 14 1 15 1 20...

Страница 261: ...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...

Страница 262: ...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 Stop switch ON When using teaching pendant OFF Power...

Страница 263: ...less 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 O...

Страница 264: ...ve 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...

Страница 265: ...h the diagnosis as follows When no alarm is generated Abnormal conditions can be roughly divided into the following two types For details and countermeasures see 7 3 Troubleshooting with no alarm gene...

Страница 266: ...ler C Controller error alarm Content Countermeasure Controller abnormality occurred Replace the controller D Controller encoder abnormality alarm Content Countermeasure An abnormality occurred between...

Страница 267: ...refer 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 cov...

Страница 268: ...nner 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...

Страница 269: ...nce 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...

Страница 270: ...on setting Enable Parameter No 5 Smooth accel decel setting and check its effect For details refer to 6 4 Parameter function descriptions 2 Load inertia is excessive Lower the deceleration and suppres...

Страница 271: ...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...

Страница 272: ...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...

Страница 273: ...ntermeasure 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 ELECYL...

Страница 274: ...CYLINDER 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 countermeasur...

Страница 275: ...that 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 20 3 The commu...

Страница 276: ...measure 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...

Страница 277: ...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...

Страница 278: ...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...

Страница 279: ...4 High rigidity radial cylinder type EC RR AH High rigidity radial cylinder type EC RR H 8 4 Grease supply timing 8 4 8 3 Visual inspection items 8 5 External visual inspection 8 5 Internal visual ins...

Страница 280: ...AH High rigidity radial cylinder type EC RR H 8 15 8 6 How to replace components 8 17 Stainless steel sheet replacement adjustment 8 17 Controller replacement 8 20 Wireless communication circuit board...

Страница 281: ...ng the brake make sure to check there is nothing that will interfere with moving parts within the operation range The slider or rod may fall possibly injuring the operator or people nearby and damagin...

Страница 282: ...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 ac...

Страница 283: ...ider type EC S H Inspection period External inspection Internal inspection Greasing Ball screw Guide Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Grease supply...

Страница 284: ...nal inspection Greasing Ball screw Guide Rod sliding surface Start of work inspection 1 month inspection 3 month inspection 3 month inspection on Depends on greasing timing guideline Every 3 months 6...

Страница 285: ...the damage is severe Is the connector loose Re insert correctly Is grease dripping out especially if vertically mounted Clean up any drips Replenish the grease Is the rod sliding surface grease not l...

Страница 286: ...r penetrated inside Remove the foreign matter clean and inspect the interior for any damage Is the ball screw or guide grease not lubricating well Even if the grease is brown lubrication is adequate i...

Страница 287: ...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 p...

Страница 288: ...ldup Do not blow too hard with compressed air as it may cause dust to get in through gaps Do not use petroleum based solvents as they can harm resin and painted surfaces To remove severe buildup wipe...

Страница 289: ...Grease used Use an equivalent product Application location During maintenance recommended product Default reference Ball screw Kyodo Yushi Multemp LRL No 3 Kyodo Yushi Multemp LRL No 3 Guide Caution...

Страница 290: ...ke to apply the grease thoroughly 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 immed...

Страница 291: ...ation stopper Caution Never use fluorine based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the actuator 2 Greasing method Rod sli...

Страница 292: ...ly the grease thoroughly Caution Limit the time per spray of spray grease to 1 second or less Supplying too much grease may increase sliding resistance This may increase motor load and result in decre...

Страница 293: ...on Never use fluorine based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the ELECYLINDER 2 Greasing method Rod sliding parts 1 Pul...

Страница 294: ...on the base and fix it with hex socket button bolts 4 pcs tightening torque 1 91N m Caution Supplying too much grease may increase sliding resistance This may increase motor load and result in decrea...

Страница 295: ...p LRL No 3 Ball screw Guide Caution Never use fluorine based grease Mixing with lithium based grease not only reduces the performance of the grease it may even cause damage to the ELECYLINDER 2 Greasi...

Страница 296: ...e frame cover on the base and fix it with hex socket button bolts 4 pcs tightening torque 1 91N m Caution Supplying too much grease may increase sliding resistance This may increase motor load and res...

Страница 297: ...ainer 3 Pull 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 Mount the sheet retainer 6 Secur...

Страница 298: ...eet using the reverse procedure It should be inserted along the slider internal guide 5 Mount the sheet retainer 6 Secure the sheet clamp and the track housing cover Body model Stainless steel sheet m...

Страница 299: ...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 sh...

Страница 300: ...rn it to the original state 4 Mount the end cover Rod type replacement method Slider type replacement method Motor cover assembly Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N...

Страница 301: ...3 Mount the wiring connectors to the new motor cover assembly and return it to the original state 4 Mount the end cover High rigidity slider type replacement method Motor cover assembly Track housing...

Страница 302: ...the wiring connectors to the new motor cover assembly and return it to the original state 4 Mount the end cover High rigidity radial cylinder type replacement method Motor cover assembly Track housin...

Страница 303: ...CH SRR7 B P WL2 B Specification with brake P PNP specification WL2 Wireless axis operation specification Motor cover assembly Precautions for connectors wiring Motor cover assembly interior A arrow vi...

Страница 304: ...over assembly For the connector location refer to Notes on connectors wiring page 8 28 Rod type replacement method Slider type replacement method Motor cover assembly Cross recessed tapping screws x 2...

Страница 305: ...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 28 5 M...

Страница 306: ...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 below page 8...

Страница 307: ...ach 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 below page 8 28 5...

Страница 308: ...AH RR6 AH EC S6 H RR6 H EWB ECH SRR6 EC S7 AH RR7 AH EC S7 H RR7 H EWB ECH SRR7 Motor cover assembly Notes on connectors wiring Motor cover assembly interior A arrow view A Frame grounding wires shoul...

Страница 309: ...iring connectors and motor cover assembly to their original state 6 Attach the end cover Rod type replacement method Motor cover assembly controller substrate Cross recessed tapping screws x 2 pcs M3...

Страница 310: ...pping screws x 2 pcs M3 x 10 tightening torque 0 60N m Cross recessed pan screws x 2 pcs S6 S7 M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake End cover Hex socket head bolt...

Страница 311: ...recessed pan screws x 2 pcs S6 AH S7 AH S6 H S7 H M3 x 110 150 tightening torque 0 60N m M3 x 150 200 for models with brake End cover Hex socket head bolt S6 2 pcs M3 x 50 0 83N m S7 4 pcs M4 x 15 1...

Страница 312: ...method Motor cover assembly controller substrate Cross recessed tapping screws x 2 pcs M3 x 10 tightening torque 0 60N m Cross recessed pan screws x 2 pcs RR6 AH RR7 AH RR6 H RR7 H M3 x 110 150 tighte...

Страница 313: ...nal dimensions EC S H 9 5 EC S6 H 9 5 EC S7 H 9 6 9 4 Rod type external dimensions 9 7 EC R6 9 7 EC R7 9 8 9 5 Radial cylinder r type external dimensions 9 9 EC RR6 9 9 EC RR7 9 10 9 6 High rigidity r...

Страница 314: ...9 1 Slider type 9 1 9 External Dimensions 9 1 Slider type external dimensions EC S6 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 315: ...9 1 Slider type 9 2 9 External Dimensions EC S7 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 316: ...832 5 882 5 932 5 982 5 1032 5 1082 5 1132 5 A 224 5 274 5 324 5 374 5 424 5 474 5 524 5 574 5 624 5 674 5 724 5 774 5 824 5 874 5 924 5 974 5 B 186 5 236 5 286 5 336 5 386 5 436 5 486 5 536 5 586 5...

Страница 317: ...7 5 1157 5 1207 5 A 250 5 300 5 350 5 400 5 450 5 500 5 550 5 600 5 650 5 700 5 750 5 800 5 850 5 900 5 950 5 1000 5 B 208 5 258 5 308 5 358 5 408 5 458 5 508 5 558 5 608 5 658 5 708 5 758 5 808 5 858...

Страница 318: ...9 3 High rigidity slider type EC S H 9 5 9 External Dimensions 9 3 High rigidity slider type external dimensions EC S H EC S6 H M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 319: ...9 3 High rigidity slider type EC S H 9 6 9 External Dimensions EC S7 H M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 320: ...9 4 Rod type 9 7 9 External Dimensions 9 4 Rod type external dimensions EC R6 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 321: ...9 4 Rod type 9 8 9 External Dimensions EC R7 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 322: ...9 5 Radial cylinder type 9 9 9 External Dimensions 9 5 Radial cylinder r type external dimensions EC RR6 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 323: ...9 5 Radial cylinder type 9 10 9 External Dimensions EC RR7 M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 324: ...200 250 300 350 400 L W o Brake 345 395 445 495 545 595 645 695 With Brake 385 435 485 535 585 635 685 735 A 227 277 327 377 427 477 527 577 B 186 5 236 5 286 5 336 5 386 5 436 5 486 5 536 5 C 0 50 0...

Страница 325: ...Brake 467 5 517 5 567 5 617 5 667 5 717 5 767 5 817 5 867 5 917 5 A 260 5 310 5 360 5 410 5 460 5 510 5 560 5 610 5 660 5 710 5 B 208 5 258 5 308 5 358 5 408 5 458 5 508 5 558 5 608 5 658 5 C 50 0 50...

Страница 326: ...7 High rigidity radial cylinder type EC RR H 9 13 9 External Dimensions 9 7 High rigidity radial cylinder type external dimensions EC RR H EC RR6 H M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 327: ...9 7 High rigidity radial cylinder type EC RR H 9 14 9 External Dimensions EC RR7 H M E Mechanical end S E Stroke end ST Stroke Unit mm...

Страница 328: ...9 15 9 External Dimensions...

Страница 329: ...of life for slider type 10 1 How to calculate operation life 10 1 Relation between operation life and moment 10 3 10 2 Concept of life for rod type 10 3 10 3 Concept of life for controller 10 3 ELECY...

Страница 330: ...shown 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...

Страница 331: ...llows consideration of the effects on life due to ELECYLINDER mounting status Mounting coefficient f 1 0 1 2 1 5 Mounting status Fixed on entire surface Fixed at both ends Fixed locally The actuator u...

Страница 332: ...er than the standard rated life which is 5 000km 10 2 Concept of life for rod type The service life of the rod type radial cylinder type high rigidity radial cylinder type EC RR AH and high rigidity r...

Страница 333: ...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 334: ...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 335: ...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 336: ...11 3 11 Warranty...

Страница 337: ...Appendix 12 1 Index 12 1 12 2 Revision history 12 7 ELECYLINDER Chapter12...

Страница 338: ...3 5 4 13 Body mounting Slider type 2 9 to 12 High rigidity slider type EC S AH High rigidity slider type EC S H 2 17 to 19 Rod type 2 23 to 28 Radial cylinder type 2 36 to 42 High rigidity radial cyl...

Страница 339: ...rse specification Model NM 1 96 6 8 Home return operation 4 12 4 16 Home return direction change Parameter No 3 6 8 How to change parameters 6 2 How to read the model nameplate 1 2 How to read the mod...

Страница 340: ...61 EC RR6 AH energy saving disabled 1 6 1 67 EC RR6 AH energy saving enabled 1 6 1 69 EC RR7 AH energy saving disabled 1 6 1 72 EC RR7 AH energy saving enabled 1 6 1 74 EC RR6 H energy saving disable...

Страница 341: ...ed 1 44 to 45 EC R6 energy saving enabled 1 46 to 47 EC R7 energy saving disabled 1 49 to 50 EC R7 energy saving enabled 1 51 to 52 EC RR6 energy saving disabled 1 54 to 55 EC RR6 energy saving enable...

Страница 342: ...s AVD 4 6 to 8 Smooth accel decel setting Parameter No 5 6 10 7 9 S motion 6 10 7 9 Speed EC S6 energy saving disabled 1 5 1 7 EC S6 energy saving enabled 1 5 1 9 EC S7 energy saving disabled 1 5 1 13...

Страница 343: ...gnosis 7 4 to 5 Troubleshooting with no alarm generated 7 5 to 9 U V W Warning Maintenance warning 1 5 2 7 16 Warning Maintenance warning 2 5 2 7 16 Warning Maintenance warning 3 5 3 7 17 Warranty 11...

Страница 344: ...tting Parameter No 7 Edition 3C Pg Intro 11 Intro 13 Added RE Directive to CE marking Edition 3D Corrected misdescription Pg 2 1 Corrected Precautions for transportation Edition 4A Added High rigidity...

Страница 345: ...Appendix Revision date Revised content 2018 10 Edition 6A High rigidity slider type EC S6 AH and EC S7 AH added High rigidity radial cylinder type EC RR6 AH and EC RR7 AH added Wireless axis operation...

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Страница 348: ...INESS 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 Str...

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