IAI EC ELECYLINDER EC-RP4 Instruction Manual
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IAI EC ELECYLINDER EC-RP4 Instruction Manual

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ELECYLINDER
Instruction Manual
EC-RP4/GS4/GD4/TC4/TW4
First Edition
ME3778-1L
Specifications
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.
Appendix
ch.
1
ch.
2
3
4
5
6
7
8
9
1 0
1 1
1 2

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Summary of Contents for IAI EC ELECYLINDER EC-RP4

  • Page 1 ELECYLINDER EC-RP4/GS4/GD4/TC4/TW4 Instruction Manual First Edition ME3778-1L Specifications Installation Wiring Operation Preventive/ Predictive Maintenance Parameters Troubleshooting Maintenance and Inspection External Dimensions Life Warranty Appendix...
  • Page 2  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 3 ELECYLINDER Instruction Manual Configuration Control Product name Instruction manual name number ELECYLINDER Quick Start Guide ME3765 Instruction Manual ELECYLINDER ME3778 (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 4: Table Of Contents

    Contents Safety Guide ···················································································· Intro-1 Precautions for Handling ···································································· Intro-9 International Standard Compliance ······················································· Intro-12 Precautions for Handling Wireless Operation ·········································· Intro-13 Precautions for Axis Operation with Wireless Connection ·························· Intro-16 Part Names ····················································································· Intro-17 Chapter 1 Specifications Checking the product ································································ 1-1 Components ··································································································...
  • Page 5 Installation surface ·························································································· 2-15 Fixing bolts ···································································································· 2-15 Mounting orientation ························································································ 2-16 Body mounting ······························································································· 2-17 Transported object mounting surface ·································································· 2-19 Mounting transported objects ············································································ 2-19 Chapter 3 Wiring System configuration ································································ 3-1 Electrical specifications ····························································· 3-2 Specifications table ························································································· 3-2 I/O specifications ····························································································...
  • Page 6 Total travel count ································································································ 5-2 Total travel distance ························································································· 5-2 Overload warning level ····················································································· 5-3 Setting maintenance information ················································· 5-4 Switching to maintenance information window ······················································ 5-4 Basic operation······························································································· 5-5 Chapter 6 Parameters Precautions regarding parameters ··············································· 6-1 How to change parameters ························································ 6-2 Edit parameters window ···················································································...
  • Page 7 Spiral cover replacement ·················································································· 8-12 Controller replacement (controller cover assembly replacement) ······························ 8-15 Chapter 9 External Dimensions Rod type, table type external dimensions ······································ 9-1 EC-RP4 ········································································································ 9-1 EC-GS4 ········································································································ 9-2 EC-GD4 ········································································································ 9-3 EC-TC4 ········································································································ 9-4 EC-TW4 ········································································································ 9-5 Chapter 10 Life 10.1 Concept of life for rod type RP, GS, GD ········································...

  • Page 8: 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 9 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 10 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 11 (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 12 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 13 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 14 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 15 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 product Danger Danger...

  • Page 16: 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 17 Precautions for Handling 7. For the rod type GS, do not apply force other than radial loads. Radial loads are allowable when the ball screw and guide shaft are lined up vertically. Radial loads are not allowable when the ball screw and guide shaft are lined up horizontally. [See figure below] Guide shaft Radial load...
  • Page 18 Precautions for Handling 8. If return operations are continued over a short distance, they may rapidly degrade the film of grease. Continuous return operation within a distance less than 30mm may cause the grease film to degrade rapidly. As a guideline, in every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation over the full stroke distance or more to regenerate the oil film.

  • Page 19: 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 20: 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 21 [EU Member States] • 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. Intro-14...
  • Page 22 - ช ื ่ อ โมเดล : IABL3827 - ประเทศผู ้ผลิ ต : ญี ่ ป ุ่ น (Made in Japan) - ผู ้นํ า เข ้า : IAI Robot (Thailand) Co., Ltd. 【México / Mexico】 • Número de Certificación ：IFT：RCPIATB19-1956 •...

  • Page 23: 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 24: Part Names

    Part Names Part Names In this manual, the ELECYLINDER's left/right sides and motor/opposite sides are shown as in the figure below. Rod type RP Right side Opposite side Motor side Left side Front bracket Frame Teaching port Power I/O connector Status LED Tap for ground line Tip adapter...
  • Page 25 Part Names Rod type GD Guide shaft Right side Spiral cover Opposite side Motor side Guide shaft Left side Front bracket Motor cover Teaching port Power I/O connector Status LED Controller cover Tap for ground line assembly Rod bracket Frame Table type TC Right side Opposite side...
  • Page 26 Part Names Table type TW Right side Opposite side Motor side Left side Teaching port Power I/O connector Frame Table guide Table Controller cover Status LED Front plate Front bracket assembly Tap for ground line Spiral cover Intro-19...
  • Page 27 Part Names Motor (built in controller) Teaching port Power I/O connector Status LED [Teaching port] This connector is for the connection of a teaching pendant or PC software. Remove the protective cap. [Status indicator LED] The LED below as seen from the motor side shows the servo ON/OFF status and alarm status, The LED on the top as seen from the motor side displays the wireless status.
  • Page 28 Intro-21...
  • Page 29 ELECYLINDER Specifications Chapter Specifications 1.1 Checking the product ············································· 1-1 Components ········································································· 1-1 How to read the model nameplate ············································· 1-2 How to read the model number ················································· 1-2 Product list ··········································································· 1-3 1.2 Mechanical specifications ······································· 1-4 Rod type RP4 ······································································· 1-4 Rod type GS4 ·······································································...

  • Page 30: 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 31: How To Read The Model Nameplate

    1.1 Checking the product How to read the model nameplate Model number → EC-RP******* Serial number → 01/12/2017 How to read the model number ELECYLINDER Series Type Ball screw lead Stroke Power / I/O cable length Options Rod type 30mm, 50mm Lead 2mm side-mounted motor 34mm width (Every 50mm)

  • Page 32: Product List

    1.1 Checking the product Product list [Rod type] [Table type]...

  • Page 33: Mechanical Specifications

    1.2 Mechanical specifications 1.2 Mechanical specifications Rod type RP4 [Lead and Payload] Maximum payload Maximum Lead pressing Model number Horizontal Vertical (mm) force (kg) (kg) EC-RP4H -①-②(-③) EC-RP4M -①-②(-③) EC-RP4L -①-②(-③) Legend ①: Stroke ②: Cable length ③: Option [Stroke and Max Speed] Lead (mm) (mm)
  • Page 34 1.2 Mechanical specifications [Payload by Speed/Acceleration] At low load capacity, the acceleration/deceleration can be increased. The maximum acceleration/deceleration is 0.5G for lead 4 and lead 6 and 0.3G for lead 2. For % input, 0.5G for lead 4 and lead 6 and 0.3G for lead 2 are set as 100%. Lead 6 Lead 4 Orientation...
  • Page 35 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Ball screw φ6mm, rolled C10 Positioning ±0.05mm repeatability Material: Aluminum, black alumite Frame treatment Ambient operating 0 to 40°C, 85% RH or less temperature/humidity (Non-condensing) Operation life 5000 km or 50 million cycles [Pressing Force and Current Limit Value] Lead 2 Lead 4...

  • Page 36: Rod Type Gs4

    1.2 Mechanical specifications Rod type GS4 [Lead and Payload] Maximum payload Maximum Lead pressing Model number Horizontal Vertical (mm) force (kg) (kg) EC-GS4H -①-②(-③) EC-GS4M -①-②(-③) EC-GS4L -①-②(-③) Legend ①: Stroke ②: Cable length ③: Option [Stroke and Max Speed] Lead (mm) (mm)
  • Page 37 1.2 Mechanical specifications [Payload by Speed/Acceleration] At low load capacity, the acceleration/deceleration can be increased. The maximum acceleration/deceleration is 0.5G for lead 4 and lead 6 and 0.3G for lead 2. For % input, 0.5G for lead 4 and lead 6 and 0.3G for lead 2 are set as 100%. Lead 6 Lead 4 Orientation...
  • Page 38 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Ball screw φ6mm, rolled C10 Positioning ±0.05mm repeatability Material: Aluminum, black alumite Frame treatment Rod non-rotation ±1.5 degrees precision Ambient operating 0 to 40°C, 85% RH or less temperature/humidity (Non-condensing) Operation life 5000 km or 50 million cycles [Pressing Force and Current Limit Value] Lead 2...
  • Page 39 1.2 Mechanical specifications [Radial Load and Tip Deflection (guideline)] Home Load (N) 1-10...

  • Page 40: Rod Type Gd4

    1.2 Mechanical specifications Rod type GD4 [Lead and Payload] Maximum payload Maximum Lead pressing Model number Horizontal Vertical (mm) force (kg) (kg) EC-GD4H -①-②(-③) EC-GD4M -①-②(-③) EC-GD4L -①-②(-③) Legend ①: Stroke ②: Cable length ③: Option [Stroke and Max Speed] Lead (mm) (mm)
  • Page 41 1.2 Mechanical specifications [Payload by Speed/Acceleration] At low load capacity, the acceleration/deceleration can be increased. The maximum acceleration/deceleration is 0.5G for lead 4 and lead 6 and 0.3G for lead 2. For % input, 0.5G for lead 4 and lead 6 and 0.3G for lead 2 are set as 100%. Lead 6 Lead 4 Orientation...
  • Page 42 1.2 Mechanical specifications [Actuator Specifications ] Item Content Drive system Ball screw φ6mm, rolled C10 Positioning repeatability ±0.05mm Material: Aluminum, black alumite Frame treatment Rod non-rotation ±1.5 degrees precision Ambient operating 0 to 40°C, 85% RH or less temperature/humidity (Non-condensing) Operation life 5000 km or 50 million cycles [Pressing Force and Current Limit Value]...
  • Page 43 1.2 Mechanical specifications [Radial Load and Tip Deflection (guideline)] Home Load (N) Home Load (N) 1-14...
  • Page 44 1.2 Mechanical specifications Table type TC4 [Lead and Payload] Maximum payload Maximum Lead pressing Model number Horizontal Vertical (mm) force (kg) (kg) EC-TC4H -①-②(-③) EC-TC4M -①-②(-③) EC-TC4L -①-②(-③) Legend ①: Stroke ②: Cable length ③: Option [Stroke and Max Speed] Lead (mm) (mm)
  • Page 45 1.2 Mechanical specifications [Payload by Speed/Acceleration] At low load capacity, the acceleration/deceleration can be increased. The maximum acceleration/deceleration is 0.5G for lead 4 and lead 6 and 0.3G for lead 2. For % input, 0.5G for lead 4 and lead 6 and 0.3G for lead 2 are set as 100%. Lead 6 Lead 4 Orientation...
  • Page 46 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Ball screw φ6mm, rolled C10 Positioning repeatability ±0.05mm Base Material: Aluminum, black alumite treatment Ma: 5.9N・m Mb: 5.9N・m Mc: 9.3N・m Static allowable moment Dynamic allowable Ma: 3.77N・m Mb: 3.77N・m Mc: 6.01N・m moment (*) Ambient operating 0 to 40°C, 85% RH or less (Non-condensing)
  • Page 47 1.2 Mechanical specifications [Pressing Force and Current Limit Value] Lead 2 Lead 4 Lead 6 Current Limit Value [%] Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm/s. There is some variance in the actual pressing force. The variance increases when the current value is low.
  • Page 48 1.2 Mechanical specifications [Table Displacement (reference value)] Ma direction moment - displacement angle Displacement angle at table guide center Table displacement angle (Ma direction) position (offset reference position) and Ma direction moment applied Moment [N・m] Offset reference position Mb direction moment - displacement angle Table displacement angle (Mb direction) Displacement angle at table guide center position (offset reference position) and Mb...
  • Page 49 1.2 Mechanical specifications Table type TW4 [Lead and Payload] Maximum payload Maximum Lead pressing Model number Horizontal Vertical (mm) force (kg) (kg) EC-TW4H -①-②(-③) EC-TW4M -①-②(-③) EC-TW4L -①-②(-③) Legend ①: Stroke ②: Cable length ③: Option [Stroke and Max Speed] Lead (mm) (mm)
  • Page 50 1.2 Mechanical specifications [Payload by Speed/Acceleration] At low load capacity, the acceleration/deceleration can be increased. The maximum acceleration/deceleration is 0.5G for lead 4 and lead 6 and 0.3G for lead 2. For % input, 0.5G for lead 4 and lead 6 and 0.3G for lead 2 are set as 100%. Lead 6 Lead 4 Orientation...
  • Page 51 1.2 Mechanical specifications [Actuator Specifications] Item Content Drive system Ball screw φ6mm, rolled C10 Positioning repeatability ±0.05mm Base Material: Aluminum, black alumite treatment Ma: 8.3N・m Mb: 8.3N・m Mc: 26.3N・m Static allowable moment Dynamic allowable Ma: 5.4N・m Mb: 5.4N・m Mc: 17.2N・m moment (*) Ambient operating 0 to 40°C, 85% RH or less (Non-condensing)
  • Page 52 1.2 Mechanical specifications [Pressing Force and Current Limit Value] Lead 2 Lead 4 Lead 6 Current Limit Value [%] Caution The relation of the current limit and the pressing force is a guideline at speed of 20mm/s. There is some variance in the actual pressing force. The variance increases when the current value is low.
  • Page 53 1.2 Mechanical specifications [Table Displacement (reference value)] Ma direction moment - displacement angle Table displacement angle (Ma direction) Displacement angle at table guide center position (offset reference position) and Ma direction moment applied Moment [N・m] Offset reference position Mb direction moment - displacement angle Table displacement angle (Mb direction) Displacement angle at table guide center position (offset reference position) and Mb...

  • Page 54: 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%. 1-25...

  • Page 55: Options

    1.3 Options 1.3 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 slider or rod from moving during power outages or when the servo is...

  • Page 56: Wireless Axis Operation Specification (Model: Wl2)

    1.3 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 57: S4 Guide Mounting Direction / Tc4 Table Mounting Direction (Model: Gt2, Gt3, Gt4)

    1.3 Options S4 guide mounting direction / TC4 table mounting direction (Model: GT2, GT3, GT4) The guide position for the rod type GS4 can be selected from right mounting (GT2), bottom mounting (GT3), and left mounting (GT4). View from rod side, left/right. GT2: Right mounting GT3: Bottom mounting GT4: Left mounting...

  • Page 58: Accessories

    1.4 Accessories 1.4 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. (Note 1) LS0/PE0 LS1/PS1...

  • Page 59: Power I/O Connector

    1.4 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) 1-30...
  • Page 60 1-31...
  • Page 61 ELECYLINDER Installation Chapter Installation 2.1 Precautions for transportation ·································· 2-1 2.2 Installation and storage/preservation environment ······· 2-4 Installation environment ·························································· 2-4 Storage/preservation environment ············································· 2-5 2.3 How to install rod type RP ······································ 2-6 Installation surface ································································· 2-6 Fixing bolts ··········································································· 2-6 Mounting orientation ·······························································...
  • Page 62 Mounting orientation ······························································· 2-16 Body mounting ······································································ 2-17 Transported object mounting surface ········································· 2-19 Mounting transported objects ··················································· 2-19...

  • Page 63: 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. ● Keep the unit in horizontal position for storage or transportation. ●...
  • Page 64 2.1 Precautions for transportation [Handling after unpacking] ●Carry while holding the frame, motor cover, and front bracket. ● Do not carry the unit by its controller cover assembly. ● Do not damage or drop the package during transportation. ● Do not apply excessive force to any part of the ELECYLINDER. ●...
  • Page 65 2.1 Precautions for transportation [Handling when assembled into machinery (system)] ● Secure the rod and table to prevent sudden movement during transport. ● If the ELECYLINDER body or any moving part is overhanging, fix it appropriately to avoid large wobbles due to external vibration. When transporting without fixing the tip, do not apply impact of 0.3G or more.

  • Page 66: 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 67: 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 68: How To Install Rod Type Rp

    2.3 How to install rod type RP 2.3 How to install rod type RP Installation surface ● The mounting frame should have a structure rigid enough to prevent the generation of vibrationc. ● Also consider the necessary space for maintenance work such as ELECYLINDER replacement and inspection.

  • Page 69: Mounting Orientation

    2.3 How to install rod type RP Mounting orientation Horizontal installation Vertical installation Lateral installation Ceiling mount installation Caution Excessive greasing may cause the grease to drip from the rod. When installing the unit vertically, keep the motor on top to the greatest extent possible. If the motor is installed on the bottom, the grease may eventually separate, causing the base oil to flow into the motor part and leading to controller or motor/encoder breakdown.

  • Page 70: Body Mounting

    2.3 How to install rod type RP Body mounting Fit the body onto the through holes in a 5-10mm smooth plate for mounting. Using the tapped mounting holes on the body, mount it to the body mounting plate. Body mounting plate ●...
  • Page 71 2.3 How to install rod type RP Notice ● The use of high-strength bolts of ISO-10.9 or higher is recommended.

  • Page 72: Rotation Stop Mounting

    2.3 How to install rod type RP Rotation stop mounting The RP type has no rotation stop. Be sure to provide a rotation stop and mount with reference to the figure below. If a rotation stop is not mounted, the motor will idle and the tip will not move normally in forward or reverse.
  • Page 73 2.3 How to install rod type RP ● The coaxiality of the body mounting plate body mounting holes and the guide bracket tip adapter mounting holes should be within 0.05. As well, the parallel should be within 0.02. Guide side bracket Rotation stop guide Body mounting plate Guide side bracket...

  • Page 74: Installation Surface

    2.4 How to install rod type GS / rod type GD 2.4 How to install rod type GS / rod type GD Installation surface ● The mounting frame should have a structure rigid enough to prevent the generation of vibrationc. ●...

  • Page 75: Mounting Orientation

    2.4 How to install rod type GS / rod type GD Mounting orientation Horizontal installation Vertical installation Lateral installation Ceiling mount installation Caution Excessive greasing may cause the grease to drip from the rod. When installing the unit vertically, keep the motor on top to the greatest extent possible. If the motor is installed on the bottom, the grease may eventually separate, causing the base oil to flow into the motor part and leading to controller or motor/encoder breakdown.

  • Page 76: Body Mounting

    2.4 How to install rod type GS / rod type GD Body mounting [Rod type GS] ● The structure enables mounting on 3 body surfaces. Transported objects can be mounted on 1 surface. [Rod type GD] ● The structure enables mounting on 1 body surface. Transported objects can be mounted on 1 surface.

  • Page 77: How To Install Table Type Tc / Table Type Tw

    2.5 How to install table type TC / table type TW 2.5 How to install table type TC / table type TW Installation surface ● The mounting frame should have a structure rigid enough to prevent the generation of vibrationc. ●...

  • Page 78: Mounting Orientation

    2.5 How to install table type TC / table type TW Mounting orientation Horizontal installation Vertical installation Lateral installation Ceiling mount installation Caution Excessive greasing may cause the grease to drip from the ball screw guide. When installing the unit vertically, keep the motor on top to the greatest extent possible. If the motor is installed on the bottom, the grease may eventually separate, causing the base oil to flow into the motor part and leading to controller or motor/encoder breakdown.

  • Page 79: Body Mounting

    2.5 How to install table type TC / table type TW Body mounting [Table type TC] The structure enables mounting on 2 body surfaces. Transported objects can be mounted on 2 surfaces. * Mounting is also Table right mounting / left mounting possible from the opposite side.
  • Page 80 2.5 How to install table type TC / table type TW Notice ● There are 4 mounting taps on the body mounting surface. Using all the taps, mount the body. ● Each mounting surface has round holes and oblong holes for positioning pins. Use as needed.

  • Page 81: Transported Object Mounting Surface

    2.5 How to install table type TC / table type TW Transported object mounting surface ● The transported object mounting surface (table top surface, front plate) should be a machined surface or a plane with similar accuracy, with flatness within 0.02mm/m. If the flatness is not sufficient, the table will deform when transported objects are fixed, leading to malfunctions.
  • Page 82 2.5 How to install table type TC / table type TW Caution When mounting transported objects, pull in the table and retain it there (near the standard home position). If tightened with only the body retained, an excessive moment will be applied to the guide part, possibly leading to rapid damage thereof. Table Fixing to both the table top surface and the front plate, which are perpendicular to one another, will affect the rod shaft center and lead to malfunctions.
  • Page 83 2.5 How to install table type TC / table type TW Caution Use transported objects at or below the overhang load length and allowable moment. For moment direction, offset position, and overhang load length, see the figure below. [For allowable moment, see 1.2 Mechanical specifications] If the actuator is used exceeding allowable moment and overhang load, it will not only cause noise and vibration, but also may significantly reduce the life of the actuator.
  • Page 84 2.5 How to install table type TC / table type TW Notice ● Each mounting surface has round holes and oblong holes for positioning pins. Use as needed. [For mounting dimensions, see Chapter 9 External Dimensions] ● The mounting bolts are to be prepared by the customer. ●...
  • Page 85 ELECYLINDER Wiring Chapter Wiring 3.1 System configuration ············································· 3-1 3.2 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 3.3 Connection arrangement diagram ···························· 3-5 3.4 Wiring connections (for connectors) ··························...

  • Page 86: System Configuration

    3.1 System configuration 3.1 System configuration The following shows the system configuration. <Model: PSA-24> Supply 24VDC 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 87: Electrical Specifications

    3.2 Electrical specifications 3.2 Electrical specifications Specifications table Item Content Number of controlled axes 1 axis Power supply voltage 24VDC ±10% Power capacity max. 2.0A Brake release power supply 24VDC ±10%, 200mA (only for external brake release) Generated heat 8W when duty is at 100% (Note 1) Inrush current Momentary power failure...

  • Page 88: I/O Specifications

    3.2 Electrical specifications I/O specifications Input part Output part Input voltage 24VDC ±10% Load voltage 24VDC ±10% Max. load Input current 5mA per circuit 50mA per point current Specs ON/OFF ON voltage MIN 18VDC Residual voltage 2V or less voltage OFF voltage MAX 6VDC Leakage Leakage current MAX 0.1mA per point...

  • Page 89: 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 24V to the brake release (signal abbreviation: BKRLS) terminal. → Refer to "3.3 Connection arrangement diagram" and "3.4/3.5 Wiring connections". Operate the teaching pendant to force the brake to release.

  • Page 90: 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] 24VDC ELECYLINDER (NPN specification) Power I/O connector Ground 24V power supply Note 1 Brake release BKRLS Backward complete Backward Forward complete Forward...
  • Page 91 3.3 Connection arrangement diagram Here the wiring connection method with a power I/O connector is introduced.  2-circuit power supply type TMD2 (option) [For NPN specification] 24VDC ELECYLINDER (NPN specification) Power I/O connector 24V power supply (driving source) Ground Note 1 Brake release BKRLS 24V power supply...

  • Page 92: 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. 24VDC 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 93 3.4 Wiring connections (for connectors) 2-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 +24V (driving source) terminal of the 24VDC power supply.

  • Page 94: 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 95: 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 96 3.4 Wiring connections (for connectors) Wiring mounting method Recommended precision screwdriver 7mm of insulation should be stripped from the wire end. Item Specifications Slightly twist the core wire. (1) Shaft 1.6 ±0.03mm diameter (2) Blade Insert the recommended 0.2 ±0.1mm thickness precision screwdriver (3) Tip angle...

  • Page 97: 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 24VDC ±10%/200mA or higher is required. Connector Signal Compatible...

  • Page 98: 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 1m to 10m. Specify the length in increments of 1m. ● The following shows a sample model number. Cable length 1m →...
  • Page 99 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.

  • Page 100: 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 101: 24Vdc Power Supply Wiring

    3.5 Wiring connections (for cables) 24VDC power supply wiring Connect the power wiring to the power I/O cable. Connect the 24VDC power supply to the terminal block after terminal-processing the 24V and 0V wires of the power I/O cable. Connect the 24V wire (insulation color: red) to the +24V terminal of the 24VDC power supply.
  • Page 102 3.5 Wiring connections (for cables) 2-circuit power supply specification TMD2 (option) Connect the power wiring to the power I/O cable. Connect the 24VDC power supply to the terminal block after terminal-processing the 24V (driving source), 24V (control) and 0V wires of the power I/O cable. Connect the 24V wire (insulation color: red) to the +24V (driving source) terminal of the 24VDC power supply.

  • Page 103: 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. Connect the [orange] cable wire and the [Backward] output terminal.

  • Page 104: 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 24VDC ±10%/200mA or higher is required. Wiring Signal Function overview Required specifications color abbreviation Brown...
  • Page 105 ELECYLINDER Operation Chapter Operation 4.1 Basic operation ···················································· 4-1 4.2 Teaching tool connections and testing operation ·········· 4-2 Teaching pendant connection ··················································· 4-2 ELECYLINDER test operation ·················································· 4-3 4.3 Stop position/operating conditions (AVD) setting/adjustment ·· 4-4 Stop position setting/adjustment (forward end/backward end) ········· 4-5 Operating conditions (AVD) setting/adjustment ····························...

  • Page 106: 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 107: 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 108: 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 109: Stop Position/Operating Conditions (Avd) Setting/Adjustment

    4.2 Teaching tool connections and testing operation 4.3 Setting/adjustment of operating conditions (AVD) Touch the [FEnd] (forward) button or [BEnd] (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 110: Stop Position Setting/Adjustment (Forward End/Backward End)

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

  • Page 111: Operating Conditions (Avd) Setting/Adjustment

    4.3 Setting/adjustment of operating conditions (AVD) A:Acceleration 加速度 A: Acceleration V:Velocity 速度 V: Velocity 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 0.01G.
  • Page 112 4.3 Setting/adjustment of operating conditions (AVD) 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 [Transport load setting] window will open.
  • Page 113 4.3 Setting/adjustment of operating conditions (AVD) 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 [BEnd] button and [FEnd] button will turn green.

  • Page 114: Pressing Operation Setting

    4.3 Setting/adjustment of operating conditions (AVD) Pressing operation setting Setting item Unit Explanation The position where pressing operation starts. Pressing Enter as the distance from the home position. starting point Entries can be made in increments of 0.01mm. The current limit value during the pressing operation. Set between 20 and 40%.
  • Page 115 4.3 Setting/adjustment of operating conditions (AVD) Touch the [Pressing force] and [Press 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 116: 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 117: [St0] And [St1] Signals: Movement Command Input (Backward/Forward)

    4.4 I/O signals [ST0] and [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 118: [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 119 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 120: [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 4-19) for details about pressing operation. [*ALM] signal: Alarm output ●...

  • Page 121: 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 122 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 123 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 124 4.5 Operating method from master device Pressing operation : [ST0] [ST1] [PE0] [PE1] signals Pressing operation setting Before conducting pressing operation, refer to (page 4-9) 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 125 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 126 4-21...

  • Page 127: Chapter 5 Preventive/Predictive Maintenance

    ELECYLINDER Chapter Preventive/Predictive Maintenance 5.1 Preventive/predictive maintenance ··························· 5-1 5.2 Maintenance information ········································ 5-2 Total travel count ··································································· 5-2 Total travel distance ······························································· 5-2 Overload warning level ··························································· 5-3 5.3 Setting maintenance information ······························ 5-4 Switching to maintenance information window ····························· 5-4 Basic operation ·····································································...

  • Page 128: 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 129: 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 130: 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 131: 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 the 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 132: Basic Operation

    5.3 Setting maintenance information Basic operation To set the target value, touch the field of the relevant item. 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 target value will change.
  • Page 133 ELECYLINDER Chapter Parameters 6.1 Precautions regarding parameters ···························· 6-1 6.2 How to change parameters ····································· 6-2 Edit parameters window ·························································· 6-2 Basic operation ····································································· 6-3 6.3 Parameter list ······················································ 6-5 6.4 Parameter function descriptions ······························· 6-6 Parameter No.1: Operation range adjustment ······························ 6-6 Parameter No.2: Auto switch "LS"...

  • Page 134: 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 135: 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 the 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 136: 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 137 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 138: Parameter List

    6.3 Parameter list 6.3 Parameter list Default Reference Name Symbol Unit Input range setting Category Page at shipping Operation Maximum range LIMM 0 to 9999.69 stroke adjustment Auto switch "LS" signal Actuator dependent 0.10 detection to 9999.99 range adjustment Home return According to Reverse, －...

  • Page 139: 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 LIMM 0 to 9999.69 Maximum stroke adjustment ● The ELECYLINDER operation range can be adjusted to suit your system. ●...

  • Page 140: 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 Symbol Unit Input range No. Category Name at shipping Auto switch Actuator dependent 0.10 "LS" signal to 9999.99 detection ● Sets the backward complete/forward complete ON trigger range relative to the backward end/forward end.

  • Page 141: Parameter No.3: Change Home Return Direction

    6.4 Parameter function descriptions Parameter No.3: Change home return direction Default setting Symbol Unit Input range No. Category Name at shipping Home return According to Reverse, － direction ELECYLINDER forward change specifications ● The home return operation direction can be selected. ●...
  • Page 142 6.4 Parameter function descriptions Caution Changing the home return direction reverses the operation direction. After changing this parameter, always perform home return reset (absolute reset). Even if the operation direction is reversed, check that the moving parts do not interfere with any other objects.

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

    6.4 Parameter function descriptions Parameter No.4: Home position adjustment Default setting Symbol Unit Input range No. Category Name at shipping According to Home position OFST 0 to 9999.99 ELECYLINDER adjustment specifications ● Sets the distance between the home side mechanical stopper and the home position. ●...
  • Page 144 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 145: Parameter No.5: Smooth Accel/Decel Setting

    6.4 Parameter function descriptions Parameter No.5: Smooth accel/decel setting Default setting Symbol Unit Input range No. Category 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 146: Parameter No.6: Current Control Setting At Stop

    6.4 Parameter function descriptions Parameter No.6: Current control setting at stop Default setting Symbol Unit Input range No. Category 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 147: Parameter No.7: Wireless Function Setting

    6.4 Parameter function descriptions Parameter No.7: Wireless function setting Default setting Symbol Unit Input range No. Category Name at shipping Wireless Disabled, － RWOF Enabled function setting Enabled ● Either Enabled or Disabled can be selected for the ELECYLINDER wireless function. ●...
  • Page 148 6-15...
  • Page 149 ELECYLINDER Chapter Operation Troubleshooting 7.1 Troubleshooting confirmations ································· 7-1 7.2 Troubleshooting diagnosis ······································ 7-4 7.3 Troubleshooting with no alarm generated ··················· 7-6 Operation failure ···································································· 7-6 Abnormal or unstable operation ················································ 7-8 7.4 Troubleshooting by alarm groups ····························· 7-10 Alarm group A: Overload alarm ················································· 7-11 Alarm group B: Motor abnormality alarm ····································...

  • Page 150: 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 151 7.1 Troubleshooting confirmations 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 × × Wireless not connected (transmitting monitor data) Connecting from wired teaching pendant ★...
  • Page 152 7.1 Troubleshooting confirmations (3) Check for abnormality in the master device (PLC, etc.) (4) Check the voltage of the main power supply (24VDC) Check for momentary power failure, voltage drop, power failure, etc. (5) Confirm the generated alarm Check the alarm information with the teaching tool. (6) Check the connectors for disconnection or incomplete connection (7) Check the cables for connection error, disconnection or snagging.

  • Page 153: 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 154 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 155: Troubleshooting With No Alarm Generated

    ●Replace the controller cover assembly. → For details, refer to " Controller replacement (page 8-15)". ●If the unit still does not recover, contact IAI. [Condition 2] SV/ALM LEDs light up red Possible cause Confirmation/countermeasure Alarm generated. ●Connect the teaching tool.
  • Page 156 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 established ● Check the input/output status of the I/O signal with the monitoring function of the teaching tool.

  • Page 157: Abnormal Or Unstable Operation

    → For details, refer to "2.3~ 2.5 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 158 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 ● Lower the acceleration/deceleration too high. setting. ● A load susceptible to acceleration ● Enable Parameter No. 5 "Smooth and deceleration is mounted.

  • Page 159: 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 160: 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 with Remove any external obstacles or other external loads. or snagging on external obstacles.

  • Page 161: Alarm Group B: Motor Abnormality Alarm

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

  • Page 162: 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 peripheral device Shut down the power supply of the peripheral device and and cannot operate normally. operate only with the ELECYLINDER, then check to see whether this alarm persists.

  • Page 163: Alarm Group D: Controller-Encoder Abnormality Alarm

    If this alarm recurs after performing the inspection above Replace the motor or controller cover assembly. Customers and improving the power supply environment, it is highly may not replace the motor by themselves. Contact IAI. Controller replacement likely that the motor or controller has failed.

  • Page 164: 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 conditions Check the specification values such as payload, exceeding the specifications described in the catalog.

  • Page 165: Warning: Maintenance Warning 1

    7.4 Troubleshooting by alarm groups Warning: Maintenance warning 1 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 ELECYLINDER, [Countermeasure 1] periodic lubrication is recommended.

  • Page 166: Warning: Maintenance Warning 3

    If there is no abnormality in the sliding motion, there is a possibility of motor or brake failure. Contacting the manufacturer and replacing 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 167: Precautions For Maintenance And Inspection Work

    ELECYLINDER Chapter Maintenance and Inspection 8.1 Precautions for maintenance and inspection work ꞏꞏꞏꞏꞏꞏꞏꞏ 8-1 8.2 Inspection items and schedule ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 Rod type, table type ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 Grease supply timing (Guideline) ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-3 8.3 Visual inspection itemsꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4 External visual inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 8-4 Internal visual inspection ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ...
  • Page 168 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 169 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. As a guideline, in every 5,000 to 10,000 cycles, have approximately 5 cycles of return operation over the full stroke distance or more to regenerate the oil film.

  • Page 170: 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 171: Visual Inspection Items

    8.3 Visual inspection items 8.3 Visual inspection items Refer to "8.6 How to replace components" for detailed information about specific component replacement and adjustment methods. External visual inspection Inspection items Maintenance work Is abnormal noise or vibration generated? Refer to "7.3 Troubleshooting with no alarm generated"...

  • Page 172: Internal Visual Inspection

    8.3 Visual inspection items 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 Are the ball screw and table guide (TC/TW) guide shaft (GS/GD) properly lubricated? First, wipe off the old grease, clean, and (The lubrication may have turned then supply new grease.
  • Page 173 8.3 Visual inspection items [GS/GD guide shaft inspection method] With the power off, pull out the rod bracket. Inspect the guide shaft visually. If the ball screw will not move at low lead, connect to the PC software or teaching pendant to move the ball screw.

  • Page 174: Cleaning

    8.4 Cleaning 8.4 Cleaning External cleaning ● Clean exterior surfaces as necessary. ● For the rod type, if grease base oil etc. drips on the rod sliding surface and its periphery, wipe it off with a soft cloth, etc. ● Use a soft cloth to wipe away dirt and buildup. ●...

  • Page 175: Greasing Method

    8.5 Greasing method 8.5 Greasing method Rod type, table type [1] Grease used: Use an equivalent product Application During maintenance Model Default (reference) location (recommended product) Ball screw Ball screw GS/GD Idemitsu Kosan Co.,Ltd./ Idemitsu Kosan Co.,Ltd./ Guide shaft Daphne Grease MP No. 2 Daphne Grease MP No.
  • Page 176 8.5 Greasing method [2] Greasing method [Ball screw] (1) With the power off, make sure there is no cutting powder or dust on the spiral cover surface. Wipe off any cutting powder or dust with a soft cloth, etc. (2) Pull out the table and rod bracket and pull the spiral cover narrow diameter side toward the thick diameter side (arrow direction);...
  • Page 177 8.5 Greasing method [GS/GD guide shaft] (1) With the power off, pull out the rod bracket. If the rod bracket will not move at low lead, connect to the PC software or teaching pendant to move it. Guide shaft Brake * To release the brake, refer to release method (page 3-3)
  • Page 178 8.5 Greasing method [TC/TW table guide] (1) With the power off, pull out the table. If the rod bracket will not move at low lead, connect to the PC software or teaching pendant to move the table. Brake * To release the brake, refer to release method (page 3-3) (2) From the grease lubrication port, apply the designated grease (TC: 0.2 to 0.4cc,...

  • Page 179: How To Replace Components

    8.6 How to replace components 8.6 How to replace components Spiral cover replacement (1) Remove the spiral cover. Pull out the spiral cover base and roll the cover tip. スパイラルカバー Spiral cover (2) Remove the spiral cover, telescoping it during removal. ネジ軸...
  • Page 180 8.6 How to replace components (3) Pull out the thin end of the replacement spiral cover and bring the interior end to the outside. (4) Mount the replacement spiral cover. Hook the replacement spiral cover end brought to the outside on the shaft. After hooking it on, bring the end to the inside.
  • Page 181 8.6 How to replace components (6) Roll on the replacement spiral cover. (7) Finally, bring the end to the outside and fit it into the actuator groove. (8) Replenish the grease on the screw shaft. [Refer to 8.5 "Greasing method"] Spiral cover model RCA2-SPC-50 8-14...

  • Page 182: Controller Replacement (Controller Cover Assembly Replacement)

    8.6 How to replace components Controller replacement (controller cover assembly replacement) (1) Loosen the controller cover assembly captive screw. (The captive screw is hooked on the screw underneck area to keep it from falling out of the controller cover.) (2) Remove the controller cover assembly. The top side is claw-shaped, so push the controller cover assembly upward to remove it.
  • Page 183 ELECYLINDER Chapter External Dimensions 9.1 Rod type, table type external dimensions ··················· 9-1 EC-RP4 ··············································································· 9-1 EC-GS4 ··············································································· 9-2 EC-GD4 ··············································································· 9-3 EC-TC4 ··············································································· 9-4 EC-TW4 ·············································································· 9-5...

  • Page 184: Rod Type, Table Type External Dimensions

    9.1 Rod type, table type 9.1 Rod type, table type external dimensions EC-RP4 M.E.: Mechanical end, S.E.: Stroke end Unit: mm...

  • Page 185: Ec-Gs4

    9.1 Rod type, table type EC-GS4 M.E.: Mechanical end, S.E.: Stroke end Unit: mm...

  • Page 186: Ec-Gd4

    9.1 Rod type, table type EC-GD4 M.E.: Mechanical end, S.E.: Stroke end Unit: mm...

  • Page 187: Ec-Tc4

    9.1 Rod type, table type EC-TC4 M.E.: Mechanical end, S.E.: Stroke end Unit: mm...

  • Page 188: Ec-Tw4

    9.1 Rod type, table type EC-TW4 M.E.: Mechanical end, S.E.: Stroke end Unit: mm...
  • Page 189 ELECYLINDER Chapter Life 10.1 Concept of life for rod type RP, GS, GD ··················· 10-1 Life (guideline) ····································································· 10-1 Relation between GS4/GD4 tip radial load and operation life ········ 10-1 10.2 Concept of life for table type TC, TW ······················· 10-3 10.3 Concept of life for controller ···································...

  • Page 190: Concept Of Life For Rod Type Rp, Gs, Gd

    10.1 Concept of life for rod type RP, GS, GD 10.1 Concept of life for rod type RP, GS, GD Life (guideline) The service life is about 5,000 km or 50 million cycles (guideline) when it is operated under maximum payload and acceleration/deceleration. Relation between GS4/GD4 tip radial load and operation life The life of GS4 and GD4 decreases as the tip radial load increases.
  • Page 191 10.1 Concept of life for rod type RP, GS, GD [GD4] Load direction Radial load Radial load Operation life (km) 10-2...

  • Page 192: Concept Of Life For Table Type Tc, Tw

    10.2 Concept of life for table type TC, TW 10.2 Concept of life for table type TC, TW The mechanical life of the slider type is represented by that of the linear guide receiving the greatest moment load. The operation life of the linear guide is to be determined by the total driving distance reachable without flaking (peeling on rail surface) in 90% of a group of products operated under the same conditions.
  • Page 193 10.2 Concept of life for table type TC, TW For "Standard load coefficient fws", "Load coefficient fw" and "Mounting coefficient fα", refer to the contents below for configuration and selection. [Standard load coefficient fws] For ELECYLINDERs described in this manual, calculate with fws = 1.2. [Load coefficient fw] This coefficient allows consideration of the effects on life due to operating conditions.

  • Page 194: Concept Of Life For Controller

    10.3 Concept of life for controller 10.3 Concept of life for controller The controller part affecting service life is as follows. Target part Life Condition Ambient temperature 40°C Rated operation Electrolytic capacitor 5 years (operation within duty limits) 10-5...
  • Page 195 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 196: 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 197: 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 198 11-3...

  • Page 199: Chapter 12 Appendix

    ELECYLINDER Chapter Appendix 12.1 Index ································································ 12-1 12.2 Revision history ·················································· 12-5...

  • Page 200: Index

    12.1 Index 12.1 Index Change home return direction (Parameter No.3) ·································· 6-8 Cleaning ············································· 8-7 * ALM signal (alarm) ······ 3-5 to 6, 4-15, 4-17, 7-1 Components ········································ 1-1 Alarm group ·········································· 7-5 Connection arrangement diagram ········ 3-5 to 6 Alarm group A ·····································...
  • Page 201 12.1 Index Home reverse specification (model: NM) Maximum pressing force ············································· 1-26, 6-8 RP4 ············································ 1-3, 1-4 How to change parameters ······················ 6-2 GS4 ············································ 1-3, 1-7 How to read the model nameplate ············· 1-2 GD4 ··········································· 1-3, 1-11 How to read the model number ················· 1-2 TC4 ···········································...
  • Page 202 12.1 Index PE0 signal (backward/pressing complete) Rod non-rotation precision ························ 3-5 to 6, 4-15, 4-19 to 20 GS4 ·················································· 1-9 PE1 signal (forward/pressing complete) GD4 ················································· 1-13 ························ 3-5 to 6, 4-15, 4-19 to 20 Positioning operation ····················· 4-16 to 18 Safety Guide ····································...
  • Page 203 12.1 Index Weight RP4 ··················································· 9-1 GS4 ·················································· 9-2 GD4 ·················································· 9-3 TC4 ··················································· 9-4 TW4 ·················································· 9-5 Wireless axis operation specification (model: WL2) ····································· 1-27 Wireless communication specification (model: WL) ······································ 1-26 Wireless function setting (Parameter No.7) ··· 6-14 Wiring connections (for cables) ········...

  • Page 204: Revision History

    12.2 Revision history 12.2 Revision history Revision date Revised content 2017.12 First Edition 2018.10 Edition 1B Added wireless axis operation specification (model: WL2) 2018.10 Edition 1C 8-15 An erratum corrected, Motor cover assembly model → Controller cover assembly model 2018.12 Edition 1D ・Corrected the minimum value of the input ranges for the parameter No.1, 2, and 4 2019.02...
  • Page 205 12.2 Revision history Revision date Revised content 2020.06 Edition 1L Pg. Intro-15 Mexico added in Precautions for Handling Wireless Operation Pg. 1-2, 1-26 RCON-EC connection specification (option model: ACR) added Pg. 1-2, 3-13, 3-14 Contents added for relay cable equipped with 4-way connector Pg.
  • Page 208 825, 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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