NSK Megatorque PS Series User Manual
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NSK Megatorque PS Series User Manual

Motor system (edc driver unit system)
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MEGATORQUE
MOTOR SYSTEM
User's Manual
(EDC Driver Unit System)
M-E099DC0C2-158
Document Number: C20158-04

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  • Page 1 ® MEGATORQUE MOTOR SYSTEM User’s Manual (EDC Driver Unit System) M-E099DC0C2-158 Document Number: C20158-04...
  • Page 2 Ltd. is notified of in writing within, which comes first, one (1) year of shipment or 2400 total operation hours. NSK Ltd., at its option, and with transportation charges prepaid by the claimant, will repair or replace any product which has been proved to the satisfaction of NSK Ltd. to have a defect in material and/or workmanship.
  • Page 3 Notes for Proper Use of Megatorque Motor System 1. Precautionary statement for the prolonged use of the Driver Unit 1) Temperature Keep the ambient temperature of the Driver Unit within 0 to 50[°C]. You cannot use the Driver Unit in a high temperature atmosphere over 50[°C].
  • Page 4 3. Quick troubleshooting 1) When an alarm occurs Did you take proper action to the alarm? Follow the remedy described in the manual again. 2) When the power does not turn on and the indication display does not turn on Check the voltage of main and control power by a tester if the voltage is in the range of specifications that are described in the User’s manual.
  • Page 5 3.1. Alarm when the power is on The alarm occurs when the power is turned on if input signals of EMST (Emergency stop, Pin No.3) and OTP/OTM (Over travel limits, Pin No. 5 and 6) of the connector CN2 are not connected. However, the Driver Unit is not defective.
  • Page 6 5) Input the command SV (Servo on) to turn on the servo of the Motor.. ◊ When setting the input OTP to the normally closed contact, input the command PI2 and follow the procedure above. ◊ When setting the input OTM to the normally closed contact, input the command PI3 and follow the procedure above.
  • Page 7 Megatorque Motor System is incorporated. EMC command (applicable standards: EMI EN55011 and EMS EN61000-6-2) NSK defined installation models (conditions) for the Megatorque Motor PS/PN Series, including installation space and wiring between Driver Units and Motors, and set EMC command standards based on 4 [m] cable models, which have been certified by TÜV.
  • Page 8 Conditions to Conform with EC Directives The wiring example shown below is one of our recommendations for the conformity with the EC Directives. Figure 1: Wiring diagram (Example) EDC Driver Unit AC power Circuit Noise breaker source filter Control power PS Series Ferrite Ferrite...
  • Page 9 Table 2: List of recommended part Item Specification Manufacturer Remarks Single phase: EA32AC-15 Conforms to IEC regulations Circuit breaker Rated current: 15 [A] (Fuji Electric) and approved by UL Single phase: FN2070-10/07 Noise filter 250 [VAC], 10 [A] (SCHAFFNER) R-A-V781BWZ-4 Surge absorber –...
  • Page 10 ・ Wire range for field wiring terminals are marked adjacent to the terminal, on the wiring diagram or instruction manual. Table 4: Acceptable lead diameter Wire Range（AWG） Model No. Input Output All Models Others ・ Solid state motor overload protection level of 115 [%] of FLA is provided in each model. ・...

  • Page 11: Table Of Contents

    Contents 1. Introduction ------------------------------------1-1 2.9.2.4. Position Feedback Signal Output ----------------------------------------------- 2-27 1.1. Notes for Users --------------------------------------------1-2 2.9.2 5, Analog Monitor Output------------------- 2-28 1.1.1. Notes for Safety -----------------------------------1-2 2.10. CN3: Resolver Cable Connector -------------------- 2-29 1.1.2. Precautions for Use -------------------------------1-2 2.10.1. CN3 Pin-Out ------------------------------------- 2-29 1.1.3.
  • Page 12 5. Tuning ------------------------------------------5-1 7. General Function-----------------------------7-1 5.1. Tuning Flowchart------------------------------------------5-1 7.1. Control Input ----------------------------------------------- 7-1 5.2. Tuning Level 1: Automatic Tuning --------------------5-2 7.1.1. Emergency Stop: EMST------------------------- 7-1 5.2.1. Precaustions for Automatic Tuning------------5-3 7.1.2. Alarm Clear: ACLR ------------------------------- 7-2 5.2.2. initilization of Servo Parameters ---------------5-4 7.1.3.
  • Page 13 7.4. Analog Monitor------------------------------------------- 7-34 8.6. Positioning Operation ---------------------------------- 8-31 7.4.1. Use of Preset Monitor--------------------------- 7-35 8.6.1. Acceleration Profiling and Individual Acceleration Setting ------------------------------ 8-31 7.4.2. Customization of Monitor Data --------------- 7-36 8.6.2. Examples of Acceleration Profiling and 7.4.2.1. Analog Monitor for State of Control Inputs Individual Setting of Acceleration and and Outputs Functions ----------------- 7-37 Deceleration -------------------------------------- 8-33...
  • Page 14 11.3.6. Alarm A4: Excess Velocity ----------------- 11-11 9. Details of Command and Parameter ----9-1 11.3.7. Warning A5: Home Position Undefined - 11-11 9.1. Handling Instruction of Command and Parameter 11.3.8. Alarm A7: Resolver Amplifier Alarm ----- 11-12 -----------------------------------------------------------------9-1 11.3.9. Alarm A9: Commutation Error ------------- 11-12 9.1.1.

  • Page 15: Introduction

    1. Introduction This is the operation manual of the Megatorque Motor System with EDC Driver Unit. Please refer to “2.4. Standard Combination List” for the applicable Megatorque Motor System. Before operating the Megatorque Motor System for the first time, this manual should be read thoroughly.
  • Page 16 ！ Danger : Be sure to connect the Emergency Stop signal circuit to the EMST port of the CN2 control I/O connector. • Please set the System so that you can immediately stop the Motor in case of an emergency. ！...
  • Page 17 ！ Warning : Do not test the insulation of the Driver Unit. • The high voltage used in the test may destroy the internal circuits of Driver Unit. ！ Caution : In most cases, the Direct Drive Motor System cannot exhibit its full performance unless the shipping set of the parameters is altered for actual applications.
  • Page 18 (However, there may be a possibility to exceed the above limits in some cases. Please consult NSK when you require a close investigation on the limits.) ◊ For the PN4180 Motor, be sure to stop the Motor for 20 minutes or longer when you stop it by the dynamic brake.

  • Page 19: Interchangeability Of Motor And Driver Unit

    1.1.3. Interchangeability of Motor and Driver Unit Interchangeable types The standard Motors and the EDC Driver Units can be randomly matched (interchangeable). You may have a combination of a Motor and a Driver Unit that have the different serial number. However, please refer to “2.4.

  • Page 20: Terminology

    1.2. Terminology It is necessary to be familiar with some terms used in this document. Cable Set A cable set exclusive use for the Megatorque Motor System. Connects driver Unit and Megatorque Motor CCW Counterclockwise; direction of Motor rotation. Seen from the top of rotor. closed Logic output state;...

  • Page 21: Specifications

    2. Specifications 2.1. System Configuration 2.1.1. Control Mode The EDC Driver Unit is compatible with several interface devices. Table 2-1: Applicable interface and control mode Applicable Control mode Controllers/Interfacing devices Application interface <Program operation> • Positioning commands are programmed and stored to the Driver Unit. •...

  • Page 22: Examples Of System Configuration

    2.1.2. Examples of System Configuration Fig 2-1: System configuration for program operation PLC* Handy Terminal 24 VDC Motor controller* power supply* HANDY TERMINAL EDC Driver Unit < > & ‘ SHIFT CTRL RS-232C communication Contorl I/O signal Control Main power PS series Megatorque Motor power Single phase:...
  • Page 23 Fig 2-3: System configuration for RS-232C serial communication command positioning PLC* 24 VDC Motor controller* power supply* EDC Driver Unit RS-232C communi- cation Control I/O signal Main power Control power Single phase : 200 to 230 [VAC] 100 to 115 [VAC] Cable set Resolver cable PS series Megatorque...

  • Page 24: Referebce Number And Coding

    2.2. Reference Number and Coding 2.2.1. PS Series Megatorque Motor Fig 2-4 :Reference number coding of PS series Megatorque Motor M-PS 1 006 K N 002 Megatorque Motor Design number PS series 002: Standard 003: High-precision products Motor size code N: No brake K: Incorporates absolute posiiton Motor maximum torque [N•m]...

  • Page 25: Name Of Part

    2.3. Name of Each Part 2.3.1. PS Series Megatorque Motor Fig 2-8: PS series Megatorque Motor Hollow Dust cover (stationary part) Rotor (rotational part) Stator (stationary part) Motor connector Resolver connector — 2-5 —...

  • Page 26: Edc Driver Unit

    2.3.2. EDC Driver Unit Fig 2-9: EDC Driver Unit (standard) (10) (12) (11) Heatsink (1) Power LED (7) Ground terminal. Ｍ4 screws (2) 7 segments LED (3) CN1 (9 pins) (8) Type RS-232C serial communication cable connector Reference number plate Connect the optional Handy Terminal FHT21.
  • Page 27 Fig 2-10: EDC Driver Unit compatible with CC-Link (10) (12) (11) Heatsink (18) (14) (17) (16) (15) (13) (1) Main power LED (9) No. Serial number plate (2) 7 segments LED (10) Monitor pins (3) CN1 (9 pins) (11) CN5 RS-232C serial communication connector Main power connector Connect the optional Handy Terminal FHT21.

  • Page 28: Handy Terminal

    2.3.3. Handy Terminal Fig 2-11: Handy Terminal M-FHT21 Frame HANDY TERMINAL < > Numeric keys & ‘ Code keys (superscript) Alphabetic keys ＊ Special code keys SHIFT CTRL Note 1) SHIFT : Shift key : Escape key (Not used) Note 2) CTRL : Control key Note 3) : Back space key...

  • Page 29: Motor And Edc Driver Unit Combinations

    2.4. Standard Combination List 2.4.1. Motor and EDC Driver Unit Combinations Table 2-2: Motor and EDC Driver Unit Combinations Driver Unit Motor Motor Reference number Power Cable Remarks diameter reference number : code for specification voltage[VAC] reference number of included items. M-EDC-PS1006AB502- 200 to 230 M-PS1006KN002...

  • Page 30: Cable Set

    2.4.2. Cable Set Table 2-3: Reference Number of Cable Set Function Cable length [m] Cable set reference number M-C001SCP03 M-C002SCP03 M-C003SCP03 M-C004SCP03 M-C005SCP03 M-C006SCP03 Stationary cable M-C007SCP03 M-C008SCP03 M-C009SCP03 M-C010SCP03 M-C015SCP03 M-C020SCP03 M-C030SCP03 M-C001SCP13 M-C002SCP13 M-C003SCP13 M-C004SCP13 M-C005SCP13 M-C006SCP13 Flexible cable M-C007SCP13 M-C008SCP13 M-C009SCP13...

  • Page 31: Motor Specifications

    2.5. Motor Specifications 2.5.1. PS Series Megatorque Motor The PS Series Motors are common to all EDC Driver Units regardless of difference in 100 and 200 [VAC] power source voltages. Table 2-5: Specifications of PS1 Motor Reference number M-PS1006KN002 M-PS1012KN002 M-PS1018KN002 Item [Unit] Motor outside diameter...

  • Page 32: Axial Load And Moment Load

    2.5.2. Axial Load and Moment Load The following show how to calculate axial and moment loads. Fig 2-12: Load applied to a Motor (1) When F is the external force, then (2) When an extyernal force is F, then (3) When an external force is F, then Radial load Fr＝F + weight of payload Axial load Fa = F + weight of paylaod.

  • Page 33: External Dimensions

    2.6. External Dimensions 2.6.1. PS Series Megatorque Motors Fig 2-13: PS1 type Motor Fig 2-14: PS3 type Motor ！ Caution : The bend radius of the motor cable lead ( φ 7) and the resolver cable φ lead ( 7) should be R30 [mm] or more. ！...

  • Page 34: Edc Driver Unit

    2.6.2. EDC Driver Unit Fig 2-15: EDC Driver Unit (Motor type: PS1006, PS1012, PS1018, PS3015, and PS3030) Fig 2-16: EDC Driver Unit (Motor type: PS3060, and PS3090) — 2-14 —...
  • Page 35 Fig 2-17: Driver Unit compatible with CC-Link (Motor type: PS1006, PE1018, PS3015 and PS3030) Fig 2-18: EDC Driver Unit compatible with CC-Link (Motor type: PS3060 and PS3090) — 2-15 —...

  • Page 36: Cable Set

    2.6.3. Cable Set ！ Caution : If you connect the cable to a moving part, be sure to use a flexible type cable. 2.6.3.1. Stationary Cable ！ Caution : Bending radius of Motor and resolver cables shall be R45 mm or over. Fig 2-19: Cable Set (Fixed type: M-C×××SCP03) 2.6.3.2.

  • Page 37: Driver Unit Specifications

    2.7. Driver Unit Specifications Table 2-8: Specifications of EDC Driver Unit (1) Item Specification Motor type PS1006 PS1012 PS1018 PS3015 PS3030 PS3060 PS3090 Continuous output [Arms] Maximum output [Arms] 14.9 14.9 Rated capacity [VA] Max. capacity [VA] Control power Single phase 100 to 115 [VAC] / Single phase 200 to 230 [VAC] 50/60[Hz]Voltage Fluctuation: ±10[%] or less Main power 2 621 440...
  • Page 38 Table 2-9: Specifications of EDC Driver Unit (2) Item Specification Operating temperature 0 to 50[°C] Environ- Storing temperature -20 to 85[°C] mental Operation / storing 90% or less. No condensation. 20 to 80% for storing (no condensation) conditions humidity Vibration resistance 4.9 m/s Optional dump resistor available when the regeneration current is beyond the Regeneration...

  • Page 39: Rs-232C Interface Specifications

    Mating connector type DE-9PF-N* or equivalent Mating connector shell type DE-C2-J6R* or equivalent * The user shall provide these connectors. They are not necessary if NSK Handy Terminal FHT 21 is used. 2.8.1.1. CN1 Pin-Out Fig 2-21: Pin-out 2.8.1.2. CN1 Signal List...

  • Page 40: Specifications Of Control Input/Outputinter Facing

    2.9. Specifications of Control Input/Output Interface 2.9.1. CN2: Control Input/Output Signal Connector The connector and the mating connectors to be used for the CN2 connector are listed in the Table 2-12. Table 2-12: Connector list Connectors for Driver Unit 52986-5079 or equivalent Molex Inc.

  • Page 41: Cn2 Pin-Out

    2.9.1.1. CN2 Pin-Out The pin-out arrangement below is for the shipping set. The function of each signal port may be changed by the function setting of control Input/Output ports. Fig 2-22: Pin-out (shipping set) Input dedicated to safety function Output dedicated to safety function EMST : Emergency stop DRDY : Driver Unit ready : Normal...

  • Page 42: Cn2 Signal List

    2.9.1.2. CN2 Signal List ！ Caution : Follow the specification documents for the specially ordered System when its settings of Inputs and Outputs are different from the standard. ！ Caution :Never connect the idle pins that are instructed as “Do not connect.” Do not disconnect the idle pins at the master controller (PLC, etc) side after you have connected all pins of the CN2 connector.
  • Page 43 Table 2-13 (continued): Signal list (Shipping set) Input Signal Contact Port Signal name Function Output code code logic – – Output signal common Common for output signal. – – Output signal common Reports that the Motor is ready to rotate. DRDY Positive Driver Unit ready...
  • Page 44 Table 2-14: Expanded function for function assignable control Input/Output Input Function Function name Description Output code Pauses the Motor operation and execution of the Hold program. Changes the velocity command in a rate of the Velocity override specified velocity. Integration OFF Terminates velocity integration control.

  • Page 45: Cn2 Interfacing

    2.9.2. CN2 Interfacing 2.9.2.1. General Input Signal Applied inputs: SVON, EMST, OTP, ACLR, PRG0 to PRG7, JOG, DIR, and STP Table 2-15: General specifications Item Specification Input voltage 24 VDC ± 10% Input impedance 3.9 kΩ Maximum current 10 mA or less (per input) Fig 2-23 ∗...

  • Page 46: Pulse Train Input Signal

    2.9.2.2. Pulse Train Input Signal Applied inputs: CCWP +, CCWP -, CWP +, and CWP - Table 2-16 Item Specification Input voltage 5 VDC ±10% 220 Ω Input impedance Maximum current 25 mA or less Fig 2-24: Pulse train input 220 Ω...

  • Page 47: Output Signal

    2.9.2.3. Output Signal Applied output: PO0 to PO7 (Shipping set: DRDY, WRN, OTPA, OTMA, SVST, BUSY, IPOS, and NEAR) Table 2-17: General output photo coupler specification Item Specification Maximum load capacity 24 VDC/50 mA Maximum saturated voltage 2 V or less Fig 2-27 Output ～...

  • Page 48: 5, Analog Monitor Output

    2.9.2.5. Analog Monitor Output Table 2-19: Analog monitor specification Item Specification Output format Op-amp Maximum output voltage Saturated current 4 mA or less Fig 2-29: Analog monitor － MON1， 2 ＋ — 2-28 —...

  • Page 49: Cn3: Resolver Cable Connector

    2.10. CN3: Resolver Cable Connector ！ Caution : Connect the Cable Set provided with the Driver Unit. Do not cut or hookup to other cable because the Cable Set is uniquely made for the position sensor. Table 2-20: Connector list Driver Unit connector Molex Inc.

  • Page 50: Cn4: Motor Connector

    2.11. CN4: Motor Connector ！ Caution : Use the Cable Set provided with the Driver Unit. Please do not cut the cable or hookup to other cable because the Cable Set is specially made for the position sensor. Table 2-22: Connector list Connector of Driver Unit WAGO Corporation 232-268 or equivalent...

  • Page 51: Cn5: Connector For Power Supply

    2.12. CN5: Connector for Power Supply The table below shows the connectors for CN5 and the connector of user device. Table 2-24: Connector list Connector of Driver Unit WAGO Corporation 231-565/001-000 or equivalent Mating connector WAGO Corporation 231-305/026-000 or equivalent 2.12.1.
  • Page 52 (Blank Page) — 2-32 —...

  • Page 53: Unpacking, Installation And Wiring

    3. Unpacking, Installation and Wiring 3.1. Unpacking 3.1.1. Receiving Check Make sure you have received the following units. Megatorque Motor Driver Unit Cable Set (Motor and Resolver cable) 3.1.2. Motor and EDC Driver Unit Combinations ！ Caution : Confirm that the reference number of the Motor and the Driver Unit on each nameplate matches each other in the following codes: Motor series and size, and maximum torque.

  • Page 54: Installation

    3.2. Installation 3.2.1. Motor Mounting Please follow the notes described below to make full use of the capabilities of the PS series Megatorque Motor, a highly capable DD (direct drive) motor series. 3.2.1.1. Environmental Conditions of Motor Use the Motor in the indoor condition free from corrosive gas. The operating ambient temperature for the Motor shall be 0 to 40[°C].

  • Page 55: Coupling Load To Motor

    3.2.1.3. Coupling Load to Motor ！ Warning : Fix the load using the bolt-holes of the rotor. Take a great care for play between the rotor and the load. ◊ The following are the maximum tightening torque of fixing bolts (1) PS 1 Motor: 3.4 N•m (M4 bolt) (2) PS 3 Motor: 7.8 N•m (M6 bolt) ！...

  • Page 56: Installation Of Driver Unit

    Inertia of a dummy load shall be approximately 20% of the load moment of inertia. When a speed reducer mechanism is used, it shall be × GD ) ≤ 5 Where GD = inertia of indirectly connected load, GD = inertia of directly attached load, and r = reduction ratio.) Fig 3-4: Example of dummy load Load...

  • Page 57: Wiring

    Fig 3-5: Installation of Driver Unit 3.3. Wiring 3.3.1. Connection of Cable Set ！ Caution : Do not cut the Motor cable to change the length shorter or longer or do not hook it up to other cable. You need to separately purchase the cable with specified length.

  • Page 58: Connecting Power

    3.3.2. Connecting Power Refer to “2.10. CN5: Connector for Power Supply” for details. Use AWG16 of anti-heat vinyl UL cables for the power supply. Do not place the main power AC line cable and the signal wires in close proximity. Do not tie wrap them, and do not put them in the same duct or conduit.

  • Page 59: Ground Connection

    3.3.3. Ground Connection For grounding the Driver Unit, use braided copper cable or heavy gage cable as possible such as AWG12 or larger. The ground terminal is M4 screw. There is a possibility that the thread of a screw is damaged when the tightening torque of the screw exceeds maximum value 1.2N･m.

  • Page 60: Connector Wiring

    3.3.4. Connector Wiring ！ Caution : Be sure to install a surge killer circuit when inductive switches such as relays are used. ！ Caution : When inputting the inputs “Over travel limit, + direction” and “Over travel limit, - direction,” connect the outputs of your sensors directly to the inputs, not via the master controller.

  • Page 61: Wiring Example (Cn2)

    3.3.4.1. Wiring Example (CN2) Fig 3-8: CN2 wiring example User’s controller EDC Driver Unit Polarity of the power supply may be reversed to minus common. 1,2 DC24 24 VDC Servo ON 7 SVON Emergency stop 3 EMST Alarm clear 4 ACLR Over travel limit, + direction 5 OTP Over travel limit, –...

  • Page 62: Precautions Before Power On

    3.4. Turning on Main Power 3.4.1. Precautions Before Power-on ！ Caution : Before turning on the power check the following. Improper connection may result in breakage of the Driver Unit. (1) Connections of each cable. (2) Connection of the Handy Terminal (3) Confirm the safe conditions.

  • Page 63: Points To Be Checked When Power On

    “3.4.3.Polarity Setting of Control Input Port” to clear the alarm. The System is in the normal state when the display of the Handy Terminal shows the prompt “: (colon)” after the message of “NSK MEGATORQUE.” Fig 3-11: Indication of the display of the Handy Terminal...

  • Page 64: Polarity Setting (Normally Open Contact And Normally Closed Contact)

    3.4.3. Polarity Setting of Control Input Port (Normally Open Contact and Normally Closed Contact) The shipping set of the inputs EMST, OTP, and OTM of the CN2 connector is the normally closed contact. The following show how to change the polarity of the above inputs to the normally open contact.

  • Page 65: Power On And Servo On

    3.4.4. Power on and Servo on Turn on the power. The System checks the output DRDY approximately three seconds later. If the System is in the normal state, turn on the input SVON. The System gets in the Servo ON state. ◊...
  • Page 66 Fig 3-13: Signal timing for Power on and Servo on Control power Main power Approximately 3 seconds DRDY output Confirmed 0.5 s min. SVON input 170 ms max. (3.2 s max.) 1 ms max. Closed Open SVSToutput Operation command effective It takes approximately 170 ms to turn the servo on after the input SVON (Servo ON) is activated.

  • Page 67: Handy Terminal Communication

    4. Handy Terminal Communication Function of Handy Terminal Monitoring the Motor conditions, internal channel programming and setting parameters with the RS-232C communication interface can be done easily by connecting the FHT21 Handy Terminal to connector CN1 of EDC Driver Unit. (No setting such as baud rate is required.) ！...

  • Page 68: Cehck On Handy Terminal

    4.1. Check on Handy Terminal Follow the procedure below to check the handy Terminal if it is functioning. Connect the Handy Terminal to the connector CN1 of the EDC Driver Unit, and then turn on the power. Be sure that the colon (:) is on the display. (Press the ENT key once if the colon is not on the display.) 4.2.

  • Page 69: Input Of The Password

    4.2.1. Input of the Password Several parameters and commands require an entry of the password for setting and execution. Enter the Password (/NSK ON) :/NSK ON NSK ON The acknowledgment appears on the screen, and the colon appears indicating the normal stand-by state for command entry.

  • Page 70: Monitoring Parameters By A Group

    4.3.1. Monitoring Parameters by a Group There are many parameters for the Driver Unit. The command TS (Tell settings) will read out parameter values by groups. Refer to “9. Details of Command and Parameter” for the detail of the command TS. The following example describes how to read out the setting of parameter VG for the velocity loop proportional gain (velocity gain).

  • Page 71: Monitoring Current Status

    4.4. Monitoring the Current Status This function is useful when you need to monitor various conditions of the System in the middle of condition adjustment. The following example describes how to monitor the current position by the Monitor TP (Read out current position [in units of pulse]).
  • Page 72 (Blank Page) — 4-6 —...

  • Page 73: Tuning

    Power on. Turn on the power of the Driver Unit, and confirm that the screen of Handy Terminal displays the message shown below. 5.2.2. Initialization of Servo Parameters NSK MEGATORQUE XSY*****.*,XOP* DC1A80_*****.* Automatic tuning Tuning Level 1 This is the basic function of the automatic tuning.

  • Page 74: Tuning Level 1: Automatic Tuning

    5.2. Tuning Level 1: Automatic Tuning ！ Caution : The automatic tuning does not function if the following conditions are not met. Confirm them before carrying out the automatic tuning. • The load moment of inertia must be in the allowable range of the Motor. Refer to “3.2.1.4.

  • Page 75: Precaustions For Automatic Tuning

    5.2.1. Precautions for Automatic Tuning ！ Danger : Before performing the automatic tuning, be sure to wire the following input signals so that the Motor can stop immediately in case of emergency. ◊ Emergency stop (EMST) ◊ Over travel limit switch (OTP and OTM) if the off-limits area is set. ！...

  • Page 76: Initilization Of Servo Parameters

    TL100.00; GP0; : TS2 … FO0.000_ Input the password. The screen displays an acknowledgement. :/NSK ON NSK ON Input the command SI (Set initial parameters) to initialize the parameters. The initialization will start. :/NSK ON NSK ON The prompt “: (colon)” will appear when the initialization completes.

  • Page 77: Automatic Tuning

    5.2.3. Automatic Tuning The automatic tuning estimates the load moment of inertia attached to the Motor, then automatically sets the following servo parameters following the result. Table 5-2: Servo parameters to be set automatically Parameter Description Load inertia Servo gain Position gain Velocity gain Primary low-pass filter frequency...
  • Page 78 After the LO value has appeared on the screen, press the SP key to read out the servo parameters that are set by the automatic tuning. The BS key aborts the readout and the prompt “: (colon)” appears for the next command.

  • Page 79: Trial Running

    5.2.4. Trial Running ！ Danger : Take an appropriate precaution for a full turn of the Motor. Use a demonstration program of EDC Driver Unit to check the result of automatic tuning. Be sure that the inputs of the EMST (Emergency stop), the inputs OTP/OTM (Hardware over travel limit) of the CN2 connector (control Input/Output) are not active.
  • Page 80 A prompt “?” appears on the screen when the readout of the demonstration program completes. An input of the ENT key at this stage will make the screen to indicate that the demonstration program is ready. 4>JP256; SP/AJ Ready OK Input “OK”...

  • Page 81: Tuning Level 2: Servo Gain Tuning

    “5.3.1.1. When the Load moment of inertia is Unknown” The following show an example when the load moment of inertia is 0.123 [kg•m Input the password. The acknowledgement appears on the screen. :/NSK ON NSK ON Input the value of load inertia. :/NSK ON NSK ON :LO0.123...

  • Page 82: Minor Tuning Of Servo Gains

    5.3.2. Minor Tuning of Servo Gains ！ Danger : Take an appropriate precaution for a full turn of the Motor. Minor tuning of servo loop gains is required in the following cases. When an automatic tuning (Tuning Level 1) is not successful. The parameter LO (Load inertia) is manually inputted.
  • Page 83 When tuning the parameter SG, operate the Motor with the demonstration program (SP/AJ). (Follow the procedures 1) to 8) in “5.2.4. Trial Running (Tuning Level 1).” Start the tuning of the parameter SG. Input Parameter code + /AJ. The screen changes as shown below, and you can change the setting of SG by the keys of ＋...
  • Page 84 Enter the ENT key to complete the tuning and the changed parameter data will be displayed. (An input of the BS key reset to the setting before the tuning.) :>SG/AJ STEP PG0.26;_ Each setting is indicated with the prompt “; (colon)”, and the screen pauses the indication at this stage.

  • Page 85: Tuning Level 3: Manual Tuning

    5.4. Tuning Level 3: Manual Tuning ！ Danger : Take an appropriate precaution for a full turn of the Motor. Execute the manual tuning when the “5.3.2. Minor tuning of servo gains” is not successful. The manual adjustment is the one fine-tuning it by adjusting VG (Velocity loop proportional gain) when a satisfactory adjustment is not obtained by “5.3.2.

  • Page 86: Proportional Gain (Vg)

    Keep pressing the ＋ key until the Motor starts hunting and stops reciprocating motion. … :> Pressing SHIFT :> VG/AJ STEP 0.10 4.90 _ Decrease the VG pressing the － key several times until the hunting stops and the Motor starts reciprocating motion again. …...

  • Page 87: Setting Filters (Tuning Level 2)

    5.5. Setting Filters (Tuning Level 2) Setting the Low-pass filters (parameters FP and FS) will decrease resonant noise level. The parameters FP and FS describe the cut-off frequency of low-pass filters in [Hz]. ◊ Firstly, set the parameter FP to FP200 if the System vibrates and/or generates resonant noise after the servo loop gains were properly set.

  • Page 88: Setting Notch Filter

    Press the － key several times to lower the low-pass filter frequency (FP data) until the resonant noise vanishes. … :> :>FP/AJ STEP 990 _ If the motion of the Motor becomes unstable, press the ＋ key several times to increase the low-pass filter frequency until it becomes stable …...

  • Page 89: Operation

    6. Operation 6.1. Preparation 6.1.1. Wiring Check ！ Caution : On completion of wiring the EDC Driver Unit, check the items listed in Table 6-1 before operating the Megatorque Motor System. Table 6-1 Items to be checked Points to be checked •...

  • Page 90: Position Scale

    6.2. Position Scale 6.2.1. Resolution of position Scale A Motor has eighty teeth on its circumference, and the position sensor divides 1-tooth into 32 768 by digital signal processing. Therefore, the pulse count for one revolution of the Motor shall be obtained as below. 32 768 ×...
  • Page 91 ◊ Input OTM: prevents the CCW rotation of the Motor seen from the Motor output axis. When counting the CCW direction as plus Input the parameter DI to reverse the position scale. (The password is required.) :/NSK ON NSK ON :DI1 — 6-3 —...

  • Page 92: Setting Of Home Position

    6.2.3. Setting Home Position The Motors have their own home position when they are shipped. The user absolute home position, which is the origin of operation, is set to the same position of the Motor home position when the Motor is shipped. The user absolute home position can be reset by the command AZ (Absolute Zero position set) or a Home Return operation.
  • Page 93 Press the BS key to abort monitoring. An input of the command AZ sets the current commanded position (current position + position error) to the user absolute Home position. (The command AZ requires an input of the password.) : /NSK ON NSK ON : AZ AO1203312;_ Execution of the command AZ changes the setting of the parameter AO.

  • Page 94: Software Over Travel Limit

    6.2.4. Software Over Travel Limit This function is to set an off-limits area on the Motor rotation range. ！ Caution : F2 alarm is produced when the over travel is occurred. The software over travel is detected based on the positioning command, rather than the current Motor position.

  • Page 95: Setting Limits By Teaching

    Turn the Motor manually to the position of plus side software travel limit. Set the current position as the plus side software over travel limit. (Inputting the parameter OTP requires the password.) Input Parameter code + /ST. :/NSK ON NSK ON :OTP/ST OTP123456;_ The parameter OTP is set by teaching.

  • Page 96: Setting Limits By Direct Input

    If the position data to be the software over travel limits are previously known, the position data can be directly set to the parameters OTP and OTM (Software over travel). (The password is required in order to set the parameters OTP and OTM.) Set the plus side over travel limit. :/NSK ON NSK ON :OTP123456 <...

  • Page 97: Positioning Operation

    6.3. Positioning Operation 6.3.1. Positioning Command The EDC Driver Unit incorporates the positioning commands. There are two ways for execution of the positioning commands. ◊ Input directly the command via RS-232C communication. ◊ Preprogram the positioning commands and the operational conditions and store them in the program channels.

  • Page 98: Program Positioning Operation

    6.3.2. Program Positioning Operation The program positioning operation means an execution of some preprogrammed positioning commands and operational conditions in the program channels. The inputs of PRG0 to PRG7 specify a program channel and the input RUN (Start program) starts the positioning operation. ◊...
  • Page 99 Fig 6-5: Program example : CH0 Rotational speed: 2 s 0? MV2.000 Rotational acceleraton: 5 s 1? MA5.0 Executes from the top line. Move incrementally in the plus direction by 90° 2? ID9000 The program processing pauses at this point until completion of the program. Program body The System secures settings of parameter untill completion of the program.(*1)
  • Page 100 6.3.2.1. Program Operation via Control Inputs and Outputs The following figure illustrates a typical procedure example of program operation. Fig 6-6: Signal timing of program operation via control Inputs/Outputs SVON input Max. 170 ms (*Max. 3.2 s) closed SVST output open Channel select Channel selection fixed.
  • Page 101 Setting of internal program channel A binary combination of ON and OFF of the inputs PRG0 to 7 selects a channel to be executed. Table 6-7: Channel selection Combination of PRG0 to 7 inputs Channel ( : ON) ( : OFF) number PRG7 PRG6...

  • Page 102: Program Positioning Operation Via Rs-232C Communication

    6.3.2.2. Program Positioning Operation via RS-232C Communication The command SP (Program start) starts a program operation. Start the program in Figure 6-7 below as an example. Fig 6-7: Program example : CH0 Rotational speed: 0.5 s-1 0? MV0.500 Rotational acceleration: 0.5 s 1? MA0.5 Executes a program from...

  • Page 103: Programming

    6.3.2.3. Programming Write the program for a program positioning operation via RS-232C communication. When programming, do not perform any program operation. There are 256 channels available for programming area and you can program multiple parameters and positioning commands in one channel. There are 1 024 lines for the program area in each channel.
  • Page 104 Editing new program channel Example below describes a positioning program to rotate the Motor 90° into the plus direction from the current position with a velocity of 0.5 [s The command CH (Editing channel) starts program editing of the specified channel. : CH0 Input the parameter and the positioning command following the prompt “line number and ?.”...
  • Page 105 Line editing An example shown below describes changing the amount of rotation for present program to 45°. The command CH (Editing channel) starts editing the program. The line with the inputted program appears on the screen. Press the SP key to show the line to be edited.
  • Page 106 Insert and deletion of a program line The following describe how to insert and delete program line. Start editing a specified program with the command CH (Channel start). The System reads out already programmed lines on the screen. Press the SP key to scroll the objective line to be inserted or deleted.
  • Page 107 Reading out of a program line When editing a program, you can read out a program line. ◊ Input ? + line number following the prompt “line number +?”. The program starting from the specified line is repeated below. Press the SP key to scroll the next line. Other way of reading out a program line.

  • Page 108: Program Sequence

    6.3.2.4. Program Sequence Though a program is basically consists of parameter settings and positioning commands, the following simple sequence controls can be added within a program. ◊ Command JP (Unconditional jump): The program execution jumps to the top line of the specified channel ◊...
  • Page 109 Sequence code: Continuous positioning between channels (with input RUN) An example below describes how to program an operation alternating an incremental 90° positioning into the plus and the minus directions by activating the input RUN. Fig 6-11: Sequence code: Continual positioning between channels (with input RUN) Changing channels only by the RUN input :OE1 * Set as a global parameter.
  • Page 110 Sequence code: Continual positioning between channels (without the input RUN) An example below describes how to program an operation alternating the incremental 90° positioning into the plus and the minus directions. Set a dwell time of one second between each positioning.

  • Page 111: Pulse Train Command Positioning Operation

    6.3.3. Pulse Train Command Positioning Operation An input of pulse train command through the inputs of CWP (pulse train, CW) and CCW (pulse train, CCW) of the CN2 connector (Input/Output) controls a positioning operation. The frequency of input pulse determines rotational velocity while the total number of inputted pulse determines the rotation amount.
  • Page 112 Table 6-9: Input/Output and parameters related to pulse train command positioning Name Initial Category Function Data range (description) Unit (code) setting CWP+ CW pulse train, (+) direction – The pulse train command rotates the Motor in the plus Format of direction.
  • Page 113 The following show a typical example of the pulse train command positioning. Fig 6-16: Signal timing of pulse train command positioning SVON input Max. 170 ms. (Max. 3.2 s) closed SVST output open Pulse train input Total pulses in given multiplication Motor motion Stability timer 100 ms...

  • Page 114: Format Of Pulse Train Input

    6.3.3.1. Format of Pulse Train Input The parameter PC (Pulse train format) sets the format of pulse train input signal. Table 6-10: Signal format of pulse train command operation Parameter PC Pulse input format CWP input CCWP input Inputs pulse train for Inputs pulse train for CW/CCW rotation in the plus...

  • Page 115: Resolution Of Pulse Train

    The Driver Unit controls the leftover pulses caused by dividing. (The origin of the dividing calculation is the Home position of the position scale.) ◊ For an example, set the CR to 360 000 pulses for one revolution. :/NSK ON NSK ON :CR360000 <...

  • Page 116: Input Timing

    6.3.3.3. Input Timing ！ Caution : The following show the timing of accepting pulses. In addition to the conditions shown below, the maximum rotational speed of the Motor places restrictions. Set the input pulse frequency so that the Motor does not exceed its maximum rotational speed. Fig 6-18: When the parameter is set to PC0 (CW/CCW format) Rotation in the plus direction Rotation in the minus direction...

  • Page 117: Jogging

    6.3.4. Jogging Jogging can be proceeded via either the signals of control Input/Output or RS232C communication. Table 6-11 below lists the parameters related to the jog operation. Refer to “9. Details of Commands and Parameters” for more details. Table 6-11: Commands and parameters related to jog operation. Initial Category Name (code)

  • Page 118: Jogging With Control Input And Output

    6.3.4.1. Jogging with Control Input and Output This section describes procedures to perform a typical jog operation via control inputs and outputs Fig 6-21: Signal timing of a jogging operation via control Inputs and Outputs SVON input Max. 170 ms (Max. 3.2 s max.) closed SVST output open...

  • Page 119: Jogging Via Rs-232C Communication

    6.3.4.2. Jogging via RS-232C Communication The following shows procedures of a typical jogging operation via RS-232C communication. When a jogging operation is run via RS-232C communication, regular carriage return after the jogging is started, is strongly recommended, considering a communication failure due to an accident, such as disconnection of cables.

  • Page 120: Rs-232C Communication Positioning Operation

    6.3.5. RS-232C Communication Positioning Operation Positioning may be executed directly via RS-232C communication. The commands and parameters related to the positioning operations are listed in Table 6-6 “Positioning command and parameter” and the commands and parameters unique to RS-232C positioning are listed in Table 6-12 below. ” Refer to “9. Details of Commands and Parameters” for details.
  • Page 121 The following describe the procedures of a typical RS-232C communication positioning. Fig 6-23: Signal timing of an RS-232C communication positioning SVON input Max. 170 ms (Max. 3.2 s) *1 closed SVST output open Positioning validated. IR100CR RS-232C communication command IR100CR LF: !CR LF: RS-232C comunication acknowledgment...
  • Page 122 (Blank Page) — 6-34 —...

  • Page 123: Control Input

    7. Operational Function 7.1. Control Input 7.1.1. Emergency Stop: EMST The input EMST turns the Motor servo off and stops the Motor by the dynamic brake. Table 7-1: Signal logic of the input EMST (shipping set: normally closed) Logic Description Emergency stop Normal ◊...

  • Page 124: Alarm Clear: Aclr

    7.1.2. Alarm Clear: ACLR This input clears a warning. Table 7-3: Signal logic of the input ACLR Logic Description ↓ (ON OFF) Not effective ↑ (OFF Clears alarm. A rising signal of the input ACLR from OFF to ON clears a warning while the output WRN (Warning) is closed.

  • Page 125: Hardware Over Travel Limit: Otp And Otm

    7.1.3. Hardware Over Travel Limit: OTP and OTM An input signal of over travel limit sensor to stops the Motor. This is provided to set the off-limits area within the Motor rotation range. Table 7-5: Signal logic of the inputs OTP and OTM (Shipping set: normally closed) Logic Description Travel limit...

  • Page 126: Servo On: Svon

    7.1.4. Servo on: SVON This input activates the Motor servo. Table 7-7: Signal logic of the input SVON Logic Description Servo off Servo on The Motor servo activates when the input SVON is turned on after the main power is turned on and the output DRDY (Driver Unit ready) is closed.
  • Page 127 Precautions when the main power and the control power are separately turned on and off. When turn on the main power after the control power is on. ◊ Activate the input SVON after the main power is turned on. When turn off the main power leaving the control power on. ◊...

  • Page 128: Program Start: Run

    7.1.5. Program Start: RUN Internal Program Channel Selection: Input PRG0 to PRG7 This input starts to execute a program. Table 7-8: Signal logic of the input RUN Logic Description ↓ (ON → OFF) Invalid ↑ (OFF→ ON) Start program The input RUN starts execution of the program in the internal program channel specified by the inputs PRG0 to PRG7.

  • Page 129: Stop: Stp

    7.1.6. Stop: STP This input stops all operations and prohibits entering positioning commands. The input can be used for stopping the Motor in the middle of positioning and for the interlock signal for a positioning start command. Table 7-9: Signal logic of the input STP Logic Description Positioning...
  • Page 130 Effects on the pulse train input The Motor immediately stops when the input STP is activated in the middle of positioning by the pulse train input. This is because the command is regarded as “zero” during the input STP is being active.

  • Page 131: Jogging: Jog

    7.1.7. Jogging: JOG Jogging Direction: DIR This input starts a jogging operation. Table 7-11: Signal logic of the input JOG Table 7-12:Signal logic of the input DIR Logic Description Logic Description Starts decelerating. Plus direction Start jogging Minus direction Jogging starts when the input DIR specified the rotational direction and the input JOG is activated.

  • Page 132: Control Output

    7.2. Control Output 7.2.1. Driver Unit Ready: DRDY This output reports the occurrence of a problem (alarm) that hampers continual operation. Connect to the alarm input of the master controller. Table 7-13: Signal logic of the output DRDY Logic Description Open Alarm Closed...

  • Page 133: Over Travel Limit: Otpa And Otma

    7.2.3. Over Travel Limit Direction: OTPA and OTMA This output reports the entering direction of the Motor to the off-limits area specified by the hardware over travel limits and the software over travel limits. This output can be used to determine the direction to get out from the off-limits area. Table 7-15: Signal logic of the OTPA (shipping set) Table 7-16: Signal logic of the OTMA (shipping set) Logic...
  • Page 134 Fig 7-10: Signal timing of the input OTP and the output OTPA (negative logic) closed Output DRDY open Move the Motor out from the off-limits area or Move out the Motor manually from the off-limit area after the servo is off. Input OTP Max.

  • Page 135: Servo State: Svst

    7.2.4. Servo State: SVST This signal reports that the Motor servo is active. Table 7-19: Signal logic of the output SVST Logic Description Open Servo-off Closed Servo on This signal can be used to check if the Motor servo is activated by the input SVON (Servo on). When the Motor servo is activated, a positioning operation is executable by an instructed positioning operation command or a pulse train input.

  • Page 136: In Operation: Busy

    7.2.5. In-operation: BUSY This signal reports that the System is in the middle of the operation executed by an internal command. Table 7-20: Signal logic of the output BUSY Logic Description Open Idle Closed In-operation Besides the program operations, another program operation to change parameter settings by the program, which does not involve a motion of the Motor, is available to the Driver Unit.

  • Page 137: In-Position: Ipos

    7.2.6. In-position: IPOS This signal reports completion (settling) of a positioning operation executed by a positioning command. The settling means that the Motor has stopped at the target position with a margin of error. Table 7-22: Signal logic of the output IPOS Logic Description Open...

  • Page 138: Cfin Mode (Parameter Fw < 0)

    7.2.6.1. CFIN Mode: Parameter FW < 0 This mode is to report completion of positioning operation. Execution of positioning command, such as program positioning operation, edits the commanded position. Thus, the output IPOS (In-position) will be forcibly opened. ◊ For every input of starting command, the output IPOS is ensured to be opened longer than the value of the parameter FW.

  • Page 139: Ipos Mode (Parameter Fw = 0)

    7.2.6.2. IPOS Mode (Parameter FW = 0) This mode is to check if the current position defers from the target position of the positioning command. Execution of positioning command, such as program operation, edits the target position. Thus, the output IPOS (In-position) will be forcibly opened. ◊...

  • Page 140: Fin Mode (Parameter Fw > 0)

    7.2.6.3. FIN Mode (Parameter FW > 0) The output IPOS reports completion of the operation caused by the positioning command. The IPOS signal shall be outputted for every positioning start command such as the RUN command (Program start). ◊ The output opens at least for the time set in the parameter IS (In-position stability timer) to check stability of positioning;...

  • Page 141: In-Position Stability Timer

    7.2.6.4. In-position Limit: Parameter IN This parameter states positioning accuracy. The output IPOS closes when the absolute values in the error counter is less or equal to the setting value of the parameter IN. The unit is the resolution of the position sensor (pulse). Table 7-24: Resolution of positon sensor Resolution Motor type...

  • Page 142: Target Proximity: Neara And Nearb

    7.2.7. Target Proximity: NEARA and NEARB These outputs report that the Motor is approaching to the target position. These outputs are used to have a precise timing with external devices just before the positioning completes. Table 7-25: Signal logic of outputs NEAR and NEARB Logic Description Open...

  • Page 143: Position Feedback Signal

    7.2.8. Position Feedback Signal The position feedback signal monitors the rotational amount of the Motor in øA/øB format and the Motor reference position by the øZ pulse. The signal can be used for controlling the position scale in the master controller. The total edge count number of øA and øB pulses for a one revolution of the Motor can be freely divided by the parameter FR (Feedback signal resolution).

  • Page 144: Resolution Of Position Feedback Signal

    (The basic position for the computation of free resolution setting is the home position.) ◊ For an example, let’s set the Motor resolution to 360 000 edge count for one revolution. (Phase A and B outputs 90 000 [count/revolution] respectively.) : /NSK ON NSK ON : FR360000 VL8.681;_...
  • Page 145 A setting of resolution will automatically specify the parameter VL (Velocity limiter). This is because the maximum edge outputting frequency of the feedback signal is limited to 3 125 000 [count/rev.] maximum. (Both for øA and øB is 781 [kHz] each.) ◊...

  • Page 146: Signal Output Timing

    7.2.8.2. Signal Output Timing Fig 7-21: Signal timing of position feedback signal (øA/øB) Rotation to CW direction Rotation to CCW direction CHA output (øA) CHA output (øA) CHB output (øB) CHB output (øB) One revolution ・ ・ ・ 1 2 3 4 Fig 7-22: Signal timing of position feedback signal (øZ) Rotation to CW direction Rotation to CCW direction...

  • Page 147: Rs-232C Monitor

    7.3. RS-232C Monitor Various types of monitors are available via RS-232C communication. Table7-29: RS-232C monitors Name (code) Function Data range Unit Reads out condition of the CN2 Monitors the state of control inputs and IO0 to IO3 signal ports. (ON and OFF, or open –...

  • Page 148: Monitoring Way For Control Input/Output Signal

    7.3.1. Monitoring Way for Control Input/Output Signal The monitor IO (Input/Output monitor) monitors the condition of inputs and outputs of the connector CN2. The monitor can be used for a wiring check. The relation between the monitor IO and the function of input and output of the Driver Unit is illustrated in Figure 7-23 below.

  • Page 149: Electric Condition Monitor: Monitor Io0

    7.3.1.1. Electrical Condition Monitor: Monitor IO0 Monitors electrical condition of the input and output port. ◊ Input IO0/RP. Press the BS key to abort repeating readout. Fig 7-24: Example of the monitor IC0 I/O guide GFEDCBA9876543210 0: OFF 00000000000000000 Input 1: ON 00000000000000000 0: Open...

  • Page 150: Monitor For Internal Recognition Of Input And Output State: Monitor Io1

    7.3.1.2. Monitor for Internal Recognition of Input and Output State: Monitor IO1 Monitors the applied state of following function to the control inputs and outputs: ◊ For the inputs, the monitor reports how the Driver Unit recognizes the application state of functions.

  • Page 151: Monitor For State Of Output Functions: Monitor Io3

    7.3.1.4. Monitor for State of Output Functions: Monitor IO3 Monitors the application state of output functions in a line. The readout is for the state just before the application of the output logic. ◊ The monitor is not applicable for the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit control input).

  • Page 152: Alarm Monitor

    7.3.2. Alarm Monitor Identifies the alarm and the warning currently occurring. ◊ Refer to “11. Alarm and Warning” for details. Activates the input TA (Tell alarm status). F3>Hardware Over Travel;_ The monitor identifies the alarm and the warning currently occurring. No indication on the screen if no alarm is reported.

  • Page 153: Monitor For Alarm History And Event: Monitor Ta?Hi

    7.3.2.2. Monitor for Alarm History and Event: Monitor TA/HI The monitor that reports the history of alarms and warnings that have occurred and the history of events. The history record holds thirty-two recent instances. Input “TA/HI.” Scroll all alarms by the SP key or pause reading out by the BS key. Fig 7-28: Monitor example (TA/HI) Current time, Number of times of power on :TA/HI...

  • Page 154: Pulse Train Counter: Monitor Rp

    7.3.3. Pulse Train Counter: Monitor RP The counter monitors the number of inputted pulses. This is used to check the number of inputted pulses of pulse train command. Different from other monitors, you can reset the monitor RP (Inputted pulse train monitor). That is, you can monitor the inputted number of pulses starting from when the monitor is reset to 0 (zero).
  • Page 155 7.3.6. Monitor for Software Thermal Loading: Monitor TJ The Driver Unit is always computing the heat generation and radiation of the Motor using the current flowing, to estimate the temperature rise of the Motor. The warning A3 (Software thermal loading) occurs when a rise of the Motor temperature, which is resulted from the calculation, exceeds the threshold.

  • Page 156: Analog Monitor

    7.4. Analog Monitors You may monitor the internal state of the Driver Unit by the outputs of MON1 and MON2 (Analog monitor) on the front panel. The contents of the monitors are broadly classified into the following two categories. ◊ Nine types of preset monitor ◊...

  • Page 157: Use Of Preset Monitor

    7.4.1. Use of Preset Monitors The following monitors are available by setting the parameter MN or MX with a suffixed number from 0 to 8 to each parameter code. Table 7-37: Preset analog monitor Name (code) Function Data range Unit MN0,MX0 Current velocity 0.000 to ±10.000...

  • Page 158: Customization Of Monitor Data

    7.4.2. Customization of Monitor Data You can output the readout of RS-232C communication monitors to the analog monitors. You can freely set the offset value and the data range of monitors. For example, the followings describe the way to monitor the velocity ripple of Motor rotation at the rotational velocity range of 1 ±0.2 [s The monitor TV (Current velocity) monitors the velocity.

  • Page 159: Analog Monitor For State Of Control Inputs And Outputs Functions

    7.4.2.1. Analog Monitor for State of Control Inputs and Outputs Functions An input of F + Function name (code) of input or output is available to monitor the application state of a specified function. ◊ For the inputs, the monitor reports how the Driver Unit recognizes the state of specified function.
  • Page 160 (Blank Page) — 7-38 —...

  • Page 161: More Advanced Function

    8. More Advanced Function 8.1. Assignment of Input/Output Function As shown in Figure 3-1 below, you can assign the function of inputs and outputs to each signal port of the connector CN2 (Input/Output signal connector). (Some ports are not available for function assignment.) ◊...

  • Page 162: Function Of Input

    8.1.1. Function of Control Input You may set function, port polarity and filter to each control input port. This function permits you to change the preset input port function to other function, or to switch to one of extended functions. ◊...
  • Page 163 Table 8-2: Extended input function Port Signal Signal name Function Logic code name Pauses Motor operation and OFF: Normal – – – Hold program execution. ON: Hold OFF : Normal – – – Velocity override Overrides velocity. ON: Override OFF: Normal –...
  • Page 164 8.1.2. Function of Control Output You can set control output function, output logic and stability timer to the output ports. This function permits you to change the preset input port function to other function, and to switch to one of extended functions. ◊...
  • Page 165 Table 8-4: Extended output function Port Signal Logic Logic Signal name Function code (in case of positive logic) Open: Not in the proximity. Reports the Motor is nearing to – – NEARB – Target proximity B Closed: The Motor is nearing to the target position.
  • Page 166 8.1.3. Editing Function of Control Input and Output 8.1.3.1. Editing Control Input Function The command PI (Edit input port) edits the control input ports. When editing mode of control inputs is established by the command PI, settings of the parameter FN (Port function) and NW (Anti-chattering timer) becomes effective.
  • Page 167 The example shown below describes how to change the function of input port PI14 from the input PRG7 (Internal program channel selection) to the input HLD (Hold). Input the command MO (Motor off) to deactivate the Motor servo. Specify the input port number by the command PI to display the setting of the parameter FN.
  • Page 168 8.1.3.2. Editing Control Output Function Use the command PO (Edit output port) for editing the control output ports. When the command PO establishes the editing mode of control output port, you can set the parameter FN (Port function), the parameter GC (Output logic) and the parameter ST (Stability timer).
  • Page 169 The example shown below describes how to change the function of output PO7 from the output NEARA (Target proximity A) to the output ZONEA (Zone A). Specify the output port with the command PO to read out the setting of the parameter (The shipping set of the output port PO7 is the output NEARA.) :PO7 FNNEARA;...

  • Page 170: Masking Of Control Output Function

    8.1.3.3. Masking Control Output Function The example shown below describes how to change the function of input port PI6 from the input STP (Stop) to the function NONE (Mask function). Input the command MO (Motor off) to deactivate the Motor servo. Specify the input port number with the command PI (Edit input port) to read out setting of the parameter FN (Port function).

  • Page 171: Forcible Change In Setting Of Output

    Driver Unit. The port name of the 28th pin is P0 as shown on Table 8-3 “Output ports of the CN2 connector and assigned function.” Input the password “/NSK ON”. :/NSK ON NSK ON Input as OPXXXXXXX0 when forcibly opening the PO0 output and leaving other ports unchanged.

  • Page 172: Extended Control Input

    8.2. Extended Control Input 8.2.1. Input HOLD: HLD This input pauses the operation caused by an internal command. Deactivation of the input HOLD starts the operation again. Table 8-7: Signal locig of input HLD Logic Description • Deactivates the signal. •...

  • Page 173: Velocity Override: Ord

    8.2.2. Velocity Override: ORD In the middle of positioning operation, the input ORD overrides the programmed velocity with the preset overriding rate. Table 8-8: Signal logic of the input ORD Logic Description Does not override. Override the programmed velocity. When the input ORD is turned ON in the middle of positioning operation caused by an internal command, such as the command for positioning, jogging and Home Return, the Driver Unit overrides the programmed velocity and changes it according to the preset override change rate.

  • Page 174: Integration Off: Ioff

    8.2.3. Integration OFF: IOFF The input controls the effect of integral control (Motor settling motion) and lowers the proportional gain in the velocity loop. This input is used when the integral control becomes unnecessary due to interruption by external devices. Table 8-10:Signal logic of the input IOFF Logic Description...

  • Page 175: Home Return Start: Hos

    8.2.4. Home Return Start: HOS Starts a Home Return operation. Table 8-12: Signal logic of the input HOS Logic Description ↓ (ON → OFF) Not effective Starts operation ↑ (OFF → ON) Starts the Home Return operation specified by the parameter OS (Origin setting mode). Confirm that all of the following conditions are met before starting the Home Return operation.

  • Page 176: Extended Control Output

    8.3. Extended Control Output 8.3.1. In-zone Output: ZONEA, ZONEB, and ZONEC The output reports that the Motor is in the predetermined zone. Table 8-14: Signal logic of outputs of ZONEA, ZONEB and ZONEC Logic Description Open Out of the zone In the specified zone, or assuring the minimum Closed output elapsing time.

  • Page 177: Outputs Of Operating Conditions

    The output closes when the Motor position data is in the set zone. ◊ When the Motor passes the zone with high speed or when the zone is too narrow, the zone passage time gets short. The parameter ZAW (Zone passage stability timer) is available to set the minimum time width for detecting the passage.

  • Page 178: Position Error: Teu (Position Error, Under) And Teo (Position Error, Over)

    8.3.2.1. Position Error: TEU (Position Error, Under) and TEO (Position Error, Over) Outputs the condition of position error counter against the thresholds. The output IPOS (In-position, IPOS mode) focibly opens while inputting a motion command or the target position is being lost. At the same time, this output only reports compared results between the position error and the thresholds.

  • Page 179: Velocity: Outputs Tvu (Velocity, Under) And Tvo (Velocity, Over)

    8.3.2.2. Velocity: Outputs TVU (Velocity, Under) and TVO (Velocity, Over) Outputs the condition of velocity against the threshold. The outputs can be used to confirm if the Motor is stopping. Table: 8-18: Prameter related to the outputs TVU and TVO Parameter Initial Function...

  • Page 180: Thermal Loading: Outputs Tju (Thermal Loading, Under) And Tjo (Thermal Loading, Over)

    8.3.2.4. Thermal Loading: Outputs TJU (Thermal Loading, Under) and TJO (Thermal Loading, Over) Outputs the conditions of thermal loading against the threshold. It is useful to decide if the System can start the next operation cycle by confirming the condition on the thermal loading to the Motor.

  • Page 181: Travel Limit Output (±): Otxa

    8.3.3. Travel Limit Output (±): OTXA Reports that the Motor gets in the area specified by the travel limits. (For both cases of software and hardware over travel limits.) Different from the outputs OTPA and OTMA, there is no function to distinguish the direction of limit switch.

  • Page 182: Output Normal: Nrm

    8.3.4. Output Normal: NRM Reports that the Driver Unit is in normal condition. When this output opens, an alarm or a warning occurs. Table 8-23: Signal logic of the output NRM Logic Description. Open Occurrence of an alarm or warning. Closed Normal The signal timing of the alarms and warnings is the same as those of the output DRDY (Driver...

  • Page 183: Teaching

    8.4. Teaching You may directly set the current position data to the data, which must be an absolute value, of parameters and positioning commands. This function is called teaching. The teaching can be used for parameters and positioning commands listed on Table 8-27 below. Table 8-27: Paraameter and positioning command for which ‘teacihing’...

  • Page 184: Preparation For Teaching

    Then teach the current position to the Driver Unit as the position of plus side travel limit. Input Parameter code + /ST. (The parameter OTP requires an entry of the password.) :/NSK ON NSK ON :OTP/ST OTP123456;_ The parameter OTP is set by teaching.

  • Page 185: Teaching The Position Data Of Positioning Program

    8.4.3. Teaching the Position Data of Positioning Program When editing a channel program, you can import the current position to the position data of absolute positioning program. Following example describes how to program the command to move the Motor to the current position with a rotation in the plus direction.

  • Page 186: Tuning

    8.5. Tuning 8.5.1. Servo Block Diagram The figure below illustrates the servo block diagram of the EDC Driver Unit. Fig 8-11: Servo block diagram CN2: IOFF Gain switching state monitor Gain switching Velocity loop lower gain Position Velocity command error ＋...
  • Page 187 Torque Filter Current Position loop command Motor （FP・FS・NP・NS） controller proportional gain Torque limitter Current command command Fillter switching NPQ NSQ Current ON/OFF Observer output CN2:IOFF limitter (IOFF) Thermal loading calculator Observer output limitter Thermal loading Observer controller Current position — 8-27 —...

  • Page 188: Digital Filter

    8.5.2. Digital Filter ！ Caution : Use of multi-stage filters may cause the velocity loop to be out of phase, and it may cause unstable Motor operation. ！ Caution : Do not use three or more filters. If the filter frequency is too low, hunting may occur.

  • Page 189: Position Loop Dead Band

    8.5.3. Position Loop Dead Band The parameter DBP is used to specify a dead band for the deviation of position loop. The deviation will be zeroed when it is under the set data of the parameter DBP. The dead band eliminates problems of positioning instability right after completion of positioning.

  • Page 190: Automatic Gain Switching

    8.5.4. Automatic Gain Switching Automatic gain switching function is to change over the servo gain for operation to the servo gain for stopping, depending on the position deviation. The parameters PG and VG (gains for operation), and the PGL and VGL (gains for stopping) are used to switch the servo gain.

  • Page 191: Positioning Operation

    8.6. Positioning Operation 8.6.1. Acceleration Profiling and Individual Acceleration Setting The EDC Driver Unit has the function for acceleration profiling and individual setting of acceleration and deceleration. ◊ These functions are available for the positioning operation, jogging operation and Home Return operation. Utilize these functions according to operation velocity and load conditions.
  • Page 192 Table 8-32: Selection of acceleration profiling by the parameters CSA and CSB Parameter Name of profile Acceleration profile Features • Constant acceleration. • High vibration even Constant CSA1 the acceleration α is acceleration (CSB1) the lowest among the profiles • Suits for high speed and heavy load CSA2 Modified sine...

  • Page 193: Examples Of Acceleration Profiling And Individual Setting Of Acceleration And Deceleration

    8.6.2. Examples of Acceleration Profiling and Individual Setting of Acceleration and Deceleration Let’s set acceleration and deceleration individually to the positioning command as shown in the figure below. ◊ The duration of constant velocity may be added depending on the total rotation angle. Fig 8-14: Example of acceleration profiling and setting of acceleration/deceleration CSA5 CSB4...

  • Page 194: Shorter Way Positioning

    8.6.3. Shorter Way Positioning Shorter way positioning is a function to move the Motor in the shorter way from the current position to the target position. ◊ For example, the Driver Unit performs the shorter way positioning when the positioning with the command of “AD24000” without any option is inputted. The function of shorter way positioning includes recognition of the software over travel limit zone.
  • Page 195 If the function of shorter way positioning is not required, you can set the rotational direction to each positioning command. ◊ The Motor rotation is in the plus direction if “/PL” is specified such as “AD24000/PL.” ◊ The Motor rotation is in the minus direction if “/MI” such as “AD24000/MI.” Fig 8-16: Positioning with specified rotational direction Specified in the plus direction (/PL) Specified in the minus direction (/MI)

  • Page 196: User Scale Positioning

    8.6.4. User Scale Positioning The dividing number of entire circumference of Motor rotation can be set to the unit of positioning command. Thus, the following positioning can be easily performed. ◊ An index positioning in units of 90 angle degree (dividing number = 4) ◊...
  • Page 197 For a positioning in units of 1/1000 [°], set as “QR360000 ” Resolution of the YSB series Megatorque Motor, one of another Megatorque Motor series of NSK”, is 819 200 [count/revolution]. For setting the same resolution of the YSB series Motor, set as “QR819200.” — 8-37 —...
  • Page 198 Getting back to a grid position. The current position is not necessarily on a grid specified by the parameter QR when the power is turned on or the Motor stops in an exceptional occasion because of an alarm or a warning. In such a case, you may position the Motor to the nearest grid by an execution of incremental user scale positioning.

  • Page 199: Program Operation

    8.7. Program Operation 8.7.1. Change of Parameter via Program Operation Change of parameter in a program (local parameter) can be stored after completion of a program operation. (The Driver Unit will keep it until the control power is off.) ◊ The parameter PK (Parameter keep) holds local parameter settings. ◊...
  • Page 200 The figure below illustrates signal timing for use of three different gain settings. Fig 8-21: Signal timing for use of three different gain settings Channel selection Selection of channel 0 Selection of channel 1 Selection of channel (PRG0 to 7inputs) Min.

  • Page 201: Automatic Program Execution At Power On

    8.7.2. Automatic Program Execution at Power on You can automatically execute a program when the power is on. ◊ This function is useful for the application that repeats positioning operation after the power is on. The parameter AE (Program auto execution) specifies the channel number whose program is to be executed.
  • Page 202 Setting of control input and output Let’s set signals for “Detection for error in the Motor System,” “Start operation• Hold operation” and “Automatic servo on after the power on”. Change the initial settings of the output NRM (Normal), the input HLD (Hold operation), and the input SVON (Servo on).
  • Page 203 Set the program channel 0 to automatically execute the program when the power is turned on. Set the parameter AE to “AE0.” Fig 8-23: Setting dividing number of the position scale Input the password. : /NSK ON NSK ON Divide the position scale into four for a positioning in user unit.
  • Page 204 Signal timing The figure below illustrates signal timing of this positioning operation. Fig 8-25: Signal timing for automatic program execution at the power-on. Power Approximately 3 seconds After confirmation of NRM state, start the program automatically. closed Ouput NRM open Max.

  • Page 205: Home Return

    8.8. Home Return The PS series Megatorque Motor incorporates an absolute position sensor and holds the home position even the power is turned off. Thus, the Home Return operation is not necessary in normal operation. However, you can execute the Home Return operation triggered by an external sensor, when your machine system requires it.
  • Page 206 Table 8-37: Inputs/outputs and parameters related to the Home Return operation Initial Category Code Function Range Unit setting Home Return start • Starts the Home Return Starts operation: OFF→ ON – – operation OFF: Not nearing to the home position Home position limit –...

  • Page 207: Home Return Operation Via The Home Position Sensor

    8.8.1. Home Return Operation via the Home Position Sensor 8.8.1.1. Home Return Mode: OS4 The OS4 mode is to reverse the Motor position to the position of the nearest phase Z signal after detection of rising signal of the input HLS (Home position limit). The repeatability of the home position is assured regardless of the sensitivity of the home position limit because the position of the phase Z signal finally determines the home position.
  • Page 208 The output BUSY (In-operation) is closed during execution of Home Return. The home position is in the state of undefined and the System forcibly opens the output HCMP (Home position defined). When the HLS input changes from OFF to ON, the Motor decelerates and stops. Then it reverses to get out temporally the area of the home position limit.

  • Page 209: Home Return Mode: Os5

    8.8.1.2. Home Return Mode: OS5 The OS5 mode is to detect the rising edge of the input HLS (Home position limit). Repeatability of the home position depends on the sensitivity of the limit sensor in this mode. Fig 8-28: Operation pattern of Home Return (In case of OS5, DI0 and HD1) : Home Return start position Input HLS ON area : Home Return complete...

  • Page 210: Home Return With Travel Limit

    8.8.2. Home Return with Travel Limit 8.8.2.1. Home Return Mode: OS7 The OS7 mode is to return to the position of the nearest phase Z after the Motor gets out the area of the input OTM (Travel limit, minus) or the input OTP (Travel limit, plus). The home position is set at the position of phase Z signal thus assuring repeatability of home position regardless of the sensitivity of the limit sensor.
  • Page 211 The output BUSY (In-operation) is closed during Home Return operation. The home position is in a state of undefined, thus the System forcibly opens the output HCMP (Home position defined). The Motor decelerates and stops when the input OTM changes to OFF form ON (because of minus logic set on the shipping set), then gets out the limit sensor area with velocity set by the HZ (Home return near-zero velocity).

  • Page 212: Teaching Of Home Position

    8.8.3. Teaching of Home Position 8.8.3.1. Home Return Mode: OS6 This mode is to set the current position to the home position. This mode does not entail rotation of the Motor but requires the Motor servo is on the same as other Home Return modes.

  • Page 213: Teaching Of Home Position In Servo-Off Sate

    8.8.3.2. Teaching of Home Position in Servo-off Sate Setting of the command AZ (Absolute zero position set) to a program enables you to perform the teaching of the home position in the servo-off state. The following example shows how to edit the program on the program channel 0. Fig 8-34: Example of the program for Home position teaching in the servo-off state : CH0 Absolute zero position set...

  • Page 214: Position Adjustment Of Home Limit Sensor

    8.8.4. Position Adjustment of Home Limit Sensor There are many phase Zs (marker for position detection) inside the Motor. In the Home Return operation modes of OS3, 4, and 7, the System senses a change in detecting state of the home limit sensor (travel limit in case for the parameter OS’) and recognizes that the Motor is nearing to the home position, and then finally sets the position of phase Z signal as the home position.

  • Page 215: Teaching Of Home Position Offset

    Move the motor to a position to be the home position. Teach the direction and amount of rotation to the current position as the offset. (The parameter HO requires an entry of the password.) Input as Parameter code+/ST . :/NSK ON NSK ON :HO/ST HO123456;_ The teaching has set the parameter HO.

  • Page 216: Rs-232C Communication

    8.9.2. Communication Procedure 8.9.2.1. Power on If a terminal (such as NSK Handy Terminal FHT21) is connected to the CN1 connector and the Driver Unit power is turned on, the message shown below appears on the terminal screen. The contents (the number of characters) of this message may differ with the setting condition of the Driver Unit and System versions.

  • Page 217: Command Entry

    8.9.2.2. Command Entry Input a command in the order of Command name + Data + Carriage return (0D ◊ There are some commands that do not have data. For an example, send the following code to the Driver Unit to set the parameter VG (Velocity loop proportional gain) to VG0.5.

  • Page 218: Cancelling Command

    8.9.2.4. Input of the Password Some special commands require password entry for preventing erroneous entries. Input the password as /NSK ON + Carriage return (0D ◊ The Driver Unit returns“NSK ON”for the acknowledgment. A command that requires the password can be executed immediately after an entry of the password.

  • Page 219: Readout Of Parameter Settings And Internal State

    8.9.2.5. Readout of Parameter Settings and Internal State + Command name + Carriage return (0D ) to read out a set value of parameter. Input as The example below is to read out the set value of the command VG. However, the System has another command VGL that includes same two characters V and G.

  • Page 220: Reading Out Parameter Settings By A Group

    8.9.2.6. Reading out Parameter Settings by a Group Many parameters are set in the Driver Unit and the command TS (Tell setting) reads out the parameter settings in function group. (Refer to “9. Details of Command and Parameter” for details of the command TS.) If the Driver Unit returns many information and message lines for one command, like for the command TS, the readout repeats as follow.

  • Page 221: Error Message

    8.9.2.7. Error Message Following error message will be returned for an input of erroneous command. In such a case, an error message will be sent in sequence as shown below. Space (20 ) + Error message + + Carriage return (0D ) + Linefeed (0A Table 8-39: List of error message Message...

  • Page 222: Communication With Personal Compute

    ◊ The pin arrangement for RS-232C connector of EDC Driver Unit is different from that of DOS/V machines. ◊ An optional communication cable M-C003RS031] is available from NSK Ltd. ◊ For a personal computer that does not provide the COM port, you can use the USB port instead.

  • Page 223: Backup Of Parameter

    8.9.3.2. Backup of Parameter Store the parameter settings of the Driver Unit as a text file. Launch Hyper Terminal. ◊ ([Start] → [Programs] → [Accessories] → [Communications] → [Hyper Terminal]) There is the icon you have made in the menu. The parameters AO (Absolute position scale offset) and MM (Multi-line mode) will not be backed up with the following procedures.

  • Page 224: Restoring Parameters

    ◊ Send the file following the steps below. [Transfer] → [Send Text File…]. Input the parameter AO and the parameter MM, whose settings are being captured. Input the parameter AO. :/NSK ON NSK ON :AO123456 Input the parameter MM. :/NSK ON...

  • Page 225: Details Of Command And Parameter

    9. Details of Command and Parameter 9.1. Handling Instruction of Command and Parameter 9.1.1. Character String of Command There shall be no discrimination between lowercase and uppercase characters in command character strings. For example, input of “VGLENT” or “vg1ENT” will be processed as the same.

  • Page 226: Error Message

    9.1.3. Error Message If a command cannot be processed, the Driver Unit outputs an error message shown in Table 1 below in accordance with the situation. In such a case, the Driver Unit returns the message in a sequence of Space (20 ) + Error message + + Carriage return (0D...

  • Page 227: Wildcard Search

    9.1.5. Wildcard Search When a letter of alphabet is specified following the “?”, all corresponding commands and parameters will be displayed. ◊ When only the “?” is inputted, all commands and parameters will be displayed. The prompt “;” is on the end of each line when reading out multiple commands or parameters.

  • Page 228: Multi-Monitor

    9.1.7. Multi-monitor The following example describes how to monitor simultaneously the monitor TP (Monitor current position in units of pulse) and the monitor TV (Monitor current velocity). The function to monitor multiple conditions simultaneously is called “Multi-monitor.” Input the monitor TP to the multi-monitor. Input as Monitor code + /WW.

  • Page 229: Adjusting

    9.1.9. Adjusting When setting the option code “/AR” to a parameter code, you may increase or decrease a value of parameter by the keys + / - ◊ The keys . and = change an increment or decrement of an input of the keys. :VG/AJ STEP 0.10...

  • Page 230: Glossary Of Command And Parameter

    9.2. Glossary of Command and Parameter The password must be entered before input of a command that is marked with “ ”. ◊ No entry of the password is necessary for setting to a program. Depending on its option code, a command marked with “( )” requires entering the password. A command marked with “( )”...
  • Page 231 AC: (Factory use only) The command is for factory use only. Do not change the setting. AD: Absolute Positioning, Degree Executes a positioning to the target position. ◊ Refer to “6.3.1. Positioning Command” for details. Category Command :Shorter way positioning AD data Format 1 :Positioning in the plus direction...
  • Page 232 AG : (Factory use only) The command is for factory use only. Do not change the setting. AM: Alarm This is to monitor current alarm or warning. Category Monitor Format This function monitors currently reported abnormality in the System. ◊ Once an abnormal state is detected in the System, the Driver Unit gets in alarm or warning state and holds this situation until it is cleared.
  • Page 233 AO : Absolute Position Scale Offset Sets the offset value from the Motor home potion to the user home position. ◊ Refer to “6.2.3. Setting of Home Position” for details. Category Parameter AO data Format Data range 0 to 2 621 439 [pulse] Shipping set The offset value is counted from the Motor Home position in the CW direction seen from the Motor output axis, regardless of the setting of parameter DI (Direction inversion).
  • Page 234 AR : Absolute Positioning, Resolver Executes a positioning to the target position. ◊ Refer to “6.3.1. Position Command” for details. Category Command : Positioning in the shorter direction. AR data Format 1 : Positioning in the plus direction AR data /PL Format 2 : Positioning in the minus direction.
  • Page 235 AZ: Absolute Zero Position Set Sets the home position of position scale. ◊ Refer to “6.2.3. Setting Home Position” and “8.8.3.2. Teaching of Home Position in Servo-off State” for details. Category Command Format • One of following alarms is not occurring. Conditions to A0>Position Sensor Error be met...
  • Page 236 BS: Fieldbus Status Monitors the status of communication status of the fieldbus. This function is only available for the EDC Driver Unit corresponding to CC-Link. Category Monitor Format The following show an example of the readout. Fig 9-2: Example of the monitor BS : BS/RP Guide code FEDCBA9876543210...
  • Page 237 CC : Clear Channel: Deletes the contents of the program of a channel specified by the command. ◊ Refer to “6.3.2.3. Programming” for details. Category Command Format 1 CC data : Deletes the programs of all channels and resets the CC /AL Format 2 demonstration program.
  • Page 238 CI: Insert Channel Inserts a new channel to the position of specified channel number. ◊ Refer to “6.3.2.3. Programming” for details. When inserting a new channel to the position of channel number “n,” the numbers of following channel goes down by one, thus eliminating the channel with the last channel number of 255. Category Command CI data...
  • Page 239 CO : Position Error Counter Over Limit Sets the threshold for the warning F1 (Excess position error). ◊ Refer to “11.3.17. Excess Position Error: F1” for warning of excess position error. The warning F1 occurs when the absolute value of position error counter is greater or equal to the setting value of parameter CO (|Value of position error counter| ≥...
  • Page 240 CR: Circular Resolution In case of a positioning controlled by the pulse train input, this parameter sets the number of pulses that requires for one revolution of the Motor. ◊ Refer to “6.3.3. Pulse Train Command Positioning Operation” for details. Category Parameter CR data...
  • Page 241 DBP: Dead Band This parameter sets a dead band for the deviation of the position loop. ◊ If the position error is less or equal to the setting value, the internal velocity command becomes zero. ◊ Refer to “8.5.3. Position Loop Dead Band” for details. category Parameter DBP data...
  • Page 242 ED: (Factory use only) This monitor is for factory use only. EDF: (Factory use only) This monitor is for factory use only. EDV: (Factory use only) This monitor is for factory use only. FACLR: Function ACLR This is to monitor the condition of the input ACLR (Alarm clear). ◊...
  • Page 243 FDIR: Function DIR Monitors the state of the input DIR (Jog direction). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. The monitored state is after application of the parameters AB (Polarity) and NW (Anti-chattering timer) in the command PI (Edit input port). Category Monitor Format...
  • Page 244 FHLD: Function HLD This is to monitor the state of input HLD (Hold). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. The monitored state is after application of the parameters AB (Polarity) and NW (Anti-chattering timer) in the command PI (Edit input port). Category Monitor Format...
  • Page 245 FK: Feedback Coordinate This is to monitor the total number of signal edge count of the phase A and B pulses of the position feedback signals. ◊ Refer to “7.3.4.Position Feedback Signal Counter: Monitor FK” for details. ◊ This is to check the number of position feedback signal output pulses from the Driver Unit.
  • Page 246 FNRM: Function NRM This is to monitor the state of the output NRM (Normal). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied. Category Monitor Format...
  • Page 247 FOTM: Function OTM This is to monitor the state of the input OTM (Travel limit, – direction). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. The monitored state is after application of the parameters AB (Polarity) and NW (Anti-chattering timer) in the command PI (Edit input port).
  • Page 248 FOTPA: Function OTPA This is to monitor the output OTPA (Travel limit detection + direction). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 249 FQ: Observer Q Filter This parameter sets the observer frequency. ◊ Refer to “8.5.1. Servo Block Diagram” for details. Category Parameter FQ data Format : Observer OFF. Data range 1 Data range 2 1 to 300 [Hz] Shipping set If the observer is set to off (FQ0), the Motor will not reach to the target position. FR : Feedback Signal Resolution This parameter sets the resolution of the phase A and phase B of the position feedback signal.
  • Page 250 FS: Low-pass Filter, Secondary Sets the low-pass filter to the torque command. ◊ Refer to “8.5.2. Digital Filter” for details. Category Parameter FS data Format : Secondary low-pass filter is OFF. Data range 1 Data range 2 10 to 1000 [Hz] Shipping set This parameter will be automatically set by an execution of the command AT (Automatic tuning).
  • Page 251 FSVST: Function SVST This is to monitor the state of the output SVST (Servo state). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 252 FTJO: Function TJO This is to monitor the state of the output JO (Thermal loading, under). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 253 FTTU: Function TTU This is to monitor the state of the output TTU (Tell torque command, under). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 254 FTVO: Function TVO This is to monitor the state of the output TVO (Tell velocity error, over). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 255 FZONEA: Function ZONEA This is to monitor the state of the output ZONEA (Zone A). ◊ Refer to “7.3.1.5. Monitor for Individual Function” for details. For the monitored state, the parameters ST (Stability timer) and GC (Output logic) in the command PO (Edit output port) are not applied.
  • Page 256 FW: Fin Width This parameter sets the notice mode of the output IPOS (In-position). ◊ Refer to “7.2.6. In-position: IPOS” for details. For the output IPOS, there are three notice modes set by the parameter FW (Fin width). CFIN mode After starting a positioning operation, the output IPOS opens for a time set by the parameter FW at earliest.
  • Page 257 GT: Switching Gain Timer The parameter is the stability timer for position error to switch the gain in the automatic gain switching function. ◊ Refer to “8.5.4. Automatic Gain Switching” for details. It switches the gain for Motor stationary level when the position error is less or equal to the setting of parameter GP (Gain switching point) for a time set by the parameter GT.
  • Page 258 HO: Home Offset Sets the rotation amount from the home position limit switch to a point to be the actual home position (or the position of the first øZ signal after detection of the home limit switch). ◊ Refer to “8.8. Home Return” for details. Category Parameter HO data...
  • Page 259 HV: Home Return Velocity Specifies the velocity for the Home Return operation. ◊ Refer to “8.8. Home Return” for details. ◊ The maximum rotational speed for individual Motors, refer to “2.5. Motor Specifications.” Category Parameter HV data Format Data range 0.001 to 10.000 [s Shipping set 0.200...
  • Page 260 IN: IN-position Limit Sets the criterion for outputting the In-position signal (In-position limit). ◊ Refer to “7.2.6. In-position Limit: Parameter IN for details. The output IPOS (In-position) activates when the absolute values of the position error counter is stable within the setting range of the parameter IN (In-position limit) for the time specified in the parameter IS (In-position stability timer).
  • Page 261 IO2: Input/Output Monitor 2 (State of input function) Monitors the application state of input functions of the CN2 connector in a line. The readout is the recognition of Driver Unit. ◊ Indicates the state by zeros (0) and ones (1) to each function. ◊...
  • Page 262 IO4: Input/Output Monitor 4 (State of input/output of field bus) Monitors the state of input/output of a fieldbus (CC-Link). Monitors the status of communication status of the fieldbus. This function is only available for the EDC Driver Unit corresponding to CC-Link. ◊...
  • Page 263 IQ: Incremental Positioning, User The command executes an incremental positioning. ◊ Refer to “6.3.1. Positioning Command” and “8.6.4. User Scale Positioning” for details. The position is performed in the position scale based on the dividing number of total circumference specified by the parameter QR (Dividing number, user scale). Category Command IQ data...
  • Page 264 IU: (Factory use only) This is the monitor dedicated to the factory use. IUC: (Factory use only) This is the monitor dedicated to the factory use. IUE: (Factory use only) This is the monitor dedicated to the factory use. IV: (Factory use only) This is the monitor dedicated to the factory use.
  • Page 265 IZ: Incremental Positioning, Phase Z Executes a positioning in the specified direction to the nearest phase Z from the current position. If the current position is the same as the above described position, no positioning will be performed. (Only outputs the confirm signal for the completion of positioning. Category Command IZ data...
  • Page 266 JG: Jog Executes a jogging operation via the RS–232C communication. ◊ Refer to “6.3.4.2. Jogging via RS-232C Communication” for details. Category Command : Jogging in the plus direction Format 1 JG /PL : Jogging in the minus direction Format 2 JG /MI •...
  • Page 267 KB: Kill Brake This parameter terminates the dynamic brake function. ◊ Refer to “8.4.1. Preparation for Teaching” for details. This is to decrease rotational resistance when turning the rotor manually in case of teaching operation. (The EEPROM does not back up the setting of this parameter. Category Parameter KB data...
  • Page 268 LM: LED Mode This parameter monitors the state of connector CN2 (Control input/output connector) via 7 segments LED. Category Parameter Format LM data : Normal mode : Displays state of control output signal. Data range : Displays state of control input signal. Shipping set The parameter LM1 displays the state after application of the parameter ST (Stability timer).
  • Page 269 MA: Move Acceleration Sets the acceleration for positioning control operation. ◊ Refer to ”6.3. 1. Positioning Command.” Category Parameter MA data Format Data range 0.1 to 800.0 [s Shipping set MB: Move Deceleration Sets the deceleration in positioning control operation. ◊...
  • Page 270 MI: Read Motor ID Monitors the Motor type that can be matched with the Driver Unit and the version of firmware (software that controls the Driver Unit). Category Command Format MM: Multi-line Mode This parameter defines the reporting format to which the Driver Unit must return the readout in multiple lines, such as for the commands TA (Tell alarm) and .TS (Tell setting).

  • Page 271: Category Parameter

    MN: Monitor, Primary Sets an item to be monitored by the monitor MON1 (Primary analog monitor). ◊ Refer to “7.4. Analog Monitor” for details. Category Parameter MN data Format : Current velocity : Commanded velocity : Velocity error : Torque command : øU current Data range 1 : Transient position command...
  • Page 272 MO: Motor Off This command deactivates the Motor servo and afterward prohibits activating the Motor servo. ◊ Refer to “7.1.4. Servo on: SVON” for details. ◊ The command SV (Servo on) lifts the Motor off state. The input SVON (Servo on) controls on and off of the Motor servo.
  • Page 273 MW: Main Power Supply Internal Voltage Monitor Monitors the internal direct current voltage after commutation of the main power. Category Monitor Format MW data Data range 0.0 to 401.3 [v] MX: Monitor, Secondary Sets an item to be monitored by the MON2 (Analog monitor, secondary) ◊...
  • Page 274 MXY: Monitor Offset, Secondary The parameter MXY sets the offset of a monitor output specified by the parameter MX. ◊ Refer to “7.4.2. Customization of Monitor Data” for details. Category Parameter MXY data Format Depends on the setting of parameter Data range Shipping set 0.000...
  • Page 275 NP: Notch Filter, Primary Sets a notch filter to the torque command. ◊ Refer to ”5.5.2. Setting Notch Filter” for details. Category Parameter NP data Format : Primary notch filter off Data range 1 Data range 2 40 to 1 000 [Hz] Shipping set NPQ: Notch Filter, Primary Q Parameter Sets the Q parameter of the parameter NP.
  • Page 276 OE: Sequence Option Edit This parameter controls the program processing sequence between program channels. ◊ For an example, the parameter OE enables following program processing: • Continual execution of channel programs with consecutive channel number • Every input of the input RUN executes the program of the following channel number.
  • Page 277 OTP: Soft Travel Limit, Pulse The parameter sets the stating point of the software over travel limit. ◊ Refer to “6.2.4. Software Over Travel Limit” for details. ◊ The limited area starts from the setting of the parameter OTP and ends at the setting of the parameter OTM, following in the counting up direction of the scale data.
  • Page 278 PC: Pulse Command This parameter sets the format of pulse train for the inputs of CWP (CW pulse train) and CCWP (CCW pulse train) of the connector CN2 (Control Input/Output connector). ◊ Refer to ”6.3.3. Pulse Train Command Positioning Operation” for details. Category Parameter PC data...

  • Page 279: Category Parameter Format Data Range

    PI: Edit Input Port This command is to edit the function of the input ports of P10 to P15 of the connector CN2. ◊ Refer to “8.1.3.1. Editing Control Input Function” for details. category Command : Edits a specified input port. Format 1 PI data : Resets a specified input port to the shipping set.

  • Page 280: Shipping Set

    PK: Parameter Keep This parameter decides whether to keep or not to keep the parameter, which has been changed in the program (local parameter), after completion of the program operation. (If a local parameter is decided to be kept, it will be kept until the control power is turned off.) ◊...
  • Page 281 PO : Edit Output Port This command is to edit the function of output ports PO0 to PO7 of the connector CN2. The following grammar enables to edit individual output port. ◊ Refer to “8.1.3.2. Editing Control Output Function” for details. Category Command : Edits a specified output port.
  • Page 282 PP: Parameter Prompt There are two prompts for programming to distinguish which parameter is effective: the local parameter that is changed especially for a program channel or the global parameter that is set by the normal prompt. ◊ “:” : Global parameter is effective. ◊...
  • Page 283 QR : Dividing Number, User Scale This parameter specifies the dividing number of one revolution of the Motor for the unit of user scale system, to which the positioning commands IQ and AQ (Positioning command, user scale) follows. ◊ Refer to “8.6.4. User Scale Positioning” for details. For an example, the System divides the total circumference of Motor rotation into four points starting from the position 0 (zero) if the parameter is set to “QR4”...
  • Page 284 RP: Read Pulse Train Command This monitor reports the number of inputted pulses to the inputs CWP (CW pulse train) and CCWP (CCW pulse train) of the connector CN2. ◊ The format of inputted pulses shall comply with the setting of the parameter PC (Pulse command).
  • Page 285 SI: Set Initial Parameters This command resets the parameters to the shipping set. Category Command : Initializes the servo parameters. Format 1 (The parameters to be read out by the commands TS1 and TS2.) : Initializes all parameters excluding the parameter AO (Absolute position SI /SY Format 2 scale offset.
  • Page 286 SQ: (Factory use only) This parameter is for the factory use only. Do not change the setting. . SU: (Factory use only) This parameter is for the factory use only. Do not change the setting. . SV: Servo on The command SV allows the System to activate the Motor servo. The input SVON (Servo on) controls on and off of the Motor servo.
  • Page 287 TA: Tell Alarm Status This monitor reads out the contents of alarm and warning. ◊ Refer to “7.3.2. Alarm Monitor” for details. Category Monitor : Identifies all alarms and warnings currently reported. Format 1 : Reads out all alarms currently reported at one time. Format 2 : Reads out the history of alarms, warnings and events.
  • Page 288 TDV : (Factory use only) This monitor is for the factory use only. TE: Tell Position Error Counter Monitors the state of the position error counter. ◊ Refer to “ 7.3. RS-232C Monitor” for details. ◊ The position error counter indicates the difference between the current position and the commanded position.
  • Page 289 TG: Tell Gain Switching This monitor reports the state of the automatic gain switching function. ◊ Refer to “8.5.4. Automatic Gain Switching” for details. Category Monitor Format : The gains for gain switching are applied. (Parameters PGL and VGL) Data range : The normal gains are applied.
  • Page 290 TJU: Tell thermal, under This parameter specifies the threshold of the thermal loading to activates the output TJU(Tell thermal, under). ◊ Refer to “8.3.2.4. Thermal Loading: Outputs TJU (Tell thermal, under) and TJO (Thermal Loading, Over)” for details. ◊ The output TJU activates when the thermal loading is less or equal to the setting of the parameter RJU.
  • Page 291 TOB: (Factory use only) This monitor is for factory use only. TP: Tell position, pulse unit This monitor reads out the current position. ◊ Refer to “7.3.5. Current Position Monitor: Monitor TP” for details. Category Monitor Format Data range 0 to 2 621 439 [pulse] TPC : Tell Command Position, Pulse Unit This monitor reads out the current commanded position.
  • Page 292 TPO: Tell Output Port This command reads out the function setting of the control output ports. ◊ Refer to “8.1.3.2. Editing Control Output Function” for details. Command Command : Monitors the function setting of a specified control input port. Format 1 TPO data : Monitors the all function settings of the control input ports.
  • Page 293 TR: Tell RDC Position Data This monitor reads out the error in error counter. The monitor TR is used when adjusting the position of a limit sensor for Home Return operation. ◊ Refer to “8.8.4. Position Adjustment of Home Limit Sensor” for details. Category Monitor Format...
  • Page 294 TS: Tell Settings This command monitors the parameter settings in a group. ◊ Refer to “4.3. Readout of Parameter” for details. Category Command Format 1 TS data : Reads out only the parameters altered from the shipping set. Format 2 TS data /MD :Reads out all groups.
  • Page 295 TTO : Tell Torque Command, Over This parameter sets the threshold to activate the putout TTO (Torque command over). ◊ Refer to “8.3.2.3. Torque Command: Output TTU (Torque command, under) and Output TTO (Torque command, over) for details. ◊ The output TTO activates when the torque command is greater or equal to the threshold specified by the parameter TTO.
  • Page 296 TVE: Tell Velocity Error This monitor reads out the velocity error in the internal control block. ◊ Refer to “7.3. RS-232C Monitor” and “8.5.1. Servo Block Diagram” for details. Category Monitor Format (the data range is a ballpark figure.) Data range 0.000 to ±...
  • Page 297 TVU: Tell Velocity, Under This monitor sets the threshold to activate the output TVU (Velocity over). ◊ Refer to “8.3.2.2. Velocity: Outputs TVU (Velocity, under), and TVO (Velocity, over)” for details. ◊ The output TVU activates when the absolute value of the velocity is less or equal to the threshold set by the parameter TVU.
  • Page 298 VG: Velocity Gain This parameter sets the velocity loop proportional gain. ◊ Refer to “5.4.2. Setting Velocity Loop Proportional Gain (VG)” for details. Category Parameter VG data Format Data range 0.10 to 255.00 0.50 The version of the driver unit is not printed on front panel. Ex : EDC-PS1006AB502 Shipping set 1.50 The version of the driver unit is printed on front panel.
  • Page 299 WD: Write Data This command backs up the current settings of the parameters, programs and control inputs/outputs to the EEPROM. ◊ Refer to “8.9. RS-232C Communication” for details. If the parameter WM (Write mode to EEPROM) is set to WM1, execution of the WD command will forcibly back up the settings to the EEPROM.
  • Page 300 WM: Write Mode to EEPROM This parameter decides if the parameters, programs and the setting of control inputs and outputs shall be backed up to the EEPROM. ◊ Refer to “6.3.5. RS-232C Communication Positioning Operation” for details. ◊ The EEPROM has the limitation on the frequency of writing and deleting. (Approximately 100 000 times) Frequent back up of the settings may shorten the operation life of the EEPROM.
  • Page 301 WTV: (Application use only) This parameter is used only for the EDC MegaTerm. Do not change the setting. WVA: (Application use only) This parameter is used only for the EDC MegaTerm. Do not change the setting. WVB: (Application use only) This parameter is used only for the EDC MegaTerm.
  • Page 302 XII: (Factory use only) This parameter is for factory use only. Do not change the setting, XIL: (Factory use only) This parameter is for factory use only. Do not change the setting, XIP: (Factory use only) This parameter is for factory use only. Do not change the setting, XIR: (Factory use only) This parameter is for factory use only.
  • Page 303 XPA: (Factory use only) This parameter is for factory use only. Do not change the setting, XPD: (Factory use only) This parameter is for factory use only. Do not change the setting, XPN: (Factory use only) This parameter is for factory use only. Do not change the setting, XPR: (Factory use only) This parameter is for factory use only.
  • Page 304 XRW: (Factory use only) This parameter is for factory use only. Do not change the setting. XSY: (Factory use only) This parameter is for factory use only. Do not change the setting, XSQ: (Factory use only) This parameter is for factory use only. Do not change the setting, XTR: (Factory use only) This parameter is for factory use only.
  • Page 305 ZAS: Start Point of Zone A This parameter sets the starting point of the zone A at where he output ZONEA (Zone A) closes. ◊ Refer to “8.3.1. In-zone Output: ZONEA, ZONEB, ZONEC” for details. ◊ The zone A starts from the setting of the parameter ZAS (Start point of zone A) in the counting up direction (plus direction) of scale data and ends at the setting of the parameter ZAE (End point of zone A).
  • Page 306 ZBS : Start Point of Zone B This parameter sets the starting point of the zone B at where he output ZONEB (Zone B) closes. ◊ Refer to “8.3.1. In-zone Output: ZONEA, ZONEB, ZONEC” for details. ◊ The zone B starts from the setting of the parameter ZBS (Start point of zone B) in the counting up direction (plus direction) of scale data and ends at the setting of the parameter ZBE (End point of zone B).
  • Page 307 ZCS : Start Point of Zone C This parameter sets the starting point of the zone C at where he output ZONEC (Zone C) closes. ◊ Refer to “8.3.1. In-zone Output: ZONEA, ZONEB, ZONEC” for details. ◊ The zone C starts from the setting of the parameter ZCS (Start point of zone C) in the counting up direction (plus direction) of scale data and ends at the setting of the parameter ZCE (End point of zone C).
  • Page 308 ZF: (Factory use only) ！ Caution :This parameter is properly set at the factory. Never change the setting. Category Parameter Format ZF data Data range 0 to 5 Shipping set ZP: (Factory use only) ！ Caution : This parameter is factory use only. This is for the automatic tuning function and is properly set at the factory.

  • Page 309: Parameter List

    Connect the Handy Terminal to the connector CN1. The message “ ”will be NSK MEGATORQUE displayed on the screen if the System is in normal condition. Some parameters listed in the Table 9-8 below require changing their settings from the shipping set (initial set).
  • Page 310 Table 9-8: Standard parameter setting of the EDC Driver Unit (Continued) Initial Name Parameter Data range User setting setting 0.0, 0.1 to 800.0 STP move deceleration 1 to 5 Acceleration pattern select 0, 1 to 5 Deceleration pattern select ★ P 360 000 1 to 2 621440 Dividing number, user scale...

  • Page 311: Maintenance

    10. Maintenance 10.1. Backup Parts Motor and Drive Unit We recommend keeping the backup of Motor and Driver Unit for a quick recovery for an unexpected failure of the System. Parameter and program data backup We recommend keeping the note of all parameter settings and programs for an unexpected failure of the Driver Unit.

  • Page 312: Periodic Check

    You do not require replenish the grease of the bearing. We cannot repair the Motors at the User’s site regardless of the level of failure. If any problem was found by the periodic check, please consult with NSK sales or representative. Table 10-2: Periodic Check of Motor...

  • Page 313: Periodic Replacement Of Parts

    10.4. Periodic Replacement of Parts 10.4.1. Motor There are no parts that require periodic replacement in general use. If a Motor requires repair service, please consult with NSK sales or representative. Any repair service at the User’s site is not available. 9.4.2. Cables There are no parts that require periodic replacement in general use.

  • Page 314: Driver Unit

    Relays The Driver Unit contains three relays. Approximated life is 100 000 times of switching. We do not replace a relay only. Please consult with NSK sales or representative. It requires replacing the printed circuit board. Table10-5: Rough idea of life (Relays) Item Approx.
  • Page 315 EEPROM The EDC Driver Unit has an EEPROM for the data backup. The limitation on the number of times for writing and deleting is approximately 100 000. ◊ The alarm E2 (ROM error) occurs when the EEPROM reaches its life. ◊...

  • Page 316: Repair Service

    Please return us the NSK products only. When the NSK products are returned with jigs, cables or the like, that are installed or attached to them by the user or a system integrator, NSK Ltd. shall not be liable for loss or damage of these parts.

  • Page 317: Alarm And Warning

    11. Alarm and Warning 11.1. Identifying Alarm and Warning If an error occurs in the Megatorque Motor System, the EDC Driver Unit gives an alarm or a warning. Table 11-1: Category of abnormality and condition of the System Error Seriousness Output signal Motor condition Recovery...

  • Page 318: Confirmation Of Alarm And Warning

    11.1.2. Confirmation of Alarm and Warning The monitor TA reports the current status of alarm and warning. Input the monitor TA. F3>Hardware Over Travel;_ The System reads out the current status of alarm and warning. There is no indication when no alarm or warning is reported. Every input of the SP key scrolls down to the next readout.

  • Page 319: History Of Alarm And Warning

    11.1.3. History of Alarm and Warning You can monitor the history of alarms, warnings and events that have occurred. The Driver Unit stores the maximum of 32 records of alarms, warning and events. ◊ When the 33rd alarm is occurred, the Driver Unit deletes the first history record and adds the record of the 33rd alarm to the end of the list.
  • Page 320 The table below lists the alarms and warnings that won’t be recorded to the alarm history. Table 11-2: Alarms and warnigs that won’t be recorded to the alarm history Motor 7 segments LED Command TA: Tell alarm Description condition C3>CPU Error CPU error Servo-off E0>RAM Error...

  • Page 321: List Of Alarm And Warning

    11.2. List of Alarm and warning 11.2.1. Normal State The table below shows the condition of the System when the input SVON (Servo on) is activated and the System is ready for the operation command, the System. ◊ For the execution of operation, clear the input STP (Stop). Table 11-3: The condition for command acceptance Output POWER...

  • Page 322: Condition In The State Of Alarm And Warning

    11.2.2. Condition in the State of Alarm and Warning The Driver Unit reports three kinds of abnormality. ◊ Alarm : Abnormal state in which the System cannot continue the operation. ◊ Warning : Abnormality that can be avoided by changing the way of operation or tuning of parameters.

  • Page 323: Warning

    11.2.2.2. Warning Reports an occurrence of abnormality that can be easily rectified. ◊ When a warning is given the output WRN (Warning) closes if the shipping set of the output logic is set to negative. The condition of the Motor depends on the type of warning.

  • Page 324: Cause And Remedy

    11.3. Cause and Remedy 11.3.1. CPU Error The CPU integrated into the Driver Unit controls various types of operation. This alarm reports that the CPU is not properly functioning. Table 11-8: Cause and remedy for CPU error alarm Cause Remedy •...

  • Page 325: Alarm A1: Position Data Error

    11.3.3. Alarm A1: Position Data Error When the control power of the Driver Unit is turned on, the System checks the absolute position of the Motor. This alarm reports that the checking of Motor position does not have properly executed because the Motor moved when the control power was turned on.

  • Page 326: Warning A3: Software Thermal

    11.3.5. Warning A3: Software Thermal The Driver Unit is estimating the heat generation and radiation of the Motor based on the current flowing through the Motor windings. The warning occurs when the estimation of heat generation exceeds the threshold. Table 11-12: Cause and remedy for the warning A3 Cause Remedy Unmatched combination of Motor...

  • Page 327: Alarm A4: Excess Velocity

    11.3.6. Alarm A4: Excess Velocity This alarm detects that the Motor has continuously rotated faster than the velocity of 11.4 [s for 10 milliseconds or over, exceeding its maximum rotational speed 10 [s Table 11-13: Cause and remedy for the alarm P4 Cause Remedy Unmatched combination of Motor...

  • Page 328: Alarm A7: Resolver Amplifier Alarm

    11.3.8. Alarm A7: Resolver Amplifier Alarm This alarm occurs when an excessive current is applied to the position sensor (Absolute position sensor or incremental position sensor) or an abnormal increase in heat is occurring to the drive element. Table 11-15: Cause and remedy for the alarm A7 Cause Remedy •...

  • Page 329: Warning C0: Position Command/Feedback Signal Error

    11.3.10. Warning C0: Position Command/Feedback Signal Error This warning occurs when the transient velocity command is excessive in a pulse train command or the position feedback output signal frequency is abnormal. ◊ The command TA/HI (Tell alarm history) will identify the cause of the warning. In the pulse train input operation, the Driver Unit creates the transient parameter CR (Circular Resolution) in accordance with inputting pulses.

  • Page 330: Alarm E0: Ram Error

    11.3.12. Alarm E0: RAM Error The RAM temporally stores the setting of parameters, programs and the important data for the Driver Unit. This alarm occurs when the data on the RAM goes to heaven from any reason. Table 11-19: Cause and Remedy for the alarm E0 Cause Remedy •...

  • Page 331: Alarm E7: System Error

    Table 11-21: Cause and remedy for the alarm E7 Cause Remedy • Check the following and inform us the results through NSK sales or representative. • The reference number of the mated Motor. Defective flash ROM on the PCB or •...

  • Page 332: Warning F1: Excess Position Error

    11.3.17. Warning F1: Excess Position Error The position error means the difference between the position command to the Motor and the current Motor position. (You can monitor the position error by the monitor TE/RP (Tell position error counter). This warning occurs when the absolute value of position error is greater or equal to the threshold of parameter CO (Position error counter over limit).

  • Page 333: Over Travel F2: Software Over Travel Limit

    11.3.18. Over Travel F2: Software Over Travel Limit The following are two types of setting of the off limits area to the Motor. ◊ Software over travel limit: The parameter sets the position data for the off limits area. . (Refer to “6.2.4.

  • Page 334: Over Travel F3: Hardware Over Travel Limit

    11.3.19. Over Travel F3: hardware Over Travel Limit The followings are two types of setting of the off limits area to the Motor. ◊ Software over travel limit: The parameter sets the position data for the off limits area. (Refer to “6.2.4. Software Over Travel Limit” for setting the off limits area.) ◊...

  • Page 335: Alarm F4: Emergency Stop

    11.3.20. Alarm F4: Emergency Stop This alarm does not report a problem of the Motor System. This alarm is the input signal for emergency stop to the Driver Unit from the user device side. ◊ During the state of emergency stop, the Motor servo is off and the dynamic brake functions to stop the Motor motion.

  • Page 336: Warning F8: Automatic Tuning Error

    11.3.22. Warning F8: Automatic Tuning Error The command AT (Automatic tuning) automatically estimates the load moment of inertia. The warning F8 occurs when the automatic tuning could not complete estimation of the load moment of inertia. ◊ Indication on the terminal identifies the cause. Table 11-31: Cause and remedy for the warning F8 Indication of terminal Cause...

  • Page 337: Warning P0: Over Heat

    11.3.23. Warning P0: Over Heat The warning P0 occurs when temperature of the heat sink of the Driver Unit or the external dump resistor has exceeded the threshold. ◊ This warning occurs when the continual current flow to the external dump resistor elapsed over a period of 1 second due to excessive regeneration energy.

  • Page 338: Alarm P2: Motor Over Current

    11.3.25. Alarm P2: Motor Over Current The Driver Unit watches the current that flows through the Motor. The Driver Unit gives this alarm when the current to the Motor exceeds the capacity. Table 11-34: Cause and remedy for the alarm P2 Cause Remedy •...

  • Page 339: Warning P5: Main Power Under Voltage

    11.3.27. Warning P5: Main Power Under Voltage The main power voltage must be in the specification to activate the Motor servo. The Driver Unit gives this warning when the main power voltage is too low to activate the Motor servo. Table 11-36: Cause and remedy for the warning P5 Cause Remedy...
  • Page 340 (Blank Page) — 11-24 —...

  • Page 341: Troubleshooting

    12.1. Identifying Problem If problems have been occurred, check the items shown in Table 12-1. When reporting problems to the NSK sales or representative, the explanation of the items in Table 12-1 will help us to identify them. Table 12-1: Items to be checked when a problem occurs...

  • Page 342: Power Trouble

    12.2.1. Power Trouble Table 12-3: Troubleshooting for power problem Cause Remedy • Check the control power voltage at the connector of the Driver No control power supplied. Unit. CPU is not functioning. • Refer to “CPU Error” in “11.3. Causes and Remedy.” •...

  • Page 343: Vibration, Abnormal Noise Or Unstable Settling

    12.2.3. Vibration, Abnormal Noise or Unstable Settling Table 12-5: Troubleshooting for vibration, abnormal noise and unstable settling Cause Remedy • Check if the combination of the Motor and the Driver Unit is Wrong combination of Motor and Drive Unit. correct. Loose mounting of the fixture and/or •...

  • Page 344: Communication Problem

    1) Defective wiring of communication cable Driver Unit even the signals RTS and CTS are not in use. When a message “Communication Error” appears on the display of the NSK Handy Terminal FHT-21. (The Handy Terminal displays the message by itself.) •...

  • Page 345: Appendix 1: How To Monitor Input And Output Signal

    Appendix 1: How to Monitor Input and Output Signal The command IO monitors the state of Input and Output signals of CN2 connector. This function is useful for checking the wirings. Monitor for electric status: Monitor IO0 This monitor reports the electrical condition of the input and output ports. ◊...
  • Page 346 Monitor for Internal Recognition of Input and Output State: Monitor IO1 Monitors the applied state of following function to the control inputs and outputs: the polarity reverse and the anti-chattering timer to the control inputs, and the stability timer for the control outputs.
  • Page 347 Monitor for State of Input Functions: Monitor IO2 Monitors the application state of input functions in a line. The readout is the recognition of the Driver Unit. ◊ The readout is the application state of the parameters AB (Input polarity) and NW (Anti-chattering timer) in the command PI (Edit control input).
  • Page 348 For example, Figure A-4 below illustrates a monitoring of the state of input SVON (Servo on). The example indicates that the number 1 is showing the input SVON is effective, supposedly the input SVON is even a normally closed contact. Fig A-4: Example of function monitor : FSVON/RP 0: Not effective...

  • Page 349: Appendix 2: How To Check Motor Condition

    2. Difference between each phase UV, VW, and WU PS3015 is less than 15% PS3030 PS3060 PS3090 Please ask NSK sales or representative for a Motor with special winding specifications and a Cable longer than 4 m. — A-5 —...
  • Page 350 (ABS-C) (ABS･COM) less. Please ask NSK sales or representative for the specifications of the Motor with special winding, and the Cable longer than 4 m. Fig A-9: Connection of the Motor with the absolute position sensor [Reference only] Connector of Driver Unit...
  • Page 351 Insulation resistance check of Motor winding ！ Caution: Disconnect the Motor from the Driver Unit when checking insulation resistance of the Motor. ！ Caution: Checking voltage must be 500 VDC or less. Fig A-10: Check with the Cable ( 1 ) ( 2 ) ( 3 ) ( 9 )

  • Page 352: Appendix 3: How To Back Up And Restore The Settings Of Programs And Parameters

    The following describes how to back up the settings of parameters by the memory function of the Handy Terminal FHT21. The user shall provide the Handy Terminal FHT21, an option from NSK Ltd. ！ Caution: The Handy Terminal FHT11 cannot be used for the backup procedures described below.

  • Page 353: Fht21

    For an example, name the file as “EDC01”. ［Upload］ File Name EDC01_ An input of the ENT key calls up the confirmation screen to start uploading. ［Upload EDC01］? 1:Yes 2:No Press the keys in order of 1 and ENT to start uploading. The display scrolls in high speed while uploading.
  • Page 354 It changes to the normal mode by a press of the BS while pressing the SHIFT key. Input the settings of parameters AO (Absolute position scale offset) and MM (Multi-line monitor), which have been noted previously. Input the parameter AO. :/NSK ON NSK ON :AO123456 < >...

  • Page 355: Appendix 3.2. When Using A Personal Computer

    A usable adapter “USB serial cable SRC06-USB” is available from Arvel Co.. Communication cable ◊ An optional communication cable [M-C003RS03] is available from NSK Ltd. or the cable that provides the wiring for the flow control as shown in Figure A-15 of “Appendix 6: Wiring RS-232C communication Cable”.
  • Page 356 Backup of Parameter Store the parameter settings of the Driver Unit as a text file. Launch Hyper Terminal. ◊ There is the icon you have made in the menu [Start menu] → [Program] → [Accessory] → [Communication] → [Hyper Terminal]. The parameter AO (Absolute position scale offset) that sets the Motor home position and the parameter MM (Multi-line mode) that specifies the monitoring mode to the Handy Terminal will not be backed up with the following procedures.
  • Page 357 [Send out] → [Text file]. Input the parameter AO (Absolute position scale offset) and the parameter MM (Multi-line mode), both of which have been captured. (1) Input the parameter AO. :/NSK ON NSK ON :AO123456 (2) Input the parameter MM.

  • Page 358: Appendix 3.3. Back Up Manually

    Appendix 3.3. Back up Manually This section describes how to manually back up the settings of parameters, programs and control inputs and outputs individually by hand. Preparation Handy Terminal FHT21 or FHT11. Backup of the settings Monitor the settings of parameters. Follow the procedure below and note down the settings.
  • Page 359 Monitor the settings of control inputs and outputs. Follow the procedure below for monitoring. Monitor all settings of input function by the command TPI/AL (Tell all input port). :TPI/AL >TPI0;_ This reads out all settings of control inputs. Every input of the SP key reports the settings one by one on the line. Input the SP key several times to monitor all of them.

  • Page 360: Appendix 4: Procedure For Replacing Edc Driver Unit

    Appendix 4: Procedure for Replacing EDC Driver Unit Follow the procedures described in this section when the initialization of the Driver Unit is required during troubleshooting or replacing the Driver Unit and/or the Motor. Confirmation of interchangeability Reference number coding of the EDC Driver Unit shown below indicates that the Driver Unit is interchangeable with other EDC Driver Units.
  • Page 361 Initialize the settings of parameters. Input the command SI/AL (Set all initial parameters) (It requires an input of the password.) :/NSK ON NSK ON :SI/AL The prompt “: (colon)” appears on the last line of the screen at the completion of the initialization.

  • Page 362: Appendix 5: Dump Resistor

    Megatorque Motor System. ◊ An optional dump resistor [M-E014DCKR1-100] is available from NSK Ltd. Procedures to install the external dump resistor Confirm that the Motor cable is connected as shown in Figure A-13 below.
  • Page 363 Remove the shorting wire of thermo sensor using a removing tool. Connect the cable of dump resistor and the sensor cable. A thicker cable pair is the resistor cable while a thinner cable pair is the sensor cable. No polarity is set to the both pairs. Fig A-14: Connection of external dump resistor Insert removing tool (Insert a calbe remover or precision...

  • Page 364: Appendix 6: Wiring Of Rs-232C Communication Cable

    Appendix 6: Wiring of RS-232C Communication Cable If any terminal other than the NSK Handy Terminal FHT21 is used, follow the specifications of the terminal for wiring the RS-232C communication cable. Following examples shown in Figure A-15 and Figure A-16 are for the connection with a personal computer compatible with DOS/V (D-sub 9 pins connector).

  • Page 365: Appendix 7: Setting List Of Parameter And Program Of Edc Driver Unit

    Appendix 7: Setting List of Parameter and Program of EDC Driver Unit Reference Number: S/N: Parameter Setting List • A blank box denotes that the setting is the shipping set. Date: Setting Setting Setting Parameter Parameter Parameter Shipping Shipping Shipping User setting User setting User setting...
  • Page 366 Reference number: S/N: Program Setting List • A blank box is not in use. Date: Program Program Program Program Command: — A-22 —...
  • Page 367 Reference Number : S/N: Control Input/Output Setting List Date: Control input Control output Port Shipping set User setting Port Shipping set User setting EMST DRDY ACLR OTPA OTMA SVON SVST BUSY IPOS PRG0 NEARA PRG1 PRG2 PI10 PRG3 PI11 PRG4 PI12 PRG5 PI13...
  • Page 368 (Blank Page) — A-24 —...
  • Page 369 MOTOR SYSTEM User’s Manual (EDC Driver Unit System) Document Number: C20158-04 Mar 31, 2007 1st Edition 1st Printing Sep 30, 2009 2nd Edition 1st Printing Dec 15, 2009 3rd Edition 1st Printing Nov 15, 2011 4th Edition 1st Printing NSK Ltd.

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