SERVO

TRANSDUCERIZED
ELECTRIC FIXTURED NUTRUNNER SYSTEM

NUT
RUNNER
ESTIC CORPORATION
www.estic.co.jp JQA-2805
SERVO SYSTEM

Head Office & Plant/ 2-5-9 Hashibahigashinocho, Moriguchi City, Osaka, 570-0031, Japan
Osaka Sales Office Phone: +81-6-6993-8855 Fax: +81-6-6993-8881
International Department E-mail: int_dep@estic.co.jp
osaka_office@estic.co.jp
Tokyo Sales Office 2F Shinyokohama Bousei Bldg., 3-20-12 Shin-Yokohama, Kouhoku-ku, Yokohama-shi, Kanagawa Pref. 222-0033, Japan
Phone: +81-45-474-3036　Fax: +81-45-474-3037
E-mail: tokyo_office@estic.co.jp
Chubu Sales Office Yamahichi Higashiokazaki Bldg. 2F, 19-13, Kawabata, Myodaiji-cho, Okazaki-city, Aichi, 444-0864 Japan
Phone: +81-564-66-0510　Fax: +81-564-66-0515
E-mail: chubu_office@estic.co.jp
ESTIC（THAILAND）CO., LTD. 19 Naradhiwas Rajanakarin Road, Chong Nonsi, Yannawa, Bangkok 10120, Thailand
Phone: +66-2-678-0171 Fax: +66-2-678-0173
E-mail: sales@estic.co.th
SHANGHAI ESTIC CO., LTD. No. 6, 51 Gate, 1159 Lane, Kangqiao East Road, Pudong, Shanghai, 201315 China
Phone: +86-21-6813-0333 FAX: +86-21-6813-0777
E-mail: ecc@estic.cn
ESTIC AMERICA, INC. 1895 Airport Exchange Blvd, Suite 220, Erlanger, KY 41018, U.S.A.
Phone: +1-859-746-8800 Fax: +1-859-746-8777 This catalog uses vegetable
E-mail: support@estic-america.com oil ink.
● The colors of the products may slightly differ from those of the actual products, which inevitable in printing.
● The specifications and designs of the products may be changed without previous notice. The contents of the catalog are as of October, 2015.
MULTI
ELECTRIC FIXTURED NUTRUNNER Fixtured Nutrunner System

SPINDLE High performance, high reliability Servo Nutrunner system

ESTIC's nutrunner system realizes the highest level of accuracy, motor responsiveness,

SYSTEM
durability, and is suitable for various thread fastening which requires traceability.

・Self-diagnosis function on each fastening

・Double structure torque monitoring
Torque is not only monitored by the torque sensor, but also by
the current. Fastening operations monitor and record crucial
data such as torque, angle, and time.
Fastening results with VIN information
Management Software, and Touch Screens are produced and repor ted by Fastening
available for easy setup and operation. User systems, calibrated with the national
friendly software allows operators to program standard traceable method
various parameters such as fastening programs, High Fastening result data and torque curve data are
as well as collect fastening results and torque
curve data.
Reliability available and stored for traceability and analysis
purposes.

Easy operation Traceability

Networking Innovation of
Durability
Extensibility
assembly

Various networking options are Extremely high durability to

available such as Ethernet, and Fieldbus maximize the operation time
Possible to communicate with PLC, Factory High durability reducer gear and
automation syste m by complying with resolver encoder are equipped
various types of communication protocols.

Monitoring functions Finest fastening

to keep watch over
fastening quality accuracy

Torque rate function monitors
increase ratio of torque and angle.
By monitoring the increasing ratio of
torque and angle, the system judges
abnormal fastenings, and realizes
certainty of fastening process.
Multi spindle fasetning machine
1 2
Stable thread
fastening State of the ar t ser vo motor and
feedback control by high speed process
realize high dynamic accuracy of 3sigma
X-bar <= 2% (at Full Scale).
Leak of torque typically seen on soft joints
can be minimized by the function of Dynamic
Stall function, and Sequenced fastening
program.
 Fixtured Nutrunner System System Configuration
Fixtured Nutrunner System

Nutrunner systems can be configured in many combinations to fit a wide array of requirements. Allowing for
flexible system building and I/O connection with PLC, allowing an external device to control the fastening
sequence and data handling.

SYSTEM 1 MASTER CONTROL SYSTEM SYSTEM 3 AXIS CONTROL SYSTEM

Nutrunner systems utilize digital communication protocols such as Ethernet and Fieldbus as well various user supported functions A simple system in which PLC and Controller are connected by I/O.
such as HMI, and USB flash drives in order to maximize control and productivity in multi-spindle applications.
AXIS Control Unit
ENRZ-AU50R
PI/O

〈PLC〉
ETHERNET Host Computer
Serial Communication
FIELDBUS
（RS-232C）

（CC-Ｌink、DeviceNet、
Profibus-DP、Ethernet/IP、Profinet)

〈PC〉
Serial Communication AXIS Control Unit
ENRZ-AU50R
（RS-232C/RS-422） Management Software
ENRZ-PC50
〈PLC〉 PI/O

USB Flash Drive or USB Cable Max. of 31

spindles
Serial Communication

（RS-232C)
Master Control Unit
ENRZ-MU50
〈PC〉 〈Serial Printer〉 Tool Unit
ENRZ-TU***R
Management Software
ENRZ-PC50
Data Logger Software

SYSTEM 4 AXIS Control Multi Spindle System

A multi-Spindle system in which the PLC and each controller is connected by I/O.
The fastening program can be uploaded/downloaded through the Master AXIS Control Unit.

〈Serial Printer〉 AXIS Control Unit

Tool Unit PI/O ENRZ-AU50R
ENRZ-TU***R

〈PLC〉
Display Unit
ENRZ-DP50 Serial Communication Max. of 31
（RS-232C) spindles

SYSTEM 2 FASTENING AND PRESS INTEGRATED SYSTEM

〈PC〉
Assembly machines are not limited to thread fastening but
also allow for the integration of servo press machines that are Management Software
controlled by the same Master Control Unit. This allows for a ENRZ-PC50

combination of Nutrunner and Servo Press units working

together to create a flexible assembly system.
*Please inquire our sales office for more details.

Press Unit Press Control Unit 〈Serial Printer〉

SPC/SPT SPU50C Tool Unit
ENRZ-TU***R

3 4
TOOL UNIT Tool Unit

Model
Tool Unit

Durable, high speed, high accuracy

ENRZ-TU 001R-S
tool unit in a small form factor. Tool Unit Model

▶Highly accurate torque detection is realized by 8 strain gauge type torque transducer with
Rated Torque Tool Type
noise cancellation function. 0R5： 5 N・m　 008： 80 N・m　 060： 600 N・m S：Straight type　ST：Straight Bent type
001：10 N・m　 013：130 N・m 080： 800 N・m　
▶11 models support a wide torque range from 0.5Nm up to 1500Nm. O：Offset type　 OP：Offset Bent type
003：30 N・m 020：200 N・m　 150：1500 N・m　
004：40 N・m 040：400 N・m　
▶Suitable for various applications with Straight type, Offset type, Bent type, Angle head type.

System Configuration

Straight type Offset type Bent type

Small size, high performance tool unit. Offset gears are built in for narrow Built in gear train reduces height for
Small high power servo motor developed pitch, multi spindle applications applications with height limitations.
for the nutrunner with a built in precision
torque transducer.

Resolver encoder
Resolver encoder

Gear train

Servo motor
Servo motor Reducer Gear

Torque transducer
Reducer Gear
Reducer Gear Servo motor

Offset gear

Torque transducer
Anvil
Torque transducer
Anvil

Anvil

Socket Assembly & Socket Adapter

Socket Assembly Socket Adapter

Tool Unit Basic Specifications

Straight type ENRZ-TU0R5R-S ENRZ-TU001R-S ENRZ-TU003R-S ENRZ-TU004R-S ENRZ-TU008R-S ENRZ-TU013R-S ENRZ-TU020R-S ENRZ-TU040R-S ENRZ-TU060R-S ENRZ-TU080R-S ENRZ-TU150R-S Model Applicable Tool Model Socket Adapter Insert Size Model Size for Socket Assembly Side-Socket Side
Model
Offset type ― ENRZ-TU001R-O ENRZ-TU003R-O ― ENRZ-TU008R-O ENRZ-TU013R-O ENRZ-TU020R-O ENRZ-TU040R-O ― ― ― ENRZ-TU0R5R-S TNA1-AD01-01 □ 9.5 – □ 9.5
Rated Torque（Nm） 5 10 30 40 80 130 200 400 600 800 1500 TNA1-SA02-30 ENRZ-TU001R-* □ 9.5 TNA1-AD05-01 □ 12.7 – □ 12.7
Applicable Torque Range（Nm） 0.5～4.5 1～9 3～27 4～36 8～72 13～117 20～180 40～360 60～540 80～720 150～1350 ENRZ-TU003R-* TNA1-AD05-02 □ 12.7 – □ 9.5
Max. Speed（rpm） 2814 1224 468 1464 714 500 291 148 113 83 60 ENRZ-TU004R-S TNA1-AD20-01 □ 15.9 – □ 15.9
TNA1-SA05-35 □ 12.7
Torque converter Strain gauge type torque transducer with amplifier built-in ENRZ-TU008R-* TNA1-AD20-02 □ 15.9 – □ 12.7
Torque Display Resolution（Nm） 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1 0.1 0.1 TNA1-SA20-45C ENRZ-TU013R-* □ 15.9 TNA1-AD20-03 □ 15.9 – □ 19.0
Angle detector Resolver encoder TNA1-SA20-45Z ENRZ-TU020R-* □ 15.9 TNA1-AD40-01 □ 25.4 – □ 25.4
Angle Display Resolution（deg） 0.1 ENRZ-TU040R-* TNA1-AD40-02 □ 25.4 – □ 19.0
− TNA1-SA40-70 □ 25.4
Dynamic Torque Accuracy 3σ/Ｘ≦2%
（FS） ENRZ-TU060R-S TNA1-AD80-01 □ 31.8 – □ 31.8
Weight（Kg） 1.7 1.9(2.3) 1.9(2.3) 3.8 4.2(4.7) 4.2(5.2) 5.5(6.5) 6.3(9.3) 12.0 12.0 32.5 TNA1-SA80-80 ENRZ-TU080R-S □ 31.8 TNA1-AD80-02 □ 31.8 – □ 25.4
Corresponding Controller type ENRZ-AU50R-10 ENRZ-AU50R-20 ENRZ-AU50R-40 ENRZ-AU50R-2K ENRZ-SA150-120 ENRZ-TU150R-S □ 38.1 ENRZ-AD150-01 □ 38.1 – □ 38.1
※Weight in ( ) is for offset type. ※Please inquire our office for the weight of bent type. * is replaced with the symbol of S: Straight type, O: Offset type ENRZ-AD150-02 □ 38.1 – □ 25.4

5 6
 Tool Unit Dimensions
Tool Unit

Straight type ENRZ-TU0R5R-S / ENRZ-TU001R-S / ENRZ-TU003R-S / ENRZ-TU060R-S / ENRZ-TU080R-S / ENRZ-TU150R-S Offset type ENRZ-TU008R-O / ENRZ-TU013R-O / ENRZ-TU020R-O / ENRZ-TU040R-O

V
T
C B A
F D
22 E 2-M

W
Y

U
N

G
)L
(P.C.D

G
E

X
4-M F D
B A

Straight type ENRZ-TU004R-S / ENRZ-TU008R-S / ENRZ-TU013R-S / ENRZ-TU020R-S / ENRZ-TU040R-S Bent type

B A 51 9
F D
E

19
22

78
40

φ28g7
22
(P.C.D)L

19
45ﾟ

Q
15 11
P

□38

S
R .42 4-M5
D 54
P.C. 70 3
28 204
R1

2-M ENRZ-TU003-STA
6

78

78
Offset type

110
ENRZ-TU001R-O / ENRZ-TU003R-O

32
70
ENRZ-TU003-STB ENRZ-TU003-STC
38 B A
T Anvil dimensions ※Please inquire our office for the dimensions of bent type.
F
22 E H

4-M φJ
10
66

I
18

D K
X

90ﾟ

Dimension chart Unit : mm

Tool Model A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
ENRZ-TU0R5R-S 277 28 38 3 11 15 ø28g7 8 ø12h7 ø3 □ 9.5 42 M 5 70 ø52 ー ー ー ー ー ー ー ー ー ー ー
ENRZ-TU001R-S 286 28 38 3 11 15 ø28g7 8 ø12h7 ø3 □ 9.5 42 M 5 70 ø52 ー ー ー ー ー ー ー ー ー ー ー
ENRZ-TU001R-O 343 28 ー 3 8 15 ø22g7 8 ø12h7 ø3 □ 9.5 ー M 5 ー ー ー ー ー ー 28 ー ー 79.5 R13.5 ー ー
ENRZ-TU003R-S 292 28 38 3 11 15 ø28g7 8 ø12h7 ø3 □ 9.5 42 M 5 70 ø52 ー ー ー ー ー ー ー ー ー ー ー
ENRZ-TU003R-O 349 28 ー 3 8 15 ø22g7 8 ø12h7 ø3 □ 9.5 ー M 5 ー ー ー ー ー ー 28 ー ー 79.5 R13.5 ー ー
ENRZ-TU004R-S 302.5 35 ー 5 10 20 ø40g7 8 ø16h7 ø4.5 □12.7 65 M 8 ー ー 80 85.5 R30 65.5 ー ー ー ー ー ー ー
ENRZ-TU008R-S 329 35 ー 5 14 20 ø40g7 8 ø16h7 ø4.5 □12.7 65 M 8 ー ー 80 85.5 R30 65.5 ー ー ー ー ー ー ー
ENRZ-TU008R-O 399 35 ー 5 10 20 ø28g7 8 ø16h7 ø4.5 □12.7 ー M 8 ー ー ー ー ー ー 46 29 60 85.5 R16 R30 80
ENRZ-TU013R-S 329 40 ー 6 14 25 ø46g7 9 ø20h7 ø4.5 □15.9 65 M10 ー ー 80 85.5 R30 65.5 ー ー ー ー ー ー ー
ENRZ-TU013R-O 412 40 ー 5 10 25 ø32g7 9 ø20h7 ø4.5 □15.9 ー M10 ー ー ー ー ー ー 44 32 60 91.5 R19 R30 86.5
ENRZ-TU020R-S 384 40 ー 6 14 25 ø46g7 9 ø25h7 ø4.5 □19.0 65 M10 ー ー 80 85.5 R30 65.5 ー ー ー ー ー ー ー
ENRZ-TU020R-O 468 40 ー 5 10 25 ø40g7 9 ø24h7 ø4.5 □19.0 ー M10 ー ー ー ー ー ー 44 36.5 60 ー R23 R30 100
ENRZ-TU040R-S 398 55 ー 7 15 30 ø60g7 14.5 ø30h7 ø6.3 □25.4 84 M12 ー ー 100 ー R33 71 ー ー ー ー ー ー ー
ENRZ-TU040R-O 525.5 53 ー 5 15 30 ø48g7 14.5 ø30h7 ø6.3 □25.4 ー M12 ー ー ー ー ー ー 46 50 66 ー R26.5 ー 118.5
ENRZ-TU060R-S 446 55 80 7 15 30 ø55g7 14.5 ø32h7 ø6.3 □25.4 88 M12 113 ø110 ー ー ー ー ー ー ー ー ー ー ー
ENRZ-TU080R-S 446 55 80 7 15 30 ø60g7 14.5 ø40h7 ø6.3 □31.8 88 M12 113 ø110 ー ー ー ー ー ー ー ー ー ー ー
ENRZ-TU150R-S 486 80 130 10 20 50 ø110g7 25 ø50h7 ø9 □38.1 145 M16 180 ø170 ー ー ー ー ー ー ー ー ー ー ー

7 8
 Tool Unit 6 fastening strategies
Tool Unit

5 Yield Angle Control

Fastening strategies This fastening method brings out the tension
Torque
Upper Torque Limit
Yield Point

(clamping force) of a bolt to its greatest extent.

Torque Upper Torque Limit The yield point is obtained from the torque
1 Torque Control Target Torque
increase rate (torque rate), fastening is
performed for the set angle from this point and
Lower Torque Limit OK Zone

OK Zone fastening is completed in a stable plastic

This fastening method is commonly used. Lower Torque Limit Target Torque Rate
region initial state.
Fastening is stopped when a predefined Snug Torque
Sampling of the angle data is started from the
target torque has been reached. Judgment point at which the ANG start torque is
is made if the peak torque is within range of detected. When the snug torque is detected, Angle Start
Torque
the upper and lower limit. If the fastening fastening is performed while calculating the Target Torque Rate
falls within the predefined range then an OK torque rate. Additional fastening is performed Filter Angle

result is produced, if the fastening exceeds for the target angle from the point at which the
target torque rate is detected, and then
or falls short of the range then an NG fastening is completed.
Lower Angle Limit Time
or
judgment is made. With this system total When the lower limit angle is not reached at Yield Angle Target Angle Angle
judgment is performed by measuring the Lower Time Limit Time the completion of additional fastening after the
Upper Angle Limit
upper and lower limit of fastening time, as Upper Time Limit detection of the yield point, additional
well as upper and lower limit for torque. fastening is performed again until the lower
limit angle is reached.

2 6
Torque Angle Yield Point
Torque Control Angle Monitor Upper Torque Limit
Yield Control
Torque
Upper Torque Limit
OK Zone
Fastening is preformed by establishing an Target Torque Basically this method performs the same
upper and lower limit for torque, as well Lower Torque Limit control as the yield angle method. In the Lower Torque Limit OK Zone

as creating an upper and lower limit for case of this method, when the lower Target Torque Rate
angle. limit angle is not reached at the Snug Torque
completion of additional fastening after
Angle Start
Torque the detection of the yield point, Angle Start
Torque
additional fastening is not performed Target Torque Rate
Filter Angle
and the step terminates due to fastening
NG.
Lower Angle Limit Lower Angle Limit Time
Angle or Time or
Lower Time Limit Upper Angle Limit Yield Angle Target Angle Angle

Upper Time Limit Upper Angle Limit

3
Target Angle
Angle Control Torque Upper Torque Limit Fastening Theory
OK Zone
With this fastening method, fastening is With bolt fastening, a fastening force is generated between the parts by the application of a fastening torque. With T as the
performed from an angle measuring start Lower Torque Limit fastening torque and N as the fastening force (axial force) generated between the parts. The relationship is as shown below when
torque until an optionally set fastening the part and the fastened object are within the elastic limit.
target angle has been reached. Fastening
is then stopped, and judgment is made. If
Angle Start T=KdN T=Torque (Nm) N=Axial Force (N) K=Torque Coefficient d=Nominal Bolt Diameter (m)
the angle and torque value are within the Torque
range between the set upper and lower
limit, then OK or NG (for each value) is K changes according to the connection state
2 between thread and bolt seat surface. There
produced. 2 is considerable scatter even for bolts and
Lower Angle Limit Angle or Time
Large torque Large torque tapping even when manufactured under the
Lower Time Limit Upper Angle Limit
coefficient 1 coefficient same conditions.

Torque T

Torque T
Upper Time Limit
1 As shown in the figure on the left, when
fastening to the target torque T with the
Control point Small torque
torque Small torque torque method, the axial force of the bolt
coefficient coefficient shows the scatter N1 because of the
difference in the torque coefficient, even when

Snag point torque

4
Torque
Target Angle the torque is constant.
Torque or Angle Control Upper Torque Limit However, with the angle method fastening for
the constant angle ø1 from the snag point, the
Target Torque scatter of the axial force becomes N2, which
Basically, this control method is similar to
OK Zone is smaller than with the torque method. When
the torque method angle monitor, but the the fastening angle is made ø2 and fastening
Lower Torque Limit
stop control condition for the target is Angle is performed within the elastic range of the
Angle
effective for the target torque and the bolt, the scatter of the axial force becomes
N3, which is still smaller. Accordingly, for
Axial force N

Axial force N
target angle, and the output axis is execution of fastening without loosening, it is
Angle Start N1 N2
stopped when one of the target values is Torque necessary to select the fastening method
reached. according to the fastening conditions for the
N3 object to be fastened and the conditions at
the time of product design.
Lower Angle Limit Angle or Time
Lower Time Limit Upper Angle Limit
Torque Control Angle Control
Upper Time Limit

9 10
AXIS AXIS CONTROL UNIT AXIS Control Unit

CONTROL
This control unit was developed for a single spindle.
It accomplishes high accuracy, high quality fastening with simple configuration External Dimensions
parameters. Monitor functions required for fastening come standard, and judgment
is determined by torque, angle, time, or torque rate. B

UNIT
E φ5.2 100 A

5
Front Panel Wiring φ9.5

OK
Data Display POWER ALM
NG
L1C

T/T
・Real time torque value indication L2C
L1
・Final torque indication L2

SIGNAL
・System error message indication L3

・Setting Parameter Indicator lamp

C
F
CHARGE
・Test mode

RS485-NET
・Fastening OK: Green
・Log mode
・Alarm: Yellow
・Fastening NG: Red

RS232C
MOTOR
U
V
Operation button W

CONTROL
・Mode change INSPECTION
1ST 2ND
・Display change
Torque Transducer Cable
・Parameter edit and set
5.2

Resolver Cable D
Power supply
cable
Model A B C D E F
Motor power supply and control
power supply are separated 100w 205 74 255 37 50 245
200・400w 205 87 255 41 50 245
NET Cable 2400w 205 117 274 16 50 245
This is used when multi spindle system is
configured
Charge lamp

RS-232C
This is used to communicate with
Management Software and it is also General Specifications
possible to connect with serial printer

Motor cable Model ENRZ-AU50R-10 ENRZ-AU50R-20 ENRZ-AU50R-40 ENRZ-AU50R-2K

Motor type on tool unit 100W 200W 400W 2400W
I/O
Control power voltage Single phase　AC200～230V±10%　50/60Hz
Input 12 Output 22
Main power voltage Single phase AC200～230V±10% 50/60Hz Three phase　AC200～230V±10%　50/60Hz
Operation environment Free from corrosive/explosive gasses, dust/metal dust or oil mist.
Ground Operating temperature 0～55˚C(No freezing）
Operating humidity （No condensing）
35～90%RH
Operation & Display Panel 7 Segment LED Display (5 letters x 1 line), 5 Function keys, Indicator lamps (OK/ALM/NG)
Control Input 12 points, Photo Coupler Isolation (DC24V, Lead-in Current: 6mA/point)
Control Output 22 points, Photo Coupler Open Collector Output (DC24V, max. 50mA/point)
Fastening Program 99 Programs
NET Port RS-485 x 2 ports (MAX. Connected Stations: 31 stations)
Various fastening strategies Special fastening COM Port RS-232C x 1 port (Variable between: 9600bps – 115.2kbps)
Recommended printer Serial Printer EPSON VP-700
Torque control, Angle control, Yield control and more are Self tapping function for self tapping screw, Dynamic Stall function for
Control Power Capacity 50VA
available as standard functions. holding preset value of torque for preset time, are available.
Main Power Capacity (At Rated Operation) 0.4KVA 1.2KVA 1.7KVA 3.8KVA
Dash Current when applying Control power About 26 Ao-p　(Converging Time: About 5ms)
Monitor function Storage function Dash Current when applying Main power About 23 Ao-p (Converging Time: About 200ms) About 6 Ao-p　(Converging Time: About 400ms)
Weight 2.5kg 3.2kg 3.4kg 3.5kg
Various monitoring functions such as Torque rate Fastening program: 99
judgment, Zone judgment and more are available in order Fastening result: 5,115 records
to detect abnormal fastening and to help improve
productivity. System error: 50 records

11 12
 AXIS CONTROL UNIT 5 Special functions for fastening AXIS Control Unit
MASTER
MASTER CONTROL UNIT Master Control Unit

CONTROL
Master Control Unit is capable to control maximum of 31 AXIS Control Units.

締 付 を自在 に 操 る４つ の 機 能
Pre Fastening Monitoring
Advantages such as Sequenced Fastening Program which makes PLC programing simple,
2 types of pre-fastening monitor functions are available. Seizing monitor and Section monitor. Seizing monitor is set by monitoring the
angle once seat torque has been detected. The torque value is monitored when the angle changes by one degree or more and is Serial communication with PLC or Fieldbus communication with PLC which reduces wiring,
checked whether the torque value is within range of the set monitor min, and monitor max torque. Section monitor checks whether the Multiple Work Groups management,

UNIT
torque value is within the range set with Monitor Max torque, and Monitor Min torque.
realize high performance fastening.

1. Seizing Monitor 2. Section Monitor

Front Panel Wiring
Torque Torque
Fastening Complete Monitor
Monitor Start Angle
Start Angle Measuring Angle 7 Segment
STATUS LED
Measuring Angle LED Display
Indicate the status of System error,
communication with AXIS Unit, Display Monitoring result, Parameter
communication with PLC, PC. setting.

Monitor Upper Torque Limit

Monitor Upper Torque Limit ETHERNET
Connect with Management Software, Data
Monitor Lower Torque Limit Monitor Lower Torque Limit Key Switch Logger Software, ESTIC HMI through
Angle Angle
Switch monitor type, change and edit Ethernet (LAN).
parameter setting on 7 segment LED
display. USB
Insert USB Flash Drive to export/import
Self Tapping Function Parameter setting, Fastening/Pressing
RS-232C result.
This function is used when a large torque is generated in the initial stage and this torque exceeds the seating torque as in the case of a Communicate with Management
tapping screw. After the start of pre fastening, the seating torque is not detected in the zone set with a Self Tap Interval, and peak hold Software and it is also possible to REMOTE I/O (Option)
connect with serial printer Connect with OMRON Link Terminal.
of the torque detected in this zone is performed. It is checked whether the detected peak torque is within the range set with Self Tap
Max Torque and Self Tap Min Torque. A judgment for the upper limit torque is always made during monitoring. A judgment for the lower
PC-USB
limit torque is made after the completion of monitoring. Connect with Management Software
through USB cable.

3. Self Tapping Monitor

FIELDBUS (Option)
Torque Connect with PLC by Fieldbus (DeviceNet,
Ethernet/IP, Profibus-DP, Profinet, CC-Link).

Self Tapping Upper Torque Limit

CF Card
Store System Program, Fastening Parameter,
Self Tapping Lower Torque Limit
Fastening result. All necessary files to run the
Seat Torque PLC system are stored here. It is easy to recover
Communicate with PLC by serial the system just by transferring the card in
case if Master Control Unit got a failure.

Sel Tapping Interval Time DIP SW

For settings
Pre Fastening Start

NET1 EX-I/O (Option)

Input 16 Output 16
Connect with AXIS Control Unit or
Torque Rate Monitor Function Press Control Unit.

Fastening is performed while sampling the amount of torque change against a fastening angle of 1 deg and making a judgment. It is
CONTROL I/O
Input 6 Output 6
possible to divide the zone between the ANG start torque and the completion of fastening into two portions for monitoring. This
function is used to monitor the condition of a workpiece and the condition of fastening.
Back Rate Monitor function is also available and it works as, after the completion of fastening, the torque rate is calculated using as POWER
the start point the point obtained by returning for the angle set and it is checked whether the result is within the range between the set AC100-230V
upper limit and lower limit.

4. Torque Rate Monitor 5. Back Rate Monitor ETHERNET PORT FILEDBUS DATA STORAGE
Fastening Complete
Torque Torque Ethernet port is available as standard. DeviceNet, Ethernet/IP, Profibus-DP, Profinet, Fastening Program: 99
Torque Rate Fastening Back Rate
Connecting to LAN and it enables to CC-Link are available as option. Fastening result: 20,000 records
2 Filter Angle Complete Monitor Angle
communicate from 1 PC to multiple Torque curve: 50 records
Master Control Unit. System error: 200 records
FIELDBUS
Process Control
Management Software Switch Hub Server
Snug Torque
MU50
Torque Rate
Back Rate
1 Zone
Filter Angle
Angle Start Torque Torque Rate AU50R AU50R AU50R
2 Monitor Angle

Torque Rate 2 Zone

MU50 MU50 MU50 MU50

Angle Angle
Torque Rate 1 Filter Angle

13 14
 MASTER CONTROL UNIT 3 functions for flexible fastening process
Master Control Unit

1. Parallel operation of multi spindle fastening Master Control Unit Model Master Control Unit External Dimensions
The Master Control Unit is capable of creating up to 4 separate
Up to 31 nutrunners, and a maximum of 4 work
work groups. Each work group can be controlled separately as

ENRZ-MU50-N NN
groups can be controlled by one Master Control
well as simultaneously using one Master Control Unit.
Unit. 82.8
50
For example, one Master Control Unit can control 2 wheel 9.5 206
Example: Wheel Tightening Machine tightening machines for both right and left. On other example,

6.8
5.2
one Master Control Unit controls 4 nutrunners separately held
Z40 series
by 4 robot arms.
OK ALM NG
MU40A

AU40 AU40 AU40 AU40

Require AU40 AU40 AU40 AU40
OK ALM NG
MU40A Fieldbus Option
MODE

STOP
RESET
SET

2 Master MODE

STOP
RESET
SET

Standard : N： Without Fieldbus

Control Units
MASTER CONTROL UNIT MASTER CONTROL UNIT

ALM OK ALM OK ALM OK ALM OK ALM OK ALM OK ALM OK ALM OK

POWER NG POWER NG POWER NG POWER NG POWER NG POWER NG POWER NG POWER NG

Option : D： DeviceNet
L1C L1C L1C L1C L1C L1C L1C L1C
T/T

T/T

T/T

T/T

T/T

T/T

T/T

T/T
L2C L2C L2C L2C L2C L2C L2C L2C
RS-232C

RS-232C
L1 L1 L1 L1 L1 L1 L1 L1

Right Left
L2 L2 L2 L2 L2 L2 L2 L2
SIGNAL

SIGNAL

SIGNAL

SIGNAL

SIGNAL

SIGNAL

SIGNAL

SIGNAL
L3 L3 L3 L3 L3 L3 L3 L3
CONTROL

CONTROL
CHARGE CHARGE CHARGE CHARGE CHARGE CHARGE CHARGE CHARGE
RS485-NET

RS485-NET

RS485-NET

RS485-NET

RS485-NET

RS485-NET

RS485-NET

RS485-NET
P ：Profibus-DP
PANEL PANEL
RS232C

RS232C

RS232C

RS232C

RS232C

RS232C

RS232C

RS232C
MOTOR MOTOR MOTOR MOTOR MOTOR MOTOR MOTOR MOTOR
PLC U U U U U U U U PLC
PRINTER

PRINTER
V V V V V V V V
W W W W W W W W
CONTROL

CONTROL

CONTROL

CONTROL

CONTROL

CONTROL

CONTROL

CONTROL
POWER DC24V

POWER DC24V
C： CC-Link
NET NET

MU40 MU40 E ： Ethernet/IP　

228.3
225
T ： Profinet

I/O Option
Standard : NN : Without Extend I/O and Remote I/O
Z50 Work Group A Work Group B
Option : EN : With Extend I/O Without Remote I/O
ER : With Extend I/O and Remote I/O
AU50R AU50R AU50R AU50R Require 1 Master AU50R AU50R AU50R AU50R
Control Unit

5
5.2
Right Cost Saving Left

MU50

General Specifications

Input voltage AC100V～230V±10%（50/60Hz）80W

Operation environment Free from corrosive/explosive gasses, dust/metal dust or oil mist.
2. Sequenced Fastening Program 3. Simplified Logic Programming Operating temperature 0～45˚C(No freezing)
Each step of the fastening process such as Pre-fastening, Simplified logic such as A contact, B contact, AND, OR, Timer Operating humidity （No condensing）
90%RH or less
Reversing, Fastening on multi-spindle can easily be is available as a standard function, and it enables integration Operation & Display Panel 7 Segment LED Display (6 letters x 2 lines), 6 Function keys, Indicator lamps (ST1/ST2/ST3/ST4)

programmed in one Program, with up to 20 steps. Control Input/Output CONTROL I/O、 （Option）
EX-I/O 、REMOTE I/O(Option）
with the fastening system without a PLC.
Max. number of spindle connection 31 spindle (AU50: 31, SPU50: 10, Total max. 31)
● Program capacity: 500 steps Fastening Program 99 Programs
RS-232C (Management Software, Serial Printer) COM connector (RS-422: Available in the future)
PANEL (RS-422 port for HMI) ETHERNET (10/100BASE-T)
Communication Port
PLC (RS-232C/RS-422 for PLC Serial connection) PC-USB (USB port for Management Software)
NET1 (RS485 for connecting with Local unit) FIELDBUS (DeviceNet, Profibus, Profinet, Ethernet/IP, CC-Link)
Fastening program, Press Program, System Parameter, I/O Assign, Fastening Result Item Assign,
Storage function
System Error, Fastening/Press Result
Fastening/Press Result History: Max. 20,000 records
Number of record Torque/Press Curve History: Max. 50 records
System Error History: Max. 200 records
External Storage Export/Import Fastening/Press Result History file, Fastening/Press/System Parameter file to USB Flash Drive
Others I/O Assign function, Result Item Assign function, Sinplified Logic Program function

4. Connection with PLC by serial communication

Telegram is pre formatted for each PLC type through RS-232C Control Input/Output
or RS-422.

MU50 Applicable PLC Input Photo coupler isolation, 24VDC 7mA, 6 points Either of sync (-common) and source (+common) is possible
Control I/O
Fastening Program Menu Output Photo MOS output, 24VDC 50mA, 6 points Either of sync (-common) and source (+common) is possible
Manufacturer Series
Input Photo coupler isolation, 24VDC 7mA, 16 points Either of sync (-common) and source (+common) is possible
MELSEC-ASeries EX-I/O
Mitsubishi Electric Output Photo MOS output, 24VDC 50mA, 16 points Either of sync (-common) and source (+common) is possible
MELSEC-QSeries
Input Link terminal by OMRON, 16 points, Transmission delay time: Standard type (OMRON model B7A-T6D2)
SYSMAC-CS1Series
Omron REMOTE I/O Output Link terminal by OMRON, 16 points, Transmission delay time: Standard type (OMRON model B7A-R6A52)
SYSMAC-CJ1／CJ2Series
Transmit distance 500m max. (varying depending on wiring configuration)
JW30Series
Sharp
JW300Series
JTEKT TOYOPUC

15 16
 USER INTERFACE
Fixtured Nutrunner System

Management Software: ENRZ-PC50 Display Unit: ENRZ-DP50

Dedicated software for Z50 series ENRZ-PC50 HMI unit for Master Control Unit ENRZ-DP50E: Ethernet connection
User friendly interface for editing various parameters (English/Japanese) User friendly menu for easy operation ENRZ-DP50S: Serial connection

Features

1. Parameter
● AXIS/Press Control Unit Parameter ● Fastening/Press Setting
● Master Control Unit System Parameter ● Sinplified Logic Program

AXIS Unit Monitor AXIS Unit System Setting

Master Control Unit Setting Sequenced Fastening Program Fastening Easy Setting

Fastening Parameter Edit Fastening Result Monitor Torque Curve Monitor

Data Logger Software

Software to gather and store fastening results for quality analysis

Fastening Detailed Setting Logic Program

System Configuration Fastening Result Logging

2．Result Monitor & History
● Fastening/Press Result Monitor & History
● Torque/Load Curve Monitor & History
Data Logger Software is capable of connecting with the Z50 series Master Control Unit outputs result data
● System Error History Fixtured Nutrunner, Servo Press and also Handy2000Lite series after each fasetning and date is stored in
Handheld Tool. Data Logger Software.
Multiple spindles can be handled with one software through LAN
network.

Search & View function

ENRZ-AU50R ENRZ-AU50R ENRZ-MU50

Search and view function help users find

necessary data stored in the Data Logger Database.

Fastening Result History Torque Curve History System Error History

SPU50C ENRZ-MU50

Ethernet connection
3. Maintenance 4. Assign
● Torque, Angle and CAL Monitor ● I/O Assign ● FIELDBUS I/O Assign
● I/O Monitor ● PLC I/O Assign ● Fastening Result Item Assign
● AXIS Bypass Monitor

Handy2000 Handy2000
Cordless Lite
Data Logger

Stored data can be output by CSV format daily at

Torque & Angle Monitor preset time.

I/O Assign

17 18
 How to select the system : Master Control System
Fixtured Nutrunner System

System Configuration Table 1 : Tool Unit/AXIS Control Unit combination Table 2 : Master Control Unit

ETHERNET Tool Unit model Applicable Torque Range (Nm) Corresponding AXIS Control Unit Option
（ENRZ-DP50*)
Display Unit ENRZ-TU0R5R-S 0.5～4.5 Model FIELDBUS I/O
ENRZ-TU001R-※ 1～9 ENRZ-AU50R-10 DeviceNet Profibus-DP CC-Link EtherNet/IP Profinet EX-I/O REMOTE I/O
16 ENRZ-TU003R-※ 3～27 ENRZ-MU50-NNN
ENRZ-TU004R-S 4～36 ENRZ-MU50-NEN ●
13 ENRZ-TU008R-※ 8～72 ENRZ-MU50-NER ● ●
USB Cable
AXIS Control Unit AXIS Control Unit ENRZ-TU013R-※ 13～117 ENRZ-AU50R-20 ENRZ-MU50-DNN ●
(ENRZ-AU50R-**) (ENRZ-AU50R-**)
〈PC〉 ENRZ-TU020R-※ 20～180 ENRZ-MU50-DEN ● ●
Management Software 12 ENRZ-TU040R-※ 40～360 ENRZ-MU50-DER ● ● ●
（ENRZ-PC50*） Master Control Unit 15
(ENRZ-MU50-***) ENRZ-TU060R-S 60～540 ENRZ-MU50-PNN ●
7 ENRZ-AU50R-40
7 ENRZ-TU080R-S 80～720 ENRZ-MU50-PEN ● ●

14 9 ENRZ-TU150R-S 150～1350 ENRZ-AU50R-2K ENRZ-MU50-PER ● ● ●

10 11
※ is replaced with the symbol of S: Straight type, O: Offset type ENRZ-MU50-CNN ●
Please see the system configuration of tool model ENRZ-TU150R-S on ENRZ-MU50-CEN ● ●
20 page 21 - 22.
ENRZ-MU50-CER ● ● ●
〈Serial Printer〉 ENRZ-MU50-ENN ●
18
ENRZ-MU50-EEN ● ●
17
1 2 3 ENRZ-MU50-EER ● ● ●
8 ENRZ-MU50-TNN ●
19 Max. 31 ENRZ-MU50-TEN ● ●
spindles
ENRZ-MU50-TER ● ● ●

Input Power Supply

AC100V～230V ±10% 1 2 3
Single phase 50/60Hz

Control Power Supply 4 5 6

AC200V～230V ±10%
Single phase 50/60Hz
〈B7A Terminal Link〉
OMRON Main Power Supply
AC200V～230V ±10%
Three phase or Single phase Table 3 : Cables and Accessories
50/60Hz
＊Depending on tool motor
SI/O（RS-232C/RS-422） 　type No. Item Length Model No. Item Length Model
5[m] ENRZ-CVTN2-050 0.2[m] ENRZ-CVNK2A-002
NET Cable
10[m] ENRZ-CVTN2-100 9 1[m] ENRZ-CVNK2A-010
PI/O 1 Torque Transducer Cable （AU50R⇔AU50R）
15[m] ENRZ-CVTN2-150 2[m] ENRZ-CVNK2A-020
PI/O 20[m] ENRZ-CVTN2-200 0.3[m] ENRZ-CVNK3M-003
5[m] ENRZ-CVMN2-050 NET Cable 1[m] ENRZ-CVNK3M-010
〈PLC〉 10
Tool Unit Tool Unit 10[m] ENRZ-CVMN2-100 （MU50⇔AU50R） 3[m] ENRZ-CVNK3M-030
(ENRZ-TU***R-*) (ENRZ-TU***R-*) 2 Motor Cable
15[m] ENRZ-CVMN2-150 10[m] ENRZ-CVNK3M-100
FIELDBUS 20[m] ENRZ-CVMN2-200 11 Termination Resistor *3 – ENRZ-CVST3
(DeviceNet, Profibus-DP, CC-Link, Ethernet/IP, Profiinet) 5[m] ENRZ-CVRN-050 English/
12 Management Software ENRZ-PC50
10[m] ENRZ-CVRN-100 Japanese
3 Resolver Cable
15[m] ENRZ-CVRN-150
1.5[m] ENRZ-CVSR-015
Steps to select Master Control System 20[m] ENRZ-CVRN-200
13 Serial Communication Cable 5[m] ENRZ-CVSR-050
3[m] ENRZ-CVTN-030
Torque Transducer Relay 6[m] ENRZ-CVTN-060 10[m] ENRZ-CVSR-100
Select Tool Unit model 4
Select Master Control Select Motor Cable, Torque Cable 10[m] ENRZ-CVTN-100 3[m] ENRZ-CVSP-030
and AXIS Control Unit Select accessories
Unit Transducer Cable, Resolver Cable 14 Serial Printer Cable 5[m] ENRZ-CVSP-050
model 【see table 3】 15[m] ENRZ-CVTN-150
【see table 2】 【see table 3】
【see table 1】 3[m] ENRZ-CVMP-030 10[m] ENRZ-CVSP-100

6[m] ENRZ-CVMP-060 15 Check Connector Cable 3[m] ENRZ-CVCK-030

Example）If 2 spindles of rated torque 10Nm tool unit are needed 5 Motor Relay Cable
10[m] ENRZ-CVMP-100
3[m] ENRZ-CVDP2-030
Item Model Quantity 15[m] ENRZ-CVMP-150 Display Unit Serial
16 5[m] ENRZ-CVDP2-050
Tool Unit ENRZ-TU001R-S 2 3[m] ENRZ-CVRP-030 Connection Cable
AXIS Control Unit ENRZ-AU50R-10 2 10[m] ENRZ-CVDP2-100
6[m] ENRZ-CVRP-060
Master Control Unit ENRZ-MU50-TNN 1 6 Resolver Relay Cable 17 Control Connector – ENRZ-CN14-CR
10[m] ENRZ-CVRP-100
Torque Transducer Cable ENRZ-CVTN2-050 2 18 PLC Connector – ENRZ-CN15-PL
Motor Cable ENRZ-CVMN2-050 2 15[m] ENRZ-CVRP-150
19 EX Connector – ENRZ-CN36-EX
Resolver Cable ENRZ-CVRN-050 2
7 AXIS Control Unit Power Cable *1 3[m] ENRZ-CVDC2-030 20 Remote I/O Connector – EH2-FCN04-RM
NET Cable ENRZ-CVNK3M-010 1
NET Cable ENRZ-CVNK2A-010 1 8 Master Control Unit Power Cable *2 3[m] ENRZ-CVDC3-030 *1 Attachment of AXIS Control Unit
Termination Resistor ENRZ-CVST3 1 *2 Attachment of Master Control Unit
Management Software ENRZ-PC50 1 *3 Last AXIS Control Unit on the system needs 1 piece of Termination Resistor
Serial Communication Cable ENRZ-CVSR-050 1
19 20
 How to select the system : AXIS Control System
Fixtured Nutrunner System

AXIS Control System（～ENRZ-TU080R-S） AXIS Control System（ENRZ-TU150R-S） Steps to select Master Control System

PI/O PI/O
Select Tool Unit model and AXIS Select Motor Cable, Torque Select
Control Unit model Transducer Cable, Resolver Cable accessories
MAS Station MAS Station
【see table 1】 【see table 2】 【see table 2】
AXIS Control Unit AXIS Control Unit
〈PLC〉 (ENRZ-AU50R-**) 〈PLC〉
(ENRZ-AU50R-2K)
Example 1）Rated torque 10Nm tool unit are needed Example 2）Rated torque 1500Nm tool unit are needed
15 16 15 16 Item Quantity Model Item Quantity Model
Tool Unit 1 ENRZ-TU001R-S Tool Unit 1 ENRZ-TU150R-S
Control Power Supply
Control Power Supply AC200V～230V ±10% AXIS Control Unit 1 ENRZ-AU50R-10 AXIS Control Unit 1 ENRZ-AU50R-2K
AC200V～230V ±10% 11 Single phase 50/60Hz
8 Torque Transducer Cable 1 ENRZ-CVTN2-050 Torque Transducer Cable 1 ENRZ-CVTN2-050
8 11
Single phase 50/60Hz
Motor Cable 1 ENRZ-CVMN2-050 Motor Cable 1 ENRZ-CVMN3-050
Main Power Supply Resolver Cable 1 ENRZ-CVRN-050 Resolver Cable 1 ENRZ-CVRN-050
Main Power Supply AC200V～230V ±10%
AC200V～230V ±10% Battery 1 ENRZ-BATT Battery 1 ENRZ-BATT
Three phase or Single phase
Three phase or Single phase 50/60Hz Control Connector 1 ENRZ-CNAU Control Connector 1 ENRZ-CNAU
50/60Hz ＊Depending on tool motor Management Software 1 ENRZ-PC50 Management Software 1 ENRZ-PC50
＊Depending on tool motor type
type Serial Communication Cable 1 ENRZ-CVSR-050 Serial Communication Cable 1 ENRZ-CVSR-050

1 2 3 1 3 Example 3）3 spindles of rated torque 10Nm tool unit are needed
Item Quantity Model Item Quantity Model
13 13 Tool Unit 3 ENRZ-TU001R-S Control Connector 3 ENRZ-CNAU
2 AXIS Control Unit 3 ENRZ-AU50R-10 Management Software 1 ENRZ-PC50
Torque Transducer Cable 3 ENRZ-CVTN2-050 Serial Communication Cable 1 ENRZ-CVSR-050
Motor Cable 3 ENRZ-CVMN2-050
5 6 7 5 7 Resolver Cable 3 ENRZ-CVRN-050
12 12 4 Battery 1 ENRZ-BATT
〈PC〉 〈PC〉
Management Software NET Cable 2 ENRZ-CVNK2A-010
Management Software
(ENRZ-PC50*) (ENRZ-PC50*) Termination Resistor 2 ENRZ-CVST3

14 14 Table 1 : Tool Unit/AXIS Control Unit combination

Tool Unit model Applicable Torque Range (Nm) Corresponding AXIS Control Unit Tool Unit model Applicable Torque Range (Nm) Corresponding AXIS Control Unit
ENRZ-TU0R5R-S 0.5～4.5 ENRZ-TU060R-S 60～540
Tool Unit Tool Unit ENRZ-AU50R-40
ENRZ-TU001R-※ 1～9 ENRZ-AU50R-10 ENRZ-TU080R-S 80～720
〈Serial Printer〉 (ENRZ-TU***R) 〈Serial Printer〉 (ENRZ-TU150R-S)
ENRZ-TU003R-※ 3～27 ENRZ-TU150R-S 150～1350 ENRZ-AU50R-2K
ENRZ-TU004Ｒ-S 4～36
ENRZ-TU008R-※ 8～72
AXIS Control Multi Spindle System（～ENRZ-TU080R-S） ENRZ-TU013R-※
ENRZ-TU020R-※
13～117
20～180
ENRZ-AU50R-20
※ is replaced with the symbol of S: Straight type, O: Offset type
　 Please see the system configuration of tool model ENRZ-TU150R-S on
PI/O ENRZ-TU040R-※ 40～360 　 page 21 - 22.

MAS Station LOC Station LOC Station

Table 2 : Cables and Accessories
AXIS Control Unit AXIS Control Unit AXIS Control Unit
〈PLC〉 (ENRZ-AU50R-**) (ENRZ-AU50R-**) (ENRZ-AU50R-**)
No. Item Length Model No. Item Length Model
15 16 5[m] ENRZ-CVTN2-050 3[m] ENRZ-CVRP-030
Max. 31 10[m] ENRZ-CVTN2-100 6[m] ENRZ-CVRP-060
Control Power Supply spindles 1 Torque Transducer Cable 7 Resolver Relay Cable
15[m] ENRZ-CVTN2-150 10[m] ENRZ-CVRP-100
AC200V～230V ±10%
8 11 11 11
Single phase 50/60Hz 20[m] ENRZ-CVTN2-200 15[m] ENRZ-CVRP-150
10 10 5[m] ENRZ-CVMN2-050
Main Power Supply 8 AXIS Control Unit Power Cable *2 3[m] ENRZ-CVDC2-030
9 9 10[m] ENRZ-CVMN2-100
AC200V～230V ±10% Motor Cable 0.2[m] ENRZ-CVNK2A-002
Three phase or Single phase 15[m] ENRZ-CVMN2-150 NET Cable
50/60Hz 9 1[m] ENRZ-CVNK2A-010
20[m] ENRZ-CVMN2-200 （AU50R⇔AU50R）
＊Depending on tool motor 2 2[m] ENRZ-CVNK2A-020
type 5[m] ENRZ-CVMN3-050
Resolver Cable 10 Termination Resistor *3 – ENRZ-CVST3
10[m] ENRZ-CVMN3-100
1 2 3 1 2 3 （For ENRZ-TU150R-S only） 11 Control Connector – ENRZ-CNAU
15[m] ENRZ-CVMN3-150
English/
20[m] ENRZ-CVMN3-200 12 Management Software ENRZ-PC50
13 Japanese
5[m] ENRZ-CVRN-050
1 2 3
10[m] ENRZ-CVRN-100 1.5[m] ENRZ-CVSR-015
3 Resolver Cable
15[m] ENRZ-CVRN-150 13 Serial Communication Cable 5[m] ENRZ-CVSR-050
5 6 7 5 6 7
20[m] ENRZ-CVRN-200 10[m] ENRZ-CVSR-100
12 Resolver Conversion Cable 3[m] ENRZ-CVSP-030
〈PC〉 4 1[m] ENRZ-CVREX-010
Management Software （For ENRZ-TU150R-S only）*1 14 Serial Printer Cable 5[m] ENRZ-CVSP-050
(ENRZ-PC50*) 3[m] ENRZ-CVTN-030 10[m] ENRZ-CVSP-100
6[m] ENRZ-CVTN-060 15 Check Connector Cable 3[m] ENRZ-CVCK-030
5 Torque Transducer Relay Cable
14 10[m] ENRZ-CVTN-100
15[m] ENRZ-CVTN-150 16 Battery *4 – ENRZ-BATT
3[m] ENRZ-CVMP-030 *1 Attachment of ENRZ-TU150R-S
6[m] ENRZ-CVMP-060 *2 Attachment of AXIS Control Unit
Tool Unit Tool Unit Tool Unit 6 Motor Relay Cable *3 One each for MAS Station and last unit of LOC Station required when
〈Serial Printer〉 10[m] ENRZ-CVMP-100 Multi Spindle System is configured.
(ENRZ-TU***R) (ENRZ-TU***R) (ENRZ-TU***R)
15[m] ENRZ-CVMP-150 *4 MAS Station needs 1 piece of battery

21 22
 Precautions
Fixtured Nutrunner System

Allowable load on the anvil Installation of Tool Unit Installation of Control Unit Caution for cabling
Load applied on the anvil (except fastening torque) is required 1）As this Nutrunner system has a mechanism for detecting the Always connect the protective ground terminal of the control
1） Wiring in a flexible tube or wiring on a cable conveyor is
1）
to design within the value below. torque reaction from the rotation torque of the output shaft unit and the protective ground terminal of the control panel to recommended for the Nutrunners moving parts. To prevent
to the unit body, please be aware that the tool unit body prevent electric shock. Use one-point class 3 grounding (100 Ω wire breaks, pay attention to the following points for routing
Unit: N (kgf)
should not have mechanical interference. or lower). of cable bundles.
Model Thrust/Radial load
ENRZ-TU0R5R-S 49（ 5 ）
Tool Unit mounting bracket
ENRZ-TU001R-S 98（10） Do not use the same power supply for control I/O control and
2） a）Especially in case of multiple axes, instead of bundling and
ENRZ-TU001R-O 98（10） electromagnetic contactors etc. This can cause erroneous bending, separate bundling and flat bundling should be used
ENRZ-TU003R-S 98（10） to avoid stress from cable weight and repeated flexing.
operation and system errors because of noise.
ENRZ-TU003R-O 98（10）
Stress from repeated flexing Nutrunner cable
ENRZ-TU004R-S 98（10）
ENRZ-TU008R-S 196（20） Leave a fee space of 100 mm or more above the top and
3） Stretching
ENRZ-TU008R-O 147（15） below the bottom of the control unit and do not inhibit air
ENRZ-TU013R-S 196（20） circulation.
ENRZ-TU013R-O 147（15）
ENRZ-TU020R-S 294（30） Contraction
Install a heat exchanger or a panel cooler for uniform
4）
ENRZ-TU020R-O 147（15）
ENRZ-TU040R-S 294（30） temperature in the control panel.
ENRZ-TU040R-O 147（15） As the cable weight acts even at non-moving places, take care
b）
ENRZ-TU060R-S 294（30） Under consideration of heat dissipation and maintainability that machine corners are not in direct contact with the cables.
5）
ENRZ-TU080R-S 294（30） be used to avoid stress from cable weight and repeated flexing.
it is recommended to install with a space of at least 10 mm
ENRZ-TU150R-S 588（60）
between units.
Thrust load and radial load is same. Cable bundle Cable weight

Installation of AXIS Control Unit

(For model type ENRZ-AU50R-10, ENRZ-AU50R-20, ENRZ-AU50R-40) Round rod welding

Radial load (P) position Thrust load direction

2）When the tool unit mounting bracket or the jig of the work 100mm or more
c）Take care that there is no flexing or excessive force at places
etc. moves because of the torque reaction force generated
L where cable bundles are clamped. The cable bending radius
at the time of fastening, this causes scatter of the fastening should be 100 mm or more.
accuracy. When the center deviation is large, an excessive
force acts onto the shaft, and this can cause shaft 50mm 10mm 10mm 50mm
TOOL TOOL or more or more or more or more
UNIT UNIT breakage, special care is required in regard to insufficient The bending radius shall be 100 mm or more.
strength of the mounting bracket etc. and in regard to
L/2 center deviation.
Large cable weight Small cable weight

P
3）When the pitch between shafts is small in case of a multishaft
installation, take care to prevent interference between tool 100mm or more

units. (Normal torque measuring is not possible.) Protective tube

4）When dry bushings etc. are used for bearings downstream The wiring method for transducer, encoder, and motor
2）
from the Nutrunner output shaft, torque is lost by the dry
cables should be so that no forces act onto the connector
bushing and it is to be feared that there will be a difference
part.
between the Nutrunner display value and the actual
fastening torque. Use of dry bushings should be avoided as When Nutrunner cables are laid within the same flexible
3）
much as possible. conduit (in case of multiple units etc.), the distance should
be kept as short as possible and laying in the same flexible

5）When the shaft pitch is narrow because of the use of multiple conduit with power cables should be avoided.
spindles and gears etc. inserted after the Nutrunner output
Basically it is recommended to wire transducer and encoder
4）
shaft to correspond with the narrow space between shafts,
cables separate from motor cables. (Distance between
the Nutrunner display value and the actual fastening torque
cables: 30 cm or more)
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.
23 24
 Fastening Machine Example
Fixtured Nutrunner System

Fastening Machine for Engine Assembly Fastening Machine for Transmission Assembly

Cam Cap Assembly Machine Bearing Cap Press & Fastening Machine Oil Pan Fastening Machine with Automatic Bolt Feeder Side Cover Fastening Machine with Automatic Bolt Feeder

Conrod Assembly Machine Cylinder Head Assembly Machine Fastening Machine for Vehicle Body Assembly

Front Suspension Frame Re-tightening Machine Front Strut Assembly Machine

キリヌキ予定

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