1. Manuals
  2. Brands
  3. NSK Manuals
  4. DC Drives
  5. MEGATHRUST ESA13
  6. User manual

NSK MEGATHRUST ESA13 User Manual

Driver unit
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
sales@artisantg.com
artisantg.com
(217) 352-9330 |
|
Click HERE
Find the NSK ESA-LYB2T15-21 at our website:

Advertisement

Table of Contents

Troubleshooting

loading
Need help?

Need help?

Do you have a question about the MEGATHRUST ESA13 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for NSK MEGATHRUST ESA13

Summary of Contents for NSK MEGATHRUST ESA13

  • Page 1 (217) 352-9330 | Click HERE Find the NSK ESA-LYB2T15-21 at our website:...
  • Page 2 ® MEGATHRUST MOTOR SYSTEM User’s Manual (ESA13 Driver Unit) M–E099SA0T2–011 Document Number: T20011-03 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • 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 which has been proved to the satisfaction of NSK Ltd. to have a defect in material and/or workmanship.
  • Page 4 In order to use the Megathrust Motor System properly, observe the following notes. 1. Matters to be attended to use the Driver Unit of the Megatorque Motor System 1 Temperature l Keep the ambient temperature of the Driver Unit within 0 to 50°C. You cannot put the Driver Unit in an atmosphere over 50°C.
  • Page 5 The Linear Guides equip with NSK K1 lubrication unit. Life of K1 lubrication is 5 years or 10 000 km running, whichever comes first. Be sure to give periodical replenishment with grease thereafter. l It is possible to replace the K1 lubrication unit when it comes to its life.
  • Page 6 MEGAT MEGATHRUST MEGAT MEGAT HRUST HRUST HRUST ® ® ® ® MOTOR MOTOR MOTOR MOTOR SYSTEM SYSTEM SYSTEM SYSTEM NSK Ltd. NSK Ltd. NSK Ltd. NSK Ltd. Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 7 (Blank Page) Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 8 YS Motor and ESA13 Driver Unit. If your model is not one of these, refer to respective information. Technical Information l For technical assistance and sales information, please contact your local NSK office. A list of NSK offices is provided in the back cover. — i —...
  • Page 9 Terminology MNS direction PLS direction It will be necessary to be familiar with some terms used in this document. Slider Motor Connector bps bit per second; the unit of communication speed. closed logic output state; output current will flow. Driver Unit means Megathrust Motor System’s driver unit when capitalized. Home Return a built-in sequence program for setting the home position.

  • Page 10: Table Of Contents

    Contents 1. Introduction------------------------------------ 1-1 5. Connector Specifications ------------------ 5-1 1.1. Overview---------------------------------------------------- 1-1 5.1. CN1: RS-232C Serial Communication 1.2. Functional Principle -------------------------------------- 1-3 Connector--------------------------------------------------- 5-1 1.2.1. Motor ------------------------------------------------- 1-3 5.1.1. CN1 Pin-Out ---------------------------------------- 5-1 1.2.2. Driver Unit------------------------------------------- 1-3 5.1.2. CN1 Signal List ------------------------------------ 5-1 5.1.3.
  • Page 11 7. Handy Terminal Communication -------- 7-1 9.2. To Have More Advanced Operation --------------- 9-15 9.2.1. Position Scale ------------------------------------ 9-15 7.1. When Power is Turned ON ---------------------------- 7-1 9.2.1.1. Resolution---------------------------------- 9-15 7.2. Command Entry ------------------------------------------ 7-2 9.2.1.2. Direction of Position Scale------------- 9-15 7.3.
  • Page 12 11. Programming-------------------------------11-1 : Lower Gain --------------------------------------12-17 : Load Inertia--------------------------------------12-17 11.1. Commands and Parameters ------------------------11-1 : Low Torque Ripple ----------------------------12-17 11.2. Program Editing Command -------------------------11-5 MA : Move Acceleration-----------------------------12-17 11.3. Inputting a Program -----------------------------------11-6 : Read Motor ID ----------------------------------12-18 11.4. Program Example -------------------------------------11-8 MM : Multi-line Mode ---------------------------------12-18 MO : Motor Off -----------------------------------------12-18 12.
  • Page 13 13. Maintenance--------------------------------13-1 15. Troubleshooting ---------------------------15-1 13.1. Precautions----------------------------------------------13-1 15.1. Identifying Problem ----------------------------------- 15-1 13.2. Maintenance Check -----------------------------------13-2 15.2. Troubleshooting --------------------------------------- 15-2 13.2.1. Motor-----------------------------------------------13-2 15.2.1. Power Trouble ---------------------------------- 15-3 13.2.2. Driver Unit and Cable Set --------------------13-2 15.2.2. Motor Trouble----------------------------------- 15-4 13.3. Periodical Replacement of Parts-------------------13-3 15.2.3.

  • Page 14: Introduction

    The Motor consists of a high thrust force brushless actuator, a high resolution brushless resolver, and heavy duty precision NSK Linear Guides. The high thrust force actuator has a simple structure, while the built-in resolver usually makes feedback components, such as encoders unnecessary.
  • Page 15 Universal Interface l Because of the extreme versatility of the Driver Unit design, a wide variety of interface methods are possible. The Megathrust Motor System can be interfaced to virtually any control system. It is very easy to control the Megathrust Motor System with a CNC, a servo motor controller, a robot controller, or an positioning controller.

  • Page 16: Functional Principle

    1.2. Functional Principle 1.2.1. Motor l By virtue of its unique design, the Megathrust Motor System is capable of producing extremely high thrust force at low speeds suitable for direct drive applications. Furthermore, it can produce these force levels without using an undue amount of power, so it can sustain these torque levels indefinitely under most conditions without overheating.
  • Page 17 Digital Microprocessor Subsystem l The digital microprocessor subsystem is a part of the control board. All analog signals are converted to digital form, and the 16-bit microprocessor on the control board handles all Motor control functions in the digital domain. Since analog circuits are eliminated, there are no pots to adjust, no operational amplifier circuits to tweak, and no soldering or component changes are required.

  • Page 18: Notes To Users

    2. Notes to Users l This manual describes the interface, function and operation of ESA13 Driver Unit . l Especially when you use Megathrust Motor System for the first time, please thoroughly read this manual. l For the explanations of Motor, only standard Y Motor series is described in this manual. If your Motor is not Y series, please refer to respective specifications or applicable document.

  • Page 19: Version Number

    Figure 2-1 5 seconds or more Control power Main power 5 minutes or more Remove cover ！ Caution : Using an optional regenerative dump resistor shall be considered for heavy duty operation . à When Motor is decelerating, rotational energy is dissipated by internal dump resistor.

  • Page 20: System Outline

    Cable Cable Set Components Supplied by NSK l NSK can supply the ESA13 Driver Unit, Megathrust Motor, Cable Set (resolver cable and Motor cable) and Handy Terminal. Users are requested to acquire other equipment and wiring from other sources. — 3-1 —...

  • Page 21: Reference Number Configuration

    3.2. Reference Number Configuration 3.2.1. System Figure 3-2 ML-Y (1) Megathrust Motor Y series (6) ESA Driver Unit (2) Motor size (7) Main Power supply (3) Number of sliders A: 200VAC (4) Rack Base length (Unit : cm) V: 100VAC (5) Design number (8) Denotes ESA13 standard (13) 3.2.2.

  • Page 22: Cable Set

    3.2.4. Cable Set Figure 3-5 (1) Megathrust Motor Cable Set ML-C (2) Cable length (Unit: m) (3) Cable Set for ESA Driver Unit (4) Cable design number : Compatible to CE Marking 3.2.5. Handy Terminal Figure 3-6 (1) Handy Terminal M-FHT (2) Design number —...
  • Page 23 (Blank page) — 3-4 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 24: Specifications

    4. Specifications 4.1. Motor Specifications 4.1.1. Y Series Motor 4.1.1.1. Name of Each Parts Figure 4-1 Slider Stopper Motor rack Connector Linear Guides 4.1.1.2. Specifications Table 4-1: Y Motor Specifications Resolver feedback type Motor model Max. Static holding force Transpotable load at 0.5G (kg) Slider mass (kg)

  • Page 25: Dimensions

    Base mounting holes ø6.5 drill-thru, countersink ø10.5, 5.5 deep Slider Resolver Cable Motor Cable NSK linear guide Resolver Cable : ø6 Motor Cable : ø6 120P × N=120N Unit : mm Cable guide & sensor mounting holes N-M3 × 0.5 × 6 Motor Model No.
  • Page 26 Cable length (Lst / 2 + 500 mm) Base mounting holes ø6.5 drill-thru, countersink ø10.5, Slider 6.5 deep Resolver Cable Motor Cable NSK linear guide Resolver Cable : ø6 Motor Cable : ø6 120P × N=120N Unit : mm Motor Model No. of base...
  • Page 27 Cable length (Lst / 2 + 500 mm) Base mounting holes ø10 Slider drill-thru, countersink ø15, 8.6 deep Resolver Cable Motor Cable Resolver Cable : ø6 NSK linear guide Motor Cable : ø9 Unit : mm Motor Model No. of base Mess L st Number...

  • Page 28: Driver Unit

    4.2. Driver Unit 4.2.1. Name of Each Parts Figure 4-8 Brackets can be (11) attached to here Heat Sink POWER (10) DISP. MOTOR RS-232C FUSE1 250V FUSE2 250V CONT. AC90-220V MAIN AC200-220V SENSOR FGND Type N S K L t d N S K L t d .

  • Page 29: Specifications

    4.2.2. Specifications 4.2.2.1. General Specifications u Control Mode l Fully closed loop, P•EPI position control u Position control mode l Pulse train position command, RS-232C serial communication command, Internal program control u Power supply (1) AC 200V/ 220V ±10% Table 4-2: Power supply capacity Max.

  • Page 30: Functional Specifications

    4.2.2.2. Functional Specifications u Position control l Maximum input pulse frequency : 800 kpps l Input pulse format is selected by a parameter. l PLS & MNSP l Pulse and direction l øA and øB quadrature pulse u Resolver resolution Table 4-7 [µm] Resolver resolution...
  • Page 31 u Alarms l Excess position, Velocity error, Software thermal limit, Over travel limit, controller error, RS- 232C communication error, Resolver error, Over current, Amplifier overheat Abnormal voltage error and Control power low voltage. u Monitor output l Analog velocity and RS-232C serial communication : Current position, alarm status and servo parameters u Communication l Asychronous RS-232C communication.

  • Page 32: Driver Unit Dimensions

    4.2.2.3. Driver Unit Dimensions Figure 4-9 21.2 Brackets can be Heat Sink attached to here POWER DISP. MOTOR RS-232C FUSE1 250V FUSE2 250V CONT. AC90-220V MAIN AC200-220V SENSOR FGND Type N S K L t d N S K L t d . MADE IN JAPAN Brackets can be attached to here...

  • Page 33: Handy Terminals

    4.3. Handy Terminals l FHT11 Handy Terminal is an easy to use hand held terminal with an RS-232C communication interface for Megathrust Motor System Driver Unit. FHT11 terminal connects directly to the CN1 connector on the ESA13 Driver Unit. 4.3.1. Name of Each Part and Dimensions Figure 4-10 Main frame Liquid Crystal Display...

  • Page 34: Specifications

    4.3.2. Specifications Table 4-10 Item Specification Power source valtage DC 5V ±5% Power consumption 200 mW · Operating : 0~50°C Temperature · Storage : -10~+65°C Environment Humidity 35~85% (Non condensing) Data code ASCII code Communication speed 9600 b.p.s Data bit 8 bit RS-232C Interface Stop bit...
  • Page 35 (Blank Page) — 4-12 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 36: Connector Specifications

    5. Connector Specifications 5.1. CN1: RS-232C Serial Communication Connector l NSK’s Handy Terminal FHT11 (sold separately) can be used as an RS-232C terminal. l If another RS-232C terminal is used, refer to “5.2. CN2: Control I/O Connector” for the wiring precautions.

  • Page 37: Rs-232C Communication Specifications

    5.1.3. RS-232C Communication Specifications Table 5-3: RS-232C Communication Specification Item Specification Transmission Asynchronous, full duplex 9600 b.p.s. Communication speed Word length 8 bit Stop bit 2 bit Parity Character code ASCII code · X-On/Off Protocol :No Communication procedure · RTS/CTS Control :Yes 5.1.4.
  • Page 38 u RTS Control / CTS Monitoring Inactive ！ Important : When wired as shown below, always confirm the echo-back from Driver Unit or send the data slowly. With this wiring, Driver Unit may not accept the whole data when data is sent at high speed and large amount.

  • Page 39: Cn2: Control I/O Connector

    5.2. CN2: Control I/O Connector l The table below shows connector types for the CN2. Table 5-4 Connector type Japan Aviation Electronics Industry, DBLC-J25SAF-13L6 (Driver Unit side) Limited Mating connector type Japan Aviation Electronics Industry, DE-25PF-N (user device side) Limited (supplied with the Driver Unit) Mating connector shell type Japan Aviation Electronics Industry,...

  • Page 40: Setting Of I/O Type

    5.2.1. Setting of I/O type l There are 5 combination types of Input/Output of CN2 connector as shown in Table 5-5. l The user can select one combination by parameter "TY". l The password is necessary when setting the "TY" parameter. l Shipping set is Type 4.
  • Page 41 Setting Example l Set the I/O signals of Connector CN2 to Type 2. Input the password. (/NSK ON) The password acknowledgment message appears on the display. :/NSK ON NSK ON (ii) Input the command to set Type 2. (TY2) The message indicates that the polarity of all the input ports has been set to A contact.

  • Page 42: Cn2 Pin-Out

    5.2.2. CN2 Pin-Out l The input /output signals of CN2 connector are the following 5 types, and the user can select one of them by setting the TY parameter. This parameter is set to Type 4 before shipment. Figure 5-4 Type 1 (TY1) Type 2 (TY2) Type 3 (TY3)

  • Page 43: Cn2 Signal List

    5.2.3. CN2 Signal List Table 5-7: Type 1 Signal Name Function Output Output COMMON DRDY- Output Driver Unit ready (-) – – – * * * * CHZ* Output Position feedback * * * * øZ/digital position data * * * * MSB* Output Position feedback øB Output...
  • Page 44 Table 5-9: Type 3 Signal Name Function Output Output COMMON DRDY- Output Driver Unit ready (-) – – – * * * * CHZ* Position feedback * * * * øZ/digital position data * * * * MSB* Output Output Position feedback øB Output Position feedback øA...
  • Page 45 Table 5-11: Type 7 Signal Name Function Output Output COMMON DRDY- Output Driver Unit ready (-) – – – * * * * CHZ* Position feedback * * * * øZ/digital position data * * * * MSB* Output Output Position feedback øB Output Position feedback øA...

  • Page 46: Setting Polarity (A Or B Contact) Of Input Ports

    ABX0X0XXXX (iii) Input the password. The password acknowledgment message appears on the display. ABX0X0XXXX :/NSK ON NSK ON (iv) The second bit following AB represents EMST. Set this bit to “1”, and the other bits to “X” (no change). :/NSK ON...
  • Page 47 Table 5-12 Pin No. Bit No. SVON EMST PRG3 PRG2 PRG1 PRG0 SVON EMST PRG3 PRG2 SVON EMST PRG3 PRG2 SVON EMST SVON EMST l Meaning of data 0 = A Contact setting (normally open) 1 = B Contact setting (normally close) X = During input: Indicates no change.

  • Page 48: Changing I/O Type And Contact Polarity At Once

    Set the I/O type to TY3 (SVON, EMST, RUN, HLS, PRG3, PRG2, OTP, OTM). Set EMST, OTP and OTM to B contact, and the rest to A contact. Input the password. The password acknowledgment message appears on the display. : : : : :/NSK ON :/NSK ON :/NSK ON :/NSK ON NSK ON...

  • Page 49: Cn2 Electrical Specifications

    5.2.6. CN2 Electrical Specifications 5.2.6.1. General Input Signal Applied Inputs: SVON, EMST, PRG0~3, RUN, HOS, HLS, JOG, DIR, OTP, OTM, CLR Table 5-13 Item Specification 24 VDC ±10% Input voltage Input impedance 3.3 kW Maximum current 10 mA (per input) Figure 5-4 3.3k 9 DC24...

  • Page 50: General Output Signal

    5.2.6.3. General Output Signal Applied Outputs: IPOS Table 5-15 Item Specification 24 VDC/100 mA Maximum load capacity Maximum saturated voltage Figure 5-6 output Driver Unit side 5.2.6.4. Control Output Signal Applied Outputs: DRDY+, DRDY- Table 5-16 Item Specification Maximum load capacity 24 VDC/100 mA Maximum saturated voltage Figure 5-7...

  • Page 51: Position Feedback Output Signal

    5.2.6.5. Position Feedback Output Signal Applied Outputs: CHA, CHB, CHZ, *CHA, *CHB, *CHZ Table 5-17 Item Specification Line driver (CHA, CHB, *CHA, *CHB) Output format Line driver or open collector (CHZ, *CHZ) (Can be selected by Jumper 1. Refer to next page for the setting.) Output device Texas instruments SN75ALS192 Recommended receiving devise...
  • Page 52 u How to Set Jumper (JP1) l Jumper (JP1) is for selecting output format of øZ position feedback signal. l Jumper is inside of the Driver Unit. When setting Jumper, remove the side cover of the Driver Unit. Follow the procedure in Appendix 4: How to replace ESA13 Driver Unit. l Figure 5-9 indicates the Jumper location.

  • Page 53: Wiring Diagram (Cn2)

    5.2.7. Wiring Diagram (CN2) u Wiring Example 1: Type 1. Figure 5-10: 16 Channels selection User’s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Run move 24 RUN...
  • Page 54 u Connection Example 2: Type 2. Figure 5-11: Jog operation and 4 channels selection User’s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Run move 24 RUN...
  • Page 55 u Connection Example 3: Type 3. Figure 5-12: Motion limit range setting and 4 channels selection User’s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Run move 24 RUN...
  • Page 56 u Connection Example 4: Type 4. Figure 5-13: Pulse train, motion limit, home return start and clear input User’s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Run move...
  • Page 57 u Wiring Example 5: Type 7. Figure 5-14: Pulse train, motion limit range setting and Jog operation User’s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed 13 DC24 DC24V Servo-on 25 SVON Emergency stop 12 EMST Home limit switch 11 HLS Run move...

  • Page 58: Cn3: Resolver Cable Connector

    5.3. CN3: Resolver Cable Connector l Since the resolver cable supplied with the Megathrust Motor System should always be used, you need only plug the resolver cable connector into CN3. Knowledge of the pin assignment or signal names is not necessary. This section is offered for reference. ！...

  • Page 59: Cn4: Motor Cable Connector

    5.4. CN4: Motor Cable Connector l Since the Motor cable supplied with the Megathrust Motor System should always be used, you need only plug the Motor cable connector into CN4. Knowledge of the pin assignment or signal name is not necessary. This section is offered for reference. ！...

  • Page 60: Tb: Terminal Block For Power Supply

    5.5. TB: Terminal Block for Power Supply 5.5.1. Terminal List Table 5-23: Terminal Labels and Functions Terminal Label Function CONT Control power input MAIN Main power input FGND Frame ground 5.5.2. Wiring Diagram (TB) Figure 5-17: Wiring diagram (TB) In the case of 200 VAC Control power Main power 3-phase 200 VAC...
  • Page 61 l Refer to “6.4.1. Connecting Power” for the wiring precautions. l For the power supply cable, use a heat-resistant vinyl cable of 2 mm or more thick. l Wire the power supply cables separately from the signal cables. Never bind them together or route them in the same duct.

  • Page 62: Installation

    If you suspect damage, do not apply power to the System, since this can cause immediate catastrophic damage to the Driver Unit. Furthermore, a damaged system could be a potential electric shock hazard. Notify the carrier immediately, and call your NSK representative. — 6-1 —...

  • Page 63: Motor And Driver Unit Combination

    A nameplate is attached to individual Motor and Driver Unit. Configuration of each plates are shown in Figure 6-1. Refer to “3.2. Reference Number Configuration” for the more details. Figure 6-1 Motor TYPE Serial Number NSK Ltd. MADE IN JAPAN Driver TYPE Serial Number — 6-2 —...

  • Page 64: Motor Mounting

    6.3. Motor Mounting 6.3.1. Mounting Location l Please check that the following environment is given to the System à Ambient Temperature : 0 ~ 40°C. à Relative Humidity : 20 ~ 80 % (Non-condensing) à Indoor use only à The area where the Motor is mounted must be free of corrosive gas, dirt, dust, water, oil and any other contamination.

  • Page 65: Driver Unit Mounting

    6.4. Driver Unit Mounting l The ESA13 Driver Unit may be mounted by the holes in brackets. ！ Caution : For proper air circulation, clearance is required above, below, and at the back of the unit (see Figure 6-7). l When the Driver Unit is installed in the control panel, keep the panel internal temperature within the range from 0°C to 50°C.

  • Page 66: Connecting Power

    The protection from electrical noise must be designed into the installation. Use a line noise filter on the AC supply. A suitable noise filter may be obtained from NSK. If you supply your own, it should meet these requirements in Table 6-3.
  • Page 67 Table 6-3: Contact Requirements Contacts For ESA Type Current Rating 15A No-Fuse Breaker Contact Capacity 15A Short-Circuit Breaker Sensitivity 15mA Magnetic Switch Contact Capacity 30A Table 6-4: Inrush Current Inrush Current (TYP) Item AC100v AC200V Control Power 140A Main Power l Install a surge killer circuit for magnet switches, relays and solenoids.

  • Page 68: Ground Connection And Wiring

    6.4.2. Ground Connection and Wiring l For grounding Driver Unit, use heavy gage cable as possible, such as a flat braided copper cable or a wire 3.5mm (AWG 10) or larger. ！ Caution : • All the ground lines must be connected at one point and the grounding resistance must be under or equal to 100 ｽ...

  • Page 69: Connecting Motor And Driver Unit

    6.5. Connecting Motor and Driver Unit l User must specify the Cable Set length when ordering. ！ Caution : • Do not make the Cable Set length longer or shorter. Changing cable length may worsen Motor and Driver Unit performances, typically resolver and resolver repeatability.

  • Page 70: Power On And Servo On

    à Refer to “14. Alarms” for more details. (iii) Handy Terminal display à If a message “NSK MEGA...” is displayed on the Handy Terminal, the system is ready for operation. A colon ( : ) indicates that a command can be entered.
  • Page 71 Figure 6-6: Handy Terminal display (In normal state) NSK MEGATHRUST MS1A00-***** E***** Differs with the system configuration (3) If the system is normal, input SVON signal. ！ Caution : Turn on the main power supply first, then the SVON input, when turn off the main power supply, turn off SVON first.
  • Page 72 Figure 6-8: Power ON / SVON timing Control power Main power supply 2 sec. Approx. DRDY output CPU initialized (See note) (See note) SVON input 30ms min. * Operation Home Return, etc. command * : It will take 30 milliseconds for the Driver Unit to receive the operation command after SVON is inputted.
  • Page 73 (Blank Page) — 6-12 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 74: Handy Terminal Communication

    Driver Unit. 7.1. When Power is Turned ON l If the terminal (NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit power is turned on, the message shown below is displayed. l The contents (and the number of characters) of this message may differ with Driver Unit setting and system versions.

  • Page 75: Command Entry

    The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts it, it returns an “NSK ON” message. Refer to “11. Command and Parameter” for details.

  • Page 76: Cancelling Command

    7.4. Cancelling Command l To cancel a command which has been entered halfway, enter a backspace code. l For example, when the backspace code is input following VG0.5, the cursor moves one space back to the position where 5 was input and thereby deletes 5. Figure 7-3: Canceling Example :VG0.5_ :VG0._...

  • Page 77: Readout Command

    7.6. Readout Command l If a command for reading initial setting or current state is entered, the Driver Unit returns data. l The following is an example for checking “JOG Velocity JV” set value. 1 TS command for reading set value (1) Refer to “11.

  • Page 78: Trial Running And Adjustment

    Power “ON” Unit is indicating (normal). • Turn control power “ON” and confirm that Handy Terminal display shows the message as shown below. NSK MEGATHRUST MS1A00_*** E********* Initialize servo parameters. 8.2.2. Initialize Servo Parameters l Execution of automatic tuning. 8.2.3. Execute Automatic Tuning à...

  • Page 79: Automatic Tuning (Adjustment Level 1)

    8.2. Automatic Tuning (Adjustment Level 1) ！ Caution : Automatic tuning cannot be performed if the following conditions are not met. à The load inertia must be under the limit of the Motor. (Refer to “4.1. Motor Specifications”) à The motor axis must be horizontal. (The load conditions to the Motor must not be affected by the gravity.) à...
  • Page 80 Figure 8-2: Example of Automatic Tuning Preparation Handy terminal (FHT11) HANDY TERMINAL < > Driver Unit & ‘ SHIFT CTRL Work (Load) Noise Control AC power CONT. power Filter Main MAIN power FGND Mounting base Cable Set DC24V (External power supply) DC24 SVON CN2 EMST...

  • Page 81: Initialize Servo Parameters

    8.2.2. Initialize Servo Parameters Turn off the servo-on (SVON, CN2) signal. Enter to check the parameter settings. Note down all values. Log in the password. :/NSK ON NSK ON Display indicates the confirmation. Log in SI (Set Initial Parameters) command. INITIALIZE “INITIALIZE”...

  • Page 82: Execute Automatic Tuning (Adjustment Level 1)

    8.2.3. Execute Automatic Tuning (Adjustment Level 1) l Between the cases that the load weight is known and unknown, the procedure of automatic tuning differs. 8.2.3.1 When the load weight is known. l Set the load weight by parameter LO. The unit of LO is [kg] and 0.1 kg step setting is possible. l For example, when the load weight is 5.5 [kg], the setting procedure will be as follows;...
  • Page 83 After the estimation of load weight, the display indicates the weight value “LO”. Load inertia ••••••• estimation. LO**** ！ Caution : When executing the automatic tuning, if an error message is “ON” refer to “14. Alarms” and take a proper remedy. Driver Unit’s LED indicates “F8”...

  • Page 84: Trial Running (Adjustment Level 1)

    8.2.4. Trial Running (Adjustment Level 1) ！ Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor makes a motion. Always stay in safe position. à For this adjustment, ESA13 Driver Unit’s demonstration program is used as an example.
  • Page 85 When moving stroke (IR) 200000 (200 mm) is feasible, input “OK”. IN10,IS0.5,FW1.0 IR200000/OK The motor starts the cycles as soon as “OK” is logged in. (Firstly the Motor moves to PLS direction.) l For changing moving stroke while “?” prompt is displayed, input desired IR, then input “OK”. à...

  • Page 86: Minor Servo Gain Adjustment

    8.2.5. Minor Servo Gain Adjustment (Adjustment Level 2) ！ Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor makes a motion. Always stay in safe position. à This section describes minor servo-gain adjustment as the next step when the Motor operation is not satisfactory with the automatic tuning.
  • Page 87 Observing the Motor operation, press the plus (+) key several times. [+],[-],[ENT] ,[-],[ENT] ,[-],[ENT] ,[-],[ENT] • • • Pressing SHIFT 333( 222) ( 222) ( 222) ( 222) STEP1 STEP1 STEP1 STEP1 _SG13 _SG13 _SG13 _SG13 As the response index decreases, the movement of the Motor is getting crisply. Keep pressing the plus (+) key, eventually the Motor starts hunting and stops.

  • Page 88: Manual Adjustment

    8.3. Manual Adjustment ！ Danger : Confirm that the work (or Motor) does not hit any obstacle when the Motor makes a motion. Always stay in safe position. à Manual adjustment is needed when the automatic tuning did not work. 8.3.1.
  • Page 89 Observing the Motor operation, press the plus (+) key several times. [+],[-],[ENT] ,[-],[ENT] ,[-],[ENT] ,[-],[ENT] • • • Pressing SHIFT 333( 222) ( 222) ( 222) ( 222) STEP1 STEP1 STEP1 STEP1 _VG3 _VG3 _VG3 _VG3 As the response index decreases, the movement of the Motor is getting crisply. Keep pressing the plus (+) key, eventually the Motor starts hunting and stops.

  • Page 90: Adjustment Of Velocity Integrator

    8.3.3. Adjustment of Velocity Integrator Frequency l The adjustment of velocity integrator frequency (VI) shall be conducted after the velocity gain (VG) is adjusted. Start “VI” adjusting program. [+],[-],[ENT] ,[-],[ENT] ,[-],[ENT] ,[-],[ENT] The messages are shown on the left. 444( 333) ( 333) ( 333) ( 333)
  • Page 91 Keep pressing the minus (-) key until the Motor stops hunting and starts moving. • • • [+],[-],[ENT] 253( 145) STEP0.1 _VI4 Set the “VI” value to 80% of displayed “VI” when a hunting us stopped. 4 × 0.8 = 3.2 Input the space key to change the resolution of “VI”...

  • Page 92: Setting Filters (Adjustment Level 2)

    8.4. Setting Filters (Adjustment Level 2) l When positioning, the Motor may resonate mechanically and generate a noise of certain frequency. Using Megathrust Motor’s software “low-pass filters” (Parameter FP and FS), the noise can be reduced. The unit of parameters of FP and FS is cycles / second (Hz). à...
  • Page 93 Decrease low-pass filter frequency (FP) to lower noise level by typing minus (-) key several times. • • • [+],[-],[ENT] 333( 222) STEP10 _FP500 If the Motor starts to work unstably, increase “FP” value by typing plus (+) key several times. Pressing SHIFT •...

  • Page 94: Operational Function

    9. Operational Function 9.1. General Operation and Function 9.1.1. Servo “ON” l After the Driver Unit power is turned on and its DRDY output circuit becomes closed, making SVON input ON should make motor servo-on. l The position error counter will be cleared when SVON input is OFF. l When SVON input is ON, the MO command results in servo-off.

  • Page 95: Emergency Stop

    9.1.2. Emergency Stop l Turning on the EMST input stops the position loop control function and stops the Motor in the servo-lock state* under velocity loop control. l No motion commands will be accepted while EMST input is on. l In the EMST state, the LED on the front panel indicates “F4”. The DRDY output remains unchanged (closed).

  • Page 96: Position Error Counter Clear Input

    9.1.3. Position Error Counter Clear Input l If the CLR input is on, position loop error will be cleared. l When the excess position error alarm occurs, turning on the CLR input clears the position error counter and recovers from the alarm state. * The Driver Unit detects the rising edge of the CLR input pulse and clears the position error counter to zero.

  • Page 97: Overtravel Limit

    9.1.4. Overtravel Limit 9.1.4.1. Hardware Overtravel Limit l Hardware overtravel limit is effective when I/O type is set to TY3, TY4 or TY7. l Use the OTP and OTM inputs to restrict the range of Motor movement. l If the OTP input is activated, the Motor motion will stop immediately and remain in servo-on. The Motor can be moved to the minus direction only.

  • Page 98: Software Overtravel Limit

    Turn off the Motor servo. Move the Motor’s slider manually to a point to be the overtravel limit on the plus side. Input the password. :/NSK ON NSK ON Register the present position as the overtravel limit on the plus side. The registered overtravel limit value appears on the display.

  • Page 99: Alarm Output

    Register the present position as the overtravel limit on the minus side. The registered overtravel limit value appears on the display. :OTM/ST OTP123456 OTM456789 Move the Motor’s slider into the overtravel area. Check that the Driver Unit outputs the F2 alarm (check the alarm indicated on the LED or input the TA command).

  • Page 100: In-Position Output

    9.1.6. In-Position Output l In-Position output condition is determined by the following parameters. Table 9-1 Parameter Function (Name) Shipping set IPOS outputting time range (Output mode) In-Position limit value IN100 In-Position stability timer Figure 9-7 RS-232C communication IR100 command or RUN input Determined by the IS set value Example IS1: 0.1 sec Position error...

  • Page 101: Output Signal Format

    9.1.6.1. Output Signal Format l The output signal format --- either IPOS format or FIN format --- can be selected by setting the FW parameter. à FW data : FIN format is selected when data ¹ 0 (shipping set : FW1) à...

  • Page 102: Parameter "In

    9.1.6.2. Parameter “IN” l Parameter “IN” is to decide positioning accuracy. l “IPOS” output will be closed when residual pulses of position error counter are within the range of “IN” parameter. l The unit of parameter “IN” value is the maximum resolution (pulses) of the motion detector (resolver).

  • Page 103: Position Feedback Signal

    9.1.7. Position Feedback Signal l Resolution Set the øA/øB resolution using the FR parameter (via RS-232C). Table 9-2 Unit: µm/pulse øA, øB Feedback signal øZ 4096 Resolution * When the resolver resolution is set to the automatic resolution switching or 10-bit setting, set the FR parameter to FR0.

  • Page 104: Monitor Functions

    9.1.8. Monitor Functions l The Motor operation can be monitored by using the analog velocity monitor pins, which are provided in the front panel of Driver Unit, and RS-232C communication. Table 9-3 RS-232C Item communication Monitor output Description command VELOCITY check pin ·...

  • Page 105: Velocity Monitor

    9.1.8.1. Velocity Monitor l The user can monitor the velocity of the Motor by measuring the voltage between VELOCITY and GND check pins on the front panel. u When the resolver is set to 12-bit resolution Note: ±10 V is only a typical value; actual values vary slightly. The voltage is not a precise representation of the velocity.

  • Page 106: Monitoring The I/O State

    9.1.8.2. Monitoring the I/O State l The Input/Output state of CN2 connector can be monitored using the I/O command. l Use this monitoring to check the wiring. à Input format IO/RP Without/RP : One-shot display With /RP: Real-time display à Display format Bit map representing Input/Output in one-line.

  • Page 107: Reading The Present Position

    9.1.8.3. Reading the Present Position u Reading the position scale live value in the units of pulse The position scale value is displayed continuously in the units of pulse. Moving the Motor’s slider changes the value on the display. :TP2/RP ******** (ii) Press the BS key to end the display.

  • Page 108: To Have More Advanced Operation

    9.2. To Have More Advanced Operation 9.2.1. Position Scale l The ESA13 Driver Unit has a position scale for positioning and overtravel limit. 9.2.1.1. Resolution l The Motor resolver has teeth for detecting its position, and each tooth, whose pitch is 4.096 mm, is digitally divided into 4096.

  • Page 109: Position Scale Coordinate

    l When the position scale direction is set, the directions of operations performed by the following functions are also determined. à Pulse train operation à Home return à Positioning via communication (IR, AR, HS) à Jog à Programmable indexer à Software overtravel limit l Direction of the hardware overtravel limit switch is not reversed by DI setting.

  • Page 110: Position Scale Setting Example

    9.2.1.6. Position Scale Setting Example (1) Set the MNS direction of the position scale as the plus direction. Input the password. The password acknowledgment message appears on the display. :/NSK ON NSK ON (ii) Input the DI command to determine the position scale direction.

  • Page 111: Digital Filter

    9.2.2. Digital Filter ！ Caution : • Inserting multiple filters may cause phase inversion in some systems, resulting in unstable operation. • Do not insert more than two filters. Setting a filter frequency too low may cause hunting, etc.; set the frequency to 100 Hz or above. Parameters for digital filter setting l Parameters : FP, FS, NP, NS à...

  • Page 112: Feed Forward Compensation

    9.2.3. Feed Forward Compensation l Parameter “FF” sets feed forward compensation gain. The password is necessary when setting. l Shipping set of “FF” is FF0. l The feed forward compensation function generates a velocity command by differentiating the position command, then adds it to the velocity loop in the forward direction. l Feed forward compensation improves follow-up delay during acceleration/deceleration.

  • Page 113: Integrator Limiter : Ilv

    9.2.4. Integrator Limiter : ILV l Parameter “ILV” sets the upper limit to the velocity gain. Shipping set is ILV100. l The password is necessary when setting “ILV”. l Integrator limiter reduces overshoot caused by the integral action during high acceleration / deceleration.

  • Page 114: Dead Band Setting : Dbp

    9.2.5. Dead Band Setting : DBP l The DBP parameter sets a dead band, centered at “0” to error in the position loop. When the position error value is below the specified dead band value, the position command is set to 0. l In some systems, micro vibrations may be caused by a slight error in positioning.

  • Page 115: Rs-232C Communication

    9.3. RS-232C Communication 9.3.1. Communication Specification l Setting of various parameters, trial running, and adjustment are enabled by issuing commands to the Driver Units through serial communication (i.e., communication through the RS-232C interface). l The Driver Unit has CN1 as the input/output ports for RS 232C communication. l When the Handy Terminal (FHT11) is not in use, set the MM parameter to 0.

  • Page 116: Communication Procedure

    9.3.2. Communication Procedure 9.3.2.1. When Power is Turned ON l If a terminal (such as NSK Handy Terminal FHT11) is connected to CN1 and the Driver Unit power is turned on, the message shown below is displayed. l The contents (and the number of characters) of this message may differ with Driver Unit setting and system versions.

  • Page 117: Command Entry

    9.3.2.2. Command Entry l A communication command shall consist of “a command (character string) + data (if necessary) + carriage return code (0DH).” l If the velocity gain is to be set to 0.5, for example, “VG0.5” should be entered by adding data of 0.5 to a VG command.

  • Page 118: Password

    AB, PA, SI, etc.) require password entry for preventing erroneous entries. These commands cannot be entered in the same manner as other commands. l The password is /NSK ON (a space between K and O) as shown below. If the Driver Unit accepts it, it returns an “NSK ON” message.

  • Page 119: Cancelling Command

    9.3.2.4. Cancelling Command l A command which has been entered halfway, entering a backspace code (08H) can cancel a character or an entered full character string. Parameter “backspace mode” (BM) sets the cancelling method. BM0 : a backspace code cancels an entered character string. BM1 : a backspace code cancels a character.

  • Page 120: Error

    9.3.2.5. Error l Note that an error occurs in any of the following cases : If a nonexistent command (i.e., character string) is entered (If an entered character string cannot be decoded). If data or subscript out of the allowable range is entered. If a command requiring the password is entered without the password.
  • Page 121 u Example 2 Figure 9-28: Input error example 2 :IR10 :IR10 :IR10 :IR10 If an IR command (Incremental Positioning, IR INHIBITED IR INHIBITED IR INHIBITED IR INHIBITED Rresolver) is entered when the Motor is rotating, an :_ :_ :_ :_ error message is returned since the input condition is not met.

  • Page 122: Readout Command

    9.3.2.6. Readout Command l If a command for reading the internal state (i.e., parameter set values, current position, etc.) of the Driver Unit among the communication commands of this system is entered, the Driver Unit returns data, etc. l Returned data consists of “space code (20H) + read value, data + carriage return (0DH) + line feed code (0AH)”.
  • Page 123 (2) If set value reading function “?” is used Figure 9-30: “?” function example :?VG :?VG :?VG :?VG Entered command VG0.5 VG0.5 VG0.5 VG0.5 Returned velocity loop proportional gain :_ :_ :_ :_ Waiting for a command to be entered Input (To Driver Unit) Echo back (From Driver Unit) (3) TP command for reading current position data...

  • Page 124: Daisy-Chain Communication

    9.3.3. Daisy-Chain Communication l Daisy-chain communication allows multiple Driver Units (up to 16 units) to be connected with a single RS-232C terminal. Figure 9-32: Daisy chain communication overview Terminal RS-232C Cable Driver Unit Driver Unit Driver Unit Driver Unit 9.3.3.1. Procedure to Set Daisy-chain Communication Figure 9-33: Daisy-chain communication setting procedure Operation procedure Power on...

  • Page 125: Initial Setting

    9.3.3.2. Initial Setting l The password is necessary for inputting initial setting parameters. l The initial setting values become valid when the power is turned on next time. l Perform initial setting before making multi-axis connection. Table 9-9 : Initial setting RS-232C Data Shipping...
  • Page 126 Driver Unit Actual Connection Example l When NSK’s Handy Terminal is in use, connect the lines as shown in Figure 9-35. l Refer to “5.1. CN1 : RS 232C Serial Communication Connector” for the specification of CN1. Figure 9-36: Handy Terminal Connection Example Connector pin No.

  • Page 127: Power On

    If all the terminal and units are connected properly, the following message is displayed (the following examples shows a 3-axis configuration) Figure 9-37 NSK MEGATHRUST MS1A00_XXXX EXXXXXXXXXX Displays the connection state. Waiting for a command to be entered.

  • Page 128: Operation

    9.3.3.5. Operation Selection of Driver Unit to Communication l In daisy-chain mode, the RS-232C terminal is capable of communication through a single driver unit. l Use an AX command to select one of the Driver Units connected for daisy-chain communication. ！...
  • Page 129 Example of Daisy-chain Communication Figure 9-41: Example of Daisy-chain Communication ¬ AX1 command Select axis 1 Check Acknowledgment message acknowledgment ACC, AX1 message. Example: Set axis 1 parameter. IR100 (move by 100 pulses) ¬ AX3 command Select axis 3 Check Acknowledgment message acknowledgment ACC, AX3...

  • Page 130: Positioning

    10. Positioning 10.1. Preparation 10.1.1. Wiring Check ！ Caution : Before operation, check the followings. Table 10-1: Check list Check item Confirmation · All wiring is properly arranged and completed. Connection of Main power · Terminal block screws are securely fastened. and Input/Output cables ·...

  • Page 131: Home Return

    10.2. Home Return l Be sure to perform the home return at all times except when user’s controller is performing coordinate system control. The origin cannot be determined unless the home return is performed. l The positioning and software overtravel limits are set in the position scale determined by the home return operation.
  • Page 132 l Home return can be also executed with the following ways. à Select the channel where HS command is set and input RUN command. à Execute RS command through RS-232 communication. l The home return movement differs as shown in Figure 10-3 according to the starting point of home return.

  • Page 133: Home Return Parameter List

    10.2.1. Home Return Parameter List Table 10-2: Parameter list RS-232C Shipping Parameter function Unit Data input range Parameter Home Return Acceleration 0.01 ~ 5.00 HA0.05 mm/s 1 ~ 1800 HV100.0 Home Return Velocity Home Return Near-Zero Velocity mm/s 1 ~ 100.0 HZ5.0 Home Position Offset -30 000 000 ~ +30 000 000...
  • Page 134 Press the ENT key to execute the command and thereby turn off the Motor servo. TR2003 At this time, the Motor can be moved easily by hand. Move the Motor to the desired position. Input the password. TR2003 :/NSK ON_ (vi) :/NSK ON NSK ON A command can be entered only on this line (vii) Input the HO/ST command.
  • Page 135 (viii) Press the ENT key to execute the command. NSK ON :HO/ST HO1234 When the “:_” prompt appears on the display, Home offset HO value is automatically calculated and set. (ix) Input the SV command (servo-on command.) NSK ON :HO/ST...

  • Page 136: Programming The Home Return Operation (Example)

    10.2.3. Programming the Home Return Operation (example) (1) Programming the home return command in channel 0 (CH0) l When the I/O type is not TY4, there is no home return start (HOS) input in the CN2 connector. In this case, program the home return command in a Programmable Indexer channel. Then, start the operation by activating the channel (i.e., RUN input ON).

  • Page 137: Position Of Origin Limit Switch In Ty1 And Ty2 I/O Combination

    10.2.4. Position of Origin Limit Switch in TY1 and TY2 I/O Combination l There is not an input of “overtravel limit” in I/O combination of TY1 or TY2. Use software overtravel (parameter OTP and OTM) to set off-limit area. However the software overtravle limit does not function until completion of Home return after the power is turned on.

  • Page 138: Programmed Operation

    10.3. Programmed Operation l Positioning command can be stored to the channel of the Driver Unit. Programmed operation is to execute the stored positioning program by selecting the channel via PRG0~PRG3 input and RUN command. l Set the system to servo-on. (SVON input ON) l Select the channel (Input PRG0~PRG3, CN2 signal) l By inputting RUN command ON, the Motor execute stored positioning program while IPOS output is closed.

  • Page 139: Programmable Indexer Channel Switching

    10.3.1. Programmable Indexer Channel Switching (1) I/O type: TY1 l The channel to be executed is selected by combining the on and off states of the PRG0 to PRG3 inputs. Table 10-3: 16-Channel selection PRG3 input PRG2 input PRG1 input PRG0 input Selected channel No.

  • Page 140: Pulse Train Command

    10.4. Pulse Train Command 10.4.1. Pulse Train Signal Format l Input a pulse train from PLSP and MNSP of CN2 signal. l Set the pulse train input signal format with the PC parameter (via RS-232C communication). (The password must be input prior to the PC parameter setting.) Table 10-5: Signal format PC Parameter PLSP input...

  • Page 141: Pulse Train Resolution

    10.4.2. Pulse Train Resolution l Set the resolution of the pulse train with the CR parameter (via RS 232C). l In the case of øA/øB input, the pulse train resolution is multiplied by the PC parameter value, then by the CR parameter value. l Refer to Table 10-3, 4 and 5 for the concrete data of resolution.

  • Page 142: Input Timing

    10.4.3. Input Timing ！ Caution : The following specifies the conditions of pulse acceptance timing. Besides these conditions, the Motor operation is restricted by the maximum velocity. Do not input pulses faster than Motor’s maximum velocity. (1) When PC is set to “0” (PC0) Figure 10-8 PLS Motor MNS Motor...
  • Page 143 Table 10-7 Motor maximum Maximum pulse Pulse train format Resolver resolution Moving velocity velocity freqnency ×1 12bit (1um) 600 mm/s 600 kpps 600 mm/s PLS & MNS format ×2 300 kpps 600 mm/s ×5 120 kpps 600 mm/s ×1 10bit (4um) 1800 mm/s 450 kpps 1800 mm/s...

  • Page 144: Rs-232C Position Commands

    10.5. RS-232C Position Commands l You can execute indexing using RS-232C commands. The commands/parameters are shown below. Refer to “12. Command and Parameter” for more details. Table 10-8 Command/parameter Function IR command Sets the amount and executes motion (incremental/in the units of pulse) AR command Sets the target and executes motion (absolute/in the units of pulse) Starts the home return.

  • Page 145: Jog Operation

    10.6. Jog Operation l Jog operation is available when the Driver Unit is set to Type 7. l Set system to servo-on. (SVON input ON) l Turning on the Jog input makes the Motor start acceleration and moving. The Motor keeps moving while the Jog input remains on.

  • Page 146: Programming

    11. Programming l The program for programmed operation can be made through RS-232C serial communication. You can input the program only when the Motor is stopping. l Program aria is shown in Figure 10-1. Channel 0 ~ 63, totally 64 channels, are available. Figure 11-1: Program area Channel 0 Channel 1...
  • Page 147 u Positioning Command : AR, IR Conditions : CV, CA are may be omitted. l This is to program positioning. Table 11-1 Command format Description Optional · Absolute format in unit of pulses. Optional code d2 AR d1 seq · The motor moves to reach the d1 (pulse) / n : (n£99) à...
  • Page 148 u Jump Command : JP Conditions : None l This is the command for unconditional jump. l A program jumps to specified channel and continues operation. l Command format Jp m m : Channel number to jump (default: 0) [Program example] :CH0 IR1000&...
  • Page 149 u Sequence code Command : (HS), (AR), ( R ) Conditions : *, & l When a sequence code is added to a command, a program executes the next channel continuously without selecting a channel externally. Table 11-2 Sequence code IPOS output Execution of the next channel *: asterisk...

  • Page 150: Program Editing Command

    11.2. Program Editing Command Table 11-3: Program editing command Editing Command Function · Typing declares the channel to Change program be changed. (m: desired channel number) · The display shows the present program and waits for the changes. settings (The prompt is in “?” state.) ·...

  • Page 151: Inputting A Program

    11.3. Inputting a Program u Program setting Declare a channel to be programmed. à When a channel is selected, the programmed contents is display. à Then prompt “?” appears to wait for an instruction. :CH10_ AR18000 CV50 CA0.1 (ii) Program a command. CV50 CA0.1 ?IR9000/10...
  • Page 152 u Readout data Declare the channel to be read out. The contents of the channel are displayed. :TC10 IR9000/10 CV30 u Delete data Declare the channel whose data is to be deleted. à Press ENT key to delete the data. :CC10 —...

  • Page 153: Program Example

    11.4. Program Example l Write the following motion profile in Channel 5. à Travel stroke 30000 pulses (30mm) to the MNS direction à Acceleration CA: 0.1 [G] à Velocity CV: 100 [mm/s] Check that the “:” prompt is displayed on the screen. (ii) :CH5_ (iii)
  • Page 154 (vii) Press the ENT key to input value, and the “?” prompt appears again. CA1.0 ?IR-30000 ?CA0.1 (viii) CA1.0 ?IR-30000 ?CA0.1 ?CV100_ (ix) Press the ENT key to input value, and the “?” prompt appears again. ?IR-30000 ?CA0.1 ?CV100 Press the ENT key again to escape programming. This completes programming. ?CA0.1 ?CV100 —...
  • Page 155 (Blank Page) — 11-10 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 156: Command And Parameter

    Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit. When the display shows “NSK MEGA•••” the system is in the normal state. l Some parameters shown in Tables 12-1 shall be changed according to the actual operating condition from the shipping setting.
  • Page 157 Table 12-1: Megathrust Motor standard setting Parameter Name Password Shipping set Data range Current setting * Position gain 0.010 ~ 1.000 Velocity gain 0.10 ~ 255.0 Velocity integrator frequency 1.00 0.10 ~ 63.00 Velocity integrator mode 0, 1 Low-velocity gain 10 ~ 100 Torque limit 0 ~ 100...

  • Page 158: Command And Parameter

    12.2. Command and Parameter l “Shipping set” denotes a value which is set at the factory before shipment. l “Default” denotes a value which is adopted by entering a command and parameter with no data. l The password must be entered before inputting a command marked with «. Refer to “9.3.2.3. Password”...

  • Page 159: An : Axis Number

    « « « « : Axis Number Format : AN data Data range : 0 ~ 15 Shipping set Default l Sets the axis number in the daisy-chain communication mode. l “TS” command or “?AN” command reports the current setting. l For more details, refer to “6.2.

  • Page 160: Ax : Axis Select

    : Axis Select Format : AX data Data : 0 ~ 15 Shipping set Default l When communicating in daisy-chain, AX selects the one of the Driver Unit. Selected Driver Unit sends a confirmation signal back to the RS-232C terminal. l Confirmation message “ACC.

  • Page 161: Ca : Channel Acceleration

    : Channel Acceleration Format : CA data Data : 0.05 ~ 2.50 [G] Default l This command is used to specify the acceleration of a given channel of the Programmable Indexer. l The “CA” command may be input under the condition where a channel to be programmed is selected with a “CH”...

  • Page 162: Cm : Communication Mode

    « « « « CM : Communication Mode Format : CM data Data : 0 or 1 Shipping set Default l CM Selects the RS 232C communication mode. CM0: Standard CM1: Daisy-chain communication l The CM parameter set at the time of power-on is valid. l To change the communication mode, change the CM parameter, turn off the power, then turn it on again.

  • Page 163: Cv : Channel Velocity

    : Channel Velocity Format : CV data Data : 1 ~ 1800 [mm/s] Default l This command is used to specify the velocity of each channel of the Programmable Indexer. l The “CV” command may be input under the condition where a channel to be programmed is selected with a CH command, the Driver Unit outputs “?,”...

  • Page 164: Fc : Friction Compensation

    « « « « : Friction Compensation Format : FC data Data : 0 ~ 2047 Shipping set Default l “FC” is used to specify a compensation value to cancel rotational static friction of the Motor. l If 0 is specified in ‘data’ the function is deactivated. l Parameter FC can be obtained with the formula shown below.

  • Page 165: Fo : Low-Pass Filter Off Velocity

    : Low-pass Filter OFF Velocity Format : FO data Data : 0, 1~1800 [mm/s] Default l Sets the low pass filters (parameter FP and FS), depending upon velocity. l FO data sets the velocity threshold which turns ON and OFF the low pass filters. Velocity Filter ON FO data...

  • Page 166: Feed Back Signal Resolution

    « « « « : Feed Back Signal Resolution Format : FR data Data : 0 or 1 Shipping set Default l Sets the resolution specification of the position feedback signal øA and øB. FR0 : 10-bit resolution specification FR1 : 12-bit resolution specification l For more details about the resolution, refer to “4.2.2.2.

  • Page 167: Fw : Fin Width

    FW : FIN Width Format : FW data Data : 0 or 0.3 ~ 100 [0.1 second] Shipping set Default l Sets the width (length) of IPOS output. Unit is 0.1 sec. l If it is set to FW1, the time length of the IPOS output will be 0.1 sec. l If it is set to FW0, IPOS output is in standard state and always closed when the position error counter value is less than the “IN”...

  • Page 168: Hd : Home Return Direction

    « « « « : Home Return Direction Format : HD data Data : 0 or 1 Shipping set Default l For more details about the home return operation, refer to “10.2. Home Return.” HD0: Home return in the PLS direction HD1: Home return in the MNS direction «...

  • Page 169: Hz : Home Return Near-Zero Velocity

    : Home Return Near-Zero Velocity Format : HZ data Data : 1 ~ 100 [mm/s] Shipping set Default : Not omissible l Sets the home return near-zero velocity. l “TS” or “?HZ” command reports the current setting. « « « « ILV : Integration Limit Format : ILV data...

  • Page 170: Io : Input/Output Monitor

    : Input/Output Monitor Format : IO data opt. Data : 0 or 1 Opt (option code) : /RP l Verifies on/off (closed/open) of the control input and output signals on CN2. l The status of the inputs and outputs is indicated as 1’s or 0’s. ‘data’...

  • Page 171: Is : In-Position Stability Timer

    : In-position Stability Timer Format : IS data Data : 0 or 0.3 ~ 100.0 [0.1 sec] Default l Specifies the output condition of the positioning completion signal (IPOS). : The IPOS output closes in positioning if the value of the position error counter is within the IN set range.

  • Page 172: Lg : Lower Gain

    : Lower Gain Format : LG data Data range : 0 ~ 100 [%] Shipping set : 50 Default : Not omissible ！ Caution : Factory use only. Do not change the setting. « « « « : Load Inertia Format : LO data Data range...

  • Page 173: Mi : Read Motor

    : Read Motor ID Format : MI l MI indicates reference number of the system ROM and the torque ROM. l SY data that are read out by MI command have the meaning as shown below. SY 0 , 0 , 0 , 0 MTM23: SY 1 , 0 , 0 , 0 MTH23:...

  • Page 174: Ms : Motor Stop

    : Motor Stop Format : MS l When the “MS” command is input during the execution of an operation, the Motor abandons the instruction and stops. At this time, the Motor is in the servo-on state. l The operation instruction specified before the Motor stop is cleared. If the “MO” command is input to turn off the Motor servo, inputting the “MS”...

  • Page 175: Ns : Notch Filter, Secondary (Secondary Notch Filter Frequency)

    : Notch Filter, Secondary (secondary notch filter frequency) Format : NS data Data : 0, 10 ~ 500 [Hz] or /AJ (adjust mode) Shipping set Default l NS data sets frequency of secondary notch filter. l If “0” is specified, the 2nd stage notch filter will be set to OFF. In such a case the display shows “SEC.NF.OFF.”...

  • Page 176: Og : Origin Set

    Default l Do not change the OL setting. OL is properly set for each System. If it needs to be changed, contact NSK. l If 0 is specified, “THERMAL OFF” is displayed and this function is deactivated. l “TS” or “?OL” command reports the current setting.

  • Page 177: Otp : Overtravel Limit Switch Position

    « « « « : Overtravel Limit Switch Position « « « « Format : OTP data, OTM data Data : -99 999 999 ~ +99 999 999 [pulse] Shipping set : OTP0, OTM0 Default l Sets the software overtravel limit values in the position scale. OTP : Sets the overtravel limit value in the plus direction in the units of pulse.

  • Page 178: Pg : Position Gain

    : Unique value for each System Default l Do not change the RC setting. RC is properly set for each System. If it needs to be changed, contact NSK. l “TS” or “?RC” command reports the current setting. « « « «...

  • Page 179: Rr : Resolver Resolution

    « « « « : Resolver Resolution Format : RR data Data : 0, 1, -1 Shipping set : -1 Default l Sets the resolution of the resolver. RR0 : 10-bit setting RR1 : 12-bit setting RR-1 : Automatic resolution switching l For the details about the resolution, refer to “4.2.2.2.

  • Page 180: Set Initial Parameters

    « « « « : Set Initial Parameters Format : SI/data Data range : None, AL, SY Default : None l Resets parameters to the shipping set value. l The SI command can be input only immediately after inputting the password and when the Motor is servo-off.

  • Page 181: Ta : Tell Alarm Status

    : Tell Alarm Status Format : TA Data : None /HL/CL Default : None l TA : Reports alarms currently given. l TA/HL : Displays history of alarms. Refer to “14.2.5. History of Alarms.” l TA/CL : Clears history of alarms. Password is required to execute the command. l There will be no indication when no alarm is reported.

  • Page 182: Tc : Tell Channel Program

    : Tell Channel Program Format : TC data Data : 0 ~ 15 or /AL Default l Reports the program contents of a channel specified on ﾔ data ﾕ. l No data is displayed if program is not set to the channel. l “TC/AL”...

  • Page 183: Tp : Tell Position

    : Tell Position Format : TP2/RP Shipping set : None Default : Not omissible l “TP2” command reads the current position of the Motor in the pulse scale. l If /TP is executed with an /RP option, reading is repeated automatically. l If only “TP2”...

  • Page 184: Ty : I/O Type

    « « « « : I/O Type Format : TY data Data : 1, 2, 3, 4, 7 Shipping set Default : Not omissible l Sets the input/output signal type of the CN2 connector. l The set value can be read by the “TS” command or “?TY”. l The input/output signals of each type are shown below.

  • Page 185: Vm : Velocity Integrator Mode

    « « « « : Velocity Integrator Mode Format : VM data Data : 0, 1 Shipping set Default l Changes the velocity loop integrator control as shown below. VM0: Velocity loop P control. VM1: Velocity loop PI control. « « « « : Velocity Error Over Limit Format : VO data...

  • Page 186: Wm : Write Mode To Eeprom

    « « « « WM : Write Mode to EEPROM Format : WM data Data : 0 or 1 Shipping set Default l 500 000 times of resetting/deleting parameters to EEPROM are possible as data back-up. However, frequent resetting/deleting of parameters may exceed the expected life of EEPROM. “WM”...
  • Page 187 (Blank Page) — 12-32 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 188: Maintenance

    13. Maintenance 13.1. Precautions l Back-up Motor and Driver Unit à We recommend to prepare a back up Motor and Driver Unit for unexpected shut down of the system. l Parameter and program back-up à For an unexpected shut down of the Driver Unit, all parameters and programs should be recorded.

  • Page 189: Maintenance Check

    It should be decided according to the actual use conditions. ！ Caution : Do not disassemble the Motor and resolver. If disassembling Motor is necessary, contact your local NSK representative. Table 13-1: Motor maintenance check Item...

  • Page 190: Periodical Replacement Of Parts

    13.3. Periodical Replacement of Parts 13.3.1. Motor l There is no parts which is required to be replaced periodically. l Refer to “13.2. Maintenance Check”. 13.3.2. Driver Unit l Electrolytic condenser à The gradual chemical change of electrolytic condensers will deteriorate system function and it may result in the system failure.

  • Page 191: Warranty Period And Covering Range

    Damages induced by a failure of the supplied unit are not covererd. 13.5.4. Service Fee l NSK Ltd. reserves the right to charge to a user for the service such as dispatch of engineer(s). l Startup, maintenance and adjusting of the unit under the supervision of our engineer(s) is a paid service even if it is to be provided during the warranty period.

  • Page 192: Alarms

    14. Alarms 14.1. Identifying Alarms l The DRDY output opens when error occurs in ESA15 Driver Unit. l The front panel is provided with a 7-segment LED display to indicate the type of alarm. Also the TA command can be used to identify alarms. 14.1.1.

  • Page 193: Using Ta Command

    14.1.2. Using TA Command l “TA” command displays the same alarm code as that is displayed on the 7-segment LED display. l In this case, the code is not displayed at different time as the LED display. à Example Excess position error and heat sink over temperature alarms will be displayed as shown in Figure 14-4.

  • Page 194: Alarm List

    14.1.3. Alarm List l Alarms and their codes are listed in Table 14-1. Table 14-1: Alarm code list 7 segments Alarm Terminal Display Memory error E0>Memory Error EEPROM error E2>EEPROM Error System error E7>System Error Excess Position error F1>Excess Position Error Software Over Travel Limit F2>Software Over Travel Hardware Over Travel Limit...

  • Page 195: Description Of Alarm

    à Whether the duty cycle is too high. à Whether excessive load is applied. · If no troubles are found in the above check and this alarm occurs frequently, contact NSK. (5) Defective PCB. · Replace Driver Unit. (As soon as the control power is turned (Refer to “Appendix 4.

  • Page 196: Abnormal Main Ac Line Voltage

    14.2.2.2. Abnormal Main AC Line Voltage [Output] DRDY: Open [TA] P1 > Main AC Line Trouble [LED] [Motor Condition] Servo-OFF Table 14-4: Cause and Remedy: Abnormal main AC line voltage (Over/Under) Cause Remedy (1) Abnormal power supply voltage. · Check main power supply. (Excessive voltage, low voltage and power source (2)à...

  • Page 197: Control Ac Line Under-Voltage

    14.2.2.4. Control AC Line Under-Voltage [Output] DRDY: Open [TA] P3 > Control AC Line Under Voltage [LED] [Motor Condition] Servo-OFF Table 14-6: Cause and Remedy: Control AC line under-voltage Cause Remedy (1) Low voltage of control power input. · Check control power voltage. (Low voltage due to over current or output shorting.) ·...

  • Page 198: Alarms Related To Motor

    14.2.3. Alarms Related to Motor 14.2.3.1. Resolver Circuit Error [Output] DRDY: Open [TA] A0 > Resolver Circuit Error [LED] [Motor Condition] Servo-OFF Table 14-7: Cause and Remedy: Resolver circuit error Cause Remedy · Turn off power, check the resolver cable and (1) Resolver cable disconnected.

  • Page 199: Software Thermal Sensor

    14.2.3.2. Software Thermal Sensor [Output] DRDY: Open [TA] A3 > Overload [LED] [Motor Condition] Servo-OFF Table 14-8: Cause and Remedy: Overload Cause Remedy (1) Excessive Motor duty cycle. · Reduce duty cycle and the load. Re-adjust acceleration/deceleration. · The Motor is overheated and air-cooling is necessary after the Motor stops.

  • Page 200: Alarms Related To Control

    14.2.4. Alarms Related to Control 14.2.4.1. Memory Error [Output] DRDY: Open [TA] E0 > Memory Error [LED] [Motion Condition] Servo-OFF Table 14-10: Cause and Remedy: Memory error Cause Remedy · Initialize the memory then reenter the parameters. (1) Parameters stored in the memory have been rewritten by noise or other cause.

  • Page 201: Cpu Error

    (1) CPU is out of control due to noise. · Turn power on again. · The alarm is deactivated when the power is turned on again. If the alarm occurs frequently, contact NSK. · Replace Driver Unit. (2) Faulty PCB.

  • Page 202: Software Over Travel Limit

    14.2.4.6. Software Over Travel Limit [Output] DRDY: Open [TA] F2 > Software Over Travel [LED] [Motor Condition] Servo Lock in one direction. (The Motor will only move in a direction opposite to that of the rotation limit.) Table 14-15: Cause and Remedy: Software over travel Cause Remedy ·...

  • Page 203: Program Error

    14.2.4.9. Program Error [Output] DRDY: Closed [TA] F5 > Program Error [LED] [Motor Condition] Servo Lock Table 14-18: Cause and Remedy: Program error Cause Remedy (1) A non-programmed channel is started. · Check the program. · Check wiring of PRG0~PRG3 input. ·...

  • Page 204: Rs-232C Error

    14.2.4.11. RS-232C Error u When parameter is SE “0,” [Output] DRDY: Close [TA] C2 > RS232C Error [LED] [Motor Condition] Normal u When parameter is SE “1,” [Output] DRDY: Open [TA] C2 > RS232C Error [LED] [Motor Condition] Servo lock Table 14-20: Cause anr Remedy: RS-232C error Cause Remedy...

  • Page 205: History Of Alarm

    Details of alarm. Alarm code. Number of alarm. 14.2.5.2. Clear History of Alarm (1) Input password. :/NSK ON NSK ON (2) Input TA command. :/NSK ON NSK ON :TA/CL — 14-14 —...

  • Page 206: Troubleshooting

    15. Troubleshooting 15.1. Identifying Problem l If problems do occur, check the items shown in Table 15-1. l When reporting problems to the manufacturer, explanation of the items in Table 15-1 will help to identify the problem. Table 5-1 Items Point to be checked ·...

  • Page 207: Troubleshooting

    15.2. Troubleshooting l When troubleshooting, refer to the flow chart shown below. Figure 15-1: Troubleshooting flow — 15-2 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 208: Power Trouble

    15.2.1. Power Trouble Power is not turned on. Figure 15-2: Power trouble — 15-3 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 209: Motor Trouble

    15.2.2. Motor Trouble (1) Motor servo is not turned on. Figure 15-3: Motor trouble 1 — 15-4 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 210 (2) Motor does not run smoothly. / Motor vibrates or runs away. Figure 15-4: Motor trouble 2 — 15-5 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 211: Command Trouble

    15.2.3. Command Trouble (1) Home Return command causes no motion. Figure 15-5: Command trouble 1 — 15-6 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 212 (2) Motor does not stop in Home Return. Figure 15-6: Command trouble 2 (3) Home Return command fails to stop Motor in position. Figure 15-7: Command trouble 3 — 15-7 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 213 (4) Run input does not start Motor. Figure 15-8: Command trouble 4 — 15-8 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 214 (5) Pulse train input does not run Motor Figure 15-9: Command trouble 5 — 15-9 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 215: Terminal Trouble

    15.2.4. Terminal Trouble Communication is Disabled Figure 15-10: terminal trouble — 15-10 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

  • Page 216: Appendix 1: Verify Input/Output Signal

    Appendix 1: Verify Input/Output Signal IO: Read Out Input/Output Signal Status. Format : IO/opt. ENT (opt.: option) Option Code : /RP l Verifies on/off (open/closed) status of the control Input and Output signals on CN2 connector. l When IO command is executed with option code /RP, reading is repeated automatically on the display.
  • Page 217 [Example] Verify the channel program start command “RUN” is ON. (ii) :IO_ (iii) :IO/RP_ (iv) Press the enter key to execute. Read-out starts immediately after the input. :IO/RP 0010000000/000 Press the back space key to discontinue read out. If it is not pressed, read out will be repeated and the next command can not be accepted.

  • Page 218: Appendix 2: How To Check Motor Condition

    2. Variations between each phase : 1W or less (øA, øB, øC) l If your motor is a specially ordered one, or the cable is longer than 4m, contact NSK for specification. — A-3 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 219 : 1W or less YA1, YA2 YB1, YB2, YB3 l If your motor is a specially ordered one, or the cable is longer than 4m, contact NSK for specification. — A-4 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 220 (3) 3 Insulation resistance of Motor winding ！ Caution : Disconnect Driver Unit from the Motor when conducting megger test. ！ Caution : Do not apply more than DC 500 V. Figure A-5: With cable set Figure A-6: motor only Connector Lock Tester 5 10 15...

  • Page 221: Appendix 3: Initializing Driver Unit

    Appendix 3: Initializing Driver Unit l When troubleshooting or replacing Motor or Driver Unit, initializing Driver Unit may be necessary. l When initializing Driver Unit, follow procedures described hereafter. l Use Handy Terminal FHT11 for inputting command. l Procedures Figure A-7 (1) Note down parameter settings and channel programs.
  • Page 222 Turn on the control power only. ¯ Input the password. When the colon “ : ” is displayed, Press. ¯ The Driver Unit echoes back “NSK ON”. ¯ Input “SI/AL” command. Press. ¯ The Driver Unit echoes back “INITIALIZE”. A colon “ : ” will be displayed to indicate completion of initializing.

  • Page 223: Appendix 4: How To Replace Esa13 Driver Unit

    Driver Unit must be disassembled. To disassemble the Driver Unit, follow the procedures described hereafter. à For a special Driver Unit, contact your local NSK representative. à Before replacing the Driver Unit, record all parameters and channel programs. The record list is provided in the last page of this manual.
  • Page 224 Dissemble ESA13 Driver Unit 1 Remove side panel Figure A-9 — A-9 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 225 Figure A-10 — A-10 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 226 2 Remove the compensation ROM (U21) from the commutation board of old Driver Unit. (Use a ROM remover.) Figure A-11 Front side (Compensation ROM) Figure A-12 Socket Commutation board 3 Insert the ROM to new Driver Unit commutation board. l Be careful of the orientation of the ROM. Make sure the ROM is securely set to the socket. Figure A-13 Be careful not Socket...
  • Page 227 4 Assemble the side panel Figure A-15 — A-12 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 228 Figure A-16 — A-13 — Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
  • Page 229 Motor may run away. (Make sure that CN2 connector is disconnected.) When control power is turned on, Handy Terminal displays “NSK MEGATHRUST ･･･”. à After the display shows a colon “ : “, input Initialization will take about 30 seconds.

  • Page 230: Parameter • Program Setting List

    Parameter • Program Setting List Reference No. : S/N : Parameter List · A blank part remains the shipping set. Date : Setting Setting Setting Parameter Parameter Parameter Factory set Your setting Factory set Your setting Factory set Your setting ×1 －1 X0X0XX00...
  • Page 231 Channel Program · For channels not in use, leave in blank. Data : Program Program Program Program Command : Command : Command : Command : CV : CV : CV : CV : CA : CA : CA : CA : Command : Command : Command :...
  • Page 232 : 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 233 3rd Edition, 1st Printing April 17, 2002 Document Number: T20011-03 Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...

This manual is also suitable for:

Megathrust esa-lyb3t15-21Megathrust esa-lyb2t15-21

Table of Contents