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IAI ELECYLINDER EC-RTC9, Инструкция по эксплуатации

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1.3 Operating conditions 

1-25 

1. Specifications 

 

[When load torque affects] 

Used as shown in the figures below should have the load torque by the gravity work on the 
unit, thus the allowable inertia moment drops for the same amount. First, calculate the load 
torque and obtain the corrected allowable moment of inertia. Calculate the moment of inertia   
in addition to check if it is within the allowable inertia moment. 

 
 
 
 
 
 
 
 
 

 
 

● Step 1  Calculating the load torque T 

T = mgr × 10

-3

 [N·m] 

m :  Loaded weight [kg] 
g  :  Gravitational acceleration [m/s

2

] 

r  :  Distance of load gravity center [mm] 

 
● Step 2  Calculating the allowable moment of inertia correction factor Cj 

Cj = (Tmax - T) / Tmax 

Tmax  :  Output torque [N·m] 

 

 

 

 

Example

Load gravity center: offset from center of output shaft

Installation of unit:

Horizontal - horizontally oriented wall mount / vertical orientation

T

(Load torque)

m

(Loaded weight)

Load

gravity center

r

(Distance of load gravity center)

Direction

of gravity

Содержание ELECYLINDER EC-RTC9

Страница 1: ...redictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Index Appendix ELECYLINDER ch 1 ch 2 ch 3 ch 4 ch 5 ch 6 ch 7 ch 8 ch 9 ch 10 ch 11 ch 12...

Страница 2: ......

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

Страница 4: ...ual this document ME3800 PC Compatible Software for RC EC RCM 101 MW RCM 101 USB Instruction Manual ME0155 Touch Panel Teaching Pendant TB 02 02D Instruction Manual ME0355 Touch Panel Teaching Pendant...

Страница 5: ...1 4 Options 1 31 RCON EC connection specification Model ACR 1 31 With brake Model B 1 31 Home reverse specification Model NM 1 31 PNP specification Model PN 1 31 Battery less absolute encoder specific...

Страница 6: ...PLC wiring 3 18 Brake release wiring 3 19 Chapter 4 Operation 4 1 Basic operation 4 1 Caution in operation about backlash 4 2 4 2 Teaching tool connections and testing operation 4 3 Teaching pendant c...

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

Страница 8: ...9 8 6 How to replace components 8 14 Controller replacement Controller cover assembly replacement 8 14 Belt replacement 8 20 Motor replacement 8 23 Chapter 9 External Dimensions 9 1 Rotary external di...

Страница 9: ...Safety Guide Intro 1 Safety Guide The Safety Guide is intended to permit safe use of the product and thus to prevent risks and property damage Be sure to read it before handling the product...

Страница 10: ...cations Otherwise the product life may be drastically shortened and product damage or facilities stoppage may occur Do not use it in any of the following environments 1 Locations with flammable gases...

Страница 11: ...Do not put anything heavy that could deform the package on it When using a crane with capacity of 1t or more have an operator qualified for crane operation and sling work When using a crane or equival...

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

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

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

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

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

Страница 17: ...may lead to abnormal noise vibration breakdown or shortened product life 4 Make sure to observe the usage conditions and environment of the product Operation outside the warranty could cause decreased...

Страница 18: ...e conformity to EU Directives in some specific conditions as stated below you would be able to utilize this declaration EU Directives Applicable for EC Declaration of Conformity EMC Directive 2014 30...

Страница 19: ...o conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may cause undesired operation of the device FCC RF Rad...

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

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

Страница 22: ...with wireless connection operation testing movement to forward and backward ends jog operation inching operation is possible but the control device is not designed for purposes of automatic operation...

Страница 23: ...left and motor side anti motor side are shown as figures below Rotary type Pulley cover Motor cover Controller cover Status LED Tapped hole for service Power I O connector Teaching port Main frame Ou...

Страница 24: ...tus indicator LED The LED on the right side as seen from the motor side shows the servo ON OFF status and alarm status and the LED on the left side as seen from the motor side displays the wireless st...

Страница 25: ...ck the load moment and thrust load 1 29 1 4 Options 1 31 RCON EC connection specification Model ACR 1 31 With brake Model B 1 31 Home reverse specification Model NM 1 31 PNP specification Model PN 1 3...

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

Страница 27: ...components In the unlikely case that any model number errors or missing parts come to light contact your local IAI distributor Body Accessories ELECYLINDER Quantity 1 Power I O Cable Quantity 1 Power...

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

Страница 29: ...specification WL Wireless communication specification Cable length 0 With power I O connector 1 to 10 With relay cable with cover 0 0 m to to 10 10 m ELECYLINDER WL2 Wireless axis operation specifica...

Страница 30: ...m speed Reduction ratio 330 degree 1 45 600 Unit deg s Caution It may not reach the maximum speed when the rotary angle is small or acceleration deceleration is set low Setting at or below the minimum...

Страница 31: ...Non excitation brake Brake hold torque option 0 9 N m Ambient operating temperature humidity 0 to 40 C 85 RH or less Non condensing Motor type 28 pulse motor Encoder pulse count 800 pulse rev 1 It is...

Страница 32: ...Output torque N m Rotational speed deg s Rotational speed Output torque Allowable moment of inertia 0 3 0 5 0 20 15 100 20 15 200 20 15 300 20 15 400 20 15 500 20 15 600 15 8 Speed deg s Acceleration...

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

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

Страница 35: ...e approach speed up to the pressing start position is 20 deg s or less pressing operation will take place at approach speed When the pressing speed is 5 deg s or more and less than 20 deg s it may not...

Страница 36: ...Caution It may not reach the maximum speed when the rotary angle is small or acceleration deceleration is set low Setting at or below the minimum speed may lead to abnormal noise or unstable speeds T...

Страница 37: ...tally oriented wall mount Maximum allowable moment of inertia 1 Power saving invalid 0 13 kg m2 Power saving valid 0 1 kg m2 Radial rotation runout 0 1 mm or less Thrust rotation runout 0 1 mm or less...

Страница 38: ...otational speed deg s Rotational speed Output torque Allowable moment of inertia Energy saving Disabled 0 3 0 5 0 7 0 130 80 50 100 130 80 50 200 90 60 40 300 60 40 30 400 40 25 20 500 25 18 15 600 15...

Страница 39: ...tput torque N m Rotational speed deg s Rotational speed Output torque Allowable moment of inertia Energy saving Enabled 0 3 0 5 0 100 70 100 100 70 200 70 45 300 40 25 400 15 15 500 5 5 600 Speed deg...

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

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

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

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

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

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

Страница 46: ...e approach speed up to the pressing start position is 20 deg s or less pressing operation will take place at approach speed When the pressing speed is 5 deg s or more and less than 20 deg s it may not...

Страница 47: ...the rotation portion The home return operation should be performed counterclockwise The axis detects the position of the mechanical stopper and stops after rotation counterclockwise It is not availabl...

Страница 48: ...anical specifications 1 22 1 Specifications Duty ratio The duty ratio is the operating rate shown in of the actuator operating time within one cycle Continuous operation is possible when the duty rati...

Страница 49: ...and thrust load Step 1 Check the moment of inertia When no load torque affected Used as shown in the figures below should not have the load torque by the gravity work on the unit Calculate of the mom...

Страница 50: ...J M D 10 3 2 8 M L 10 3 2 kg m2 5 Moment of inertia of cylinder 4 Formula J M D 10 3 2 4 H 10 3 2 3 4 M L 10 3 2 kg m2 6 Moment of inertia of prism 2 The same formula can be applied irrespective of t...

Страница 51: ...check if it is within the allowable inertia moment Step 1 Calculating the load torque T T mgr 10 3 N m m Loaded weight kg g Gravitational acceleration m s2 r Distance of load gravity center mm Step 2...

Страница 52: ...ut torque Energy saving Disabled 0 8 0 100 6 5 200 6 0 300 4 5 400 3 0 500 2 0 600 1 5 Speed deg s Output torque N m 0 0 2 0 4 0 6 0 8 0 10 0 0 100 200 300 400 500 600 700 Output torque N m Rotational...

Страница 53: ...25 30 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable moment of inertia 0 3 G 0 5 G RTC12 allowable moment of inertia Energy sav...

Страница 54: ...10 3 kg m2 0 30 60 90 120 150 0 100 200 300 400 500 600 700 Allowable moment of inertia 10 3 kg m 2 Rotational speed deg s Rotational speed Allowable moment of inertia 0 3 G 0 5 G Step 4 Check the mo...

Страница 55: ...t shaft are within the allowable values Use above the allowable range could cause drop of the product life or may cause malfunction Model Allowable load moment N Allowable thrust load N RTC9 5 50 RTC1...

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

Страница 57: ...erse specification It is necessary to replace the stopper for the home reverse specification Keep in mind that changing only the setting in Parameter No 3 Change home return direction would not lead y...

Страница 58: ...ell as the operation via wireless communication enabled with WL However the control device is not designed for purposes of automatic operation Be sure to refer to the Precautions for Axis Operation wi...

Страница 59: ...Note Add the weight and moment of inertia of the shaft adapter in the consideration of 1 3 Operating conditions EC RTC9 Unit model EC SA RTC9 4 4 8 drill 8 counterbore depth 4 5 EC RTC12 Unit model E...

Страница 60: ...eration of 1 3 Operating conditions EC RTC9 Unit model EC TA RTC9 4 4 5 drill 8 counterbore depth 4 5 Equally allocated 8 M6 depth 13 Opposite side 4 H9 depth 4 5 0 030 0 EC RTC12 Unit model EC TA RTC...

Страница 61: ...CB EC2 PWBIO RB equipped with the 4 way connector Note 1 TMD2 is 24 V control Note Cable in light green and light gray not in use The wiring on the opposite side of the connector has not been processe...

Страница 62: ...5 Accessories 1 36 1 Specifications Power I O connector Supplied when cable length is specified as 0 in the model number Name Model number Quantity Power I O connector 1 1871940 6 Tyco Electronics 1 p...

Страница 63: ...reservation environment 2 4 Installation environment 2 4 Storage preservation environment 2 5 2 3 Installation of Rotary 2 6 Installation surface 2 6 Mounting orientation Type EC RTC9 RTC12 2 6 Fixing...

Страница 64: ......

Страница 65: ...ge The package is not specially designed to withstand dropping or shock due to collision Do not have a single operator to carry a heavy package Use an appropriate method for transportation Keep the un...

Страница 66: ...y external force For the names of each part refer to Part Names on page Intro 15 Take out the optional part tray and remove the actuator wrapped in film Unfold the cardboard and take out the actuator...

Страница 67: ...ld not move during transportation If the ELECYLINDER body or any moving part is overhanging fix it appropriately to avoid large wobbles due to external vibration When transporting without fixing the t...

Страница 68: ...he relative humidity exceeds 85 RH Where the unit receives direct sunlight Where the unit is exposed to corrosive or combustible gases Where the ambient air contains a large amount of dust salt or iro...

Страница 69: ...ly specified desiccant is not included in the package at shipping If the product is to be stored preserved in an environment where condensation is anticipated take condensation preventive measures For...

Страница 70: ...racy with flatness within 0 05 mm m The mounting frame should have a structure rigid enough to prevent the generation of vibration Also consider the necessary space for maintenance work such as ELECYL...

Страница 71: ...eign matter may lead to a breakdown Fixing bolt The bolts for fixing actuator on the installation surface are to be prepared by the customer The use of high strength bolts of ISO 10 9 or higher is rec...

Страница 72: ...ion and dimensions refer to Chapter 9 External Dimensions There are a reamed hole and oblong hole for the positioning pins Use the reamed hole and oblong hole if mounting reproducibility after detachm...

Страница 73: ...lation surface For aluminum installation surface EC RTC9 M8 30 N m 11 5 N m EC RTC12 M10 59 3 N m 23 3 N m 26 Oblong hole depth 4 17 5 17 5 34 2 M8 depth 12 4 H7 reamed depth 4 64 5 4 0 012 0 R Oblong...

Страница 74: ...to Chapter 9 External Dimensions There are a reamed hole and oblong hole for positioning pins equipped on the bottom Use the reamed hole and oblong hole if mounting reproducibility after detachment is...

Страница 75: ...ter 9 External Dimensions There are a reamed hole and an oblong hole for the positioning pins Use the reamed hole if mounting reproducibility after detachment is required Hex socket head cap screws 4...

Страница 76: ...9 M4 4 0 N m 1 8 N m EC RTC12 M5 7 3 N m 3 4 N m P C D 2 3 4 M4 depth 6 Equally allocated 4 H7 reamed depth 5 45 45 1 1 H 7 d e p t h 5 S p ig o t C h a m fe r a t o p e n in g C 0 5 3 0 h 7 1 0 H o l...

Страница 77: ...use of screw in depth greater than that of the tapped or reamed mounting holes may damage the tapped hole or reduce the mounting strength of the transported object leading to decreased accuracy or un...

Страница 78: ...2 14 2 Installation...

Страница 79: ...n arrangement diagram 3 5 3 4 Wiring connections for connectors 3 7 24 V DC power supply wiring 3 7 PLC wiring 3 9 Connector wiring method 3 10 Brake release wiring 3 12 3 5 Wiring connections for cab...

Страница 80: ......

Страница 81: ...e following shows the system configuration Supply 24 V DC to the ELECYLINDER and input a signal from a master device to the ELECYLINDER This enables the ELECYLINDER to operate This manual introduces a...

Страница 82: ...specifications Input 3 output 3 power input common with body Data setting and input methods PC compatible software teaching pendant TB 02 TB 03 Data retention memory Data and parameters are saved in t...

Страница 83: ...18 V DC OFF voltage MAX 6 V DC Residual voltage 2 V or less Leakage current MAX 1 mA per point Leakage current MAX 0 1 mA per point Isolation type Non isolated from external circuitry Non isolated fro...

Страница 84: ...ase wiring pages 3 12 and 3 17 Frame grounding The ELECYLINDER has a built in controller circuit board The controller frame grounding line is connected to the ELECYLINDER body and through to ground vi...

Страница 85: ...normal conditions and OFF when an alarm occurs For PNP specification Backward complete For NPN specification Forward complete Alarm Backward complete Forward complete Note 1 Brake release ELECYLINDER...

Страница 86: ...ccurs For PNP specification For NPN specification Note 1 B1 B3 B5 B2 B4 A3 A4 A5 24 V BKRLS ST0 ST1 RES ALM LS0 LS1 0 V 24 V DC Brake release 24 V power supply Driving Source Alarm clear Backward comp...

Страница 87: ...connector terminal and the 0 V terminal of the 24 V DC power supply When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24 V power supply in t...

Страница 88: ...pply Note Wire for 24V control on A2 can apply 0 3mm2 AWG22 When establishing an external stop switch add a b contact switch to the B1 terminal wiring This shuts off the 24 V Driving Source power supp...

Страница 89: ...he A4 connector terminal and the Forward complete input terminal Connect the A5 connector terminal and the Alarm input terminal Pin No Connector nameplate name Signal abbreviation Compatible wire diam...

Страница 90: ...rnal structure looks like this Insert a precision screwdriver fully into the tool insertion slot Press the spring within the connector down then insert the core wire slightly twisted Pulling out the p...

Страница 91: ...ausing the wire to fall out of the connector and possibly causing insufficient current or short circuit Do not insert the precision screwdriver violently into the connector or twist it hard This may d...

Страница 92: ...24 V DC 10 200 mA or higher is required Pin No Connector nameplate name Signal abbreviation Compatible wire diameter Required specifications B2 Brake release BKRLS KIV 0 20 mm2 AWG24 24 V DC 10 200 mA...

Страница 93: ...or It is a cable capable to change the orientation of the connector in four ways The cable wires on the connector are the same as those for Power I O Cable CB EC PWBIO RB Model CB EC2 PWBIO RB The wir...

Страница 94: ...rientation of your demand 1 Slide the curved side of the cable end to your desire direction 2 Be sure to check that the cable is settled firmly and insert two tabs of the cover along the slits of sock...

Страница 95: ...tor must be inserted in a given direction A section of the connector protrudes Orient this section downwards and insert until it clicks into place Take appropriate care to prevent unused wiring in the...

Страница 96: ...insulation color black to the 0 V terminal of the 24 V DC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24 V Power supply input Power supply voltage 24 V...

Страница 97: ...ly Connect the 0 V wire insulation color black to the 0 V terminal of the 24 V DC power supply Wiring color Signal abbreviation Function overview Required specifications Red 24 V Driving Source Drivin...

Страница 98: ...low cable wire and the Forward output terminal Connect the green cable wire and the Alarm clear output terminal Connect the blue cable wire and the Backward complete input terminal Connect the purple...

Страница 99: ...ication with brake when installing a forcible brake release switch connect the brown cable wire Power capacity of 24 V DC 10 200 mA or higher is required Wiring color Signal abbreviation Function over...

Страница 100: ...3 20 3 Wiring...

Страница 101: ...end backward end 4 6 Operating conditions AVD setting adjustment 4 7 Pressing operation setting 4 10 4 4 I O signals 4 12 I O signal list 4 12 ST0 ST1 signals Movement command input backward forward...

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

Страница 103: ...while a movement command signal is input outputting a position detected signal when the movement is complete Turning the movement command signal OFF before the movement is complete interrupts the ope...

Страница 104: ...While stopped if external force is applied in the rotating direction the output shaft may be displaced by the distance of the backlash The movement distance will be shortened to the extent of the bac...

Страница 105: ...hing pendant operation Touch panel teaching pendant manual method ME0375 ME0376 Caution Maximum oscillation angle operation is configured at shipping Before operating the ELECYLINDER make sure to chec...

Страница 106: ...instructions If the position edit password is set to a value other than 0000 enter the password and press the ENT key on the touch panel The screen will switch to the Simple Data Setting window The po...

Страница 107: ...nditions AVD setting adjustment The stop position and operating conditions are set for the ELECYLINDER at shipping The Simple Data Setting screen can be used to adjust the stop position and operating...

Страница 108: ...of 0 01 degrees Touch the position you want to configure adjust Ten Key window will open After setting the numerical value touch the ENT key Then touch the Transfer key A value will be written to the...

Страница 109: ...button to switch the units to G allowing entries to be made in increments of 0 01 G The acceleration deceleration unit of G is described below 1 G 9 807 deg s2 Acceleration possible up to 9 807 deg s...

Страница 110: ...value will be displayed below the ten key pad To configure a new setting touch the Change key The Transported load setting window will open Select Mounting orientation and enter the Payload then touch...

Страница 111: ...nd the B End button and F End button will turn green The Transfer log will also be updated Current set value and Previous set value cycle time calculation results are updated Press the F End or B End...

Страница 112: ...sing operation Set between 20 and 70 Switch units can be used to input values in N m units The pressing speed is 20 deg s If V Velocity is set to 20 deg s or below pressing will take place at the spee...

Страница 113: ...After setting the numerical value touch the ENT key The screen will switch to the Simple Data Setting window Touch the Transfer key The numerical values will be written to the controller The B End but...

Страница 114: ...gradual stop Turning ON when home return is not complete triggers home return operation Turning OFF midway through operation will cause a gradual stop Alarm clear RES Turning ON resets the alarm Brake...

Страница 115: ...d and Forward While the ST signal is ON operation will continue until the Backward end or Forward end is reached Turning the ST signal OFF midway through operation will cause a gradual stop For detail...

Страница 116: ...power capacity requires 24 V DC 10 and 200 mA or more The ELECYLINDER brake is a non excitation actuating solenoid brake In normal operation the brake is automatically released but when the servo is...

Страница 117: ...onfigured at the backward and forward ends They turn ON when within the detection range regardless of whether the servo is ON or OFF The backward end and forward end set values relationship to LS0 and...

Страница 118: ...en an alarm occurs Always monitor the ALM signal using the master device If it turns OFF immediately take appropriate safety countermeasures with the equipment as a whole For details refer to 7 4 Trou...

Страница 119: ...n should be conducted without having the home return operation Caution In the home reverse specification model NM home return operation is in the reverse direction Backward signal ST0 Backward end sig...

Страница 120: ...the forward end 6 Output LS1 Moved to the forward end 7 Input ST0 t2 Moves to the backward end 8 Output LS0 Moved to the backward end 9 After this 5 to 8 repeat t1 Wait approximately 0 5 seconds from...

Страница 121: ...e reached the forward backward end Caution Turning the ST signal ON again after the gradual stop causes the ELECYLINDER to begin operation again Within the detection range the LS signal turns ON even...

Страница 122: ...as follows Caution The pressing operation speed is 20 deg s The workpiece remains pressed after the pressing is completed If the workpiece moves or pushes back it may be pressed even further If the w...

Страница 123: ...rd end is complete Consider a master device sequence or detection method based on the content below If no contact is made the PE signal will not turn ON A timer is required to determine if no contact...

Страница 124: ...4 22 4 Operation...

Страница 125: ...ance information 5 2 Total travel count 5 2 Count of back and forth between 0 and 180 deg To be figured out from total distance 5 2 Overload warning level 5 3 5 3 Setting maintenance information 5 4 S...

Страница 126: ......

Страница 127: ...prompts the user to perform maintenance if the travel count or the travel distance exceeds the set values Preventative maintenance Predictive maintenance Maintenance that is performed when based on r...

Страница 128: ...esent one and update Setting it to 0 times will disable this function Count of back and forth between 0 and 180 deg To be figured out from total distance Name Symbol Unit Input range Default setting a...

Страница 129: ...rise value falls below the ratio set as overload warning level Maintenance warning 3 will be automatically cleared When Maintenance warning 3 is output investigate the cause of the increase in load Ma...

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

Страница 131: ...and Ten Key window will open Enter the value with the Ten Key pad and touch the ENT key The target value will change If you touch ESC the target value will not be changed and the original window will...

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

Страница 133: ...r No 1 Operation range adjustment 6 6 Parameter No 2 Auto switch LS signal detection range adjustment 6 7 Parameter No 3 Change home return direction 6 8 Parameter No 4 Home position adjustment 6 9 Pa...

Страница 134: ......

Страница 135: ...t settings may lead to mis operation When making a change back up the data before the change so the settings can be recovered Back up the data after making changes as well This will be required for in...

Страница 136: ...enu 1 screen The screen will switch to the Edit parameters window If the TP operation mode is not Monitor mode a confirmation window will appear for switching to Monitor mode Also if the parameter edi...

Страница 137: ...touch the ENT key The parameter will be changed However if you touch ESC the parameter will not be changed and the edit window will return If setting parameters with radio buttons touch the radio but...

Страница 138: ...he explanation button displays a description of each parameter at the bottom of the screen Caution Simply changing the parameters alone is not sufficient to enable the changes After making changes the...

Страница 139: ...ing at stop SMOD Disabled Powerful stop Enabled Energy saving stop Disabled 6 11 7 A Wireless function setting RWOF Disabled enabled Enabled 6 12 8 A Power saving setting BUEN Disabled enabled Disable...

Страница 140: ...eration range can be adjusted to suit your system The minimum setting unit is 0 01 degrees Set up an angle that you would like to use The controller automatically adds 0 30 degrees and controls monito...

Страница 141: ...ECYLINDER enters the detection range the backward complete or forward complete signal turns ON The minimum setting unit is 0 01 degrees The LS signal detection range for the conditions below is shown...

Страница 142: ...termined as the home position As the datum is the only difference and the rotation range should be the same Caution Changing the home return direction reverses the operation direction After changing t...

Страница 143: ...r assembly into equipment 2 To adjust the new home position upon reversing the default home return direction after purchase 3 To eliminate a slight deviation from the previous home position generated...

Страница 144: ...oftens the shocks of acceleration deceleration without delaying the operation time If Disabled the above functionality is not enabled Caution For operation in which the acceleration time or decelerati...

Страница 145: ...nging the unit to a complete stop If Enabled a current appropriate to the load will be transmitted to the motor stopping it This limits the amount of power consumed while stopping If abnormal noise or...

Страница 146: ...LECYLINDER wireless function When Enabled is selected wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant is possible When Disabled is selected wireless communication b...

Страница 147: ...en Enabled the power capacity can be reduced up to 40 compared to Disabled mode but the maximum acceleration deceleration output torque and allowable moment of inertia decrease in comparison Refer to...

Страница 148: ...6 14 6 Parameters...

Страница 149: ...ad alarm 7 11 Alarm group B Motor abnormality alarm 7 12 Alarm group C Controller abnormality alarm 7 13 Alarm group D Controller encoder abnormality alarm 7 14 Alarm group E Supply voltage power capa...

Страница 150: ......

Страница 151: ...ide as seen from the motor side Operation status ALM signal output status SV green ALM red Power OFF Servo OFF OFF Alarm generated OFF Stop switch ON When using teaching pendant ON Power ON Servo ON O...

Страница 152: ...LED Left side as seen from the motor side Wireless status Green Red Wireless hardware initializing Wireless not connected transmitting monitor data Connecting from wired teaching pendant ON 200 ms OFF...

Страница 153: ...ove the cables around the measurement point to avoid conductivity through the surrounding circuit before checking the conductivity 8 Check the I O signals Use the master device and ELECYLINDER teachin...

Страница 154: ...h the diagnosis as follows When no alarm is generated Abnormal conditions can be roughly divided into the following two types For details and countermeasures see 7 3 Troubleshooting with no alarm gene...

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

Страница 156: ...fer to 3 4 3 5 Wiring connections 2 The unit is switched to servo OFF with the teaching tool Turn ON the servo with PC software or teaching pendant 3 Controller breakdown Replace the controller cover...

Страница 157: ...inner than the applicable value Make sure the wiring processing is correct For details refer to 3 4 3 5 Wiring connections 2 Disconnection of power I O cable disconnection or contact failure of power...

Страница 158: ...tting interference while moving Remove the interfering object 3 The body or guide is twisted due to the fixing method of the ELECYLINDER Loosen the fixing bolt and check whether the moving part moves...

Страница 159: ...on setting Enable Parameter No 5 Smooth accel decel setting and check its effect For details refer to 6 4 Parameter function descriptions 2 Load inertia is excessive Lower the deceleration and suppres...

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

Страница 161: ...surface should be a machined surface or a plane with similar accuracy with flatness within 0 05 mm m Refer to the recommended tightening torque of the bolts for main frame fixing in 2 3 Installation m...

Страница 162: ...Remove the heat source turn OFF the heat source install a fan install a temperature shield improve thermal conductivity of the main frame install a heat dissipation fin etc 2 The ELECYLINDER may be b...

Страница 163: ...INDER then check to see whether this alarm persists If it does not there is a possibility that the ELECYLINDER is affected by the noise from the peripheral device Reconsider the noise countermeasures...

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

Страница 165: ...er supply voltage has insufficient capacity Refer to our catalog for the required capacity and improve the power supply environment Countermeasure 2 Check whether the length of the power I O cable is...

Страница 166: ...Maintenance information and 5 3 Setting maintenance information Maintenance warning 2 Count of back and forth between 0 and 180 deg To be figured out from total distance This is an alert that the tar...

Страница 167: ...g may be caused by the depletion of grease on the gears inside the ELECYLINDER brake failure motor failure contact with peripheral equipment etc Countermeasure 1 Have a visual inspection to check on t...

Страница 168: ...7 18 7 Troubleshooting...

Страница 169: ...3 Visual inspection items 8 4 External visual inspection 8 4 Internal visual inspection 8 5 8 4 Cleaning 8 8 External cleaning 8 8 8 5 Greasing method 8 9 Rotary 8 9 8 6 How to replace components 8 1...

Страница 170: ......

Страница 171: ...g parts within the operation range The output shaft may rotate and possibly injuring the operator or people nearby and damage the ELECYLINDER workpiece or equipment Caution Check that the power to the...

Страница 172: ...e It is recommended to shorten the grease supply period if the actuator is used under poor environmental conditions such as high temperatures high humidity or dusty atmospheres Also it is recommended...

Страница 173: ...ht and day or otherwise running at a high operating rate inspect more often Rotary Inspection period External inspection Internal inspection Greasing Note 1 Start of work inspection 1 month inspection...

Страница 174: ...normal noise or vibration generated Refer to 7 3 Troubleshooting with no alarm generated for help Are ELECYLINDER mounting bolts loose Tighten them further Is the cable scratched Replace if the damage...

Страница 175: ...ustment methods Internal visual inspection Inspection items Maintenance work Is the gear grease not lubricating well Even if the grease is brown lubrication is adequate if the running surface is shiny...

Страница 176: ...orn out on the teeth area Is there any crack on the teeth area Is there any chipped tooth Replace the belt in case any of those stated on the left is found Refer to Belt replacement in 8 6 How to repl...

Страница 177: ...ze Number Tightening torque RTC9 Cross recessed pan screw M2 5 10 2 pcs 34 5 N cm RTC12 Cross recessed pan screw M3 5 2 pcs 61 5 N cm 2 Inspect the timing belt Put the pulley cover on after the inspec...

Страница 178: ...s found wipe it off with soft cloth Use a soft cloth to wipe away dirt and buildup Do not blow too hard with compressed air as it may cause dust to get in through gaps Do not use petroleum based solve...

Страница 179: ...pplication location During maintenance recommended product Default reference Gear part Kyodo Yushi Multemp AC D or Sumico Lubricant Sumigrease Spray Kyodo Yushi Multemp AC D Caution Never use fluorine...

Страница 180: ...oning operation using a teaching tool such as PC software Approx 30 deg s Spread grease over the entire gear Make sure to prepare the emergency stop button emergency stop circuit in your reach before...

Страница 181: ...Engineering Nozzle outer diameter1 27 mm needle long 12 7 mm Caution Too much grease applied could cause overflow of grease which may cause troubles and defects If the grease enters your eye immediat...

Страница 182: ...ting screw or by positioning operation using a teaching tool such as PC software Approx 30 deg s Spread grease over the entire gear Make sure to prepare the emergency stop button emergency stop circui...

Страница 183: ...within 1 second Too much grease applied could cause overflow of grease which may cause troubles and defects If the grease enters your eye immediately see a specialist physician for appropriate care Af...

Страница 184: ...ntroller cover assembly replacement RTC9 1 Remove the screws 2 pieces fixing the controller cover assembly 2 Pull off the connector joining the controller PC board and the motor unit and take off the...

Страница 185: ...sembly for replacement and put on the controller cover assembly for replacement 4 Tighten the screws 2 pieces to affix the controller cover assembly Part Name Size Number Tightening torque Cross reces...

Страница 186: ...screws 3 pieces fixing the controller cover assembly 2 Take off the controller cover assembly 3 Pull off the cable connector connected to the motor unit assembly from the PC board Controller cover as...

Страница 187: ...he cable connecting the controller cover assembly and the PC board and then take the end plate off The ring tongue terminal on the internal wiring frame grounding line should be jointly fastened on th...

Страница 188: ...N cm 6 Join the connector on the internal wiring on the controller to the PC board 7 Fasten the ring tongue terminal on the internal wiring frame grounding line jointly on the end plate 8 Put the cont...

Страница 189: ...5 3 pcs 61 5 N cm Body model Controller cover assembly model number EC RTC9 CCA EC RTC9 P TMD2 WL WL2 EC RTC12 CCA EC RTC12 P TMD2 WL WL2 P PNP specification TMD2 Two Circuit Power Supply Specificatio...

Страница 190: ...eplace it 1 Remove the screws 2 pieces fixing the pulley cover 2 Loosen the affixing screws on the motor unit 3 Take the timing belt off and put on a timing belt for replacement Timing belt RTC9 Cross...

Страница 191: ...e load tensile force so it goes in parallel to the timing belt 5 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Model Part Name Size Number Ti...

Страница 192: ...5 5 2 pcs 34 5 N cm RTC12 Cross recessed pan screw M3 5 2 pcs 61 5 N cm 7 Operation shown below should be conducted for each encoder type Incremental Home return operation Battery less absolute Absol...

Страница 193: ...ble for motor replacement Ask IAI when it is necessary to replace it RTC9 1 Remove the screws 2 pieces fixing the controller cover assembly 2 Pull off the connector joining the controller PC board and...

Страница 194: ...ction 3 Remove the screws 2 pieces fixing the pulley cover 4 Loosen the affixing screws on the motor unit 5 Take the timing belt off Timing belt Timing belt Cross recessed pan screw M2 5 5 Hex socket...

Страница 195: ...ver assembly from the motor unit 8 Take the motor unit off and put on a motor unit for replacement Join the cables taken off in 7 to the motor unit for replacement The motor for replacement should be...

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

Страница 197: ...3 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Part Name Size Number Tightening torque Hex socket head cap screw M2 5 6 2 pcs 45 8 N cm Plai...

Страница 198: ...r unit and put on the controller cover assembly 16 Tighten the screws 2 pieces to affix the controller cover assembly Part Name Size Number Tightening torque Cross recessed pan screw M2 5 5 2 pcs 34 5...

Страница 199: ...screws 3 pieces fixing the controller cover assembly 2 Take off the controller cover assembly 3 Pull off the cable connector connected to the motor unit assembly from the PC board Controller cover as...

Страница 200: ...he cable connecting the controller cover assembly and the PC board and then take the end plate off The ring tongue terminal on the internal wiring frame grounding line should be jointly fastened on th...

Страница 201: ...ance and Inspection 5 Remove the screws 2 pieces fixing the pulley cover 6 Loosen the affixing screws on the motor unit 7 Take the timing belt off Timing belt Timing belt Cross recessed pan screw M3 5...

Страница 202: ...side 9 Take the motor cover off 10 Take the motor unit assembly off and put on a motor unit assembly for replacement The motor for replacement should be kept temporarily fastened Motor cover Hex socke...

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

Страница 204: ...the timing belt 15 With the specified load tensile force being applied tighten up the affixing screws to fix the motor unit Part Name Size Number Tightening torque Hex socket head cap screw M3 5 2 pc...

Страница 205: ...cm 18 Join the connector on the internal wiring on the controller to the PC board 19 Fasten the ring tongue terminal on the internal wiring frame grounding line jointly on the end plate 20 Put the co...

Страница 206: ...r cover assembly Part Name Size Number Tightening torque Cross recessed pan screw M3 5 3 pcs 61 5 N cm Body model Motor unit model number EC RTC9 EC MURTC9 WA EC RTC12 EC MURTC12 WA WA Battery less ab...

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

Страница 208: ......

Страница 209: ...depth 4 26 17 5 17 5 34 Oblong hole depth 4 2 M8 depth 12 S 22 5 22 5 8 M6 Screw depth 12 P C D 43 Table Adapter Specification Oblong hole depth 4 5 U 6 2 0 1 0 Shaft Adapter Specification R0 1 orless...

Страница 210: ...4 22 5 22 5 44 32 2 M10 depth 15 Oblong hole depth 4 S 8 M8 Screw depth 14 22 5 22 5 P C D 5 5 Oblong hole depth 5 5 U 12 0 0 1 15 h7 46 33 5 21 25 5 5 0 0 030 R 105 5 From base bottom 36 C 0 5 R0 1 o...

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

Страница 212: ......

Страница 213: ...1 1 It is a reference of life when conducting rotation back and forth between 0 deg and 180 deg The product life fluctuates drastically depending on the condition of use environment and condition of m...

Страница 214: ...10 2 10 Life...

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

Страница 216: ......

Страница 217: ...on manual and catalog 4 The breakdown or malfunction in question was caused by a specification defect malfunction or poor product quality Note that breakdowns due to any of the following reasons are e...

Страница 218: ...ended or designed for the applications specified below which require a high level of safety Accordingly as a rule our product cannot be used in these applications Contact IAI if you must use our produ...

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

Страница 220: ......

Страница 221: ...to 10 Brake hold torque EC RTC9 1 5 EC RTC12 1 11 Brake release signal BKRLS 3 4 to 6 3 12 3 19 4 12 4 14 Brake type EC RTC9 1 5 EC RTC12 1 11 C Cleaning 8 8 Components 1 1 Connection arrangement diag...

Страница 222: ...16 7 1 to 2 Life Controller 10 1 Rotary 10 1 LS0 signal backward complete 3 5 to 6 3 9 4 12 4 15 4 17 to 19 LS1 signal forward complete 3 5 to 6 3 9 4 12 4 15 4 17 to 19 M Maintenance information 5 2...

Страница 223: ...0 S Safety Guide Intro 1 Setting maintenance information 5 4 to 5 Setting adjustment of operating conditions AVD 4 7 to 9 Shaft adapter option model SA 1 33 Smooth accel decel setting Parameter No 5 6...

Страница 224: ...for relay cable equipped with 4 way connector Pg 6 8 Correction made to figure of parameter No 3 home reversed setting Pg 7 15 Overcurrent has occurred on the I O output part added Pg 8 6 Change made...

Страница 225: ......

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

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