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THK ET Series Instruction Manual

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THK Electrical Actuator Economy Series
ET
INSTRUCTION MANUAL
No.1050-3(0)E

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  • Page 1 THK Electrical Actuator Economy Series INSTRUCTION MANUAL No.1050-3(0)E...

  • Page 2: Table Of Contents

    Table of Contents Introduction Acknowledgment─ ──────────────────────── 1-2 About this manual───────────────────────── 1-2 How to use this product─ ───────────────────── 1-3 About product support─ ─ ───────────────────── 1-3 About related instruction manuals────────────────── 1-3 Product and company information─ ─ ──────────────── 1-3 Safety precautions About ranks of precautions───────────────────── 1-4 About description of precautions─...
  • Page 3 Table of Contents Maintenance Daily inspection────────────────────────── 4-2 Periodical inspection─ ────────────────────── 4-3 How to apply grease─ ─ ────────────────────── 4-4 Check points when restoring from the long-term suspension─ ───── 4-8 Repair/Replacement How to replace the timing belt─ ────────────────── 4-9 Product warranty 4-13 Free warranty period─...

  • Page 4: Introduction

    1. Introduction About this chapter This chapter describes the overview of the product. This chapter includes information that we want you to check and understand before working with the product. Introduction ………………… 1-2 This section includes introduction about the Acknowledgment …………………………… 1-2 product and this manual.

  • Page 5: Acknowledgment

    Drawings throughout this manual are only intended as typical examples, and may differ from your product. l Note that THK shall not be liable for any result incurred by applying this manual, regardless of the reason. l This manual is also applied to custom products. However, the descriptions provided in the delivery specification drawings or delivery specification documents of those custom products take precedence over this manual.

  • Page 6: How To Use This Product

    Important other than the above cannot be used. This excludes installations of the motor specified by the customer. About product support For the following information, please contact THK. l Technical support for this product About related instruction manuals l When you use the actuator ET, read the following instruction manuals as necessary.

  • Page 7: Safety Precautions

    1. Introduction Safety precautions About ranks of precautions This manual uses the classifications of “Danger,” “Warning,” and “Caution” for warning indications for safety matters. Danger Erroneous handling may urgently cause death or serious injury to a person Warning Erroneous handling may cause death or serious injury to a person Caution Erroneous handling may cause injury to a person or...

  • Page 8: Safety Precautions

    1. Introduction Safety precautions Safety precautions Warning Caution ⿟ While the actuator is operating or ⿟ During the operation, or for a while operable, do not enter the working after turning the power off, do not area of any moving part including touch the driver controller TSC, or Prohibited Caution - High...

  • Page 9: System Configuration

    1. Introduction System configuration System configuration diagram l The diagram below shows the specification of a combination with the driver controller TSC. l Cables for connecting the devices indicated with ★ should be prepared by the customer. PC (D-STEP) (-> × 1) ★...

  • Page 10: Flow Until Using The Product

    1. Introduction Flow until using the product (1) Safety statement check -> P.1-4 1. Safety Check (2) Safety check of the installation location -> P.2-11 (3) Installation check -> P.2-12 (1) Preparation of required devices -> P.1-6 2. Preparation (2) Package contents check -> P.2-3 to 2-9 (1) Installation environment check ->...
  • Page 11 2. Installation About this chapter This chapter describes how to check the package contents and to install it to the machine and facilities. This section is primarily intended for those in charge of installation of this product to a machine and facilities. This section describes the Check products ………………...

  • Page 12: Check Products

    If you find any defect, please as the table. contact THK. ⿟ Do not grip the edges of this product’s pulley cover and motor cover. It may injure you.

  • Page 13: Check The Package Contents Of Et

    2. Installation Check products Check the package contents of ET 1-1-1 Check the model/type of the product Check the model indicated on the product label against the purchase information. Product label Serial number Necessary for exchanging or repairing the product. Model number (->...
  • Page 14 2. Installation Check products ET model configuration TSC specifications ET20-45-330-TS- / 20P D00 S3 (2) (3) (4) (6) (7) (8) (1) Model number ET20, ET35 (2) Reduction ratio 20: 1/20 (ET35 only) 30: 1/30 (ET35 only) 45: 1/45 (ET20 only) 330: 330°...
  • Page 15 330: 330° (3) Stroke 360: Multi-rotation (360° or more) 0: Without motor (4) With/without motor 1: With motor (Customer specified motor purchased/mounted by THK) A: For stepper motor (5) Motor plate B: For servo motor (6) Option : Magnetic proximity switch (Asa Electronics Industry Co., Ltd. AH003)
  • Page 16 2. Installation Check products 1-1-2 Checking the type and number of accessories Actuator ○ TSC specification Type of parts Qty. Actuator main unit ○ No motor specification ○ ET20 No motor specification ○ ET35 No motor specification Motor plate symbol: A Motor plate symbol: B Motor plate symbol: B Type of parts...

  • Page 17: Names Of Individual Parts And Functions

    2. Installation Check products Names of individual parts and functions 1-2-1 Thin lightweight turntable ET ˜ Direct motor coupled TSC specification Sensor origin mode Pulley cover 取扱説明書をお読みください。 Review the manual. Motor cover ケーブルを引っ張らないでください。 Please don’t pull on the cable. ˜ Do not touch the cover as it gets very hot while it is running.
  • Page 18 2. Installation Check products ˜ No motor specification • Sensor origin mode Pulley cover 取扱説明書をお読みください。 Review the manual. Base Rotating table Origin sensor • Pressing origin mode Pulley cover 取扱説明書をお読みください。 Review the manual. Origin stopper Base Rotating table...

  • Page 19: Store And Dispose Of Products

    2. Installation Check products Store and dispose of products 1-3-1 For storage If the product is not used for a while, put the product with packing materials in a packaging box for transportation and store it in the following places: l Indoors at the ambient temperature between -10°C and 50°C l The ambient humidity must be 20 to 80% RH or less l Location where no direct sunlight nor radiation heat reaches...

  • Page 20: Precautions On Use

    2. Installation Precautions on use Precautions on use of ET Caution ⿟ Be sure to follow the installation ⿟ Use the product within the stroke procedure, method, and direction range. described in this manual. Obligatory Failure to do so may cause a Obligatory Failure to do so may cause a malfunction or an alarm generation.

  • Page 21: How To Install

    2. Installation How to install Installation environment Warning ⿟Do not put the product into fire to dispose of it. Otherwise, it may lead to bursting of the product, generation of noxious gas, or injury due to bursting. Caution - Flammable 3-1-1 Installation environment of ET Place it on a flat metal surface that meets the following conditions:...

  • Page 22: Setting Of Et

    2. Installation How to install Setting of ET Warning ⿟ For 330° specifications, to pre- ⿟ Before installing or moving the vent a collision accident caused product with the unit energized, by coasting of the rotating table, shut off the power supply. Obligatory Caution - Electrical shock...
  • Page 23 2. Installation How to install 3-2-1 Stand and installation criteria for installing ET Install ET on a sufficiently rigid and stable stand to prepare a space for maintenance. ⿟If the stands are not rigid or stable enough, a vibration (resonance) occurs during the operation that makes Important the table operation unstable to cause a malfunction.
  • Page 24 2. Installation How to install 3-2-2 Mounting orientation Important ⿟Depending on the mounting orientation, it may be difficult to maintain a well lubricated state internally. ⿟If used over a long period with mounting orientation for ceiling use, horizontal use (“side mounting” only), Supplement or wall use (as shown below), oil may separate from the interior grease and leak externally, but function will be unaffected.
  • Page 25 2. Installation How to install 3-2-4 ET installation Attach ET on the mounting surface and secure it by bolts. Refer to the following table for the bolts and tightening torques to use. × Prepare bolts and tools to be used separately. Bottom mounting (Using countersunk holes) Model ET20...
  • Page 26 2. Installation How to install ⿟If you use the hole for positioning pins in securing ES on the mounting surface, assemble it so that the Supplement length of the positioning pin will not be more than the values shown in the table below. Bottom positioning pin usage Positioning pin hole Arrow view from A...
  • Page 27 2. Installation How to install Side positioning pin usage ⿟If you use the hole for positioning pins in securing ES on the mounting surface, assemble it so that the Supplement length of the positioning pin will not be more than the values shown in the table below. Positioning pin hole Arrow view from A Model...
  • Page 28 2. Installation How to install 3-2-5 Mounting of equipment to ET Caution ⿟ Be sure to use the designated screws and all the securing taps, and securely fasten it by the designated tightening torque. If you use screws other than those specified or there Caution are unused securing taps or the tightening torque is insufficient, it will cause a vibration or misalignment to prevent the product from running normally.
  • Page 29 2. Installation How to install ⿟If you use the hole for positioning pins in securing the object to be mounted, assemble it so that the length Supplement of the positioning pin will not be more than the values shown in the table below. Positioning pin hole Arrow view from A Model...
  • Page 30 3. Wiring About this chapter This chapter describes the procedures of the connection and wiring for the actuator and peripherals, and handling of the cable. How to wire …………………… 3-2 Connect to peripherals to operate the actuator. Entire wiring ………………………………… 3-3 Connect actuator cable ……………………...

  • Page 31: How To Wire

    3. Wiring How to wire Warning ⿟ Do not extend or shorten the pro- ⿟ Be careful to wire for the power vided cables. connectors properly. Otherwise, it may cause malfunctions or Otherwise, fault, fire, or injury may Do not Caution - disassemble Flammable...

  • Page 32: Entire Wiring

    3. Wiring How to wire Entire wiring See the wiring example below. (The diagram below shows the specification of a combination with the driver controller TSC.) l The cable that connects to the CN1, CN3, and CN5 connectors with ★ mark is not provided, please prepare it separately.

  • Page 33: Connect Actuator Cable

    3. Wiring How to wire Connect actuator cable 1-2-1 Connect to actuator (for driver controller TSC) Check that the power of TSC is not turned ON. Connect the actuator cable to the connector of the actuator. Insert the connector until you hear a click sound.
  • Page 34 3. Wiring How to wire ⿟Ensure that there are no bending or breakages in the connector pins, or damage to the cable before Important connecting. Connections in such conditions may cause a malfunction of actuator. ⿟Do not handle the actuator by holding the cables, nor move it by pulling. ⿟Be aware of the following points when wiring: (1) Minimum bending radius: R40 mm (2) Do not conduct wiring with tension applied.
  • Page 35 3. Wiring How to wire - In the case of sensor specifications, compared to other actuator TSC controllers, the pin assignment will be changed as follows depending on function mode. Signal name Function Function Function Function Function Function Input/ mode 0 mode 1 mode 2 mode 3...
  • Page 36 4. Maintenance and Warranty About this chapter This chapter describes the maintenance, repair and replacement procedures along with the warranty of this product. Maintenance ………………… 4-2 Perform correct maintenance works Daily inspection …………………………… 4-2 regularly as it could minimize the incidence of Periodical inspection ………………………...

  • Page 37: Maintenance

    4. Maintenance and Warranty Maintenance Warning ⿟ Before conducting maintenance and inspection works, be sure to stop the machine and turn the power supply OFF. Take security measures like locking, etc. to ensure any unauthorized person cannot turn the power ON. Obligatory Otherwise, injury caused by unexpected behavior may occur.

  • Page 38: Periodical Inspection

    4. Maintenance and Warranty Maintenance Periodical inspection 1-2-1 Periodic inspection of ET Perform the following inspection works once every 3 to 6 months. If you operate the product continuously day and night or frequently, shorten the inspection interval in accordance with your situation. •...

  • Page 39: How To Apply Grease

    This product is filled with grease specialized for cross-roller rings to achieve high performance. Make sure to use the dedicated grease (THK AFF grease) when you apply grease. Do not mix different types of grease. Otherwise, it may affect the performance.
  • Page 40 4. Maintenance and Warranty Maintenance Supply grease to the cross-roller ring from the lubrication hole. × Wipe off the old grease or stains using a clean waste cloth. Please use the grease gun MG70 (N type attachment). You can spread the grease in every corner while moving the table.
  • Page 41 Cross-Roller Ring Kingstar SG-0LF Hypoid gear - THK original grease AFF grease The grease made of high-class synthetic oil, lithium-based consistency enhancer and special additives has a stable rolling resistance value, low dust generation, and excellent fretting resistance unlike the existing vacuum grease or low-dust grease.
  • Page 42 4. Maintenance and Warranty Maintenance Grease Gun Unit MG70 The grease gun unit MG70 is capable of supplying grease for this product by replacing the dedicated nozzle. The grease gun has a slit window that allows you to visually check the remaining amount of grease. Since grease is contained in a 70 g bellows cartridge, you can replace the nozzle without soiling your hand.

  • Page 43: Check Points When Restoring From The Long-Term Suspension

    4. Maintenance and Warranty Maintenance Check points when restoring from the long-term suspension When you use this product after storing it for a long period, wipe off stains, if any, using a clean waste cloth and apply grease to the LM guide and ball screw. In addition, check the following points and take necessary actions.

  • Page 44: Repair/Replacement

    4. Maintenance and Warranty Repair/Replacement Caution ⿟When using the product in the vertical direction, secure the moving part and replace the timing belt. The moving part may fall, resulting in damage or injury. Obligatory ⿟The origin moves after replacing the timing belt. Be sure to adjust it by re-teaching before using the product.
  • Page 45 4. Maintenance and Warranty Repair/Replacement Loosen the timing belt. × Loosen the red-circular bolt and slide it in the direction of the arrow. Motor (motor plate) mounting bolt ET20 · TSC specifications Model · No motor specification · No motor specification (Motor plate symbol: B) (Motor plate symbol: A) Screw type...
  • Page 46 4. Maintenance and Warranty Repair/Replacement Adjust the tension of the timing belt. (1) Match the timing pulley marking positions and assemble the timing belt. (2) With the motor in the arrow direction, tighten the bolt circled in red and fix the motor while pulling with roughly double the belt tension force.
  • Page 47 4. Maintenance and Warranty Repair/Replacement Fasten the bolt. × Fasten the red-circular bolt using the designated tightening torque. Please measure it by the tensiometer once again after fastening the bolt. Motor (motor plate) mounting bolt ET20 · TSC specifications Model ·...

  • Page 48: Product Warranty

    3-3-1 Failure diagnosis Please inform THK of the trouble description, content, and model and serial number indicated on the product label. Then we will perform the initial diagnosis of the product failure. When we recognize that the failure occurred within the free warranty period set forth above and the responsibility of the cause rests on us, the warranty is applied without charge.

  • Page 49: Exclusion Of Warranty Liability

    4. Maintenance and Warranty Product warranty 3-3-3 Repair We will perform free repair works or replacement for any failure occurred within the free warranty period set forth above. However, it is our discretion whether we provide repair or replacement. Free warranty is not applicable even within the warranty period for any of the following cases: l Failure arising out of improper storage or handling by the customer, or software and/or hardware installed by the customer.
  • Page 50 5. Technical Materials About this chapter This chapter summarizes the technical information including specifications and dimensional diagrams of this product. When using this product, refer to this chapter for any details you want to know. This section describes Motor mounting method …… 5-2 how to mount the motor.

  • Page 51: Motor Mounting Method

    5. Technical Materials Motor mounting method Motor mounting example Note) Please use the D cut type for the motor output shaft. * In the figure, a TSC specification motor is mounted as an example. Check that the motor is powered off. Mount the pulley to the motor.
  • Page 52 5. Technical Materials How to Mount the Motor Temporarily tighten the mounting bolt. For ET35-30 in particular, confirm that the belt does not interfere with the bolt head, and if there is interference adjust the motor side pulley position to resolve the issue. ×...
  • Page 53 5. Technical Materials How to Mount the Motor (4) When the tension measurement value is outside the range in the table, loosen the motor mounting bolts and repeat steps (2) and (3). Belt tension measurement hole (φ5) Model ET20 ET35 Belt tension range 6.3 - 8.4N 17.0 - 20.2N...
  • Page 54 5. Technical Materials How to Mount the Motor Mount the pulley cover A/B. × Fasten the bolt by the designated tightening torque. Pulley cover Pulley cover mounting bolt Model ET20 ET35 Hexagonal-socket- Hexagonal-socket- Screw type head type button bolt head type button bolt Size M2.5 ×...

  • Page 55: Cables

    5. Technical Materials Cables Connection cable 2-1-1 Actuator cable for TSC Actuator cable for TSC: CBL-TSC-AC--B (Standard)  indicates cable length (03: 3 m, 05: 5 m, 10: 10 m). (55) (17)

  • Page 56: Materials Required For Selecting

    5. Technical Materials Materials Required for Selecting Refer to the below table when you select a motor to install onto ET. Please contact each motor manufacturer for selection of a motor and the motor specifications. Permissible Permissible axial Permissible radial Permissible input Actuator ×...
  • Page 57 5. Technical Materials Materials Required for Selecting When selecting the rotation axis, calculate the moment of inertia and load torque for the conditions to be used, and select so that permissible inertia moment and maximum output torque are not exceeded. In the formula for calculating a reference/typical moment of inertia below, calculate the moment of inertia for the work used and mounting fixture.
  • Page 58 5. Technical Materials Materials Required for Selecting (Reference) Moment of inertia combining multiple cuboids – + 12·l – + 12·l – (2·A + 12·l )[kg·m – (2·A + 12·l )[kg·m : ρ·A·B·C : ρ·A : ρ·A·B·C と X の距離 （回転中心 X ）...
  • Page 59 5. Technical Materials Materials Required for Selecting Cuboid moment of inertia – ρ·A·B·C· – [kg·m – ρ·A·B·C· – [kg·m Depth : A [m] Width : B [m] Height : C [m] Mass : m [kg] Density: ρ[kg/m Moment of inertia for an object with a shifting rotational center and center of gravity –...
  • Page 60 5. Technical Materials Materials Required for Selecting Torque calculation when using horizontally (Bottom mounting) ω’ × + external torque) × safety factor : Moment of inertia [ · ω’ : Angular acceleration [ Ensure a safety factor of 1.5 (Radius of gyration) or more Example) External torque (Friction torque) μ...
  • Page 61 5. Technical Materials Materials Required for Selecting Torque calculation when using horizontally (Side mounting) · · + external torque) × safety factor Iω’ : Work mass [ (radius of gyration) : Gravity acceleration[ : Radius [ : Moment of inertia [ ·...
  • Page 62 5. Technical Materials Materials Required for Selecting ET angular velocity and permissible moment of inertia Characteristic Diagram ET20 angular velocity and permissible moment of inertia ET35 angular velocity and permissible moment of inertia Relationship Diagram Relationship Diagram 0.007 0.050 ET35-30 (10°C or higher) 0.045 0.042 ET35-30 (less than 10°C)
  • Page 63 5. Technical Materials Materials Required for Selecting Pressing origin return with TSC specification Pressing origin return method (1) Turn the SV-ON input (pin.18) ON. Check that the SVRDY output (pin.32) is ON. (2) When the HOME input (pin.15) is turned ON, the origin return operation will be started. (3) The actuator starts moving in the predefined direction (CW direction or CCW direction).
  • Page 64 5. Technical Materials Materials Required for Selecting Pressed origin return direction when there is no motor • When the no motor specification for the stroke 330° specification is selected, pressing the origin return button will send the stopper in the direction corresponding to the CCW direction.
  • Page 65 5. Technical Materials Materials Required for Selecting Sensor origin return (1) Turn the SV-ON input (pin.18) ON. Check that the SVRDY output (pin.32) is ON. (2) When the HOME input (pin.15) is turned ON, the origin return operation will be started. (3) The actuator starts moving in the predefined Position direction (CW direction or CCW direction).
  • Page 66 Appendix Revision history The instruction manual No. is described on the back cover. Date of issue Instruction manual No. Details 9/2016 No.1050-1(0)E First edition 6/2017 No.1050-1(1)E Added a supplementary description of mounting orientation 9/2017 No.1050-2(0)E Servo motor specification added Errors corrected 3/2018 No.1050-3(0)E Errors corrected...
  • Page 67 THK Electric Actuator Economy Series INSTRUCTION MANUAL 201803 No.1050-3(0)E...

This manual is also suitable for:

Et20 seriesEt35 seriesEt20-45Et35-20Et35-30

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