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NSK MEGATORQUE M-ESB-YSB2020AB300 User Manual

Esb driver unit motor system
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Summary of Contents for NSK MEGATORQUE M-ESB-YSB2020AB300

  • Page 1 (217) 352-9330 | Click HERE Find the NSK C002SB03 at our website:...
  • Page 2 ® MEGATORQUE MOTOR SYSTEM User’s Manual (ESB Driver Unit System) Document Number: C20140-01 EC-T...
  • Page 3 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 that 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 ------ For prolonged use of the Driver Unit ------ 1 Temperature l Keep the ambient temperature of the Driver Unit within 0 to 50°C. You cannot use the Driver Unit in an atmosphere over 50°C.
  • Page 5 2. Matters to be attended to use the Motor of the Megatorque Motor System l ------ For prolonged use of the Megatorque Motor ------ 1 Dustproof and Waterproof of the Motor l Make sure how your Motor is graded for dust-proof and/or waterproof. You cannot use the Megatorque Motor in the environment where chemicals or paint fumes exist.
  • Page 6 3. Before concluding that the system is faulty, check the matters again. 1 Alarm arises l Did you check state of alarm and take proper action to it? Refer to the manual again for required action for the alarm. 2 Power does not turn on. Indication lamp does not turn on. l Check voltage of main and control power sources by a tester if the voltage is in the specification described in the User’s manual.
  • Page 7 (Blank Page)
  • Page 8 Conformity to the International Safety Regulations The Megatorque Motor Systems conform to the EC Directives (CE Marking) and Underwriters’ Laboratory (UL) regulations. 1. Conformity to the EC Directives The Megatorque Motor System is a machine component that conforms to provisions of the EC Low Voltage Directive.
  • Page 9 1.2. Conditions to Conform With EC Directives The wiring example shown below should be referred for the conformity to the EC Directives. Figure 1: Recommendation example for wiring ESB Driver Unit AC power Circuit Noise source breaker filter Control power YSB Series Ferrite core...
  • Page 10 Table 1: List of recommended part Item Specification Manufacturer Remarks Single phase: EA32AC-10 Conforms to IEC regulations Circuit breaker Rated current: 10A (Fuji Electric) and approved by UL Single phase: FN2070-10/06 Noise filter 250 VAC, 10A (SHAFFNER) E04SR301334 Ferrite core 1 －...
  • Page 11 (Blank Page) — iv —...

  • Page 12: Table Of Contents

    Contents 1. Introduction-------------------------------------1-1 2.8. RS-232C Interface Specifications-------------------2-26 2.8.1. CN1: RS-232C Serial Communication 1.1. Notes to Users ---------------------------------------------1-2 Connector------------------------------------------2-26 1.1.1. Notes for Safety ------------------------------------1-2 2.8.1.1. CN1 Pin-Out--------------------------------2-26 1.1.2. Operational Remark-------------------------------1-3 2.8.1.2. CN1 Signal List----------------------------2-26 1.1.3. Interchangeability of Motor and 2.9. Control Input / Output Interface Specifications --2-27 Driver Unit -------------------------------------------1-5 2.9.1.
  • Page 13 3. Unpacking • Installation • Wiring----------3-1 5.3. Manual Tuning -------------------------------------------5-10 5.3.1. Precautions for Manual Tuning ---------------5-10 3.1. Unpacking---------------------------------------------------3-1 5.3.2. Adjustment of Velocity Loop Proportional 3.1.1. Receiving Check -----------------------------------3-1 Gain (VG) ------------------------------------------5-10 3.1.2. Combination of Motor and Driver Unit --------3-1 5.3.3. Adjustment of Velocity Loop Integration 3.2.
  • Page 14 7. Operational Function ------------------------7-1 7.1.18.12. Monitoring Histories of Program Execution and Change on Control I/O 7.1. General Operation and Function --------------------7-1 --------------------------------------------------7-36 7.1.1. Servo ON (SVON) Input ------------------------7-1 7.1.19. Monitoring Analog Control -------------------7-38 7.1.2. Emergency Stop (EMST) Input-----------------7-2 7.1.3. Interruption of Positioning (STP) ---------------7-3 7.2.
  • Page 15 8. Glossary of Command and Parameter -8-1 GP : Gain Switching Point --------------------------8-20 GT : Switching Gain Timer ---------------------------8-20 8.1. Glossary of Command and Parameter --------------8-1 HA : Home Return Acceleration --------------------8-20 : I/O Polarity------------------------------------------8-1 HD : Home Return Direction -------------------------8-21 AC : Analog Command Mode -------------------------8-1 : Home In-position ---------------------------------8-21 AD : Absolute Positioning, Degree-------------------8-2...
  • Page 16 PA : Phase Adjust (Factory use only)------------- 8-37 9. Maintenance -----------------------------------9-1 PC : Pulse Command --------------------------------- 8-37 9.1. Precautions ------------------------------------------------ 9-1 PE : Program Error, Alarm Type ------------------- 8-38 9.2. Periodical check ------------------------------------------ 9-2 PG : Position Gain ------------------------------------- 8-38 9.2.1.
  • Page 17 11. Troubleshooting --------------------------- 11-1 11.1. Identifying Problem ----------------------------------- 11-1 11.2. Troubleshooting---------------------------------------- 11-2 11.2.1. Power Trouble ---------------------------------- 11-3 11.2.2. Motor Trouble ----------------------------------- 11-4 11.2.3. Command Trouble ----------------------------- 11-6 11.2.4. Terminal Trouble ----------------------------- 11-10 11.2.5. Brake Sequence Function ---------------- 11-10 Appendix Appendix 1: Monitoring Input/Output Signals ----------- A-1 Appendix 2: How to Check Motor Condition ------------ A-7 Appendix 3: Initialization of Driver Unit ------------------A-11 Appendix 4: How to Replace ESB Driver Unit ---------A-14...

  • Page 18: Introduction

    1. Introduction 1. Introduction l This manual describes the interface, functions, and operation of the Megatorque Motor System with the ESB Driver Unit. l Before operating the Megatorque Motor System, this manual should be read thoroughly. l For specifications of Motors described in “2.5. Motor Specifications,” we only describe the standard YSB series Motors.

  • Page 19: Notes To Users

    1.1. Notes to Users 1.1.1. Notes for Safety 1.1. Notes to Users 1.1.1. Notes for Safety l For your safety, you should read this manual thoroughly and understand the contents before operating the Megatorque Motor System. l Following notice is added to each clause for safety precaution to get your attention. ！...

  • Page 20: Operational Remark

    1.1. Notes for Safety 1.1.2. Operational Remark 1.1.2. Operational Remark l Pay special attention to the following precautions when installing, checking and troubleshooting the Megatorque Motor System. ！ Caution: When making a combination of a Motor and a Driver Unit, confirm that their specifications for Motor size and maximum Motor torque match each other.
  • Page 21 1.1. Notes for Safety 1.1.2. Operational Remark Figure 1-1 Control power Main power 5 minutes or over Remove cover. ！ Caution: Use of an optional regenerative dump resistor shall be considered for heavy-duty operation. à The Megatorque Motors regenerate when they decelerate carrying heavy load inertia. à...

  • Page 22: Interchangeability Of Motor And Driver Unit

    1.1. Notes for Safety 1.1.3. Interchangeability of Motor and Driver Unit 1.1.3. Interchangeability of Motor and Driver Unit Interchangeable types l The standard ESB Driver Units have interchangeability with the standard Motors. You may have a combination of a Motor and a Driver Unit that have different serial number. l However, please refer to “2.4.

  • Page 23: Terminology

    1.2. Terminology 1.2. Terminology 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; seen from the outside of rotor. Driver Unit Means Megatorque Motor System’s driver unit when capitalized.
  • Page 24 1.2. Terminology u Classification of Driver Unit [23 type, 25 type, B3 type, etc.] We classify the Driver Units along the function. They are distinguished by coding. Refer to the table below for combinations of function and coding. Table 1-1 Function Functional code of Type of position...
  • Page 25 1.2. Terminology (Blank Page) — 1-8 —...

  • Page 26: Specifications

    2. Specifications 2.1. System Configuration 2. Specifications 2.1. System Configuration 2.1.1. Control Modes l The ESB Driver Unit is compatible with several interface devices. Table 2-1: List of control input Control mode Way of command input Devices to be used Application <Programmable Indexer>...

  • Page 27: Functional Setting Of Driver Unit

    2.1. System Configuration 2.1.2. Functional Setting of Driver Unit (Only for B3 and 23 Type) 2.1.2. Functional Setting of Driver Unit (Only for B3 and 23 Types) l Function of Input / Output ports for B3 and 23 type Driver Units requires the settings according to the operation mode because they do not have extended I/O ports.

  • Page 28: Example Of System Configuration

    2.1. System Configuration 2.1.3. Example of System Configuration 2.1.3. Example of System Configuration u System configuration of Programmable Indexer Figure 2-1 Handy Terminal Seaquencer* FHT11 24 VDC Motor controller, etc* power suply* Driver Unit HANDY TERMINAL < > & ‘ Control RS-232C power...
  • Page 29 2.1. System Configuration 2.1.3. Example of System Configuration u System configuration of RS-232C serial communication command positioning Figure 2-3 Seaquencer* Personal computor, etc* 24 VDC power supply* Driver Unit RS-232C communication Control power Control I/O signal In case of a Motor equipped with brake (In the dotted line) Single phase...

  • Page 30: Coding For Reference Number

    2.2. Reference Number Configuration 2.2.1. YSB Motor 2.2. Coding for Reference Number 2.2.1. YSB Motor Figure 2-5 M-YSB 2 020 K N 001 Megatorque Motor Design serial number 001: Standard YSB Motor Series 601: Dust-proof 701: High accurate rotor runout Motor size code 801: High accurate absolute positioning...

  • Page 31: Cable Set For Esb Driver Unit

    2.3. Name of Parts 2.3.1. YSB Series Megatorque Motor 2.2.3. Cable Set for ESB Driver Unit Figure 2-7 M-C 004 SB 03 Cable Set for Design number Megatorque Motor 03: Absolute position sensor, Standard: 002···2 m, 004···4 m, for fixed use 008···8 m, 015···15 m 13: Absolute position sensor, 030···30 m...

  • Page 32: Esb Driver Unit

    2.3. Name of Parts 2.3.2. ESB Driver Unit 2.3.2. ESB Driver Unit Figure 2-10: ESBB3 and ESB23 type Mount blacked may be Mount blacket fixed to the rear. Heatsink (10) Mounting acked may be fixed to the rear. Main power LED (6) CN4 7 segments LED Connector for the Motor cable...
  • Page 33 2.3. Name of Parts 2.3.2. ESB Driver Unit Figure 2-11: ESBB5 and ESB25 type Mount bracket Mount bracket may be fixed to the rear. Heatsink (13) (12) (11) . Mount bracket may be fixed to the rear. (10) (1) Main power LED (7) CN5 (37 pins) Motor control signal Input / Output (I/O2) (2) 7 segments LED...
  • Page 34 2.3. Name of Parts 2.3.2. ESB Driver Unit Figure 2-12: ESBB3 and ESB23 type with thermal sensor block terminal Mount bracket may Mount bracket be fixed to the rear. Heatsink (11) Mount bracket may (10) be fixed to the rear. (1) Main power LED (6) CN4 Motor cable connector...
  • Page 35 2.3. Name of Parts 2.3.2. ESB Driver Unit Figure 2-13: ESBB5 and ESB25 type with thermal sensor terminal block Mount bracket may Mount bracket be fixed to the rear. Heatsink (14) (13) (12) (10) Mount bracket may (11) be fixed to the rear. (1) Main power LED (7) CN5 (37 pins) Motor control signal Input / Output...

  • Page 36: Handy Terminal

    2.3. Name of Parts 2.3.3. Handy Terminal 2.3.3. Handy Terminal Figure 2-14: Handy Terminal M-FHT11 Body Liquid Crystal Display HANDY TERMINAL < > Numeric keys Code keys (superscript) & ‘ Alphabetic keys Special code keys SHIFT CTRL Note 1) SHIFT : Shift key : Escape key (Not used) CTRL : Control key (Not used) Note 2)

  • Page 37: Standard Combination List

    2.4. Standard Combination List 2.4.1. Combination of Motor and Driver Unit 2.4. Standard Combination List 2.4.1. Combination of Motor and Driver Unit Table 2-4 Function Reference number of Reference number of Power ESB Driver Unit Motor Position sensor Input/Output voltage 200 VAC M-ESB-YSB2020AB300 Basic...

  • Page 38: Motor Specifications

    2.5. Motor Specifications 2.5.1. YSB Series 2.5. Motor Specifications 2.5.1. YSB Series Table 2-7: Specifications of YSB2020 and YSB3040 types Motor reference number M-YSB2020KN001 M-YSB2020KG001 M-YSB3040KN001 M-YSB3040KG001 Characteristics M-YSB2020JN001 M-YSB2020JG001 M-YSB3040JN001 M-YSB3040JG001 Maximum output torque [N·m] Max. current / phase 3 700 4 500 Allowable axial load...
  • Page 39 2.5. Mptpr Specifications 2.5.1.YSB Series Table 2-8: Specifications of YSB4080 and YSB5120 types Motor reference number M-YSB4080KN001 M-YSB4080KG001 M-YSB5120KN001 M-YSB5120KG001 Characteristics M-YSB4080JN001 M-YSB4080JG001 M-YSB5120JN001 M-YSB5120JG001 Maximum output torque [N·m] Max. current/ phase 9 500 19 600 Allowable axial load Allowable moment load [N·m] Axial rigidity [mm/N] 1.4 ×...

  • Page 40: Axial Load And Moment Load

    2.5. Motor Specifications 2.5.2. How to Calculate Axial Load and Moment Load 2.5.2. Axial Load and Moment Load l Followings show how to calculate axial and moment loads. Figure 2-15 (1) If F is an external force, then (2) If F is an external force, then (3) If F is an external force, then l Axial load Fa = F + weight of payload l Axial load Fa = F + weight of payload...

  • Page 41: Dimensions

    2.6. Dimensions 2.6.1. Motors 2.6. Dimensions 2.6.1. Motors Figure 2-16: M-YSB2020KN001 and M-YSB2020JN001 Figure 2-17: M-YSB2020KG001 and M-YSB2020JG001 — 2-16 —...
  • Page 42 2.6. Dimensions 2.6.1. Motors Figure 2-18: M-YSB3040KN001 and M-YSB3040JN001 Figure 2-19: M-YSB3040KG001 and M-YSB3040JG001 — 2-17 —...
  • Page 43 2.6. Dimensions 2.6.1. Motors Figure 2-20: M-YSB4080KN001 and M-YSB4080JN001 Figure 2-21: M-YSB4080KG001 and M-YSB4080JG001 — 2-18 —...
  • Page 44 2.6. Dimensions 2.6.1. Motors Figure 2-22: M-YSB5120KN001 and YSB5120JN001 Figure 2-23: M-YSB5120KG001 and M-YSB5120JG001 — 2-19 —...

  • Page 45: Esb Driver Units

    2.6. Dimensions 2.6.2. ESB Driver Units 2.6.2. ESB Driver Units Figure 2-24: ESBB3 Type Can be fixed to the rear. Heatsink Can be fixed to the rear. Figure 2-25: ESB23 Type Can be fixed to the rear. Heatsink Can be fixed to the rear. —...
  • Page 46 2.6. Dimensions 2.6.2. ESB Driver Units Figure 2-26: ESBB5 type, and ESB25 type Can be fixed to the rear. Heatsink Can be fixed to the rear. — 2-21 —...

  • Page 47: Dimensions Of Cable Set

    2.6. Dimensions of Motors 2.6.3. Dimensions of Cable Set 2.6.3. Dimensions of Cable Set Figure 2-27: Cable Set for absolute position sensor (M-CXXXSB03 and M-CXXXSB13) Figure 2-28: Cable Set for incremental position sensor (M-CXXXSB01 and M-CXXXSB11) ！ Caution: If you connect the cables to moving parts, be sure to use the flexible type cables.

  • Page 48: Specifications Of Driver Unit

    2.7. Specifications of Driver Unit 2.7.1. General Specifications 2.7. Specifications of Driver Unit 2.7.1. General Specifications Table 2-10 Item Specification Control system Full closed loop. P·PI position control Pulse train position command, RS-232C serial communication, Programmable Operation mode Indexer (Internal capability for programmed operation), Jog, Home Return 100 to 230 VAC ±...

  • Page 49: Functional Specification

    2.7. Specifications of Driver Unit 2.7.2. Functional Specification 2.7.2. Functional Specification Table 2-11 Items Specifications Programmable Indexer (64 channels Position Pulse train position command (CW/CCW, Pulse and direction, and control quadrature) Control RS-232C serial communication, Jog, Home Return operation mode Velocity RS-232C serial communication, Analog velocity command : ±...

  • Page 50: Function List Of Respective Driver Unit Types

    2.7. Specifications of Driver Unit 2.7.3. Function List of Respective Driver Unit Types 2.7.3. Function List of Respective Driver Unit Types Table 2-12 Type of Driver Unit Items B3 and 23 type B5 and 25 type · Position control · Exclusive for position control ·...

  • Page 51: Rs-232C Interface Specifications

    Mating connector shell type Japan Aviation Electronics Industry, Ltd. DE-C2-J6* (user device side) * The user shall provide these connectors. They are not necessary if NSK Handy Terminal FHT 11 is used. 2.8.1.1. CN1 Pin-Out Figure 2-29: CN1 Pin-out 2.8.1.2. CN1 Signal List Table 2-14: Signal name and function (CN1) I ／...

  • Page 52: Control Input / Output Interface Specifications --2-27

    2.9. Control Input / Output Interface Specifications 2.9.1. CN2 and CN5 Connectors: Control I/O Signal Connectors 2.9. Control Input / Output Interface Specifications 2.9.1. CN2 and CN5 Connectors: Control I/O Signal Connectors l Table 2-15 shows types of connectors that are used for connectors CN2 and CN5, and connectors for user side devices.

  • Page 53: Control I/O Signal Specifications Of B3 And 23 Type Driver Units

    型 型 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units l B3 and 23 type Driver Units do not have the connector CN5. l Follow the respective specification documents in case of a custom made Megatorque Motor System and whose specifications of Input / Output signal are unique.

  • Page 54: Pin-Out

    2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units 2.9.2.3. Pin-Out (CN2: B3 and 23 type Driver Units) l I/O signal combinations in connector CN2 is available in 6 types shown below. You may select one of these by the parameter TY.

  • Page 55: Cn2 Signal List (B3 And 23 Type Driver Units)

    2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units 2.9.2.4. CN2 Signal List (B3 and 23 Type Driver Units) Table 2-16: Type1 (TY1) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Parameter...
  • Page 56 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units Table 2-17: Type 2 (TY2) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Parameter Signal name Function Brake OUT1 Output...
  • Page 57 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units Table 2-18: Type 3 (TY3) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Parameter Signal name Function Brake OUT1 Output...
  • Page 58 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units Table 2-19: Type 4 (TY4) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Signal name Function Parameter Brake OUT1 Output...
  • Page 59 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units Table 2-20: Type 7 (TY 7) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Parameter Signal name Function Brake OUT1...
  • Page 60 2.9. Control Input / Output Interface Specifications 2.9.2. Control I/O Signal Specifications of B3 and 23 Type Driver Units Table 2-21: Type 8 (TY8) Signal Function Name Output Output COMMON DRDY– Output Driver Unit ready (–) Parameter Signal name Brake Velocity threshold OUT1 Output...

  • Page 61: Control I/O Signal Specifications Of B5 And 25 Type Driver Units

    2.9. Control Input / Output Interface Specifications 2.9.3. Control I/O Signal Specifications of B5 and 25 Type Driver Units 2.9.3. Control I/O Signal Specifications of B5 and 25 Type Driver Units 2.9.3.1. Polarity of Input Port (Normally Open or Closed Contact) l You may change polarity of some CN2 input ports.

  • Page 62: Signal List (Cn2 And Cn5: B5 And 25 Type Driver Units)

    2.9. Control Input / Output Interface Specifications 2.9.3. Control I/O Signal Specifications of B5 and 25 Type Driver Units 2.9.3.3. Signal List (CN2 and CN5: B5 and 25 type Driver Units) Table 2-21: CN2 Signal Function Name Output Output COMMON DRDY–...
  • Page 63 2.9. Control Input / Output Interface Specifications 2.9.3. Control I/O Signal Specifications of B5 and 25 Type Driver Units Table 2-23: CN5 Signal I ／ O Function Name Output Output COMMON OVER Output Warning NEARA Output Target proximity A /In target A NEARB Output Target proximity B / In target B...

  • Page 64: Cn2 And Cn5 Connectors: Interfacing

    2.9. Control Input / Output Interface Specifications 2.9.4. CN2 and CN5 Connectors: Interfacing 2.9.4. CN2 and CN5 Connectors: Interfacing 2.9.4.1. General Input Applicable inputs: SVON, EMST, PRG0 to 5, RUN, HOS, HLS, JOG, DIR, OTP, OTM, CLR, IOFF, STP, INH and CLCN Table 2-24 Item Specification...

  • Page 65: General Output

    2.9. Control Input / Output Interface Specifications 2.9.4. CN2 and CN5 Connectors: Interfacing (2) Line receiver specification (Driver Unit reference number: M-ESB-YSB¨-01 and M-ESB-YSB¨-03) Table 2-26: Line receiver specification Item Specification Input format Deferential line receiver Line receiver spec. Japan Texas Instruments: µA9637AC Recommended line Japan Texas Instruments: µA9638C or AM26LS31 equivalent receiver...
  • Page 66 2.9. Control Input / Output Interface Specifications 2.9.4. CN2 and CN5 Connectors: Interfacing (2) Photo MOS FET specification (Driver Unit reference number: M-ESB-YSB□02, and M-ESB-YSB□03) Table 2-28: General output (Photo MOS FET) Item Specification Max. load capacity ±24 VDC/50mA Max. saturated voltage 2 V or less 25 W Max.

  • Page 67: Alarm Output

    2.9. Control Input / Output Interface Specifications 2.9.4. CN2 and CN5 Connectors: Interfacing 2.9.4.4. Alarm Output Applicable output: DRDY +, and DRDY – Table 2-29: Alarm output specification Item Specification 24 VDC / 50 mA Max. load capacity Max. saturated voltage 2 V or less Figure 2-3 output+...

  • Page 68: Analog Command Input

    2.9. Control Input / Output Interface Specifications 2.9.4. CN2 and CN5 Connectors: Interfacing 2.9.4.6. Analog Command Input Applied input: AIN +, and AIN – Table 2-31: Specifications of analog command input Item Specification ± 10 VDC Max. input voltage Input impedance 20 kW 0.5 mA Maxi.

  • Page 69: Cn3: Resolver Cable Connector

    2.10. CN3: Resolver Cable Connector 2.10.1. CN3: Pin-out 2.10. CN3: Resolver Cable Connector ！ Caution : Connect the Cable Set provided with the Driver Unit. Do not shorten or cut the cable as it is uniquely made for the resolver. Table 2-33 Driver Unit connector Japan Aviation Electronics Industry...

  • Page 70: Cn4: Motor Connector

    2.11. CN4: Motor Connector 2.11.1. Pin-out 2.11. CN4: Motor Connector ！ Caution : Use the Cable Set Provided with the Driver Unit. You cannot cut the cable or hookup to other cable as the Cable Set is specially made for the Megatorque Motor.

  • Page 71: Tb: Terminal Block For Power Supply

    2.12. Terminal Block for Power Supply 2.12.1. Terminal List 2.12. TB: Terminal Block for Power Supply 2.12.1. Terminal List Table 2-35: Terminal code and function Terminal Code Function CONT Control power input Main power input MAIN Frame ground 2.12.2. Wiring Diagram Figure 2-36: Wiring diagram In case of 200 VAC main power Control power...

  • Page 72: Terminal Code And Function

    2.13. TB2: Terminal Block for Thermal Sensor 2.13.1. Terminal Code and Function 2.13. TB2: Terminal Block for Thermal 2.13.1. Terminal Code and Function Table2-38:TB2 terminal code and function Terminal Function code Terminal for thermal sensor output Terminal for thermal sensor output 2.13.2.

  • Page 73: Jumper Pin

    2.14. Jumper Pin 2.14.1. JP1 2.14. Jumper Pin 2.14.1. JP1 (Output Mode Selection of øZ) Figure 2-45: Position of jumper pins 7 segments LED Table 2-39 Pin setting Output mode of øZ LD short (shipping set) Line driver OC short Open collector ！...

  • Page 74: Unpacking • Installation • Wiring

    3. Unpacking • Installation • Wiring 3.1.1. Receiving Check 3. Unpacking • Installation • Wiring 3.1. Unpacking 3.1.1. Receiving Check l Make sure that you have received the following units. Megatorque Motor Driver Unit à Driver Unit à CN2 and CN5 mating connectors for control I/O signal Cable Set (Motor and Resolver cable) 3.1.2.

  • Page 75: Installation

    3.2. Installation 3.2.1. Motor Mounting 3.2. Installation 3.2.1. Motor Mounting à Megatorque Motor YSB Series The standard series is neither dust-proof nor waterproof (IP30 equivalent). The area where the Motor is used must be free of oil vapor and water. 3.2.1.1.

  • Page 76: Driver Unit Mounting

    3.2. Installation 3.2.2. Driver Unit Mounting 3.2.2. Driver Unit Mounting ！ Caution: (1) Ambient temperature Keep the ambient temperature of the Driver Unit between 0 to 50°C. You cannot use the Driver Unit in an atmosphere over 50°C. Keep a clearance of 100 mm in upper and lower sides of the Driver Unit when it is installed in an enclosure.

  • Page 77: Wiring

    3.3.1. Motor Wiring ！ Caution: Do not make the Motor cable shorter or longer. You need to purchase separately the cable with specified length. Ask you local NSK representative for more details. l The cable length is available in 2, 4, 8, 15, and 30 m.

  • Page 78: Connecting Power

    3.3. Wiring 3.3.2. Connecting Power 3.3.2. Connecting Power l Refer to “2.12. TB: Terminal Block for Power Supply” for more details. l Provide anti-heat vinyl AWG16 cables for the power supply cable. l Do not place the main power AC line cable and the signal wires in close proximity. Do not bundle up them and not put in the same duct.

  • Page 79: Prevent Overheating Of Motor

    3.3. Wiring 3.3.3. Prevent Overheating of Motor 3.3.3. Prevent Overheating of Motor l Provide a main power shutdown circuit using the thermal sensor to prevent overheats of the Motor. l YSB Series Motor is equipped with a thermal sensor, and its output is provided to the Motor cable.
  • Page 80 3.3. Wiring 3.3.4. Ground Connection Figure 3-5: Wiring example in case of a Driver Unit without TB2 for thermal sensor Motor Driver Unit Resolver ELB1 Control AC Power power Main power Thermal sensor Ground earth (normally closed) I/O signal Class 3 + 24 V or better I/O signal...
  • Page 81 3.3. Wiring 3.3.4. Ground Connection Figure 3-6: Wiring example in case of a Driver Unit with TB2 for thermal sensor Driver Unit Resolver AC Power ELB1 Control power Main power Thermal sensor Ground earth (Normally closed) I/O signal + 24 V Class 3 or better I/O signal...

  • Page 82: Wiring Of Connector

    3.3. Wiring 3.3.5. Wiring of Conector 3.3.5. Wiring of Connector ！ Caution: • Be sure to install a serge killer circuit when inductive switches, such as relays, are used. ！ Caution: • When you install sensors such as “Home position limit switch,” “+ direction sensor of over travel limit switch”...
  • Page 83 3.3. Wiring 3.3.5. wiring of Connector Type 2 (TY2): Selection of Jog and four internal program channels Figure 3-8 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. 13 DC24 24 VDC Servo on 25 SVON Emergency stop 12 EMST...
  • Page 84 3.3. Wiring 3.3.5. Wiring Connector Type 3 (TY3): Selection of Off-limits zone setting and four internal program channels Figure 3-9 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. 13 DC24 24 VDC Servo on 25 SVON Emergency stop...
  • Page 85 3.3. Wiring 3.3.5. Wiring of Connector Type 4 (TY4): Selection of Pulse train input, Off-limits zone setting, Home Return and Clear signal Figure 3-10 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. 13 DC24 24 VDC Servo on...
  • Page 86 3.3. Wiring 3.3.5. Wiring of Connector Type 7 (TY7): Selection of Pulse train input, Off-limits zone setting and Jog Figure 3-11 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. 13 DC24 24VDC Servo on 25 SVON Emergency stop...
  • Page 87 3.3. Wiring 3.3.5. Wiring of Connector Type 8 (TY8): Selection of Integration OFF and 8 internal program channels Figure 3-12 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. 13 DC24 24 VDC Servo on 25 SVON Emergency stop...
  • Page 88 3.3. Wiring 3.3.5. Wiring of Connetor Type 8 (TY 8): Wiring example when the brake is used Figure 3-13 ESB Driver Unit · Isolation transformer Single phase CTRL 200 VAC MOTOR · Circuit breasker 100 VAC · Magnetic switch MAIN YSB Megatorque ·...

  • Page 89: Wiring Example Of B5 And 25Driver Units (Cn2 And Cn5 Connectors)

    3.3. Wiring 3.3.5. Wiring of Connector 3.3.5.2. Wiring Example of B5 and 25 Driver Units (CN2 and CN5 Connectors) Example 1: In case of position control mode Figure 3-14 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common.
  • Page 90 3.3. Wiring 3.3.5. Wiring of Connector Example 2: Velocity / Toque control mode by analog command positioning Figure 3-15 User’s controller ESB Driver Unit Polarity of the power supply may be reversed to minus common. DC24 24 VDC SVON Servo on EMST Emergency stop Over travel switch, + direction...
  • Page 91 3.3. Wiring 3.3.5. Wiring of Connector u Example 3: When using a Motor equipped with brake Figure 3-16 ESA Driver Unit · Isolation transformer ø3 200 VAC CONT MOTOR · Circuit breaker ø1 200 VAC · Electromagntic switch 100 VAC MAIN Megatorque Motor ·...

  • Page 92: Turning On Main Power

    F ® 4 ® - . If not, refer to “10. Alarm.” ！ Danger : Be sure to connect the emergency stop (EMST) input. (3) The System is in the normal state when the display shows the colon “:” after the message of “NSK MEGATORQUE.”...

  • Page 93: Selection Of Control I/O Signal Ports

    TY and I/O combination type are listed on Table 3-6 below. u Selecting example l Set the I/O signal combination of connector CN2 to type 2. (1) Input the password. The Driver Unit eccoes back the acknowledgement. :/NSK ON NSK ON (2) Type the setting command “TY2.” NSK ON...
  • Page 94 The password is required prior to input the parameter OM. u Setting Example l The following shows an example for setting Warning (OVER) to the OUT1. (1) Input the password. An acknowledgment of password will be on the display. :/NSK ON NSK ON (2) Input OM3 setting command. <...

  • Page 95: Setting Polarity Of Input Port

    3.4. Turning on Main Power 3.4.3. Selection of Control I/O Signal Ports Table 3-7: OM parameter to set function of OUT1 output (TY1 to 4, and 7‘) Parameter Signal code Function Brake Velocity threshold NEAR Target proximity/ In target OVER Warning Table 3-8: OM parameter to set function of OUT1 output (TY8) Parameter BF...
  • Page 96 3.4. Turning on Main Power 3.4.3. Selection of Control I/O Signal Ports (3) Input the password. The display indicates the acknowledgement. ABX0X0XX00 :/NSK ON NSK ON (4) Input “1” to the second bit that correspondin, and then input x for other ports. :/NSK ON...

  • Page 97: Turn The Power And The Servo On

    3.4. Turning on Main Power 3.4.4. Turn the Power and the Servo on. 3.4.4. Turn the Power and the Servo on. (1) Turn on the power. (2) The System checks DRDY output after 2 seconds. (3) If the System is in normal state, turn ON the SVON input. The System gets in Servo ON state. (4) Then input a necessary operation command.

  • Page 98: Handy Terminal Communication

    4. Handy Terminal Communication 4. Handy Terminal Communication u Function of handy Terminal l Monitoring the Motor conditions, internal channel programming and setting parameters with the RS-232C communication interface can be done easily by connecting the FHT11 Handy Terminal to connector CN1 of ESB Driver Unit. (No setting such as baud rate is required.) ！...

  • Page 99: Setting Parameters

    Confirm that the colon (:) is on the screen. (Press the ENT key once if the colon is not on the screen.) Enter the Password. :/NSK ON NSK ON The acknowledgment appears on the screen, and the colon appears for the command entry.

  • Page 100: Readout Of Parameter

    4.2. Readout of Parameter 4.2.1. TS Command 4.2. Readout of Parameter l This section describes the procedures to read out current setting of parameters using the Handy Terminal. 4.2.1. TS Command l Refer to “8. Glossary of Command and Parameter” for the details of TS command. Connect the Handy Terminal to the CN1 connector of the ESB Driver Unit, and then turn on the power.

  • Page 101: Use Of "?" To Read Out Parameter Setting

    4.2. Readout of Parameter 4.2.2. Use of “?” to Read out Parameter Setting 4.2.2. Use of “?” to Read out Parameter Setting Connect the Handy Terminal to the CN1 connector of the ESB Driver Unit, and then turn on the power. Make sure that the colon (:) is on the screen.

  • Page 102: Tuning And Trial Running

    ！ Turn on the power of the Driver Unit and confirm Power on that the screen of Handy Terminal displays a message shown below. NSK MEGATORQUE MS1A50_*** E********* l Initialize the servo parameters. 5.2.2. Initialization of Servo Parameter l Execution of automatic tuning Automatic estimation of load inertia and automatic setting of servo parameters will be done in this stage.

  • Page 103: Automatic Tuning

    5.2. Automatic Tuning 5.2.1. Precaution 5.2. Automatic Tuning ！ Caution: The automatic tuning does not function if the following conditions are not met. Confirm them before performing the tuning. à The load inertia must be in the allowable range of the Motor. à...
  • Page 104 5.2. Automatic Tuning 5.2.1. Precaution Figure 5-2: Wiring example of automatic tuning setup. Handy Terminal HANDY TERMINA L < > & ‘ Work or attachment SHIFT CTR L (Load inertia) Control CONT. AC power power Motor Main MAIN AC power power Mounting base FGND...

  • Page 105: Initialize Servo Parameter

    1) Turn OFF the Servo ON signal (SVON, the connector CN2). 2) Execute the TS command and record the current settings of parameters. 3) Enter the password. The screen displays the acknowledgment. :/NSK ON NSK ON 4) Input the SI command to initialize the parameters.

  • Page 106: Execution Of Automatic Tuning (Tuning Level 1)

    5.2. Automatic Tuning 5.2.3. Execute Automatic Tuning (Tuning Level 1) 5.2.3. Execution of Automatic Tuning (Tuning Level 1) ！ Danger: • Take the safety precaution for a full turn of the Motor. • When the Motor cannot make a full turn because of setting way of the load or the attachment, keep a room so that the Motor can rotate approximately ±...

  • Page 107: Trial Running (Tuning Level 1)

    5.2. Automatic Tuning 5.2.4. Trial Running (Tuning Level 1) 5.2.4. Trial Running (Tuning Level 1) ！ Caution: Take a safety precaution for a full turn of the Motor. l Use a demonstration program of the ESB Driver Unit for checking the tuning result ！...
  • Page 108 5.2. Automatic Tuning 5.2.4. Trial Running (Tuning Level 1) Input “OK” if the rotation angle of ID9000 (rotation of 90 degrees) is feasible. IN10,IS0.5,FW1.0 ID9000/OK The Motor starts cyclic motions in CW and CCW directions as soon as “OK” is typed. (The Motor moves in CW direction first.) Execute the ID command instead of inputting “OK”...

  • Page 109: Minor Servo Adjustment (Tuning Level 2)

    5.2. Automatic Tuning 5.2.5. Minor Servo Adjustment (Tuning Level 2) 5.2.5. Minor Servo Adjustment (Tuning Level 2) ！ Danger : Take safety measures for a full turn of the Motor. l Perform the minor adjustment of servo gain when the automatic tuning by the AT command (Tuning Level 1) is not successful.
  • Page 110 5.2. Automatic Tuning 5.2.5. Minor Servo Adjustment (Tuning Level 2) Press the (+) key several times observing motion of the Motor. SHIFT • • • [+],[-],[ENT] Pressing 333( 222) STEP1 _SG13 Observe how the motion of Motor gets crisply as the response index decreases. Keep pressing the (+) key, and eventually the Motor will start hunting, and then stop reciprocating motion.

  • Page 111: Manual Tuning

    5.3. Manual Tuning 5.3.1. Precautions for Manual Tuning 5.3. Manual Tuning ！ Caution : Take a safety measure for a full turn of the Motor. l Perform the manual tuning when the automatic tunings are not successful. 5.3.1. Precautions for Manual Tuning 1) Initialize the parameters following the procedure described in “5.2.2.
  • Page 112 5.3. Manual Tuning 5.3.2. Adjustment of Velocity Loop Proportional Gain (VG) Press the (+) key several times observing motion of the Motor. SHIFT • • • [+],[-],[ENT] Pressing 333( 222) STEP1 _VG3 Observe how the motion of Motor gets crisper as the response index decreases. Keep pressing the (+) key further until the Motor starts hunting and stops reciprocating motion.

  • Page 113: Adjustment Of Velocity Loop Integration Frequency

    5.3. Manual Tuning 5.3.3. Adjustment of Velocity Loop Integration Frequency (VI) 5.3.3. Adjustment of Velocity Loop Integration Frequency (VI) l Perform the adjustment of velocity loop integration frequency (VI) after the adjustment of the velocity loop proportional gain (VG). 1）Start the program for adjusting the parameter VI. The screen displays the message as shown below and you can change the VI setting up and down using the (+) and the (-) keys.
  • Page 114 5.3. Manual Tuning 5.3.3. Adjustment of Velocity Loop Integration Frequency (VI) 3) Keep pressing the (+) key further until the Motor starts hunting and stops reciprocating motion. [+],[-],[ENT] Pressing • • • SHIFT 233( 123) STEP1 _VI5 3) Press the (–) key several times to lower the VI until the Motor stops hunting and starts reciprocating motion.

  • Page 115: Setting Filters (Tuning Level 2)

    5.4. Setting Filters (Tuning Level 2) 5.4. Setting Filters (Tuning Level 2) l Setting low-pass filter (Parameters FP and FX) will decrease resonant noise level. Unit of the setting data of the parameters of FP and FS is frequency [Hz]. If the parameters of FP and FS are set under 100 [HZ], the servo may become unstable, thus resulting Motor hunting or adverse effect on positioning.
  • Page 116 5.4. Setting Filters (Tuning Level 2) 2) Keep pressing the (–) key several times to lower the frequency of low-pass filter (FP setting) until rotation of noise of the Motor decreases. [+],[-],[ENT] • • • 333( 222) STEP10 _FP500 3) If motion of the Motor becomes unstable press the (+) key several times to increase the low-pass filter frequency (FP setting) until it becomes stable.
  • Page 117 5.4. Setting Filters (Tuning Level 2) (Blank Page) — 5-16 —...

  • Page 118: Operation

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

  • Page 119: Operation Procedure

    6.1. Preparation 6.1.2. Operation Procedure 6.1.2. Operation Procedure Figure 6-1 · Check for power voltage. (Main and control power) 1 Turn on the power. · Turn on the power and confirm that the power LED (green) and the 7 segments LED on the front pannel of the Driver Unit are indicating normal state.

  • Page 120: Position Control Mode Operation

    6.2. Position Control Mode Operation 6.2.1. Setting Home Position 6.2. Position Control Mode Operation l The parameter SL selects the control mode of B5 and 25 type Driver Units. SL1: Torque control mode SL2: Velocity control mode SL3: Position control mode l Following operations are available in the position control mode.

  • Page 121: Setting Home Position By Az Command

    (2) Rotate the Motor to the position to be the user home position and hold the position. (3) Input the password. The acknowledgement appears on the display. :/NSK ON NSK ON (4) Input of the AZ command sets the user home position and resets AO value (offset from the zero position).

  • Page 122: Setting Home Position By Home Return

    6.2. Position Control Mode Operation 6.2.1. Setting Home Position 6.2.1.2. Setting Home Position by Home Return l The position at where the Home Return completed will be defined as the home position. ！ Caution: Perform the Home Return every time the power is turned on for ESB23 and 25 Driver Units.
  • Page 123 6.2. Position Control Mode Operation 6.2.1. Setting Home Position l The Motor starts in CCW* direction, decelerates and stops when it enters the HLS range ( Home position proximity), and then reverses its direction ( ). The Motor goes out the HLS range once, then reverses again and enters the HLS range with the Home position Near-Zero velocity ( ).
  • Page 124 6.2. Position Control Mode Operation 6.2.1. Setting Home Position Table 6-3: Parameters related to Home Return RS-232C Initial Item Unit Input data range parameter setting Home Return acceleration 0.01 to 1 280.00 1.00 Home Return velocity 0.0001 to 3.0000 Home position offset pulse 0 to ±...
  • Page 125 6.2. Position Control Mode Operation 6.2.1. Setting Home Position 3) Mode 4: OS4 (The shipping set) l The Motor slows down and reverses its motion at where the home limit sensor is on. Then it reverses its motion again with the “Near-Zero velocity” after the Motor gets out the proximity range of home position and searches the position of the limit.
  • Page 126 6.2. Position Control Mode Operation 6.2.1. Setting Home Position 2 Adjusting home limit sensor position and Home offset value l For an accurate Home Return, it requires position adjustment of the home limit sensor (a sensor or a dog). l The home position will be set on the point at where the position counter becomes 0 after rises the rising edge of HLS input signal is detected while the Motor is moving under “Near-Zero”...
  • Page 127 The Motor can be turned easily. Rotate the Motor to the desired position. However do not turn it more than one revolution. Input the password. :TR8006 :/NSK ON_ Press the ENT key. :/NSK ON NSK ON The position sensor will automatically detect and store the Home position offset value HO by HO/ST command.
  • Page 128 6.2. Position Control Mode Operation 6.2.1. Setting Home Position (9) The SV command is to make the Servo on. NSK ON :HO/ST HO1234 :SV_ (10) Entering the ENT key turns the Motor servo on. “:_” indicates the acceptance of the command.
  • Page 129 6.2. Position Control Mode Operation 6.2.1. Setting Home Position 2 Program the Home Return command to internal channel 0 (CH0) l Follow the instructions below for setting the Home Return command to a specified program channel and execute it by the starting command of Programmable Indexer (RUN). Input CH0 to start editing the channel 0.

  • Page 130: Programmable Indexer Positioning

    6.2. Position Control Mode Operation 6.2.2. Programmable Indexer Positioning 6.2.2. Programmable Indexer Positioning l Programmable Indexer Positioning means executing an indexing motion program that is stored in program channels of the Driver Unit. The RUN input starts an indexing motion programmed in a channel specified by the PRG0 to PRG5 inputs.
  • Page 131 6.2. Position Control Mode Operation 6.2.2. Programmable Indexer Poisitioning Operation l When the brake sequence function BF1 is set, the brake control in accordance with the Motor motion will be performed. Figure 6-10: Timing of Programmable Indexer (In case of BF1: Brake sequence active) Positioning start (RS-232 communication command or RUN input)

  • Page 132: Internal Program Channel Selection

    6.2. Position Control Mode Operation 6.2.2. Programmable Indexer Positioning Operation 6.2.2.1. Internal Program Channel Selection l The B5 and 25 type Driver Units specify a program channel to be executed by combinations of ONs and OFFs of PRG0 to 5 inputs. l The B3 and 23 Driver Units specify a program channel to be executed by combinations of PRG0 to 3 input signals.

  • Page 133: Programming

    6.2.. Position Control Mode Operation 6.2.2.2. Programmable Indexer Positioning Operation 6.2.2.2. Programming l Programming for Programmable Indexer positioning shall be executed through the RS-232C communication. Execute programming while stopping the programmed positioning. l For the B3 and 23 type Driver Units, there are 16 (0 to 15) channels of program area. l There are 64 (0 to 63) channels of program area for the B5 and 25 type Driver Units.
  • Page 134 6.2. Position Control Mode Operation 6.2.2. Programmable Indexer Positioning Operation u Positioning Command : AD, AR, ID and IR Condition parameter : CV and CA (Default available) l Programs the Indexing motion profile. Table 6-6 Command Outline Option format Option code d3 ·...
  • Page 135 6.2. Position Control Mide Operation 6.2.2. Programmable Indexer Positioning Operation u Timer Command : TI Condition setting : None l Command format: TI d d: 0.3 to 100.0 [× 0.1 sec.] l This is to set dwell timer. * Program example :CH0 IR1000* :CH1...
  • Page 136 6.2. Position Control Mode Operation 6.2.2.Programmer Indexer Positioning Operation u Sequence code Related Command : (HS), (AD), (AR), (ID) and (IR) Condition parameter : CV, * and & l If a sequence code is added to a command, the following channel may be executed without selecting the channel externally.
  • Page 137 6.2. Position Control Mide Operation 6.2.2. Programmable Indexer Positioning Operation 2 Command list for editing program Table 6-8 Editing point Command Outline of function · CHm ENT (m: channel number) specifies a channel to program Channel to be · Input of CHm shows present program set in selected channel if it is programmed not empty, and waits for new input.
  • Page 138 6.2. Position Control Mode Operation 6.2.2.Programmer Indexer Positioning Operation 3 Editing program u Programming (1) Specify a program channel number. :CH10_ (2) Press the ENT key to execute. The display shows a program in the channel if it is not empty.
  • Page 139 6.2. Position Control Mide Operation 6.2.2. Programmable Indexer Positioning Operation (7) Input “0” to cancel the condition. ?CV0 (8) Press the ENT key only and the prompt returns to “:,” thus completes programming. u Reading channel program (1) Specify a channel to read out. :TC10_ (2) Press the ENT key to execute.

  • Page 140: Pulse Train Command Positioning Operation

    6.2. Position Control Mode Operation 6.2.3.Pulse Train Command Positioning Operation 6.2.3. Pulse Train Command Positioning Operation 6.2.3.1. Pulse Train Command Format l Input the pulse train command through CWP and CCWP ports of the connector CN2. l Select format of the command with parameter PC (RS-232C communication). (Entry of the password is required for setting the parameter PC.) Table 6-9: Pulse train command format CWP input...

  • Page 141: Pulse Train Resolution

    6.2. Position Control Mide Operation 6.2.2. Pulse Train Command Positioning Operation 6.2.3.2. Pulse Train Resolution l The parameter CR (RS-232C communication) sets the resolution of pulse train command. l In addition to the angle magnification with the parameter PC, another angle magnification may be selected with the parameter CR for øA/øB input.

  • Page 142: Pulse Train Input Timing

    6.2. Position Control Mode Operation 6.2.3. Pulse Train Command Positioning Operation 6.2.3.3. Pulse Train Input Timing ！ Caution: The following show the timing of accepting pulses. In addition to the conditions shown below, the maximum velocity places restrictions. The pulse frequency should not exceed the maximum velocity of the Motor. Figure 6-18: When the parameter is set to PC0.
  • Page 143 6.2. Position Control Mide Operation 6.2.3. Pulse Train Command Positoining Operation l When the brake sequence is activated (BF1) for the Motor equipped with brake, CLCN input must be ON to release the brake before performing a pulse train command positioning. l Inputting pulse train command before releasing the brake activates the Brake Error alarm (A8).
  • Page 144 6.2. Position Control Mode Operation 6.2.4. Jog 6.2.4. Jog l Jog function is available in TY2 or TY7 of Input/Output combination parameter TY of the B3 or 23 Driver Unit. l Put the Motor in Servo on state. (SVON input ON.) l Turning JOG input ON makes the Motor to rotate.
  • Page 145 6.2. Position Control Mide Operation 6.2.4. Jog l When the brake sequence is activated (BF1) for the Motor equipped with brake, CLCN input must be ON to release the brake before performing a pulse train command positioning. l Inputting pulse train command before releasing the brake activates the Brake Error alarm (A8). Figure 6-23: Signal timing of Jog (Brake sequence is active: BF1) Bake-off (CLCN input)

  • Page 146: Rs-232C Communication Position Operation

    6.2. Position Control Mode Operation 6.2.5. RS-232C Communication Positoining Operation 6.2.5. RS-232C Communication Positioning Operation l Positioning may be executed directly through the RS-232C interface. Commands and parameters are listed in Table 6-13. Refer to “8. Glossary of Command and Parameter” for the details. Table 6-13 Command/Paramet Function...
  • Page 147 6.2. Position Control Mide Operation 6.2.5. RS-232C Communication Positioning Operation u ON Signal timing for positioning with RS-232C position command Figure 6-24: Signal timing [Input] MIN 30 msec SVON Positioning command RS-232C input [Motion ] Motor rotation [Output] Closed IPOS output Open （FW＝0）...

  • Page 148: Velocity Control Mode Operation

    6.3. Torque Control Mode Opeation 6.3.1. RS-232C Communication Command Operation 6.3. Velocity Control Mode Operation l Positioning with velocity control mode is not available to the B3 and 23 type Driver Units. l The parameter SL sets the positioning with velocity control mode. SL1: Torque control mode SL2: Velocity control mode SL3: Position control mode...

  • Page 149: Analog Velocity Command Operation

    6.3. Velocity Control Mode Operation 6.3.2. Analog Velocity Command Operation 6.3.2. Analog Velocity Command Operation l Velocity of the Motor may be directly controlled with the analog velocity command in the velocity control mode. à Voltage range of the analog command is ± 10V. Offset adjustment is possible using the adjusting pod (VR1) on the front panel of the Driver Unit or setting the parameter AF.

  • Page 150: Dead Band Set To Command Voltage

    6.3. Velocity Contorl Mode Operation 6.3.2. Analog Command Operation 6.3.2.1. Dead Band Set to Command Voltage l You may set a dead band to the analog command. (The parameter DBA sets ± 4.9mV per parameter data.) Figure 6-27: Example: DBA100 (AC1) + 490 mV -10 V + 10 V...
  • Page 151 Connect the master controller and the Driver Unit, and then input analog velocity command 0 (zero). Input the password. The acknowledgement will be returned. :/NSK ON Input as :AF/ST_ Pressing the ENT key sets the offset value automatically. The set value of AF will be on the screen.
  • Page 152 Confirm the result and press the BS key. Otherwise the next command won’t be accepted. :RA/RP Input the password. The acknowledgement will on the display. :/NSK ON Execute the following commands. Be sure to input the same sign as it was monitored by the RA command. :AF2 Reset the dead band DBA and the analog command polarity AC to the setting as noted at the step (1).

  • Page 153: Function To Limit Acceleration / Deceleration

    6.3. Velocity Control Mode Operation 6.3.3. Function to Limit Acceleration / Deceleration 6.3.3. Function to Limit Acceleration / Deceleration l You may set limitation of steep changes in acceleration and deceleration induced by changes of velocity commands. l The parameter AL sets the limitation of acceleration and deceleration. l If a command of acceleration or deceleration exceeds the setting of parameter AL, the acceleration and deceleration will be limited to AL [ s Figure 6-29: Limiting function of acceleration/deceleration...

  • Page 154: Torque Control Mode Operation

    6.4. Torque Control Mode Opeation 6.4.1. RS232C Communication Command Operation 6.4. Torque Control Mode Operation l Torque control mode is not available to the B3 and 23 type Driver Units. l The parameter SL selects the torque control mode. SL1: Torque control mode SL2: Velocity control mode SL3: Position control mode l You may select either positioning with RS-232C position command or analog torque command...

  • Page 155: Analog Torque Command Operation

    6.4. Torque Control Mode Operation 6.4.2. Analog Command Operation 6.4.2. Analog Torque Command Operation l You may control directly the output torque of the Motor with analog torque command in the torque control mode. à You may set dead band to the command voltage. (Refer to “6.4.2.1.

  • Page 156: Dead Band Set To Command Voltage

    6.4. Torque Control Mode Opeation 6.4.2. Analog Command Operation 6.4.2.1. Dead Band Set to Command Voltage l You may set dead band to the analog command voltage. (Parameter DBA: ± 4.9mVper parameter data.) Figure 6-32: Example: DBA100 (AC1) Max. torque + 490 mV + 10V - 10 V...
  • Page 157 6.4. Torque Control Mode Operation (Blank Page) — 6-40 —...

  • Page 158: Operational Function

    7.1. General Operation and Function 7.1.1. Servo On (SVON) Input 7. Operational Function 7.1. General Operation and Function 7.1.1. Servo ON (SVON) Input l Turn on the power, thus the DRDY output circuit is closed, then making the SVON input ON should make the Motor servo-on.

  • Page 159: Emergency Stop (Emst) Input

    7.1. General Operation and Function 7.1.2. Emergency Stop (EMST) Input 7.1.2. Emergency Stop (EMST) Input l Turning ON the EMST input terminates the position loop control function and stops the Motor in the servo-lock state* under velocity loop control mode. l No motion commands will be accepted while the EMST input is ON.

  • Page 160: Interruption Of Positioning (Stp)

    7.1. General Operation and Function 7.1.3. Interruption of Positioning (STP) 7.1.3. Interruption of Positioning (STP) l Turning ON the STP input will stop the Motor in the middle of a positioning with the RS-232C position command, Programmable Indexer, and Jog. l Though the shipping set of deceleration of the STP input is to bring a sudden stop, you may alter the its deceleration setting.

  • Page 161: Making Pulse Train Command Or Analog Command Ineffective (Inh)

    7.1. General Operation and Function 7.1.4. Making Pulse Train Command or Analog Position Command Ineffective (INH) 7.1.4. Making Pulse Train Command or Analog Command Ineffective (INH) l In case of operation under pulse train position command or analog command, input of the INH signal ON will make an input of external command ineffective.

  • Page 162: Clearing Position Error Counter (Clr)

    7.1. General Operation and Function 7.1.5. Clearing Position Error Counter (CLR) 7.1.5. Clearing Position Error Counter (CLR) l In case of the B3 and 23 Driver Units, this function is available to the Input/Output combination type TY4. l The CLR (clear) input clears the internal position error counter. l When performing Home Return with a sequence of the master controller, inputting the CLR signal to clear the position error counter simultaneously with detection of øZ signal will help to attain high repeatability of the home position.

  • Page 163: Integration Off/Lower Gain (Ioff) Input --7-6

    7.1. General Operation and Function 7.1.6. Integration OFF/Lower Gain (IOFF) Input 7.1.6. Integration OFF/Lower Gain (IOFF) Input l This function is useful when the brake sequence, that is to say, the case the parameter setting is BF0, is not in use. l This function switches ON and OFF of the velocity loop integration frequency and lowering velocity loop proportional gain.

  • Page 164: Brake-Off (Clcn) Input

    7.1. General Operation and Function 7.1.7.Brake-off (CLCN) Input 7.1.7. Brake-off (CLCN) Input l This is a function for a Motor equipped with brake. Refer to “7.1.10. Brake” for the brake. l This function is effective when the brake sequence is selected, that is to say, when the parameter settings are TY8 and BF1 for the B3 and 23 type Driver Units.
  • Page 165 7.1. Genral Operation and Function 7.1.7. Brake-off (CLCN) Input Figure 7-9: CLCN input signal timing in pulse train command operation and analog command operation CLCN input Command Pulse train or Anlog command input Closed BRKC output Brake power off Brake power on Open Brake-on Brake action...

  • Page 166: Over Travel Limit

    7.1. General Operation and Function 7.1.8. Over Travel Limit 7.1.8. Over Travel Limit 7.1.8.1. Hardware Over Travel Limit Sensor (DTP and OTM) Input l In case of the B3 and 23 Driver Units, this function is available to the Input/Output combination of TY3, TY4 and TY7 types.

  • Page 167: Software Over Travel Limit

    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 Input the present position as the over travel limit on the plus side. The position data of over travel limit appears on the display.
  • Page 168 à In case of linear position scale: Check if the OTP is a positive value and the OTM is a negative value? u Setting by position data l When the over travel limit values are already known, user can directly set these values to the OTP and OTM command parameters. :/NSK ON NSK ON :/NSK ON NSK ON :OTP123456...

  • Page 169: Alarm Output (Drdy And Over)

    7.1. General operation and Function 7.1.9. Alarm (DRDY and OVER) Output 7.1.9. Alarm Output (DRDY and OVER) l Following completion of initialization of the CPU after the power is on, the DRDY output closes and the OVER output opens if the Driver Unit is in normal state. l When an alarm arises, the status of the DRDY and the OVER outputs will change.

  • Page 170: Brake

    7.1. General Operation and Function 7.1.10. Brake 7.1.10. Brake 7.1.10.1. YSB Series Megatorque Motor Equipped With Brake l The brake for YSB series Motor is an electromagnetic type that activates when current to a coil is off (power-off activated type). The brake features non-backlash. l You may use the brake to stop the Motor in case of an emergency such as sudden power shutdown or occurrence of serious error alarm when the Motor is in motion.

  • Page 171: Brake Control Output (Brkc)

    7.1. General Operation and Function 7.1.10. Brake 7.1.10.3. Brake Control Output (BRKC) l This is an output signal to control the brake for an auxiliary measure for the position holding rigidity when the Motor is stationary under positioning operation. Use the output to control on and off of the brake power.
  • Page 172 7.1. General Operation and Function 7.1.10. Brake l Figure 7-13 below shows basic signal timing of the brake sequence. Figure 7-13: Signal timing of brake sequence Positioning start (RS-232C communication command or RUN input) Closed BRKC output Brake power off Brake power on Open Open...

  • Page 173: In-Position Output (Ipos)

    7.1. General Operation and Function 7.1.11. In-Position Output (IPOS) 7.1.11. In-Position Output (IPOS) l The following parameters set conditions to output the In-Position (IPOS) signal. Table 7-4: Parameters related to IPOS output Parameter Signal name and function Shipping set · FIN width Outputting time of In-Position signal (Output mode) ·...

  • Page 174: Output Signal Format

    7.1. General Operation and Function 7.1.11. In-Position Output (IPOS) 7.1.11.1. Output Signal Format 1 IPOS mode (when the data of parameter is set to “zero”: FW0) l The format is to indicate if there is a difference between the position command and the current position.

  • Page 175: Parameter In

    7.1. General Operation and Function 7.1.11. In-Position Output (IPOS) l It is possible to set a minimum holding time to the parameter FW to confirm the IPOS signal remains open even in a very short time positioning. (The data is in unit of 100 [ms]. The FW-1 means that the time is 100 ms.) 7.1.11.2.
  • Page 176 7.1. General Operation and Function 7.1.11. In-Position Output (IPOS) 2 Sequential operation* for Programmable Indexer 1) IPOS mode à After completion of positioning, the System executes the next channel program while the IPOS output remains open. 2) FIN mode à After completion of positioning, the IPOS output closes for a moment set by the parameter FW, and then the System executes the next channel’s program after the IPOS output opens again.

  • Page 177: Completion Of Home Return / Detection Of Home Position (Home)

    7.1. General Operation and Function 7.1.12. Completion of Home Return / Detection of Home Position (HOME) 7.1.12. Completion of Home Return / Detection of Home Position (HOME) l This is a control signal to notify completion of Home Return or detection of the home position. l The parameter HW selects a reporting mode for completion of Home Return and detection of Home position.

  • Page 178: Definition Of Home Position (Hcmp)

    7.1. General Operation and Function 7.1.13. Definition of Home Position (HCMP) 7.1.13. Definition of Home Position (HCMP) l This is a control signal to inform externally that the home position is defined. l The HCMP output closes when the home position is defined with Home Return, etc. l The System corresponding to absolute position sensor closes the HCMP output as soon as the DRDY signal outputs after the power is turned on.

  • Page 179: Target Proximity / In Target

    7.1. General Operation and Function 7.1.15. Target Proximity / In target (NEARA and NEARB) 7.1.15. Target Proximity/In Target (NEARA and NEARB) l These are control signals that report the Motor is nearing, or in the target zone. l The parameters NMA and NMB select the target proximity mode or the In-target mode for two points of NEARA and NEARB respectively.
  • Page 180 7.1. General Operation and Function 7.1.15. Target Proximity/In target ‘(NEARA and NEARB) à The NEARA or the NEARB signal outputs only when one of the positioning command among AD, AR, ID or IR is executed in Programmable Indexer positioning or the RS-232C communication command operation. à...
  • Page 181 Set the NEAR output to In-target mode. It will be set to the In-target mode if the settiing of minimum output holding time NMA is besides 0 (zero). (Example: Set to 100msec.) :/NSK ON NSK ON :NMA1 Turn the Motor servo OFF.
  • Page 182 Set the NEARA output to In-target mode. It will be set to In-target mode if the minimum time holding time NMA is set besides 0 (zero). (Example: Set to 100 msec.) :/NSK ON NSK ON :NMA1 Input the coordinate data of the point to start outputting the In-target signal.

  • Page 183: Position Feedback Signal

    7.1. General Operation and Function 7.1.16. Position Feedback Signal 7.1.16. Position Feedback Signal l Resolution Table 7-6 [Unit: Pulses/rev.] øA and øB øZ 51 200 l Output timing Figure 7-19: Timing of position feedback signal CHA output (øA) * CHA output (øA) CHB output (øB) * CHB output (øB) CHZ output (øZ)

  • Page 184: Analog Velocity Monitor

    7.1. General Operation and Function 7.1.17. Analog Velocity Monitor 7.1.17. Analog Velocity Monitor l The voltage between check pins VEL and GND provided on the front panel of ESB Driver Unit monitors velocity of the Motor. Table 7-7 Item Monitor output Description Front panel ·...

  • Page 185: Monitoring Via Rs-232C Communication

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18. Monitoring via RS-232C Communication l Several monitoring can be done via the RS-232Ccommunication. Table 7-8: Monitor function by RS-232C communication command RS-232C Item Description command · Monitors state of control Input/Output (ON and OFF) of CN2 Control Input/Output and CN5connectors.

  • Page 186: Monitoring Control Input/Output Signals (B3 And 23 Driver Units)

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.1. Monitoring Control Input/Output Signals (B3 and 23 Driver Units) l State of Input and Output signal of CN2 connector can be monitored by the IO command l This function is useful for checking the wiring. l Input format: IO/RP /RP default: Monitors the I/O state only once.

  • Page 187: Monitoring Control Input/Output Signals (B5 And 25 Driver Units)

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.2 Monitoring Control Input/Output Signals (B5 and 25 Driver Units) l State of Input and Output signals of connector CN2 can be monitored by the IO command. l This function is useful for checking the wiring. l Input format IO0/RP: Monitors general I/O state.

  • Page 188: Monitoring Pulse Train Input Counter

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.3. Monitoring Pulse Train Input Counter l The RP command monitors state of the pulse train command input. l The data in 16-bit counter will be shown. l This is useful to check the wiring and the programs in the controller that generates pulse train. à...

  • Page 189: Monitoring Position Error Counter

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication Figure 7-24: Example of monitoring current position (TP2/RP) :TP2/RP Monitoring current positioning 123456 in unit of pulse 7.1.18.5. Monitoring Position Error Counter l The command TE reads out the data in the position error counter. l This is useful to check the settling state in positioning (state in approaching a target position).

  • Page 190: Monitoring Torque Command And Software Thermal Loading

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.7. Monitoring Torque Command and Software Thermal Loading l The command TT monitors torque command and thermal loading. l This is useful to check a margin of generating torque, and the state of thermal loading in the continuous operation.

  • Page 191: Monitoring Parameter Setting

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.9. Monitoring Parameter Setting l The TS command monitors parameter settings in a lump. l This is useful to make a parameter setting list. à Input format : Reads out all parameter settings of TS1 to TS15. TS1 to TS15 : Reads out parameter settings in a group.

  • Page 192: Monitoring Alarm Identification

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.10. Monitoring Alarm Identification l The TA command identifies currently given alarms. à Input format: TA à When the parameter MM is set to MM1, the “;” appears on the end of alarm identification line and the System waits for the next key entry.

  • Page 193: Monitoring Histories Of Program Execution And Change On Control I

    7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication 7.1.18.12. Monitoring Histories of Program Execution and Changes on Control I/O l The DP command monitors executing history of a program and history of changes on the control Inputs and Outputs. l The System stores the history of starts, completions and interruptions of a channel program, and history of changes on control Input/Output in the order of occurrence.
  • Page 194 7.1. General Operation and Function 7.1.18. Monitoring via RS-232C Communication Figure 7-35: Monitoring example Newer _10000011(15)00/10; DRDY returned (Ready) _10000011(15)00/00; Avoid of over travel limit _10001011(15)00/00; JOG input _10001001(15)00/00; DRDY Open (Not Ready) _CH15,ABO; Interruption of channel 15 _10001001(15)00/10; Got into over travel zone _CH15,STA;...

  • Page 195: Monitoring Analog Control

    7.1. General Operation and Function 7.1.19. Monitoring Analog Control 7.1.19. Monitoring Analog Control l The user may monitor the control states of Driver Unit shown in Table 7-13 below by the voltage between the analog monitor pins (MON) and the analog ground (GND) on the front panel or the voltage between MON+ and MON- pins of connector C5 monitors.
  • Page 196 7.1. General Operation and Function 7.1.19. Monitoring Analog Control Figure 7-38 Motor velocity (MN0) Velocity error (MN2) Velocity command (MN1) CW maximum CW maximum Velocity Max. velocity/8 velocity – 7 V – 10 V – 10 V + 7 V + 10 V + 10 V CCW maximum...

  • Page 197: For More Advanced Operation

    7.2. For More Advanced Operation 7.2.1. Absolute Position Scale (For Absolute Position Sensor) 7.2. For More Advanced Operation 7.2.1. Absolute Position Scale (For Absolute Position Sensor) ！ Caution: Always turn on the power when the Motor is completely stationary. Otherwise it may cause shifting the Motor position data. l The Megatorque Motor System has its own position scale for the positioning operation and the control of software over travel limit.

  • Page 198: Resolution Of Position Scale

    7.2.1. Absolute Position Scale (For Absolute Position Sensor) [Example] Set the CCW rotation to the plus count direction of the scale. Input the password. The acknowledgement will appear on the screen. :/NSK ON NSK ON Input the DI command to set the direction.

  • Page 199: Offsetting Position Data

    7.2. For More Advanced Operation 7.2.1. Absolute Position Scale (For Absolute Position Sensor) 7.2.1.3. Offsetting Position Data l This System provides the position scale (user absolute position scale) along which every positioning operation and setting of over travel limit shall be controlled. The user absolute position scale is defined by offsetting position on the position scale that is unique to each Motor (Motor absolute position scale) by use of the built in “one revolution absolute position sensor.”...

  • Page 200: Setting User Home Position

    Turn the Motor to the position to be the home position and keep it stationary. Input the password. The acknowledgement appears on the screen. :/NSK ON NSK ON Input the AZ command, thus clearing the previous home position, and then the AO data will be reset.

  • Page 201: Incremental Position Scale (For Incremental Position Sensor)

    7.2. For More Advanced Operation 7.2.2. Incremental Position Scale (For Incremental Position Sensor) 7.2.2. Incremental Position Scale (For Incremental Position Sensor) l The ESB Driver Unit has its own position scale, and every positioning operations and setting of software over travel limit should be done along the position scale. 7.2.2.1.

  • Page 202: Type Of Position Scale

    7.2. For More Advanced Operation 7.2.2. Incremental Position Scale (For Incremental Position Sensor) 7.2.2.3. Type of Position Scale l Three types of position scale are available. The user may select a type suited for own application. The PS command selects a type of the scale. Table 7-19: Parameter PS and type of position scale PS setting Type of position scale...
  • Page 203 7.2. For More Advanced Operation 7.2.2. Incremental Position Scale (For Incremental Position Sensor) 2 Single rotational position scale l The position data starts from the home position and increases when rotated to clockwise, and the position data returns to 0 when the Motor rotates one revolution. l The position data ranges from 0 to 819 199 [pulse].

  • Page 204: Resetting Position Data

    7.2.2.5. Example of Setting Position Scale 1) Define the counterclockwise (CCW) as the plus sign of position data, Input the password. The acknowledgement will appear on the screen. :/NSK ON NSK ON Input the DI command to set the direction of position scale.

  • Page 205: Digital Filter

    7.2. For More Advanced Operation 7.2.3. Digital Filter 7.2.3. Digital Filter ！ Caution: Use of multiple filters at the same time may cause phase inversion of the velocity loop control, and make the Motor operation unstable. ！ Caution: Two filters are the maximum. In addition, if low frequency filters are used, hunting or oscillation may occur.

  • Page 206: Feed Forward Compensation

    7.2. For More Advanced Operation 7.2.4. Feed Forward Compensation: FF 7.2.4. Feed Forward Compensation: FF Parameter: FF (The password is necessary.) l A velocity command created by differentiating a position command may be fed to the velocity loop in the forward direction. l The feed forward compensation improves the tracing delay in acceleration and deceleration.

  • Page 207: Integration Limiter: Ilv

    7.2. For More Advanced Operation 7.2.5. Integration Limiter: ILV 7.2.5. Integration Limiter: ILV Parameter: ILV (The password is necessary.) l The integration limiter improves overshoot caused by integration when the Motor is accelerated and decelerated at a high rate. Table 7-22 Parameter Function Shipping set...

  • Page 208: Dead Band: Dbp

    7.2. For More Advanced Operation 7.2.6. Dead Band: DBP 7.2.6. Dead Band: DBP Parameter: DBP (The password is necessary.) l 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. l This eliminates problems of small vibration after completion of positioning.

  • Page 209: Automatic Gain Switching

    7.2. For More Advanced Operation 7.2.7. Automatic Gain Setting 7.2.7. Automatic Gain Switching l This function is to switch the servo gain for positioning or stopping along the error of position error counter. l This is useful when the servo gain cannot be increased because of vibration caused by low rigidity of a system while the Motor is stopping.

  • Page 210: Acceleration Profiling

    7.2. For More Advanced Operation 7.2.8. Acceleration Profiling à The TG command reports the state of gain switching. Refer to “7.1.18.8. Monitoring State of Automatic Gain Switching” for more details. 7.2.8. Acceleration Profiling l In addition to usual constant accelerating velocity profile, another four types of acceleration profiling are available.
  • Page 211 Acceleration of the acceleration profiling will be a mean acceleration set by parameter MA (CA). u Setting acceleration profiling Input the password. The acknowledgement will appear on the screen. ／ :/NSK ON NSK ON Set the acceleration profiling function active. :CX1 ••••••••...
  • Page 212 7.2. For More Advanced Operation 7.2.8. Acceleration Profiling à When the acceleration profiling is activated by the parameter CX1, and the parameters CS, CY, MA, or MV is changed under effective state of the function, it requires initializing the conditions of positioning. It takes a time until the next prompt (:) appears on the screen.
  • Page 213 7.3. RS-232C Communication 7.3.1. Specifications of Communication Triangle Pattern 2: Decelerated in the same pattern as acceleration due to insufficient positioning distance. (Figure 7-52) Figure 7-50: Readout code 1: Proper acceleration profiling MA (Accel.) MA (Accel.) MA (Decel.) MA (Decel.) |MA (Accel.)| ³...

  • Page 214: Rs-232C Communication

    7.3.2. Communication Procedure 7.3.2.1. Turning on Power l If a terminal (such as NSK Handy Terminal FHT11) is connected to the CN1 connector and the Driver Unit power is turned on, the message shown below appears on the screen. The contents (and the number of characters) of this message may differ with setting condition of the Driver Unit and System versions.

  • Page 215: Command Entry

    7.3. RS-232C Communication 7.3.2. Communication Procedure 7.3.2.2. Command Entry l A communication command shall consist of “a command (character string) + data (if necessary) + carriage return code (0D ).” 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 216: Password

    The password is /NSK ON (a space between K and O) as shown below. Prior to indicating the prompt (:), the Driver Unit returns an acknowledgment “NSK ON” as it receives the password.

  • Page 217: Canceling Command

    7.3. RS-232C Communication 7.3.2. Communication Procedure 7.3.2.4. Canceling Command l A command that 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 canceling format. When the Handy Terminal FHT11 is used, press the BS key instead. u Parameter “BM0”...

  • Page 218: Error

    7.3. RS-232C Communication 7.3.2. Communication Procedure 7.3.2.5. Error n Note that an error occurs in any of the following cases. 1. If a nonexistent command (character string) is entered. (If an entered character string cannot be decoded.) 2. If data or subscripts that are out of the allowable range are entered. 3.
  • Page 219 7.3. RS-232C Communication 7.3.2. Communication Procedure 7.3.2.6. Readout Command l If a command for reading the internal state (i.e., parameter set data, current position, etc.) of the Driver Unit among the communication commands of the System is entered, the Driver Unit returns current settings, etc.
  • Page 220 7.3. RS-232C Communication 7.3.2. Communication Procedure u Use of reading function “?” to read parameter settings :?VG Entered command VG0.5 Readout of velocity loop proprtional gain Waits for the next command. Input (to Driver Unit) Readout (from Driver Unit) u TP command for reading current position data :TP5 Entered 10000...

  • Page 221: Communication With Personal Computer --7-64

    7.3.3. Communication with Personal Computer 7.3.3. Communication With Personal Computer l Use NSK MegaTerm application software that is available on the web site of NSK Precision America, Incorporated (http://www.npa.nsk.com) for download. Or follow the procedure described below for communication with a personal computer.

  • Page 222: Store Parameters Of Esb Driver Unit

    7.3. RS-232C Communication 7.3.3. Communication with Personal Computer 7.3.3.2. Store Parameters of ESB Driver Unit Start the HyperTerminal. Set MM data to MM0 for continuous reading mode. Execute TS command and TC/AL to indicate the settings. :MM0 PG0.100 VG2.0 VGL1.0 (Omission of a middle part) :TC/AL >TC0...

  • Page 223: Daisy Chain Communication

    7.3. RS-232C Communication 7.3.4. Daisy Chain Communication 7.3.4. Daisy Chain Communication l Daisy-chain communication allows multiple Driver Units (up to 16 units) to be connected with a single RS-232C terminal and a cable set. Figure 7-53 Terminal RS-232C Cable Driver Unit Driver Unit Driver Unit Driver Unit...

  • Page 224: Initial Setting

    CM1: Daisy-chain communication l The following show how to set the daisy chain operation mode to the axis number 1 Driver Unit. (1) Input the password. :/NSK ON NSK ON (2) Set the parameter CM1. :/NSK ON NSK ON :CM1 (3) Input the password.

  • Page 225: Interfacing

    Connect the input of the final axis with the output of the terminal. u Actual connection example l When NSK’s Handy Terminal is in use, connect the lines as shown in Figure 7-55. l Refer to “2.8.1. CN1: RS-232C Serial Communication Connector” for the specification of CN1.
  • Page 226 The command AS will be executed to check for connection as soon as the power of the axis No.0 Driver Unit is turned on. l If the terminal and all Driver Units are connected properly, the following message is displayed. The following examples are for 3-axis configuration. NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX Displays the connection state.

  • Page 227: Operation

    7.3. RS-232C Communication 7.3.4. Daisy Chain Communication 7.3.4.5. Operation u Selection of Driver Unit to Communicate l In daisy-chain mode, the RS-232C terminal is capable of communication through only one Driver Unit at a time. l Use the AX command to select one of Driver Units connected for daisy-chain communication. ！...

  • Page 228: Termination Of Daisy Chain Mode

    AX0, AX1, • • • and so forth. (The colon “:” will not appear on the screen because the axis number is not matched.) (4) Set the parameter CM0 (standard: single Driver Unit communication mode). :/NSK ON NSK ON :/NSK ON...
  • Page 229 7.3. RS-232C Communication (Blank Page) — 7-72 —...

  • Page 230: Ab: I/O Polarity

    8. Glossary of Command and Parameter 8. Glossary of Command and Parameter 8.1. Glossary of Command and Parameter l “Shipping set” denotes a setting of command or parameter that is set at the factory before shipment. l “Default” denotes a value that is adopted when entering command and parameter with no data. l The password must be entered before input of a command marked with «.

  • Page 231: Ad: Absolute Positioning, Degree

    8. Glossary of Command and Parameter AD: Absolute Positioning, Degree Format : AD data1/data2 Data range (data1) : Differs with the setting of parameter PS. [Unit: 0.01°] Default (data1) Data range (data2) : PL, MI, and EX Default (data2) : Direction in which the move distance is shorter l The data1 indicates the position data of the destination.

  • Page 232: Ae: Automatic Tuning Error, Alarm Type

    8. Glossary of Command and Parameter « AE: Automatic Tuning Error, Alarm Type Format : AE data Data : 0, and 2 Shipping set default l This parameter sets the output format of “Automatic tuning error” alarm. Setting DRDY output OVER output Does not change.

  • Page 233: Al: Acceleration Limiter

    8. Glossary of Command and Parameter For ESBB5 and 25type Driver Units only AL: Acceleration Limiter Format : AL data Data range : 0, and 0.01 to 1 280.00 [s Shipping Default l This command sets the limits on acceleration/deceleration caused by changes of velocity command in the velocity control mode.

  • Page 234: Ar: Absolute Positioning, Resolver

    8. Glossary of Command and Parameter AR: Absolute Positioning, Resolver Format : AR data1/data2 Data range (data1) : Differs with setting of the parameter PS Default data1 Data2 : PL, MI, and EX Default data2 : Direction in which the move distance is shorter. l The data1 indicates the position of the destination.

  • Page 235: At: Automatic Tuning

    8. Glossary of Command and Parameter AT: Automatic Tuning Format : AT l Executes the automatic tuning to set automatically the optimum servo parameters and acceleration. AX: Axis Select Format : AX data Data : 0 to 15 Shipping set Default l The AX command selects the one of the Driver Units in the daisy chain communication.

  • Page 236: Bf : Brake Sequence Function

    8. Glossary of Command and Parameter « BF : Brake Sequence Function Format : BF Data : 0 --- Brake sequence function inactive 1 --- Brake sequence function active Shipping set Default l The BF commands selects the brake sequence function. l The TS or ?BF command reports the current setting.

  • Page 237: Cc: Clear Channel

    8. Glossary of Command and Parameter CA: Acceleration Format : CA data1,data2 Data range : 0, and 0.01 to 1 280.00 [s Default l This command is to specify the rotational acceleration of a given channel of the Programmable Indexer. l If no setting of the CA parameter is made in a channel (or the data 0 is specified), the acceleration specified with the MA command is valid.

  • Page 238: Cd: Delete Channel

    8. Glossary of Command and Parameter CD: Delete Channel Format : CD data Data range : B3 and 23 type Driver Units : 0 to 15 B5 and 25 type Driver Units : 0 to 63 Default l The CD command deletes an internal program channel specified by a data. l Deletion of a channel induces changes of other channel numbers.

  • Page 239: Ci: Insert Channel

    8. Glossary of Command and Parameter CI: Insert Channel Format : CI data Data range : B3 and 23 type Driver Units : 0 to 15 : B5 and 25 type Driver Units : 0 to 63 Default l The CI inserts a new program channel to a channel number specified by the data. l Insertion of a new channel changes other channel numbers.

  • Page 240: Co : Position Error Counter Over Limit

    8. Glossary of Command and Parameter CO : Position Error Counter Over Limit Format : CO data Data : 1 to 99 999 999 [pulse] Shipping set : 50 000 Default : Not available l The CO sets the threshold for “Excess position error” alarm. l When the position error exceeds the set value, the Driver Unit outputs the excess position error alarm and opens the DRDY output circuit.

  • Page 241: Cs : Acceleration Pattern Select

    8. Glossary of Command and Parameter CS: Acceleration Pattern Select (set to a channel of Programmable Indexer.) Format : CS data1, data2 Data range : 0 to 5 Default l Selects a pattern of the acceleration profiling to the channels of Programmable Indexer. 0: Deletes the CS command programmed to a channel, and take the default setting.

  • Page 242: Cx: Setting Cs Function

    8. Glossary of Command and Parameter « CX: Setting CS Function Format : CX data Data : 0 ··· Acceleration profiling inactive : 1 ··· Acceleration profiling active Shipping set Default l The CX command sets the acceleration profiling function. l The TS or ?CX command reports the current setting.

  • Page 243: Db: Dead Band

    8. Glossary of Command and Parameter « DB: Dead Band Format : DBA data (Not applicable to the B3 and 23 type Driver Units.) DBP data Data range : DBA : 0, and 1 to 2 047 : 0, and 1 to 4 095 Shipping set : 0 (Both of DBA and DBP ) Default...

  • Page 244: Di: Direction Inversion

    8. Glossary of Command and Parameter « DI: Direction Inversion Format : DI data Data : 0 or 1 Shipping set Default l Switches the counting direction of position scale. l For the details, refer to “7.2.1. Absolute Position Scale (For Absolute Position Sensor),” or 7.2.2. Incremental Position Scale (For Incremental Position Sensor).”...

  • Page 245: Ec: End Of Command Message

    8. Glossary of Command and Parameter « EC: End of Command Message Format : EC data Data : 0 ··· Deactivate (No output) : 1 ··· Activate (output) Shipping set Default l The EC command activates the function to output the notify signal that the Driver Unit is in standby state for another operation command in the positioning mode with Programmable Indexer or the RS-232C communication command.

  • Page 246: Fd: Feed Back Direction Mode

    8. Glossary of Command and Parameter « FD: Feed Back Direction Mode Format : FD data Data : 0, or 1 Shipping Default l Reverses the output timing between øA and øB of the position feedback signal. FD0 : Standard øA is the leading phase in CW direction.

  • Page 247: Fp: Low-Pass Filter, Primary

    8. Glossary of Command and Parameter FP: Low-pass Filter, Primary Format : FP data Data : 0, 10 to 500 [Hz], or /AJ (Adjusting mode) Shipping set Default l The FP parameter specifies 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 deactivated.

  • Page 248: Fw: Fin Width

    8. Glossary of Command and Parameter FW: FIN Width Format : FW data Data : 0, 0.3 to 100, and -0.3 to -100 [0.1 second] Shipping set Default l Sets the time length to keep outputting IPOS signal. The unit is 0.1 sec. l If it is set to FW1, the time length outputting the IPOS signal is 0.1 sec.

  • Page 249: Gp: Gain Switching Point

    8. Glossary of Command and Parameter « GP: Gain Switching Point Format : GP data Data range : 0, and 1 to 1 000 [pulse] Shipping set Default l Sets the threshold of position error for the automatic gain switching function. l It switches the gains for Motor stationary level when the absolute position error keeps clearing the parameter GP data for a time set with the stability timer GT [ms].

  • Page 250: Hd: Home Return Direction

    8. Glossary of Command and Parameter « HD: Home Return Direction Format : HD data Data : 0, or 1 Shipping set Default l Refer to “6.2.1.2. Setting Home Position by Home Return” for more details about the Home Return. HD0: Home Return in clockwise (CW).

  • Page 251: Hs: Home Return Start

    8. Glossary of Command and Parameter HS: Home Return Start Format : HS opt : opt = default -----Normal Home Return : opt = /LS ---------Adjust limit position l Starts Home Return. l Input the HS/LS to adjust the position of the home position proximity sensor. l Refer to “6.2.1.2.

  • Page 252: Hw: Home Signal Holding Time

    8. Glossary of Command and Parameter For ESBB5 and 25 type Driver Units only HW: HOME Signal Holding Time Format : HW data Data range : 0, and 0.3 to 100 [0.1sec] Shipping set Default l Specifies the format of outputting the HOME signal. l If the data is 0, the report mode of completion of Home Return is selected;...

  • Page 253: Id: Incremental Positioning, Degree

    8. Glossary of Command and Parameter ID: Incremental Positioning, Degree Format : ID data1/data2 Data range (data1) : – 9 999 999 to + 9 999 999 [0.01°] Default (data1) Data range (data2) : EX Default (data2) : Follows the sign of data1. l In positioning with Programmable Indexer, or the RS-232C communication, the ID command executes incremental positioning in unit of degree.

  • Page 254: Im: Ioff Mode

    8. Glossary of Command and Parameter « IM: IOFF Mode Format : IM data Data : 0, 1, and 2 Shipping set Default l This command selects whether to turn the velocity loop integration frequency OFF or to lower the velocity loop proportional gain, when the IOFF signal is input. : Mode that has both functions of “velocity loop integration frequency OFF”...

  • Page 255: Ir: Incremental Positioning, Resolver

    8. Glossary of Command and Parameter IR: Incremental Positioning, Resolver Format : IR data1/data2 Data range (data1) : – 99 999 999 to + 99 999 999 [pulse] Default (data1) Data (data2) : EX Default (data2) : Follow the sign of the data1. l In positioning with the RS-232C communication, the ID command executes an incremental positioning in unit of pulse.

  • Page 256: Ja: Jog Acceleration

    8. Glossary of Command and Parameter JA: Jog Acceleration Format : JA data Data range : 0.01 to 1 280.00 [s Shipping set : 1.00 Default : Not available l Sets the acceleration for Jog operation. l The TS or ?JA command reports the current setting. JP: Jump Format : JP data...

  • Page 257: Kb: Kill Brake

    8. Glossary of Command and Parameter « KB: Kill Brake Format : KB data Data : 0, and 1 Shipping set Default l This is a command is used when providing a maintenance service on the Megatorque Motor equipped with brake. l The command KB1 deactivates the function of brake sequence when the brake sequence function is active (BF1) and releases the brake.

  • Page 258: Ma: Move Acceleration

    8. Glossary of Command and Parameter MA: Move Acceleration Format : MA data1, data2 Data range : 0.01 to 1 280.00 [s ] or /AJ (Adjust mode) Shipping set : 1.00 [s Default : Not available l The MA parameter sets the acceleration in the positioning with the Programmable Indexer or the RS232C communication command.

  • Page 259: Mm: Multi-Line Mode

    8. Glossary of Command and Parameter « MM: Multi-line Mode Format : MM data Data : 0, and 1 Shipping set Default l Sets the reporting format of the command and parameter settings that are read out with the TA, TC and TS commands.

  • Page 260: Mo Motor Off

    8. Glossary of Command and Parameter MO: Motor Off Format : MO l When the Motor is in the servo-on state with SVON input ON (CN2), inputting an MO command turns the Motor servo off. l Input the SV command, or the MS command to activate the Motor servo again. l When the Motor servo is activated with the MS command again, it clears also the previously inputted operation command.

  • Page 261: Na : Near Position

    8. Glossary of Command and Parameter NA: Near Position A NB: Near Position B Format : NA data : NB data (Not applicable to ESBB3 and 23 type Driver Units.) Data range : 1 to 99 999 999 [pulse] Shipping set : 100 Default : Not available...

  • Page 262: Np: Notch Filter, Primary

    8. Glossary of Command and Parameter NP: Notch Filter, Primary Format : NP data Data : 0 or 10 to 500 [Hz] or /AJ (Adjusting mode) Shipping set Default l The NP parameter is used to specify the frequency of the primary notch filter of the velocity loop.

  • Page 263: Nw: Chattering Preventive Timer

    System executes the next channel’s program when the RUN command is input. « OG: Origin Set Format ：OG ！ Caution : Do not input the OG command. This is for NSK factory use only. « OL: Overload Limit (Factory use only) Format : OL data Data...

  • Page 264: Om: Output Signal Mode

    8. Glossary of Command and Parameter For ESBB3 and 23 type Driver Units only « OM: Output Signal Mode Format : OM data Data : 0, 1, 2, and 3 Shipping set Default l The OM command selects function of the OUT1 (Pin No.3) of connector CN2. Setting Signal code Function...

  • Page 265: Or: Criterion, Overrun Alarm

    8. Glossary of Command and Parameter « OR: Criterion, Overrun Alarm Format : OR data Data range : 204 800 to 819 200 [pulse] Shipping set : 409 600 [pulse] Default : Not available l This parameter sets the threshold of distance to report an overrun alarm. l The overrun alarm occurs when the error in the position error counter exceeds the sum of the data of the CO and the OR parameters.
  • Page 266 The TS or ?PA command reports the current setting. ！ Caution : Do not change the setting as it is properly adjusted at the factory. If you need to change the setting, consult with NSK. « PC: Pulse Command...

  • Page 267: Pe: Program Error, Alarm Type

    8. Glossary of Command and Parameter « PE: Program Error, Alarm Type Format : PE data Data : 0, and 2 Shipping set Default l This command sets the alarm output mode for “Program error.” Setting DRDY output OVER output Does not change.

  • Page 268: Ps: Position Scale Select

    Default l Do not change the RC setting. The RC value has been properly set for each Motor at the factory. l If it needs to be changed, contact NSK. l The TS or ?RC command reports the current setting.

  • Page 269: Ri: Rotor Inertia (Factory Use Only)

    8. Glossary of Command and Parameter « RI: Rotor Inertia (Factory use only) Format : RI data Data range : 0 to 1.000 [kg･m Shipping set : Properly set to each Motor. Default ！ Caution : Do not change the setting because it has been properly set to each Motor.

  • Page 270: Rr : Resolver Resolution (Factory Use Only)

    8. Glossary of Command and Parameter « RR: Resolver Resolution （ Factory use only ） Forma : RR data Data : –3, 1 Shipping set : –3 Default : Not available l This parameter sets resolution of the position sensor (resolver). RR1 : Fixed to 12bit RR-3 : Automatic switching, 12bit/High resolution l Do not change the setting, as it is set along a type of the Driver Unit.

  • Page 271: Sg: Servo Gain

    8. Glossary of Command and Parameter SG: Servo Gain Format : SG data Data : 0 to 30 [HZ], or /AJ (Adjust mode) Shipping set Default l The SG parameter sets the maximum response frequency to the velocity loop. à Sets position loop gain SG in the automatic tuning. l When the SG value is changed, the parameters PG (position loop proportional gain), VG (velocity loop proportional gain) and VI (velocity loop integration frequency) settings will be automatically renewed.

  • Page 272: Set Control Mode

    8. Glossary of Command and Parameter For ESBB5 and 25type Driver Units only. « SL :Set Control Mode Format : SL data Data : 1, 2, and 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 273: Sp: Start Program

    8. Glossary of Command and Parameter SP: Start Program Format : SP data Data range B3 and 23 type Driver Units: 0 to 15, or /AJ (Adjust mode) B5 and 25 type Driver Units: 0 to 63, or /AJ (Adjust mode) Default l The SP command executes the Programmable Indexer’s channel program specified in the data.

  • Page 274: Ta: Tell Alarm Status

    8. Glossary of Command and Parameter TA: Tell Alarm Status Format : TA Data : No data /HI/ CL Default : No data l TA: Reports all alarms currently reported. l TA/HI: Displays history of alarms. Refer to “10.1.3 History of Alarms.” l TA/CL: Clears history of alarms.

  • Page 275: Tc: Tell Channel Program

    8. Glossary of Command and Parameter TC: Tell Channel Program Format : TC data Data range B3 and 23 type Driver Units: 0 to 15, or /AL B5 and 25 type Driver Units: 0 to 63, or /AL Default l Reports the program contents of a channel specified by the data. l No data is displayed if any program is not set to the channel.

  • Page 276: Ti: Timer

    8. Glossary of Command and Parameter TI: Timer Format : TI data Data range : 0.3 to 100.0 [0.1 sec] Default : Not available l Sets a timer to an internal channel of the Programmable Indexer. l The TI parameter can only be set under the conditions where the CH command specifies a channel to which the timer to be programmed, the Driver Unit outputs “?”...

  • Page 277: Tp: Tell Position

    8. Glossary of Command and Parameter TP: Tell Position Format : TP data/RP Data range : 0 ··· Reports the current position on the Motor absolute position scale in unit of pulse. (Applicable to ESBB3 and B5 type Driver Units only.) 2 ···...

  • Page 278: Ts: Tell Settings

    8. Glossary of Command and Parameter TS: Tell Settings Format : TS data Data range B3 and 23 type Driver Units : 0 to 13 B5 and 25 type Driver Unit : 0 to 15 Default l This command is used for reporting the command and the parameter settings. l The MM command selects the reporting format.
  • Page 279 8. Glossary of Command and Parameter (3) ESBB5 Driver Unit Command Classification Command / Parameter All commands/parameters All commands and parameters Servo parameter 1 PG, VG, VGL, VI, VIL, VM, LG, TL, GP, GT FO, FP, FS, NP, NS, NQ, DBP, DBA, ILV, FF, Servo parameter 2 Condition setting CO, IN, IS, FW, VO, VW, OR, CE...

  • Page 280: Tt: Tell Torque & Thermal

    8. Glossary of Command and Parameter TT: Tell Torque & Thermal Format : TT/RP l This command monitors the value of torque command and software thermal loading. l If the TT command is accompanied by /RP, the readout will be repeated automatically. l If the TT command is not accompanied by /RP, the readout will be one shot.

  • Page 281: Ty: I/O Type

    8. Glossary of Command and Parameter B3 type For ESBB3, and 23 type Driver Units only « TY: I/O type Format : TY data Data : 1, 2, 3, 4, 7, and 8 Shipping set Default : Not available l This command selects a signal combination type of Input/Output signal of connector CN2. l The TS command or ?TY reports the current setting.

  • Page 282: Vgl: Velocity Gain, Lower

    8. Glossary of Command and Parameter VGL: Velocity Gain, Lower Format : VGL data Data range : 0.1 to 255.0 Shipping set : 1.0 Default : Not available l Sets the proportional gain of velocity loop when the Motor is stationary. l The gain will be switched from the data of VG parameter to the data of VGL parameter when a position error is within the data of GP parameter longer than a time set by the GT parameter.

  • Page 283: Vm: Velocity Integrator Mode

    8. Glossary of Command and Parameter « VM: Velocity Integrator Mode Format : VM data Data range : 0, and 1 Shipping set Default l Changes the velocity loop integrator control as shown below. VM0 : Velocity loop P control. VM1 : Velocity loop PI control.

  • Page 284: Wd : Write Data To Eeprom

    8. Glossary of Command and Parameter « WD : Write Data to EEPROM Format : WD l Writes all current settings of commands, programs and parameters to the EEPROM. l Use this command when the WM1 (data back-up invalid) is specified. ！...

  • Page 285: Zas: Start Point Of Zone A

    8. Glossary of Command and Parameter ZAS: Start Point of Zone A. ZAE: End Point of Zone A ZBS: Start Point of Zone B. ZBE: End Point of Zone B Format : ZAS data/ST ZAE data/ST ZBS data/ST (Not available for ESBB3 and 23 type Driver Units.) ZBE data/ST (Not available for ESBB3 and 23 type Driver Units.) Data range : 0 to ±...

  • Page 286: Parameter List

    Connect the Handy Terminal FHT11 to the connector CN1of the Driver Unit, and then turn the power on. The System is in normal state if “NSK MEGA---” message is returned. l Some parameters shown in Tables 8-1 to 8-4 must be changed to unique values from the shipping set accordingly to actual conditions.
  • Page 287 8.2. Parameter List Parameter setting for ESBB3 type Driver Unit (1/2) Table 8-1a: Parameter setting for ESBB3 type Driver Unit (1/2) Current Parameter Name Password Sipping set Data range setting* Position gain – 0.010 – 1.000 Velocity gain – 0.1 – 255.0 Velocity gain, lower –...
  • Page 288 8.2. Parameter List Parameter setting of ESBB3 Driver Unit (2/2) Table 8-1b: Parameter setting of ESBB3 Driver Unit (2/2) Shipping Current Parameter Name Password Data range setting ü Origin setting mode 1, 3, 4, 5, 6 Home Return direction ü 0, 1 Home offset ü...
  • Page 289 8.2. Parameter List Paremeter setting for ESB23 Driver Unit (1/2) Table 8-2a: Parameter setting for ESB23 Driver Unit (1/2) Current Parameter Name Password Sipping set Data range setting* Position gain – 0.010 – 1.000 Velocity gain – 0.1 – 255.0 Velocity gain, lower –...
  • Page 290 8.2. Parameter List ESB23 Driver Unit (2/2 ） Table 8-2b: ESB23 type Driver Unit (2/2 ） Shipping Current Parameter Name Password Data range setting Origin setting mode ü 1, 3, 4, 5, 6 ü Home Return direction 0, 1 ü Home offset - 802 816 –...
  • Page 291 8.2. Parameter List Parameter setting for ESBB5 Driver Unit (1/2) Table 8-3a: Parameter setting for ESBB5 Driver Unit (1/2) Parameter Name Password Sipping set Data range Current setting* Position gain – 0.010 – 1.000 Velocity gain – 0.1 – 255.0 Velocity gain, lower –...
  • Page 292 8.2. Parameter List Parameter setting for ESBB5 Driver Unit (2/2) Table 8-3b: Parameter setting for ESBB5 Driver Unit (2/2) Parameter Name Password Shipping set Data range Current setting Origin setting mode ü 1, 3, 4, 5, 6 ü Home Return direction 0, 1 ü...
  • Page 293 8.2. Parameter List Parameter setting of ESB25 Driver Unit (1/2) Table 8-4a: Parameter setting for ESB25 Driver Unit (1/2) Parameter Name Password Sipping set Data range Current setting* Position gain – 0.010 – 1.000 Velocity gain – 0.1 – 255.0 Velocity gain, lower –...
  • Page 294 8.2. Parameter List Parameter setting of ESB25 Driver Unit (2/2) Table 8-4b: Parameter setting of ESB25 Driver Unit (2/2) Parameter Name Password Shipping set Data range Current setting Origin setting mode ü 1, 3, 4, 5, 6 ü Home Return direction 0, 1 ü...
  • Page 295 8.2. Parameter List (Blank page) — 8-66 —...

  • Page 296: Maintenance

    9.1. Precautions 9. Maintenance 9.1. Precautions l Backup Motor and Driver Unit à We recommend keeping the backup of Motor and Driver Unit for a quick recovery in case of unexpected failure of the System. l Parameter and program data backup à...

  • Page 297: Periodical Check

    9.2.1. Motor ！ Caution: Do not disassemble the Motor and the resolver. If disassembling the Motor is necessary, contact your local NSK representative. l Since the Megatorque Motors do not have any parts that will wear out, a daily maintenance check should be enough.

  • Page 298: Periodical Replacement Of Parts

    9.3. Periodical Replacement of Parts 9.3.1. Motor 9.3. Periodical Replacement of Parts 9.3.1. Motor l There is no part that requires periodical replacement. l Refer to “9.2. Maintenance Check.” 9.3.2. Driver Unit l Electrolytic condenser à The gradual chemical change of electrolytic condensers will deteriorate the System function and may result in the System failure.

  • Page 299: Warranty Period And Covering Range

    Damages induced by a failure of the supplied unit are not covered. 9.5.4. 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) are the paid service even if it is to be provided during the warranty period.

  • Page 300: Alarm

    10.1. Identifying Alarm 10.1.1. LED Alarm Indicator 10. Alarm 10.1. Identifying Alarm l The DRDY output opens when an error occurs in the ESB Driver Unit. l A 7-segment LED is provided on the front panel of the Driver Unit to identify the alarm. The TA command can be used to identify alarms with the RS-232C communication.

  • Page 301: Using Ta Comand

    10.1. Identifying Alarm 10.1.2. Using TA Command 10.1.2. Using TA Command TA: Tell Alarm Status Format : TA ENT l The TA command reports an alarm status. l The same contents of alarm identification, which is indicated on the 7-segment LED on the front panel, will be displayed on the screen.

  • Page 302: Alarm History

    The number of times for turning on power when the alarm is reported. Details of alarm. Alarm code. Number of alarm. u Clear Alarm History Input the password. :/NSK ON NSK ON Input the TA command. :/NSK ON NSK ON :TA/CL — 10-3 —...

  • Page 303: Alarm List

    10.2. Alarm List 10.2.1. Normal State 10.2. Alarm List ！ Caution: • The DRDY output is normally closed and it opens on abnormal condition. The OVER output is normally open and it will be closed in abnormal condition. ！ Caution: For the B3 and the 23 type Driver Units, the OVER signal outputs only when the output signal format is set to OM3.

  • Page 304: Alarm State

    10.2. Alarm List 10.2.2. Alarm State 10.2.2. Alarm State l When an alarm occurs, the power LED turns to orange, and the conditions of the output signals and the Motor will be in the state shown in the table below. Table 10-3: Alarm list (BF1) BRKC output...
  • Page 305 10.2. Alarm List 10.2.2. Alarm State l Error level setting (Table 10-3) à Use of parameters enables to change the state alarms to the same specifications with other existing Driver Units. l How to clear alarm In the alarm list (Table 10-3) on the above page, the way to clear an alarm is described as follows.
  • Page 306 10.2. Alarm List 10.2.3. Interchangeable Setting of Alarm Output 10.2.3. Interchangeable Setting of Alarm Output l Use of the error level parameters (OU, EP, TO, HT, PE, AE, and SE) classifies the level of control outputs into Alarm (DRDY), Warning (OVER), and No report. l The level of control outputs for alarm in the ESB Driver Unit can be set as the same level of other Driver Unit Series of Megatorque Motor System.

  • Page 307: Cause And Remedy Of Alarm

    Note: 1) The CPU is not functioning, thus the RS-232C communication and other controls are disabled because the CPU is not functioning. 2) Contact NSK if the alarm occurred. u Heat Sink Overheat or Regeneration Resistor Overheat: P0 Cause Remedy (1) Duty cycle of the Motor is too high.

  • Page 308: Abnormal Main Ac Line

    10.3. Cause and Remedy of Alarm u Abnormal Main AC Line Voltage (Excessive voltage/Low voltage): P1 Cause Remedy (1) Abnormal power supply voltage. (2) à Main circuit voltage is excessive due to · Check the main power supply. high acceleration/deceleration under heavy load inertia.

  • Page 309: Resolver Circuit Error: A0

    B3 type 10.3. Cause and Remedy of Alarm u Resolver Circuit Error: A0 Cause Remedy (1) Resolver cable disconnected. Refer to · Turn off power, check the resolver cable and the “Appendix 2. How to Check Motor connector. Condition.”) (2) Breakage of resolver cable. (Refer to ·...

  • Page 310: Velocity Error Over: A4

    10.3. Cause and Remedy of Alarm u Velocity Error Over: A4 Cause Remedy (1) Velocity of Motor has reached to the limit · Clear the alarm. due to external disturbance. · Reduce the setting of acceleration rate. (2) Velocity of Motor has reached to the limit ·...

  • Page 311: Memory Error: E0

    B3 type 10.3. Cause and Remedy of Alarm u Memory Error: E0 Cause Remedy · Initialize the memory, and then reenter the (1) Parameters stored in the memory have been rewritten by noise or other cause. parameters. · (Refer to “8. Glossary of Command and Parameter.”) (2) Defective PCB.

  • Page 312: Excessive Position Error: F1

    10.3. Cause and Remedy of Alarm u Excessive Position Error: F1 Cause Remedy · Remove mechanical interference. (1) The Motor did not move normally because of a mechanical interference such as a brake, and thus position error of error counter exceeds the CO setting. ·...
  • Page 313 · Replace the Driver Unit referring to “Appendix 4. (2) The memory is defective. How to Replace ESB Driver Unit.” (3) The CPU is defective. u Internal Error: C9 Cause Remedy · Please consult with NSK. (1) The Driver Unit malfunctions internally. — 10-14 —...

  • Page 314: Troubleshooting

    11.1. Identifying Problem 11. Troubleshooting 11.1. Identifying Problem l If problems do occur, check the items shown in Table 11-1. l When reporting problems to the manufacturer, explanation of the items in Table 11-1 will help to identify the problem. Table 11-1 Items Point to be checked...

  • Page 315: Troubleshooting

    11.2. Troubleshooting 11.2. Troubleshooting l When troubleshooting, refer to the flow chart shown below. Figure 11-1: Troubleshooting flow START Alarm? Refer to“10. Alarm.” Which of the following areas does the problem fall under? Power ( ® 11.2.1.) l Power does not turn on. Motor ( ®...

  • Page 316: Power Trouble

    11.2. Troubleshooting 11.2.1. Power Trouble 11.2.1. Power Trouble Figure 11-2: Power trouble Power does not turn 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 317: Motor Trouble

    (Refer to “5. Tuning and Trial Running.”) (Refer to “Appendix 2: How to Check Motor Condition.”) Check the Motor and the resolver wirings. Replace the Motor. Is the Motor normal? Contact NSK representative in your area. — 11-4 —...
  • Page 318 Decrease VG value. (Refer to “5.4. Setting Filters (Tuning Level 2).” Filter used? Check wiring of the Motor and resolver. (Refer to “Appendix 2: How to Check Motor Condition.”) Contact NSK representative in your area. Motor runs stably. End. — 11-5 —...

  • Page 319: Command Trouble

    Check CN2 and C5 connector Home Return can wiring. not be executed. Check winding of Motor and Resolver. Refer to “Appendix 2. How to Check Motor Condition.” Is the Motor normal? Replace the Motor. Contact NSK representative in your area. — 11-6 —...
  • Page 320 11.2. Troubleshooting 11.2.3. Command Trouble Figure 11-6: The Motor does not stop in Home Return. Motor does not stop in Home Return. Caution Is HLS input properly Check Home positon limit and its wiring. activated? : Confirm with I/O command. Caution Refer to “7.1.18.1.
  • Page 321 Can SP command start Motor? RUN. Refer to “6.2.2. Positioning by Programmable Indexer.” Check winding of Motor and resolver. Refer to “Appendix 2: How to Check Motor Condition.” Replace the Motor. Is the Motor normal? Contact NSK representative in your area. — 11-8 —...
  • Page 322 ON? Check wiring of CN2 connector. Check wiring of the Motor and the Refer to “Appendix 2. How to Check Motor Condition.” resolver. Replcae the Motor. Is the Mootr normal? Contact NSK representative in your area. — 11-9 —...

  • Page 323: Terminal Trouble

    11.2. Troubleshooting 11.2.4. Terminal Trouble 11.2.4. Terminal Trouble Figure 11-10: Communication is disabled. Communication is disabled. (Charactors on the display is abnormal.) Alarm occurs after the Refer to “7.3.4. Daisy Chain Communication.” power is turned on. Check wiring of CN2. Check the power source of the Driver Unit.

  • Page 324: Appendix 1: Monitoring Input/Output Signals

    Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor (B3 and 23 type Driver Units) Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor (B3 and 23 type Driver Units) l State of Input and Output signal of CN2 connector can be monitored by the IO command l This function is useful for checking the wiring.
  • Page 325 Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor (B3 and 23 type Driver Units) The readout of Input/Output with the IO command differs with the polarity setting by AB parameter as well. Figure A-2 ON (Active) Input signal EMST OFF (Inactive) Normally open contact closed (A contact)
  • Page 326 Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor (B3 and 23 type Driver Units) [Example 1] Check if the start command RUN for positioning with Programmable Indexer is inputted. (1) Confirm that the colon (:) is on the display of the Hndy Terminal. (If the colon (:) is not on the display, press the ENT key once.) :IO_ :IO/RP_...
  • Page 327 à Appendix 1: Monitoring Input/Output Signals IO ： Input/Output Monitor （ B5 and 25 type Driver Units ） IO: Input/Output Monitor （ B5 and 25 type Driver Units ） l State of Input and Output signals of connector CN2 can be monitored by the IO command. l This function is useful for checking the wiring.
  • Page 328 Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor （ B5 and 25 type Driver Units ） l The readout of Input/Output with the IO command differs with the polarity setting by AB parameter as well. Figure A-4 ON (Active) Input signal EMST OFF (Inactive) Normally open contact...
  • Page 329 Appendix 1: Monitoring Input/Output Signals IO: Input/Output Monitor （ B5 and 25 type Driver Units ） [Example 1] Check if the start command RUN for positioning with Programmable Indexer is inputted. Be wure that the colon (:) is on the display of the Hndy Terminal. (If the colon (:) is not on the display, press the ENT key once.) :IO2_ :IO2/RP_...

  • Page 330: Appendix 2: How To Check Motor Condition

    Motor model Acceptable value YSB2020 1. Within ± 30% YSB3040 2. Variation between Phases A, B, and C: 1.0 maximum YSB4080 YSB5120 l For special Motor winding or long cable over 4m long, please consult with NSK. — A-7 —...
  • Page 331 (14) « (4) (9) « (2) ABS-C (ABS-C) (COM) (ABS-C) (COM) l For special winding or long cable over 4m, please consult with NSK. Table A-12: Checking points and resistance specification: Motor with incremental position sensor Cable connector Motor connector...
  • Page 332 Appendix 2: How to Check Motor Condition Check resistance of resolver winding Figure A-9: Wiring of absolute position sensor [Reference only] D-Sub connector Motor conector INC-A (Red) øA øB INC-B (White) Incremental resolver INC-C (Black) øC Common Common (Blue) ABS-A (Orange) øA ABS-B (Yellow) Absolute resolver...
  • Page 333 Appendix 2: How to Check Motor Condition Insulation resistance check of Motor winding 3 Insulation resistance check of Motor winding ！ Caution: Disconnect the Motor from the Driver Unit when checking insulation resistance of the Motor. ！ Caution: Never apply more than 500 VDC. Figure A-11: Checking with the Cables Connector lock Motor cable...

  • Page 334: Appendix 3: Initialization Of Driver Unit

    Appendix 3: Initialization of Driver Unit Appendix 3: Initialization of Driver Unit l Follow the procedures described in this section when initialization of the Driver Unit is required during troubleshooting or replacing the Motor or the Driver Unit. l Procedures for initialization require three steps as shown in Figure A-13. SI command executes the initialization.
  • Page 335 Turn on the control power (100 to 230 VAC) only. ¯ l Input the password when the colon “:” is on the screen. l The Driver Unit will accept the command if the echo-back “NSK ON” appears on the screen. ¯ l Input the SI/SY command.
  • Page 336 Then input the PA value. ¯ [In case of the Driver Unit for the Motor equipped with absolute position sensor. à Input the password. à The echo-back “NSK ON” will be on the screen. ¯ à Then enter RO value. ¯...

  • Page 337: Appendix 4: How To Replace Esb Driver Unit

    Appendix 4: How to Replace ESB Driver Unit Appendix 4: How to Replace ESB Driver Unit ！ Danger : Be sure to turn off the power, and then follow the procedure for replacing ESB Driver Unit. l The code on the reference number described on the figure below indicates that the ESB Driver Unit is interchangeable with each other.
  • Page 338 Appendix 4: How to Replace ESB Driver Unit 1. Remove the case of ESB Driver Unit. Top and bottom : 2 pieces (M3 × 6 countersunk head machine screw) Back : 1 piece (M3 × 6 countersunk head machine screw) Side : M3 ×...
  • Page 339 Appendix 4: How to Replace ESB Driver Unit 2. Remove the extension board and the absolute sensor board. l The A3, B3, 13, and 23 type Driver Units do not have the extension board. l The 13, 15, 23, and 25 type Driver Units do not have the absolute sensor board. à...
  • Page 340 Appendix 4: How to Replace ESB Driver Unit 3. Remove U102 on the CB board with the ROM remover. l The B3, 23, B5, and 25 type Driver Units do not require the transfer of the ROM. Figure A-17: Remove the U102 ROM. U102 Figure A-18: Compensation ROM U102...
  • Page 341 Appendix 4: How to Replace ESB Driver Unit 5. Reset the extension board of the new ESB Driver Unit, and assemble the absolute sensor board of the old Driver Unit to the new one. l The A3, B3, 13, and 23 type Driver Units do not have the extension board. l 13, 15, 23, and 25 type Driver Units do not have the absolute sensor board.
  • Page 342 Appendix 4:How to Replace ESB Driver Unit 6. Attach the case to the Driver Unit, and fasten the screws. Figure A-22: Attach the case to the Driver Unit. — A-19 —...
  • Page 343 Be sure to observe the procedure stated above. Otherwise the Motor may be out of control because the parameters are not properly set yet. 3 When the power is turned on, the message “NSK MEGATORQUE•••” will be on the screen.

  • Page 344: Appendix 5: Regeneration Dump Resistor

    Appendix 5: Regeneration Dump Resistor Appendix 5: Regeneration Dump Resistor l The Megatorque Motor will function as a generator in the following conditions. This phenomenon is called regeneration. à When the Motor is decelerating under heavy load inertia. à When decelerating speed of the Motor is affected by the gravity. (Example: An unbalanced load is attached to a jig, etc.) l Energy generated by the Motor will be charged to the main power circuit condenser.
  • Page 345 ® The regeneration dump resistor is not necessary when indexing angle is less than 360°. ® The external regeneration dump resistor may be necessary in the area A. Contact NSK representative for more details about the external regeneration dump resistor. Figure A-24: Relation between the recommended maximum velocity and load inertia.

  • Page 346: Appendix 6: Wiring Of Rs-232C Communication Cable

    Appendix 6: Wiring of RS-232C Communication Cable Appendix 6: Wiring of RS-232C Communication Cable l Wiring of the RS-232C communication cable shall conform to the specifications of a personal computer connecting to the ESB Driver Unit. u RTS control / CTS monitoring active (standard) Figure A-25: When the RTS control and the CTS surveillance are active.

  • Page 347: Appendix 7: Esbb3 Driver Unit Parameter/Program List

    Appendix 7: ESBB3 Driver Unit Parameter/Program List Appendix 7: ESBB3 Driver Unit Parameter/Program List Reference No. SN ： Parameter Setting List Blank column denotes the shipping set. Date: Setting Setting Setting Parameter Parameter Parameter Shipping User Shipping User Shipping User setting setting setting...

  • Page 348: Appendix8: Esb23 Driver Unit Parameter/Program List

    Appendix8: ESB23 Driver Unit Parameter/Program List Appendix8: ESB23 Driver Unit Parameter/Program List Reference No. Parameter Setting List Blank column denotes the shipping set. Date: Setting Setting setting Parameter Parameter Parameter Shipping User Shipping User Shipping User setting setting setting 0.100 1.00 1.00 1.0000...

  • Page 349: Appendix 9: Esbb5 Driver Unit Parameter/Program List

    Appendix 9: ESBB5 Driver Unit Parameter/Program List Appendix 9: ESBB5 Driver Unit Parameter/Program List Reference No. S/N: Parameter Setting List Blank column denotes the shipping set. Date: Setting Setting Setting Parameter Parameter Parameter Shipping User Shipping User Shipping setting setting setting 1.00 1.00...
  • Page 350 Appendix 9: ESBB5 Driver Unit Parameter/Program List Reference No.: S/N: Program Setting List Blank column denotes that the channel is not in use. Date: Program Program Program Program Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command:...

  • Page 351: Appendix 10: Esb25 Driver Unit Parameter/Program List

    Appendix 10: ESB25 Driver Unit Parameter/Program List Appendix 10: ESB25 Driver Unit Parameter/Program List Reference No.: S?N: Parameter Setting List Blank column denotes the shipping set. Date: Setting Setting Setting Parameter Parameter Parameter Shipping User Shipping User Shipping User setting setting setting 1.00...
  • Page 352 Appendix 10: ESB25 Driver Unit Parameter/Program List Reference No.: S/N: Program Setting List Blank column denotes that the channel is not in use. Date: Program Program Program Ptogram Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command: Command:...
  • Page 353 Appendix 10: ESB25 Driver Unit Parameter/Program List (Blank page) — A-30 —...
  • Page 354 : Montreal Phone: 514-633-1240 NSK Korea Co., Ltd. : Vancouver Phone: 800-663-5445 KOREA : Seoul Phone: 02-3287-6001 NSK Rodamientos Mexicana, S.A. de C.V. NSK Singapore (Pte) Ltd. MEXICO : Mexico City Phone: 5-301-2741,5-301-3115 SINGAPORE : Singapore Phone: (65) 2781 711 NSK Brasil Ltda.
  • Page 355 1st Edition, 1st Printing November 20, 2003 Document Number:C20140-01...

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