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THK ES Series Instruction Manual

Electrical actuator economy series
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THK Electrical Actuator Economy Series
ES/EC
INSTRUCTION MANUAL
No.1040-2(0)E

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  • Page 1 THK Electrical Actuator Economy Series ES/EC INSTRUCTION MANUAL No.1040-2(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 About combination of products ―――――――――――――――――― 1-3 Product and company information ― ―――――――――――――――― 1-3 Safety Precautions About ranks of precautions ――――――――――――――――――――...
  • Page 3 Table of contents Maintenance and Inspection Daily inspection ――――――――――――――――――――――――― 4-2 Periodical inspection ―――――――――――――――――――――― 4-3 How to grease up ―――――――――――――――――――――――― 4-4 Check points when restoring from the long-term suspension ―――― 4-11 Repair/Replacement 4-12 How to replace the strip seal ―――――――――――――――――― 4-12 How to replace the timing belt ――――――――――――――――― 4-14 Product Warranty 4-16 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 ………………… 1-1 This section includes intro- duction about the product 1-1.

  • Page 5: Acknowledgment

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

  • Page 6: How To Use This Product

    Important note that driver controllers other than the above cannot be used. About product support For the following information, please contact THK. ⿟ Technical support for this product About related instruction manuals ⿟ When you use the actuator ES/EC, 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...

  • 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, Prohibited Caution –...
  • Page 9 1. Introduction Safety Precautions Caution ⿟ Use this product with a combina- tion that is specified beforehand. Failure to do so may cause fire or fault. Caution – Flammable ⿟ Observe the specified input volt- age. Failure to do so may cause fire or fault. ES/EC...

  • Page 10: System Configuration

    1. Introduction System Configuration System configuration ⿟ The diagram below shows the specification of a combination with the driver controller TSC. ⿟ Cables for connecting the devices indicated with ★ should be prepared by the customer. TDO (→*1) PC (D-STEP) (→*2) ★...

  • Page 11: Flow Until Using The Product

    1. Introduction Flow Until Using the Product (1) Safety statement check → P.1-4 (2) Safety check of the installation location 1. Safety check → P.2-19 (3) Installation check → P.2-20, 2-26 (1) Preparation of required devices → P.1-7 2. Preparation (2) Package contents check →...
  • Page 12 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 package contents check Check the Products …………...

  • Page 13: Check The Products

    Doing so may distort the side cover, If you find any defect, please contact which leads to a malfunction. THK. ⿟ Do not grasp the strip seal of this product. It may injure you.

  • Page 14: Check The Package Contents Of Es/Ec

    2. Installation Check the Products Check the package contents of ES/EC 1-1-1 Check the model/type of the product Check the model indicated on the product label against the purchase information. Slider type ES Cylinder type EC Product label Product label Model number( →...
  • Page 15 2. Installation Check the Products <Model configuration> Specification of TSC with motor － 06 － 0150 B － TS － ML-GR-SB-L6/35P － D00 － S3 ES4R (1) Model number ES3, ES4, ES5, ES6 (Slider type/direct motor coupling) ES3R, ES4R, ES5R, ES6R (Slider type/motor return) EC3, EC4 (Cylinder type/direct motor coupling) EC3R, EC4R (Cylinder type/motor return) EC3H, EC4H (Cylinder type/direct motor coupling/with linear bush)
  • Page 16 2. Installation Check the Products *1 Motor return direction *2 Sensor installation direction (symbol: R6) *3 Sensor details Symbol Content Type Accessory □ □ With sensor rail L/R 1 Mounting screw/nut, sensor rail (1 pc), mounting Photo sensor [3 units] EE-SX674 (OMRON Corporation) L/R 6 plate (3 pcs), connector (EE-1001, 3 pcs)
  • Page 17 2. Installation Check the Products <Model configuration> Specification of TLC with motor ES5R － 06 － 0150 B － TL － ML-GR-SB-L6/M05 L － D00 － F3 (10) (1) Model number ES5, ES6 (Slider type/direct motor coupling) ES5R, ES6R (Slider type/motor return) EC4 (Cylinder type/direct motor coupling) EC4R (Cylinder type/motor return) EC4H (Cylinder type/direct motor coupling/with linear bush)
  • Page 18 0150 : 150 mm (50 to 600 mm, 50 mm pitch) The maximum stroke = ES3:300, ES4:400, ES5:500, ES6:600, EC3:200, EC4:300 (4) Design symbol (5) With/without motor 0: Without motor 1: With motor (purchased from THK) (6) Intermediate flange N : None (7) Option No symbol...
  • Page 19 2. Installation Check the Products 1-1-2 Check the type and number of accessories Actuator EC3/EC3H EC4/EC4H (With/without motor) (With/without motor) □ (With/without motor) Type of parts Qty. Type of parts Qty. Type of parts Qty. Actuator main unit Actuator main unit Actuator main unit Supplied nut Supplied nut...
  • Page 20 2. Installation Check the Products Reference ⿟For any special type, check against the delivery specification documents. 1-1-3 Check the product for any damage or abnormality After the checking, keep the product packed in the packaging box until the start of installation work. ES/EC...

  • Page 21: Names Of Individual Parts And Functions

    2. Installation Check the Products Names of individual parts and functions 1-2-1 Slider type ES ● Direct motor coupling TSC specification Motor end cover * Housing A * Table cover * Table Secures the object to be mounted. Motor cover ●...
  • Page 22 2. Installation Check the Products ● Direct motor coupling TLC specification Motor * Motor bracket cover (top) ●  D o not touch the cover as it gets very hot while it is running. * Motor bracket cover (bottom) <Labels affixed> Caution –...
  • Page 23 2. Installation Check the Products 1-2-2 Cylinder type EC ● Direct motor coupling TSC specification * Housing A Motor end cover * Grease lid * Base Motor cover * Housing B ● Do not touch the cover as it gets very hot while it is running. * Rod <Labels affixed>...
  • Page 24 2. Installation Check the Products ● Direct motor coupling TLC specification * Motor bracket cover (top) Motor ● Do not touch the cover as it gets very hot while it is running. * Motor bracket cover (bottom) <Labels affixed> 取扱説明書をお読みください。 Review the manual.
  • Page 25 2. Installation Check the Products ● EC without motor (direct coupling/return type) ・ Direct coupling type ・ Return type Intermediate flange Intermediate flange <Labels affixed> 取扱説明書をお読みください。 Review the manual. 2-14 ES/EC...
  • Page 26 2. Installation Check the Products 1-2-3 □ Cylinder type EC H with linear bush ● Direct motor coupling TSC specification Motor end cover Motor cover ●  D o not touch the cover as it * Linear bush gets very hot while it is running. <Labels affixed>...

  • Page 27: Store And Dispose Of The Products

    2. Installation Check the Products Store and dispose of the 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: Indoor or outdoor at the ambient temperature between -10°C and 50°C ●...

  • Page 28: Precautions On Use

    2. Installation Precautions on Use Precautions on use ES Caution ⿟ Be sure to follow the installation ⿟ Use the product within the stroke procedure, method, and direction range. described in this manual. Failure to do so may cause a mal- Obligatory Obligatory Failure to do so may cause a mal-...

  • Page 29: Precautions On Use Ec

    2. Installation Precautions on Use Precautions on use EC Caution ⿟ Be sure to follow the installation ⿟When returning to the home po- sition, be careful not to interfere procedure, method, and direction with the surroundings because it described in this manual. Obligatory Obligatory strokes to the stopper position on...

  • Page 30: How To Install

    2. Installation How to Install Installation environment Warning ⿟Do not put the product into fire to dispose of it. Doing so may lead the product to burst, generate noxious gas, or cause injury due to bursting. Caution – Flammable 3-1-1 ES/EC installation environment Place it on a flat metal surface that meets the following conditions: Place where the ambient temperature range is 0 to 40°C indoors (no freezing)

  • Page 31: Install Es

    2. Installation How to Install Install ES Warning ⿟ To prevent a collision accident ⿟ Before installing or moving the product with the unit energized, caused by coasting of the slider, shut off the power supply. we recommend you install it on Obligatory Caution - the outside so that it will hit the...
  • Page 32 2. Installation How to Install 3-2-1 Stand to install ES and installation standards Install ES 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 33 2. Installation How to Install 3-2-3 Install ES Attach ES on the mounting surface and secure it by bolts. Refer to the following table for the bolts and tightening torques to use.* Please prepare the bolts and tools to be used on your side. Mounting surface ES3/ES3RES4/ES4R...
  • Page 34 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. Positioning pin length Model number ES3/ES3R...
  • Page 35 2. Installation How to Install 3-2-4 Mount the objects to be mounted on ES Caution ⿟ Be sure to use the designated ⿟ Do not drop objects on the strip screws and all the securing taps, seal. and securely fasten them by the The strip seal must be replaced when Caution Caution...
  • Page 36 2. Installation How to Install Supplement ● We recommend you fasten the bolts in the order of the opposite angle after temporarily tightening using the designated tightening torque. The numbers show the tightening order. ⿟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.

  • Page 37: Install Ec

    2. Installation How to Install Install EC Warning ⿟ To prevent a collision accident ⿟ Before installing or moving the caused by coasting of the rod, product with the unit energized, we recommend you install it on shut off the power supply. Obligatory Caution - the outside so that it will hit the...
  • Page 38 2. Installation How to Install 3-3-1 Stand to install EC and installation standards Install EC 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 rod operation unstable to cause a malfunction.
  • Page 39 2. Installation How to Install 3-3-2 Tools used Please prepare the tools on your side. Model number At use Tools used Installation of main unit housing B( → P.2-29) Opposite side distance 3 mm Hexagonal wrench Installation of main unit base( → P.2-28) EC3/EC3R Installation of object to be mounted( →...
  • Page 40 2. Installation How to Install For installation of housing B Model number EC3/EC3R EC4/EC4R Hexagonal-socket- Hexagonal-socket- Screw type head type bolt head type bolt Size Steel Steel Material of screw 10.9 A2-70 10.9 A2-70 Fit length of screw [mm] Iron Tightening torque Material of mounting surface...
  • Page 41 2. Installation How to Install For installation of cylinder base (EC option) Mounting surface Mounting bolt For EC3: Hexagonal-socket-head type bolt M5 <Reference> Tightening torque: 457 N・cm For EC4: Hexagonal-socket-head type bolt M6 Cylinder base <Reference> Tightening torque: 805 N・cm Material: Aluminum ●...
  • Page 42 2. Installation How to Install For installation of link ball (EC option) Supplied nut (M10) Link ball (RBI10BD (THK Co., Ltd.)) ● Tightening torque to the main unit (link ball) Model number EC3/EC3R EC4/EC4R Link ball (THK Co., Ltd.) RBI10BD...
  • Page 43 2. Installation How to Install 3-3-4 Mount the objects to be mounted on EC Mount the object to be mounted using the supplied nut (M10) as shown in the figure. * Please prepare the tools on your side. Wrench catcher Wrench catcher Supplied nut (M10) Object to be mounted...
  • Page 44 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. 1-1. Entire wiring ………………………………… 3-3 1-2.

  • Page 45: 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. Doing so may cause malfunctions or im- Otherwise, fault, fire, or injury may re- Do not Caution –...

  • Page 46: 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.) ⿟ The cable that connects to the CN1, CN3, and CN5 connectors with ★ mark is not provided, please prepare it separately.(→P.3-4) ⿟...

  • Page 47: 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 48 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. •...
  • Page 49 3. Wiring How to Wire 1-2-2 Connect to actuator (for driver controller TLC) Check that the power of TLC is not turned ON. Connect the actuator cable to the connector of the actuator. (1) Motor brake cable for TLC Model : CBL-TLC-ACP-**F (For secured) : CBL-TLC-ACP-**R (High flex) (2) Encoder cable for TLC Model : CBL-TLC-ACS-**F (For secured)
  • Page 50 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. •...
  • Page 51 4. Maintenance and Warranty About this chapter This chapter describes the maintenance, repair and replacement procedures along with the warranty of this product. Maintenance and Inspection … 4-2 Perform correct mainte- nance works regularly as 1-1. Daily inspection …………………………… 4-2 it could minimize the inci- dence of troubles.

  • Page 52: Maintenance And Inspection

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

  • Page 53: Periodical Inspection

    4. Maintenance and Warranty Maintenance and Inspection Periodical inspection 1-2-1 Periodical inspection of ES 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 54: How To Grease Up

    Make sure to use the dedicated grease (THK AFF grease) when you grease up. In this case, use the THK AFB-LF grease only for the linear bush area of EC3H and EC4H. The grease is available from us, so please place an order when you need it.
  • Page 55 4. Maintenance and Warranty Maintenance and Inspection How to grease up Turn the power off. Remove the side cover on one side. Screw used: Thin head FH (ES3,4=M2.6 ES5,6=M3) Tool used: Hexagonal wrench (opposite side distance 1.5 mm) Supply grease to the LM guide from the lubrication hole.
  • Page 56 4. Maintenance and Warranty Maintenance and Inspection Restore the side cover you have removed. * Secure the reverse motor side using items such as a SIM plate, and adjust the height between the main unit bottom and the side cover bottom. All ES: 0.4 mm Tightening torque: M2.6 (ES3, 4) = 30 N・cm...
  • Page 57 * After moving the rod to the position where greasing is possible (81 mm or longer), apply grease using the THK grease gun MG70 (P type attachment). For EC□H (with linear bush), supply grease by moving it by 84 mm or more.
  • Page 58 LM guide/ball screw shaft THK AFB-LF grease Linear bush · THK original grease AFF grease The grease made of high-class synthetic oil, lithium-based consistency enhancer and special ad- ditives has a stable rolling resistance value, low dust generation, and excellent fretting resistance unlike the existing vacuum grease or low-dust grease.
  • Page 59 4. Maintenance and Warranty Maintenance and Inspection · THK original grease AFB-LF grease It is universal grease using a lithium-based consistency enhancer with refined mineral oil as the base oil. · Characteristics (1) Excellent abrasion resistance and extreme pressure resistance.
  • Page 60 4. Maintenance and Warranty Maintenance and Inspection Grease gun unit MG70 The grease gun unit MG70 is capable of supplying grease for this product by replacing the dedicat- ed nozzle. The grease gun has a slit window that allows you to visually check the remaining amount of grease.

  • Page 61: Check Points When Restoring From The Long-Term Suspension

    4. Maintenance and Warranty Maintenance and Inspection 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 62: Repair/Replacement

    4. Maintenance and Warranty Repair/Replacement Caution ⿟ Do not grasp the strip seal of this product. It may injure you. Caution Some parts of the strip seal may be sharp. Take care not to cut your hands or fingers. ⿟ Do not drop objects on the strip seal. The strip seal must be replaced when it is scratched or dented as a result of a tool or other object falling on it.
  • Page 63 4. Maintenance and Warranty Repair/Replacement Remove the strip seal from the strip seal guide and replace it. Strip seal guide Table Place the strip seal guide on the table. * Adjust the table and strip seal so that they will not touch each other in the entire area of stroke, then attach the strip seal holder.

  • Page 64: How To Replace The Timing Belt

    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 zero point moves after replacing the timing belt. Be sure to adjust it by re-teach- ing before using the product.
  • Page 65 4. Maintenance and Warranty Repair/Replacement Adjust the tension of the timing belt. * Align the marking position and pull it toward the arrow direction to adjust the tension. Adjust the belt tension to meet the values as shown in the table below using the sonic tensimeter U-507 by Gates Unitta Asia Company.

  • Page 66: Free Warranty Period

    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 67: 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 pe- riod 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: ⿟...
  • Page 68 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 How to Mount the Motor …… 5-2 how to mount the motor.

  • Page 69: How To Mount The Motor

    5. Technical Materials How to Mount the Motor ES/EC (direct coupling specification) 1-1-1 (Example) How to mount the servo motor onto ES/EC (direct coupling specification) ◦ The example below is the case of mounting SFC-020DA2 by Miki Pulley Co., Ltd. and TS4602 (50 W) by Tamagawa Seiki Co., Ltd.
  • Page 70 5. Technical Materials How to Mount the Motor Mount the motor. ◦ Screw used : Hexagonal-socket-head type bolt (M4X12L, 2 locations) ◦ Tool used : Hexagonal wrench (opposite side distance 3 mm) ◦ Tightening torque : 200 N・cm Fasten the bolt Retighten the coupling.

  • Page 71: Ec (Return Specification)

    5. Technical Materials How to Mount the Motor ES/EC (return specification) 1-2-1 (Example) How to mount the servo motor onto ES/EC (return specification) ◦ The example below is the case of mounting TS4602 (50 W) by Tamagawa Seiki Co., Ltd. onto EC (return).
  • Page 72 5. Technical Materials How to Mount the Motor Temporarily fasten the intermediate Pulley bracket flange to the pulley bracket. Bring it closer to the actuator main unit side and temporarily fasten it. ◦ Screw used : Hexagonal-socket-head type bolt ES3R/ES4R/EC3R (M3X8L, plain washer) ES5R/ES6R/EC4R (M4X10L, plain washer) ◦...
  • Page 73 5. Technical Materials How to Mount the Motor Adjust the tension of the timing belt. * Pull it toward the arrow direction to adjust the belt tension. Adjust the belt tension to meet the values as shown in the table below using the sonic tensimeter U-507 by Gates Unitta Asia Company.

  • Page 74: 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） 2-1-2 Motor brake cable for TLC Motor brake cable for TLC: CBL-TLC-ACP-**F (For secured) CBL-TLC-ACP-**R (High flex) ** indicates cable length (03: 3 m, 05: 5 m, 10: 10 m).

  • Page 75: Materials Required For Selecting The Motor

    5. Technical Materials Materials Required for Selecting the Motor Refer to the below table when you select a motor to install onto ES. Please contact each motor manufacturer for selection of a motor and the motor specifications. LM guide part Ball screw part Motor mounting part Direct coupling...
  • Page 76 5. Technical Materials Materials Required for Selecting the Motor Refer to the below table when you select a motor to install onto EC. Please contact each motor manufacturer for selection of a motor and the motor specifications. Rod part Ball screw part Motor mounting part Direct coupling Return...

  • Page 77: Actuator Combination List

    5. Technical Materials Actuator Combination List Combination list The below table is a combination list of the actuator main unit and the driver controller (TSC). Note that the combination differs depending on the version when you select them. Model Design symbol Driver controller TSC Actuator cable number...
  • Page 78 Appendix Revision history The instruction manual No. is described on the back cover. Date of issue Instruction manual No. Details December 2013 No.1040-1(0)E First edition February 2014 No.1040-1(1)E Correction of erroneous description Jun 2014 No.1040-1(2)E Correction of erroneous description May 2015 No.1040-1(3)E Correction of erroneous description Jun 2015...
  • Page 79 THK Electric Actuator Economy Series ES/EC INSTRUCTION MANUAL 201803 No.1040-2(0)E...

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