PATENT.

JQA-2805

Create the future of craftmanship with us

The keywords are "Accurate", "Electric", and "Intelligent".
ESTIC provides solutions based on accumulated know-how
and technology for all kinds of joint issue.

DATA
LOGGER
SYSTEM

SERVO NUTRUNNER SYSTEM

New Generation of Nutrunner System

User friendly HMI (Application Software)

Variety of tool application
Maintainability
Less downtime

SERVO
NUTRUNNER
SYSTEM
Offer a wide range of technology
from easy hand tools to auto
station with auto feeding system

SERVO
HAND
NUTRUNNER
SYSTEM

FASTENING
SYSTEM
New Generation of AC Handheld Nutrunner
Handy 1000 series

Realize high accuracy Nutrunner fastening in a compact

hand tool!!
Reduce reaction force by Pulse Mode substantially
(Refer to the catalogue in detail)
2

Special Features of the Servo Nutrunner System

As customers applications become smaller and more difficult, fastening
strategy become more complicated and diversfied. This is the Nutrunner that
provides the soluion.

SERVO NUTRUNNER SYSTEM

Tool Unit specification and selection

Tool unit model

ENRZ-TU001-S
ENRZ-TU001-O
ENRZ-TU003-S
ENRZ-TU003-O
ENRZ-TU008-S
ENRZ-TU008-O
ENRZ-TU013-S
ENRZ-TU013-O
ENRZ-TU020-S

Fastening capacity (Nm)

Suitable fastening range (Nm)

Max. speed (rpm)

















 

Main power supply capacity

(at the time of rated operation)

  



 



 

 













ENRZ-TU040-S







ENRZ-TU060-S







ENRZ-TU080-S





ENRZ-TU020-O

Control unit model

 



1) "S" at the end of the model name indicates a straight type and "O" indicates an offset type. Please select according to the work shape.
2) Tool units marked with also are available as a bent type. For details, please contact the person in charge at our company.
3) For use near the maximum tightening capacity, please select a model with a maximum use torque at least 10% larger under consideration of the duty cycle etc.
4) As the maximum tightening torque of the bent type is 20% lower than that of the standard type, this should be taken into consideration at the time of selection.

Features
1 Compact & Lightweight Design

4 Excellent User Interface

Our new high-performance compact controller is only

one-third the size ofour conventional product.

High-speed data communication makes it possible to

display fastening results and maintenance requirements.

Incorporates a compact, high-speed servomotor for a

more compact tool unit.

The management software is compatible with Windows

OS (Japanese, English).
1Windows 98
2Windows 98 SP1
3Windows 98 Second Edition
4Windows Me
5Windows NT4 (SP3)
6Windows 2000
7Windows XP

2 High-Speed Digital Processing

Incorporates a 32-bit CPU for increased internal
processing speed.
Sequence program capability: 20 steps x 31 programs
High-speed serial communication reduces wiring requirements
and achieves high-capacity data communication.
Optimum motor control improves fastening accuracy.
Field network correspondence

5 Numerous Fastening Methods

3 Easier Maintenance
In the event of a malfunction, units can be replaced in as
little as two minutes (our observations).
The adoption of quick wiring methods and the
concentration of all wiring connections on the front
panel enhance ease-of-maintenance.

Included as Standard.
Accommodates various fastening methods including
torque, angle torque monitor, and yield method.
Monitoring functions, such as torque rate assessment
and zone assessment, detect abnormal fastening.

The fastening history and system alarm history are

memorized, which improves condition monitoring during
maintenance.
Higher download and upload speeds
Built-in step synthesis torque curve function

Nutrunner System Diagram

Master Control System

Standard System

The Master Control System, with its simple-to-configure

sequence program,easily accommodates multi-axis
fastening without the need for complicated ladder
program. Whats more, it accommodates up to 31
channels of I/O data
through a serial connection to the PLC, which conserves
wiring, reduces labor,and makes it possible to easily
incorporate fastening history data into the PLCs.

A simple I/O system structure can be created by

using 1 axis/1 control system. In addition, a master
link connecting up to 31 axes makes possible
central control of channel switching and data
processing.

!")
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21

* 

/%0
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19

12
20




*+!
)$)% !$

14

15
7

#!%& 
15

Power supply

DC24V

10

#!%& 
!"# !$

 

18

10

11
Control power supply

AC 200 V to 230 V

Single phase, 50/60 Hz

Drive power supply

AC 200 V to 230 V,

Three phases, 50/60 Hz

. 

13
16
  

,      



16
17

     



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$ 

$))% !$

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&

AU40Axis Control Unit

DP40Display Unit

43 2256 78 22 ..6 .7   97    :

; . 343 ;.647  2 661

#  6 4 6 3 2 56  4 .  9  7 43

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6 3 7" 4 6 6 6:

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. 9 =   6  > 2 6  3 71

MU40Master Control Unit

-6 ;   . ..3  6  (? ;:

..3  4 3   .1 :
@2 A 8 2   ..  2 % 36.  31

#  56. '  ; (?  

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Max.
31 stations

SERVO NUTRUNNER SYSTEM

Cable and Accessories

1
1

 

%2

AU40
torque transducer
cable

-3

1

 

5[m] ENRZ-CVTN2-050

10

AU control connector (*1)

10[m] ENRZ-CVTN2-100

11

AU40 power supply cable (*2)

3[m]

ENRZ-CVDC2-030

15[m] ENRZ-CVTN2-150

12

Check connector cable

3[m]

ENRZ-CVCK-030

3[m]

ENRZ-CVSP-030

13

Serial printer cable

5[m]

ENRZ-CVSP-050

10[m]

ENRZ-CVSP-100

20[m] ENRZ-CVTN2-200
5[m] ENRZ-CVMN2-050
2

AU40 motor cable

10[m] ENRZ-CVMN2-100
15[m] ENRZ-CVMN2-150
20[m] ENRZ-CVMN2-200

14

MU control connector (*3)

15

DC power supply cable (*2)

%2

-3
ENRZ-CNAU

ENRZ-CNMU
3[m] ENRZ-CVDC-030

5[m] ENRZ-CVEN-050
1.5[m] ENRZ-CVSR-015
10[m] ENRZ-CVEN-100
3

Encoder cable

16

Serial communication cable

5[m] ENRZ-CVSR-050

15[m] ENRZ-CVEN-150
10[m] ENRZ-CVSR-100
20[m] ENRZ-CVEN-200
3[m] ENRZ-CVDP-030
3[m] ENRZ-CVTN-030
4

Torque transducer
relay cable

5[m] ENRZ-CVDP-050
17

6[m] ENRZ-CVTN-060

Display cable
10[m] ENRZ-CVDP-100

10[m] ENRZ-CVTN-100
20[m] ENRZ-CVDP-200
3[m] ENRZ-CVMP-030
2[m] ENRZ-CVPR-020
5

Motor relay cable

18

6[m] ENRZ-CVMP-060

Printer connection cable

6[m] ENRZ-CVPR-060

10[m] ENRZ-CVMP-100
19

PLC connection cable (*4)

3[m] ENRZ-CVPL-030

3[m] ENRZ-CVEP-030
6

Encoder relay cable

0.2[m] ENRZ-CVBM-002

6[m] ENRZ-CVEP-060
20

10[m] ENRZ-CVEP-100

BU connection cable

1[m] ENRZ-CVBM-010
2[m] ENRZ-CVBM-020

0.2[m] ENRZ-CVNK2A-002
7

AU40 NET cable

1[m] ENRZ-CVNK2A-010
2[m] ENRZ-CVNK2A-020
0.3[m] ENRZ-CVNK2M-003

MU40 NET cable

1[m] ENRZ-CVNK2M-010
2[m] ENRZ-CVNK2M-020

AU40 NET termination resistor connector

ENRZ-CVST2

PC40Management Software

@3. 9        

   6 3   .1

6 3 7" 4 6 6  :

& 7  56  4 3   27:
 9 2 4 6   7 @ BC8 -8 '8 +:
. 9 =   6  >2 6  3 71

21

AU40 battery (*5)

ENRZ-BATT

*1: The connector is not a controller accessory.

The connector is not wired to a cable.
*2: This is a controller accessory.
*3: The connector is an accessory of the controller.
The connector is not wired to a cable.
*4: The connector on the PLC side is not an accessory.
*5: The battery is not an accessory.
It is required for construction of a standard system.

BU40Fieldbus I/F Unit--Option--

6.  3 . 262

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 9 2 4 6  4
.6.  231
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==   6  4:

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6

Six Fastening Strategy are available

Tightening
system
1 Torque Method
This fastening method is used widely,
fastening is stopped when the fastening
target torque set in advance has been
reached, judgment is made if the peak
torque is within the range of the set upper
and lower limit or not, and OK or NG is
put out with this method. With this
system, total judgment is performed
including upper and lower limit for the
fastening time in addition to upper and
lower limit for the torque.

2 Torque Method Angle Monitor

Torque

Torque upper limit value

OK zone

Target
torque value
Torque lower limit value

Time

Operation lower limit time

Operation upper limit time

Torque

Torque upper limit value

OK zone

Basically, fastening is performed according

to the torque method, and judgment is
made with setting an upper and a lower
limit for the angle in addition to an upper
and a lower limit for the torque.

Target
torque value
Torque lower limit value

ANG
start torque

Operation lower
limit time

3 Torque or Angle Method

Basically, this control method is similar to
the torque method angle monitor, but the
stop control condition for the target is
effective for the target torque and the
target angle, and the output axis is
stopped when one of the target values is
reached.

Torque

Angle
or
time

Torque upper limit value

Target
torque value

OK zone
Torque lower limit value

ANG
start torque
Angle upper
limit value
Operation lower
limit time

4 Angle Method

Angle lower
limit value
Angle upper limit value
Operation upper limit time

Torque

Target torque value

Angle upper limit value
Operation upper limit time

Angle
or
time

Torque upper limit value

OK zone

With this fastening method, fastening is

performed from an angle measuring start
torque until an optionally set fastening
target angle has been reached, fastening
is stopped, judgment is made if angle and
torque value are within the range between
the set upper and lower limit, and OK or
NG (for each value) is put out with this
method.
7

Torque lower limit value

ANG
start torque
Angle upper
limit value
Operation lower
limit time

Target torque value

Angle upper limit value
Operation upper limit time

Angle
or
time

SERVO NUTRUNNER SYSTEM

5 Virtual Angle Method

This fastening method uses the fact that
the relation between torque rise rate
(torque rate) and bolt axial force rise rate is
proportional when there are no unstable
elements for friction and seating status,
and it performs angle control on the basis
of the torque rise rate.

Torque

T/R2
FILTER ANG
Torque upper limit value

Additional fastening angle

OK
zone

Torque lower limit value

Snug torque
ANG
start torque

Angle lower limit value

Operation Virtual angle
Target angle value
lower limit start point
time
Angle upper limit value
Operation upper limit time

6 Yield Method
This clamping method van obtain the
maximum clamping force of a bolt. The
bolt yield point is obtained from the torque
rise rate (torque rate), additional fastening
is performed from that point for a set
angle, and fastening is completed in the
initial plastic zone with this method.

Torque

Angle
or
time

Yield point
Torque upper limit value

OK zone

Torque lower limit value

Target
torque rate
Snug torque
ANG
start torque

T/R2 FILTER ANG

Operation
lower limit
time

Angle lower limit value

Target angle value
Yield angle
Angle upper limit value
Operation upper limit time

Angle
or
time

Fastening Theory

Torque T

Torque T

With bolt fastening, a fastening force is generated between the parts by application of fastening
torque. With T as the fastening torque and N as the fastening force (axial force) generated between
the parts, the relation becomes as shown below when the part and the fastened object are within
the elastic limit.
As K changes according to the connection state with thread and bolt seat surface, there is
considerable scatter even for bolts and tapping
T = KdN T = Torque(Nom) N = Axial force(N) K = Torque coefficient d = Nominal bolt diameter(m) even with manufacture under the same
conditions.
As shown in the figure on the left, when fastening
to the target torque T with the torque method,
Large torque
Large torque
the axial force of the bolt shows the scatter N1
coefficient
coefficient
because of the difference in the torque
Control point
coefficient, even when the torque is constant.
Small torque
torque
Large torque
coefficient
However, with the angle method fastening for the
coefficient
constant angle 1 from the snag point, the
scatter of the axial force becomes N2, which is
smaller than with the torque method. When the
fastening angle is made 2 and fastening is
performed to within the elastic range of the bolt,
Angle
Angle
the scatter of the axial force becomes N3, which
is still smaller. Accordingly, for execution of
N1
N2
fastening without loosening, it is necessary to
select the fastening method according to the
N3
fastening conditions for the object to be fastened
and the conditions at the time of product design.
Snag point torque

Axial force N

Axial force N

Caution Items at Time of Use

Allowable Spindle Load

Installation of the Tool Unit

The load acting onto the shaft part of the tool unit other than
the fastening torque (reaction force) must be designed within
the following.
Unit: N (kgf)

Model

Thrust/Radial load

ENRZ-TU001-S
ENRZ-TU001-O
ENRZ-TU003-S
ENRZ-TU003-O
ENRZ-TU008-S
ENRZ-TU008-O
ENRZ-TU013-S
ENRZ-TU013-O
ENRZ-TU020-S
ENRZ-TU020 O
ENRZ-TU040-S
ENRZ-TU060-S
ENRZ-TU080-S

9810
9810
9810
9810
19620
14715
19620
14715
29430
14715
29430
29430
29430

1) As this Nutrunner system is a mechanism for detection of the

reaction force from the rotation torque of the output shaft to
the unit body, care should be taken that the tool unit body
has no mechanical contact.
Tool unit mounting bracket

(Thrust load and radial load are the same.)

Radial load (P) position

Thrust load direction

TOOL
UNIT

L/2
P

TOOL
UNIT

2) When the tool unit mounting bracket or the jig of the work to
be fastened etc. moves because of the torque reaction force
generated at the time of fastening, this causes scatter of the
fastening accuracy. When the center deviation is large, an
excessive force acts onto the shaft, and as this can cause
shaft breakage, special care is required in regard to
insufficient strength of the mounting bracket etc. and in
regard to center deviation.
3) When the pitch between shafts is small in case of a multishaft installation, take care to prevent interference between
tool units. (Normal torque measuring is not possible.)
4) When dry bushings etc. are used for bearings downstream
from the Nutrunner output shaft, torque is lost by the dry
bushing and it is to be feared that there will be a difference
between the Nutrunner display value and the actual
fastening torque. Use of dry bushings should be avoided as
far as possible.
5) When the shaft pitch is narrow because of use of multiple
spindles and gears etc. are inserted after the Nutrunner
output shaft to correspond to the narrow space between
shafts, the Nutrunner display value and the actual fastening
torque may differ because of the influence of gear efficiency,
pulsations, etc. Use of constant speed joints is
recommended when the shaft pitch is to be reduced.

SERVO NUTRUNNER SYSTEM

Installation of Control Unit

Cable Management

1) Always connect the protective ground terminal of the control

unit and the protective ground terminal of the control panel
to prevent electric shock. Use one-point class 3 grounding
(100 or lower).
2) Do not use the same power supply for control I/O control
and electromagnetic contactors etc. This can cause
erroneous operation and system errors because of noise.
3) Leave a fee space of 100 mm or more above the top and
below the bottom of the control unit and do not inhibit air
circulation.

1) Wiring in a flexible tube or wiring on a cable conveyor is

recommended for the Nutrunner moving parts.
To prevent wire breaks, pay attention to the following points
for routing of cable bundles.

aEspecially in case of multiple axes, instead of bundling and bending, separate

bundling and flat bundling should be used to avoid stress from cable weight
and repeated flexing.
Stress from repeated flexing

Nutrunner cable

Stretching

4) Install a heat exchanger or a panel cooler for uniform

temperature in the control panel.
Contraction

5) Under consideration of heat dissipation and maintainability it

is recommended to install with a space of at least 10 mm
between units.

bAs the cable weight acts even at non-moving places, take care that machine
corners are not in direct contact with the cables. be used to avoid stress from
cable weight and repeated flexing.
Cable bundle

Installation of the Control Unit

Cable weight

Round rod welding

100 mm or more
cTake care that there is no flexing or excessive force at places where cable
bundles are clamped. The cable bending radius should be 100 mm or more.

U
V
W

CHARGE

U
V
W

RS232C

MOTOR

The bending radius shall be 100 mm or more.

50 mm
or more

RS485-NET

10 mm
or more

OK
NG
T/T

ALM
L1C
L2C
L1
L2
L3

T/T
SIGNAL

CHARGE

RS232C

RS232C

MOTOR

POWER

RS485-NET

10 mm
or more

OK
NG

SIGNAL

ALM
L1C
L2C
L1
L2
L3

MOTOR
U
V
W

Large cable weight

Small cable weight

CONTROL

POWER

RS485-NET

CHARGE

CONTROL

50 mm
or more

OK
NG

CONTROL

ALM
L1C
L2C
L1
L2
L3

T/T

SIGNAL

POWER

Protective tube

100 mm or more

2) The wiring method for transducer, encoder, and motor

cables should be so that no forces act onto the connector
part.
3) When Nutrunner cables are laid within the same flexible
conduit (in case of multiple units etc.), the distance should
be kept as short as possible and laying in the same flexible
conduit with power cables should be avoided.
4) Basically it is recommended to wire transducer and encoder
cables separate from motor cables.
(Distance between cables: 30 cm or more)

10

Master/Axis Control Unit and Field Bus Interface Unit

System outline
Axis Control Unit Specifications
Model
Applicable motor
Control power supply voltage
Main power supply voltage

ENRZ-AU40-10
100W

ENRZ-AU40-20
200W
Single phase AC 200 to 230 V 10%, 50/60 Hz

Single phase AC 200 to 230 V 10%,

50/60 Hz

ENRZ-AU40-40
400W

Three phases AC 200 to 230 V 10%, 50/60 Hz

Main power supply capacity

Use environment
Ambient temperature
Ambient humidity
Noise tolerance
Mass
Display part
Max. programs/steps
NET max. connected stations
Control input
Control output
Communication functions
Memory backup function

0.4KVA
1.2KVA
1.7KVA
No corrosive gases, dust, metal powder, oil mist, or explosive gases.
0 to 55C (no condensation)
35% to 90% RH (no condensation)
Power supply line: No abnormalities with 1500 Vp-p, 1 S rectangular wave (noise simulator)
2.5kg
3.2kg
3.4kg
5 character x 1 line, 7 segment LED display part, function keys (5 keys), display lamps (OK/ALM/NG)
31ch
31 stations (including the own station)
12 points, DC 24 V (intake current: 6 mA/point), photo-coupler isolation
22 points, photo-coupler open collector output (max. 50 mA/point at the time of DC 24 V output)
RS-232C x 1 port (9600 bps to 115.2 kbps, variable)
System parameters, fastening parameters, system error history,
fastening history (flash ROM), calendar function (battery backup)

Self-diagnosis function

Memory, torque transducer, encoder, amplifier, tool, ID collation, various communication set values, zero point voltage

Master Control Unit Specifications

Model
Applicable manufacturer
Power supply
Power supply capacity
Use environment
Ambient temperature
Ambient humidity
Noise tolerance
Mass
Display part
Max. programs/steps
NETNET max. connected stations
Control input
Control output
Communication functions
Memory backup function

ENRZ-MU40A
MELSEC Series made by Mitsubishi Electric

ENRZ-MU40D
ENRZ-MU40F
SYSMAC CS1 Series made by Omron
JW30 Series made by Sharp
DC24V10
10 W/shaft
No corrosive gases, dust, metal powder, oil mist, or explosive gases.
045C
90% RH or lower (no condensation)
Power supply line: No abnormalities with 1500 Vp-p, 1 S rectangular wave (noise simulator)
1.4kg
6 characters x 2 lines, 2 characters x 1 line, 7 segment LED
31 programs/20 steps each
31 stations (including the own station)
21 points photo-coupler isolation (DC 24 V intake current: 10 mA/point)
38 points, photo-coupler open collector output (max. 50 mA/point at the time of DC 24 V output)
RS-232C connector (for PLC) x 1, RS-232C connector (for PC) x 1, printer connector (conforming to Centronics) x 1
Sequence program (flash ROM)
System parameters, system error history (EEP-ROM backup)

Self-diagnosis function

Memory, local station trouble, local station response, PLC communication, program yes/no

Field Bus Interface Unit

Model
Built-in port
Power supply
Power supply capacity
Use environment
Ambient temperature
Ambient humidity
External I/O support
Mass

11

ENRZ-BU40-D
AnyBus-S, DeviceNet (made by HMS)

ENRZ-BU40-P
AnyBus-S, Profibus-DP (made by HMS)

DC24V10
6 W/shaft
No corrosive gases, dust, metal powder, oil mist, or explosive gases.
045C
90% RH or lower (no condensation)
RS-232C connector x 1
DeviceNet connector (for PLC) x 1
Profibus-DP connector (for PLC) x 1
1.2kg

SERVO NUTRUNNER SYSTEM

External Dimension and Description

Axis Control Unit

AU40100W

AU40200W , 400W
(305)

12
5.2

(100)

R2.6

6.8

R4.75

RS485-NET

RS485-NET
RS232C

U
V
W

INSPECTION
1ST 2ND

Field Bus Interface Unit

1Display and operation panel

2RS-232C connector
3Printer connection connector
4Network connection connector
5Display unit connection connector
6Control connector
7Power supply connector

1
5
2

1Status display LED

2MU connection connector
3Expansion serial connector
4Power supply connector
5DeviceNet status display LED
6DeviceNet setting switches
7DeviceNet connection connector

7
6

INSPECTION
1ST 2ND

2-5.2

2-5.2

Master Control Unit

OK
NG

CHARGE

MOTOR

CONTROL

255
245
5

U
V
W

ALM
L1C
L2C
L1
L2
L3

CHARGE

MOTOR

POWER

T/T

L1C
L2C
L1
L2
L3

OK
NG

255
245

ALM

POWER

R4.75

T/T

SIGNAL

MU40
205

(100)

5
6.8

(305)

87
50
16
R2.6
5.2

205

74
50

SIGNAL

7Motor connection connector

8Power supply connector

RS232C

4Network connection connector

5RS-232C connector
6Control connector

CONTROL

1Display and operation panel

2T/T connection connector
3Encoder connection connector

3
4

7
4

MU40

This unit has a built-in DeviceNet port.

Please inquire separately for units with built-in Profibus.

BU40
(270)

(100)

59

170

(270)

5.2
5.2

MU40A
OK

(100)

45
ALM

MODE

170

NG

POW
RDY
COM
ALM
ST1
ST2
ST3
ST4

SET

STOP
RESET

MASTER CONTROL UNIT

COM2

180
170

180
170

COM1

RS-232C

CONTROL

PANEL

POWER DC24V

POWER DC24V

PRINTER

PLC

NET

5.2

5.2

12

A variety of tool Selection for your application

Feature

 
  

Straight type

Bent type

 
   
   
Special Features
Realize high speed (max. 15,000 rpm) by means of a newly developed servo motor.
The wide range from 1 Nm to 800 Nm is covered by 8 tool units.
Use of high-quality torque transducer with tool ID and built-in preamplifier.
Bent type, angle head type, etc. for correspondence to various applications.

13

SERVO NUTRUNNER SYSTEM

Offset type

  

Tool Unit Specifications


ENRZ-TU001-* ENRZ-TU003-*
Max. output torque (Nom)
Max. speed (rpm)
Motor output (W)
Torque converter specifications
Torque display resolution (Nom)
Angle detector specifications
Angle display resolution (deg)
Dynamic torque fastening accuracy
Weight (kg)

10
1224

30
468

ENRZ-TU008-* ENRZ-TU013-* ENRZ-TU020-* ENRZ-TU040-S ENRZ-TU060-S ENRZ-TU080-S

80
714

130
500

200
291

400
148

600
113

100
200
Type with built-in distortion gauge torque converter amplifier
0.01

0.02

0.1

0.2

800
83
400

0.2

0.5

0.5

5.56.5

6.3

12

12

           

0.1

3/X=2% or lower
1.92.3

1.92.3

4.24.7

4.25.2

Note 1: Please contact the person in charge at our company for the bent type specifications.
Note 2: The weight indication in brackets is for the offset type.
Note 3: Parts marked * depend on S (straight type) or O (offset type).

14

Tool Unit

Straight type
B
F

C
22

A
D
E

)L

(P.C.D
4-M

Straight type
B
F

A
D

45

22

(P.C.D)L

R
R1
6

2-M

Offset type
38
T
22

F
E

10

18

66

4-M

90

Dimension Table
Tool unit model
ENRZ-TU001-S
ENRZ-TU001-O
ENRZ-TU003-S
ENRZ-TU003-O
ENRZ-TU008-S
ENRZ-TU008-O
ENRZ-TU013-S
ENRZ-TU013-O
ENRZ-TU020-S
ENRZ-TU020-O
ENRZ-TU040-S
ENRZ-TU060-S
ENRZ-TU080-S

15

A
286
343
292
349
329
399
329
412
384
468
398
455
455

B
28
28
28
28
35
35
40
40
40
40
55
55
55

C
38
38

80
80

D
3
3
3
3
5
5
6
5
6
5
7
7
7

E
11
8
11
8
14
10
14
10
14
10
15
15
15

F
15
15
15
15
20
20
25
25
25
25
30
30
30

28g7
22g7
28g7
22g7
40g7
28g7
46g7
32g7
46g7
40g7
60g7
55g7
60g7

H
8
8
8
8
8
8
9
9
9
9
14.5
14.5
14.5

12h7
12h7
12h7
12h7
16h7
16h7
20h7
20h7
25h7
24h7
30h7
32h7
40h7

J
3
3
3
3
4.5
4.5
4.5
4.5
4.5
4.5
6.3
6.3
6.3

K
9.5
9.5
9.5
9.5
12.7
12.7
15.9
15.9
19
19
25.4
25.4
31.8

SERVO NUTRUNNER SYSTEM

Offset type
60
T

2-M

E
D

F
B

Bent type

51

.42
.D
C
.
P

38

28g7

19

22

40

78

19

15

4-M5

70

11
54

28

204

32

110

Square Drive

78

78

ENRZ-TU003-STA

70

ENRZ-TU003-STB

ENRZ-TU003-STC

Please contact the person in charge at our company for the dimensions of the bent type.

Unit: mm

L
42
42
65
65
65
84
88
88

M
M 5
M 5
M 5
M 5
M 8
M 8
M10
M10
M10
M10
M12
M12
M12

N
70

O
52

70

52

113
113

110
110

80

85.5

R30

65.5

80

85.5

R30

65.5

80

85.5

R30

65.5

R33

71

100

28

13.5

79.5

R13.5

28

13.5

79.5

R13.5

46

29

16

85.5

R16

R30

44

32

19

91.5

R19

R30

44

36.5

23

100

R23

R30

16

Socket Assembly & Socket Adapter

Socket Assembly
Specification
Model

TNA1-SA05-35

Applicable tool unit

ENRZ-TU001-*
ENRZ-TU003-*
ENRZ-TU008-*

TNA1-SA20-45C

ENRZ-TU013-*

15.9

TNA1-SA20-45Z

ENRZ-TU020-*
ENRZ-TU040-S
ENRZ-TU060-S
ENRZ-TU080-S

15.9

TNA1-SA02-30

TNA1-SA40-70
TNA1-SA80-80

Adapter insertion angle

9.5
12.7

25.4
31.8

* Indicates parts common for S (straight type) and O (offset type).

Installation Reference

17

10 to 20 Nom
At the time of straight use

80 Nom
At the time of straight use

130 Nom
At the time of straight use

200 Nom
At the time of straight use

10 to 20 Nom
At the time of offset use

10 to 20 Nom
At the time of offset use

80 Nom
At the time of offset use

130 Nom
At the time of offset use

(*1) Design the tool installation bolts so that the mounting plate side has spot facing to prevent interference with the socket assembly mounting flange.

SERVO NUTRUNNER SYSTEM

Socket Adapter
Specification
Model
TNA1-AD01-01
TNA1-AD05-01
TNA1-AD05-02
TNA1-AD20-01
TNA1-AD20-02
TNA1-AD20-03
TNA1-AD40-01
TNA1-AD40-02
TNA1-AD80-01
TNA1-AD80-02

Socket assembly side - Socket side

9.5
9.5
12.7
12.7
12.7
9.5
15.9
15.9
15.9
12.7
15.9
19
25.4
25.4
25.4
19
31.8
31.8
31.8
25.4

Installation Guide

400 Nom
At the time of straight use

Mounting plate

Tool unit and socket assembly

are secured with bolts from
the direction of view A-A.
600 to 800 Nom
At the time of straight use (**1)

18

Socket Assembly & Socket Adapter

Socket Assembly External Dimensions



+

Socket adapter

Socket

Accessory pin

Grease nipple

 


Needle bearing

X: Initial installation load (N)

Y: Stroke end load (N)
Z: Spring rate (N/mm)

'

2-F drill hole

2-R

2-R

Diameter 2 mm drill hole

&

2-F drill hole


 

   

   ,


)

4$5
$


$

$
$

O-ring for pin securing

(Nitrile)


 #

 ! !


 

Socket Assembly Dimension Table



 

 

   

   ,

 #

 ! !
19



#






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!
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#
#

SERVO NUTRUNNER SYSTEM

Socket Adapter External Dimensions

c f


 -- 

TNA1-AD**-03

f
d

g
TNA1-AD**-01

Socket Adapter Dimension Table



 



  


   

  


   

   

  


   

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"#
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"#
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!

%
&

&

&
&
&

&

/


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&
&
&
& #
& #
&!
&

0

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Unit: mm

2





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Unit: mm

Accessory pin




 
 

 

O-ring for pin securing

$

$
$
$
$
$

Mass (kg)









20

Management Software & Display Unit

Special software for operation from your computer!
Provide a various maintenance functions.

Main menu

Features

AU fastening setting screen

4 Master Control Unit Data

Fastening result data monitor at the time of fastening sequence
program execution

1 Start-up
Nutrunner system station No. setting
Setting data upload
Setting data download

2 Master Control Unit

Tightening result monitor

System settings
Print output item selection for fastening result data
PLC device allocation
Tightening sequence program settings

5 Data
Axis Control Unit fastening result history data for the last 2000 cases
Master Control Unit system error history for max. 50 cases
Axis Control Unit system error history for max. 50 cases

3 Axis Control Unit

Torque Curve display

MAS station data communication settings

Program head settings
Fastening parameter setting

System error history

Torque curve

21

SERVO NUTRUNNER SYSTEM

MU device allocation screen

6 Maintenance
Maintenance log information
AU input monitor

Small touch panel display installed at the

side of the operator as a centralized
management unit for the Nutrunner system.

AU output monitor
MU input monitor
MU output monitor
Voltage monitor
CAL monitor
Angle monitor
Torque monitor
CAL monitor

7 Test Operation
Sequence program start screen (only display unit)

Fastening Result Monitor

8 Bypass (Spindle Cut)

Bypass (Spindle Cut) setup screen from Master Control Unit
to Axis Control Unit
Maintenance Menu

Fastening Set Value Copy

First Stage Settings

Torque Monitor

Operation Monitor

22

Data Logger System

The Data Logger System is to save fastening result data output from ENRZ system to an ODBC
conformance database.

Sample system configuration

Standard MU system
PC standard port (COM 1, RS-232C)

Host production management system

NR control panel

Car No.

PLC

Uninterrupted
power supply

PC expansion serial port

COM 2 (RS-232C)

Serial I/O control

Car No./Fastening position No.

AC100V
RS-232C port

OK
NG

NG

UPS

SIGNAL

T/T

L1C
L2C
L1
L2
L3

MU40A
ALM

OK

AC100V

Cable length: 15 m

ALM

POWER

Fastening data + Car No./Fastening position No.

SET

MODE

STOP
RESET

MASTER CONTROL UNIT

RS232C

CONTROL

MOTOR
U
V
W

RS-232C

RS485-NET

CHARGE

PRINTER

POWER DC24V

CONTROL

Windows 2000XP

Fastening position No:

PLC

ENRZ-AU40

PANEL

NET

Each time the fastening position is

changed, the number is counted
up and the tightening location is
identified.

ENRZ-MU40

Work
1

Regular CSV output

4

Data
management

Floppy disk

Periodic output of data files

in Excel-readable format.

CD-R
CD-RW

Special order MU system

Host production management system
NR control panel A

PC standard port (COM 1, RS-232C)

Car No.

PC expansion serial port

COM3COM4COM5
COM6COM7COM8

PLC

(RS-422)

Serial I/O control

Car No./Fastening position No.

Uninterrupted
power supply

RS-422 to RS-232C converter

ALM

POWER

Consecutive No.

OK
NG

MU40A
OK

ALM

RS-232C port

NG

T/T

L1C
L2C
L1
L2
L3

SIGNAL

Cable length: 15 m
SET

MODE

STOP

AC100V

RESET

CHARGE

RS232C

CONTROL

MOTOR
U
V
W

PRINTER

POWER DC24V

CONTROL

UPS
AC100V

PANEL

PLC

ENRZ-AU40

Fastening data + Car No./Fastening position No.

RS-232C

RS485-NET

MASTER CONTROL UNIT

NET

ENRZ-MU40

Windows 2000XP

Consecutive No./
Engine specification data

NR control panel B

Regular CSV output

Data
management

Floppy disk

PLC
Periodic output of data files
in Excel-readable format.

Serial I/O control

Car No./Fastening position No.

ALM
L1C
L2C
L1
L2
L3

OK
NG

MU40A
OK

ALM

MODE

Reading the engine specifications data

from the ID plate of the work

RS485-NET
RS232C

RS-232C
PRINTER

POWER DC24V

CONTROL

Fastening data + Car No./Fastening position No.

PANEL

PLC

ENRZ-AU40

An external data input function

has been added as special correspondence.

Fastening data + consecutive No.

Fastening position No./
Engine specification data

SET

STOP

MASTER CONTROL UNIT

CONTROL

U
V
W

ID plate data
Transfer control panel

RESET

CHARGE

MOTOR

RS-232C port

NG

T/T

SIGNAL

POWER

CD-R
CD-RW

Work

NET

ENRZ-MU40

Operation environment specifications

Compatible OS

Windows NT (Ver. 4.0, SP6 or higher), Windows 2000, SP2/Windows XP, SP1/Windows XP, SP2

Compatible personal computer

DOS/V PC (NEC PC9821 series is not compatible)

Memory

Main memory usable by OS and data logger system: 256 MB or more

Hard disk capacity

System: 1 GB or more, fastening data: 5 GB or more recommended

CPU performance

Celeron or Pentium III, 500 MHz or more

Display

XGA or better, 16 bit color or better

Disk drive

CD-ROM drive

Communication port

An RS-232C port supported by Windows is required. AU/MU/IF50 can be connected to COM 1 to 10 (however, an expansion serial board is required for use of
COM 3 to 10). In case of an UPS connection port, COM 1 or a USB port is required, and in case of PLC communication, COM 2 is required.

23

Recommended expansion serial board

Intelligent serial board (operation has been confirmed for Rocket Port made by the Comtrol company)

Parallel port

DSUB 25 pin AT compatible printer port x 1 or USB port x 1

Mouse

Compatible with Windows NT Ver. 4.0 or Windows 2000 or Windows XP

Compatible connection

ENRZ-AU30 or AU40/MU30 or MU40 x max. 8 sets

equipment

PLC: Mitsubishi Electric MELSEC-A series x 1 set, Sharp JW-20, JW30 series x 1 set

SERVO NUTRUNNER SYSTEM

Features
4 Data storage in a database

1 Compatible with the ENRZ series

The fastening data from each unit can be collected and
saved.

2 One PC monitors maximum of

The received data are registered in a database as they are.

As commercial database software conforming to ODBC is
used, data maintenance and retrieval functions have been
improved.

5 Uninterruptiable Power Supply (UPS)

8 fastening system
When an expansion serial card is installed in the PC, the
data from max. 8 equipment units (fastening systems) can
be collected.

3 Unique Idetification Number from PLC

By serial communication with the PLC, the car body
management No. can be acquired from the PLC and can
be saved related to the fastening data.

The software can be shut down safely by connection of an

uninterruptible power supply as a countermeasure against
power drops and power failures.

6 Expandability
The saved data can be searched for NG and CSV file output is possible.

Regular CSV output setting

Work No. division setting

Fastening result monitor

Statistics monitor data setting

Main menu screen

Statistics calculation monitor screen

*Settings and screens displayed in color are options.

24

Application Example

An example for use of the Servo Nutrunner System.

Side Cover Fastening Machine

with Auto Feeding System

Connecting Rod Assembly Machine

25

SERVO NUTRUNNER SYSTEM

Side Cover Fastening Machine

Cylinder Head Fastening Machine

26

URL http://www.estic.co.jp
Headquarters/plant
2-5-9 Hashibahigashino-machi,
Moriguchi-shi, Osaka, 570-0031
Tel.: (06) 6993-8855 (exchange), Fax: (06) 6993-8881
E-mail: osaka_office@estic.co.jp
Tokyo Office
Shinyokohama Narita Bldg. 6 F , 2-12-3
Shinyokohama, Kouhoku-ku, Yokohama-shi,
Kanagawa Pref., 222-0033
Tel.: (045) 474-3036 (exchange), Fax: (045) 474-3037
E-mail: tokyo_office@estic.co.jp
Chubu Office
Yamahichi Higashiokazaki Bldg. 4F, 19-13,
Aza Kawabata, Myodaiji-cho, Okazaki-shi,
Aichi Pref., 444-0864
Tel.: (0564) 66-0510 (exchange), Fax: (0564) 66-0515
E-mail: chubu_office@estic.co.jp
Estic China Corp
Tel.: 86 (21)-68130333, Fax: 86 (21)-68130777
E-mail: ecc@estic.sina.net

The contents of this catalog are as of February 2008.

The actual colors of the products may differ somewhat from the printed colors. We reserve the right to change ratings and design of the products at any time for improvement etc.

0802SK3