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IAI ELECYLINDER EC-RTC9 Instruction Manual

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ELECYLINDER
Instruction Manual
®
EC-RTC9/RTC12
First Edition
ME3800-1C
Specifications
ch.
Installation
ch.
Wiring
ch.
Operation
ch.
Preventive/
ch.
Predictive Maintenance
Parameters
ch.
Troubleshooting
ch.
Maintenance and
ch.
Inspection
External Dimensions
ch.
Life
ch.
Warranty
ch.
Index/Appendix
ch.
1
2
3
4
5
6
7
8
9
10
11
12

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Summary of Contents for IAI ELECYLINDER EC-RTC9

  • Page 1 ELECYLINDER ® EC-RTC9/RTC12 Instruction Manual First Edition ME3800-1C Specifications Installation Wiring Operation Preventive/ Predictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Index/Appendix...
  • Page 3 • This instruction manual is an original document dedicated for this product. • This product cannot be used in ways not shown in this instruction manual. IAI shall not be liable for any result whatsoever arising from the use of the product in any other way than what is noted in the manual.
  • Page 4 ELECYLINDER Instruction Manual Configuration Control Product name Instruction manual name number ELECYLINDER Quick Start Guide ME3765 Instruction Manual ELECYLINDER ME3800 (this document) RCM-101-MW/RCM-101-USB PC Compatible Software for RC/EC ME0155 Instruction Manual Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355 TB-03 Instruction Manual Touch Panel Teaching Pendant ME0375 Wireless communication...

  • Page 5: Table Of Contents

    Contents Safety Guide ······························································································· Intro-1 Precautions for Handling ··············································································· Intro-9 International Standard Compliance ································································ Intro-10 Precautions for Handling Wireless Operation ··················································· Intro-11 Precautions for Axis Operation with Wireless Connection ··································· Intro-14 Part Names ······························································································ Intro-15 Chapter 1 Specifications Checking the product ······························································ 1-1 Components ································································································...
  • Page 6 Fixing bolt ··································································································· 2-7 Body mounting ····························································································· 2-8 Mounting transported objects ········································································ 2-11 Chapter 3 Wiring System configuration ······························································· 3-1 Electrical specifications ···························································· 3-2 Specifications table ······················································································· 3-2 I/O specifications ·························································································· 3-3 Brake release method (for specifications with brakes) ·········································· 3-4 Frame grounding ··························································································...
  • Page 7 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 Chapter 5 Preventive/Predictive Maintenance Preventive/predictive maintenance ············································· 5-1 Maintenance information ·························································· 5-2 Total travel count ··························································································...
  • Page 8 Maintenance warning 2: Count of back and forth between 0 and 180 deg. (To be figured out from total distance) ····················································································· 7-16 Maintenance warning 3: Overload warning level ················································ 7-17 Chapter 8 Maintenance and Inspection Precautions for maintenance and inspection work ························· 8-1 Inspection items and schedule ··················································...

  • Page 9: Safety Guide

    Safety Guide 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. Intro-1...
  • Page 10 Safety Guide Safety Precautions for Our Products Common safety precautions for the use of robots in various operations are indicated here. Operation Precautions Model ● This product is not intended or designed for applications where high levels of Selection safety are required, and so cannot guarantee that human lives will be protected.
  • Page 11 Safety Guide Operation Precautions Transportation ● When transporting heavy objects, do the work with two or more persons or utilize equipment such as a crane. ● When working with two or more persons, make it clear who is to be in charge and communicate well with each other to ensure safety.
  • Page 12 (4) Locations where the product may come in contact with water, oil or chemical spray (2) Cable wiring ● Use IAI genuine cables for connecting the actuator and controller, and for the teaching tools. ● Do not scratch cables, bend them forcibly, pull them, coil them, snag them, or place heavy objects on them.
  • Page 13 Safety Guide Operation Precautions Installation (4) Safety measures ● When working with two or more persons, make it clear who is to be in charge Startup and communicate well with each other to ensure safety. ● When the product is operating or in the ready mode, take safety measures (such as the installation of safety/protection fences) so that nobody can enter the area within the robot's movable range.
  • Page 14 Safety Guide Operation Precautions Trial Operation ● When working with two or more persons, make it clear who is to be in charge and communicate well with each other to ensure safety. ● After teaching or programming, carry out trial operation step by step before switching to automatic operation.
  • Page 15 Safety Guide Operation Precautions Maintenance ● When releasing the brake on a vertically oriented actuator, be careful that it does not fall under its own weight, catching the operator's hand or damaging Inspection workpieces. ● The slider or rod may be misaligned from the stop position if the servo is turned OFF.
  • Page 16 Safety Guide Precaution Indications The safety precautions are divided into "Danger", "Warning", "Caution" and "Notice" according to the warning level, as follows, and described in the Instruction Manual for each model. Level Degree of risk to persons and property Symbol This indicates an imminently hazardous situation which, if the Danger Danger...

  • Page 17: Precautions For Handling

    Precautions for Handling Precautions for Handling 1. The Safety Guide attached with the product 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. 2.

  • Page 18: International Standard Compliance

    To be checked in EC Declaration of Conformity. EC Declaration of Conformity proving conformity to RE Directive may be modified without notice according to addition of conformed models, specification change and so on. Visit our homepage (http:/www.iai-robot/) or contact our sales site if necessary.

  • Page 19: Precautions For Handling Wireless Operation

    Precautions for Handling Wireless Operation Precautions for Handling Wireless Operation When the option for wireless communication support (model: WL, WL2) is selected, a wireless communication circuit board is built into the ELECYLINDER. Certificates and self-declarations regarding the wireless function are handled under the model name below for the wireless circuit board.
  • Page 20 • For details of the applicable standards, please refer to above mentioned international standards compliances. • Import Corporation Name : IAI Industrieroboter GmbH * The product can be used in any country which is a member of EU. 【中国／CHINA 】...
  • Page 21 : IAI Robot (Thailand) Co., Ltd. Número de Certificación 【México / Mexico】 Nombre de la Empresa Solicitante ：IAI Corporation ：IFT：RCPIATB19-1956 • Nombre del Modelo • País de Fabricación ：Japón (Hecho en Japón) ：IABL3827 • Nombre de la Empresa Importadora ：IAI America, Inc. • • Intro-13...

  • Page 22: Precautions For Axis Operation With Wireless Connection

    Precautions for Axis Operation with Wireless Connection Precautions for Axis Operation with Wireless Connection Touch Panel Teaching Pendant TB-03 (V2.30 or later) can operate the option model code -WL2 ELECYLINDER with wireless connection. For operation with wireless connection, secure safety by following the precautions below before use.

  • Page 23: Part Names

    Part Names Part Names In this manual, ELECYLINDER on right / left and motor side / anti-motor side are shown as figures below. Rotary type Pulley cover Controller cover Motor cover Status LED Tapped hole for service Power I/O connector Output shaft Output Teaching port...
  • Page 24 Part Names Motor (built in controller) Status indicator LED Status indicator LED Teaching port Power I/O connector Teaching port Power I/O connector RTC9 RTC12 [Teaching port] This connector is for the connection of a teaching pendant or PC software. When connecting, remove the cap. [Status indicator LED] The LED on the right side as seen from the motor side shows the servo ON/OFF status and alarm status, and the LED on the left side as seen from the motor...
  • Page 25 ELECYLINDER Chapter Specifications Checking the product ··············································· 1-1 Components ··········································································· 1-1 How to read the model nameplate ··············································· 1-2 How to read the model number ··················································· 1-3 Mechanical specifications ·········································· 1-4 Rotary ··················································································· 1-4 Home-return process ······························································ 1-21 Duty ratio ············································································· 1-22 Operating conditions ··············································...
  • Page 26 Accessories ························································· 1-35 Power I/O cable ···································································· 1-35 Power I/O connector ······························································ 1-36...

  • Page 27: Checking The Product

    The following table shows the product configuration for the standard specification. See the packing list for the details of the enclosed components. In the unlikely case that any model number errors or missing parts come to light, contact your local IAI distributor. Body...

  • Page 28: How To Read The Model Nameplate

    1.1 Checking the product How to read the model nameplate Model number → Serial number → [Nameplate position]...

  • Page 29: How To Read The Model Number

    1.1 Checking the product How to read the model number ® ELECYLINDER （ ） RTC9M Series Type Reduction Oscillationangle Power / I/O cable length Option ratio Flat type S size Incremental encoder specification, RTC9 330 deg. 1/45 90 mm width Blank NPN specification, no option Flat type S size...

  • Page 30: Mechanical Specifications

    1.2 Mechanical specifications 1.2 Mechanical specifications Rotary [1] EC-RTC9 [Maximum torque and allowable moment of inertia] Maximum Allowable moment Reduction Model number torque of inertia ratio (kg·m EC-RTC9M -330 - ① (-②) 1/45 0.02 Legend ① Cable length ② Option [Oscillation angle and maximum speed] Reduction ratio...
  • Page 31 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Hypoid gear + timing belt Positioning repeatability ±0.05 degrees Home-return system Mechanical stopper system Home-return accuracy ±0.05 degrees Backlash 0.2 degrees or less Allowable thrust load 50 N Allowable load moment 5 N·m Maximum allowable moment of inertia 0.02 kg·m...
  • Page 32 1.2 Mechanical specifications [Output torque] Rotational speed - Output torque Speed Output torque (deg./s) (N · m) 1.50 1.50 1.50 1.50 1.50 1.15 100 200 300 400 500 600 700 0.80 Rotational speed [deg./s] [Allowable moment of inertia] Rotational speed - Allowable moment of inertia Allowable moment of inertia (×...
  • Page 33 1.2 Mechanical specifications [Reference for profile and weight of load] ● When the center of gravity of the load in a disk shape is the same as the rotary center of the output shaft (Radius of disk) ● Acceleration 0.3 G 500 deg./s or less 600 deg./s Radius of disk (mm)
  • Page 34 1.2 Mechanical specifications ● When the center of gravity of the load is offset from the rotary center of the output shaft (Offset distance) ● Acceleration 0.3 G 500 deg./s or less 600 deg./s Offset distance (mm) ● Acceleration 0.5 G 500 deg./s or less 600 deg./s Offset distance (mm)
  • Page 35 1.2 Mechanical specifications [Pressing Force and Current Limit Value] Correlation of pressing force and current limit value Current limit value (%) Caution The relation of the current value and the pressing force is a guideline at speed of 20 deg./s. There is some variance in the actual pressing force.
  • Page 36 1.2 Mechanical specifications [2] EC-RTC12 [Maximum torque and allowable moment of inertia] Maximum Allowable moment of Reduction Model number torque inertia ratio (kg·m Power Saving Invalid : 0.13 EC-RTC12M -330 - ① (- ②) 1/45 Power Saving Valid : 0.1 Legend ①...
  • Page 37 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Hypoid gear + timing belt Positioning repeatability ±0.01 degrees Home-return system Mechanical stopper system Home-return accuracy ±0.01 degrees Backlash 0.2 degrees or less Allowable thrust load 400 N Allowable load moment 18 N·m (12 N·m in vertical orientation or horizontally oriented wall mount) Maximum allowable moment of...
  • Page 38 1.2 Mechanical specifications [Output torque (Energy-saving: Disabled)] Rotational speed - Output torque Speed Output torque (deg./s) (N·m) 10.0 100 200 300 400 500 600 700 Rotational speed [deg./s] [Allowable moment of inertia (Energy-saving: Disabled)] Rotational speed - Allowable moment of inertia Allowable moment of inertia (×...
  • Page 39 1.2 Mechanical specifications [Output torque (Energy-saving: Enabled)] Rotational speed - Output torque Speed Output torque (deg./s) (N·m) 10.0 100 200 300 400 500 600 700 Rotational speed [deg./s] [Allowable moment of inertia (Energy-saving: Enabled)] Rotational speed - Allowable moment of inertia Allowable moment of inertia (×...
  • Page 40 1.2 Mechanical specifications [Reference for profile and weight of load] ● When the center of gravity of the load in a disk shape is the same as the rotary center of the output shaft (Radius of disk) ● Acceleration 0.3 G (Energy-saving: Disabled) 100 deg./s 200 deg./s...
  • Page 41 1.2 Mechanical specifications ● Acceleration 0.7 G (Energy-saving: Disabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s 600 deg./s Radius of disk (mm) 1-15...
  • Page 42 1.2 Mechanical specifications ● Acceleration 0.3 G (Energy-saving: Enabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s Radius of disk (mm) ● Acceleration 0.5 G (Energy-saving: Enabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s Radius of disk (mm) 1-16...
  • Page 43 1.2 Mechanical specifications ● When the center of gravity of the load is offset from the rotary center of the output shaft (Offset distance) ● Acceleration 0.3 G (Energy-saving: Disabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s 600 deg./s Offset distance (mm) ●...
  • Page 44 1.2 Mechanical specifications ● Acceleration 0.7 G (Energy-saving: Disabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s 600 deg./s Offset distance (mm) 1-18...
  • Page 45 1.2 Mechanical specifications ● Acceleration 0.3 G (Energy-saving: Enabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s Offset distance (mm) ● Acceleration 0.5 G (Energy-saving: Enabled) 100 deg./s 200 deg./s 300 deg./s 400 deg./s 500 deg./s Offset distance (mm) 1-19...
  • Page 46 1.2 Mechanical specifications [Pressing Force and Current Limit Value] Correlation of pressing force and current limit value Current limit value (%) Caution The relation of the current value and the pressing force is a guideline at speed of 20 deg./s. There is some variance in the actual pressing force.

  • Page 47: Home-Return Process

    1.2 Mechanical specifications Home-return process The EC rotary type rotates for 330 deg. (mechanical stopper system). Rotation clockwise should be the positive side rotation from the view at the top of 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.

  • Page 48: Duty Ratio

    1.2 Mechanical 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 ratio is 100%. 1-22...

  • Page 49: Operating Conditions

    1.3 Operating conditions 1.3 Operating conditions The following conditions must be satisfied before operating the unit. Calculate the conditions using the following formula. (Note) When the optional shaft adapter or table adapter is mounted, add the weight and moment of inertia of the shaft adapter or table adapter.
  • Page 50 1.3 Operating conditions ● Formulae for calculating moment of inertia of typical shapes 1. When the rotational axis passes through the 2. When the center of the object is offset from the center of the object rotational axis (1) Moment of inertia of cylinder 1 (4) Moment of inertia of cylinder 3 * The same formula can be applied irrespective of the * The same formula can be applied irrespective of the...
  • Page 51 1.3 Operating conditions [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.
  • Page 52 1.3 Operating conditions RTC9 output torque Rotational speed - Output torque Speed Output torque (deg./s) (N·m) 1.50 1.50 1.50 1.50 1.50 1.15 100 200 300 400 500 600 700 0.80 Rotational speed [deg./s] RTC12 output torque (Energy-saving: Disabled) Rotational speed - Output torque Speed Output torque 10.0...
  • Page 53 1.3 Operating conditions ● Step 3 Calculating the corrected allowable moment of inertia Jtl Jtl = Jmax × Cj [kg·m Jmax : Allowable moment of inertia [kg·m RTC9 allowable moment of inertia Rotational speed - Allowable moment of inertia Allowable moment of inertia (× 10 kg·m Speed Acceleration (G)
  • Page 54 1.3 Operating conditions RTC12 allowable moment of inertia (Energy-saving: Enabled) Rotational speed - Allowable moment of inertia Allowable moment of inertia (× 10 kg·m Speed 0.3 G 0.5 G Acceleration (G) (deg./s) 100 200 300 400 500 600 700 Rotational speed [deg./s] ●...

  • Page 55: Step 2 Check The Load Moment And Thrust Load

    1.3 Operating conditions Step 2 Check the load moment and thrust load Make sure that the load moment and thrust load applied to the output shaft are within the allowable values. Use above the allowable range could cause drop of the product life or may cause malfunction.
  • Page 56 1.3 Operating conditions ● Example of calculation for load moment and thrust load Gravity : Loaded weight [kg] : Load moment datum position [m] : Height of load gravity center from output shaft attachment face [mm] : Rotation radius at load gravity center [mm] : Thrust external force [N] : Distance of thrust external force center [mm] : Radial external force [N]...

  • Page 57: Options

    1.4 Options 1.4 Options RCON-EC connection specification (Model: ACR) It is the code to be indicated when connected to RCON-EC. * When this option is selected, it is not available to select PN Option (PNP specification) or TMD2 Option (2-circuit power supply specification). With brake (Model: B) This is used to prevent the output shaft from moving during power outages or when the servo is OFF.

  • Page 58: Wireless Axis Operation Specification (Model: Wl2)

    1.4 Options Wireless axis operation specification (Model: WL2) The wireless axis operation specification includes a built-in wireless circuit board enabling wireless communication between the ELECYLINDER and the Touch Panel Teaching Pendant. Specifying WL2 enables operation testing of axis operation (movement to forward and backward ends, jog operation, inching operation) as well as the operation via wireless communication enabled with WL.

  • Page 59: Shaft Adapter (Model: Sa)

    1.4 Options Shaft adapter (Model: SA) It is an adapter to be used to attach a fixture on the rotating part of the rotary. (Note) Add the weight and moment of inertia of the shaft adapter in the consideration of 1.3 Operating conditions.
  • Page 60 1.4 Options Table adapter (Model: TA) It is an adapter to be used to attach a fixture on the rotating part of the rotary. (Note) Add the weight and moment of inertia of the table adapter in the consideration of 1.3 Operating conditions.

  • Page 61: Accessories

    1.5 Accessories 1.5 Accessories Power I/O cable Supplied when length (value other than 0) is specified in the model number cable length. Refer to Power I/O cable equipped with 4-way connector in 3.5 Wiring connections (for cables) for Cable CB-EC2-PWBIO□□□-RB equipped with the 4-way connector. (Note1) ＊ALM Note 1 TMD2 is 24 V (control)

  • Page 62: Power I/O Connector

    1.5 Accessories Power I/O connector Supplied when cable length is specified as "0" in the model number. Name Model number Quantity 1-1871940-6 Power I/O connector 1 pc (Tyco Electronics) 1-36...

  • Page 63: Installation

    ELECYLINDER Chapter Installation Precautions for transportation ···································· 2-1 Installation and storage/preservation environment ·········· 2-4 Installation environment ···························································· 2-4 Storage/preservation environment··············································· 2-5 Installation of Rotary ················································ 2-6 Installation surface ··································································· 2-6 Mounting orientation Type: EC-RTC9/RTC12 ······························ 2-6 Fixing bolt ·············································································· 2-7 Body mounting ········································································...

  • Page 65: Precautions For Transportation

    2.1 Precautions for transportation 2.1 Precautions for transportation [Handling the package] ● Do not damage or drop the package. 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.
  • Page 66 2.1 Precautions for transportation [Handling after unpacking] ● Hold the main frame part when you carry the unit. ● Do not carry the unit by its motor cover. ● Do not damage or drop the package during transportation. ● Do not apply excessive force to any part of the ELECYLINDER. ●...
  • Page 67 2.1 Precautions for transportation [Handling when assembled into machinery (system)] ● Make sure to affix the output shaft so it would 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.

  • Page 68: Installation And Storage/Preservation Environment

    2.2 Installation and storage/preservation environment 2.2 Installation and storage/preservation environment Usage is possible in environments of pollution degree 2 or equivalent. Pollution degree 2: Environment in which generally only nonconductive pollution occurs, but temporary conductive pollution may occur due to condensation (IEC 60664-1) Installation environment Avoid the following locations for installation.

  • Page 69: Storage/Preservation Environment

    2.2 Installation and storage/preservation environment Storage/preservation environment ● For the storage and preservation environment, see the installation environment. However, give especial consideration to the prevention of condensation during long-term storage/preservation. ● Unless especially 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.

  • Page 70: Installation Of Rotary

    2.3 Installation of Rotary 2.3 Installation of Rotary Installation surface ● The body mounting surface should be a machined surface or a plane with similar accuracy, with flatness within 0.05 mm/m. ● The mounting frame should have a structure rigid enough to prevent the generation of vibration.

  • Page 71: Fixing Bolt

    2.3 Installation of Rotary Caution If the teaching port is not to be used, cap the teaching port. Clogging with foreign matter may lead to a breakdown. Fixing bolt ● The bolts for fixing actuator on the installation surface are to be prepared by the customer. ●...

  • Page 72: Body Mounting

    2.3 Installation of Rotary Body mounting [When using the tapped mounting holes on the main frame bottom] The unit has a tapped mounting holes at the bottom of the body frame for mounting. Utilize the tapped mounting holes for installation. →...
  • Page 73 2.3 Installation of Rotary ● RTC9 (64) + 0.012 Oblong hole Oblong hole depth 4 2-M8 depth 12 4 H7 reamed depth 4 ● RTC12 (86.5) + 0.012 Oblong hole 2-M10 depth 15 Oblong hole depth 4 4 H7 reamed depth 4 Tightening torque Type Fixing bolt...
  • Page 74 2.3 Installation of Rotary [When using the through holes on the body frame] The unit has a through holes at the body frame for mounting. Use the through holes from the top to fix the unit. → For details regarding the position and dimensions, refer to "Chapter 9 External Dimensions".

  • Page 75: Mounting Transported Objects

    2.3 Installation of Rotary Mounting transported objects There are tapped holes for fixation equipped on the output shaft. Use the tapped holes to attach a fixture. → For details regarding the position and dimensions, refer to "Chapter 9 External Dimensions". There are a reamed hole and an oblong hole for the positioning pins.
  • Page 76 2.3 Installation of Rotary ● RTC9 4 H7 reamed 4-M4 depth 6 (Equally depth 5 allocated) ● RTC12 4-M5 depth 7.5 (Equally allocated) 5 H7 reamed depth 6 Tightening torque Type Mounting bolt For iron For aluminum installation surface installation surface EC-RTC9 4.0 N·m 1.8 N·m...
  • Page 77 2.3 Installation of Rotary Caution Be careful with regard to the length of the fixing bolt, mounting bolt and positioning pin. The 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 unexpected accidents.
  • Page 78 2-14...

  • Page 79: Wiring

    ELECYLINDER Chapter Wiring System configuration ················································ 3-1 Electrical specifications ············································· 3-2 Specifications table ·································································· 3-2 I/O specifications ····································································· 3-3 Brake release method (for specifications with brakes) ····················· 3-4 Frame grounding ····································································· 3-4 Connection arrangement diagram ······························· 3-5 Wiring connections (for connectors) ····························· 3-7 24 V DC power supply wiring ·····················································...

  • Page 81: System Configuration

    3.1 System configuration 3.1 System configuration The following shows the system configuration. <Model: PSA-24> 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 an example using a PLC connected as the master device.

  • Page 82: Electrical Specifications

    3.2 Electrical specifications 3.2 Electrical specifications Specifications table Item Content Number of controlled axes 1 axis Power supply voltage 24 V DC ±10% EC-RTC12 Energy-Saving: Disabled Rated 3.5 A, max. 4.2 A Power capacity EC-RTC12 Energy-Saving: Enabled Max. 2.2 A EC-RTC9 Max.

  • Page 83: I/O Specifications

    3.2 Electrical specifications I/O specifications Input part Output part Input voltage 24 V DC ±10% Load voltage 24 V DC ±10% Max. load Input current 5 mA per circuit 50 mA per point current Specs ON/OFF ON voltage MIN. 18 V DC Residual voltage 2 V or less voltage OFF voltage MAX.

  • Page 84: Brake Release Method (For Specifications With Brakes)

    3.2 Electrical specifications Brake release method (for specifications with brakes) Refer to the following method to release the brake. Brake release method Input 24 V to the brake release (signal abbreviation: BKRLS) terminal. → Refer to "3.3 Connection arrangement diagram" and "3.4/3.5 Wiring connections". Operate the teaching pendant to force the brake to release.

  • Page 85: Connection Arrangement Diagram

    3.3 Connection arrangement diagram 3.3 Connection arrangement diagram Here the wiring connection method with a power I/O connector is introduced. [For NPN specification] 24 V DC ELECYLINDER (NPN specification) Power I/O connector 24 V power supply 24 V Ground Note 1 Brake release BKRLS Backward complete...
  • Page 86 3.3 Connection arrangement diagram Here the wiring connection method with a power I/O connector is introduced.  Two-Circuit Power Supply Specification TMD2 (Option) [For NPN specification] 24 V DC ELECYLINDER (NPN specification) Power I/O connector 24 V power supply 24 V Ground (Driving Source) Note 1...

  • Page 87: Wiring Connections (For Connectors)

    3.4 Wiring connections (for connectors) 3.4 Wiring connections (for connectors) Here the wiring connection method with a power I/O connector is introduced. 24 V DC power supply wiring Connect the power wiring to the power I/O connector. Connect the wiring to the connector terminal block while referring to the connection diagram.
  • Page 88 3.4 Wiring connections (for connectors) Two-Circuit power supply specification TMD2 (Option) Connect the power wiring to the power I/O connector. Connect the wiring to the connector terminal block while referring to the connection diagram. Connect the [B1] connector terminal and the +24 V (Driving Source) terminal of the 24 V DC power supply.

  • Page 89: Plc Wiring

    3.4 Wiring connections (for connectors) PLC wiring For I/O between the PLC and signals, the signal wiring must be connected to the connector terminal block. Connect the wiring to the connector terminal block while referring to the connection diagram. Connect the [B3] connector terminal and the [Backward] output terminal. Connect the [B4] connector terminal and the [Forward] output terminal.

  • Page 90: Connector Wiring Method

    3.4 Wiring connections (for connectors) Connector wiring method The name of each terminal is affixed to the power I/O connector. The connector nameplate name and pin number relationship is as below. Wiring inlet Wiring inlet Tool insertion slot Reference Precision screwdriver Power I/O connector internal structure looks like this.
  • Page 91 3.4 Wiring connections (for connectors) Wiring mounting method Recommended precision screwdriver 7 mm of insulation should be stripped from the wire end. Item Specifications Slightly twist the core wire. (1) Shaft 7 mm 1.6 ±0.03 mm diameter (2) Blade 0.2 ±0.1 mm thickness Insert the recommended (3) Tip angle...

  • Page 92: Brake Release Wiring

    3.4 Wiring connections (for connectors) 3.5 Wiring connections (for cables) Brake release wiring For the specification with brake, when installing a forcible brake release switch, connect wiring to the [B2] connector terminal. Power capacity of 24 V DC ±10% / 200 mA or higher is required. Connector Signal Compatible...

  • Page 93: Power I/O Cable Equipped With 4-Way Connector

    3.5 Wiring connections (for cables) ● The wiring on the opposite side of the connector has not been processed. ● The cable length is available from 1 m to 10 m. Specify the length in increments of 1 m. ● The following shows a sample model number. Cable length 1 m →...
  • Page 94 3.5 Wiring connections (for cables) Follow the process bellow to build up the connector in the orientation of your demand. 1) Slide the curved side of the cable-end to your desire direction Straight side Curved side 2) Be sure to check that the cable is settled firmly and insert two tabs of the cover along the slits of socket Insert 2 side tabs of the cover 3) Then, push the last tab to the socket...

  • Page 95: Power I/O Cable Connection

    3.5 Wiring connections (for cables) Power I/O cable connection Connect the power I/O cable. Insert the connector until it clicks into place. Cable connection diagram Insert the connector until you hear the "click". Caution The connector must be inserted in a given direction. A section of the connector protrudes.

  • Page 96: Dc Power Supply Wiring

    3.5 Wiring connections (for cables) 24 V DC power supply wiring Connect the power wiring to the power I/O cable. Connect the 24 V DC power supply to the terminal block after terminal-processing the 24 V and 0 V wires of the power I/O cable. Connect the 24 V wire (insulation color: red) to the +24 V terminal of the 24 V DC power supply.
  • Page 97 3.5 Wiring connections (for cables) Two-Circuit power supply specification TMD2 (Option) Connect the power wiring to the power I/O cable. Connect the 24 V DC power supply to the terminal block after terminal-processing the 24 V (Driving Source), 24 V (Control) and 0 V wires of the power I/O cable. Connect the 24 V (Driving Source) wire (insulation color: red) to the +24 V terminal of the 24 V DC power supply.

  • Page 98: Plc Wiring

    3.5 Wiring connections (for cables) PLC wiring For I/O between the PLC and signals, the wiring of the power I/O cable must be connected to the PLC. Connect the wiring to the PLC terminal block while referring to the connection diagram.

  • Page 99: Brake Release Wiring

    3.5 Wiring connections (for cables) Brake release wiring For the specification 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 Signal Function overview Required specifications...
  • Page 100 3-20...

  • Page 101: Operation

    ELECYLINDER Chapter Operation Basic operation ······················································· 4-1 Caution in operation (about backlash) ·········································· 4-2 Teaching tool connections and testing operation ············ 4-3 Teaching pendant connection ····················································· 4-3 ELECYLINDER test operation ···················································· 4-4 Stop position / operating conditions (AVD) setting/adjustment ··················································· 4-5 Stop position setting/adjustment (forward end / backward end) ·········...
  • Page 102 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...

  • Page 103: Basic Operation

    4.1 Basic operation 4.1 Basic operation An input signal from a master device to the ELECYLINDER triggers operation of the ELECYLINDER. The ELECYLINDER status can also be determined when the master device receives signal output from the ELECYLINDER. Control is just as simple as when using a solenoid valve (SOL valve) and air cylinder drive. This manual introduces an example using a PLC connected as the master device.

  • Page 104: Caution In Operation (About Backlash)

    4.1 Basic operation Caution in operation (about backlash) Be aware that there is backlash (play) on this product. ● The output shaft may not move in case the movement amount is smaller than the backlash. ● While stopped, if external force is applied in the rotating direction, the output shaft may be displaced by the distance of the backlash.

  • Page 105: Teaching Tool Connections And Testing Operation

    4.2 Teaching tool connections and testing operation 4.2 Teaching tool connections and testing operation A teaching pendant or PC software can be used to test operation or configure data settings. This manual introduces operating methods using a teaching pendant TB-02. Reference PC software operating method PC software manual (ME0155)

  • Page 106: Elecylinder Test Operation

    4.2 Teaching tool connections and testing operation ELECYLINDER test operation Touch [Simple Data Setting]. Action The screen will switch to the Simple Data Setting window. If the position edit password is set to a value other than "0000", the password input screen will be displayed.

  • Page 107: Stop Position / Operating Conditions (Avd) Setting/Adjustment

    4.2 Teaching tool connections and testing operation 4.3 Stop position / operating conditions (AVD) setting/adjustment Touch the [F. End] (forward) button or [B. End] (backward) button. Action The ELECYLINDER will move toward the forward or backward end. Releasing the controls during operation will cause the unit to slow to a stop. 4.3 Stop position / operating conditions (AVD) setting/adjustment A: Acceleration A:Acceleration...

  • Page 108: Stop Position Setting/Adjustment (Forward End / Backward End)

    4.3 Stop position / operating conditions (AVD) setting/adjustment Stop position setting/adjustment (forward end / backward end) Setting item Unit Explanation Backward end, Enter as the distance from the home position. degree forward end Entries can be made in increments of 0.01 degrees. Touch the position you want to configure/adjust.

  • Page 109: Operating Conditions (Avd) Setting/Adjustment

    4.3 Stop position / operating conditions (AVD) setting/adjustment A:Acceleration 加速度 A: Acceleration V:Velocity V: Velocity 速度 Operating conditions (AVD) setting/adjustment D: Deceleration D:Deceleration 減速度 Setting item Unit Explanation Set the acceleration between 1 and 100%. A: Acceleration Touch the [Switch units] button to switch the units to G, allowing entries to be made in increments of 0.01 G.
  • Page 110 4.3 Stop position / operating conditions (AVD) setting/adjustment Touch Acceleration, Velocity or Deceleration. Action Ten Key window will open. The current transport load set value will be displayed below the ten key pad. To configure a new setting, touch the [Change] key. Action The [Transported load setting] window will open.
  • Page 111 4.3 Stop position / operating conditions (AVD) setting/adjustment Touch the operating condition to configure/adjust. Action Ten Key window will open. After setting the numerical value, touch the [ENT] key. Then touch the [Transfer] key. Action A value will be written to the controller and the [B.

  • Page 112: Pressing Operation Setting

    4.3 Stop position / operating conditions (AVD) setting/adjustment Pressing operation setting Setting Unit Explanation item The position where pressing operation starts. Pressing degree starting Enter as the distance from the home position. point Entries can be made in increments of 0.01 degrees. The current limit value during the pressing operation.
  • Page 113 4.3 Stop position / operating conditions (AVD) setting/adjustment Touch the [Push force] and [Push starting point] buttons. Action Ten Key window will open. After setting the numerical value, touch the [ENT] key. Action The screen will switch to the Simple Data Setting window. Touch the [Transfer] key.

  • Page 114: I/O Signals

    4.4 I/O signals 4.4 I/O signals I/O signal list ELECYLINDER I/O signals are as follows. Signal Category Signal name Function overview abbreviation Turning ON sends it backward. Turning OFF midway through operation will cause a gradual stop. Turning ON when home return is not complete Backward triggers home return operation.

  • Page 115: [St0] [St1] Signals: Movement Command Input (Backward/Forward)

    4.4 I/O signals [ST0] [ST1] signals: Movement command input (backward/forward) The ST signal function automatically switches depending on whether the unit has completed home return or not. Function overview by status Signal Signal name abbreviation Home return: Home return: Complete Not complete Backward Backward...

  • Page 116: [Res] Signal: Alarm Clear Input

    4.4 I/O signals [RES] signal: Alarm clear input ● When the [RES] signal is turned ON, the currently triggered alarm will be cleared. ● Alarm clear may not be possible depending on the alarm itself. → For details, refer to "7.4 Troubleshooting by alarm groups". [BKRLS] input: Brake release input ●...

  • Page 117: [Ls0] [Ls1] Signals: Position Detection Output (Backward End / Forward End)

    4.4 I/O signals [LS0] [LS1] signals: Position detection output (backward end / forward end) ● The LS signals perform the same operation as an air cylinder automatic switch. They are not positioning complete signals. ● The LS signals turn ON when the current ELECYLINDER position is within the detection range configured at the backward and forward ends.

  • Page 118: [Pe0] [Pe1] Signals: Pressing Complete Output (Backward End / Forward End)

    4.4 I/O signals [PE0] [PE1] signals: Pressing complete output (backward end / forward end) ● Turns ON when "pressing complete" is determined during pressing operation. ● Turns OFF if no contact can be made. Pressing Operation → Refer to “ (page 4-20)”...

  • Page 119: Operating Method From Master Device

    4.5 Operating method from master device 4.5 Operating method from master device Home return operation / positioning operation: [ST0] [LS0] [ST1] [LS1] signals Turning the [ST0] signal ON when home return is not complete will first trigger home return operation. After a momentary stop at the home position, it will then move to the backward end.
  • Page 120 4.5 Operating method from master device This shows the PLC timing chart for operating the ELECYLINDER. The basic process is as follows. Power ON Home return Move to forward end Move to backward end [Basic timing chart] ELECYLINDER → PLC → input signals to Output Input output signals to PLC...
  • Page 121 4.5 Operating method from master device Turning the ST signal OFF midway through operation will cause a gradual stop. For example, be careful of the following point with a large LS signal detection range. If the sequence is set to turn the ST signal OFF immediately after the LS signal turns ON, the ELECYLINDER may not have reached the forward/backward end.

  • Page 122: Pressing Operation: [St0] [St1] [Pe0] [Pe1] Signals

    4.5 Operating method from master device Pressing operation: [ST0] [ST1] [PE0] [PE1] signals Pressing operation setting Before conducting pressing operation, refer to “ (page 4-10)” and configure the operating conditions and position settings using the Simple Data Setting screen. The basic time chart is as follows. ST signal PE signal ON →...
  • Page 123 4.5 Operating method from master device The torque (current limit value) configured for [Pressing force] in the Simple Data Setting screen judges completion of pressing operation. When the ELECYLINDER is performing pressing operation, satisfying the following conditions will produce a judgment of pressing complete, turning ON the PE signal. (Accumulated time in which current has reached pressing value [%]) - (Accumulated time in which current is less than pressing value [%]) ≥...
  • Page 124 4-22...
  • Page 125 ELECYLINDER Chapter Preventive/Predictive Maintenance Preventive/predictive maintenance ······························ 5-1 Maintenance 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 Setting maintenance information ·································...

  • Page 127: Preventive/Predictive Maintenance

    5.1 Preventive/predictive maintenance 5.1 Preventive/predictive maintenance predictive maintenance function The ELECYLINDER has a that notifies the user with an "overload warning" when the load exceeds normal status. preventive maintenance function It also has a that prompts the user to perform maintenance if the travel count or the travel distance exceeds the set values.

  • Page 128: Maintenance Information

    5.2 Maintenance information 5.2 Maintenance information This section introduces three items that can be configured and managed as maintenance information. When the set values are exceeded, a "maintenance warning" is issued and the status display LEDs flash alternately in red and green. Even if a "maintenance warning"...

  • Page 129: Overload Warning Level

    5.2 Maintenance information Overload warning level Default setting Name Symbol Unit Input range at shipping Overload warning OLWL 50 to 100 level (disabled setting) ● With the motor temperature rise value which triggers an overload alarm as 100%, set the level to output an overload warning between 50 and 99%.

  • Page 130: Setting Maintenance Information

    5.3 Setting maintenance information 5.3 Setting maintenance information The maintenance information can be configured and changed using the teaching pendant or PC software. This manual introduces operating methods using a teaching pendant TB-02. Reference PC software operating method PC software manual (ME0155) Teaching pendant operating method Teaching pendant manual (ME0355) Touch panel teaching pendant operation...

  • Page 131: Basic Operation

    5.3 Setting maintenance information Basic operation Touch [Edit] at the line of the item subject to when setting a target. Action The set value will blink and Ten Key window will open. Enter the value with the Ten Key pad and touch the [ENT] key.
  • Page 133 ELECYLINDER Chapter Parameters Precautions regarding parameters································· 6-1 How to change parameters ·········································· 6-2 Edit parameters window ······························································ 6-2 Basic operation ·········································································· 6-3 Parameter list ··························································· 6-5 Parameter function descriptions ···································· 6-6 Parameter No. 1: Operation range adjustment ································· 6-6 Parameter No. 2: Auto switch "LS" signal detection range adjustment ··· 6-7 Parameter No.

  • Page 135: Precautions Regarding Parameters

    This will be required for investigating causes of failure or when the ELECYLINDER is replaced. Caution Understand the control methods in advance if making a change or performing a setting in accordance with the system and application. Contact IAI if anything is unclear.

  • Page 136: How To Change Parameters

    6.2 How to change parameters 6.2 How to change parameters A teaching pendant or PC software can be used to change parameters. This manual introduces operating methods using a teaching pendant TB-02. Reference PC software operating method PC software manual (ME0155) Teaching pendant operating method Teaching pendant manual (ME0355) Touch panel teaching pendant operation...

  • Page 137: Basic Operation

    6.2 How to change parameters Basic operation If setting parameters numerically, touch the set value button. Action The set value will blink and Ten Key window will open. Enter the value with the Ten Key pad and touch the [ENT] key. Action The parameter will be changed.
  • Page 138 6.2 How to change parameters Touch the [Yes] button. Action The controller will restart, enabling parameter changes. However, if you touch [No], the reboot will be canceled and the Edit parameters window will return. Reference Touching the explanation button displays a description of each parameter at the bottom of the screen.

  • Page 139: Parameter List

    6.3 Parameter list 6.3 Parameter list Default Reference No. Category Name Symbol Unit Input range setting at page shipping Operation Maximum range degree 0 to 9999.69 rotation adjustment angle Auto switch "LS" signal Actuator Depended degree 0.10 detection to 9999.99 range adjustment Home return According to...

  • Page 140: Parameter Function Descriptions

    6.4 Parameter function descriptions 6.4 Parameter function descriptions Parameter No. 1: Operation range adjustment Default setting Category Name Symbol Unit Input range at shipping Operation range Maximum degree 0 to 9999.69 adjustment rotation angle ● The ELECYLINDER operation range can be adjusted to suit your system. ●...

  • Page 141: Parameter No. 2: Auto Switch "Ls" Signal Detection Range Adjustment

    6.4 Parameter function descriptions Parameter No. 2: Auto switch "LS" signal detection range adjustment Default setting No. Category Symbol Unit Input range Name at shipping Auto switch Actuator Depended "LS" signal degree 0.10 to 9999.99 detection ● Sets the backward complete / forward complete ON trigger range relative to the backward end / forward end.

  • Page 142: Parameter No. 3: Change Home Return Direction

    6.4 Parameter function descriptions Parameter No. 3: Change home return direction Default setting No. Category Name Symbol Unit Input range at shipping According to Home return Reverse, ELECYLINDER direction change forward specifications ● The home return operation direction can be selected. ●...

  • Page 143: Parameter No. 4: Home Position Adjustment

    Do not set Parameter No. 4 to a value smaller than the default setting at shipping. This may result in abnormal home return operation, alarm triggering or abnormal operation. If the value must be set small, please contact IAI. After changing this parameter, always perform home return reset (absolute reset).

  • Page 144: Parameter No. 5: Smooth Accel/Decel Setting

    6.4 Parameter function descriptions Parameter No. 5: Smooth accel/decel setting Default setting No. Category Symbol Unit Input range Name at shipping Smooth Disabled, MOD0 Disabled accel/decel setting enabled ● The movement waveform for ELECYLINDER operation can be selected. ● When [Enabled], accel/decel operation becomes smoother (less abrupt). This softens the shocks of acceleration/deceleration without delaying the operation time.

  • Page 145: Parameter No. 6: Current Control Setting At Stop

    6.4 Parameter function descriptions Parameter No. 6: Current control setting at stop Default setting No. Category Symbol Unit Input range Name at shipping Disabled: Powerful stop Current control SMOD Enabled: Disabled setting at stop Energy-saving stop ● The control method for ELECYLINDER stop can be selected. ●...

  • Page 146: Parameter No. 7: Wireless Function Setting

    6.4 Parameter function descriptions Parameter No. 7: Wireless function setting Default setting No. Category Symbol Unit Input range Name at shipping Wireless Disabled, RWOF Enabled function setting Enabled ● Either Enabled or Disabled can be selected for the ELECYLINDER wireless function. ●...

  • Page 147: Parameter No. 8: Power-Saving Setting

    6.4 Parameter function descriptions Parameter No. 8: Power-saving setting Default setting No. Category Symbol Unit Input range Name at shipping Power-saving Disabled, BUEN Disabled setting enabled ● Either Enabled or Disabled can be selected for the ELECYLINDER power-saving setting. ● When "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.
  • Page 148 6-14...
  • Page 149 ELECYLINDER Chapter Troubleshooting Troubleshooting confirmations ······································ 7-1 Troubleshooting diagnosis ··········································· 7-4 Troubleshooting with no alarm generated ······················· 7-6 Operation failure ········································································ 7-6 Abnormal or unstable operation ···················································· 7-8 Troubleshooting by alarm groups ································ 7-10 Alarm group A: Overload alarm ··················································· 7-11 Alarm group B: Motor abnormality alarm ·······································...

  • Page 151: Troubleshooting Confirmations

    7.1 Troubleshooting confirmations 7.1 Troubleshooting confirmations If a problem occurs, check the following points first in order to ensure quick recovery and prevent recurrence of the problem. (1) Check status indicator LED (SV/ALM LED) ○ : Light ON × : Light OFF ★...
  • Page 152 7.1 Troubleshooting confirmations (2) Check status indicator LED (wireless status LED) ○ : Light ON × : Light OFF ★ ★ : Blinking Wireless status LED (Left side as seen from the motor side) Wireless status Green Wireless hardware initializing ×...
  • Page 153 7.1 Troubleshooting confirmations (3) Check for abnormality in the master device (PLC, etc.) (4) Check the voltage of the main power supply (24 V DC) Check for momentary power failure, voltage drop, power failure, etc. (5) Confirm the generated alarm Check the alarm information with the teaching tool.

  • Page 154: Troubleshooting Diagnosis

    Abnormal conditions can be roughly divided into the following two types. For details and countermeasures, see "7.3 Troubleshooting with no alarm generated". Operation failure Abnormal or unstable operation If the issue is not resolved after checking and taking countermeasures, contact IAI.
  • Page 155 7.2 Troubleshooting diagnosis [When an alarm is generated] The alarm groups and warnings are as follows. For details and countermeasures, see "7.4 Troubleshooting by alarm groups". Alarm Content Main content and typical countermeasures group [Content] Moving parts stopped abnormally. [Countermeasure] Make sure that there are no Overload alarm obstructions or obstacles.

  • Page 156: Troubleshooting With No Alarm Generated

    ● Replace the controller cover assembly. → For details, refer to " Controller replacement (page 8-15 to 18)". ● If the unit still does not recover, contact IAI. [Condition 2] SV/ALM LEDs light up red Possible cause Confirmation/countermeasure Alarm generated.
  • Page 157 7.3 Troubleshooting with no alarm generated [Condition 3] The unit does not operate even when a command is sent from a master device such as a PLC Possible cause Confirmation/countermeasure I/O signal communication is not ● Check the input/output status of the I/O signal established with the monitoring function of the teaching tool.

  • Page 158: Abnormal Or Unstable Operation

    → For details, refer to "2.3 Installation method". The sliding resistance of the Contact IAI. ELECYLINDER is excessive. [Situation 2] The movement is complete, but the LS signal is not output Possible cause Confirmation/countermeasure The detection range of the LS signal is set Adjust Parameter No.
  • Page 159 7.3 Troubleshooting with no alarm generated [Situation 3] Shock or vibration is observed in acceleration/deceleration Possible cause Confirmation/countermeasure ● Acceleration/deceleration setting is too ● Lower the acceleration/deceleration setting. high. ● Enable Parameter No. 5 "Smooth ● A load susceptible to acceleration and accel/decel setting"...

  • Page 160: Troubleshooting By Alarm Groups

    If the same alarm recurs after clearance, it is highly probable that the cause of the alarm has not been resolved. If the cause of the alarm cannot be resolved or the alarm cannot be cleared after resolving the cause, contact IAI. 7-10...

  • Page 161: Alarm Group A: Overload Alarm

    7.4 Troubleshooting by alarm groups Alarm group A: Overload alarm Moving parts of ELECYLINDER stopped abnormally while moving to the target position. Cause Countermeasure Operation may not be possible due to contact Remove any external obstacles or other with or snagging on external obstacles. external loads.

  • Page 162: Alarm Group B: Motor Abnormality Alarm

    If this alarm recurs after performing the Replacement of the motor is required. inspection above and improving the power Customers may not replace the motor by supply environment, it is highly likely that the themselves. Contact IAI. motor has failed. 7-12...

  • Page 163: Alarm Group C: Controller Abnormality Alarm

    7.4 Troubleshooting by alarm groups Alarm group C: Controller abnormality alarm Controller abnormality occurred. Cause Countermeasure The controller is affected by the noise of a Shut down the power supply of the peripheral peripheral device and cannot operate normally. device and operate only with the ELECYLINDER, then check to see whether this alarm persists.

  • Page 164: Alarm Group D: Controller-Encoder Abnormality Alarm

    Replace the motor or controller cover assembly. inspection above and improving the power Customers may not replace the motor by supply environment, it is highly likely that the themselves. Contact IAI. motor or controller has failed. → For details, refer to " Controller replacement (page 8-15 to 18)".

  • Page 165: Alarm Group E: Supply Voltage / Power Capacity Abnormality Alarm

    7.4 Troubleshooting by alarm groups Alarm group E: Supply voltage / power capacity abnormality alarm An abnormality occurred in the power supply voltage and capacity supplied to the rear of the ELECYLINDER. Cause Countermeasure The ELECYLINDER may be being used under Check the specification values such as output conditions exceeding the specifications torque, allowable moment of inertia,...

  • Page 166: Maintenance Warning 1: Total Travel Count

    7.4 Troubleshooting by alarm groups Maintenance warning 1: Total travel count This is an alert that the target value of the "total travel count" set by the customer has been reached. Content Countermeasure For safe use and long service life of the [Countermeasure 1] ELECYLINDER, periodic lubrication is Perform maintenance and inspection such as...

  • Page 167: Maintenance Warning 3: Overload Warning Level

    If there is no abnormality in the sliding motion, there is a possibility of motor or brake failure. Replacement of the motor is recommended. Customers may not replace the motor by themselves. Contact IAI. * For setting, refer to "5.2 Maintenance information" and "5.3 Setting maintenance information". 7-17...
  • Page 168 7-18...
  • Page 169 ELECYLINDER Chapter Maintenance and Inspection Precautions for maintenance and inspection work ·········· 8-1 Inspection items and schedule ··································· 8-3 Rotary ··················································································· 8-3 Visual inspection items ············································· 8-4 External visual inspection ·························································· 8-4 Internal visual inspection ··························································· 8-5 Cleaning ································································ 8-8 External cleaning ·····································································...

  • Page 171: Precautions For Maintenance And Inspection Work

    8.1 Precautions for maintenance and inspection work 8.1 Precautions for maintenance and inspection work Make sure to read the following precautions before conducting any maintenance or inspection work. Warning Do not climb on or put anything on the ELECYLINDER. Otherwise, this may lead to accidental falling, injury or damage to the product due to falling objects, product loss of function or performance degradation, or shortening of product life.
  • Page 172 8.1 Precautions for maintenance and inspection work Caution Never use fluorine-based grease. Mixing with lithium-based grease not only reduces the performance of the grease, it may even cause damage to the actuator. Notice ● When supplying grease, make sure to remove the old grease with using a tool such as a cotton swab before supplying new grease.

  • Page 173: Inspection Items And Schedule

    8.2 Inspection items and schedule 8.2 Inspection items and schedule Follow the maintenance inspection schedule below. It is assumed that the equipment is operating 8 hours per day. If the equipment is running continuously night and day or otherwise running at a high operating rate, inspect more often.

  • Page 174: Visual Inspection Items

    8.3 Visual inspection items 8.3 Visual inspection items Refer to "8.5 Greasing method" for detailed information about the greasing method. External visual inspection Inspection items Maintenance work Is abnormal noise or vibration Refer to "7.3 Troubleshooting with no alarm generated? generated"...

  • Page 175: Internal Visual Inspection

    8.3 Visual inspection items Refer to "8.5 Greasing method" for detailed information about the greasing method. Refer to "8.6 How to replace components" for detailed information about specific component replacement and adjustment methods. Internal visual inspection Inspection items Maintenance work Is the gear grease not lubricating Replenish the new grease.
  • Page 176 8.3 Visual inspection items The period of replacement for the belt cannot be simply determined as the durability of the belt can be affected by the duration of operation significantly. As the belt gets deteriorated in duration of use such as abrasion, it is required that you have inspection on the points stated below.
  • Page 177 8.3 Visual inspection items 1) Remove the screws (3 pieces) fixing the pulley cover. [RTC9] Cross-recessed pan screw M2.5 × 5 [RTC12] Cross-recessed pan screw M3 × 5 Pulley cover Model Part Name Size Number Tightening torque RTC9 Cross-recessed pan screw M2.5 ×...

  • Page 178: Cleaning

    8.4 Cleaning 8.4 Cleaning External cleaning ● Clean exterior surfaces as necessary. ● If a drip of grease base oil is 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. ●...

  • Page 179: Greasing Method

    8.5 Greasing method 8.5 Greasing method Rotary [1] Grease used: Use the recommended or equivalent product. Application During maintenance Default (reference) location (recommended product) Kyodo Yushi / Multemp AC-D Gear part Kyodo Yushi / Multemp AC-D Sumico Lubricant / Sumigrease Spray Caution Never use fluorine-based grease.
  • Page 180 8.5 Greasing method Greasing method: Grease supply with syringe 1) Take of the grease supply cap on the side of the main frame. Grease supply cap 2) Supply Multemp AC-D Grease at the grease supply inlet using a syringe. (Reference for supply amount: RTC9 = 0.7 cc, RTC12 = 1.1 cc) When supplying grease, keep rotating the gears while supplying by manual using the output shaft adjusting screw or by positioning operation using a teaching tool (such as PC software).
  • Page 181 8.5 Greasing method [Recommended syringe and needle nozzle] Syringe Needle nozzle DPN-18G-1 (Musashi Engineering) SS-20LZ (Terumo) Nozzle outer diameter1.27 mm, 20 ml, lock type needle long 12.7 mm Caution Too much grease applied could cause overflow of grease, which may cause troubles and defects.
  • Page 182 8.5 Greasing method [3] Grease supply method: Grease supply with spray 1) Take of the grease supply cap on the side of the main frame. Grease supply cap 2) Insert the tip of Sumigrease Spray (spray grease) at the grease supply inlet and spray it to supply grease.
  • Page 183 8.5 Greasing method Caution Make sure to have one shot of spray grease is 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.

  • Page 184: How To Replace Components

    8.6 How to replace components 8.6 How to replace components Controller replacement (Controller cover assembly replacement) [RTC9] 1) Remove the screws (2 pieces) fixing the controller cover assembly. Cross-recessed pan screw M2.5 × 5 Controller cover assembly 2) Pull off the connector joining the controller PC board and the motor unit, and take off the controller cover assembly.
  • Page 185 8.6 How to replace components 3) Put on the connector joining the controller PC board and the motor unit on the controller cover assembly for replacement, and put on the controller cover assembly for replacement. Connector Controller cover assembly 4) Tighten the screws (2 pieces) to affix the controller cover assembly. Cross-recessed pan screw M2.5 ×...
  • Page 186 8.6 How to replace components [RTC12] 1) Remove the screws (3 pieces) fixing the controller cover assembly. 2) Take off the controller cover assembly. Cross-recessed pan screw M3 × 5 Controller cover assembly 3) Pull off the cable connector connected to the motor unit assembly from the PC board.
  • Page 187 8.6 How to replace components 4) Pull off the connectors on the 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 the end plate.
  • Page 188 8.6 How to replace components 5) Put on the connector on the cable connected to the motor unit assembly to the PC board and affix the end plate for replacement with screws (4 pieces). End plate for replacement Do not screw PC board Hex socket head cap screw Connector...
  • Page 189 8.6 How to replace components 9) Tighten the screws (3 pieces) to affix the controller cover assembly. Cross-recessed pan screw M3 × 5 Controller cover assembly Part Name Size Number Tightening torque Cross-recessed pan screw M3 × 5 3 pcs 61.5 N·cm How to replace Rotary Controller Body model...

  • Page 190: Belt Replacement

    Belt replacement (Note) The EC rotary equipped with a brake (option model code: B) is not available for belt replacement. Ask IAI when it is necessary to replace it. 1) Remove the screws (2 pieces) fixing the pulley cover. [RTC9] Cross-recessed pan screw M2.5 ×...
  • Page 191 8.6 How to replace components 4) Adjust the belt tension. Hang a string or wire on the pulley and apply the specified load (tensile force) with a tension gauge. Pay attention to the direction of the load (tensile force) so it goes in parallel to the timing belt.
  • Page 192 8.6 How to replace components 6) Tighten the screws (2 pieces) to affix the pulley cover. [RTC9] Cross-recessed pan screw M2.5 × 5 [RTC12] Cross-recessed pan screw M3 × 5 Pulley cover Tightening Model Part Name Size Number torque RTC9 Cross-recessed pan screw M2.5 ×...

  • Page 193: Motor Replacement

    Motor replacement (Note) The EC rotary equipped with a brake (option model code: B) is not available for motor replacement. Ask IAI when it is necessary to replace it. [RTC9] 1) Remove the screws (2 pieces) fixing the controller cover assembly.
  • Page 194 8.6 How to replace components 3) Remove the screws (2 pieces) fixing the pulley cover. Cross-recessed pan screw M2.5 × 5 Pulley cover 4) Loosen the affixing screws on the motor unit. Timing belt Hex socket head cap screw + Plain washer M2.5 ×...
  • Page 195 8.6 How to replace components 6) Take off the screws on the pulley side and the end plate on the controller side. Hex socket head cap screw Hex socket head cap screw End plate M3 × 10 M3 × 10 Pulley side Controller side 7) Take the motor cover off.
  • Page 196 8.6 How to replace components 9) Put the motor cover on. Motor cover 10) Tighten the screws on the pulley side. Put on the end plate on the controller side. Hex socket head cap screw Hex socket head cap screw End plate M3 ×...
  • Page 197 8.6 How to replace components 12) Adjust the belt tension. Hang a string or wire on the pulley and apply the specified load (tensile force) with a tension gauge. Pay attention to the direction of the load (tensile force) so it goes in parallel to the timing belt.
  • Page 198 8.6 How to replace components 15) Put on the connector joining the controller PC board and the motor unit, and put on the controller cover assembly. Connector Controller cover assembly 16) Tighten the screws (2 pieces) to affix the controller cover assembly. Cross-recessed pan screw M2.5 ×...
  • Page 199 8.6 How to replace components [RTC12] 1) Remove the screws (3 pieces) fixing the controller cover assembly. 2) Take off the controller cover assembly. Cross-recessed pan screw M3 × 5 Controller cover assembly 3) Pull off the cable connector connected to the motor unit assembly from the PC board.
  • Page 200 8.6 How to replace components 4) Pull off the connectors on the 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 the end plate.
  • Page 201 8.6 How to replace components 5) Remove the screws (2 pieces) fixing the pulley cover. Cross-recessed pan screw M3 × 5 Pulley cover 6) Loosen the affixing screws on the motor unit. Timing belt Flanged hex socket screw M3 × 5 7) Take the timing belt off.
  • Page 202 8.6 How to replace components 8) Take off the screws on the pulley side. Hex socket head cap screw M3 × 10 Pulley side 9) Take the motor cover off. Motor cover 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.
  • Page 203 8.6 How to replace components 11) Put the motor cover on. Motor cover 12) Tighten the screws on the pulley side. Hex socket head cap screw M3 × 10 Pulley side Part Name Size Number Tightening torque Hex socket head cap screw M3 ×...
  • Page 204 8.6 How to replace components 14) Adjust the belt tension. Hang a string or wire on the pulley and apply the specified load (tensile force) with a tension gauge. Pay attention to the direction of the load (tensile force) so it goes in parallel to the timing belt.
  • Page 205 8.6 How to replace components 17) Put on the connector on the cable connected to the motor unit assembly to the PC board and affix the end plate for replacement with screws (4 pieces). End plate for replacement Do not screw PC board Hex socket head cap screw Connector...
  • Page 206 8.6 How to replace components 21) Tighten the screws (3 pieces) to affix the controller cover assembly. Cross-recessed pan screw M3 × 5 Controller cover assembly Part Name Size Number Tightening torque Cross-recessed pan screw M3 × 5 3 pcs 61.5 N·cm How to replace Rotary Motor Unit Body model...

  • Page 207: Chapter 9 External Dimensions

    ELECYLINDER Chapter External Dimensions 9.1 Rotary external dimensions ··············································· 9-1 EC-RTC9 ························································································ 9-1 EC-RTC12 ······················································································ 9-2...

  • Page 209: Rotary External Dimensions

    9.1 Rotary 9.1 Rotary external dimensions EC-RTC9 M.E.: Mechanical end, S.E.: Stroke end Must be 133 (W/o brake) 155 (With brake) 100 or more 60 (W/o brake) M3 depth 6 (1.3) 82 (With brake) (For ground connection) (64) Power I/O connector Status LED 2-6.6 drill Oblong hole depth 4...

  • Page 210: Ec-Rtc12

    9.1 Rotary EC-RTC12 M.E.: Mechanical end, S.E.: Stroke end 166.5 (W/o brake) Must be 204.5 (With brake) 100 or more 73 (W/o brake) (1.3) 111 (With brake) 36.3 (86.5) 86.5 35.8 Power I/O connector Status LED Teaching port 2-8.5 drill 20.5 2-M5 depth 10 Output shaft...

  • Page 211: Chapter 10 Life

    ELECYLINDER Chapter Life 10.1 Concept of life for Rotary ········································ 10-1 10.2 Concept of life for controller ····································· 10-1...

  • Page 213: Concept Of Life For Rotary

    10.1 Concept of life for Rotary 10.2 Concept of life for controller 10.1 Concept of life for Rotary The product life of Rotary EC-RTC-9 and RTC12 is as shown below. Life (Guideline): Number of impact times 10,000,000 times * 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 maintenance.
  • Page 214 10-2...
  • Page 215 ELECYLINDER Chapter Warranty 11.1 Warranty period ···················································· 11-1 11.2 Scope 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 excluded from warranty ·························· 11-2...

  • Page 217: Warranty Period

    Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or malfunction in question pertains to our product as delivered by IAI or our authorized dealer.

  • Page 218: Limited Liability

    (d) Equipment used to handle cultural assets, art or other irreplaceable items (3) Contact IAI in advance if our product is to be used in any condition or environment that differs from that specified in the catalog or instruction manual.

  • Page 219: Chapter 12 Appendix

    ELECYLINDER Chapter Appendix 12.1 Index ·································································· 12-1 12.2 Revision history ···················································· 12-4...

  • Page 221: Index

    12.1 Index 12.1 Index Brake type * ALM signal (alarm) EC-RTC9 ········································· 1-5 ·········· 3-5 to 6, 3-9, 4-12, 4-16, 7-1, 7-10 EC-RTC12 ····································· 1-11 Alarm group A ···································· 7-11 Alarm group B ···································· 7-12 Cleaning ············································· 8-8 Components ········································ 1-1 Alarm group C ····································...
  • Page 222 12.1 Index Greasing method ························ 8-10 to 13 Maintenance information ·················· 5-2 to 3 Home position adjustment (Parameter No.4) Maintenance warning 1 ·················· 5-2, 7-16 ············································· 6-5, 6-9 Maintenance warning 2 ·················· 5-2, 7-16 Home-return accuracy Maintenance warning 3 ·················· 5-3, 7-17 EC-RTC9 ·········································...
  • Page 223 12.1 Index PNP specification (model: PN) ··· 1-31, 3-5 to 6 Stop position setting/adjustment ·············· 4-6 Positioning operation ··················· 4-17 to 19 Storage / preservation environment ·········· 2-5 Positioning repeatability System configuration ····························· 3-1 EC-RTC9 ········································· 1-5 EC-RTC12 ····································· 1-11 Table adapter (option model: TA) ···········...

  • Page 224: Revision History

    12.2 Revision history 12.2 Revision history Revision date Revised content 2020.02 First Edition 2020.04 Edition 1B Pg. Intro-13 Mexico added in Precautions for Handling Wireless Operation Pg. 1-3, 1-31 RCON-EC connection specification (option model: ACR) added Pg. 1-3, 3-13, 3-14 Contents added for relay cable equipped with 4-way connector Pg.
  • Page 226 825, PhairojKijja Tower 7th Floor, Debaratana RD., Bangna-Nuea, Bangna, Bangkok 10260, Thailand TEL +66-2-361-4458 FAX +66-2-361-4456 website: www.iai-robot.co.th The information contained in this document is subject to change without notice for purposes of product improvement. Copyright © 2020. Jun. IAI Corporation. All rights reserved. 20.06.000...

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