Z50 series

AXIS Control Unit

AU50M

TRANSDUCERIZED
FIXTURED NUTRUNNER

ESTIC CORPORATION ● The colors of the products may slightly differ from those of the actual products, which is inevitable in printing.
● The specifications and designs of the products may be changed without prior notice.
www.estic.co.jp

Head Office & Osaka Sales Office 2-5-9 Hashibahigashino-cho, Moriguchi City, Osaka, 570-0031 Japan
International Department Phone: +81-6-6993-8855 Fax: +81-6-6993-8881
E-mail: [email protected]
[email protected]
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: [email protected]
Chubu Sales Office Honda Bldg., 2-28, Kouseidori-minami, Okazaki-city, Aichi, 444-0044 Japan
Phone: +81-564-66-0510 Fax: +81-564-66-0515
E-mail: [email protected]
Togo Office 1-2-16, Togodori, Moriguchi-shi, Osaka, 570-0041, Japan
Phone: +81-6-6993-8077 Fax: +81-6-6993-8887
SUBSIDIARIES
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: [email protected]
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: [email protected] This catalog uses vegetableoil ink.

ESTIC AMERICA, INC. 1895 Airport Exchange Blvd., Suite 220, Erlanger, Kentucky, 41018 U.S.A.
Phone: +1-859-746-8800 Fax: +1-859-746-8777 JQA-2805
E-mail: [email protected] SERVO SYSTEM The contents of the catalog are as of February, 2019.
 ELECTRIC FIXTURED NUTRUNNER
Fixtured Nutrunner System

High performance, high reliability Fixtured Nutrunner System

ESTIC's nutrunner system realizes the highest level of accuracy, motor responsiveness,
durability, and is suitable for various thread fastening operations which require traceability.

・Self-diagnosis function on each fastening

・Double structure torque monitoring
Torque is not only monitored by the torque sensor, but also by
current. Fastening operations are monitored, and crucial data,
such as torque, angle and time is recorded.
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 The innovative component

Durability
Extensibility for bolt and nut tightening process

Various networking options are Extremely high durability to

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

Monitoring functions Finest fastening

to keep watch over
fastening quality accuracy

Stable thread
Torque rate function monitors fastening State of the art servo motor and feedback
increase ratio of torque and angle. control by high speed process realize high
dynamic accuracy of 3σ/X ≦ 2%
By monitoring the increasing ratio of
(at Full Scale).
torque and angle, the system judges
abnormal fastenings, and realizes
Leak of torque typically seen on soft joints
certainty of fastening process.
can be minimized by using the Dynamic
Stall function and the Sequenced
Multi spindle fasetning machine fastening program.
1 2
 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 the 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-AU50M
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-AU50M
（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
Tool Unit
〈PC〉 〈Serial Printer〉
ENRZ-TU***R
ENRZ-TC***R
Management Software
ENRZ-PC50
Data Logger Software
ESW-DL
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.

AXIS Control Unit

〈Serial Printer〉 ENRZ-AU50M
PI/O
Tool Unit
ENRZ-TU***R
ENRZ-TC***R 〈PLC〉

Display Unit Serial Communication Max. of 31

ENRZ-DP50
（RS-232C) spindles

SYSTEM 2 FASTENING AND PRESS INTEGRATED SYSTEM 〈PC〉

Assembly machines are not limited to thread fastening but

Management Software
also allow for the integration of servo press machines that are ENRZ-PC50
controlled by the same Master Control Unit. This allows for a
combination of Nutrunner and Servo Press units working
together to create a flexible assembly system.
*Please inquire with our sales office for more details.

〈Serial Printer〉
Press Unit Press Control Unit Tool Unit
SPC/SPT SPU50C ENRZ-TU***R
ENRZ-TC***R

3 4
 Tool Unit
Tool Unit

Model
Durable, high speed, high accuracy
ENRZ-TU 001R-S
tool unit in a small form factor. Tool Unit Model
TU：Standard tools TC：High speed Light-weight tools
▶Highly accurate torque detection is realized by 8 strain gauge type torque transducer with
noise cancellation function. Rated Torque Tool Type
0R5： 5 N・m　 008： 80 N・m 060： 600 N・m
▶A wide torque range from 0.5Nm up to 3000Nm is covered. S：Straight type　ST：Straight Bent type
001：10 N・m　 013：130 N・m 080： 800 N・m O：Offset type　 OP：Offset Bent type
▶Suitable for various applications with Straight type, Offset type, Bent type, Angle head type. 002：20 N・m 020：200 N・m 120：1200 N・m
003：30 N・m 040： 400 N・m 150：1500 N・m
004： 40 N・m 050： 500 N・m 300：3000 N・m

Tool models

Straight type Offset type Bent type

Compact, 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
Resolver
Gear train

Servo motor Reducer Gear

Servo motor

Torque transducer

Reducer Gear Servo motor

Reducer Gear

Offset gear
Anvil
Torque transducer
Torque transducer
Anvil

Anvil Straight tool Offset tool

ENRZ-TU001R-S ENRZ-TU001R-O
ENRZ-TU003R-S ENRZ-TU003R-O
ENRZ-TU008R-S ENRZ-TU008R-O
ENRZ-TU013R-S ENRZ-TU013R-O
ENRZ-TU020R-S ENRZ-TU020R-O
ENRZ-TU040R-S
ENRZ-TU120R-S
* Max. tightening capacity of Bent type is 80%

Tool Unit Basic Specifications of Straight/Offset type.

Straight type ENRZ-TU0R5R-S ENRZ-TU001R-S ENRZ-TC002R-S ENRZ-TU003R-S ENRZ-TC004R-S ENRZ-TU004R-S ENRZ-TU008R-S ENRZ-TU013R-S ENRZ-TU020R-S ENRZ-TU040R-S ENRZ-TU050R-S ENRZ-TU060R-S ENRZ-TU080R-S ENRZ-TU120R-S ENRZ-TU150R-S ENRZ-TU300R-S
Model
Offset type ― ENRZ-TU001R-O ENRZ-TC002R-O ENRZ-TU003R-O ENRZ-TC004R-O ― ENRZ-TU008R-O ENRZ-TU013R-O ENRZ-TU020R-O ENRZ-TU040R-O ― ― ― ― ― ―
Rated Torque（Nm） 5 10 20 30 40 40 80 130 200 400 500 600 800 1200 1500 3000
Applicable Torque Range（Nm） 0.5-4.5 1-9 2-18 3-27 4-36 4-36 8-72 13-117 20-180 40-360 50-450 60-540 80-720 120-1080 150-1350 300-2700
Max. Speed（rpm） 3940 1714 1960 655 1120 2050 1000 700 407 207 405 158 116 117 60 39
Torque converter Strain gauge type torque transducer with amplifier built-in Strain gauge type torque transducer with amplifier built-in
Torque Display Resolution（Nm） 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1 0.1 0.1 0.1 0.1 1
Angle detector Resolver Resolver
Angle Display Resolution（deg） 0.1 0.1
Dynamic Torque Accuracy 3σ/X ≦ 2%
（FS） 3σ/X ≦ 2%
（FS）
Weight（Kg） 1.7 1.9(2.3) 1.8(2.2) 1.9(2.3) 1.8(2.2) 3.8 4.2(4.7) 4.2(5.2) 5.5(6.5) 6.3(9.3) 11.3 12 12 14.3 32.5 22.6
Corresponding Controller type ENRZ-AU50M-10 ENRZ-AU50M-20 ENRZ-AU50M-10 ENRZ-AU50M-20 ENRZ-AU50M-20 ENRZ-AU50M-5K2 ENRZ-AU50M-40 ENRZ-AU50M-5K2 ENRZ-AU50M-2K ENRZ-AU50M-5K2
* Weight in ( ) is for offset type.

5 6
 Tool Unit Dimensions Tool Unit

Straight type ENRZ-TU0R5R-S / ENRZ-TU001R-S / ENRZ-TU003R-S / ENRZ-TU050R-S / ENRZ-TU060R-S / ENRZ-TU080R-S / Offset type ENRZ-TU008R-O / ENRZ-TU013R-O / ENRZ-TU020R-O / ENRZ-TU040R-O
ENRZ-TU120R-S / ENRZ-TU150R-S / ENRZ-TC002R-S / ENRZ-TC004R-S
V
T
B A
C
F D 2-M
22 E

W
O Y

G
N

)L E
(P.C.D

G
F

X
D
B A
4-M

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
S
22

78
40
(P.C.D)L

45ﾟ

φ28g7
22
Q
G
P

19
R
□38 15 11
4-M5
D .42 54
C. 70 3
R1

2-M P.
6

28 204
ENRZ-TU003-STA
Straight type ENRZ-TU300R-S

88 632

78
21.8 43 5

78
110
.1

ø8
38
□

32
70
ø110g6
ø50h7
□ 114
129

ENRZ-TU003-STB ENRZ-TU003-STC
8
ø14

* Tool model is different depending on the direction of the transducer.

　Refer to CAD data (available at https://www.estic2.com/caddata/) for the details.
Offset type ENRZ-TU001R-O / ENRZ-TU003R-O / ENRZ-TC002R-O / ENRZ-TC004R-O Anvil dimensions
H
38
B A
T φJ
22 F
E
4-M

I
10
66

W
K
18

D
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-TC002R-S 281.5 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-TC002R-O 338.5 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-TC004R-S 281.5 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-TC004R-O 338.5 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-TU050R-S 460 55 80 7 15 30 ø55g7 14.5 ø32h7 ø6.3 □25.4 88 M12 112 ø110 ー ー ー ー ー ー ー ー ー ー ー
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-TU120R-S 543 55 80 7 15 30 ø60g7 14.5 ø39.72h7 ø6.3 □31.8 88 M12 102 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
* 2D/3D CAD data is available on the website (https://www.estic2.com/caddata/)
7 8
 Tool Unit Socket Assembly & Socket Adapter Tool Unit

Socket Assembly Socket Adapter

Model Applicable tool unit Adapter insertion angle Model Socket assembly slde - Socket slde
ENRZ-TU0R5R-S TNA1-AD01-01 □ 9.5ー□ 9.5
ENRZ-TU001R-S/O TNA1-AD05-01 □ 12.7ー□ 12.7
TNA1-SA02-30* ENRZ-TU003R-S/O □ 9.5 TNA1-AD05-02 □ 12.7ー□ 9.5
ENRZ-TC002R-S/O TNA1-AD20-01 □ 15.9ー□ 15.9
ENRZ-TC004R-S/O TNA1-AD20-02 □ 15.9ー□ 12.7
ENRZ-TU004R-S TNA1-AD20-03 □ 15.9ー□ 19
TNA1-SA05-35 □ 12.7
ENRZ-TU008R-S/O TNA1-AD40-01 □ 25.4ー□ 25.4
TNA1-SA20-45C ENRZ-TU013R-S/O □ 15.9 TNA1-AD40-02 □ 25.4ー□ 19
TNA1-SA20-45Z ENRZ-TU020R-S/O □ 15.9
TNA1-AD80-01 □ 31.8ー□ 31.8
ENRZ-TU040R-S/O
TNA1-AD80-02 □ 31.8ー□ 25.4
TNA1-SA40-70 ENRZ-TU050R-S □ 25.4
ENRZ-AD150-01 □ 38.1ー□ 38.1
ENRZ-TU060R-S
ENRZ-AD150-02 □ 38.1ー□ 25.4
ENRZ-TU080R-S
TNA1-SA80-80 □ 31.8
ENRZ-TU120R-S
ENRZ-SA150-120 ENRZ-TU150R-S □ 38.1
* Please consult with us when it is used for tightening above 36Nm.

How to mount a nutrunner Reference drawing for mounting a socket assembly (the arrows A to A)

TNA1-SA02-30 TNA1-SA05-35 TNA1-SA20-45C TNA1-SA20-45Z TNA1-SA40-70 TNA1-SA80-80

5, 10, 20, 30, 40Nm 40, 80Nm 130Nm 200Nm 400Nm 800, 1200Nm
For Straight tool For Straight tool For Straight tool For Straight tool For Straight tool For Straight tool (*1)

ENRZ-SA150-120

Mounting plate

10, 20, 30, 40Nm 80Nm 130Nm 200Nm 400Nm

For Offset tool For Offset tool For Offset tool For Offset tool For Offset tool

A A

1500Nm
Tool unit and socket assembly
For Straight tool
are secured with bolts from
the direction of view A-A.

500, 600Nm
(*1) Please design so as to have counterbore holes for the tool mounting bolts on the tool mounting plate.
In addition, please design not to interefere the tool mounting bolts and the socket assembly flange.
For Straight tool

9 10
 Tool Unit Socket Assembly & Socket Adapter Tool Unit

Socket Assembly external dimensions Socket Adapter external dimensions

h e h e

D
Socket Adapter
E
Mounting plate
Socket
Y X

Dowel (accessary) L
B
A

b
a

a
c f c f

b
d d
N

g g

O
TNA1-AD**-03 TNA1-AD**-02
ENRZ-AD***-02

h e

Grease nipple O-ring M

C J Needle bearing

（G） I X : Initial load at home position (N)

Y : Load at stroke end position (N)
Z : Spring rate (N/mm)

a
c f

H
）
.C.D
g

（P
6-F drill hole TNA1-AD**-01
2-R
2-R

4-S drill hole ENRZ-AD***-01

2-F drill hole 2-F drill hole
Q

Q Q Table of dimensions for Socket Adapter

U

P
Unit : mm
H
（P.C.D）
(P.C.D)H

Model a b c d e f g h Weight (g)

S

P
P
V

□ 9.5 ― φ4 φ4
W

2-R TNA1-AD01-01 5.5 12 5.5 24 15

45° TNA1-AD05-01 □12.7 ― 8 17 φ5 8 34 φ5 37
2-F drill hole
W

H TNA1-AD05-02 □12.7 □ 9.5 8 12 φ4 5.5 29 φ5 26

W
P TNA1-AD20-01 □15.9 ― 9 20 φ6 9 40 φ6 66
TNA1-AD20-02 □15.9 □12.7 9 17 φ5 8 37 φ6 51
W
U TNA1-AD20-03 □15.9 □19 9 20 φ6.5 11 40 φ6 82
TNA1-SA05-35 TNA1-AD40-01 □25.4 ― 15 30 φ7.5 15 60 φ7.5 272
TNA1-SA20-45C TNA1-SA40-70 TNA1-AD40-02 □25.4 □19 15 20 φ6 11 50 φ7.5 186
TNA1-SA20-45Z TNA1-SA02-30 TNA1-SA80-80 ENRZ-SA150-120
TNA1-AD80-01 □31.8 ― 16.5 30 φ7.5 16.5 60 φ7.5 434
TNA1-AD80-02 □31.8 □25.4 16.5 30 φ7.5 15 60 φ7.5 354
ENRZ-AD150-01 □38.1 ― 19 39 φ9 19 78 φ9 833
ENRZ-AD150-02 □38.1 □25.4 19 30 φ7.5 15 69 φ9 555

Table of dimensions for Socket Assembly

Unit : mm
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 Dowel (accessary) O-ring Weight (kg)
TNA1-SA02-30 □ 9.5 30 3 155 153 φ 6.5 (12) 45 109 8 φ 30 5.5 φ4 φ28g7 φ18g7 55 R15 R 5 ― ― ― ― 19.5 13.5 23.2 0.323 φ3x16 P16 0.5
TNA1-SA05-35 □12.7 35 3 182 179 φ 7 (12) 43 136 10 φ 40 8 φ4.5 φ40g7 φ25g7 55 R21 R 6 13 7 21 21.5 25 14.2 25.5 0.323 φ4x20 P22 1.0
TNA1-SA20-45C □15.9 45 3 212 209 φ 9 (12) 50 153 12 φ 48 9 φ6 φ46g7 φ32g7 65 R24 R 7.5 16 8.5 22.5 22.5 29 18.1 34.5 0.362 φ5x25 P29 1.3
TNA1-SA20-45Z □15.9 45 3 212 209 φ 9 (12) 50 153 12 φ 48 9 φ6 φ46g7 φ32g7 65 R24 R 7.5 16 8.5 22.5 22.5 29 18.1 34.5 0.362 φ5x25 P29 1.3
TNA1-SA40-70 □25.4 70 3 309 300 φ11 (16) 84 219 15 φ 62 15 φ7.5 φ60g7 φ45g7 100 R31 R 8 ― ― ― ― 36 27.5 43.6 0.225 φ6x40 P42 3.6
TNA1-SA80-80 □31.8 80 5 340 331 φ14 (16) 108 230 16 φ 76 16.5 φ7.5 φ80g7 φ55g7 128 R42 R 10 ― ― ― ― 43 47 77.4 0.362 φ6x50 P52 9.6
ENRZ-SA150-120 □38.1 120 6 454 449 φ18 (25) 200 294 20 φ105 19 φ9 φ110g7 φ70g7 230 R65 R115 φ25 ― 130 ― 57 39.2 74.1 0.291 φ6x60 P63 16.5
* 2D/3D CAD data is available on the website (https://www.estic2.com/caddata/)
11 12
 Tool Unit 7 fastening strategies Tool Unit

6 Yield Angle Control Torque

Upper Torque Limit
Yield Point

Fastening strategies This fastening method brings out the tension

(clamping force) of a bolt to its greatest extent. The OK Zone
Lower Torque Limit
yield point is obtained from the torque increase rate
1 Torque Control Torque Upper Torque Limit (torque rate), fastening is performed for the set angle
from this point and fastening is completed in a stable
Target Torque Rate
Target Torque Snug Torque
This fastening method is commonly used. plastic region initial state.
OK Zone
Lower Torque Limit Sampling of the angle data is started from the point
Fastening is stopped when a predefined target Angle Start
at which the ANG start torque is detected. When the Torque
torque has been reached. Judgment is made if snug torque is detected, fastening is performed while Target Torque Rate
Filter Angle
the peak torque is within range of the upper and calculating the torque rate. Additional fastening is
lower limit. If the fastening falls within the performed for the target angle from the point at
Lower Angle Limit Time
predefined range then an OK result is produced. which the target torque rate is detected, and then
or
If the fastening exceeds or falls short of the fastening is completed. Yield Angle Target Angle
Angle
When the lower limit angle is not reached at the
range then an NG judgment is made. With this completion of additional fastening after the detection Upper Angle Limit
system total judgment is performed by of the yield point, additional fastening is performed
measuring the upper and lower limit of fastening Lower Time Limit Time again until the lower limit angle has been reached.
Upper Time Limit
time, as well as upper and lower limit for torque.

2 Torque Control Angle Monitor Torque

Upper Torque Limit
Angle

Fastening is performed establishing an upper Target Torque

OK Zone 7 Yield Control Torque
Upper Torque Limit
Yield Point

and lower limit for torque, as well as creating an

Lower Torque Limit Basically, this method performs the same
upper and lower limit for angle. OK Zone
control as the yield angle method. In this case, Lower Torque Limit

when the lower limit angle is not reached at Target Torque Rate
Angle Start the completion of additional fastening after the Snug Torque
Torque
detection of the yield point, additional
Angle Start
fastening is not performed and the step Torque
Target Torque Rate
terminates due to fastening NG. Filter Angle
Lower Angle Limit Angle or Time

snug
Lower Time Limit Upper Angle Limit Lower Angle Limit Time
or
Upper Time Limit Yield Angle Target Angle Angle
Upper Angle Limit

3
Target Angle
Angle Control Torque Upper Torque Limit
OK Zone
With this fastening method, fastening is
performed from an angle measuring start torque
until an optionally set fastening target angle has
Lower Torque Limit
Fastening Theory
been reached. Fastening is then stopped, and With bolt fastening, a fastening force is generated between the parts by the application of a fastening torque. With T as the
judgment is made. If the angle and torque value Angle Start fastening torque and N as the fastening force (axial force) generated between the parts. The relationship is as shown below when
are within the range between the set upper and Torque
the part and the fastened object are within the elastic limit.
lower limit, then an OK or NG (for each value) is
produced.
Lower Angle Limit Angle or Time
T=KdN T=Torque (Nm) N=Axial Force (N) K=Torque Coefficient d=Nominal Bolt Diameter (m)
Lower Time Limit Upper Angle Limit
Upper Time Limit
K changes depending on the connection state
2 between the thread and bolt seat surface.
2 There is considerable scatter even for bolts
Large torque Large torque and tapping even when manufactured under
4
Target Angle 1
Torque or Angle Control Torque coefficient coefficient the same conditions.

Torque T

Torque T
Upper Torque Limit
1 As shown in the figure on the left, when
fastening to the target torque T with the
Basically, this control method is similar to the Target Torque Control point Small torque torque method, the axial force of the bolt
OK Zone torque Small torque
torque method angle monitor, but the stop coefficient coefficient shows the scatter N1 because of the
Lower Torque Limit
control condition for the target is effective for the difference in torque coefficient, even when the

Snag point torque

target torque and the target angle, and the torque is constant.
output axis is stopped when one of the target However, with the angle method fastening for
Angle Start the constant angle ø1 from the snug point, the
values has been reached. Torque scatter of the axial force becomes N2, which
is smaller than with the torque method. When
the fastening angle is made ø2 and fastening
5 Torque and Angle Control Lower Angle Limit Angle or Time
Angle Angle is performed within the elastic range of the
bolt, the scatter of the axial force becomes
Lower Time Limit Upper Angle Limit N3, which is still smaller. Accordingly, for
Axial force N

Axial force N
Unlike the torque or angle method, when both execution of fastening without loosening, it is
Upper Time Limit N1 N2
of the target torque and target angle is necessary to select the fastening method
detected,the output spindle is stopped and a according to the fastening conditions for the
N3 object to be fastened and the conditions at
judgement is made. When the upper limit the time of product design.
torque, upper limit angle or upper limit time is
exceeded during execution, the step
terminates due to fastening NG. Torque Control Angle Control

13 14
 AXIS CONTROL UNIT
AXIS Control Unit

This control unit was developed for a single spindle.

It accomplishes high accuracy, high quality fastening with simple configuration External Dimensions
Unit：mm
parameters. Monitor functions required for fastening come standard, and judgment
is determined by torque, angle, time, or torque rate. B
E ø5.2 100 A

5
Front Panel Wiring ø9.5

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
Torque Transducer Cable 1ST 2ND
・Display change
・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 ENRZ-AU50M-10 205 74 255 37 50 245
ENRZ-AU50M-20
NET Cable ENRZ-AU50M-40
205 87 255 41 50 245
This is used when multi spindle system is
ENRZ-AU50M-2K 205 117 274 41 50 245
configured
Charge lamp ENRZ-AU50M-5K2 208 117 298 62 80 288

RS-232C
This is used to communicate with General Specifications
Management Software and it is also
possible to connect with serial printer
Model ENRZ-AU50M-10 ENRZ-AU50M-20 ENRZ-AU50M-40 ENRZ-AU50M-2K ENRZ-AU50M-5K2
Motor cable * Motor type on tool unit 100W 200W 400W 2400W 5000W
* The connection port of Control power voltage Single phase　AC200～230V±10%　50/60Hz
ENRZ-AU50M-5K2 is I/O
a screw terminal block.
Main power voltage Single phase
Input 12 Output 22 Three phase　AC200～230V±10%　50/60Hz
AC200～230V±10% 50/60Hz
The sync (NPN, -Common) or
the source (PNP, +Common)
Operation environment Free from corrosive/explosive gasses, dust/metal dust or oil mist.

Ground Operating temperature 0～55˚C (No freezing）

Operating humidity 35～90%RH（No condensing）
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) * The sync (NPN, -Common) or the source (PNP, +Common)
Control Output Photo MOS output　22 points (DC24V, max. 50mA/point) * The sync (NPN, -Common) or the source (PNP, +Common)
Fastening Program 99 Programs
Various fastening strategies Speed boost function NET Port RS-485 x 2 ports (MAX. Connected Stations: 31 stations)
COM Port RS-232C x 1 port (Variable between: 9600bps – 115.2kbps)
Torque control, Angle control, Yield control and more are Free run speed of Resover tool (ENRZ-TU***R-*) is significantly improved. Recommended printer Serial Printer EPSON VP-700
available as standard functions. [140% faster than the conventonal series] Control Power Capacity 50VA
* Tool model ENRZ-TU150R-S Free run speed is unchanged from AU50R system.
Main Power Capacity
(At Rated Operation) 0.4KVA 1.2KVA 1.7KVA 3.8KVA 8.0KVA
Backward compatible Storage function
Dash Current when
applying Control power About 26 Ao-p　(Converging Time: About 5ms)
Previous tool models (ENRZ-TU***-*) and Encoder cable Fastening program: 99
(ENRZ-CVEN-***) are compatible with this controller. Fastening result: 5,115 records Dash Current when About 23 Ao-p About 6 Ao-p
System error: 50 records applying Main powe (Converging Time: About 200ms) (Converging Time: About 400ms)
Weight 2.5kg 3.2kg 3.4kg 3.5kg 5.6kg

15 16
 AXIS CONTROL UNIT 5 Special functions for fastening AXIS Control Unit
MASTER CONTROL UNIT Master Control Unit

The Master Control Unit is capable of controlling a maximum of 31 AXIS Control Units.
Pre Fastening Monitoring
Its advantages include 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 the monitor checks Serial communication with PLC or Fieldbus communication with PLC which reduces wiring,
whether the torque value is within range of the set monitor min, and monitor max torque. Section monitor checks whether the torque value is and Multiple Work Groups management,
within the range set with Monitor Max torque, and Monitor Min torque.
to 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. Connection with a serial REMOTE I/O (Option)
printer is also possible. 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
Self Tapping Lower Torque Limit
Parameters, Fastening Results. All necessary
Seat Torque PLC files to run the system are stored here. If the
Communicate with PLC by serial Master Control Unit fails, System Recovery
can be easily performed just by transferring
the card.

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 a judgment is made. This function is used to monitor the condition of a The sync (NPN, -Common) or
workpiece and the condition of fastening. the source (PNP, +Common)
A Back Rate Monitor function is also available. It works by calculating the torque rate after the completion of fastening, using the point
POWER
obtained by returning the set angle as a start point and checking whether the result is within the range between the set upper limit
AC100-230V
and lower limit.

4. Torque Rate Monitor 5. Back Rate Monitor ETHERNET PORT FIELDBUS DATA STORAGE
Fastening Complete
Torque Torque Ethernet Port comes standard. It connects to DeviceNet, Ethernet/IP, Profibus-DP, Profinet, Fastening Program: 99
Torque Rate Fastening Back Rate
LAN and allows for communication between CC-Link are available as options. Fastening result: 20,000 records
2 Filter Angle Complete Monitor Angle
1 PC and multiple Master Control Units. Torque curve: 50 records
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 AU50M AU50M AU50M
2 Monitor Angle

Torque Rate 2 Zone

MU50 MU50 MU50 MU50

Angle Angle
Torque Rate 1 Filter Angle

17 18
 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 Unit：mm
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 2Require

台 AU40 AU40 AU40 AU40
OK ALM NG
MU40A Fieldbus Option
2 Master
必要
Standard : N： Without Fieldbus
MODE SET MODE SET

STOP STOP
RESET RESET

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
255
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
AU50M AU50M AU50M AU50M Require 1 Master AU50M AU50M AU50M AU50M
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

19 20
 USER INTERFACE Fixtured Nutrunner System

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

The Z50 management software to be installed on a PC. Language: Japanese, English HMI unit for Master Control Unit ENRZ-DP50E: Ethernet connection
Compatible OS: Windows10, Windows8/8.1, Windows7 SP1, WindowsVista Sp1.2 32bit, WindowsXP SP3 32bit 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: ESW-DL

Software to gather and store fastening results for quality analysis
Fastening Detailed Setting Logic Program

System Configuration Fastening Result Logging

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

ENRZ-AU50M ENRZ-AU50M ENRZ-MU50

Search & View function
Search and view function helps users find the
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 Handy2000

Cordless Lite Touch Data Logger

Stored data can be output by CSV format daily at

Torque & Angle Monitor preset time.

I/O Assign

21 22
 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-AU50M-10
ENRZ-TU001R-* 1-9 DeviceNet Profibus-DP CC-Link EtherNet/IP Profinet EX-I/O REMOTE I/O
16 ENRZ-TC002R-* 2-18 ENRZ-AU50M-20 ENRZ-MU50-NNN
ENRZ-TU003R-* 3-27 ENRZ-AU50M-10 ENRZ-MU50-NEN ●
13 ENRZ-TC004R-* 4-36 ENRZ-AU50M-20 ENRZ-MU50-NER ● ●
USB Cable
AXIS Control Unit AXIS Control Unit ENRZ-TU004R-S 4-36 ENRZ-MU50-DNN ●
(ENRZ-AU50M-**) (ENRZ-AU50M-**)
〈PC〉 ENRZ-TU008R-* 8-72 ENRZ-MU50-DEN ● ●
Management Software 12 ENRZ-TU013R-* 13-117 ENRZ-AU50M-20 ENRZ-MU50-DER ● ● ●
（ENRZ-PC50） Master Control Unit 15
(ENRZ-MU50-***) ENRZ-TU020R-* 20-180 ENRZ-MU50-PNN ●
7 7 ENRZ-TU040R-* 40-360 ENRZ-MU50-PEN ● ●

14 9 ENRZ-TU050R-S 50-450 ENRZ-AU50M-5K2 ENRZ-MU50-PER ● ● ●

10 11
ENRZ-TU060R-S 60-540 ENRZ-MU50-CNN ●
ENRZ-AU50M-40
ENRZ-TU080R-S 80-720 ENRZ-MU50-CEN ● ●
20 ENRZ-TU120R-S 120-1080 ENRZ-AU50M-5K2 ENRZ-MU50-CER ● ● ●
〈Serial Printer〉 ENRZ-TU150R-S 150-1350 ENRZ-AU50M-2K ENRZ-MU50-ENN ●
18
ENRZ-TU300R-S 300-2700 ENRZ-AU50M-5K2 ENRZ-MU50-EEN ● ●
17
1 2 3 * is replaced with the symbol of S: Straight type, O: Offset type ENRZ-MU50-EER ● ● ●
8 Please see the system configuration of tool model ENRZ-TU050R-S, ENRZ-MU50-TNN ●
19 Max. of 31 TU120R-S, TU150R-S, TU300R-S on page 25 - 26.
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 Specification Model No. Item Specification 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 （AU50M⇔AU50M）
15[m] ENRZ-CVTN2-150 2[m] ENRZ-CVNK2A-020
PI/O 20[m] ENRZ-CVTN2-200 0.3[m] ENRZ-CVNK3M-003

Tool Unit Tool Unit 5[m] ENRZ-CVMN2-050 NET Cable 1[m] ENRZ-CVNK3M-010
〈PLC〉 10
（ ENRZ-TU***R-*
ENRZ-TC***R-* ） （ ENRZ-TU***R-*
ENRZ-TC***R-* ） 2 Motor Cable
10[m]
15[m]
ENRZ-CVMN2-100
ENRZ-CVMN2-150
（MU50⇔AU50M） 3[m]
10[m]
ENRZ-CVNK3M-030
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）This the example when 2 spindles of 10Nm rated torque model are connected by Profibus 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-AU50M-10 ２ 6[m] ENRZ-CVRP-060
10[m] ENRZ-CVDP2-100
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
– ENRZ-CN36-EX
19 EX Connector
Resolver Cable ENRZ-CVRN-050 ２
20 Remote I/O Connector – EH2-FCN04-RM
NET Cable ENRZ-CVNK3M-010 １ 7 AXIS Control Unit Power Cable *1 3[m] ENRZ-CVDC2-030
NET Cable ENRZ-CVNK2A-010 １ 8 Master Control Unit Power Cable *2 3[m] ENRZ-CVDC3-030 *1 Included with AXIS Control Unit
Termination Resistor ENRZ-CVST3 １ *2 Included with 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
23 24
 How to select the system : AXIS Control System Fixtured Nutrunner System

AXIS Control System（Except for ENRZ-TU150R-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-AU50M-**) 〈PLC〉
(ENRZ-AU50M-2K)
Example 1）Required for 10Nm-rated torque tool unit Example 3）Required for 3, 10Nm-rated torque spindle tool units
15 16 15 16 Item Model Quantity Item Model Quantity
Tool Unit ENRZ-TU001R-S 1 Tool Unit ENRZ-TU001R-S 3
Control Power Supply
Control Power Supply AXIS Control Unit ENRZ-AU50M-10 1 AXIS Control Unit ENRZ-AU50M-10 3
AC200V～230V ±10%
AC200V～230V ±10% 11 Single phase 50/60Hz
8 Torque Transducer Cable ENRZ-CVTN2-050 1 Torque Transducer Cable ENRZ-CVTN2-050 3
8 11 Motor Cable ENRZ-CVMN2-050 1 Motor Cable ENRZ-CVMN2-050 3
Single phase 50/60Hz
Main Power Supply
Resolver Cable ENRZ-CVRN-050 1 Resolver Cable ENRZ-CVRN-050 3
Main Power Supply AC200V～230V ±10%
Battery ENRZ-BATT 1 Battery ENRZ-BATT 1
AC200V～230V ±10% Three phase 50/60Hz Control Connector ENRZ-CNAU 1 NET Cable ENRZ-CVNK2A-010 2
Three phase or Single phase Management Software ENRZ-PC50 1 Termination Resistor ENRZ-CVST3 2
50/60Hz
Serial Communication Cable ENRZ-CVSR-050 1 Control Connector ENRZ-CNAU 3
＊Depending on tool motor
type Management Software ENRZ-PC50 1
Example 2）Required for 1500Nm-rated torque tool unit Serial Communication Cable ENRZ-CVSR-050 1
1 2 3 1 3 Item Model Quantity
Tool Unit ENRZ-TU150R-S 1
13 AXIS Control Unit ENRZ-AU50M-2K 1
13
Torque Transducer Cable ENRZ-CVTN2-050 1
2
Motor Cable ENRZ-CVMN3-050 1
Resolver Cable ENRZ-CVRN-050 1
Battery ENRZ-BATT 1
5 6 7 5 7
12 12 Control Connector ENRZ-CNAU 1
4
Management Software ENRZ-PC50 1
〈PC〉 〈PC〉
Management Software
Serial Communication Cable ENRZ-CVSR-050 1
Management Software
(ENRZ-PC50) (ENRZ-PC50)

Table 1 : Tool Unit/AXIS Control Unit combination

14 14
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-TU013R-* 13-117
ENRZ-AU50M-10
ENRZ-TU001R-* 1-9 ENRZ-TU020R-* 20-180 ENRZ-AU50M-20
Tool Unit Tool Unit ENRZ-TC002R-* 2-18 ENRZ-AU50M-20 ENRZ-TU040R-* 40-360

（ ）
〈Serial Printer〉 ENRZ-TU***R-* 〈Serial Printer〉 (ENRZ-TU150R-S) ENRZ-TU003R-* 3-27 ENRZ-TU050R-S 50-450 ENRZ-AU50M-5K2
ENRZ-AU50M-10
ENRZ-TC***R-* ENRZ-TC004R-* 4-36 ENRZ-TU060R-S 60-540
ENRZ-AU50M-40
ENRZ-TU004R-S 4-36 ENRZ-TU080R-S 80-720
ENRZ-AU50M-20
ENRZ-TU008R-* 8-72 ENRZ-TU120R-S 120-1080 ENRZ-AU50M-5K2
ENRZ-TU150R-S 150-1350 ENRZ-AU50M-2K
AXIS Control Multi Spindle System（Except for ENRZ-TU150R-S） ENRZ-TU300R-S 300-2700 ENRZ-AU50M-5K2
PI/O * is replaced with the symbol of S: Straight type, O: Offset type

MAS Station LOC Station LOC Station Table 2 : Cables and Accessories
AXIS Control Unit AXIS Control Unit AXIS Control Unit
〈PLC〉 (ENRZ-AU50M-**) (ENRZ-AU50M-**) (ENRZ-AU50M-**) No. Item Specification Model No. Item Specification Model
5[m] ENRZ-CVTN2-050 3[m] ENRZ-CVRP-030
15 16 10[m] ENRZ-CVTN2-100 6[m] ENRZ-CVRP-060
1 Torque Transducer Cable 7 Resolver Relay Cable
Max. 31 15[m] ENRZ-CVTN2-150 10[m] ENRZ-CVRP-100
Control Power Supply spindles 20[m] ENRZ-CVTN2-200 15[m] ENRZ-CVRP-150
AC200V～230V ±10% 11 11 11 5[m] ENRZ-CVMN2-050
8 8 AXIS Control Unit Power Cable *2 3[m] ENRZ-CVDC2-030
Single phase 50/60Hz 10[m] ENRZ-CVMN2-100
Motor Cable 0.2[m] ENRZ-CVNK2A-002
10 10 15[m] ENRZ-CVMN2-150 NET Cable
9 1[m] ENRZ-CVNK2A-010
Main Power Supply 20[m] ENRZ-CVMN2-200 （AU50M⇔AU50M）
9 9 2[m] ENRZ-CVNK2A-020
AC200V～230V ±10% 5[m] ENRZ-CVMN3-050
Three phase or Single phase 10 Termination Resistor *3 – ENRZ-CVST3
2 Motor Cable 10[m] ENRZ-CVMN3-100
50/60Hz （For ENRZ-TU150R-S only） 11 Control Connector – ENRZ-CNAU
＊Depending on tool motor
15[m] ENRZ-CVMN3-150
20[m] ENRZ-CVMN3-200 12 Management Software English/
type Japanese ENRZ-PC50
Motor Cable 5[m] ENRZ-CVMN7-050
1 2 3 1 2 3 (For ENRZ-TU050R-S, 10[m] ENRZ-CVMN7-100 1.5[m] ENRZ-CVSR-015
ENRZ-TU120R-S, 15[m] ENRZ-CVMN7-150 13 Serial Communication Cable 5[m] ENRZ-CVSR-050
ENRZ-TU300R-S) 20[m] ENRZ-CVMN7-200 10[m] ENRZ-CVSR-100
13
5[m] ENRZ-CVRN-050 3[m] ENRZ-CVSP-030
1 2 3 10[m] ENRZ-CVRN-100 14 Serial Printer Cable 5[m] ENRZ-CVSP-050
3 Resolver Cable
15[m] ENRZ-CVRN-150 10[m] ENRZ-CVSP-100
5 6 7 5 6 7 20[m] ENRZ-CVRN-200 15 Check Connector Cable 3[m] ENRZ-CVCK-030
4 Resolver Conversion Cable
（For ENRZ-TU150R-S only）*1 1[m] ENRZ-CVREX-010 16 Battery *4 – ENRZ-BATT
12
〈PC〉
Management Software
3[m] ENRZ-CVTN-030 *1 Included with ENRZ-TU150R-S
(ENRZ-PC50) 6[m] ENRZ-CVTN-060 *2 Included with AXIS Control Unit
5 Torque Transducer Relay Cable
10[m] ENRZ-CVTN-100 *3 One each for MAS Station and last unit of LOC Station required when
15[m] ENRZ-CVTN-150 Multi Spindle System is configured.
14 3[m] ENRZ-CVMP-030 *4 MAS Station needs 1 piece of battery
6[m] ENRZ-CVMP-060
Motor Relay Cable
10[m] ENRZ-CVMP-100
15[m] ENRZ-CVMP-150
6
Motor Relay Cable 3[m] ENRZ-CVMP7-030
Tool Unit Tool Unit Tool Unit

（ ） （ ） （ ）
〈Serial Printer〉 (For ENRZ-TU050R-S, 6[m] ENRZ-CVMP7-060
ENRZ-TU***R-* ENRZ-TU***R-* ENRZ-TU***R-*
ENRZ-TU120R-S, 10[m] ENRZ-CVMP7-100
ENRZ-TC***R-* ENRZ-TC***R-* ENRZ-TC***R-* ENRZ-TU300R-S) 26
15[m] ENRZ-CVMP7-150
25
 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 （5）
49
Tool Unit mounting bracket
ENRZ-TU001R-S （10）
98 Do not use the same power supply for control I/O control and
2） a）Especially in the case of multiple axes, instead of bundling
ENRZ-TU001R-O （10）
98 electromagnetic contactors etc. This can cause erroneous and bending, separate bundling and flat bundling should be
ENRZ-TC002R-S （10）
98 used to avoid stress from cable weight and repeated flexing.
operation and system errors because of noise.
ENRZ-TC002R-O （10）
98
Stress from repeated flexing Nutrunner cable
ENRZ-TU003R-S （10）
98
ENRZ-TU003R-O （10）
98 Leave a free space of 100 mm or more above the top and
3） Stretching
ENRZ-TC004R-S （10）
98 underneath the control unit and do not inhibit air circulation.
ENRZ-TC004R-O （10）
98
ENRZ-TU004R-S （10）
98
Install a heat exchanger or a panel cooler for uniform
4）
ENRZ-TU008R-S （20）
196 Contraction
temperature in the control panel.
ENRZ-TU008R-O （15）
147
ENRZ-TU013R-S （20）
196
ENRZ-TU013R-O （15）
147 For proper heat dissipation, it is recommended to install
5） As the cable weight acts even in non-moving places, ensure
b）
ENRZ-TU020R-S （30）
294 units with a space of at least 10 mm between units. that machine corners are not in direct contact with the cables.
ENRZ-TU020R-O （15）
147 The following solutions can be used to avoid stress from cable
ENRZ-TU040R-S （30）
294 weight and repeated flexing.
ENRZ-TU040R-O （15）
147 Installation of AXIS Control Unit
ENRZ-TU050R-S （30）
294 (ENRZ-AU50M-10, ENRZ-AU50M-20, ENRZ-AU50M-40)
Cable bundle Cable weight
ENRZ-TU060R-S （30）
294
ENRZ-TU080R-S （30）
294
ENRZ-TU120R-S （30）
294 100mm or more
ENRZ-TU150R-S （60）
588 Round rod welding
ENRZ-TU300R-S （60）
588
2）When the tool unit mounting bracket or the work jig etc.,
Thrust load and radial load is same.
moves because of the torque reaction force generated at
50mm 10mm 10mm 50mm c）Ensure that there is no flexing or excessive force in places
the time of fastening, this causes scatter of the fastening or more or more or more or more where cable bundles are clamped. The cable bending radius
accuracy. When the center deviation is large, an excessive should be 100 mm or more.
force acts onto the shaft, and this can cause shaft breakage.
Radial load (P) position Thrust load direction
Special care is required in regard to insufficient strength of
the mounting bracket etc., and in regard to center deviation. The bending radius shall be 100 mm or more.
L
100mm or more
3）When the pitch between shafts is small, such as in a Large cable weight Small cable weight
multishaft installation, take care to prevent interference
TOOL TOOL between tool units. (Normal torque measuring is not possible.)
UNIT UNIT
（ENRZ-AU50M-2K）
Protective tubing
4）When dry bushings, etc., are used for bearings downstream
L/2
from the Nutrunner output shaft, torque is lost because of
100mm or more
P the dry bushing and it is to be feared that there will be a The wiring method for transducer, encoder, and motor
2）
difference between the Nutrunner display value and the cables should make it so that no forces act onto the
actual fastening torque may differ. Use of dry bushings connector part.
should be avoided as much as possible. 50mm 10mm 10mm 50mm When Nutrunner cables are laid within the same flexible
3）
or more or more or more or more
conduit (in case of multiple units etc.), the distance should
5）When the shaft pitch is narrow because of the use of
be kept as short as possible and laying in the same flexible
multiple spindles, gears, etc., inserted after the Nutrunner
conduit with power cables should be avoided.
output shaft to correspond with the narrow space between
shafts, the Nutrunner display value and the actual fastening Basically, it is recommended to wire transducer and encoder
4）
torque may differ because of the influence on gear 100mm or more cables separately from motor cables. (Distance between
efficiency, pulsations, etc., Use of constant speed joints is cables: 30 cm or more)
recommended when the shaft pitch is to be reduced.

27 28
 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

29 30