Z50 series
AXIS Control Unit

AU50M

TRANSDUCERIZEDFIXTURED NUTRUNNER

ESTIC CORPORATION
www.estic.co.jp

Head Office &Osaka Sales Office

1-2-16, Togodori, Moriguchi-shi, Osaka, 570-0041, Japan
Phone: +81-6-6993-8855 Fax: +81-6-6993-8875
E-mail: 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

Honda Bldg., 2-28, Kouseidori-minami, Okazaki-city, Aichi, 444-0044 Japan
Phone: +81-564-66-0510 Fax: +81-564-66-0515
E-mail: chubu_office@estic.co.jp

Hashiba Plant

2-5-9 Hashibahigashino-cho, Moriguchi City, Osaka, 570-0031 Japan
Phone: +81-6-6993-8834 Fax: +81-6-6993-8881

Togo Plant

1-2-16, Togodori, Moriguchi-shi, Osaka, 570-0041, Japan
Phone: +81-6-6993-8077 Fax: +81-6-6993-8887

SUBSIDIARIESSHANGHAI 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 (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

ESTIC AMERICA, INC.
Head OfficeNovi Technical Center

1895 Airport Exchange Blvd., Suite 220, Erlanger, Kentucky, 41018 U.S.A.
Phone: +1-859-746-8800 Fax: +1-859-746-8777
E-mail: support@estic-america.com
25901 Meadowbrook Rd. Novi, Michigan, 48375, U.S.A.
Phone: +1-248-719-7622● 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.

This catalog uses vegetableoil ink.

JQA-2805

The contents of the catalog are as of April, 2022.

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.
Management Software, and Touch Screens areavailable for easy setup and operation. Userfriendly software allows operators to program
various parameters such as fastening programs,
as well as collect fastening results and torquecurve data.

High
Reliability

Fastening results with VIN information
produced and repor ted by Fastening
systems, calibrated with the national
standard traceable method
Fastening result data and torque curve data are
available and stored for traceability and analysis
purposes.

Easy operation

Networking
Extensibility

Traceability

The innovative component
for bolt and nut tightening process

Various networking options areavailable such as Ethernet, and Fieldbus

Extremely high durability tomaximize the operation time

Possible to communicate with PLC, Factory
automation syste m by complying withvarious types of communication protocols.

Equipped with high durability
reducer gear and resolver.

Monitoring functions
to keep watch overfastening quality

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 machine1

Durability

Finest fastening
accuracy
Stable thread
fastening

State of the art servo motor and feedback
control by high speed process realize highdynamic accuracy of 3σ/X ≦ 2%
(at Full Scale).

Leak of torque typically seen on soft joints
can be minimized by using the Dynamic
Stall function and the Sequenced
fastening program.

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 forflexible system building and I/O connection with PLC, allowing an external device to control the fastening
sequence and data handling.

SYSTEM 1

MASTER CONTROL SYSTEMSYSTEM 3

Nutrunner systems utilize digital communication protocols such as Ethernet and Fieldbus as well various user supported functions

AXIS CONTROL SYSTEM

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）〈PC〉

AXIS Control Unit
ENRZ-AU50M

Serial Communication（RS-232C/RS-422）

Management Software
ENRZ-PC50

PI/O

〈PLC〉

Max. of 31
spindles

USB Flash Drive or USB Cable
Serial Communication（RS-232C)

Master Control Unit
ENRZ-MU50

Tool Unit
ENRZ-TU***R
ENRZ-TC***R〈Serial Printer〉〈PC〉
Management Software
ENRZ-PC50
Data Logger Software
ESW-DLSYSTEM 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〉

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

Display Unit
ENRZ-DP50

SYSTEM 2

AXIS Control Unit
ENRZ-AU50M

Serial Communication

Max. of 31
spindles（RS-232C)

FASTENING AND PRESS INTEGRATED SYSTEM〈PC〉

Assembly machines are not limited to thread fastening but

Management Software
ENRZ-PC50

also allow for the integration of servo press machines that arecontrolled 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.

Press Unit
SPC/SPT

3

Press Control Unit
SPU50C〈Serial Printer〉

Tool Unit
ENRZ-TU***R
ENRZ-TC***R

4

Tool Unit

Tool Unit

Model

Durable, high speed, high accuracy
tool unit in a small form factor.

ENRZ-TU 001R-S
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 withnoise cancellation function.

Rated Torque
0R5： 5 N・m
001：10 N・m
002： 20 N・m
003： 30 N・m
004： 40 N・m▶A wide torque range from 0.5Nm up to 3000Nm is covered.
▶Suitable for various applications with Straight type, Offset type, Bent type, Angle head type.

Tool Type008： 80 N・m
013： 130 N・m
020： 200 N・m
040： 400 N・m
050： 500 N・m

060： 600 N・m
080： 800 N・m
120：1200 N・m
150：1500 N・m
300：3000 N・m

S：Straight type ST：Straight Bent type
O：Offset type
OP：Offset Bent type*A flange type is also available for the 3000N･m tool. Please check the website (https://www.estic-global.com) for details.

Tool models
Straight type

Offset type

Bent typeCompact, 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.
ResolverResolverGear train

Reducer Gear
Servo motor
Servo motor

Torque transducer
Servo motor
Reducer Gear

Reducer Gear

Anvil

Offset gear
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%
of Straight/Offset type.

Tool Unit Basic Specifications
Straight type

ENRZ-TU0R5R-S

ENRZ-TU001R-S

ENRZ-TC002R-S

ENRZ-TU003R-S

ENRZ-TC004R-S

ENRZ-TU004R-S

Offset type―

ENRZ-TU001R-O

ENRZ-TC002R-O

ENRZ-TU003R-O

ENRZ-TC004R-O―

Rated Torque（Nm）

5

10

20

30

40

40

Model

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
―

―

―

―

―

―

80

130

200

400

500

600

800

1200

1500

3000

ENRZ-TU008R-O ENRZ-TU013R-O ENRZ-TU020R-O ENRZ-TU040R-O

Applicable Torque Range（Nm）

0.5-4.5

1-9

2-18

3-27

4-36

4-36

8-72

13-117

20-18040-36050-45060-54080-720120-1080

150-1350

300-2700

Max. Speed（rpm）

3940

1714

1960

655

1120

2050

1000

700

407

207

405

158

116

117

60

39

0.1

0.1

1

14.3

32.5

22.6

Strain gauge type torque transducer with amplifier built-in

Torque converter
Torque Display Resolution（Nm）

0.01

0.01

0.01

0.01

Strain gauge type torque transducer with amplifier built-in
0.01

0.01

0.01

0.01

0.1

0.1

0.1

ResolverAngle detector

0.1

Angle Display Resolution（deg）

0.1

0.1

Dynamic Torque Accuracy

3σ/X ≦ 2%（FS）

3σ/X ≦ 2%（FS）

Weight（Kg）
Corresponding Controller type1.7

1.9(2.3)
ENRZ-AU50M-10

0.1

Resolver1.8(2.2)

1.9(2.3)

ENRZ-AU50M-20

ENRZ-AU50M-10

3.8

1.8(2.2)
ENRZ-AU50M-20

4.2(4.7)

4.2(5.2)

5.5(6.5)

ENRZ-AU50M-20

6.3(9.3)

11.3
ENRZ-AU50M-5K2

12

12

ENRZ-AU50M-40

ENRZ-AU50M-5K2 ENRZ-AU50M-2K ENRZ-AU50M-5K2* Weight in ( ) is for offset type.

5

6

Tool Unit Dimensions

Straight type

Tool Unit

Offset type

ENRZ-TU0R5R-S / ENRZ-TU001R-S / ENRZ-TU003R-S / ENRZ-TU050R-S / ENRZ-TU060R-S / ENRZ-TU080R-S /ENRZ-TU120R-S / ENRZ-TU150R-S / ENRZ-TC002R-S / ENRZ-TC004R-S
B
F

V
T

A
D
E

2-M
Y

N

G

U

O

W

Z

C
22

ENRZ-TU008R-O / ENRZ-TU013R-O / ENRZ-TU020R-O / ENRZ-TU040R-O

X

G

F
B

4-M

19

φ28g7

40
19

Q

45ﾟ

R1
6

P.

□38

4-M5

28

70

ENRZ-TU003R-STB

ENRZ-TU003R-STC* Tool model is different depending on the direction of the transducer.
Refer to CAD data (https://www.estic-global.com/member/login) for the details.

Anvil dimensions

ENRZ-TU001R-O / ENRZ-TU003R-O / ENRZ-TC002R-O / ENRZ-TC004R-O

204

78

78
110

ø110g6
ø50h7

□ 114
129

32

.1
38
□

8

ø14

54

3

70

632

5

43

21.8
ø8

11

15

ENRZ-TU003R-STA

ENRZ-TU300R-S

H

38
T
22

B
F

A

φJ

E

K

G

18

W

10

I

4-M
66

9

22

.42

D
C.

88

Offset type

51

E

G

P

R
2-M

Straight type

D

A

S

(P.C.D)L

B
F

A

Bent type

ENRZ-TU004R-S / ENRZ-TU008R-S / ENRZ-TU013R-S / ENRZ-TU020R-S / ENRZ-TU040R-S

22

Straight type

E
D

78

)L

(P.C.DX

D90ﾟ

Dimension chart
Tool Model
ENRZ-TU0R5R-S
ENRZ-TU001R-S
ENRZ-TU001R-O
ENRZ-TC002R-S
ENRZ-TC002R-O
ENRZ-TU003R-S
ENRZ-TU003R-O
ENRZ-TC004R-S
ENRZ-TC004R-O
ENRZ-TU004R-S
ENRZ-TU008R-S
ENRZ-TU008R-O
ENRZ-TU013R-S
ENRZ-TU013R-O
ENRZ-TU020R-S
ENRZ-TU020R-O
ENRZ-TU040R-S
ENRZ-TU040R-O
ENRZ-TU050R-S
ENRZ-TU060R-S
ENRZ-TU080R-S
ENRZ-TU120R-S
ENRZ-TU150R-S

Unit : mm

A
277
286
343
281.5
338.5
292
349
281.5
338.5
302.5
329
399
329
412
384
468
398
525.5
460
446
446
543
486

B
28
28
28
28
28
28
28
28
28
35
35
35
40
40
40
40
55
53
55
55
55
55
80

C
38
38
ー
38
ー
38
ー
38
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
80
80
80
80
130

D
3
3
3
3
3
3
3
3
3
5
5
5
6
5
6
5
7
5
7
7
7
7
10

E
11
11
8
11
8
11
8
11
8
10
14
10
14
10
14
10
15
15
15
15
15
15
20

F
15
15
15
15
15
15
15
15
15
20
20
20
25
25
25
25
30
30
30
30
30
30
50

G
ø28g7
ø28g7
ø22g7
ø28g7
ø22g7
ø28g7
ø22g7
ø28g7
ø22g7
ø40g7
ø40g7
ø28g7
ø46g7
ø32g7
ø46g7
ø40g7
ø60g7
ø48g7
ø55g7
ø55g7
ø60g7
ø60g7
ø110g7

H
8
8
8
8
8
8
8
8
8
8
8
8
9
9
9
9
14.5
14.5
14.5
14.5
14.5
14.5
25

I
ø12h7
ø12h7
ø12h7
ø12h7
ø12h7
ø12h7
ø12h7
ø12h7
ø12h7
ø16h7
ø16h7
ø16h7
ø20h7
ø20h7
ø25h7
ø24h7
ø30h7
ø30h7
ø32h7
ø32h7
ø40h7
ø39.72h7
ø50h7

J
ø3
ø3
ø3
ø3
ø3
ø3
ø3
ø3
ø3
ø4.5
ø4.5
ø4.5
ø4.5
ø4.5
ø4.5
ø4.5
ø6.3
ø6.3
ø6.3
ø6.3
ø6.3
ø6.3
ø9

K
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□ 9.5
□12.7
□12.7
□12.7
□15.9
□15.9
□19.0
□19.0
□25.4
□25.4
□25.4
□25.4
□31.8
□31.8
□38.1

L
42
42
ー
42
ー
42
ー
42
ー
65
65
ー
65
ー
65
ー
84
ー
88
88
88
88
145

M
M 5
M 5
M 5
M 5
M 5
M 5
M 5
M 5
M 5
M 8
M 8
M 8
M10
M10
M10
M10
M12
M12
M12
M12
M12
M12
M16

N
70
70
ー
70
ー
70
ー
70
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
112
113
113
102
180

O
ø52
ø52
ー
ø52
ー
ø52
ー
ø52
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
ø110
ø110
ø110
ø110
ø170

P
ー
ー
ー
ー
ー
ー
ー
ー
ー
80
80
ー
80
ー
80
ー
100
ー
ー
ー
ー
ー
ー

Q
ー
ー
ー
ー
ー
ー
ー
ー
ー
85.5
85.5
ー
85.5
ー
85.5
ー
ー
ー
ー
ー
ー
ー
ー

R
ー
ー
ー
ー
ー
ー
ー
ー
ー
R30
R30
ー
R30
ー
R30
ー
R33
ー
ー
ー
ー
ー
ー

S
ー
ー
ー
ー
ー
ー
ー
ー
ー
65.5
65.5
ー
65.5
ー
65.5
ー
71
ー
ー
ー
ー
ー
ー

T
ー
ー
28
ー
28
ー
28
ー
28
ー
ー
46
ー
44
ー
44
ー
46
ー
ー
ー
ー
ー

U
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
29
ー
32
ー
36.5
ー
50
ー
ー
ー
ー
ー

V
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
60
ー
60
ー
60
ー
66
ー
ー
ー
ー
ー

W
ー
ー
79.5
ー
79.5
ー
79.5
ー
79.5
ー
ー
85.5
ー
91.5
ー
ー
ー
ー
ー
ー
ー
ー
ー

X
ー
ー
R13.5
ー
R13.5
ー
R13.5
ー
R13.5
ー
ー
R16
ー
R19
ー
R23
ー
R26.5
ー
ー
ー
ー
ー

Y
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
R30
ー
R30
ー
R30
ー
ー
ー
ー
ー
ー
ー

Z
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
ー
80
ー
86.5
ー
100
ー
118.5
ー
ー
ー
ー
ー

* 2D/3D CAD data is available on the website (https://www.estic-global.com/member/login)

78

Tool Unit Socket Assembly & Socket Adapter

Tool Unit

Socket AssemblyModel

TNA1-SA02-30*

TNA1-SA05-35

Socket Adapter

Applicable tool unit

Model

Socket assembly side - Socket side

ENRZ-TU0R5R-S

TNA1-AD01-01□ 9.5ー□ 9.5

ENRZ-TU001R-S/O

TNA1-AD05-01□ 12.7ー□ 12.7

TNA1-AD05-02□ 12.7ー□ 9.5

ENRZ-TC002R-S/O

TNA1-AD20-01

ENRZ-TC004R-S/O□ 15.9ー□ 15.9

TNA1-AD20-02□ 15.9ー□ 12.7

□ 12.7TNA1-AD20-03□ 15.9ー□ 19

TNA1-AD40-01□ 25.4ー□ 25.4

TNA1-AD40-02□ 25.4ー□ 19

TNA1-AD80-01□ 31.8ー□ 31.8

TNA1-AD80-02□ 31.8ー□ 25.4

ENRZ-AD150-01□ 38.1ー□ 38.1

ENRZ-AD150-02□ 38.1ー□ 25.4

ENRZ-TU003R-S/O

ENRZ-TU004R-S
ENRZ-TU008R-S/O

Adapter insertion angle□ 9.5

TNA1-SA20-45C

ENRZ-TU013R-S/O□ 15.9TNA1-SA20-45Z

ENRZ-TU020R-S/O□ 15.9ENRZ-TU040R-S/O
TNA1-SA40-70

ENRZ-TU050R-S□ 25.4

ENRZ-TU060R-S
TNA1-SA80-80
ENRZ-SA150-120

ENRZ-TU080R-S
ENRZ-TU120R-S
ENRZ-TU150R-S□ 31.8□ 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
For Straight tool

40, 80Nm
For Straight tool

130Nm
For Straight tool

200Nm
For Straight tool

400Nm
For Straight tool

800, 1200Nm
For Straight tool (*1)

ENRZ-SA150-120

Mounting plate

10, 20, 30, 40Nm
For Offset tool

A

130Nm
For Offset tool

200Nm
For Offset tool

400Nm
For Offset tool

A

Tool unit and socket assembly
are secured with bolts fromthe direction of view A-A.

980Nm
For Offset tool

1500NmFor Straight tool
Notice①When using with two or more spindles, please consider the moment due to a couple. We are also available to make custom
socket assemblies for multi-spindles.
②（*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.

500, 600Nm
For Straight tool

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
Y

SocketX
L

Dowel (accessary)

B

a

b

A
f

c

b

c

f
d

g

g

TNA1-AD**-03

TNA1-AD**-02
ENRZ-AD***-02

O

K

N

d

h
Grease nipple
J

O-ringe

M

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

a

Mounting plate

c

f

2-R

2-R

6-F drill hole

2-F drill holeQ

Q

TNA1-AD**-01
ENRZ-AD***-01

4-S drill holeU

Q

2-F drill hole

（P

R

.C.D

）
H

d
g

45°

2-F drill hole

H

W

2-R

（P.C.D）
H
P(P.C.D)HP

VSW

Table of dimensions for Socket Adapter
P

T

W

P

W
U

TNA1-SA05-35
TNA1-SA20-45C
TNA1-SA20-45Z

TNA1-SA40-70
TNA1-SA80-80

TNA1-SA02-30

Unit : mmab

TNA1-AD01-01□ 9.5

TNA1-AD05-01□12.7

TNA1-AD05-02

c

d

e

g

h

Weight (g)

―

5.5

12

φ4

―

8

17

φ5

5.5

24

φ4

15

8

34

φ5

□12.7

□ 9.5

8

12

φ4

37

5.5

29

φ5

TNA1-AD20-01

□15.9

―

9

20

26

φ6

9

40

φ6

TNA1-AD20-02

□15.9

□12.7

9

66

17

φ5

8

37

φ6

TNA1-AD20-03

□15.9

□19

51

9

20

φ6.5

11

40

φ6

TNA1-AD40-01

□25.4

82

―

15

30

φ7.5

15

60

φ7.5

272

TNA1-AD40-02
TNA1-AD80-01

□25.4

□19

15

20

φ6

11

50

φ7.5

186

□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

S

T

Model

ENRZ-SA150-120

fTable of dimensions for Socket Assembly
Unit : mm

A

B

C

D

E

F

G

H

I

TNA1-SA02-30

□ 9.5

30

3

155

153

φ 6.5

(12)

45

TNA1-SA05-35

□12.7

35

3

182

179

φ 7

(12)

43

TNA1-SA20-45C

□15.9

45

3

212

209

φ 9

(12)

TNA1-SA20-45Z

□15.9

45

3

212

209

φ 9

TNA1-SA40-70

□25.4

70

3

309

300

TNA1-SA80-80

□31.8

80

5

340

ENRZ-SA150-120

□38.1

120

6

454

Model

11

J

K

L

M

N

O

P

Q

R

U

109

8

φ 30

5.5

φ4

φ28g7

φ18g7

55

R15

R

5

―

―

―

136

10

φ 40

8

φ4.5

φ40g7

φ25g7

55

R21

R

6

13

7

21

50

153

12

φ 48

9

φ6

φ46g7

φ32g7

65

R24

R

7.5

16

8.5

22.5

(12)

50

153

12

φ 48

9

φ6

φ46g7

φ32g7

65

R24

R

7.5

16

8.5

φ11

(16)

84

219

15

φ 62

15

φ7.5

φ60g7

φ45g7

100

R31

R

8

―

331

φ14

(16)

108

230

16

φ 76

16.5

φ7.5

φ80g7

φ55g7

128

R42

R 10

449

φ18

(25)

200

294

20

φ105

19

φ9

φ110g7

φ70g7

230

R65

R115

V

W

X

Y

Z

Dowel (accessary)

O-ringWeight (kg)

―

19.5

13.5

23.2

0.323

φ3x16

P16

0.5

21.5

25

14.2

25.5

0.323

φ4x20

P22

1.0

22.5

29

18.1

34.5

0.362

φ5x25

P29

1.3

22.5

22.5

29

18.1

34.5

0.362

φ5x25

P29

1.3

―

―

―

36

27.5

43.6

0.225

φ6x40

P42

3.6

―

―

―

―

43

47

77.4

0.362

φ6x50

P52

6.9

φ25

―

130

―

57

39.2

74.1

0.291

φ6x60

P63

16.5

* 2D/3D CAD data is available on the website (https://www.estic-global.com/member/login)

12

Tool Unit 7 fastening strategies

Tool Unit

6

Fastening strategies

1

Torque Control
This fastening method is commonly used.
Fastening is stopped when a predefined target
torque has been reached. Judgment is made if
the peak torque is within range of the upper andlower limit. If the fastening falls within thepredefined range then an OK result is produced.
If the fastening exceeds or falls short of therange then an NG judgment is made. With thissystem total judgment is performed bymeasuring the upper and lower limit of fastening
time, as well as upper and lower limit for torque.

2

Torque Control Angle Monitor
Fastening is performed establishing an upperand lower limit for torque, as well as creating an
upper and lower limit for angle.

TorqueTarget Torque

OK ZoneLower Time Limit

Time
Upper Time Limit

TorqueUpper Torque Limit

Yield Point
Upper Torque Limit

OK ZoneLower Torque Limit
Target Torque Rate
Snug TorqueAngle Start
TorqueTarget Torque Rate
Filter Angle
Lower Angle Limit
Yield Angle

Target Angle

Time
or
Angle

Upper Angle Limit

Angle

7

OK ZoneTarget Torque

Yield Control

TorqueBasically, this method performs the same
control as the yield angle method. In this case,when the lower limit angle is not reached at
the completion of additional fastening after thedetection of the yield point, additional
fastening is not performed and the step
terminates due to fastening NG.

Lower Torque Limit

Angle Start
TorqueLower Angle Limit
Lower Time Limit

TorqueThis fastening method brings out the tension(clamping force) of a bolt to its greatest extent. The
yield point is obtained from the torque increase rate
(torque rate), fastening is performed for the set angle
from this point and fastening is completed in a stable
plastic region initial state.
Sampling of the angle data is started from the point
at which the ANG start torque is detected. When thesnug torque is detected, fastening is performed while
calculating the torque rate. Additional fastening is
performed for the target angle from the point at
which the target torque rate is detected, and thenfastening is completed.
When the lower limit angle is not reached at thecompletion of additional fastening after the detectionof the yield point, additional fastening is performed
again until the lower limit angle has been reached.

Upper Torque Limit

Lower Torque Limit

Yield Angle Control

Angle or Time

Upper Angle Limit

Upper Time Limit

Yield Point

Upper Torque Limit

OK ZoneLower Torque Limit
Target Torque Rate
Snug TorqueAngle Start
TorqueTarget Torque Rate
Filter Angle

snug

Lower Angle Limit
Yield Angle

Target Angle

Time
or
Angle

Upper Angle Limit

3

Angle Control
With this fastening method, fastening is
performed from an angle measuring start torqueuntil an optionally set fastening target angle has
been reached. Fastening is then stopped, andjudgment is made. If the angle and torque value
are within the range between the set upper andlower limit, then an OK or NG (for each value) is
produced.

TorqueTarget Angle
Upper Torque Limit
OK ZoneFastening Theory

Lower Torque Limit

With bolt fastening, a fastening force is generated between the parts by the application of a fastening torque. With T as thefastening torque and N as the fastening force (axial force) generated between the parts. The relationship is as shown below when
the part and the fastened object are within the elastic limit.

Angle Start
TorqueLower Angle Limit
Lower Time Limit

Angle or Time

T=KdN

T=Torque (Nm) N=Axial Force (N) K=Torque Coefficient d=Nominal Bolt Diameter (m)Upper Angle Limit

Upper Time Limit225

Target Torque

OK ZoneControl point
torqueSmall torquecoefficient

Lower Torque Limit

Angle Start
TorqueTorque and Angle Control

Lower Angle Limit
Upper Angle Limit

Upper Time Limit

N1

Torque Control

Large torquecoefficient1
1

Small torquecoefficient

Angle
Axial force N

Lower Time Limit

Angle

Angle or Time

Axial force N

Unlike the torque or angle method, when bothof the target torque and target angle isdetected,the output spindle is stopped and ajudgement is made. When the upper limit
torque, upper limit angle or upper limit time isexceeded during execution, the step
terminates due to fastening NG.

13

Upper Torque Limit

Snag point torque

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

TorqueTorque T

Torque or Angle Control

Torque T

4

Large torquecoefficient

Target Angle

N2
N3

K changes depending on the connection state
between the thread and bolt seat surface.
There is considerable scatter even for bolts
and tapping even when manufactured under
the same conditions.
As shown in the figure on the left, whenfastening to the target torque T with thetorque method, the axial force of the bolt
shows the scatter N1 because of thedifference in torque coefficient, even when thetorque is constant.
However, with the angle method fastening forthe constant angle ø1 from the snug point, thescatter of the axial force becomes N2, whichis smaller than with the torque method. Whenthe fastening angle is made ø2 and fastening
is performed within the elastic range of thebolt, the scatter of the axial force becomes
N3, which is still smaller. Accordingly, for
execution of fastening without loosening, it isnecessary to select the fastening method
according to the fastening conditions for theobject to be fastened and the conditions at
the time of product design.

Angle Control

14

AXIS CONTROL UNIT

AXIS Control Unit

This control unit was developed for a single spindle.

External Dimensions

It accomplishes high accuracy, high quality fastening with simple configuration

Unit：mmparameters. Monitor functions required for fastening come standard, and judgment
is determined by torque, angle, time, or torque rate.

B
ø5.2

A

100

5

E

Front Panel Wiring

ø9.5

Data Display

ALM

POWER

T/T

CHARGE
RS485-NETC

Indicator lamp

RS232C・Fastening OK: Green・Alarm: Yellow
・Fastening NG: Red
MOTOR

CONTROL

U
V
W

Operation button
・Mode change
・Display change
・Parameter edit and set

OK
NG

SIGNAL・Real time torque value indication
・Final torque indication
・System error message indication
・Setting Parameter・Test mode・Log mode

F

L1C
L2C
L1
L2
L3

Torque Transducer Cable

INSPECTION
1ST 2ND

5.2
Resolver Cable

D

Power supply
cable
Motor power supply and control
power supply are separated

A

B

C

D

E

F

205

74

255

37

50

245

205

87

255

41

50

245

ENRZ-AU50M-2K

205

117

274

41

50

245

ENRZ-AU50M-5K2

208

117

298

62

80

288

ENRZ-AU50M-20

NET Cable

ENRZ-AU50M-40

This is used when multi spindle system isconfigured

Charge lamp

Model
ENRZ-AU50M-10

RS-232C
This is used to communicate withManagement Software and it is also
possible to connect with serial printerGeneral Specifications
Model

Motor cable *Motor type on tool unit

* The connection port of
ENRZ-AU50M-5K2 isa screw terminal block.

I/O
Input 12 Output 22
The sync (NPN, -Common) or
the source (PNP, +Common)

ENRZ-AU50M-10

ENRZ-AU50M-20

ENRZ-AU50M-40

ENRZ-AU50M-2K

ENRZ-AU50M-5K2

100W

200W

400W

2400W

5000W

Control power voltage
Main power voltage

Single phase
Single phase
AC200〜230V±10% 50/60Hz

Operation environment

Three phase

7 Segment LED Display (5 letters x 1 line), 5 Function keys, Indicator lamps (OK/ALM/NG)
12 points, Photo Coupler Isolation (DC24V, Lead-in Current: 6mA/point) * The sync (NPN, -Common) or the source (PNP, +Common)
Photo MOS output

22 points (DC24V, max. 50mA/point) * The sync (NPN, -Common) or the source (PNP, +Common)

Fastening Program

Various fastening strategies

Speed boost function

Torque control, Angle control, Yield control and more areFree run speed of Resover tool (ENRZ-TU***R-*) is significantly improved.

available as standard functions.

[140% faster than the conventonal series]* Tool model ENRZ-TU150R-S Free run speed is unchanged from AU50R system.

Backward compatible

Storage function

Previous tool models (ENRZ-TU***-*) and Encoder cable

Fastening program: 99(ENRZ-CVEN-***) are compatible with this controller.

Fastening result: 5,115 records
System error: 50 records

99 Programs

NET Port

RS-485 x 2 ports (MAX. Connected Stations: 31 stations)

COM Port

RS-232C x 1 port (Variable between: 9600bps – 115.2kbps)

Recommended printerSerial Printer EPSON VP-700

Control Power Capacity

50VA

Main Power Capacity(At Rated Operation)

0.4KVA

Dash Current when
applying Control power
Dash Current when
applying Main powe
Weight1550/60Hz0〜55˚C (No freezing）

Operation & Display Panel
Control Output

AC200〜230V±10%

35〜90%RH（No condensing）

Operating humidity
Control Input

50/60HzFree from corrosive/explosive gasses, dust/metal dust or oil mist.

Operating temperature

GroundAC200〜230V±10%

1.2KVA
About 26 Ao-p

About 23 Ao-p
(Converging Time: About 200ms)
2.5kg

1.7KVA

3.8KVA

8.0KVA(Converging Time: About 5ms)
About 6 Ao-p
(Converging Time: About 400ms)

3.2kg

3.4kg

3.5kg

5.6kg

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
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
whether the torque value is within range of the set monitor min, and monitor max torque. Section monitor checks whether the torque value is
within the range set with Monitor Max torque, and Monitor Min torque.

1. Seizing Monitor

2. Section Monitor

TorqueMonitor Start Angle

TorqueFastening Complete

MonitorStart Angle

Its advantages include Sequenced Fastening Program which makes PLC programing simple,
Serial communication with PLC or Fieldbus communication with PLC which reduces wiring,and Multiple Work Groups management,
to realize high performance fastening.

Front Panel Wiring

Measuring Angle

7 Segment
LED Display

STATUS LED

Measuring Angle

Indicate the status of System error,
communication with AXIS Unit,
communication with PLC, PC.

Display Monitoring result, Parametersetting.

ETHERNET

Monitor Upper Torque Limit

Monitor Upper Torque Limit
Monitor Lower Torque Limit

Monitor Lower Torque Limit

Angle

Angle

Self Tapping Function
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 atapping screw. After the start of pre fastening, the seating torque is not detected in the zone set with a Self Tap Interval, and peak holdof 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
limit torque is made after the completion of monitoring.

Connect with Management Software, Data
Logger Software, ESTIC HMI through
Ethernet (LAN).

Key Switch
Switch monitor type, change and edit
parameter setting on 7 segment LED
display.

USB
Insert USB Flash Drive to export/importParameter setting, Fastening/Pressing
result.

RS-232C
Communicate with Management
Software. Connection with a serial
printer is also possible.

REMOTE I/O (Option)
Connect with OMRON Link Terminal.

PC-USB
Connect with Management Software
through USB cable.

3. Self Tapping Monitor

FIELDBUS (Option)
It corresponds by option selection. Please
see the model description for details.

TorqueSelf Tapping Upper Torque Limit

CF CardSelf Tapping Lower Torque Limit

Store System Program, Fastening
Parameters, Fastening Results. All necessary
files to run the system are stored here. If the
Master Control Unit fails, System Recovery
can be easily performed just by transferring
the card.

PLC

Seat Torque

Communicate with PLC by serial

DIP SWTime

Sel Tapping Interval

For settings

Pre Fastening Start

EX-I/O (Option)

NET1

Input 16 Output 16

Connect with AXIS Control Unit or
Press Control Unit.

Torque Rate Monitor Function

CONTROL I/O

Fastening is performed while sampling the amount of torque change against a fastening angle of 1 deg and making a judgment. It is
possible to divide the zone between the ANG start torque and a judgment is made. This function is used to monitor the condition of aworkpiece and the condition of fastening.
A Back Rate Monitor function is also available. It works by calculating the torque rate after the completion of fastening, using the point
obtained by returning the set angle as a start point and checking whether the result is within the range between the set upper limit
and lower limit.

4. Torque Rate Monitor
Torque5. Back Rate Monitor
Torque Rate
2 Filter Angle

Fastening
Complete

TorqueFastening Complete
Back Rate
Monitor Angle

Input 6 Output 6
The sync (NPN, -Common) or
the source (PNP, +Common)

POWER
AC100-230V

ETHERNET PORTFIELDBUSDATA STORAGE

Ethernet Port comes standard. It connects to
LAN and allows for communication between
1 PC and multiple Master Control Units.

It corresponds by option selection. Please see themodel description for details.

Fastening Program: 99
Fastening result: 20,000 records
Torque curve: 50 records
System error: 200 records

FIELDBUS

Management Software

Snug Torque
Torque Rate
1 ZoneAngle Start Torque

MU50

Back Rate
Filter Angle

Torque Rate
2 Monitor Angle

AU50M

Torque Rate 2 Zone
Torque Rate 1 Filter Angle

17

Switch Hub

Process Control
Server

AU50M

AU50M

MU50 MU50 MU50 MU50

Angle

Angle

18

MASTER CONTROL UNIT 3 functions for flexible fastening process

Master Control Unit Model

U
V
W

MOTOR
U
V
W

NG

MU40A

SET

L1C
L2C
L1
L2
L3

MOTOR
U
V
W

OK
NG
T/T

ALM

POWER

SIGNALOK
NG

CHARGECHARGE
RS485-NET

T/T

L1C
L2C
L1
L2
L3

T/T

ALM

POWER

RS232C

MOTOR

OK
NG

SIGNAL

T/T

L1C
L2C
L1
L2
L3
CHARGE

RS485-NET

ALM

POWER

SIGNALOK
NG

SIGNAL

L1C
L2C
L1
L2
L3
CHARGE

MOTOR
U
V
W

CONTROL

U
V
W

ALM

POWER

Left

RS232C

MOTOR

Right

RS485-NET

T/T

T/T
SIGNAL

RS485-NET

RS485-NETU
V
W

RS232C

MOTOR

OK
NG

SIGNAL

L1C
L2C
L1
L2
L3

CONTROL

U
V
W

ALM

POWER

CHARGERS232C

MOTOR

OK
NG

CONTROL

T/T
RS485-NET

RS485-NET

RS232C

RS232C

L1C
L2C
L1
L2
L3
CHARGE

NET

MU40

PANEL

PLC
POWER DC24V

POWER DC24VCONTROL

ALM

POWER

ALM

MODE

STOP
RESET

MASTER CONTROL UNIT

PRINTER

U
V
W

OK
NG

CONTROL

SIGNAL

T/T

L1C
L2C
L1
L2
L3
CHARGEOK

CONTROL

MOTOR

PRINTER

PLC

ALM

POWER

SIGNALOK
NG

AU40 AU40 AU40 AU40

RS-232C

CONTROL

RS-232C

L1C
L2C
L1
L2
L3
CHARGECONTROL

ALM

POWER

PANEL

Require2
台
2 Master必要
Control
Units

RS485-NET

AU40 AU40 AU40 AU40

RS232C

MU40A

RS232CNG

SETCONTROL

MODE

STOP
RESET

MASTER CONTROL UNITCONTROL

Z40 series
ALM

NET

MU40

Work Group A

AU50M AU50M AU50M AU50M

Right

82.8
50

9.5
5.2

206

Fieldbus Option
Standard : N： Without Fieldbus
Option : D： DeviceNet
P： Profibus-DP
C： CC-Link
E： Ethernet/IP
T ： Profinet
B： EtherCAT
I ： CC-Link IE
S： PROFINET High speed

Work Group B

Require 1 Master
Control Unit

AU50M AU50M AU50M AU50M

I/O Option
5

Z50

ENRZ-MU50-N NN

255

For example, one Master Control Unit can control 2 wheel
tightening machines for both right and left. On other example,
one Master Control Unit controls 4 nutrunners separately heldby 4 robot arms.

Example: Wheel Tightening MachineOK

Unit：mmUp to 31 nutrunners, and a maximum of 4 workgroups can be controlled by one Master Control
Unit.

6.8

The Master Control Unit is capable of creating up to 4 separate
work groups. Each work group can be controlled separately aswell as simultaneously using one Master Control Unit.

Master Control Unit External Dimensions245

1. Parallel operation of multi spindle fastening

Master Control Unit

Standard : NN : Without Extend I/O and Remote I/O
Option : E N : With Extend I/O Without Remote I/O
E R : With Extend I/O and Remote I/O

Left

Cost Saving

5.2

MU50

General Specifications

2. Sequenced Fastening Program
Each step of the fastening process such as Pre-fastening,
Reversing, Fastening on multi-spindle can easily be
programmed in one Program, with up to 20 steps.

3. Simplified Logic Programming
Simplified logic such as A contact, B contact, AND, OR, Timeris available as a standard function, and it enables integration
with the fastening system without a PLC.
● Program capacity: 500 steps

Input voltage

AC100V〜230V±10%（50/60Hz）80W

Operation environment

Free from corrosive/explosive gasses, dust/metal dust or oil mist.

Operating temperature

0〜45˚C(No freezing)

Operating humidity

90%RH or less
（No condensing）

Operation & Display Panel

7 Segment LED Display (6 letters x 2 lines), 6 Function keys, Indicator lamps (ST1/ST2/ST3/ST4)

Control Input/Output

CONTROL I/O、
EX-I/O（Option）、
REMOTE I/O(Option）

Max. number of spindle connection

31 spindle (AU50: 31, SPU50: 10, Total max. 31)

Fastening Program99 Programs

Communication Port

RS-232C (Management Software, Serial Printer)

COM connector (RS-422: Available in the future)

PANEL (RS-422 port for HMI)ETHERNET (10/100BASE-T)

PLC (RS-232C/RS-422 for PLC Serial connection)

PC-USB (USB port for Management Software)

NET1 (RS485 for connecting with Local unit)

FIELDBUS (Option)

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

OthersI/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
or RS-422.
MU50
Fastening Program Menu

Applicable PLC
Manufacturer
Mitsubishi Electric
Omron

19

Control Input/Output
Control I/O

SeriesMELSEC-ASeries

EX-I/OMELSEC-QSeries
SYSMAC-CS1Series
SYSMAC-CJ1／CJ2Series

Sharp

JW30Series
JW300Series

JTEKT

TOYOPUCREMOTE I/O

Input

Photo coupler isolation, 24VDC 7mA, 6 points Either of sync (-common) and source (+common) is possible

OutputPhoto MOS output, 24VDC 50mA, 6 points Either of sync (-common) and source (+common) is possible

Input

Photo coupler isolation, 24VDC 7mA, 16 points Either of sync (-common) and source (+common) is possible

OutputPhoto MOS output, 24VDC 50mA, 16 points Either of sync (-common) and source (+common) is possible

Input

Link terminal by OMRON, 16 points, Transmission delay time: Standard type (OMRON model B7A-T6D2)

OutputLink terminal by OMRON, 16 points, Transmission delay time: Standard type (OMRON model B7A-R6A52)

Transmit distance

500m max. (varying depending on wiring configuration)

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

Compatible OS: Windows10, Windows8/8.1, Windows7 SP1, WindowsVista Sp1.2 32bit, WindowsXP SP3 32bit

User friendly menu for easy operation

ENRZ-DP50E: Ethernet connection
ENRZ-DP50S: Serial connection

Features
1. Parameter●●

AXIS/Press Control Unit Parameter
Master Control Unit System Parameter●●

Fastening/Press Setting
Sinplified Logic Program

AXIS Unit Monitor

Master Control Unit Setting

Sequenced Fastening Program

AXIS Unit System Setting

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

2．Result Monitor & History
Fastening/Press Result Monitor & History● Torque/Load Curve Monitor & History●●

System Error History

System Configuration

Fastening Result Logging

Data Logger Software is capable of connecting with the Z50 series
Fixtured Nutrunner, Servo Press and also Handy2000Lite series
Handheld Tool.
Multiple spindles can be handled with a single software throughLAN network.

Master Control Unit outputs result data
after each fastening and date is stored in
Data Logger Software.

ENRZ-AU50M

ENRZ-AU50M

Search & View function

ENRZ-MU50

Search and view function helps users find thenecessary data stored in the Data Logger Database.

Fastening Result History

System Error History

Torque Curve History

SPU50C

3. Maintenance

4. Assign●

Torque, Angle and CAL Monitor
I/O Monitor● AXIS Bypass Monitor

●

●

●

I/O Assign
PLC I/O Assign

ENRZ-MU50

Ethernet connection●●

FIELDBUS I/O Assign
Fastening Result Item Assign
Handy2000
Cordless

Handy2000
Lite

Handy2000
Touch

Data Logger

Stored data can be output by CSV format daily atpreset time.

Torque & Angle Monitor

I/O Assign

21

22

How to select the system : Master Control System

System Configuration

Table 1 :Tool Unit/AXIS Control Unit combination

ETHERNET
Display Unit
（ENRZ-DP50*)

1613
USB Cable〈PC〉
Management Software（ENRZ-PC50）

AXIS Control Unit
(ENRZ-AU50M-**)

AXIS Control Unit
(ENRZ-AU50M-**)

12
15

Master Control Unit
(ENRZ-MU50-***)

Tool Unit model

Applicable
Torque Range (Nm)ENRZ-TU0R5R-S

0.5-4.5

ENRZ-TU001R-*

1-9

ENRZ-TC002R-*

2-18

ENRZ-AU50M-20

ENRZ-TU003R-*

3-27

ENRZ-AU50M-10

ENRZ-TC004R-*

4-36

ENRZ-AU50M-20

ENRZ-TU004R-S

4-36

Corresponding
AXIS Control Unit

20-180

ENRZ-TU040R-*

40-360

ENRZ-TU050R-S

50-45020

ENRZ-TU060R-S

60-54018

ENRZ-TU080R-S

80-720

ENRZ-TU120R-S

120-1080

ENRZ-AU50M-5K2

ENRZ-TU150R-S

150-1350

ENRZ-AU50M-2K

ENRZ-TU300R-S

300-2700

ENRZ-AU50M-5K2

11

1

8

2

3
Max. of 31
spindlesInput Power Supply
AC100V〜230V ±10%
Single phase 50/60Hz

1

2* is replaced with the symbol of S: Straight type, O: Offset type
Please see the system configuration of tool model
ENRZ-TU050R-S, TU120R-S, TU150R-S, TU300R-S
on page 25 - 26.

4

5

●

●
●

ENRZ-MU50-PNN●

ENRZ-MU50-PEN●

ENRZ-MU50-PER

●

●

●
●

ENRZ-MU50-CNN●

ENRZ-MU50-CEN●

ENRZ-MU50-CER●●

ENRZ-MU50-ENN●

ENRZ-MU50-EEN

●

●

●
●

●

ENRZ-MU50-EER

●

●

●

●

ENRZ-MU50-TNN●●

ENRZ-MU50-TEN●●

ENRZ-MU50-TER●●

ENRZ-MU50-BNN●●

ENRZ-MU50-BEN

●

●

●

●
●

●

●

●

●

●

ENRZ-MU50-SEN
ENRZ-MU50-SER

●

●

●

●

●

Table 3 : Cables and Accessories

1（

Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*）（

Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*

Item

Torque Transducer Cable）
2

FIELDBUS

Steps to select Master Control System

3

Motor Cable

Resolver Cable

Model
ENRZ-TU001R-S
ENRZ-AU50M-10
ENRZ-MU50-TNN
ENRZ-CVTN2-050
ENRZ-CVMN2-050
ENRZ-CVRN-050
ENRZ-CVNK3M-010
ENRZ-CVNK2A-010
ENRZ-CVST3
ENRZ-PC50
ENRZ-CVSR-050

Specification

Model

5[m]

ENRZ-CVTN2-050

10[m]ENRZ-CVTN2-100

15[m]ENRZ-CVTN2-150

20[m]ENRZ-CVTN2-200

5[m]ENRZ-CVMN2-050

10[m]ENRZ-CVMN2-100

15[m]ENRZ-CVMN2-150

20[m]ENRZ-CVMN2-200

5[m]ENRZ-CVRN-050

10[m]ENRZ-CVRN-100

15[m]ENRZ-CVRN-150

20[m]ENRZ-CVRN-200

3[m]Select Motor Cable, Torque
Transducer Cable, Resolver Cable【see table 3】

Select accessories【see table 3】

4

Quantity
２
２
１
２
２
２
１
１
１
1
１

6

7
8

9

10

11

Item

Specification

Model

0.2[m]

ENRZ-CVNK2A-002

1[m]ENRZ-CVNK2A-010

2[m]ENRZ-CVNK2A-020

0.3[m]

ENRZ-CVNK3M-003

NET Cable

1[m]ENRZ-CVNK3M-010（MU50⇔AU50M）

3[m]ENRZ-CVNK3M-030

10[m]ENRZ-CVNK3M-100

NET Cable（AU50M⇔AU50M）

Termination Resistor *3–

ENRZ-CVST3

12Management Software

English/Japanese

ENRZ-PC50

13

Serial Communication Cable

1.5[m]

ENRZ-CVSR-015

5[m]ENRZ-CVSR-050
ENRZ-CVSR-100

6[m]ENRZ-CVTN-060

10[m]

Cable

10[m]

ENRZ-CVTN-100

3[m]ENRZ-CVSP-030

15[m]

ENRZ-CVTN-150

5[m]ENRZ-CVSP-050

10[m]

ENRZ-CVSP-100

3[m]ENRZ-CVCK-030

3[m]ENRZ-CVDP2-030

5[m]ENRZ-CVDP2-050

10[m]ENRZ-CVDP2-100

3[m]5

ENRZ-CVTN-030

No.

Torque Transducer Relay

Example）This the example when 2 spindles of 10Nm rated torque model are connected by Profibus
Tool Unit
AXIS Control Unit
Master Control Unit
Torque Transducer Cable
Motor Cable
Resolver Cable
NET Cable
NET Cable
Termination Resistor
Management Software
Serial Communication Cable●

ENRZ-MU50-SNN

PI/O

Item

●

ENRZ-MU50-DER

ENRZ-MU50-IER

No.

Select Master Control
Unit【see table 2】

ENRZ-MU50-DEN

ENRZ-MU50-IEN

6

PI/O

〈PLC〉

ENRZ-AU50M-40●

ENRZ-MU50-INN

Main Power Supply
AC200V〜230V ±10%
Three phase or Single phase
50/60Hz*Depending on tool motor
type

SI/O（RS-232C/RS-422）

ENRZ-AU50M-5K2

ENRZ-MU50-DNN

ENRZ-MU50-BER

Control Power Supply
AC200V〜230V ±10%
Single phase 50/60Hz〈B7A Terminal Link〉
OMRON

ENRZ-AU50M-20

3●

ENRZ-MU50-NER

ENRZ-TU020R-*

9●

ENRZ-MU50-NEN

8-72

10

I/O
PROFINET
DeviceNet Proﬁbus-DP CC-Link EtherNet/IP Proﬁnet EtherCAT CC-Link IE High speed EX-I/O REMOTE I/O

ENRZ-MU50-NNN

ENRZ-AU50M-10

13-11719

23

OptionFIELDBUS

Model

ENRZ-TU013R-*

7

17

Select Tool Unit modeland AXIS Control Unit
model
【see table 1】

Table 2 : Master Control Unit

ENRZ-TU008R-*

7

14〈Serial Printer〉

Fixtured Nutrunner System

Motor Relay Cable

Resolver Relay Cable

AXIS Control Unit Power Cable *1
Master Control Unit Power Cable *2

ENRZ-CVMP-060

10[m]

ENRZ-CVMP-100

15[m]ENRZ-CVMP-150

3[m]ENRZ-CVRP-030

6[m]ENRZ-CVRP-060

10[m]

ENRZ-CVRP-100

15[m]ENRZ-CVRP-150

3[m]Serial Printer Cable

ENRZ-CVMP-030

6[m]

3[m]

14

ENRZ-CVDC2-030
ENRZ-CVDC3-030

15

Check Connector Cable

16

Display Unit Serial
Connection Cable

17

Control Connector–

ENRZ-CN14-CR

18

PLC Connector–

ENRZ-CN15-PL

19

EX Connector–

ENRZ-CN36-EX

20

Remote I/O Connector–

EH2-FCN04-RM*1 Included with AXIS Control Unit
*2 Included with Master Control Unit
*3 Last AXIS Control Unit on the system needs 1 piece of Termination Resistor

24How to select the system : AXIS Control System
AXIS Control System（Except for ENRZ-TU150R-S）

Fixtured Nutrunner System

Steps to select Master Control System

AXIS Control System（ENRZ-TU150R-S）

PI/O

PI/O

〈PLC〉

MAS Station

MAS Station

AXIS Control Unit
(ENRZ-AU50M-**)

AXIS Control Unit
(ENRZ-AU50M-2K)

15
Control Power Supply
AC200V〜230V ±10%
Single phase 50/60Hz

〈PLC〉

16

15
Control Power Supply
AC200V〜230V ±10%
Single phase 50/60Hz

11

8

Example 1）Required for 10Nm-rated torque tool unit

16

8

Item

11

Main Power Supply
AC200V〜230V ±10%
Three phase 50/60Hz

Main Power Supply
AC200V〜230V ±10%
Three phase or Single phase
50/60Hz＊Depending on tool motor
type

Select Motor Cable, Torque
Transducer Cable, Resolver Cable【see table 2】

Select Tool Unit model and AXIS
Control Unit model【see table 1】

Tool Unit
AXIS Control Unit
Torque Transducer Cable
Motor Cable
Resolver Cable
Battery
Control Connector
Management Software
Serial Communication Cable

Model
ENRZ-TU001R-S
ENRZ-AU50M-10
ENRZ-CVTN2-050
ENRZ-CVMN2-050
ENRZ-CVRN-050
ENRZ-BATTENRZ-CNAU
ENRZ-PC50
ENRZ-CVSR-050

Quantity
1
1
1
1
1
1
1
1
1

Example 2）Required for 1500Nm-rated torque tool unit
1

2

3

1

Item
Tool Unit
AXIS Control Unit
Torque Transducer Cable
Motor Cable
Resolver Cable
Battery
Control Connector
Management Software
Serial Communication Cable

3

13

13

2
5

12

6

7

5

12

7
4

〈PC〉
Management Software(ENRZ-PC50)〈PC〉
Management Software(ENRZ-PC50)

14（Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*）

Tool Unit model
ENRZ-TU0R5R-S
ENRZ-TU001R-*
ENRZ-TC002R-*
ENRZ-TU003R-*
ENRZ-TC004R-*
ENRZ-TU004R-S
ENRZ-TU008R-*

Tool Unit〈Serial Printer〉(ENRZ-TU150R-S)

Applicable Torque Range (Nm) Corresponding AXIS Control Unit
0.5-4.5
ENRZ-AU50M-10
1-9
ENRZ-AU50M-20
2-18
ENRZ-AU50M-10
3-27
4-36
ENRZ-AU50M-20
4-36
8-72

PI/O
MAS Station

LOC Station

LOC Station

AXIS Control Unit
(ENRZ-AU50M-**)

AXIS Control Unit
(ENRZ-AU50M-**)

AXIS Control Unit
(ENRZ-AU50M-**)

15

No.

16

11

8

11

1

9
2

1

2

3

1

2

1

〈PC〉
Management Software(ENRZ-PC50)

6

2

3

3

7

5

6

Motor Cable（For ENRZ-TU150R-S only）
Motor Cable(For ENRZ-TU050R-S,
ENRZ-TU120R-S,
ENRZ-TU300R-S)

13

5Torque Transducer Cable

Motor Cable

10
9

Item

11

10

Main Power Supply
AC200V〜230V ±10%
Three phase or Single phase
50/60Hz＊Depending on tool motor
type

3

Resolver Cable

4

Resolver Conversion Cable（For ENRZ-TU150R-S only）*1

7

12

5

Torque Transducer Relay Cable

14
Motor Relay Cable

6〈Serial Printer〉

25（

Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*）（

Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*

）

（

Model
ENRZ-TU001R-S
ENRZ-AU50M-10
ENRZ-CVTN2-050
ENRZ-CVMN2-050
ENRZ-CVRN-050
ENRZ-BATTENRZ-CVNK2A-010
ENRZ-CVST3
ENRZ-CNAU
ENRZ-PC50
ENRZ-CVSR-050

Quantity
3
3
3
3
3
1
2
2
3
1
1

Tool Unit
ENRZ-TU***R-*
ENRZ-TC***R-*）

Tool Unit model Applicable Torque Range (Nm) Corresponding AXIS Control Unit
ENRZ-TU013R-*
13-117
ENRZ-AU50M-20
ENRZ-TU020R-*
20-180
ENRZ-TU040R-*
40-360
ENRZ-AU50M-5K2
ENRZ-TU050R-S
50-450
ENRZ-TU060R-S
60-540
ENRZ-AU50M-40
ENRZ-TU080R-S
80-720
ENRZ-AU50M-5K2
ENRZ-TU120R-S
120-1080
ENRZ-AU50M-2K
ENRZ-TU150R-S
150-1350
ENRZ-AU50M-5K2
ENRZ-TU300R-S
300-2700* is replaced with the symbol of S: Straight type, O: Offset type

Table 2 : Cables and Accessories

Max. 31spindlesControl Power Supply
AC200V〜230V ±10%
Single phase 50/60Hz

Item
Tool Unit
AXIS Control Unit
Torque Transducer Cable
Motor Cable
Resolver Cable
Battery
NET Cable
Termination Resistor
Control Connector
Management Software
Serial Communication Cable

Quantity
1
1
1
1
1
1
1
1
1

AXIS Control Multi Spindle System（Except for ENRZ-TU150R-S）〈PLC〉

Example 3）Required for 3, 10Nm-rated torque spindle tool units

Table 1 : Tool Unit/AXIS Control Unit combination

14〈Serial Printer〉

Model
ENRZ-TU150R-S
ENRZ-AU50M-2K
ENRZ-CVTN2-050
ENRZ-CVMN3-050
ENRZ-CVRN-050
ENRZ-BATTENRZ-CNAU
ENRZ-PC50
ENRZ-CVSR-050

Selectaccessories【see table 2】Motor Relay Cable(For ENRZ-TU050R-S,
ENRZ-TU120R-S,
ENRZ-TU300R-S)

Specification
5[m]
10[m]
15[m]
20[m]
5[m]
10[m]
15[m]
20[m]
5[m]
10[m]
15[m]
20[m]
5[m]
10[m]
15[m]
20[m]
5[m]
10[m]
15[m]
20[m]

Model
ENRZ-CVTN2-050
ENRZ-CVTN2-100
ENRZ-CVTN2-150
ENRZ-CVTN2-200
ENRZ-CVMN2-050
ENRZ-CVMN2-100
ENRZ-CVMN2-150
ENRZ-CVMN2-200
ENRZ-CVMN3-050
ENRZ-CVMN3-100
ENRZ-CVMN3-150
ENRZ-CVMN3-200
ENRZ-CVMN7-050
ENRZ-CVMN7-100
ENRZ-CVMN7-150
ENRZ-CVMN7-200
ENRZ-CVRN-050
ENRZ-CVRN-100
ENRZ-CVRN-150
ENRZ-CVRN-200

No.

15

Check Connector Cable

1[m]ENRZ-CVREX-010

16

Battery *4

3[m]
6[m]
10[m]
15[m]
3[m]
6[m]
10[m]
15[m]
3[m]
6[m]
10[m]
15[m]

ENRZ-CVTN-030
ENRZ-CVTN-060
ENRZ-CVTN-100
ENRZ-CVTN-150
ENRZ-CVMP-030
ENRZ-CVMP-060
ENRZ-CVMP-100
ENRZ-CVMP-150
ENRZ-CVMP7-030
ENRZ-CVMP7-060
ENRZ-CVMP7-100
ENRZ-CVMP7-150

Item

7

Resolver Relay Cable

8

AXIS Control Unit Power Cable *2

9

NET Cable（AU50M⇔AU50M）

10
11

Termination Resistor *3
Control Connector

12Management Software

13

Serial Communication Cable

14

Serial Printer Cable

Specification
3[m]
6[m]
10[m]
15[m]

Model
ENRZ-CVRP-030
ENRZ-CVRP-060
ENRZ-CVRP-100
ENRZ-CVRP-1503[m]0.2[m]
1[m]
2[m]
–
–
English/Japanese

ENRZ-CVDC2-030
ENRZ-CVNK2A-002
ENRZ-CVNK2A-010
ENRZ-CVNK2A-020
ENRZ-CVST3
ENRZ-CNAU

1.5[m]
5[m]
10[m]
3[m]
5[m]
10[m]
3[m]

ENRZ-CVSR-015
ENRZ-CVSR-050
ENRZ-CVSR-100
ENRZ-CVSP-030
ENRZ-CVSP-050
ENRZ-CVSP-100
ENRZ-CVCK-030–

ENRZ-PC50

ENRZ-BATT*1 Included with ENRZ-TU150R-S*2 Included with AXIS Control Unit
*3 One each for MAS Station and last unit of LOC Station required when
Multi Spindle System is configured.
*4 MAS Station needs 1 piece of battery

26

Precautions

Fixtured Nutrunner System

Allowable load on the anvil

Installation of Tool Unit

Load applied on the anvil (except fastening torque) is required
to design within the value below.
Unit: N (kgf)

ModelThrust/Radial load

Installation of Control Unit

Caution for cabling

1）As this Nutrunner system has a mechanism for detecting theAlways connect the protective ground terminal of the control
1）

Wiring in a flexible tube or wiring on a cable conveyor is1）

torque reaction from the rotation torque of the output shaft

unit and the protective ground terminal of the control panel torecommended for the Nutrunners moving parts. To preventto 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

should not have mechanical interference.

or lower).

of cable bundles.

ENRZ-TU0R5R-S

49（5）

ENRZ-TU001R-S

98
（10）

ENRZ-TU001R-O

98
（10）

ENRZ-TC002R-S

98
（10）

ENRZ-TC002R-O

98
（10）

ENRZ-TU003R-S

98
（10）

ENRZ-TU003R-O

98
（10）

Leave a free space of 100 mm or more above the top and
3）

ENRZ-TC004R-S

98
（10）

underneath the control unit and do not inhibit air circulation.

ENRZ-TC004R-O

98
（10）

ENRZ-TU004R-S

98
（10）

ENRZ-TU008R-S

196
（20）

ENRZ-TU008R-O

147
（15）

ENRZ-TU013R-S

196
（20）

ENRZ-TU013R-O

147
（15）

ENRZ-TU020R-S

294
（30）

ENRZ-TU020R-O

147
（15）

ENRZ-TU040R-S

294
（30）

ENRZ-TU040R-O

147
（15）

ENRZ-TU050R-S

294
（30）

ENRZ-TU060R-S

294
（30）

ENRZ-TU080R-S

294
（30）

ENRZ-TU120R-S

294
（30）

ENRZ-TU150R-S

588
（60）

ENRZ-TU300R-S

588
（60）

Tool Unit mounting bracket

Do not use the same power supply for control I/O control and2）electromagnetic contactors etc. This can cause erroneous
operation and system errors because of noise.

Stress from repeated flexing

Nutrunner cable

Stretching

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

temperature in the control panel.
For proper heat dissipation, it is recommended to install
5）
units with a space of at least 10 mm between units.

As the cable weight acts even in non-moving places, ensureb）that machine corners are not in direct contact with the cables.
The following solutions can be used to avoid stress from cableweight and repeated flexing.

Installation of AXIS Control Unit
(ENRZ-AU50M-10, ENRZ-AU50M-20, ENRZ-AU50M-40)

Cable bundle

Cable weight

100mm or more
Round rod welding

Thrust load and radial load is same.

2）When the tool unit mounting bracket or the work jig etc.,
moves because of the torque reaction force generated at
the time of fastening, this causes scatter of the fastening

50mm
or more10mm
or more10mm
or more50mm
or moreaccuracy. When the center deviation is large, an excessive
Radial load (P) positiona）Especially in the case of multiple axes, instead of bundlingand bending, separate bundling and flat bundling should be
used to avoid stress from cable weight and repeated flexing.

Thrust load directionc）Ensure that there is no flexing or excessive force in places
where cable bundles are clamped. The cable bending radius
should be 100 mm or more.

force acts onto the shaft, and this can cause shaft breakage.
Special care is required in regard to insufficient strength ofthe 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 weightmultishaft installation, take care to prevent interference
TOOL
UNIT

TOOL
UNIT

between tool units. (Normal torque measuring is not possible.)（ENRZ-AU50M-2K）

Protective tubing4）When dry bushings, etc., are used for bearings downstream

L/2

from the Nutrunner output shaft, torque is lost because ofP

100mm or more

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 thecables should make it so that no forces act onto theactual fastening torque may differ. Use of dry bushings

connector part.

should be avoided as much as possible.

50mm
or more10mm
or more10mm
or more5）When the shaft pitch is narrow because of the use of

conduit (in case of multiple units etc.), the distance should
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
efficiency, pulsations, etc., Use of constant speed joints is

When Nutrunner cables are laid within the same flexible
3）
be kept as short as possible and laying in the same flexible

multiple spindles, gears, etc., inserted after the Nutrunnertorque may differ because of the influence on gear

50mm
or moreBasically, it is recommended to wire transducer and encoder
4）
100mm or more

cables separately from motor cables. (Distance between
cables: 30 cm or more)

recommended when the shaft pitch is to be reduced.
27

28

Fastening Machine Example

Fastening Machine for Engine Assembly

Fixtured Nutrunner System

Fastening Machine for Transmission Assembly

Cam Cap Assembly Machine

Bearing Cap Press & Fastening Machine

Conrod Assembly Machine

Cylinder Head Assembly Machine

Oil Pan Fastening Machine with Automatic Bolt Feeder

Side Cover Fastening Machine with Automatic Bolt Feeder

Fastening Machine for Vehicle Body Assembly
Front Suspension Frame Re-tightening Machine

Front Strut Assembly Machine

キリヌキ予定2930