Page 1 (217) 352-9330 | Click HERE Find the NSK ESA-J1003AFD-20 at our website:...
Page 2 ® MEGATORQUE MOTOR SYSTEM User’s Manual (ESA25 Driver Unit System) M-E099SA0C2-062 Document Number: C20062-06 EC-T Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 3 (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 4 In order to use the Megatorque Motor System properly, observe the following notes. 1. Matters to be attended to use the Driver Unit of the Megatorque Motor System 1 Temperature l Keep the ambient temperature of the Driver Unit within 0 to 50°C. You cannot put the Driver Unit in an atmosphere over 50°C.
Page 5 2 Use condition l The allowable moment load and axial load differ with Motor size. Reconfirm that the using conditions are in the specified limits of the Motor. l An excessive offset load will cause permanent deflection of the rotor and the bearing abnormality. Never apply shocks to the Motor when installing it.
Page 6 6 Breaker trip occurs frequently. l When the system recovers by replacing fuses or remaking the power, take the following action. ◊ We recommend to install a delay type breaker for a measure against breaker trip. 4. Others l Combination of the Motor and the Driver Unit shall conform to the specification. l Be sure to write down the setting of parameters.
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Page 8 MEGATORQUE ® MOTOR SYSTEM User’s Manual NSK Ltd. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 10 ESA25 Driver Unit. If your model is not ESA25, contact NSK for respective information. Technical Information l For technical assistance and sales information, please contact your local NSK office. A list of NSK offices is provided in the back cover. Megatorque Motor System Conformity to EC Directives (CE Marking) NSK Ltd.
Page 11 Terminology It will be necessary to be familiar with some terms used in this document. b.p.s. bit per second; the unit of communication speed. Motor rotating direction, counterclockwise; seen from the outside of rotor. closed logic output state; output current will flow. Motor rotating direction, clockwise;...
Page 12: Table Of Contents
Contents 1. Introduction---------------------------------------1-1 5. Connector Specifications --------------------5-1 1.1. Overview ----------------------------------------------------1-1 5.1. CN1 : RS-232C Serial Communication 1.2. Functional Principle --------------------------------------1-3 Connector -------------------------------------------------- 5-1 1.2.1. Motor --------------------------------------------------1-3 5.1.1. CN1 Pin-Out---------------------------------------- 5-1 1.2.2. Driver Unit -------------------------------------------1-3 5.1.2. CN1 Signal List------------------------------------ 5-1 5.1.3. Sample Wiring Diagram ------------------------- 5-2 2.
Page 13 6.4. Driver Unit Mounting -------------------------------------6-8 9.1.6. Alarm Output--------------------------------------- 9-6 6.4.1. Connecting Power---------------------------------6-9 9.1.7. Brake Signal Output------------------------------ 9-7 6.4.2. Ground Connection and Wiring --------------6-11 9.1.8. In-Position Output--------------------------------- 9-8 6.4.3. Motor Thermal Protection ---------------------6-12 9.1.8.1. Output Signal Format--------------------- 9-9 6.5. Connecting Motor and Driver Unit------------------6-13 9.1.8.2.
Page 14 : Clear Alarm --------------------------------12-10 10. Operation-------------------------------------- 10-1 CM : Communication Mode-------------------12-11 10.1. Preparation ---------------------------------------------10-1 CO : Position Error Counter Over Limit----12-11 10.1.1. Wiring Check------------------------------------10-1 CR : Circular Resolution-----------------------12-11 10.1.2. Procedure for Positioning Operation------10-1 : Channel Velocity--------------------------12-12 10.2. Position Control Mode Operation -----------------10-2 : Dead Band ---------------------------------12-12 10.2.1.
Page 15 OTP : Overtravel Limit Switch Position------ 12-26 14. Alarm--------------------------------------------14-1 OTM : Overtravel Limit Switch Position ----- 12-26 14.1. Identifying Alarm ---------------------------------------14-1 : Phase Adjust------------------------------ 12-27 14.1.1. LED Alarm Indicator ---------------------------14-1 : Pulse Command-------------------------- 12-27 14.1.2. Using TA Command---------------------------14-2 : Position Gain------------------------------ 12-27 14.1.3.
Page 16: Introduction
The Motor consists of a high torque brushless actuator, a high resolution brushless resolver, and a heavy duty precision NSK bearing. The high torque actuator eliminates the need for gear reduction, while the built-in resolver usually makes feedback components, such as encoders or tachometers unnecessary.
Page 17 Universal Interface l Because of the extreme versatility of the Driver Unit design, a wide variety of interface methods are possible. The Megatorque Motor System can be interfaced to virtually any control system. It is very easy to control the Megatorque Motor System with a CNC, a servo motor controller, a robot controller, or an indexing controller.
Page 18: Functional Principle
1.2. Functional Principle 1.2.1. Motor l By virtue of its unique design, the Megatorque Motor System is capable of producing extremely high torque at low speeds suitable for direct drive applications. Furthermore, it can produce these torque levels without using an undue amount of power, so it can sustain these torque levels indefinitely under most conditions without overheating.
Page 19 Digital Microprocessor Subsystem l The digital microprocessor subsystem is a part of the control board. All analog signals are converted to digital form, and the 16-bit microprocessor on the control board handles all Motor control functions in the digital domain. Since analog circuits are eliminated, there are no pots to adjust, no operational amplifier circuits to tweak, and no soldering or component changes are required.
Page 20: Notes To Users
2. Notes to Users l This manual describes the interface, function, and operation of the Megatorque Motor System with the ESA25 Driver Unit. l Before operating the Megatorque Motor System for the first time, this manual should be read thoroughly. l Motors, Driver Units and Cable sets described in this manual are interchangeable.
Page 21 Caution : Do not touch Driver Unit. Touching the Driver Unit just after the power is turned off may cause electric shock. ◊ Driver Unit has high capacity conductors in its internal circuits and there is high residual voltage for few minutes after the power is turned off. ◊...
Page 22: Interchangeability Of Motor And Driver Unit
2.2. Interchangeability of Motor and Driver Unit Interchangeable combination l Standard ESA 25 Driver Unit has the interchangeability to the Motor. You may use any Driver Unit for a Motor regardless of serial number. l However, refer to “3.3. Standard Combination” for combination of Motor, Driver Unit and Cable set.
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Page 24: System Outline
3. System Outline 3.1. System Configuration Figure 3-1 : System configuration (without brake) Handy Terminal FHT11 • Controller (Pulse Output) • Sequencer 24VDC HANDY TERMINAL Power Supply < > & ‘ ESA25 Driver Unit SHIFT CTRL RS-232C Power Megatorque Motor 3-phase AC200V Single phase AC200V or AC100V...
Page 25: Reference Number Configuration
3.2. Reference Number Configuration 3.2.1. Motor Figure 3-3 (1) Megatorque Motor series M-YS (2) Motor size (3) Maximum torque (Unit: N·m) (4) GN : Standard *GG : With brake (5) Design number M-JS * Brake is only available for YS series. 3.2.2.
Page 26: Standard Combination
3.3. Standard Combination l This section describes “Standard Combination” of the Motor, ESA25 Driver Unit and Cable set. l Make sure to select right combination of each parts when ordering. 3.3.1. YS Series Motor 3.3.1.1. Motor and Driver Unit Table 3-1 Motor Reference No.
Page 27: Js Series Motor
3.3.2. JS Series Motor 3.3.2.1. Motor and Driver Unit Table 3-4 Motor Reference No. ESA25 Driver Unit Reference No. Power Supply Voltage M-ESA-J0002V25 AC100V M-JS0002GN510 M-ESA-J0002T25 AC200V M-ESA-J1003V25 AC100V M-JS1003GN510 M-ESA-J1003T25 AC200V M-ESA-J2006V25 AC100V M-JS2006GN510 M-ESA-J2006T25 AC200V M-ESA-J2014V25 AC100V M-JS2014GN510 M-ESA-J2014T25 AC200V 3.3.2.2.
Page 28: Specifications
4. Specifications 4.1. Motor Specifications 4.1.1. YS Series Motor 4.1.1.1. Name of Parts Figure 4-1 — 4-1 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 29: Specifications
4.1.1.2. Specifications l There are three types of Motor in YS series. 1 Standard 2 Motor with brake 3 Low profile type l YS Series Motor can be run on either 100V/110V or 200V/220V AC. l The unit used in the specification tables is in SI unit system 1N = 0.102 kgf = 0.225lb 1N·m = 0.102 kgf·m = 0.738 ft·lb 1 Standard...
Page 30 2 Motor with brake Table 4-2 : Motor with brake Motor reference No. M-YS2020GG001 M-YS3040GG001 M-YS4080GG001 M-YS5120GG001 Item (Unit) Maximum torque (N·m) Maximum current/phase (A) Allowable axial load 3700 4500 9500 19600 Allowable moment load (N·m) Note (1) Axial rigidity (mm/N) 4.0 ×...
Page 31 3 Low profile type Table 4-3 : YS low profile type Motor reference No. M-YS2005GN001 M-YS3008GN001 Item (Unit) Maximum torque (N·m) Maximum current/phase (A) Allowable axial load 3700 4500 Allowable moment load (N·m) Note (1) Axial rigidity (mm/N) 2.8 × 10 2.6×...
Page 32 u How to calculate axial and moment load Caution : • Do not apply excessive load to the Motor. An excessive load more than specified in Table 4-2 may result in premature Motor failure. • Followings show how to calculate the loads. Figure 4-2 : How to calculate loads If F is an external force, then If F is an external force, then...
Page 33: Dimensions
4.1.1.3. Dimensions 1 Standard Figure 4-3 : M-YS2020GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-6 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 34 Figure 4-4 : M-YS3040GN501 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-7 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 35 Figure 4-5 : M-YS4080GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-8 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 36 Figure 4-6 : M-YS5120GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-9 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 37 Figure 4-7 : M-YS5240GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-10 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 38 2 Motor with brake Figure 4-8 : M-YS2020GG001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-11 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 39 Figure 4-9 : M-YS3040GG001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-12 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 40 Figure 4-10 : M-YS4080GG001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-13 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 41 Figure 4-11 : M-YS5120GG001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-14 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 42 3 Low profile type Figure 4-12 : M-YS2005GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-15 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 43 Figure 4-13 : M-YS3008GN001 For the dimensions in parenthesis, an extra 2 to 3 mm allowance shall be made for their variations due to casting surface. Unit : mm — 4-16 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 44: Js Series Motor
4.1.2. JS Series Motor 4.1.2.1. Name of Parts Figure 4-14 4.1.2.2. Specifications l JS series Motor can be run on either 100V/110V or 200V/220V AC. Table 4-4 : Specification Motor reference No. M-JS0002GN510 M-JS1003GN510 M-JS2006GN510 M-JS2014GN510 Item (unit) Motor outside diameter (mm) Maximum torque (N·m)
Page 45 u How to calculate axial and moment load Caution : • Do not apply excessive load to the Motor. An excessive load more than specified in Table 4-2 may result in premature Motor failure. • Followings show how to calculate the loads. Figure 4-15 If F is an external force, then If F is an external force, then...
Page 46: Dimensions
4.1.2.3. Dimensions Figure 4-16 : M-JS0002GN510 ±0.4 ) : Dimensions for M-JS0002GN510 — 4-19 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 47 Figure 4-17 : M-JS1003GN510 ±0.4 ) : Dimensions for M-JS1003GN510 — 4-20 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 48 Figure 4-18 : M-JS2006GN510 ±0.4 ) : Dimensions for M-JS2006GN510 — 4-21 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 49 Figure 4-19 : M-JS2014GN510 ±0.4 ) : Dimensions for M-JS2014GN510 — 4-22 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 50: Driver Unit
4.2. Driver Unit 4.2.1. Name of Parts Figure 4-20 Bracket can be attached here. Bracket Heat sink POWER DISP. MOTOR RS-232C FUSE1 250V FUSE2 250V CONT. AC100-220V MAIN AC200-220V SENSOR FGND I/O2 Type N S K L t d N S K L t d . MADE IN JAPAN Bracket can be attached here.
Page 51: General Specifications
4.2.2. General Specifications u Control mode l Closed loop, P·I position control u Operation mode l Pulse train position command l RS-232C serial communication command l Programmable control l Return Home operation l Jog u Power supply capacity 1 AC200V/220V ±10% Table 4-5 : Power supply capacity Main power Max.
Page 52 2 AC100V/110V ±10 % Table 4-7 : Power supply capacity Main power Max. Control power Max. Driver Unit Reference No. (exclude surge current) (exclude surge current) M-ESA-Y2005V25 0.3 kVA M-ESA-Y2020V25 0.7 kVA M-ESA-Y3008V25 0.3 kVA M-ESA-Y3040V25 0.9 kVA M-ESA-Y4080V25 1.0 kVA 50 VA M-ESA-Y5120V25 1.0 kVA...
Page 53: Functional Specifications
4.2.3. Functional Specifications u Control mode can be selected by the parameter SL. l SL1 : Torque control mode l SL2 : Velocity control mode l SL3 : Position control mode u Position control mode l RS-232C serial communication command l Programmable control ( internal programmable indexer) ◊...
Page 54 u Maximum velocity Table 4-11 Resolver resolution Automatic resolution switching 12-bit setting Motor type or 10-bit setting YS, JS1, JS2, RS 1.25 s 3.75 s AS, BS, JS0 1.5 s 4.5 s u Encoder output signal : øA , øB and øZ (MSB) l Signal output format: ◊...
Page 55: Jumper
4.2.4. Jumper l Jumper (JP1) is for selecting output format of øZ position feedback signal. l Jumper is inside of the Driver Unit. When setting Jumper, remove the side cover of the Driver Unit. Follow the procedure in Appendix 4 : How to Replace ESA25 Driver Unit. l Figure 4-14 indicates the Jumper location.
Page 56: Dimensions
4.2.5. Dimensions Figure 4-22 21.2 Bracket can be Heat sink attached here. POWER DISP. MOTOR RS-232C FUSE1 250V FUSE2 250V CONT. AC100-220V MAIN AC200-220V SENSOR FGND I/O2 Type MADE IN JAPAN N S K L t d N S K L t d . Bracket can be attached here.
Page 57: Cable Set
4.3. Cable Set l This section shows Cable Set for YS and JS series Motor. l Refer to respective specification for SS, AS and RS series Motor. l For reference number and cable length, see “3.3. Standard Combination.” 4.3.1. Cable Set for YS Motor and JS Motor Figure 4-23 Connector Connector Shell...
Page 58: Handy Terminal
4.4. Handy Terminal l FHT11 Handy Terminal is an easy to use hand held terminal with an RS-232C communication interface for Megatorque Motor System Driver Unit. FHT11 terminal connects directly to the CN1 connector on the ESA25 Driver Unit. 4.4.1. Name of Parts and Dimensions Figure 4-25 Main frame Liquid Crystal Display...
Page 59: Specification
4.4.2. Specification Table 4-14 Item Specification Power source valtage DC 5V ±5% Power consumption 200 mW • Operating : 0~50°C Temperature • Storage Environment : -10~+65°C Humidity 35~85% (Non condensing) Data code ASCII code Communication speed 9600 b.p.s Data bit 8 bit RS-232C Interface Stop bit...
Page 60: Connector Specifications
5. Connector Specifications 5.1. CN1 : RS-232C Serial Communication Connector l NSK’s Handy Terminal FHT11 (sold separately) can be used as an RS-232C terminal. Table 5-1 Driver Unit connector Japan Aviation Electronics Industry, Ltd. DELC-J9SAF-13L9 Mating connector type Japan Aviation Electronics Industry, Ltd.
Page 61: Sample Wiring Diagram
5.1.3. Sample Wiring Diagram l Connect the ESA25 Driver Unit with the controller (e.g., personal computer) in accordance with its RS-232C control signal specification. u RTS Control / CTS Monitoring Active (standard wiring) Figure 5-2 ESA Driver Unit RS-232C Terminal u RTS Control / CTS Monitoring Inactive Important : When wired as shown below, always confirm the echo-back from the Driver Unit or send the data slowly.
Page 62: Cn2,Cn5 : Control I/O Signal Connectors
5.2. CN2,CN5 : Control I/O Signal Connectors l Table 5-3 shows connector types of CN2 and CN5. Table 5-3 DBLC-J25SAF-13L9 Driver Unit side connector Japan Aviation Electronics Industry, Ltd. DCLC-J37SAF-13L9 Mating connector DB-25PF-N Japan Aviation Electronics Industry, Ltd. (user device side) DC-37PF-N Mating connector shell type DB-C2-J9...
Page 63: Signal Name And Function (Cn2, Cn5)
5.2.2. Signal Name and Function (CN2, CN5) Table 5-4 : CN2 Signal Name Function Output Output COMMON DRDY- Output Driver Unit ready (-) Output Brake control signal (normally close) ∗ ∗ Output Position feedback øZ/digital position data MSB* Output Position feedback øB Output Position feedback øA CCWP+ Input...
Page 64 Table 5-5 : CN5 Signal Name Function Output Output COMMON – – Do not connect – – Do not connect – – Do not connect – – Do not connect – – Do not connect AIN- Input Analog command (-) AIN+ Input Analog command (+)
Page 65: Setting The Polarity (A Or B Contact) Of The Input Ports
5.2.3. Setting the Polarity (A or B contact) of the Input Ports l The shipping set of polarity for all CN2 input signal ports is A contact. l The polarity of some input signal ports can be changed to B contact in an ESA25 Driver Unit. l The ports of which the polarity can be changed are only four signals below.
Page 66 :?AB ABX0X0XX00 Input the password. The password acknowledgment message appears on the display. ABX0X0XX00 :/NSK ON NSK ON The second bit following AB represents EMST. Set this bit to “1”, and the other bits to “X” (no change). :/NSK ON...
Page 67: Signal Specifications (Cn2, Cn5)
5.2.4. Signal Specifications (CN2, CN5) 5.2.4.1. General Input Applied Inputs : SVON, EMST, PRG0~5, RUN, HOS, HLS, JOG, DIR, OTP, OTM, CLR, IOFF Table 5-7 Item Specification Input voltage 24 VDC ±10% Input impedance 3.3 kΩ Maximum current 10 mA (per input) Figure 5-5 3.3k Ω...
Page 68: General Output
5.2.4.3. General Output Applied Outputs : BRK, IPOS Table 5-9 Item Specification Maximum load capacity 24 VDC/100 mA Maximum saturated voltage 2 V or less Figure 5-7 output Driver Unit side 5.2.4.4. Alarm Output Applied Outputs : DRDY+, DRDY- Table 5-10 Item Specification Maximum load capacity...
Page 69: Position Feedback
5.2.4.5. Position Feedback ∗ ∗ ∗ Applied Outputs : CHA, CHB, CHZ, CHA, CHB, Table 5-11 Item Specification ∗ ∗ Line driver (CHA, CHB, CHA, CHB) ∗ Output format Line driver or open collector (CHZ, CHZ) (Can be selected by Jumper 1. Refer to “4.2.4. Jumper”) Line driver Texas Instruments SN75ALS192 Recommended Line receiver...
Page 70: Analog Monitor Output
5.2.4.7. Analog Monitor Output Applied Outputs : MON+, MON- Table 5-13 Item Specification Output format Ope-amp Max. input voltage ±10V ±10% Saturated voltage 4mA or less Figure 5-11 10k Ω 1000PF – MON+ MON- 10k Ω — 5-11 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 71: Wiring Example (Cn2, Cn5)
5.2.5. Wiring Example (CN2, CN5) 5.2.5.1. Position Control Mode Wiring Example Figure 5-12 User’s controller ESA25 Driver Unit Polarity of DC24V external power may be reversed and used as “ minus-common”. 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Integration off...
Page 72: Wiring Example Of Velocity Control/Torque Control Mode
5.2.5.2. Wiring Example of Velocity Control/Torque Control Mode Figure 5-13 User’s sequencer ESA25 Driver Unit Polarity of DC24V external power supply may be reversed and used as “minus common”. DC24 DC24V SVON Servo-on EMST Emergency stop + direction overtravel limit switch - direction overtravel limit switch Clear IOFF...
Page 73: Wiring Example For Ys Series Motor Equipped With Brake
5.2.5.3. Wiring Example for YS Series Motor Equipped with Brake l The brake built-in the YS series Motor is an electromagnetic brake that is released when the coil is exited (negative action type). The brake is non-backlash type when it engages. l The brake may be used for safety in case of unexpected power shutdown, or to provide extra- holding torque when the Motor is on hold.
Page 74 l The brake signal must be controlled through the user's sequence. Figure 5-15 : Recommended sequence diagram A case to increase holding rigidity. Servo on Servo state of Servo off Motor RUN input Motor rotation IPOS output Close (FW ≠ 0) Open IPOS output Close...
Page 75 Figure 5-16 : Wiring example with brake • Isolation transformer 3 phase AC200V CONT • Circuit breaker MOTOR Single phase AC200V • Magnetic switch Megatorque Motor MAIN • Noise filter AC100V FGND SENSOR Master controller 13 DC24 Handy Terminal HANDY TERMINAL FHT11 DC24V Servo-on...
Page 76: Cn3 : Resolver Cable Connector
5.3. CN3 : Resolver Cable Connector l Since the resolver cable supplied with the Megatorque Motor System should always be used, you need only plug the resolver cable connector into CN3. Knowledge of the pin assignment or signal names is not necessary. This section is offered for reference. Caution : •...
Page 77: Cn4 : Motor Cable Connector
5.4. CN4 : Motor Cable Connector l Since the Motor cable supplied with the Megatorque Motor System should always be used, you need only plug the Motor cable connector into CN4. Knowledge of the pin assignment or signal name is not necessary. This section is offered for reference. Caution : •...
Page 78: Tb : Terminal Block For Power Supply
5.5. TB : Terminal Block for Power Supply 5.5.1. Terminal List Table 5-21 : Terminal Labels and Functions Terminal Label Function CONT Control power input MAIN Main power input FGND Frame ground 5.5.2. Wiring Diagram (TB) Figure 5-19 : Wiring diagram (TB) In the case of AC200V Control power Main power...
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Page 80: Installation
Driver Unit. Furthermore, a damaged system could be a potential electric shock hazard. Notify the carrier immediately, and call your NSK representative. Caution : Make sure that the combination of Motor and Driver Unit conforms to your requirement.
Page 81: Combination Of Motor And Driver Unit
6.2. Combination of Motor and Driver Unit Caution : Make sure that the combination of Motor and Driver Unit conforms to your requirement. Check and record the Motor and Driver Unit reference number and serial number. l Standard Combination ◊ The Motor series, size and maximum torque numbers in both Motor and Driver Unit reference number must be the same.
Page 82: Motor Mounting
6.3. Motor Mounting l The high acceleration/deceleration characteristic of a direct drive mechanism requires the system to have high mechanical rigidity. Therefore, it is essential to maximize rigidity of the Motor and the load system. l The Motor will work best if all of the elements have a natural frequency between them of at least 100 Hz, and preferably more than 200 Hz.
Page 83: Bearing Load
6.3.1. Bearing Load 6.3.1.1. Attaching the Load l The load must be attached to the rotor flange using the threaded mounting holes in the rotor. All of the bolts should be used, and they should be tightened to prevent slippage. 6.3.1.2.
Page 84: Using A "Dummy" Load
6.3.2. Using a “Dummy” Load l When you have to drive the Motor with a low-stiffness load, you may not be able to avail of the merits of the Megatorque Motor System. In some cases, a little rearrangement of mechanical design may help.
Page 85 u Example 4 : Load is connected using sprocket chain or gear mechanism. (There may be backlash.) Figure 6-6 : Using Sprocket Chain Or Gear Mechanism “Dummy” For smooth drive, the inertia of directly attached load should be: Jd = Ji × 0.2 where Jd : inertia of directly attached load Ji : inertia of indirectly attached load...
Page 86: Load Inertia
6.3.3. Load Inertia l Generally, the load inertia is much bigger than the rotor inertia of the Motor. The following table shows the approximate inertia capacity. (Inertia is shown as J in kg·m Table 6-3 : Inertia Capacity (Unit: kgm Large inertia High speed positioning General use...
Page 87: Driver Unit Mounting
6.4. Driver Unit Mounting l The ESA25 Driver Unit may be mounted by the holes in brackets. Caution : For proper air circulation, clearance is required above and below of the unit. (see Figure 6-7) l Be careful not to contaminate the Driver Unit with cutting chips and/or other contamination when wiring and installing the Driver Unit.
Page 88: Connecting Power
The protection from electrical noise must be designed into the installation. Use a line noise filter on the AC supply. A suitable noise filter may be obtained from NSK. If you supply your own, it should meet the requirements in Table 6-4.
Page 89 l Do not place the main power AC line input supplies and signal wires in close proximity. Do not tie wrap them and not put in the same duct. l The Driver Unit and the noise filters must be close to each other and wiring must be of minimal length.
Page 90: Ground Connection And Wiring
6.4.2. Ground Connection and Wiring l For grounding Driver Unit, use heavy gage cable as possible, such as a flat braided copper cable or a wire 3.5mm (AWG 10) or larger. Warning : All the ground lines must be connected at one point and the grounding resistance must be under or equal to 100Ω.
Page 91: Motor Thermal Protection
6.4.3. Motor Thermal Protection l The thermal protection circuit must be installed to prevent the Motor from overheating. l YS and JS Motors have a built-in thermal sensor. The lead wires of the sensor are connected to the Motor connector. l A Cable Set has the outlet lead wires for the protection circuit.
Page 92: Connecting Motor And Driver Unit
6.5. Connecting Motor and Driver Unit l User must specify the Cable Set length when ordering. Select from 2, 4, 8, 15 and 30m. Caution : • Do not make the Cable set length longer or shorter. Changing cable length may worsen the performance of the Motor and the Driver Unit.
Page 93: Power On And Servo
Refer to “14. Alarms” for more details. Handy Terminal display l If a message “NSK MEGA...” is displayed on the Handy Terminal, the system is ready for operation. A colon ( : ) indicates that a command can be entered.
Page 94: Turning Servo
Figure 6-13 : Handy Terminal display (In normal state) NSK MEGATORQUE MS1A50-***** E***** Differs with the system configuration. 6.6.3. Turning Servo on Figure 6-14 : Power “ON” sequence Master controller Driver Unit side Turn on power (User devise) Initialization Check for...
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Page 96: Handy Terminal Communication
Driver Unit. 7.1. When Power is Turned on l If the terminal (NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit power is turned on, the message shown below is displayed. l The contents (and the number of characters) of this message may differ with Driver Unit setting and system versions.
Page 97: Command Entry
The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts it, it returns an “NSK ON” message. Refer to “12. Command and Parameter” for details.
Page 98: Canceling Command
7.2.2. Canceling Command l To cancel a command which has been entered halfway, enter a backspace code. l For example, when the backspace code is input following VG0.5, the cursor moves one space back to the position where 5 was input and thereby deletes 5. Figure 7-3 : Canceling Example :VG0.5_ :VG0._...
Page 99: Entering Parameter
(If the colon is not displayed, press the enter key once.) Enter the password referring to “7.2.1. Password.” :/NSK ON NSK ON The message confirming the entry of password is displayed and the colon ( : ) appears on the screen.
Page 100: Readout Command
7.3. Readout Command l If a command for reading out initial setting or current state is entered, the Driver Unit returns data. l The following is an example for checking “Jog Velocity JV” set value. 7.3.1. “TS” Command for Reading Set Value When entering the command, make sure that a colon ( : ) is displayed on the screen.
Page 101: Reading Function Command For Set Value
7.3.2. “?” Reading Function Command for Set Value When entering the command, make sure that a colon ( : ) is displayed on the screen. (If the colon is not displayed, press the enter key once.) Enter “?” before inputting the command. In case of this example, input “JV”...
Page 102: Tuning And Trial Running
Unit is indicating (normal). • Turn control power “ON” and confirm that the Handy Terminal display shows the message as shown below. NSK MEGATORQUE MS1A50_*** E********* l Initialize servo parameters. 8.2.2. Initialize Servo Parameters l Execution of automatic tuning. (PG, VG, VI and MA) ◊...
Page 103: Automatic Tuning
◊ Wiring AC power line. ◊ Wiring the SVON (Servo on) and the EMST (Emergency stop). (CN2 connector) ◊ Connection of the Driver Unit and the Motor. (Use the optional cable set from NSK.) ◊ Connection of the Handy Terminal to the Driver Unit.
Page 104 Figure 8-2 : Example: Wiring Diagram for Preparation of Automatic Tuning Handy terminal (FHT11) HANDY TERMINAL < > & ‘ Driver Unit SHIFT C T R L Work (Load inertia) Noise Control AC power CONT. power Filter Motor Noise Main AC power MAIN power...
Page 105: Initialize Servo Parameters
8.2.2. Initialize Servo Parameters Turn off the servo-on (SVON, CN2) signal. Enter to check the parameter settings. Note down all data. Log in the password. :/NSK ON NSK ON Display indicates the confirmation. Log in SI (Set Initial Parameters) command. INITIALIZE “INITIALIZE”...
Page 106: Execution Of Automatic Tuning (Tuning Level 1)
8.2.3. Execution of Automatic Tuning (Tuning Level 1) Caution : Make sure the work (or Motor) does not hit any obstacle when the Motor makes a full turn. Always stay in safe position. ◊ The Motor needs to rotate at least ±20° when executing the automatic tuning.
Page 107: Trial Running (Tuning Level 1)
8.2.4. Trial Running (Tuning Level 1) Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor makes a full turn. Always stay in safe position. l For this adjustment, the demonstration program of ESA25 Driver Unit is used as an example. The program is originally set before it is shipped.
Page 108 When rotational angle (ID) 9000 (90 degrees) is feasible, input “OK”. IN10,IS0.5,FW1.0 ID9000/OK The motor starts the cycles as soon as “OK” is logged in. (Firstly the Motor rotates clockwise (CW). ) l For changing rotational angle (ID) while “?” prompt is displayed, input desired ID without inputting “OK.”...
Page 109: Servo Gain Minor Adjustment (Tuning Level 2)
8.2.5. Servo Gain Minor Adjustment (Tuning Level 2) Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor makes a full turn. Always stay in safe position. l Perform minor adjustment of servo gain when the Automatic Tuning is not successful. l Servo-gain can be adjusted by the parameter “SG.”...
Page 110 Keep pressing the plus (+) key, eventually the Motor starts hunting and stops. Pressing [+],[-],[ENT] • • • SHIFT 233( 123) STEP1 _SG18 Keep pressing the minus (-) key until the Motor stops hunting and starts moving. [+],[-],[ENT] • • • 253( 145) STEP1 _SG16...
Page 111: Manual Tuning
8.3. Manual Tuning Danger : Confirm that the work (or the Motor) does not hit any obstacle when the Motor makes a full turn. Always stay in safe position. l Manual tuning is needed when the automatic tuning did not work. 8.3.1.
Page 112 Observing the Motor operation, press the plus (+) key several times. Pressing [+],[-],[ENT] • • • SHIFT 333( 222) STEP1 _VG3 As the responce index decreases, the movement of the Motor is getting crisply. Keep pressing the plus (+) key, eventually the Motor starts hunting and stops. Pressing [+],[-],[ENT] •...
Page 113: Adjustment Of Velocity Integrator Frequency
8.3.3. Adjustment of Velocity Integrator Frequency (VI) l The adjustment of velocity integrator frequency (VI) shall be conducted after the velocity gain (VG) is adjusted. Start “VI” adjusting program. [+],[-],[ENT] The messages are shown on the left. 444( 333) Inputting the plus (+) or minus (-) key STEP1 changes “VI”...
Page 114 Keep pressing the minus (-) key until the Motor stops hunting and starts moving. [+],[-],[ENT] • • • 253( 145) STEP0.1 _VI4 Set the “VI” value to 80% of displayed “VI” when a hunting is stopped. 4 × 0.8 = 3.2 Input the space key to change the resolution of “VI”...
Page 115: Setting Filters (Tuning Level 2)
8.4. Setting Filters (Tuning Level 2) l The Motor may resonate mechanically and generate a noise of certain frequency when positioning. The noise may be reduced using a software of “low-pass filters” (parameter FP and FS) provided with the Megatorque Motor System. The unit of FP and FS is cycle / second (HZ). ◊...
Page 116 Decrease low-pass filter frequency (FP) to lower noise level by typing minus (-) key several times. [+],[-],[ENT] • • • 333( 222) STEP10 _FP500 If the Motor starts to rotate unstably, increase “FP” value by typing plus (+) key several times. Pressing [+],[-],[ENT] •...
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Page 118: Operational Function
9. Operational Function 9.1. General Operation and Function 9.1.1. Servo “ON” l After the power to Driver Unit is turned on and its DRDY output circuit is closed, making SVON input ON should make the Motor servo-on. l The position error counter will be cleared when SVON input is OFF. l When SVON input is ON, the “MO”...
Page 119: Servo
9.1.2. Emergency Stop l Turning on the EMST input stops the position loop control function and stops the Motor in the servo-lock state* under velocity loop control. l No motion commands will be accepted while EMST input is on. l In the EMST state, the LED on the front panel indicates “F4”. The DRDY output remains unchanged (closed).
Page 120: Clearing Position Error Counter
9.1.3. Clearing Position Error Counter l CLR (clear) input clears the internal position error counter of position loop. l When the excess position error alarm arises, turning on the CLR input clears the position error counter and recovers from the alarm state. * The Driver Unit detects the rising edge of the CLR input signal and clears the position error counter to zero.
Page 121: Over-Travel Limit Switch
9.1.5. Over-travel Limit Switch 9.1.5.1. Hardware Over-travel Limit Switch l Use the OTP and OTM inputs to restrict the range of Motor rotation. l If the OTP input is activated, the Motor will stop immediately and remain in servo-on. The Motor can rotate in counter clockwise only.
Page 122: Software Over-Travel Limit Switch
Turn off the Motor servo. Move the Motor’s rotor manually to a point to be the over-travel limit on the plus side. Input the password. :/NSK ON NSK ON Register the present position as the over-travel limit on the plus side. The registered over-travel limit value appears on the display.
Page 123: Alarm Output
Register the present position as the over-travel limit on the minus side. The registered over-travel limit value appears on the display. :OTM/ST OTP123456 OTM456789 Move the Motor’s rotor into the over-travel area. Check that the Driver Unit outputs the F2 alarm. (Check the alarm indicated on the LED or input the TA command) l If the F2 alarm is not output this time, check the following: ◊...
Page 124: Brake Signal Output
9.1.7. Brake Signal Output l The BRK output opens in the following states: SVON input : OFF Occurrence of an alarm which makes the Motor servo to turn off (example : memory error, etc.). During system initialization after the power is turned on EMST input : ON Figure 9-8 Power supply...
Page 125: In-Position Output
9.1.8. In-Position Output l In-Position output condition is determined by the following parameters. Table 9-1 Parameter Function (Name) Shipping set IPOS outputting time range (Output mode) In-Position limit value IN100 In-Position stability timer Figure 9-9 RS-232C communication IR100 command or RUN input Determined by the IS set value Example IS1: 0.1 sec Position error...
Page 126: Output Signal Format
9.1.8.1. Output Signal Format l The output signal format · · · either IPOS format or FIN format · · · can be selected by setting the FW parameter. ◊ FW data : FIN format is selected when data ≠ 0 (shipping set : FW1) ◊...
Page 127 9.1.8.2. Parameter “IN” l Parameter “IN” is to decide positioning accuracy. l “IPOS” output will be closed when residual pulses of position error counter are within the range of “IN” parameter. l The unit of parameter “IN” value is the maximum resolution (pulses) of the motion detector (resolver).
Page 128 9.1.8.4. “IPOS” Output in Special Occasion 1 When 0 (Zero) movement operation is executed. u Example When [AD0] or [AR0] is executed even the Motor is in the Home position, movement of the Motor is 0 (Zero). Followings show “IPOS” output states in such a case. “IPOS”...
Page 129: Parameter
9.1.9. Position Feedback Signal u Resolution l Set the øA/øB resolution using the FR parameter (via RS-232C). Table 9-3 [Unit: pulses/rotation] Feedback signal øA, øB øZ Motor series YS, JS1, JS2, RS 153 600 38 400 122 880 30 720 AS, BS, JS0 102 400 25 600...
Page 130: Monitor Functions
9.1.10. Monitor Functions l The Motor operation can be monitored by using the analog velocity monitor pins, which are provided in the front panel of Driver Unit, and RS-232C communication. Table 9-4 RS-232C Item communication Monitor output Description command • Monitors the Motor velocity in forms of analog VELOCITY check pin Velocity –...
Page 131: Velocity Monitor
9.1.10.1. Velocity Monitor l The user can monitor the velocity of the Motor by measuring the voltage between VELOCITY and GND check pins on the front panel. u When the resolver is set to 12-bit resolution Note : ±10 V is only a typical value; actual values vary slightly. The voltage is not a precise representation of the velocity.
Page 132 9.1.10.2. Monitoring I/O State (IO) l The Input/Output signal status of CN2 and CN5 connectors can be monitored using “IO” command. l This is useful to check the wiring. ◊ Input format IO0/RP : Monitor I/O state IO2/RP : Monitor the I/O related to programmable indexer IO3/RP : Monitor the I/O related to Jog operation Note : /RP is to set the frequency of the monitoring.
Page 133 Figure 9-14: IO2/RP (Monitor I/O related to programmable indexer) A B C D E F G H I J K L M N ∗ ∗ ∗ ∗ ∗ ∗ ∗ 0 0 0 / ∗ 0 0 Pin No. Signal name Reserved (always 0) Reserved Reserved (always 0) Reserved CN2_14...
Page 134 [Example] Verify the Programmable Indexer start command “RUN” is ON. Confirm that the display of Handy Terminal shows the colon “:.” (If the colon does not appear on the display press ENT key once. ) Input the command to read out state of Inputs/Outputs. :IO2_ Add /RP for repetitious readout.
Page 135: Reading Current Position
9.1.10.3. Reading Current Position 1 Reading current position via the position scale in the unit of pulses Current position is displayed in real time in the units of pulse. Readout indicated on the display changes immediately following motion of the rotor. :TP2/RP ******** Press the BS key to end the display.
Page 136: Analog Monitor
9.1.10.4. Analog Monitor l The voltage between analog output pin (MON) and analog ground pin (GND) on the front panel of the Driver Unit monitors one of the following Motor and Driver Unit conditions. ◊ Velocity ----------------------- actual velocity of the Motor ◊...
Page 137 Figure 9-19: Velocity error (MN2) Figure 9-20: Torque command (MN3) CW maximum CW maximum velocity / 8 torque –10V –10V +10V +10V CCW maximum velocity / 8 maximum Figure 9-21: Phase C current command (MN4) Figure 9-22: Position command (MN5) CW maximum Maximum velocity...
Page 138: For More Advanced Operation
9.2. For More Advanced Operation 9.2.1. Position Scale l The ESA25 Driver Unit has a position scale to control positioning and over-travel limit. 9.2.1.1. Resolution l The Motor resolver has teeth for detecting its position, and each tooth is digitally divided into 4096. In other words, the resolution of Motor is 4096 ×...
Page 139: Types Of Position Scale
9.2.1.3. Types of Position Scale l Three types of position scale are available for the user to select the appropriate type for each purpose. Position scale type can be switched by setting the PS command. Table 9-10 PS setting Type of position scale Application Linear position scale Ball screw driving, limit motion range.
Page 140 2 Single rotation position scale l Scale starts from the Home position (origin) and extends only in the plus direction. The coordinate value returns to 0 after a 360° turn. ◊ Motor Series : YS, JS1, JS2 and RS Coordinate values from 0~614 399 [pulses] ◊...
Page 141 3 Multi-rotation position scale l Scale starts from the Home position (origin) and extends only in the plus direction. The value returns to 0 after making the number of revolutions set by “PS” command. ◊ Motor Series : YS, JS1, JS2 and RS Coordinate values range from 0 to [614 400 ×...
Page 142: Position Scale Reset
1 Set the CCW direction of the position scale as the plus direction. Input the password. The password acknowledgment message appears on the display. :/NSK ON NSK ON Input the DI command to determine the position scale direction. :/NSK ON...
Page 143 3 Resetting the position scale value Input the password. The password acknowledgment message appears on the display. :/NSK ON NSK ON Input the AZ command to reset the position scale value. :/NSK ON NSK ON — 9-26 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 144: Direction Of Position Scale
9.2.2. Direction of Position Scale Caution : • When DI data is changed, turn off the power, then the user origin must be reset. • Directions of hardware over-travel limit and the phase of position feedback signal output will not be reversed even though the direction of the position scale is reversed.
Page 145: Digital Filter
9.2.3. Digital Filter Caution : • Inserting multiple filters may cause phase inversion of velocity loop in some systems, resulting in unstable operation. • Do not insert more than two filters. Setting a filter frequency too low may cause hunting, etc.; set the frequency to 100 Hz or above. Parameters for digital filter setting u Parameters : FP, FS, NP, NS l Sets filter frequency in the velocity loop.
Page 146: Feed Forward Compensation
9.2.4. Feed Forward Compensation: FF l Function of feed forward is to generate a velocity command by differentiating the position command and then add it to the velocity loop in the forward direction. Parameter FF sets the feed forward compensation gain. It requires the password for entry. l The shipping set of the parameter FF is FF0.
Page 147: Integrator Limit : Ilv
9.2.5. Integrator Limit : ILV l Parameter “ILV” sets the upper limit of the velocity gain. Shipping set is ILV100. l The password is necessary for setting “ILV”. l Integrator limiter reduces overshoot caused by the integrator during high acceleration / deceleration.
Page 148: Dead Band Setting : Dbp
9.2.6. Dead Band Setting : DBP l Dead band is set in position deviation of position loop. The system disregards the position deviation when it is under the set value of DBP. l It requires the password for setting. The shipping set is DBP0. l In some application micro-vibration at the end of positioning is observed due to small position deviation.
Page 149: Rs-232C Communication
9.3.2. Communication Procedure 9.3.2.1. When Power is Turned on l If a terminal (such as NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit power is turned on, the message shown below is displayed. l The contents (and the number of characters) of this message may differ with the Driver Unit setting and system versions.
Page 150: Command Entry
9.3.2.2. Command Entry l A communication command shall consist of “a command (character string) + data (if necessary) + carriage return code (0DH)”. l If the velocity gain is to be set to 0.5, for example, “VG0.5” should be entered by adding data of 0.5 to a VG command.
Page 151: Password
PA, SI, etc.) require password entry for preventing erroneous entries. These commands cannot be entered in the same manner as other commands. l The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts it, it returns an “NSK ON” message.
Page 152: Canceling Command
9.3.2.4. Canceling Command l A command which has been entered halfway, entering a backspace code (08H) can cancel a character or an entered full character string. Parameter “backspace mode” (BM) sets the cancelling method. BM0 : a backspace code cancels an entered character string. BM1 : a backspace code cancels a character.
Page 153: Error
9.3.2.5. Error l Note that an error occurs in any of the following cases: If a nonexistent command (i.e., character string) is entered. (If an entered character string cannot be decoded.) If data or subscript out of the allowable range is entered. If a command requiring the password is entered without the password.
Page 154: Readout Command
9.3.2.6. Readout Command l If a command for reading the internal state (i.e., parameter set values, current position, etc.) of the Driver Unit among the communication commands of this system is entered, the Driver Unit returns data, etc. l Returned data consists of “space code (20 ) + read out value, data + carriage return (0D ) + line feed code (0A...
Page 155 2 If set value reading function ? is used Figure 9-42: “?” function example :?VG Entered command VG0.5 Returned velocity loop proportional gain Waiting for a command to be entered Input (To Driver Unit) Readout (From Driver Unit) 3 TP command for reading current position data Figure 9-43: TP command example :TP5 Entered command...
Page 156: Communication With Personal Computer
9.3.3. Communication with Personal Computer l This section describes how to store the parameters of Driver Unit using HyperTerminal of communication software which is provided with Windows 95 as standard. l The user shall provide the communication cable. Pin-out of the D-sub 9pins connector of ESA Driver Unit is different from DOS/V machine.
Page 157: Store Parameters Of Esa Driver Unit
9.3.3.2. Store Parameters of ESA Driver Unit Start HyperTerminal. Set MM data to MM0 for continuous report mode. Execute TS command and TC/AL to indicate the setting. :MM0 PG0.100 VG2.0 VI5.00 (Omitted partially.) RI0.020 ZP1.00 ZV1.4 :TC/AL >TC0 CV2.0000 CA5.00 (Omitted partially.) >TC15 Copy the setting shown above to “Memopad,”...
Page 158: Daisy Chain Communication
9.3.4. Daisy Chain Communication l Daisy chain communication allows multiple Driver Units (up to 16 units) to be connected with a single RS-232C terminal. Figure 9-44: Daisy chain communication overview Terminal RS-232C Cable Driver Unit Driver Unit Driver Unit Driver Unit 9.3.4.1.
Page 159: Initial Setting
9.3.4.2. Initial Setting l The password is necessary for inputting initial setting parameters. l The initial setting values become valid when the power is turned on next time. l Perform initial setting before making daisy chain connection. Table 9-15: Initial setting RS2-32C Data Shipping...
Page 160 Driver Unit Actual connection example l When NSK’s Handy Terminal is in use, connect the lines as shown in Figure 9-48. l Refer to “5.1. CN1 : RS-232C Serial Communication Connector” for the specification of CN1. Figure 9-48: Handy Terminal Connection Example Connector pin No.
Page 161 If all the terminal and units are connected properly, the following message is displayed (the following examples show a 3-axis configuration) Figure 9-49 NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX Displays the connection state. Waiting for a command to be entered.
Page 162: Operation
9.3.4.5. Operation u Selection of Driver Unit to be communicated l In daisy chain mode, the RS-232C terminal is capable of communication through one Driver Unit. l Use an AX command to select one of the Driver Units connected for daisy chain communication. Caution : Do not select any unit that is not connected.
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Page 164: Operation
10. Operation 10.1. Preparation 10.1.1. Wiring Check Caution : After completion of all wiring of ESA25 Driver Unit, check followings before operation. Table 10-1 Check item Confirmation • All wiring is properly arranged and completed. Connection of Main power • Terminal block screws are securely fastened. and Input/Output cables •...
Page 165: Position Control Mode Operation
10.2. Position Control Mode Operation l Select a position control mode with the parameter SL. SL1 : Analog torque control mode SL2 : Analog velocity control mode SL3 : Position control mode l Following operations are available in the position control mode. ◊...
Page 166 Figure 10-2 : Home Return sequence 30ms min. SVON input * CR stands for the carriage return code (0D RS-232C communication command Start 10ms min. HOS input or RUN input to start HS command in a channel. HLS input CCW direction Motor rotation CW direction When...
Page 167 l Home Return motion differs as shown in Figure 10-3 according to the starting point of Home Return. Figure 10-3 Home return starting point Origin OTM input* active HLS input active OTP input* active (CCW-direction overtravel area) (home limit switch area) (CW-direction overtravel area) CCW-direction* velocity...
Page 168: Home Return Parameter List
10.2.1.1. Home Return Parameter List Table 10-2 : Motor series : YS, JS1, JS2 and RS RS-232C Parameter function Unit Data input range Shipping set Parameter Home Return Acceleration 0.01~80.00 1.00 Home Return Velocity 0.0001~3.0000 Home Position Offset pulse 0~610 304 Home Return Direction –...
Page 169 <Operation> Adjusting the Home limit switch position Loosely mount the HLS sensor (Home limit switch) slightly preceding a point to be the Home position. Check the wiring of the HLS sensor. Execute the IO command and check if the ESA25 Driver Unit is reading the HLS input correctly.
Page 170 Input the password. TR2003 :/NSK ON_ :/NSK ON NSK ON A command can be entered only on this line The rotational position sensor calculates and writes the offset value of Home Return HO automatically when HO/ST command is executed. :/NSK ON...
Page 171 (11) Input the HS command (Home Return start command). :HO/ST HO1234 :HS_ (12) Press the ENT key to execute the command and thereby start Home Return operation. HO1234 Check that the Motor stops at the desired Home position. — 10-8 — Artisan Technology Group - Quality Instrumentation ...
Page 172: Programming Home Return Operation (Example)
10.2.1.3. Programming Home Return Operation (example) 1 Programming Home return command in channel 0 (CH0) l Program the Home return command in a Programmable Indexer channel. Then, start the operation by activating the channel (i.e., RUN input ON). Input the CH0 channel select command. :CH0 The “?”...
Page 173: Programmable Indexer
10.2.2. Programmable Indexer l Positioning command can be stored to the channel of the Driver Unit. Programmable Indexer is to execute the stored positioning program by selecting the channel via PRG0 ~ PRG5 input and RUN command. l Set the system to servo-on. (SVON input ON) l Select the channel.
Page 174: Programmable Indexer Channel Switching
10.2.2.1. Programmable Indexer Channel Switching l The channel to be executed is selected by combining the on and off of the PRG0 to PRG5 input of I/O connector CN5. Table 10-5 Channel input PRG 5 PRG 4 PRG 3 PRG 2 PRG 1 PRG 0 Channel 0...
Page 175: Pulse Train Command Operation
10.2.3. Pulse Train Command Operation 10.2.3.1. Pulse Train Signal Format l Input a pulse train from CWP and CCWP of CN2 control I/O signal connector. l Set the pulse train input signal format with the PC parameter (via the RS-232C communication). (The password must be input prior to the PC parameter setting.) Table 10-6 : Signal format CWP input...
Page 176: Pulse Train Resolution
10.2.3.2. Pulse Train Resolution l Set the resolution of the pulse train with the CR parameter (via RS-232C). l In the case of øA/øB input, the pulse train resolution is multiplied by the PC parameter value, then by the CR parameter value. l Refer to Table 10-7 for the concrete data of resolution.
Page 177 2 SS Motor series Table 10-8 : Pulse train resolution (SS Motor series) Resolution (pulses/360°) = number of pulses necessary for giving the Motor one turn Resolver resolution Parameter CW & CCW format, Step & Direction format øA/øB format × 1 491 520 12-bit or automatic 491 520...
Page 178 3 AS, BS and JS0 Motor series Table 10-9 : Pulse train resolution (AS, BS and JS0) Resolution (pulses/360°) = number of pulses necessary for giving the Motor one turn Resolver resolution Parameter CW & CCW format, Step & Direction format øA/øB format ×...
Page 179: Input Timing
10.2.3.3. Input Timing Caution : The following specifies the conditions of pulse acceptance timing. Besides these conditions, the Motor operation is restricted by the maximum velocity. Do not input pulses which exceed the Motor’s maximum velocity. 1 When PC is set to “0” (PC0) Figure 10-7 CW Rotation CCW Rotation...
Page 180: Rs-232C Position Commands
10.2.4. RS-232C Position Commands l You can execute indexing using RS-232C commands. The commands/parameters are shown below. Refer to “12. Commands and Parameter” for more details. Table 10-10 Command/ Function parameter ID command Sets the target and executes rotation (incremental/in the units of degree) IR command Sets the target and executes rotation (incremental/in the units of pulse)* AD command...
Page 181: Jog Operation
10.2.5. Jog Operation l Set system to servo-on. (SVON input ON) l Turning on the Jog input makes the Motor to accelerate and rotate. The Motor keeps rotating while the Jog input remains on. When the Jog input is off, the Motor starts decelerating, then stops. l When the DIR input is off, the Motor turns to CW.
Page 182: Velocity Control Mode Operation
10.3. Velocity Control Mode Operation l Velocity control mode can be set with the SL parameter. SL1 : Torque control mode SL2 : Velocity control mode SL3 : Position control mode l Velocity control mode is available in the analog command input or RS-232C command input. l The mode is switched by the parameter AC.
Page 183: Rs-232C Communication Command
10.3.1. RS-232C Communication Command l In the velocity control mode, the operation of the Motor can be executed through RS-232C communication command. l Setting the parameter AC (AC0) makes the DC command valid. Then input (data) to control the Motor under the proportional speed to the command data value. l The relation between the command DC data and velocity is shown in Figure 10-12.
Page 184: Analog Velocity Command
10.3.2. Analog Velocity Command l In the velocity control mode operation, the Motor may be controlled directly by inputting analog command. ◊ Voltage range of analog command is ±10V. The offset adjustment may be performed with VR1 pod on the front panel of a Driver Unit. ◊...
Page 185 l The parameter DBA sets the dead band for analog command input. One unit of data sets ±4.9mV dead band. Figure 10-14 : Example DBA100 (AC1) CW maximum velocity +490mV +10V -10V -490mV CCW maximum velocity — 10-22 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 186: Torque Control Mode Operation
10.4. Torque Control Mode Operation l Torque control mode can be set with the SL parameter. SL1 : Torque control mode SL2 : Velocity control mode SL3 : Position control mode l Torque control mode is available in the analog command input or RS-232C command input. l The mode is switched by the parameter AC.
Page 187: Analog Torque Command
10.4.2. Analog Torque Command l In the torque control mode operation, the Motor may be controlled directly by inputting analog command. ◊ Voltage range of analog command is ±10V. The offset adjustment may be performed with VR1 pod on the front panel of a Driver Unit. ◊...
Page 188 l The parameter DBA sets the dead band for analog command input. One unit of data sets ±4.9mV dead band. Figure 10-17 : Example of DBA100 (AC1) CW maximum torque +490mV +10V -10V -490mV CCW maximum torque — 10-25 — Artisan Technology Group - Quality Instrumentation ...
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Page 190: Programming
11. Programming l The Driver Unit can store indexing profiles in its memory. To index along the stored indexing motion profile, external input (CN5 connector signal) is used. This function is called “Programmable Indexer”. l The program of an indexing motion profile can be done via RS-232C communication. (Handy Terminal FHT11 or a personal computer.) The programming can be input only when the Motor is not indexing.
Page 191: Commands And Parameters
11.1. Commands and Parameters u Home Return Command : HS Condition setting : None l Program Home Return operation. l Command format : HS seq seq : sequence code (*, &) Refer to “Sequence Code” in the next page. l The Motor rotates according to the values set by Home Return velocity HV, Home Return acceleration HA, Home Return near-zero velocity HZ, and to the direction set by Home Return direction HD.
Page 192 l seq stands for the sequence code (*, &), which sets the execution condition of the next channel in the sequence. l Velocity CV and acceleration CA can be set in the same channel. When CV and CA are omitted, the Motor operates according to the values set by MV and MA respectively.
Page 193 u Sequence Code Command : (HS), (AD), (AR), (ID), (IR) Condition setting : *, & l Add a sequence code to the command to execute the next channel continuously. In this case, you do not have to select a channel externally. Table 11-2 Sequence code IPOS output...
Page 194: Program Editing Command
11.2. Program Editing Command Table 11-3 : Program editing command Editing Command Function • Typing declares the channel to be changed. (m : desired channel number) Change program • The display shows the present program and waits for the changes. settings (The prompt is in “?”...
Page 195: Inputting A Program
11.3. Inputting a Program u Programming Select a channel to be programmed. :CH10_ Press the enter key to execute a command. AR18000 CV0.9 The motion profile presently programmed in the channel appears on the display. The prompt “?” appears to wait for an input. Program a command.
Page 196 Input “0” to cancel the condition. ?CA0 Press the ENT key only. The prompt returns to “:,” thereby completes the programming. u Reading channel program Declare the channel to be read and press the enter key. :TC10_ The display shows the program of the selected channel. :TC10 IR9000/10 CV0.5...
Page 197: Sample Program
11.4. Sample Program l Write the following motion profile in Channel 5. ◊ Travel angle 30.00 degrees in the CCW direction ◊ Acceleration CA : 5 [s ◊ Velocity CV : 0.5 [s Check that the “ : ” prompt is displayed on the screen. :CH5_ After pressing the ENT key, the data presently programmed in Channel 5 will be shown on the display.
Page 198 Press the ENT key to input value, and the “?” prompt appears again. CA20.00 ?ID-3000 ?CA5 CA20.00 ?ID-3000 ?CA5 ?CV0.5_ Press the ENT key to input value, and the “?” prompt appears again. ?ID-3000 ?CA5 ?CV0.5 10) Press the ENT key again to escape programming. This completes programming. ?CA5 ?CV0.5 —...
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Page 200: Command And Parameter
12. Command and Parameter l Connect Handy Terminal FHT11 to CN1 connector of the Driver Unit, then turn the power on. The system is in normal state if “NSK MEGA---” message is returned. l Refer to “7. Handy Terminal Communication” for details.
Page 201 Table 12-1 : YS, JS1, JS2 and RS Motor standard setting Current Parameter Name Password Shipping set Data range setting Position gain 0.100 0.010~1.000 Velocity gain 0.1~255.0 Velocity integrator frequency 0.10~63.00 ü Velocity integrator mode 0, 1 Lower velocity gain. 0~100 ü...
Page 202 Table 12-2 : SS Motor standard setting Current Parameter Name Password Shipping set Data range setting Position gain 0.100 0.010~1.000 Velocity gain 0.1~255.0 Velocity integrator frequency 0.10~63.00 ü Velocity integrator mode 0, 1 Lower velocity gain. 0~100 ü Torque limit rate 0~100 Low pass filter off velocity 0, 0.01~3.75...
Page 203 Table 12-3 : AS, BS and JS0 Motor standard setting Current Parameter Name Password Shipping set Data range setting Position gain 0.1000 0.010~1.000 Velocity gain 0.1~255.0 Velocity integrator frequency 0.10~63.00 ü Velocity integrator mode 0, 1 Lower velocity gain. 0~100 ü...
Page 204: Glossary
12.2. Glossary l This section provides description and specifications of commands and parameters. l “Shipping set” denotes a value which is set at the factory before shipment. l “Default” denotes a value which is adopted when entering a command and parameter with no data. For example, if you input “DC”...
Page 205: Ac : Analog Command Mode
« : Analog Command Mode Format : AC data Data range : -1, 0, 1 Shipping set Default l Set the validity (valid/invalid) and sign of the analog command input. AC0 : Analog command input invalid. DC command is valid. AC1 : Analog command input valid.
Page 206: Ag : Analog Command Gain
« AG : Analog Command Gain Format AGV data AGT data Data range : 0.10 ~ 2.00 Shipping set : 1 (both AGV and AGT) Default : Not available l This command sets the analog command gain in the velocity and torque control mode. AGV : Analog command gain in velocity control mode AGT : Analog command gain in torque control mode l Actual gain value is in proportion to the velocity or torque command.
Page 207: Ar : Absolute Positioning, Resolver
: Absolute Positioning, Resolver Format : AR data1/data2 Data1 : Differs with the parameter “PS” setting and Motor type. Default data1 Data2 : PL, MI Default data2 : Direction in which the move distance is shorter l “data1” indicates the position of the destination. The position, which may be read out by TP2 command, complies with a coordinates in the unit of pulses.
Page 208: Ax : Axis Select
: Axis Select Format : AX data Data : 0 ~ 15 Shipping set Default l When communicating in daisy chain, AX selects the one of the Driver Units. Selected Driver Unit sends a confirmation signal back to the RS-232C terminal. l Confirmation message is “ACC.
Page 209: Ca : Channel Acceleration
: Channel Acceleration Format : CA data Data Motor series YS, JS1, JS2, RS : 0, 0.01 ~ 80.00 [s : 0, 0.01 ~ 100.00 [s AS, BS, JS0 : 0, 0.01 ~ 120.00 [s Default l This command is used to specify the rotational acceleration of a given channel of the internal program of the designated channel.
Page 210: Cm : Communication Mode
« CM : Communication Mode Format : CM data Data : 0 or 1 Shipping set Default l CM selects the RS-232C communication mode. CM0 : Standard CM1 : Daisy chain communication l The CM parameter set at the time of power-on is valid. l To change the communication mode, change the CM parameter, turn off the power, then turn it on again.
Page 211: Cv : Channel Velocity
: Channel Velocity Format : CV data Data Motor series YS, JS1, JS2, RS : 0, 0.0001 ~ 3.0000 [s : 0, 0.0001 ~ 3.7500 [s AS, BS, JS0 : 0, 0.0001 ~ 4.5000 [s Default l This command is used to specify the rotational velocity of each channel of the Programmable Indexer.
Page 212: Dc : Digital Rs-232C Command
DC : Digital RS-232C Command Format : DC data Data : -4 095 ~ 4 095 (data polarity in + value : CW direction) Default l This command is to input directly the operation command through RS-232C communication interface in velocity or torque control mode. However, the use of this command shall be limited to an ordinal operation or a testing operation of the Motor due to sluggish response.
Page 213: Fd : Feed Back Direction Mode
« : Feed Back Direction Mode Format : FD data Data : 0, 1 Shipping set Default l Reverses the output timing between øA and øB of the position feedback signal. FD0 : Standard; øA is leading phase in CW direction. FD1 : Reverse;...
Page 214: Fp : Low-Pass Filter, Primary
: Low-pass Filter, Primary Format : FP data Data : 0, 10 ~ 500 [Hz] or /AJ (Adjusting mode) Shipping set Default l FP sets the frequency of the primary low-pass filter of the velocity loop. l When 0 is input, the velocity-loop primary low-pass filter is set to “off.” At this time, [PRI.LPF OFF] appears on the display.
Page 215: Fw : Fin Width
FW : FIN Width Format : FW data Data : 0 or 0.3 ~ 100 [0.1 second] Shipping set Default l Sets the time length of IPOS output. Unit is 0.1 sec. l If it is set to FW1, the time length of the IPOS output will be 0.1 sec. l If it is set to FW0, IPOS output is in standard state and always closed when the position error counter value is less than the “IN”...
Page 216: Hd : Home Return Direction
« HD : Home Return Direction Format : HD data Data : 0 or 1 Shipping set Default l Refer to “10.2.1. Home Return” for details l HD0 : Home Return in the CW direction l HD1 : Home Return in the CCW direction «...
Page 217: Hz : Home Return Near-Zero Velocity
: Home Return Near-Zero Velocity Format : HZ data Data : 0.0100 ~ 0.2000 [s Shipping set : 0.0100 [s Default : Not available l Sets Home Return near-zero velocity. l “TS” or “?HZ” command reports the current setting. : Incremental Positioning, Degree Format : ID data Data...
Page 218: Io : Input /Output Monitor
: Input /Output Monitor Format : IO data opt Data : data = default or 0----- Indicates CN2 input/output status. data = 1 ----------------- Indicates CN2 input/output status. ( B contact input indication is reversed.) data = 2 ----------------- Indicates input/output status in programmed operation.
Page 219: Ja : Jog Acceleration
: Jog Acceleration Format : JA data Data Motor series YS, JS1, JS2, RS : 0.01 ~ 80.00 [s : 0.01 ~ 100.00 [s AS, BS, JS0 : 0.01 ~ 120.00 [s Shipping set Default : Not available l Sets the acceleration for Jog operation. l “TS”...
Page 220: Lg : Lower Velocity Gain
: Lower Velocity Gain Format : LG data Data : 0 ~ 100 (%) Shipping set Default : Not available l Sets velocity loop proportional gain (VG) lowering ratio when IOFF input is activated. l However, LG is invalidated when an excessive position error alarm is issued. l The Motor does not generate torque if LG remains LG0 when IOFF turns ON.
Page 221: Ma : Move Acceleration
MA : Move Acceleration Format : MA data Data Motor series YS, JS1, JS2, RS : 0.01 ~ 80.00 [s ] or /AJ (Adjust mode) : 0.01 ~ 100.00 [s ] or /AJ (Adjust mode) AS, BS, JS0 : 0.01 ~ 120.00 [s ] or /AJ (Adjust mode) Shipping set : 1.00 [s...
Page 222: Mn : Monitor
MN : Monitor Format : MN data Data : 0 ~ 7 Shipping set Default l Selects and sets the condition of the analog monitor. l The setting is not backed-up in the memory. “MN” command must be entered when monitoring is required.
Page 223: Mt : Factory Use Only
« MT : Factory Use Only Shipping set : Already set properly for every system. Caution : Do not change the setting since the parameter is properly set at the plant. l This parameter is set at the factory befor shipping. l “TS”...
Page 224: Ns : Notch Filter, Secondary (Secondary Notch Filter Frequency)
: Notch Filter, Secondary (secondary notch filter frequency) Format : NS data Data : 0, 10 ~ 500 [HZ] or /AJ (adjust mode) Shipping set Default l NS data sets frequency of secondary notch filter. l If “0” is specified, the 2nd stage notch filter will be set to OFF. In such a case the display shows “SEC.NF.OFF.”...
Page 225: Og : Origin Set
Default l Do not change the OL setting. OL is properly set for each System. If it needs to be changed, contact NSK. l If 0 is specified, the Driver Unit displays “THERMAL OFF” to indicate it is deactivated. l “TS” or “?OL” command reports the current setting.
Page 226: Pa : Phase Adjust
« : Phase Adjust Format : PA data Data : 24 ~ 1 048 Shipping set : 700 (However, for non-interchangeable Motor, data varies with individual Motor.) Default : Not available l Sets the compensation value of the resolver installation position. l The resolver is set to the optimum installation position before shipment.
Page 227: Ph : Programmed Home Return
« : Programmed Home Return Format : PH data Data : 0 ---- Automatic Home Return invalid 1 ---- Execute Home Return only once when the power is turned on and the Home position is not certain. 2 ---- Execute Home Return every time before execution of the programmed operation.
Page 228: Rc : Rated Current (Software Thermal)
: Unique value for each Motor Default l Do not change the RC setting. RC is properly set for each Motor. If it needs to be changed, contact NSK. l “TS” or “?RC” command reports the current setting. « : Factory Use Only Shipping set : Set properly to each Motor.
Page 229: Sg : Servo Gain Adjust, Minor
SG : Servo Gain Adjust, Minor Format : SG data Data : 0 ~ 30 [HZ] or /AJ (Adjust mode) Shipping set Default : Not available l Sets position loop gain in the automatic tuning minor adjustment. l When “SG” value is changed, the parameter “PG” (position loop proportional gain), “VG” ( velocity loop proportional gain) and “VI”...
Page 230: Set Servo Loop
« : Set Servo Loop Format : SL data Data : 1, 2, 3 Shipping set Default : Not available l Sets the control mode. SL1 : Torque control mode SL2 : Velocity control mode SL3 : Position control mode l Position control mode is valid immediately after inputting this command.
Page 231: Ta : Tell Alarm Status
: Tell Alarm Status Format : TA Data : None /HI/ CL Default : None l TA : Reports alarms currently arisen. l TA/HI : Displays history of alarms. Refer to “14.2.5. History of Alarms.” l TA/CL : Clears history of alarms. Password is required to execute the command. l There will be no indication when no alarm is reported.
Page 232: Tc : Tell Channel Program
: Tell Channel Program Format : TC data Data : 0 ~ 63 or /AL Default l Reports the program contents of a channel specified by “data.” l No data is displayed if program is not set to the channel. l “TC/AL”...
Page 233: Tp : Tell Position
: Tell Position Format : TP data/RP Data : 2, 5 Shipping set : None Default : Not available l “TP” command reads the current position of the Motor in the position scale set by PS parameter. l If /RP is executed with an /RP option, reading is repeated automatically. l If only “TP data”...
Page 234: Ts : Tell Settings
: Tell Settings Format : TS data Data : 0 ~ 13 Default l This is to read out parameter settings. The parameter to be read out varries with the data. Standard ESA 25 TS0 : Reads out all parameters listed below. TS1 : PG, VG, VI, VM, LG, TL TS2 : FO, FP, FS, NP, NS, DBP, DBA, ILV, FF, FC TS3 : CO, IN, IS, FW, VO, VW...
Page 235: Velocity Integrator Frequency
: Velocity Integrator Frequency Format : VI data Data : 0.10 ~ 63.00 [HZ] or /AJ (Adjusting mode) Shipping set : 1.00 Default : Not available l Sets the integration frequency of velocity loop. l “VI/AJ” starts the fine adjusting mode. l “TS”...
Page 236: Vw : Velocity Error Over Limit Width
« VW : Velocity Error Over Limit Width Format : VW data Data : 0 ~ 1 000 Shipping set : 100 Default l This is to set the time length to detect velocity error over limit. l When velocity error limit is over for VW (time length), velocity over limit alarm is given. «...
Page 237: Zp : Factory Use Only
« : Factory Use Only Shipping set : 1.00 Caution : • The parameter is for the automatic tuning function and is set at the factory. • Do not change the setting. • “TS” or “?ZP” command reports the current setting. «...
Page 238: Maintenance
13. Maintenance 13.1. Precautions l Back up Motor and Driver Unit ◊ We recommend to have a back up Motor and Driver Unit for unexpected shut down of the system. l Parameter and program back up ◊ For an unexpected shut down of the Driver Unit, all parameters and programs should be recorded.
Page 239: Maintenance Check
Insulation Once/year (Motor coil and ground earth) (Disconnect Driver Unit) According to Motor condition • Overhaul (NSK) Full check – 13.2.2. Driver Unit and Cable Set l As a Driver Unit does not have any contact point and highly reliable semiconductors are used, the daily check is not necessary.
Page 240: Periodical Replacement Of Parts
13.3. Periodical Replacement of Parts 13.3.1. Motor l There is no parts which is required to be replaced periodically. l Refer to “13.2. Maintenance Check”. 13.3.2. Driver Unit l Electrolytic condenser ◊ The gradual chemical change of electrolytic condensers will deteriorate system function and it may result in the system failure.
Page 241: Warranty Period And Covering Range
Damages induced by a failure of the supplied unit are not covererd. 13.5.4. Service Fee l NSK Ltd. reserves the right to charge to a user for the service such as dispatch of engineer(s). l Startup, maintenance and adjusting of the unit under the supervision of our engineer(s) is a paid service even if it is to be provided during the warranty period.
Page 242: Alarm
14. Alarm 14.1. Identifying Alarm l The DRDY output opens when error occurs in ESA25 Driver Unit. l 7-segemnt LED is provided on the front panel of the Driver Unit to identify the alarm. “TA” command can be used to identify alarms. 14.1.1.
Page 243: Using Ta Command
14.1.2. Using TA Command l “TA” command is to display the alarm code on the Handy Terminal screen. l In this case, the code is not displayed at different time as the LED display. ◊ Example ◊ Excess position error and heat sink overheat alarms will be displayed as shown in Figure 14-4.
Page 244: Alarm Code List
14.1.3. Alarm Code List l Reports alarm status. l No display is shown when any alarm is not issued. l When an alarm is detected, the display identifies an alarm as shown in the table below. Table 14-1: Alarm code list 7 segments Alarm Terminal Display...
Page 245: Description Of Alarm
◊ If the ambient temperature of the Driver Unit is too high. • If no troubles are found in the above check and this alarm occurs frequently, contact NSK. • Replace Driver Unit. (5) Defective PCB. ◊ Standard ESA Driver --------------------[Appendix 4] (As soon as the control power is turned on, the alarm is activated.)
Page 246: Abnormal Main Ac Line Voltage
14.2.2.2. Abnormal Main AC Line Voltage [Output] DRDY: Open [TA] P1 > Main AC Line Trouble [LED] [Motor Condition] Servo-OFF Table 14-4: Cause and Remedy: Abnormal main AC line voltage (Over/Under) Cause Remedy • Check main power supply. (1) Abnormal power supply voltage. (2) ◊...
Page 247: Control Ac Line Under-Voltage
14.2.2.4. Control AC Line Under-Voltage [Output] DRDY: Open [TA] P3 > Control AC Line Under Voltage [LED] [Motor Condition] Servo-OFF Table 14-6: Cause and Remedy: Control AC line under-voltage Cause Remedy • Check control power voltage. (1) Low voltage of control power input. (Low voltage due to over current or output shorting.) •...
Page 248: Alarms Related To Motor
14.2.3. Alarms Related to Motor 14.2.3.1. Resolver Circuit Error [Output] DRDY: Open [TA] A0 > Resolver Circuit Error [LED] [Motor Condition] Servo-OFF Table 14-7: Cause and Remedy: Resolver circuit error Cause Remedy • Turn off power, check the resolver cable and (1) Resolver cable disconnected.
Page 249: Velocity Error Over
14.2.3.3. Velocity Error Over [Output] DRDY: Open [TA] A4> Run away [LED] [Motor Condition] Servo OFF Table 14-9: Cause and remedy: Run away Cause Remedy (1) Velocity of Motor has reached to the limit due Clear the alarm. to external disturbance. •...
Page 250: Alarms Related To Control
14.2.4. Alarms Related to Control 14.2.4.1. Memory Error [Output] DRDY: Open [TA] E0 > Memory Error [LED] [Motion Condition] Servo-OFF Table 14-10: Cause and Remedy: Memory error Cause Remedy • Initialize the memory then reenter the parameters. (1) Parameters stored in the memory have been rewritten by noise or other cause.
Page 251: Cpu Error
• Turn power on again. (1) CPU is out of control due to noise. • The alarm is deactivated when the power is turned on again. If the alarm occurs frequently, contact NSK. • Replace Driver Unit. (2) Faulty PCB.
Page 252: Excess Position Error
14.2.4.7. Excess Position Error [Output] DRDY: Open [TA] F1 > Excess Position Error [LED] [Motor Condition] Servo Lock Table 14-16: Cause and Remedy: Excess position error Cause Remedy • Remove mechanical restraint. (1) Position error counter value is over “CO” setting due to mechanical restraint such as brake.
Page 253: Hardware Over Travel Limit
14.2.4.9. Hardware Over Travel Limit [Output] DRDY: Open [TA] F3 > Hardware Over Travel [LED] [Motor Condition] Servo Lock in one direction. (The Motor will only rotate in the direction opposite to that of the rotation limit.) Table 14-18: Cause and Remedy: Software over travel Cause Remedy •...
Page 254: Automatic Tuning Error
14.2.4.12. Automatic Tuning Error [Output] DRDY: Closed [TA] F8 > AT Error [LED] [Motor Condition] Normal Servo State Table 14-21: Cause and Remedy: Automatic tuning error Cause Remedy Terminal display • Check input signal and execute (1) System is in Servo-OFF when executing AT Error 1 automatic tuning.
Page 255: Cpu Error
14.2.4.14. CPU Error [Output] DRDY: Open [TA] C3>CPU Error [LED] [Motor condition] Servo-OFF Table 14-23: Cause and remedy: CPU error Cause Remedy • Apply the remedy for noise. (1) A wrong program is called due to noise. • Change Driver Unit. (2) Memory is defective.
Page 256: History Of Alarm
Details of alarm. Alarm code. Number of alarm. 14.2.5.2. Clear History of Alarm Input password. :/NSK ON NSK ON Input TA command. :/NSK ON NSK ON :TA/CL — 14-15 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
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Page 258: Troubleshooting
15. Troubleshooting 15.1. Identifying Problem l If problems do occur, check the items shown in Table 15-1. l When reporting problems to the manufacturer, explanation of the items in Table 15-1 will help to identify the problem. Table 15-1 Items Point to be checked •...
Page 259: Troubleshooting
15.2. Troubleshooting l When troubleshooting, refer to the flow chart shown below. Figure 15-1 : Troubleshooting flow START Alarm? Refer to“14. Alarm.” Which of the following areas does the problem fall under? Power ( → 15.2.1.) * l Power is not turned on. Motor ( →...
Page 260: Power Trouble
15.2.1. Power Trouble Power is not turned on. Figure 15-2 : Power trouble Power is not turned on. Check the terminal block of the front panel of Driver Unit for main power and control power with a tester, etc. Both control power and Turn on power.
Page 261: Motor Trouble
(Refer to “Appendix 1 : How to Check Motor Condition.”) Check Motor and resolver wirings. Is Motor normal? Replace Motor. Contact NSK representative in your area. — 15-4 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 262 (Refer to “9. Operational functions.”) Filter used? Check Motor and resolver windings. (Refer to “Appendix 1 : How to Check Motor Condition.”) Contact NSK representative in your area. Motor runs stably. End. — 15-5 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 263: Command Trouble
Check winding of Motor and Resolver. Refer to “Appendix 1 : How to Check Motor Condition.” Is Motor normal? Replace Motor. Contact NSK representative in your area. — 15-6 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 264 2 Motor does not stop in Home Return. Figure 15-6 : Command trouble 2 Motor does not stop in Home Return. Note 1 Is “HLS” input Check for the Home position limit switch properly activated? and its wiring. Note 1 Verify IO state with IO command.
Page 265 Check windings of Motor Refer to “Appendix 2 : How to Check Motor Condition.” and Resolver. Replace Motor. Is Motor normal? Contact NSK representative in your area. — 15-8 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 266 Check windings of Motor and Refer to “Appendix 2 : How to Check Motor Condition.” Resolver. Replace Motor. Is Motor normal? Contact NSK representative in your area. — 15-9 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 267: Terminal Trouble
15.2.4. Terminal Trouble Communication is disabled. Figure 15-10 : Terminal trouble Communication is disabled. (Improper characters are displayed.) Check CN1 connector wiring. Check Driver Unit control power. Check frame ground. Baud rate setting of Driver Unit and terminal are different. (Shipping set of the baud rate for the Driver Unit and the Handy Terminal FHT11 is 9600 b.p.s.) —...
Page 268: Appendix 1: Verify Input / Output Signal
Appendix 1: Verify Input / Output Signal IO: Status of Input / Output Signal l IO command monitors status of CN2 and CN5 Input / Output signal. l This command may be used for checking the wiring. ◊ Input format IO0 / RP : Indication of I/O signal status.
Page 269 IO0 command reports the state of circuit in regard to input signal. IO1 command reports the state of execution of the function in regard to input signal. Figure A-2 Activated Input signal EMST Inactivated Close Exp.1) Normal Open Open Parameter AB Close Exp.2) Normal Close Open...
Page 270 Figure A-3: Indication format (IO2 / RP: Indication of I/O relate4d to programmed operation) A B C D E F G H I J K L M N ∗ ∗ ∗ ∗ ∗ ∗ ∗ 0 0 0 ∗ 0 0 Pin number Signal name Reserved...
Page 271 [Example] Verify the start command of channel program “RUN” is on. Confirm that the displa y of Handy Terminal indicates the colon ( : ). (If the display does not show the colon press ENT key once.) :IO2_ :IO2/RP_ Press ENT key for execution. Indication starts immediately after the input. :IO2/RP 0000001000/000 Press BS key to discontinue the readout.
Page 272: Appendix 2 : How To Check Motor Condition
Appendix 2 : How to Check Motor Condition l Examine resistance and isolation of Motor windings to find out its condition. l Firstly conduct the checks with the Cable Set. If the result does not meet the specification, check the Motor only. 1 Resistance of Motor windings Figure A-5: With Cable Set Connector Lock...
Page 273 15.4 JS2006 JS2014 14.6 l For special Motor windings or long cable (over 4m), contact NSK for specification. 2 Resistance of resolver windings Figure A-7: With cable set Motor Cable 1 5 1 4 1 3 1 2 1 1 1 0 9 Ω...
Page 274 YS3040 YS4080 YS5120 YS5240 JS0002 JS1003 JS2006 JS2014 l For special Motor windings or long cable (over 4m), contact NSK for specification. Figure A-9: Resolver wiring (For your reference) D-Sub Connector Motor Connector Phase A REA (Red) Phase B Common...
Page 275 3 Insulation resistance of Motor winding Caution : Disconnect the Motor from the Driver Unit when checking insulation resistance of Motor winding. Caution : Do not apply more than 500 DCV. Figure A-10: With Cable Set Connector Lock Motor Cable M Ω...
Page 276: Appendix 3 : Initializing Driver Unit
Appendix 3 : Initializing Driver Unit l When troubleshooting or replacing a Motor or a Driver Unit, you may need to initialize the Driver Unit. In such a case, follow the procedures described hereunder. l Initialization of the Driver Unit requires three steps as shown in Figure A-12. l Use Handy Terminal FHT11 for inputting command.
Page 277 Turn on the control power only. ↓ Input the password. When the colon “:” is displayed, Press ↓ Driver Unit echoes back “NSK ON.” ↓ Input “SI/SY” command. Press ↓ Driver Unit echoes back “INITIALIZE.” A colon “:” will be displayed to indicate completion of initializing.
Page 278: Appendix 4 : How To Replace Esa25 Driver Unit
Unit must be transferred to the new Driver Unit. When transferring the ROM, the Driver Unit must be disassembled. To disassemble Driver Unit, follow the procedures described hereafter. ◊ For a special Driver Unit, contact your local NSK representative. ◊ Before replacing the Driver Unit, record all parameters and channel programs. The record list is provided in the last page of this manual.
Page 279 Dissemble ESA25 Driver Unit 1 Remove side panel. Figure A-14 — A-12 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 280 Figure A-15 — A-13 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 281 2 Remove the compensation ROM (U101) from CB board of old Driver Unit. (Use a ROM remover.) Figure A-16 Front side U102 Figure A-17 U102 Socket CB board 3 Insert the ROM to new Driver Unit commutation board. l Be careful of the orientation of the ROM. Make sure the ROM is securely set to the socket. Caution : When the version of two Driver Units are different, take a special care as the orientation of IC differs in Version 11 and 21.
Page 282 4 Assemble the extend board removed from old Driver Unit to the new Driver Unit. Figure A-20 — A-15 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 283 Figure A-21 — A-16 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 284 If CN2 connector is not disconnected, the parameters cannot be input properly and the Motor may run away. (Make sure that CN2 connector is disconnected.) When control power is turned on, Handy Terminal displays “NSK MEGATORQUE···”. ◊ After the display shows a colon “:”, input Initialization will take about 30 seconds.
Page 285: Appendix 5 : Regeneration Dump Resistor
◊ Lower operation speed. l If above measures are not feasible, an optional high capacity regenerative dump register is available from NSK. It will dissipate regeneration energy without loosing speed of Megatorque Motor. — A-18 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 286: Appendix 6: Brake Built In Ys Series Motor
Appendix 6: Brake Built in YS Series Motor 1. Specifications Table A-9 Motor type Brake type Staic friction torque (N·m) Capacity (W) Coil resistance (Ω) YS2020 RNB2K YS3040 RNB4K YS4080 RNB8K YS5120 RNB12K Rated voltage : DC90V Insulation class : B grade Overexertion : DC180V, 0.35 sec Friction material...
Page 287 Figure A-24: RNB2K Figure A-25: RNB4K Figure A-26: RNB8K Figure A-27: RNB12K — A-20 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
Page 288 Table A-10: Parts list Number Name RNB 2K RNB 4K RNB 8K RNB 12K Field Coil spring Armature assembly Plate spring Hex. socket cap bolt Bolt Safety spring washer Disk Collar Side plate assembly Hex. socket coutersunk head screw 3. Handling precautions This brake is dry type.
Page 289 5. Troubleshooting l When the brake does not perform as intended, check followings. u Brake is slipping. Is the friction plate soiled with oil? Is temperature of the brake too high? (over 100 °C) Is excessive load applied to the machine? u Sluggish operation of the brake Is sufficient voltage being supplied? Is the friction plate worn out ? (too much gap)
Page 290: Appendix 7: Parameter • Program Setting List
Appendix 7: Parameter • Program Setting List (ESA25 standard Driver Unit) Reference No. : S/N : Parameter • Blank settings are factory set. Data : Setting Setting Setting Parameter Parameter Parameter Shipping Current Shipping Current Current Shipping set setting setting setting X0X0XX00 1.00...
Page 291 Reference No. : S/N : Channel Program • A blank part is not programmed. Data : Program Program Program Program Command : Command : Command : Command : CV : CV : CV : CV : CA : CA : CA : CA : Command :...
Page 292 Phone: 07-3393-1388 MEXICO: Mexico City Phone: 5-301-2741,5-301-3115 : Adelaide Phone: 08-8373-4811 : Perth Phone: 089-434-1311 NSK DO BRASIL INDUSTRIA E COMÉRCIO DE NSK BEARINGS NEW ZEALAND LTD. ROLAMENTOS LTDA. NEW ZEALAND: Auckland Phone: 09-276-4992 BRASIL : São Paulo Phone: 001-269-4700...
Page 293 6th Edition, 1st Printing April 27, 2001 Document Number: C20062-06 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

NSK MEGATORQUE M-ESA-Y2005V25 User Manual

1 Introduction

2 Notes to Users

3 System Outline

4 Specifications

5 Connector Specifications

6 Installation

7 Handy Terminal Communication

8 Tuning and Trial Running

9 Operational Function

10 Operation

11 Programming

12 Command and Parameter

13 Maintenance

Quick Links

Troubleshooting

Need help?

Questions and answers

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Summary of Contents for NSK MEGATORQUE M-ESA-Y2005V25