Electric Rotary Joint

User Manual

www.hiwin.tw
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 C09UE01-1712 I

Contents
1. Precautions (be sure to read before use) ................................................................................ 1
2. Product characteristics .......................................................................................................... 2
2.1 Applications and Features ...................................................................................................... 2
2.2 Application examples .............................................................................................................. 2
2.3 Specification table ................................................................................................................... 3
2.4 Product illustration ................................................................................................................. 3
2.5 Specification illustration ......................................................................................................... 4
2.6 Model slection chart ................................................................................................................ 5
3. Accessory installation methods ............................................................................................. 6
3.1 ERJ-30 with RA605 robot manipulator .............................................................................. 6
3.2 ERJ-30 with XEG-16 electric gripper ..................................................................................... 7
3.3 ERJ-30 with XEG-32 electric gripper ..................................................................................... 8
3.4 ERJ-30 with SEG-04 electric gripper ...................................................................................... 9
3.5 ERJ-30 with SEG-24 electric gripper ...................................................................................... 10
3.6 ERJ-30 with STG-16 electric gripper ...................................................................................... 11
4. Outline drawing ...................................................................................................................... 12
5. Appendix ................................................................................................................................ 13
5.1 RoHS Certificate ...................................................................................................................... 13
5.2 Shipping items .................................................................................................................. 14
5.3 Inquiry Form ................................................................................................................... 15
 C09UE01-1712 1

1. Precautions (be sure to read before use)

1.1
To use the product safely and correctly, and avoid risk of accident or injury, please read the following
precautions carefully. In addition, please follow common (ISO/IEC) international standards [Note 1], Japanese
Industrial Standards (JIS) [Note 2] and other safety regulations.

[Note 1] ISO 10218:1992: Manipulating industrial robots – Safety

IEC 60204-1: Safety of machinery – Electrical equipment of machine (Part 1: General requirement)

[Note 2] JIS B 9960-1: Safety of machinery – Electrical equipment of machine (Part 1: General requirement)
JIS B 8433-1993: Industrial automatic control – Safety

[Note 3] Labor Safety & Health etc.

1.2
This product is designed and manufactured with common industrial parts and used mainly for the
manufacturing industry.

1.3
Please select product specifications with a system designer or person with sufficient knowledge and
experience, and read this “Technical Information” carefully before operating this product.

1.4

When the Rotary Joint is operated with a system (mechanical device, robot, end-effector), please follow
suitable standards and regulations, and use it correctly.

1.5
The risk, warning, cautions etc. listed in these precautions does not cover all circumstances. Please follow the
above mentioned standards and regulations completely.
2 C09UE01-1712

2. Product Characteristics
2.1 Applications and Features

• Applications
- Free limitations of wiring at end effector, prevents wire damage from interference, wear or bending
- Unlimited rotational motion of end effector
- Reduce operation time of applications such as assembly, grinding

• Features
- Compact Design: Compact size minimizes load requirement
- High IP level: IP level 54, robust design to increase reliability
- Standard flange: Flange dimension according to ISO 9409–1–31.5, robots and end-effectors with same
ISO flange are interchangeable
- Easy installation: Built-in set screws, no need to design or use adaptor

2.2 Application Examples

Be used in the application, which require for not only power and signal transmission but also avoiding the
wire twisted during the rotation.

• Multi Grippers & Tool Change System • Unlimited rotational motion

 C09UE01-1712 3

2.3 Specification table

Model ERJ-30
Category Item Value Unit

Motion Rotation angle Unlimited °

Specification Max velocity 150 RPM
Operation voltage 24 V
Power
Operation current Max 2 A
Specification
Electric path 12 -
Initial torque 0.3 N-m
Load torque Mxy 10 N-m
Load
Load torque Mz 2 N-m
Load strength Fz 50 N
Product weight 0.6 kg
IP Rating IP54 -
Operating
5-60 ℃
temperature range

Hardware Operation humidity <85 %RH

Specification Storage
0-60 ℃
temperature range
Radius of rotation R45 mm
Product height 55 mm

Mounting interface
ISO 9409-1-
-
My
31.5-4-M5 Mz Mx

2.4 Product illustration

Built-in Screws
Electrical connector Robot flange： ISO9409-1-31.5
(L type, optional)

} Rotor
12PIN 24V 2A
For signal or power
source
} Stator
Linkage for rotor

} Rotor and stationary part

Electrical connector
Tool flange：ISO9409-1-31.5
(Straight type,optional)
4 C09UE01-1712

2.5 Specification illustration

The model name of product primarily indicates the joint type and optional accessories of Rotary Joint in
order to verify the exact specifications by placing an order.

ERJ - 30 - S1 - 605 - T16

A B C D

Code Item Description

A Type ERJ30: Electric rotary joint
None: none [Note 1]
S1: Straight Type x1 [Note 2]
S2: Straight Type x2
B Connector type
L1: L Type x1 [Note 2]
L2: L Type x2
C2: Straight Type x 1, L Type x 1
None: none
C HIWIN robot manipulator
605: RA605/RT605 Accessory Kit [Note 3]
None: none
X16: XEG-16 Accessory Kit [Note 4]

HIWIN electric gripper X32: XEG-32 Accessory Kit [Note 4]

D
S04: SEG-04 Accessory Kit [Note 4]
S24: SEG-24 Accessory Kit [Note 4]
T16: STG-16 Accessory Kit [Note 4]

[Note 1] If both the optional Code C & D are required to select at the same time, it is recommended that this optional item
shall be selected to avoid producing the residual material.
[Note 2] If one of the optional Code C or D is required to select, it is recommended that this optional item shall be selected
to avoid producing the residual material.
[Note 3] The electric rotary joint with HIWIN robot manipulator accessory kit, including the wire and stator member from
the robot manipulator to the electric rotary joint, will be able to completely transmit the power and signal provided
by the robot manipulator.
[Note 4] The electric rotary joint with HIWIN electric gripper accessory kit, including the wire and rotor member from the
electric gripper to the electric rotary joint, will be able to completely transmit the power and signal required by the
electric gripper.
 C09UE01-1712 5

2.6 Model Selection Chart

The model selection chart can be used to select the most appropriate products to minimize automation
cost by customers.

Model selection combination

Product Content
A B C D
Electric Rotary Joint ERJ-30

ERJ-30 ERJ-30

ERJ-30 S1 ERJ-30, Straight Type connector x 1

ERJ-30 S2 ERJ-30, Straight Type connector x 2

ERJ-30 L1 ERJ-30, L Type connector x 1

ERJ-30 L2 ERJ-30, L Type connector x 2

ERJ-30 C2 ERJ-30, Straight Type connector x 1, L Type connector x 1

ERJ-30 S1 605 ERJ-30, RA605/RT605 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 605 ERJ-30, RA605/RT605 Accessory Kit, L Type connector x 1

ERJ-30 S1 X16 ERJ-30, XEG-16 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 X16 ERJ-30, XEG-16 Accessory Kit, L Type connector x 1

ERJ-30 S1 X32 ERJ-30, XEG-32 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 X32 ERJ-30, XEG-32 Accessory Kit, L Type connector x 1

ERJ-30 S1 S04 ERJ-30, SEG-04 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 S04 ERJ-30, SEG-04 Accessory Kit, L Type connector x 1

ERJ-30 S1 S24 ERJ-30, SEG-24 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 S24 ERJ-30, SEG-24 Accessory Kit, L Type connector x 1

ERJ-30 S1 T16 ERJ-30, STG-16 Accessory Kit, Straight Type connector x 1

ERJ-30 L1 T16 ERJ-30, STG-16 Accessory Kit, L Type connector x 1

ERJ-30 605 X16 ERJ-30, RA605/RT605 and XEG-16 Accessory Kit

ERJ-30 605 X32 ERJ-30, RA605/RT605 and XEG-32 Accessory Kit

ERJ-30 605 S04 ERJ-30, RA605/RT605 and SEG-04 Accessory Kit

ERJ-30 605 S24 ERJ-30, RA605/RT605 and SEG-24 Accessory Kit

ERJ-30 605 T16 ERJ-30, RA605/RT605 and STG-16 Accessory Kit

6 C09UE01-1712

3. Accessory installation methods

3.1 ERJ-30 with HIWIN RA605/RT605 robot manipulator

2
3

Position slots need to be aligned,

so that built-in screws can be mounted on
the HIWIN 6-Axis Robot manipulator.

ERJ-30_RA605/RT605 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 E30 fastener 1

3 Bolt (M3x0.5Px6L) 3

4 E30-605 actuator cable 1

 C09UE01-1712 7

3.2 ERJ-30 with electric gripper XEG-16

1 2 3

7 9

6 5 4

ERJ-30_XEG-16 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 XEG-16_605 robot manipulator adapter 1

3 Bolt (M5x0.8Px8L) 4

4 Positioning pin (Ø2x4.4L) 2

5 XEG-16_605 gripper adapter 1

6 Bolt (M3x0.5Px5L) 4

7 Positioning pin (Ø5x8L) 2

8 Bolt (M4x0.7Px6L) 4

9 E30-X16 actuator cable 1

8 C09UE01-1712

3.3 ERJ-30 with electric gripper XEG-32

1 2 3

7 8
9

6 5 4

ERJ-30_XEG-32 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 XEG-32_605 robot manipulator adapter 1

3 Bolt (M5x0.8Px8L) 4

4 Positioning pin (Ø3x4L) 2

5 XEG-32_605 gripper adapter 1

6 Bolt (M4x0.7Px6L) 4

7 Positioning pin (Ø5x8L) 2

8 Bolt (M4x0.7Px6L) 4

9 E30-X32 actuator cable 1

 C09UE01-1712 9

3.4 ERJ-30 with electric gripper SEG-04

1 2 3

6 5 4

ERJ-30_SEG-04 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 SEG-04_605 robot manipulator adapter 1

3 Bolt (M5x0.8Px8L) 4

4 Positioning pin (Ø3x10L) 2

5 SEG-04_605 gripper adapter 1

6 Bolt (M3x0.5Px8L) 4

7 Bolt (M3x0.5Px8L) 4

8 E30-S actuator cable 1

10 C09UE01-1712

3.5 ERJ-30 with electric gripper SEG-24

1 2 3 6

5 4

ERJ-30_SEG-24 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 SEG-24_605 adapter 1

3 Bolt (M5x0.8Px8L) 4

4 SEG-24 centering sleeve 2

5 Bolt (M3x0.5Px10L) 4

6 E30-S actuator cable 1

 C09UE01-1712 11

3.6 ERJ-30 with electric gripper STG-16

1 2 3

6
5

ERJ-30_STG-16 accessory kit

Item Name Amount

1 Positioning pin (Ø5x8L) 1

2 STG-16_605 adapter 1

3 Bolt (M5x0.8Px10L) 4

4 Positioning pin (Ø4x6L) 2

5 Bolt (M5x0.8Px10L) 3

6 E30-T16 actuator cable 1

12 C09UE01-1712

4. Outline drawing

+0.02
5 -0.00 x3DP
4-M5x0.8P SCREW
B.C.D Ø31.5
1
15.25

22.5°
45°

0
[ NOTE 1] 2-M3x0.5Px4DP Ø20 -0.02
35.5
5

2
11.5

16
18

55
24

45 Ø72
[ NOTE 3] POSTION SLOT
22.5°
4-Ø4.8 WRENCH HOLE
4-M5x0.8Px8DP

Ø31.5
+0.02
20 0 x2.5DP +0.02
Ø5 0 x5DP
22.5°

[Note 1] If the HIWIN RA605/RT605 robot manipulator accessory kit is not attached, please make a fastener in accordance with the
aligning slot in the above drawings and install it on the stationary part of driving source, in order to prevent the rotation of
stator part of rotary joint.
[Note 2] Steel material is recommended for the fastener.
[Note 3] The postion slot shall be aligned first, and then bolt the screws firmly.
 C09UE01-1712 13

5. Appendix
5.1 RoHS Certificate
14 C09UE01-1712

5.2 Shipping items

Product label

• Standard shipping items • Product label

1. Electric rotary joint
2. Outline drawing
 C09UE01-1712 15

5.3 Inquiry Form

Company Date

Contact Tel.

E-Mail Fax

Address

1.Model

2.Rotational angle (˚)

3.Rotational speed
(mm/s)
4.Rotational
acceleration (mm/s2)

5.Work-piece weight (kg)

6.Lateral Torque Mxy

(N-m)
□ Clean room □ Dust □ High temperature ____ ℃
7.Working environment □ Low temperature ____ ℃ □ Vibration □ Oil □ Water
□ High humidity □ Corrosive chemicals □ Others __________

8.Target machine

9.Target machine
pay load (kg)
10.Target machine
motion speed
(mm/s)
11.Cycle time (S)

12.Special requirements

□ Polishing □ Grinding □ Deburring □ Assembly

13.Application
□ Machine tool □ Others __________

14.Remark
Electric Rotary Joint User Manual
Publication Date：December 2017, first edition

1. HIWIN is the registered trademark of HIWIN Technologies Corp.. For your protection; To avoid
counterfeit products, be certain you are buying genuine HIWIN products before purchase.
2. Actual products may be different from the specifications and photos in this catalog. The differences
in appearances or specifications may be caused by, among other things, product improvements.
3. HIWIN will not sell or export those techniques and products restricted under the "Foreign Trade
Act" and relevant regulations. Any export of restricted products should be approved by competent
authorities in accordance with relevant laws, and shall not be used to manufacture or develop
nuclear, biochemical, missile and other military weapons.
4. HIWIN website for patented product directory: http://www.hiwin.tw/Products/Products_patents.aspx

Copyright © HIWIN Technologies Corp.

HIWIN TECHNOLOGIES CORP.
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Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Tel: +886-4-23594510
Fax: +886-4-23594420
www.hiwin.tw
[email protected]

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The specifications in this catalog are subject to change without notification.

©2017 FORM C09UE01-1712

(PRINTED IN TAIWAN)