IAI ELECYLINDER EC-RTC9 User manual

Specifications
Installation
Wiring
Operation
Preventive/
Predictive Maintenance
Parameters
Troubleshooting
Maintenance and
Inspection
External Dimensions
Life
Warranty
Index/Appendix
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Instruction Manual
EC-RTC9/RTC12
First Edition ME3800-1C

Please Read Before Use
Thank you for purchasing our product.
This instruction manual explains the handling methods, structure and maintenance of this product,
providing the information you need in order to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD enclosed with the product contains instruction manuals for IAI products.
When using the product, refer to the necessary sections of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the instruction manual, keep it in a convenient place so that whoever is handling the
product can refer to it quickly when necessary.
[Important]
• This instruction manual is an original document dedicated for this product.
• This product cannot be used in ways 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.
• The information contained in this instruction manual is subject to change without notice for
the purpose of product improvement.
• If any issues arise regarding the information contained in this instruction manual, contact
our customer center or the nearest sales office.
• Use or reproduction of this instruction manual in full or in part without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the
text are registered trademarks.

ELECYLINDER Instruction Manual Configuration
Product name Instruction manual name Control
number
ELECYLINDER Quick Start Guide ME3765
ELECYLINDER Instruction Manual
(this document) ME3800
PC Compatible Software for RC/EC RCM-101-MW/RCM-101-USB
Instruction Manual ME0155
Touch Panel Teaching Pendant TB-02/02D Instruction Manual ME0355
Touch Panel Teaching Pendant TB-03 Instruction Manual
Wireless communication ME0375
Touch Panel Teaching Pendant
TB-03 Instruction Manual
Wired communication
For position controller
ME0376

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
1.1 Checking the product ······························································ 1-1
Components ································································································ 1-1
How to read the model nameplate ···································································· 1-2
How to read the model number ········································································ 1-3
1.2 Mechanical specifications ························································· 1-4
Rotary ········································································································ 1-4
Home-return process ··················································································· 1-21
Duty ratio ·································································································· 1-22
1.3 Operating conditions ····························································· 1-23
Step 1 Check the moment of inertia ································································ 1-23
Step 2 Check the load moment and thrust load ················································· 1-29
1.4 Options ·············································································· 1-31
RCON-EC connection specification (Model: ACR) ············································· 1-31
With brake (Model: B) ·················································································· 1-31
Home reverse specification (Model: NM) ························································· 1-31
PNP specification (Model: PN) ······································································· 1-31
Battery-less absolute encoder specification (Model: WA) ···································· 1-31
Wireless communication specification (Model: WL) ············································ 1-31
Wireless axis operation specification (Model: WL2) ············································ 1-32
Two-Circuit power supply specification (Model: TMD2) ······································· 1-32
Shaft adapter (Model: SA) ············································································ 1-33
Table adapter (Model: TA) ············································································· 1-34
1.5 Accessories ········································································ 1-35
Power I/O cable ·························································································· 1-35
Power I/O connector ···················································································· 1-36
Chapter 2 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 Installation of Rotary ······························································· 2-6
Installation surface ························································································ 2-6
Mounting orientation Type: EC-RTC9/RTC12 ··················································· 2-6

Fixing bolt ··································································································· 2-7
Body mounting ····························································································· 2-8
Mounting transported objects ········································································ 2-11
Chapter 3 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) ············································ 3-7
24 V DC power supply wiring ·········································································· 3-7
PLC wiring ··································································································· 3-9
Connector wiring method ·············································································· 3-10
Brake release wiring ···················································································· 3-12
3.5 Wiring connections (for cables)················································ 3-12
Power I/O cable ·························································································· 3-12
Power I/O cable equipped with 4-way connector ··············································· 3-13
Power I/O cable connection ·········································································· 3-15
24 V DC power supply wiring ········································································ 3-16
PLC wiring ································································································· 3-18
Brake release wiring ···················································································· 3-19
Chapter 4 Operation
4.1 Basic operation ······································································ 4-1
Caution in operation (about backlash) ······························································· 4-2
4.2 Teaching tool connections and testing operation ··························· 4-3
Teaching pendant connection ·········································································· 4-3
ELECYLINDER test operation ········································································· 4-4
4.3 Stop position / operating conditions (AVD) setting/adjustment ············ 4-5
Stop position setting/adjustment (forward end / backward end) ······························ 4-6
Operating conditions (AVD) setting/adjustment ··················································· 4-7
Pressing operation setting ············································································ 4-10
4.4 I/O signals ·········································································· 4-12
I/O signal list ······························································································ 4-12
[ST0] [ST1] signals: Movement command input (backward/forward) ······················ 4-13
[RES] signal: Alarm clear input ······································································ 4-14
[BKRLS] input: Brake release input ································································· 4-14
[LS0] [LS1] signals: Position detection output (backward end / forward end) ············· 4-15
[PE0] [PE1] signals: Pressing complete output (backward end / forward end) ············ 4-16
[*ALM] signal: Alarm output ··········································································· 4-16
Signal input time constant ············································································· 4-16

4.5 Operating method from master device ······································ 4-17
Home return operation / positioning operation: [ST0] [LS0] [ST1] [LS1] signals ············· 4-17
Pressing operation: [ST0] [ST1] [PE0] [PE1] signals ·········································· 4-20
Chapter 5 Preventive/Predictive Maintenance
5.1 Preventive/predictive maintenance ············································· 5-1
5.2 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
5.3 Setting maintenance information ················································ 5-4
Switching to maintenance information window ···················································· 5-4
Basic operation ···························································································· 5-5
Chapter 6 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" signal detection range adjustment ····················· 6-7
Parameter No. 3: Change home return direction ················································· 6-8
Parameter No. 4: Home position adjustment ······················································ 6-9
Parameter No. 5: Smooth accel/decel setting ··················································· 6-10
Parameter No. 6: Current control setting at stop ················································ 6-11
Parameter No. 7: Wireless function setting ······················································· 6-12
Parameter No. 8: Power-saving setting ··························································· 6-13
Chapter 7 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 ·························································· 7-12
Alarm group C: Controller abnormality alarm ···················································· 7-13
Alarm group D: Controller-encoder abnormality alarm ········································ 7-14
Alarm group E: Supply voltage / power capacity abnormality alarm ······················· 7-15
Maintenance warning 1: Total travel count ························································ 7-16

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
8.1 Precautions for maintenance and inspection work ························· 8-1
8.2 Inspection items and schedule ·················································· 8-3
Rotary ········································································································ 8-3
8.3 Visual inspection items ···························································· 8-4
External visual inspection ··············································································· 8-4
Internal visual inspection ················································································ 8-5
8.4 Cleaning ··············································································· 8-8
External cleaning ·························································································· 8-8
8.5 Greasing method ···································································· 8-9
Rotary ········································································································ 8-9
8.6 How to replace components···················································· 8-14
Controller replacement (Controller cover assembly replacement) ························· 8-14
Belt replacement························································································· 8-20
Motor replacement ······················································································ 8-23
Chapter 9 External Dimensions
9.1 Rotary external dimensions ······················································ 9-1
EC-RTC9 ···································································································· 9-1
EC-RTC12 ·································································································· 9-2
Chapter 10 Life
10.1 Concept of life for Rotary ······················································· 10-1
10.2 Concept of life for controller ···················································· 10-1
Chapter 11 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
Chapter 12 Appendix
12.1 Index ··············································································· 12-1
12.2 Revision history ··································································· 12-4

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

Safety Guide
Intro-2
Safety Precautions for Our Products
Common safety precautions for the use of robots in various operations are indicated here.
No. Operation Precautions
1 Model
Selection
● This product is not intended or designed for applications where high levels of
safety are required, and so cannot guarantee that human lives will be
protected. Accordingly, do not use it in any of the following applications.
(1) Medical equipment used to maintain, control or otherwise affect
human life or physical health
(2) Mechanisms or machinery designed for the purpose of moving or
transporting people (vehicles, railway facilities, aviation facilities etc.)
(3) Machinery components essential for safety (safety devices etc.)
● Do not use the product outside the range of the specifications. Otherwise, the
product life may be drastically shortened, and product damage or facilities
stoppage may occur.
● Do not use it in any of the following environments.
(1) Locations with flammable gases, ignitable objects or explosives
(2) Locations with potential exposure to radiation
(3) Locations with ambient temperature or relative humidity exceeding the
specifications range
(4) Locations where radiant heat is applied by direct sunlight or other
large heat source
(5) Locations where condensation occurs due to abrupt temperature
changes
(6) Locations with corrosive gases
(sulfuric acid, hydrochloric acid, etc.)
(7) Locations exposed to significant amounts of dust, salt or iron
powder
(8) Locations subject to direct vibration or impact
● For an actuator used in vertical orientation, select a model which is equipped
with a brake. If a model without brake is selected, the moving parts may fall
when the power is turned OFF, causing accidents such as injury or workpiece
damage.