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NSK MEGATORQUE MOTOR Series User Manual

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TM
MEGATORQUE MOTOR
SYSTEM
(Driver Model EGA)
User's Manual
M-E099GA0C2-191
NSK Ltd.
Document Number: C20191-03

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Summary of Contents for NSK MEGATORQUE MOTOR Series

  • Page 1 MEGATORQUE MOTOR SYSTEM (Driver Model EGA) User’s Manual M-E099GA0C2-191 NSK Ltd. Document Number: C20191-03...
  • Page 2 NSK Ltd. does not assume any liability arising out of the application or use of any product described herein; neither does it convey any license under its present...
  • Page 3 Revision History 3rd Edition ■ Chapter 3 Added "If dust or oil mist is present" to the precautions for the converter. ● ■ Chapter 9 Revised standards conformity and test standards. ● Added explanation about converter protection grade and polution level. ●...
  • Page 4 ■ Chapter 9 Added motor outline drawings. ● Added converter outline drawings. ● Added outline drawing and pin allocation of motor cable. ● Added outline drawing and pin allocation of converter cable. ● Added pin allocation of PC communication cable. ●...
  • Page 5 Safety precautions Please fully observe The following signs are used to indicate safety precaution in this instruction manual. Please fully observe the precautions as important contents included in the descriptions. Safety precautions and the signs ■  Safety precautions Signs Danger, injury Indicates an imminently hazardous situation which, if Danger incorrectly operated, will result in death or serious injury．...
  • Page 6 Safety precautions Please fully observe Only qualified personnel who have electrical knowledge should conduct maintenance and inspection. Electrical shock, injuries, and fire may occur. Do not damage, apply excessive stresses, put heavy things on, and tuck down cables. Electrical shock may occur. Perform wiring in accordance with wiring diagram and the instruction manual.
  • Page 7 Safety precautions Please fully observe Warning ■  Unpack after checking upside and downside. Injuries may occur. Verify no discrepancies between the product you received and the product you ordered. Installing incorrect product can result in injuries and damages. Injuries and failures may occur. Make sure to read the instruction manual and observe the instructions before inspection, operation, maintenance, and inspection.
  • Page 8 Safety precautions Please fully observe Do not put heavy things on, or climb on the system. Injuries may occur. Make sure to observe the specified installation direction. This can result in fire and failures. Do not apply high impacts. This can result in failures. Never install the system in the area where it may be exposed to water, near corrosive/ flammable gaseous, or by combustible material.
  • Page 9 Safety precautions Please fully observe Install the system in incombustible material, such as metal. Fire may occur. No protective equipments are supplied with motor. Protect the system with overcurrent protective device, earth leakage circuit breaker, overtemperature thermostat, and emergency stop equipment. Injuries and fire may occur.
  • Page 10 Safety precautions Please fully observe Do not approach equipments after restoration from instantaneous interruption of service, as sudden re-start can occur. (Design the machine so as to ensure safety even sudden re-start occurs.) Injuries may occur. Do not externally and continuously rotate motor during servo-off with standard speciation driver with dynamic brake, as the dynamic brake will generate heat and this will cause dangers.
  • Page 11 Safety precautions Please fully observe For repairing, if any, contact us. Any insulation failure in the motor and/or short-circuited or broken wires in any cables may occur depending on the motor operating environments or conditions. If you keep on using the system without repairing the faulty conditions, the motor becomes unable to demonstrate the original performance, the driver becomes damaged or other trouble may occur.
  • Page 12 Safety precautions Please fully observe In the applications involving repeated operations through an angle of within 45 [°], be sure to perform the angular movement at an angle exceeding 90 [°] at least once a day. This can result in failures. Where rotation supporting parts (bearings, ball screws, etc.) are to be additionally installed outside the motor, be sure to complete the center alignment properly (within a runout of 0.01 [mm]).
  • Page 13 Safety precautions Please fully observe Prohibition ■  Never expose the motor, driver and converter to any water and oil. Do not store nor operate the system in the area where it may be exposed to rain and water drops, or toxic gasses or liquids exist. This can result in failures.
  • Page 14 Safety precautions Please fully observe Mandatory ■  Store the system within the specified temperature and humidity “-20°C to 65°C, 90％RH or less(no condensation)” away from direct sunlight. Driver and converter Temperature -20[°C] to 65[°C] Humidity 90[%RH] or less (No condensation) Motor Temperature 0[°C] to 40[°C] Humidity 20 to 80[%RH] (No condensation)
  • Page 15 Safety precautions Please fully observe Any excessive offset loads or excessive loads can cause permanently deformed rotors and/or faulty bearings in the motor. Remember to prevent the motors from possible falling and exposure to any impact during the installation of motors, and also to protect the motors against possible impact due to external interference during the transportation.
  • Page 16 Table of contents Preface ................................1 Illustration of system components ........................1-1 Coding for reference number of individual parts....................1-2 Reference number of driver ........................1-2 Reference number of motor ........................1-2 Reference number of converter ....................... 1-3 Reference number of motor ........................1-3 Reference number of converter cable ......................
  • Page 17 Table of contents Mounting direction and location ....................... 3-3 Control arrangement within the machine ....................3-3 Motor ................................3-4 Precautions .............................. 3-4 Unpacking ..............................3-4 Installation ..............................3-4 Motor mounting method ........................... 3-5 Converter ................................ 3-7 Precautions .............................. 3-7 Unpacking ..............................3-8 Installation ..............................
  • Page 18 Table of contents Confirmation of installation and wiring ..................... 5-6 Confirmation of movement ........................5-6 Confirmation of I/O signal ........................5-7 Confirmation of device operation ......................5-9 Driver status display ............................5-10 Default display ............................5-10 Alarm display ............................5-10 Operation sequence ............................
  • Page 19 Table of contents Operation method ..........................6-11 Setting parameters ..........................6-11 Automatic tuning of FF vibration suppression frequency................6-12 Operation method ..........................6-12 Setting parameters ..........................6-12 Using manual tuning ............................. 6-13 Servo system configuration and servo adjustment parameters ............. 6-13 Basic manual tuning method for velocity control ..................
  • Page 20 Table of contents Velocity-controlled JOG Operation ........................ 7-13 Automatic tuning result writing ........................7-14 7.10 Automatic setting of motor parameter ......................7-15 7.11 Alarm history display ............................. 7-15 7.12 How to clear alarm history ..........................7-16 7.13 Monitor display .............................. 7-16 7.14 Fixed monitor display ............................
  • Page 21 Table of contents Regenerative resistor ............................ 9-13 Supplementary items for usage ........................9-14 Homing ..............................9-14 Setting procedures for parameters of magnetic pole position estimation ..........9-15 xvii...
  • Page 22 Preface Illustration of system components ........................1-1 Coding for reference number of individual parts....................1-2 Reference number of driver ..........................1-2 Reference number of motor ..........................1-2 Reference number of converter ........................1-3 Reference number of motor ..........................1-3 Reference number of converter cable ......................1-3 Part names ................................
  • Page 23 1.Preface Illustration of system components   Illustration of system components T S R Wiring breaker (MCCB)   Used to protect power line. Enables parameter setup and Turns off the power supply when monitoring through communication overload runs. with a PC.  ...
  • Page 24 1. Preface Composition of reference number of individual parts   Coding for reference number of individual parts Reference number of driver M-EGA - 15 A 2 3 01 Driver design serial number 01: Standard Command input method 3: Pulse train input Resolver 2: Incremental Input supply voltage...
  • Page 25 1. Preface Composition of reference number of individual parts   Reference number of converter M-ECC - PB1006 GA 2 01 Converter design serial number 01: Standard Resolver 2: Incremental Driver code GA: Driver Model EGA Motor code Converter Model ECC Reference number of motor M-CA 004 A1 01 Design serial number...
  • Page 26 1.Preface Part names   Part names Driver Inside the front cover (OPEN) Digital Operator operation keys   Analog monitor connector   CN5: Parts number on plug 5-digit 7-segment LED Connector: DF11-4DS-2C   Contact: DF11-2428SCA (Hirose Electric Co., Ltd.) Control power status LED (POWER-Blue)  ...
  • Page 27 1.Preface Part names   Motor Hollow hole Dust cover (Non-rotational part) Rotor (Rotational part) Stator (Non-rotational part) Motor connector Resolver connector Converter Converter connector Resolver connector...

  • Page 28: Table Of Contents

    Specifications Motor ..................................2-1 Motor specifications ............................2-1 Load on the motor ............................2-2 Direction of rotation of motor ..........................2-2 Driver ................................... 2-3 Specifications of driver............................2-3 Input command, position feedback signal output, general input, general output ..........2-4 Power supply ...............................

  • Page 29: Specifications

    2.Specifications Motor Motor Motor specifications Designation M-PB1006JN001 M-PB3015JN001 M-PB3030JN001 M-PB3060JN001 Item [Unit] Motor outside 102 152 [mm] diameter Max. output [N•m] torque Rated output [N•m] torque Motor height [mm] Motor hollow 35 56 [mm] hole Max. speed Rated speed Resolution of [counts/rev] 524 288 position sensor...

  • Page 30: Load On The Motor

    2.Specifications Motor Load on the motor (2) Assuming the F refers to an external force: (3) Assuming the F refers to an external force: (1) Assuming the F refers to an external force:  Axial load: Fa = F + weights of fixture, workpiece, etc. ...

  • Page 31: Driver

    2.Specifications Driver Driver Specifications of driver ■General specifications Designation M-EGA-15A2301 M-EGA-30A2301 Item Control function Position control Control system IGBT：PWM control Sinusoidal drive 200 to 230[VAC]+10，−15[%]，50/60[Hz]±3[Hz] Three phase Main Circuit 200 to 230[VAC]+10，−15[%]， 220 to 230[VAC]±10[%]， Power Single phase 50/60[Hz]±3[Hz] 50/60[Hz]±3[Hz] Control 200 to 230[VAC]+10，−15[%]，50/60[Hz]±3[Hz] Single phase...

  • Page 32: Input Command, Position Feedback Signal Output, General Input, General Output

    2.Specifications Driver   Input command, position feedback signal output, general input, general output Input command ◆  Position command 5[Mpps] (CW+CCW pulse, Code + Pulse) Maximum input pulse frequency 1.25[Mpps] (90-phase difference two-phase pulse) CW+CCW command pulse, Position Code + Pulse train command or Input pulse form command 90[]-phase difference two-phase pulse train command...
  • Page 33 2.Specifications Driver   Position feedback signal output Position feedback N/32768(N=1 to 32767), 1/N(N=1 to 64) or 2/N(N=3 to 64) signal General input Interactive photo coupler (sink, source connection): ×6 input Line receiver: ×2 input Input power voltage range: 5[VDC]±5[%] / 12 to 24[VDC]±10[%], 100[mA] or over (24[VDC]) Servo ON, Alarm reset, Torque limit, CW rotation prohibit, Command prohibit, Sequence input...

  • Page 34: Power Supply

    2.Specifications Power supply and caloric value   Power supply Main circuit power supply capacity, control power supply capacity Rated Control Driver Input Rated main circuit Motor model output power supply voltage power supply [kVA] [VA] PB1006 PB3015 200[VAC] PB3030 PB3060 ✔ ...

  • Page 35: Position Feedback Signal

    2.Specifications Output of position feedback signal Position feedback signal Position feedback signal output Driver outputs “90[]-phase difference two-phase pulse (phase A, phase B) and resolver pulse (phase Z).” Pulse output can change the division ratio by parameter. Set the general parameter “Group C ID04 Encoder Output Pulse Division.” ―...

  • Page 36: Specifications For Analog Monitor

    2.Specifications Analog monitor Specifications for analog monitor Monitor output Pin numbers and signal names for monitor output   Connector model number on board: DF11-4DP-2DSA (01) Housing model number on receiving equipment: DF11-4DS-2C Connector model number on receiving equipment: DF11-2428SCA General input/output connector CN1 Analog monitor output 1 (MON1) CN1-30 CN5-3...

  • Page 37: Monitor For Velocity, Torque, And Position Deviation

    2.Specifications Analog monitor Monitor for velocity, torque, and position deviation ■Electrical specifications Output voltage range: ±8[VDC] Output resistance: 1[kΩ] Load: less than 2[mA] Monitor output is indefinite at the time of power ON/OFF and may output 12[VDC] + around 10[%]. ■Velocity command, velocity monitor Velocity command, Velocity monitor output Output...

  • Page 38: Specifications For Dynamic Brake

    2.Specifications Dynamic brake Specifications for dynamic brake Allowable frequency, instantaneous tolerance, decreasing the rotation angle of the dynamic brake ■Allowable frequency of the dynamic brake (main circuit power ON/OFF) Limit the positioning operation to a range within 360 [°] within the allowable load moment of inertia. ■Operation intervals In basic terms, operation of the dynamic brake in six (6) minute intervals is acceptable.

  • Page 39: Regenerative Control

    2.Specifications Regenerative control Regenerative control ■ Calculation of the rotational energy which MEGATORQUE MOTOR has in the process of deceleration Calculate the rotational energy based on the following expression. Rotational energy = 1/2× J ×ω = 1/2× J ×(2π N ) J = J : Moment of inertial of rotor [kg•m : Moment of inertia of load [kg•m...

  • Page 40: Converter

    2.Specifications Converter Converter Specifications of converter General specifications Rated input voltage 4.75 to 5.4[VDC] Rated input current 150[mA] (max) Ambient 0 to 55[°C] temperature Storage -20 to +65[°C] Operating temperature environment Operation and 90[%RH] or less (no condensation) storage humidity Vibration 4.9[m/s Outside dimensions...
  • Page 41 Installation Driver ········································································································································3-1 Precautions ································································································································3-1 Unpacking ·································································································································3-2 Mounting direction and location ······································································································3-3 Control arrangement within the machine ··························································································3-3 Motor ········································································································································3-4 Precautions ································································································································3-4 Unpacking ·································································································································3-4 Installation ·································································································································3-4 Motor mounting method ················································································································3-5 Converter ··································································································································3-7 Precautions ································································································································3-7 Unpacking ·································································································································3-8 Installation ·································································································································3-8 Cable (motor and converter) ··········································································································3-9 Precautions ································································································································3-9...

  • Page 42: Driver

    3.Installation Driver Driver 1) Precautions When installing, please be sure to protect the following precautions. ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand, and put heavy items on the driver. Operate the device within the specified environmental conditions.

  • Page 43: Unpacking

    3.Installation Driver 2) Unpacking Verify the followings when the product arrives. If you find any discrepancy, contact your distributor or sales office. ■ Verify that the driver reference number is the same as ordered. The reference number is located on the main label, following the word “MODEL”. ■...

  • Page 44: Mounting Direction And Location

    3.Installation Driver 3) Mounting direction and location In the case of front-mounting In the case of rear-mounting Front mounting Ventilation ✔ Refer to optional parts, Appendix, for metal fittings for front mounting. 4) Control arrangement within the machine ■ Leave at least 50 [mm] space above and below the driver to ensure unobstructed airflow from the inside of the driver and the radiator.

  • Page 45: Motor

    3.Installation Converter Motor 1) Precautions ■ Various precautions The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire. Do not stand, and put any very heavy loads. Operate the device within the specified environmental conditions. Do not drop the device or subject it to excessive shock.

  • Page 46: Motor Mounting Method

    3.Installation Converter 4) Motor mounting method ■ Location and environment for installation of motor ✔ Use the motor indoors free from any dust and corrosive gas. ✔ Operate the motor in the environment at an ambient temperature of 0 to 40 [°C]. ✔...
  • Page 47 3.Installation Motor ■ Coupling the load to the motor ✔ For installation of load, use the bolt hole in the rotor. Install the load securely with great care not to allow any looseness. ✔ For tightening torque and penetration depth of screws, follow the table below. Motor model Screw Tightening torque [N•m]...

  • Page 48: Converter

    3.Installation Converter Converter 1) Precautions Follow the precautions listed below when installing the converter. ■ General precautions Remember that installation to or near any combustibles can cause a fire. Never attempt to place any heavy materials on the converter or do not stand on the converter. Use the converter within the range of specified environmental conditions.

  • Page 49: Unpacking

    3.Installation Converter 2) Unpacking On receipt of the product, make checks listed below. Should any abnormality be discovered, immediately contact us. ■ Check the reference number of the converter for proper match with your ordered product. Locate the reference number next to “MODEL” on the label on the product. ■...

  • Page 50: Cable (Motor And Converter)

    3.Installation Cable Cable (motor and converter) 1) Precautions Follow the precautions listed below when installing the cable. ■ General precautions Remember that installation near any combustibles can cause a fire. Never attempt to place any heavy materials on the converter or do not stand on the cable. Use the cable within the range of specified environmental conditions.
  • Page 51   Wiring Wiring for main circuit power supply, control power, regenerative resistance, and protective grounding ············· 4-1 Part name and function ···································································································································· 4-1 Wire ·································································································································································· 4-1 Wire diameter-allowable current ······················································································································· 4-2 Recommended wire diameter ··························································································································· 4-2 Crimping of wires ·············································································································································· 4-3 High voltage circuit terminal;...

  • Page 52: Wiring

    4.Wiring Allowable current, recommended wire diameter Wiring for main circuit power supply, control power, regenerative resistance, and protective grounding 1) Part name and function Connector Terminal name Remarks marking Single phase 200 to 230[VAC] +10[%], -15[%] 50/60[Hz]±3[%] R･T 220 to 230[VAC]±10[%], Main circuit power supply 50/60[Hz]±3[Hz] R･S･T...

  • Page 53: Wire Diameter-Allowable Current

    4.Wiring Wiring example 3) Wire diameter-allowable current Allowable current over ambient temperature [A] Nominal cross-sectional area Conductor resistance AWG sides [Ω/km] 30[°C] 40[°C] 55[°C] 39.5 0.75 26.0 24.4 1.25 15.6 12.0 11.0 9.53 23.0 20.0 15.0 ✔  This is reference value in the case of a special heat-resistant vinyl wire (HIV). ✔ ...

  • Page 54: Crimping Of Wires

    4.Wiring Crimping processing, tightening torque 5) Crimping of wires Insert the wire into ferrule, and use a special tool to crimp it in. Insert the ferrule deep into the connector, and tighten it with a special minus screwdriver or something. The recommended torque is 0.5 to 0.6 [N･m]. Process 1 Process 3 Wire...

  • Page 55: Wiring With Host Unit

    4.Wiring Wiring with host unit   Wiring with Host Unit 1) CN1 signal and pin number (wiring with host unit) ■ CN1 terminal sequence AO  F‑PC  Driver  AO  F‑PC  ＋5V SG  SG  BO  R‑PC  BO  ZO  R‑PC  ZO  SG  PS  NC  PS ...

  • Page 56: Cn1 Connector Disposition

    4.Wiring Wiring with host unit   2) CN1 connector disposition ■  CN1 10150-3000PE (Soldered side)   3) Signal name and its function Terminal Signal Terminal Description Signal name Description number name number MON1 Analog monitor output Common for pin 30 Position Command Pulse Function ∙...

  • Page 57: Terminal Connection Circuit

    4.Wiring Wiring with host unit   4) Terminal connection circuit Terminal Symbol Name Description − − − A phase pulse output The signal of A phase of a resolver, B phase pulse, and a ― ― /A phase pulse output starting point Z phase pulse is outputted.
  • Page 58 4.Wiring Wiring with host unit   Terminal Symbol Name Description CONT7 General input Receivable with a line receiver. General output signals ― ― ― ― ― can receive either a differential signal or an open collector General input CONT7 signal. CONT8 General input ―...
  • Page 59 4.Wiring Wiring with host unit   Terminal Symbol Name Description − − − − − − − − T-COMP Torque compensation input Driver Host unit 0.01μF   T-CMP 1.0kΩ 10.0kΩ 1.8kΩ 1.8kΩ 0.01μF  ...
  • Page 60 4.Wiring Wiring with host unit   Terminal Symbol Name Description F-PC Command pulse Command pulse input is a position command input. Velocity command input  Velocity control type. input ― ― ― ― Three types of command input pulse. Command pulse [CW pulse + CCW pulse] input Maximum...
  • Page 61 4.Wiring Wiring with host unit   Terminal Symbol Name Description MON1 Analog monitor Outputs the selection of analog monitor output 1. output Load shall be less than 2[mA]. Output resistance shall be 1[kΩ]. Output voltage range shall be ±8[V]. Driver Host unit MON1 1.0kΩ...
  • Page 62 4.Wiring Wiring with host unit   Terminal Symbol Name Description OUT1 General output General output circuit is connected with a photo-coupler or a relay circuit. OUT2 General output [NPN output] OUT3 General output OUT-PWR (outer power supply) specification OUT4 General output Power supply &...

  • Page 63: Example Of Wiring With Cn1

    4.Wiring Wiring with host unit   5) Example of wiring with CN1 Host equipment Driver model EGA Polarity of the power supply may be reversed to minus common. 50 CONT-COM 5/12/24 [VDC] Servo-ON function 37 CONT1 Emergency stop function 36 CONT2 Magnetic pole position estimation input 35 CONT3 Deviation clear function...

  • Page 64: Peripheral Equipments

    4.Wiring Peripheral equipments Peripheral equipments 1) Power supply capacity and peripherals list Main circuit Molded case Motor model Magnetic Surge Input voltage power supply circuit breaker Noise filter contact absorber rating [kVA] (MCCB) PB1006 PB3015 HF3030C-UQA LT-C32G801WS Model NF30 10A S-N10 SOSHIN SOSHIN...
  • Page 65 5. Operation System parameters ·············································································································································· 5-1 Confirmation of specifications ···························································································································· 5-1 System parameters list ······································································································································ 5-3 Confirmation and settings of system parameters ······························································································ 5-3 4）  Confirmation and settings of the system parameters (settings for encoder specification) ·································· 5-5 5） Factory default setting values ···························································································································· 5-5 Test operation ······················································································································································...

  • Page 66: Operation

    5.Operation Changing servo motor combination System parameters 1) Confirmation of specifications Confirm the specifications the driver, using either of the MEGATORQUE MOTOR SETUP(set up software) or Digital Operator. Procedure Item and contents Confirmation of driver specifications ■  Confirm that the specifications of the product purchased are the same as that of the machine being used.
  • Page 67 5.Operation Confirmation of system parameters specifications Procedure Item and contents Main circuit power supply voltage Code Main circuit power supply voltage display 200[V]   ■  Using setup software, confirm that voltage value of main circuit power connected to connector CNA or terminal block RST is displayed. ■ ...

  • Page 68: System Parameters List

    5.Operation System parameters list, confirmation and settings 2) System parameters list System parameters list is shown below. Settings vary depending on the system used. Please confirm 3), 4) and the following IDs for the proper settings. Contents Control Cycle Main Circuit Power Input Type Regenerative Resistor Selection Serial Encoder Resolution Position Control Selection...
  • Page 69 5.Operation Confirmation and settings Contents Main circuit power input type ■  Set input type of main circuit power connected to CNA on driver or R, S, and T on terminal block. Selection Description AC_3-phase 3 phase AC power is supplied to the main circuit AC_Single-phase Single phase AC power is supplied to the main circuit ■ ...

  • Page 70: 4）Confirmation And Settings Of The System Parameters (Settings For Encoder Specification)

    5.Operation Factory default parameter setting values Contents Position control selection ■  Select the function Position Control Mode. Selection Description Standard Standard Model1 Model Following Control Model2 Model Following Vibration Suppress Control ■  Under the following parameter settings, ‘Model Flowing Control” and “Model Following Vibration Suppressor Control”...

  • Page 71: Test Operation

    5.Operation Test operation (installation, wiring, and JOG Operation) Test operation 1) Confirmation of installation and wiring Confirm the installation and the wiring of the driver and the motor.   Procedure Item and contents Installation ■  Install the driver and the motor by referring to [Installation (3)]. Do not connect any load to the motor.

  • Page 72: Confirmation Of I/O Signal

    5.Operation Test operation (confirmation of I/O signal) 3) Confirmation of I/O signal Settings for general I/O signals (CN1) are the defaults set at the time of shipment Procedure Item and contents Confirmation of I/O signal ■  Allocate functions you use to CONT1 to CONT8 by selecting parameters from general parameters Group 9.
  • Page 73 5.Operation Test operation (confirmation of I/O signal) Procedure Item and contents Command input ■  Input the command suitable for the control mode in use ■  Confirm that the motor rotates in the right direction. ■  If the command is input from the host unit but the motor does not rotate, confirm that the command is input at the monitor function of setup software.

  • Page 74: Confirmation Of Device Operation

    5.Operation Test operation (confirmation of I/O signal) 4) Confirmation of device operation Connect the load to the motor and check the motor for proper operation. Procedure Item and contents Connect the load. ■ Connect the load to the motor. Connect the motor shaft with the machine Load MEGATORQUE...

  • Page 75: Driver Status Display

    5.Operation Driver status display Driver status display 1) Default display Marking Description Status code   Control power supply established. Control power supply (r, t) is established and driver ready (RDY) is   Main circuit power supply established. Main power supply (R, S, T) is established, but operation preparation completion signal is off.

  • Page 76: Operation Sequence

    5.Operation Operation sequence (power on) Operation sequence 1) Operation sequence from power turn on to power shut off at the standard shipment setting Power ON  Servo ON   Control source Control source  ON 2sec (Max) (Output) Power ON permission signal 0msec (Min) Main circuit...
  • Page 77 5.Operation Operation sequence (power off) Servo OFF  Power OFF Control source Control source OFF (Min) 0msec Main circuit power Main power supply OFF (Output)  Power ON signal Power ON output OFF (Output)  Operation setup completion signal S-RDY S-RDY2 (Input)  Servo ON signal Servo OFF Dynamic brake ON...

  • Page 78: Stop Sequence At Alarm

    5.Operation Operation sequence (at alarm) 2) Stop sequence at alarm When an alarm occurs, the motor is stopped by either dynamic brake or servo brake (zero-speed command). The alarm content dictates which brake to be used. Refer to [Warning and Alarm List (8-3)] Stop by dynamic brake at alarm (Output) ...
  • Page 79 5.Operation Operation sequence (at alarm) Stop by servo brake at alarm (Output)  Power ON permission signal Power ON permission OFF Main circuit power Main power supply OFF (Output)  Operation setup completion signal S-RDY S-RDY2 (Input)  Servo ON signal Servo ON Dynamic brake ON (Output) ...

  • Page 80: Sequence Of Alarm Reset

    5.Operation Operation sequence (alarm reset) 3) Sequence of alarm reset Inputting alarm reset signal from general input signal can reset alarms. Power ON permission Power ON permission signal (Output)  Main power supply ON Main circuit power Inrush current prevention time Power ON signal (Output) ...

  • Page 81: Sequence When Power Is Turned Off During Operation (During Servo On)

    5.Operation Operation sequence (power off during operation) 4) Sequence when power is turned OFF during operation (During servo ON) Control source Control source OFF Main circuit power Main power supply OFF (Output)  Power ON signal Power ON output OFF (Output)  Operation setup completion signal S-RDY S-RDY2 Servo ON signal...

  • Page 82: Monitor Function

    5.Operation Monitor function Monitor function 1) Monitor function Symbol Name Unit STATUS Driver status monitor WARNING1 Warning status 1 monitor WARNING2 Warning status 2 monitor CONT8-1 General Purpose Input CONT8 to 1 monitor OUT8-1 General Purpose Output OUT8 to 1 monitor VMON Velocity monitor VCMON...

  • Page 83: Description Of Monitor

    5.Operation Monitor function 2) Description of monitor Contents Driver status monitor [STATUS] Code Status Power OFF state (P-OFF) Power ON state (P-ON) Servo ready state (S-RDY) Servo ON state (S-ON) Magnetic Pole Position Estimation Ready state (CSETRDY) Emergency stop state (EMR) Alarm and power OFF state (ALARM_P-OFF)
  • Page 84 5.Operation Monitor function Refer to the following charts for the display format of ID01 to 05 as setup software and Digital Operator have different indicators: ■  Display of the setup software 0 or 1 ■  Display of the Digital operator LED4 LED3 LED2...
  • Page 85 5.Operation Monitor function Contents Actual position monitor) [APMON] ■  Displays the current position of the encoder(assuming that the position at the time the control power was turned ON is the original mode). As this is a free run counter, if the current position exceeds the displayed range, the maximum reverse polarity value will be displayed.
  • Page 86 5.Operation Monitor function Contents Reserved ■  Position command pulse frequency monitor [FMON1] ■  Displays entered command pulse frequency. Display range Unit -6000 to 6000 kPulse/s   U-phase electric angle monitor [CSU] ■  Displays U-phase electric angle. Always displayed excluding encoder errors. Display range Unit 0 to 359...

  • Page 87: Analog Monitor And Digital Monitor

    5.Operation Analog monitor, digital monitor Contents Position Loop Integral Time Constant monitor [TPI MON] ■  Displays actual Position Loop Integral Time Constant value. Value can be confirmed when changing the gain function. Velocity Loop Proportional Gain monitor [KVP MON] ■  Displays actual Velocity Loop Proportional Gain. Value can be confirmed when changing gain and at Auto-tuning function.

  • Page 88: Setting Parameters

    5.Operation Parameters list Setting parameters 1) Parameters list Below is the parameters list. Groups in ID order are classified.” System parameters”, “General parameters” and “Motor parameters” are retained in the driver by keeping the parameter back-up function in effect for restoration of the parameter(s) as needed. ■ ...
  • Page 89 5.Operation Parameters list ■  General parameters Group1 “Basic control parameter settings” Standard Symbol Name Unit Setting range value Position Command Smoothing PCSMT 0.0 to 500.0 Constant PCFIL Position Command Filter 0.0 to 2000.0 Position Loop Proportional Gain 1 1 to 3000 Position Loop Integral Time TPI1 1000.0...
  • Page 90 5.Operation Parameters list ■  General parameters Group4 “Gain switching control/ Vibration suppressor frequency switching settings” Standard Symbol Name Unit Setting range value Model Control Gain 2 1 to 3000 Position Loop Proportional Gain 2 1 to 3000 TPI2 Position Loop Integral Time Constant 2 1000.0 0.3 to 1000.0 KVP2...
  • Page 91 5.Operation Parameters list ■  General parameters Group8 “Control system settings” Standard Symbol Name Unit Setting range value 00:PC+_ CMDPOL Position, Velocity, Torque Command Input Polarity 00 to 07 VC+_TC+ 00:F-PC_ PMOD Position Command Pulse Selection 00 to 02 R-PC PCPPOL Position Command Pulse Count Polarity 00:Type1 00 to 03...
  • Page 92 5.Operation Parameters list ■  General parameters Group9 “Function enabling condition settings” Setting Symbol Name Standard value range F-OT CWOver Travel Function 0D:CONT6_OFF 00 to 27 R-OT CCWOver Travel Function 0B:CONT5_OFF 00 to 27 AL-RST Alarm Reset Function 10:CONT8_ON 00 to 27 Deviation Clear Function 08:CONT4_ON 00 to 27...
  • Page 93 5.Operation Group 0 Settings for Auto Tuning   ■  General parameters GroupB “Sequence/Alarms related settings” Symbol Name Standard value Unit Setting range JOGVC JOG Velocity Command 0 to 32767 EMPFRE Excitation Command Frequency setting 30〜70 Acceleration threshold rad/s 2〜100 DBOPE Dynamic Brake Operation 03:DB_DB 00 to 05...
  • Page 94 5.Operation Parameters list ■  General parameters Symbol Name Remarks This is common with COMAXIS Serial Communication Axis Number GroupA ID20 This is common with COMBAUD Serial Communication Baud Rate GroupA ID21 This is common with TUNMODE Tuning Mode Group0 ID00 This is common with ATRES Auto-Tuning Response...

  • Page 95: Parameter Functions

    5.Operation Group 0 Auto-tuning settings Parameter functions Each parameter function is explained below. ■  Group0 “Auto-tuning settings” Contents Tuning Mode Setting range Unit Selection [TUNMODE] 00 to 02 00:AutoTun ■  Set the validity, invalidity of Auto-tuning, and Load inertia moment rate estimation. Selection Contents AutoTun...
  • Page 96 5.Operation Group 0 Auto-tuning settings Contents Auto-Tuning Characteristic Setting range Unit Standard value [ATCHA] 00 to 06 00:Positioning1 ■  Sets the Auto-Tuning Characteristic best fits to the system. Selection Contents Positioning1 Positioning Control 1 (General Purpose) Positioning2 Positioning Control 2 (High Response) Positioning3 Positioning Control 3 (High Response, FFGN Manual Setting) Positioning4...
  • Page 97 5.Operation Group 0 Auto-tuning settings Contents Setting range Unit Standard value Auto-Tuning Response [ATRES] 1 to 30 ■  Sets the Auto-Tuning Response. ◆  The larger the set value, the higher the response. ◆  Caution, if the response is set too high, the machine may oscillate. ◆ ...
  • Page 98 5.Operation Group 1 Basic control parameter settings ■  Group1 “Basic control parameter settings” Contents Position Command Smoothing Constant Setting range Unit Standard value [PCSMT] 0.0 to 500.0 ■  This moving low-pass filter smoothes the position command pulse. Sets time constants. ◆ ...
  • Page 99 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Position Command Filter [PCFIL] 0.0 to 2000.0 ■  This low-pass filter suppresses any sudden change of the position control pulse. Sets time constants. ◆  This parameter setting is valid when the value of Group1ID04 Higher Tracking Control Position Compensation Gain is set at 0[%].
  • Page 100 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Feed Forward Gain [FFGN] 0 to 100 ■  Sets feed forward compensation gain to position control system. Model control system compensates for feed forward to Model following system when Position Control Selection is at Model following control.
  • Page 101 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Velocity Feedback Filter [VDFIL] 1 to 4000 1500 ■  First low-pass filter to eliminate ripples caused by encoder pulse included in the velocity control system feedback. Sets the cutoff frequency. ◆ ...
  • Page 102 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Load Inertia Moment Ratio 1 [JRAT1] 0 to 15000 ■  Sets inertia moment of the loading device to the motor inertia moment. ◆  Setting value=J ×100[%]  : Load inertia moment ...
  • Page 103 5.Operation Group 1 Basic control parameter settings Contents Setting range Unit Standard value Torque Command Filter 1 [TCFIL1] 1 to 4000 ■  Low-pass filter to eliminate high frequency component included in the torque command. Sets cutoff frequency. ◆  Automatically saved by Auto-tuning result saving. ◆ ...
  • Page 104 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings ■  Group2 “FF (Feed Forward) vibration suppressor control/ Notch filter/ Disturbance observer settings” Contents Setting range Unit Standard value FF Vibration Suppressor Frequency 1 [SUPFRQ1] 5 to 500 ■ ...
  • Page 105 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Setting range Unit Standard value   Torque Command Notch Filter A [TCNFILA] 100 to 4000 4000 ■  Notch filter to eliminate sympathetic vibration element included in torque command. Sets the resonant frequency.
  • Page 106 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Torque Command Notch Filter B Setting range Unit Standard value [TCNFILB] 100 to 4000 4000 Torque Command Notch Filter C Setting range Unit Standard value [TCNFILC] 100 to 4000...
  • Page 107 5.Operation Group 2 “FF (Feed Forward) vibration suppressor control / Notch filter / Disturbance observer settings Contents Observer Characteristic Setting range Unit Standard value [OBCHA] 00 to 02 00:Low ■  Select frequency characteristic of the disturbance observer Selection Contents For Low Frequency Middle For Middle Frequency High...
  • Page 108 5.Operation Group 3 Model following control settings ■  Group3 “Model following control settings” Contents Model Control Gain 1 Setting range Unit Standard value [KM1] 1 to 3000 ■  Proportional gain for model position controller. ◆  Set within the range of 15 to 315 (1/s) when operating with Model following vibration suppressor control.
  • Page 109 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings ■  Group4 “Gain switching control/ vibration suppressor frequency switching settings” Contents Setting range Unit Standard value   Model Control Gain 2 [KM2] 1 to 3000 Model Control Gain 3 Setting range Unit Standard value...
  • Page 110 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings Contents Setting range Unit Standard value Velocity Loop Integral Time Constant 2 [TVI2] 0.3 to 1000.0 20.0 Velocity Loop Integral Time Constant 3 Setting range Unit Standard value [TVI3] 0.3 to 1000.0 20.0 Setting range...
  • Page 111 5.Operation Group 4 Gain switching control/ Vibration suppressor frequency switching settings Contents Gain Switching Filter Setting range Unit Standard value [GCFIL] 0 to 100 ■  Low-pass filter to change gain moderately when switching. Sets time constant. ◆  When the mechanical system is shocked by the change of gain resulted from gain switching, making a moderate gain change will modify the shock.
  • Page 112 5.Operation Group 5 High setting control settings ■  Group5 “High setting control settings” Contents Setting range Unit Standard value Command Velocity Low-pass Filter [CVFIL] 1 to 4000 1000 ■  First low-pass filter to eliminate high frequency elements such as ripples included in the velocity (command velocity) calculated from position command pulse inside high setting control.
  • Page 113 5.Operation Group 8 control system settings ■  Group8 “Control system settings” Contents Setting range Unit Standard value Position, Velocity, Torque Command Input Polarity [CMDPOL] 00 to 07 00:PC+_VC+_TC+ ■  Select the combination of each command polarity for position command pulse input from the list below.
  • Page 114 5.Operation Group 8 control system settings Contents Position Command Pulse Selection Setting range Unit Standard value [PMOD] 00 to 02 00:F-PC_R-PC Control power a reactivation after setting. ■  Set the Position control command pulse type. ◆  Select from below to match with the upper device specifications. Selection Contents F-PC_R-PC...
  • Page 115 5.Operation Group 8 control system settings Contents Electronic Gear 1 Numerator Setting range Unit Standard value [B-GER1] 1 to 2097152 Electronic Gear 1 Denominator Setting range Unit Standard value [A-GER1] 1 to 2097152 Electronic Gear 2 Numerator Setting range Unit Standard value [B-GER2] 1 to 2097152...
  • Page 116 5.Operation Group 8 control system settings Contents Positioning Methods Setting range Unit Standard value [EDGEPOS] 00 to 01 00:Pulse_Interval Control power a reactivation after setting. ■  Select the Encoder pulse positioning. ◆  Positioning accuracy is improved by selecting Edge positioning when the encoder resolution is coarse.
  • Page 117 5.Operation Group 8 control system settings Contents Deviation Clear Selection Setting range Unit Standard value [CLRSEL] 00 to 03 00:Type1 ■  Sets ON/OFF of position deviation clear during servo OFF, and deviation clear signal treatment. ◆  Selects operation during servo OFF. Deviation clear/ Deviation NOT clear ◆ ...
  • Page 118 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Velocity Command Acceleration Time Constant [TVCACC] 0 to 16000 Setting range Unit Standard value Velocity Command Deceleration Time Constant [TVCDEC] 0 to 16000 ■  These parameters control the acceleration and deceleration commands for the jog operation. Acceleration: 0 min -->CW, CCW rotation Deceleration:CW, CCW rotation -->...
  • Page 119 5.Operation Group 8 control system settings Contents Setting range Unit Standard value CW Direction Internal Torque Limit Value [TCLM-F] 10.0 to 500.0 100.0 Setting range Unit Standard value CCW Direction Internal Torque Limit Value [TCLM-R] 10.0 to 500.0 100.0 ■  Limits the Torque output at the setting value when Preset torque limit value is valid. ◆ ...
  • Page 120 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Torque Attainment select [TASEL] 00 to 01 00:TA/TR ■  To select a setting rate type of attaining torque   Selection Contents To set percentage of Rated torque TA/TR (Rated torque is 100[%]) To set percentage of Torque limit value TA/TCLM...
  • Page 121 5.Operation Group 8 control system settings Contents Amount t of torque limit value restoration when Setting range Unit Standard value power restored 0.0 to 500.0 10.0 [TLMREST] ■  Sets the amount of restoration per 1ms when power restored from power supply drop, which can cancel torque limit value at power drop.
  • Page 122 5.Operation Group 8 control system settings Contents Position command pulse after position directive smoothing Near range = 500Pulse In-Position Window = 100Pulse Position deviation monitor NEAR INPZ ◆  INPZ is a state signal turned on when the position directive pulse after position directive smoothing is 0 and a position deviation counter value is below setting of the completion range of positioning.
  • Page 123 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Speed Zero Range [ZV] 5.0 to 50.0 ■  Setting value for detecting Zero-speed status (motor stop). ◆  When the speed becomes lower than this value, Zero-speed status is out. Setting range Unit Standard value...
  • Page 124 5.Operation Group 8 control system settings Contents Setting range Unit Standard value Speed Matching Unit Selection [VCMPUS] 00 to 01 ■  Selects Speed Matching Unit setting method. Selection Contents Sets by unit[min Uses the setting value of ID46 [VCMP] Speed Matching Range Sets the ratio to velocity command by [%] unit Percent Uses the setting value of ID47 [VCMPR] Speed Matching Range...
  • Page 125 5.Operation Group 8 control system settings ■  By combining with Group9, Condition Settings for Enabling Functions, the functions of Group9 are valid for ID42 to ID47. Selection Contents Function is valid while in low speed status (speed is lower LOWV_IN than the LOWV Setting Value) Function is valid while not in low speed status (speed is LOWV_OUT...
  • Page 126 5.Operation Group 9 Function enabling condition settings ■  Group9 “Functions enabling condition settings” Functions- Setting Contents Standard value enabled range input time CW Over Travel Function [F-OT] 00 to 27 OD:CONT6_OFF 20ms CCW Over Travel Function [R-OT] 00 to 27 OB:CONT5_OFF 20ms Alarm Reset Function [AL-RST]...
  • Page 127 5.Operation Group 9 Function enabling condition settings Group9 List of selection contents ■  Keeping the function always valid or invalid Selection Contents Always_Disable Function is always invalid Always_Enable Function is always valid ■  Using function with the generic input signals Selection Contents CONT1_ON...
  • Page 128 5.Operation Group 9 Function enabling condition settings ■  Activating the functions using the positioning signals Selection Contents NEAR_IN Function is valid while in Near status NEAR_OUT Function is valid while not in Near status Function is valid while in In-Position status INP_IN (position deviation <...
  • Page 129 5.Operation Group 9 Function enabling condition settings Description CW Over-Travel Function [F-OT] CCW Over-Travel Function [R-OT] ■  The over travel function uses limit switch to prevent damage to the unit. This function forcedly stops the unit when the movement range of the moving part is exceeded. ◆...
  • Page 130 5.Operation Group 9 Function enabling condition settings   Description Alarm reset function [AL-RST] ■  This function enables inputting alarm reset signal from host equipment. Alarm is cleared by enabling alarm reset function (AL-RST). ◆ Allocating conditions to enable alarm reset function. When AL-RST signal enabled, this function clears alarms.
  • Page 131 5.Operation / Monitor output selection/ Serial communication settings Group A General output terminal output condition Description Position command pulse inhibiting function･velocity-zero stop function [INH/Z-STP] ■ This may be used as a function to inhibit the position command pulse (INHIBIT function). ◆  Enabling the function during motor operation inhibits input command, and then motor stops with the state motor being excited.
  • Page 132 5.Operation Group 9 Function enabling condition settings     Description Model vibration suppression frequency selecting input 1 [MDLFSEL1] Model vibration suppression frequency selecting input 2 [MDLFSEL2] ■  4 types of model vibration suppression frequency can be used by switching them. ◆ ...
  • Page 133 5.Operation Group 9 Function enabling condition settings   ■  GroupA “General output terminal output condition/ Monitor output selection/ Serial communication settings” Contents Setting range Unit Standard value General Purpose Output 1 [OUT1] 00 to 5F 18:INP_ON General Purpose Output 2 [OUT2] 00 to 5F 68:CSETRDY _ON General Purpose Output 3 [OUT3]...
  • Page 134 5.Operation / Monitor output selection/ Serial communication settings Group A General output terminal output condition ◆  When Positioning signal is to be output While In-Position Status 18:INP_ON 19:INP_OFF While Near Range Status 1A:NEAR_ON 1B:NEAR_OFF While In-Position with Position 5A:INPZ_ON 5B:INPZ_OFF Command 0 Status ◆ ...
  • Page 135 5.Operation / Monitor output selection/ Serial communication settings Group A General output terminal output condition Contents Setting range Unit Standard value Analog Monitor Select Output 1 [MON1] 00 to 1C 05:VMON_2mV/min Analog Monitor Select Output 2 [MON2] 00 to 1C 02:TCMON_2V/TR  ...
  • Page 136 5.Operation / Monitor output selection/ Serial communication settings Group A General output terminal output condition Contents Analog Monitor Output Polarity Setting range Unit Standard value [MONPOL] 00 to 08 00:MON1+_MON2+ ■  Select Output polarity of Analog monitor output, MON1and MON2 ◆ ...
  • Page 137 5.Operation / Monitor output selection/ Serial communication settings Group A General output terminal output condition Contents Serial Communication Axis Number Setting range Unit Standard value [COMAXIS] 01 to 0F 01:#1 Control power reactivation after setting ■  Select Axis number from below for Serial communication (RS-232C/RS-422A) with PC or upper controller: ◆ ...
  • Page 138 5.Operation Group B sequence/Alarm related settings ■  GroupB “Sequence/Alarm related settings” Contents Setting range Unit Standard value JOG Velocity Command [JOGVC] 0.0 to 3276.7 ■  Set velocity command value for JOG operation. ◆  This value is set as initial setting value for JOG Velocity Command for setup software. Excitation Command Frequency setting Allowable setting Unit...
  • Page 139 5.Operation Group B sequence/Alarm related settings Contents Setting range Unit Standard value Over-Travel Action [ACTOT] 00 to 06 00:CMDINH_SB_SON ■  Select operations at over-travel action Selection Contents When in Over-travel action, Command input is invalid and servo brake stops motor. CMDINH_SB_SON After motor stops, servo is ON.
  • Page 140 5.Operation Group B sequence/Alarm related settings Contents Delay Time of Engaging Holding Brake Setting range Unit Standard value (Holding Brake Holding Delay time) 0 to 1000 [BONDLY] ■  Sets holding-brake-activation delay time from when power distribution to holding brake stopped till when holding torque generated. ...
  • Page 141 5.Operation Group B sequence/Alarm related settings ■  About Holding Brake Motor with Holding brake function is usually used with an axis that is always affected by gravity and external forces in order to avoid movable parts falling off from its position when main circuit power is OFF, or servo OFF.
  • Page 142 5.Operation Group B sequence/Alarm related settings Contents Power Failure Detection Delay Time Setting range Unit Standard value [PFDDLY] 20 to 1000 Control power reactivation after setting ■  Sets the delay time from Control power OFF to Control power error detection. The larger value makes the detection of Instantaneous stop slower.
  • Page 143 5.Operation Group C Encoder related settings Setting range Unit Standard value Encoder Output Pulse Division 1/1 to 1/64 [ENRAT] 2/3 to 2/64 1/20 1/32768 to 32767/32768 ■  Sets ratio of Encoder output pulse division. ◆  When the numerator of the dividing ratio is 1, setting range of the denominator is 1 (not divide), 2-64,or 32768.
  • Page 144 5.Operation Group C Encoder related settings Contents Encoder Output Pulse Divide Resolution Selection Setting range Unit Standard value [PULOUTRES] 00 to 01 00:163840 P/R Control power reactivation after setting ■  This parameter is settable only when using serial encoder. ◆  Sets resolution of Encoder output pulse divide.
  • Page 145 5.Control Function enabling condition settings   5.9 Control block diagram Auto-tuning     Position command pulse frequency monitor 1   [Feed forward control]     TUNMODE  ATRES           Position PMOD  Without using Model ［G0‑00］        ［G0‑02］          command [G8‑10]  FFGN  FFFIL  control  ...
  • Page 146 5.Operation Group 9 Function enabling condition settings     Position command pulse Position command [Feed forward control] frequency monitor 1 pulse frequency monitor 2 Using model following       Analog monitor control FFGN  FFFIL      [G1‑05]  [G1‑06]  Auto-tuning  ...
  • Page 147 5.Operation Control block diagram/ using model control   [Feed forward control]   Using Model following vibration FFFIL  FFGN    Position command pulse frequency suppressor control [G1‑06]  Position command [G1‑05]  monitor 1 [Machine [Used when pulse frequency     model] monitor 2 adjustment] FF Vibration TRCPGN ...
  • Page 148 5.Operation SEMI F47 Supporting function 5.10 SEMI F47 supporting function This function limits motor current when it detects voltage sag warning due to instantaneous power failure (when voltage dropped to 135~152VAC). This function is provided to support acquiring “SEMI F47 Standard” that is requisite for semiconductor equipments.
  • Page 149                                                     No Text on This Page.    ...
  • Page 150 6. Adjustments Servo tuning functions and basic adjustment procedure ······················································································ 6-1 Servo tuning functions ······································································································································ 6-1 Tuning method selection procedure ················································································································· 6-2 Automatic tuning ·················································································································································· 6-3 Use the following parameters for automatic tuning ··························································································· 6-3 Automatically adjusted parameters in auto-tuning ···························································································· 6-6 Adjustable parameters during auto-tuning ········································································································...

  • Page 151: Servo Tuning Functions And Basic Adjustment Procedure

    6.Adjustments Selection of tuning method Servo tuning functions and basic adjustment procedure To operate the motor (and machine) using the driver, adjustments of the servo gain and its control system is necessary. Generally, the higher setting value of the servo gain increases the machine response.

  • Page 152: Tuning Method Selection Procedure

    6.Adjustments Selection of tuning method ■  Model following control Model following control is a control method that ensures a higher detection response by composing a model control system including the mechanical system in a driver to operate the actual motor in order to follow the model control system. ◆ ...
  • Page 153 6.Adjustments Automatic tuning Automatic tuning 1) Use the following parameters for automatic tuning Explanation of Automatic tuning functions ■  Use the following parameters for Automatic tuning” (For explanation of parameters, see following pages) ◆  Group0 ID00 [Tuning Mode] 00:_AutoTun Automatic Tuning 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT manual setting] 02:_ManualTun...
  • Page 154 6.Adjustments Automatic tuning Contents Auto-Tuning Characteristic [ATCHA] ■  Auto-Tuning Characteristic to fit the mechanical requirements and movements are provided. Parameters that can be adjusted vary depending on each auto-tuning characteristic. Set the parameters based on the situation. ■  [Positioning control (Positioning)] Positioning control is a control method used to reach the motor quickly to target a position from the present position by disregarding the trajectory between the positions.
  • Page 155 6.Adjustments Automatic tuning Auto-Tuning Characteristic [ATCHA] Selection Meaning Positioning 4 Positioning control 4(High Response, Horizontal Axis Limited) ◆  Select this mode when the machine movement is on a horizontal axis and receives no disturbing influence from external sources. Positioning time may be shortened compared to “Positioning Control 2”. ◆ ...

  • Page 156: Automatically Adjusted Parameters In Auto-Tuning

    6.Adjustments Automatic tuning 2) Automatically adjusted parameters in auto-tuning The following parameters are automatically adjusted at the time of auto-tuning. These parameters will not reflect on motor movements by changing or overriding those values. However, some of them can be adjusted manually depending on selected [Tuning Mode] and [Auto-Tuning Characteristic].  ...

  • Page 157: Unstable Functions During Auto-Tuning

    6.Adjustments Automatic tuning ■  General parameters Group4 [Gain switching control/Vibration suppression frequency switching settings] Symbol Name SUPFRQ2 FF Vibration Suppression Frequency 2 SUPFRQ3 FF Vibration Suppression Frequency 3 SUPFRQ4 FF Vibration Suppression Frequency 4 ■  General parameters Group5 [High setting control setting] Symbol Name CVFIL...

  • Page 158: Auto-Tuning Characteristic Selection Flowchart

    6.Adjustments Automatic tuning 5) Auto-tuning characteristic selection flowchart Start tuning Set tuning mode 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting]   Use temporary value of JRAT1 JRAT is known. Applied inertia Temporary setting value of JRAT1 [%] Small 1000 Large 5000 Set JRAT1 Are there any problems with response or setting time? Match the characteristics between the axes?

  • Page 159: Adjustment Method For Auto-Tuning

    6.Adjustments Automatic tuning 6) Adjustment method for auto-tuning Auto tuning is a function where the driver automatically tunes to the best servo gain by setting JRAT value. ■  Set “auto-tuning mode” to 01:_AutoTun_JRAT-Fix Automatic Tuning [JRAT Manual Setting] to automatically adjust optimum servo gain based on manually Procedure 1 set load inertia moment 1 ratio (JRAT1).

  • Page 160: Monitoring Servo Gain Adjustment Parameters

    6.Adjustments Automatic tuning 7) Monitoring servo gain adjustment parameters Parameters automatically adjusted when using auto-tuning can be monitored with Digital Operator, setup software. Refer to [Digital operator (7)] for use of Digital Operator. Symbol Name Unit JRAT MON Load Inertia Moment Ratio monitor KP MON Position Loop Proportional Gain monitor KVP MON...

  • Page 161: Automatic Tuning Of Notch Filter

    6.Adjustments Automatic tuning of notch filter Automatic tuning of notch filter Automatic notch filter can suppress high frequency resonance resulting from coupling and rigidity from the device mechanism. With short periods of operation of driver and motor, the mechanical resonance frequency can be found easily.

  • Page 162: Automatic Tuning Of Ff Vibration Suppression Frequency

    6.Adjustments Automatic FF vibration suppression frequency tuning Automatic tuning of FF vibration suppression frequency Set FF vibration suppression frequency to suppress low frequency vibration at the tip or body of the machine. Automatic tuning of FF Vibration suppression frequency simply enables the frequency tune in minimal motion cycle time between the driver and the motor.

  • Page 163: Using Manual Tuning

    6.Adjustments Manual tuning Using manual tuning All gain is adjustable manually using manual tuning mode when characteristics in auto-tuning are insufficient. Sets tuning mode to “manual tuning.” ■  General parameters Group0 ID00 [Tuning Mode] 02:_ManualTun Manual Tuning 1) Servo system configuration and servo adjustment parameters The servo system consists of three (3) subsystems: Position loop, Velocity loop and Current loop.
  • Page 164 6.Adjustments Manual tuning ■  Feed Forward Gain (FFGN) The tracking effect of position command can be improved by increasing this gain. Under positioning control, set this to approximately 30-40% as the standard. ✔  When Higher Tracking Control Position Compensation Gain is set to other than 0%, this parameter is automatically set.

  • Page 165: Basic Manual Tuning Method For Velocity Control

    6.Adjustments Manual tuning 2) Basic manual tuning method for velocity control ■  Set value of Velocity Loop Proportional Gain (KVP1) as high as possible within the range that mechanical system can stably work without any vibration or oscillation. If vibration increases, lower the value.
  • Page 166 6.Adjustments Model following control Model following control Model following control is a method used to obtain a higher response. Model control systems include mechanical devices in a driver and run a motor in order to track the Model control system. Select [Position control form] in [Control mode] Select [Model following control] in [Position control selection] Content...

  • Page 167: Manual Tuning Method For Model Following Control

    6.Adjustments Model following control 2) Manual tuning method for model following control ■  Set value of Velocity Loop Proportional Gain (KVP1) as high a value as possible within the range that mechanical system stably works without any vibration or oscillation. If vibration occurs, lower the value.
  • Page 168 6.Adjustments FF vibration suppression control/model following vibration suppression control Tuning to suppress vibration 1) FF vibration suppression control FF vibration suppression control can be used as a method of suppressing the vibration of the mechanical tip. ■  Adjust this gain by using the same basic tuning procedures from Position control. ■ ...
  • Page 169 6.Adjustments Model following vibration suppression control ■  Adjustable parameters in Model following vibration suppression control ◆  General parameters Group3 [Model following control settings] Symbol Name Unit Setting range Model Control Gain１ 15 to 315 OSSFIL Overshoot Suppression Filter 1 to 4000 ANRFRQ1 Model Control Antiresonance Frequency 1 10.0 to 80.0...

  • Page 170: Tuning Methods

    6.Adjustments Model following vibration suppression control 3) Tuning methods   ■  First, select “01: _Model_1 model following control” from “ID0A: position control selection” of system parameters, and then perform auto-tuning with “model following control” to adjust the machine to optimum servo gain. Refer to Auto-tuning method for model following control for instructions on tuning.
  • Page 171 6.Adjustments Disturbance observer Using disturbance observer function The motor speed will fluctuate when an external force is applied to the operating machine, and it may affect the machine operation. The Disturbance Observer is a function to suppress the influence of external load torque by estimating the load torque inside the driver and adding the load torque compensation to the torque command.
  • Page 172 7. Digital Operator Digital Operator names and functions ·················································································································· 7-1 Modes ·································································································································································· 7-1 Changing modes ·············································································································································· 7-1 Mode contents ·················································································································································· 7-2 Setting and display range ····································································································································· 7-3 Status display mode ············································································································································· 7-4 Driver status display ········································································································································· 7-4 Over-travel status display ································································································································· 7-4 Status display of regenerative overload warning, and overload warning ··························································...

  • Page 173: Digital Operator

    7.Digital Operator Names and functions Digital Operator names and functions It is possible to change or set the parameters and to confirm the status display, monitor display, test operation and alarm history with the built-in digital operator.   ■  Names Displays 5-digit, 7-segment LED Cursor movement, decision, and writing Key...
  • Page 174 7.Digital Operator Mode contents 2) Mode contents Mode Contents Status Display ■  Displays the establishment of control or main power supply, Servo ON, over-travel, warning and alarm status. Basic parameter ■  Parameters necessary for test operations by JOG and auto-tuning. Can be set at general parameter mode.
  • Page 175 7.Digital Operator Setting and display range Setting and display range Digital operator displays data becomes the following form. ■  Data of 0 to +65535 Symbol Digital operator display Range of a digit display   Plus Position of 1 display 0 to 9  ...

  • Page 176: Status Display Mode

    7.Digital Operator Status display mode Status display mode In this mode, the state of driver and the display of the alarm number when alarm occurring can be checked. In addition to these, reset of alarm, the software version check of driver, and setup of a password can be performed at the time of an alarm number display.

  • Page 177: Alarm Reset When Alarm Activated

    7.Digital Operator Status display mode 5) Alarm reset when alarm activated Alarm can be reset from the digital operator. However, the alarm that needs to perform power supply reset cannot be reset from the digital operator. About the alarm that performs power supply reset, can check by [Warning and Alarm List (8-3)] Displayed Input...
  • Page 178 7.Digital Operator Status display mode 7) How to check Information 1, Information 2 (driver information), and Information 3 (Motor Code) Displayed Input Step character, How to operate button number, code   Make the state of driver, or the state where alarm is displayed.

  • Page 179: How To Set Pass Ward

    7.Digital Operator Status display mode 8) How to set pass ward The function that can be used by setting up a password from digital operator can be restricted, and change of a parameter etc. can be forbidden. The function and the setting method can be used is the following.

  • Page 180: Editing Parameters

    7.Digital Operator Parameter edition Editing parameters The parameter inside driver can be changed into a setup put together with equipment and the machine of usage in fundamental parameter edit mode, general parameter edit mode, and system-parameter edit mode. Here, the setting method is explained to an example for fundamental parameter edit mode. 1) Basic parameters, editing system parameters Displayed Input...

  • Page 181: Editing General Parameters

    7.Digital Operator Parameter edition   2) Editing general parameters Editing method of general parameters other than Group C ID04 “Encoder Output Pulse Division” For example, method to change Group9 ID01 “CCW Over Travel Function” from “0B” to ”00“ is as follows.
  • Page 182 7.Digital Operator Parameter edition     “GrC.04” is displayed.   Hold down WR for over a second.   “Gr nu” is displayed. MODE   Hold down WR for over a second.   Display to be switched, and then rightmost LED flashes. The set data are displayed.

  • Page 183: How To Tune Automatic Notch Frequency

    7.Digital Operator How to tune automatic notch frequency How to tune automatic notch frequency Displayed character, Input Step How to operate number, code button   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.  ...

  • Page 184: How To Tune Automatic Ff Vibration Suppression Frequency

    7.Digital Operator How to tune automatic FF vibration suppression frequency How to tune automatic FF vibration suppression frequency Displayed Input Step character, number, How to operate button code   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.  ...

  • Page 185: Velocity-Controlled Jog Operation

    7.Digital Operator Velocity-controlled JOG Operation Velocity-controlled JOG Operation Displayed Input Step character, How to operate button number, code   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.   Make as the left display with addition and subtraction and the cursor button.

  • Page 186: Automatic Tuning Result Writing

    7.Digital Operator Automatic tuning result writing Automatic tuning result writing Displayed Input Step character, How to operate button number, code   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.   Make as the left display with addition and subtraction and the cursor button.

  • Page 187: Automatic Setting Of Motor Parameter

    7.Digital Operator Automatic setting motor parameter, alarm history display 7.10 Automatic setting of motor parameter Displayed Input Step character, How to operate button number, code   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.  ...

  • Page 188: How To Clear Alarm History

    7.Digital Operator Alarm history clear, monitor display 7.12 How to clear alarm history Displayed Input Step character, How to operate button number, code   MODE Push MODE until it displays the left.   Display changes and right end LED blinks.  ...

  • Page 189: Fixed Monitor Display

    7.Digital Operator Fixed monitor display, setting motor code of driver to be used 7.14 Fixed monitor display The display shows monitoring value in a second after powering up. It shows monitoring value set at [Group A ID30: Monitor Display Selection [MONDISP]] in status display mode.
  • Page 190 8. Maintenance Trouble shooting ···················································································································································· 8-1 List of warning and alarm ······································································································································· 8-3 1) Warning List ··························································································································································· 8-3 2) Alarm List ······························································································································································· 8-4 Trouble shooting when alarm activated ·················································································································· 8-7 1) Alarm display ·························································································································································· 8-7 2) Corrective action for alarm ····································································································································· 8-7 Inspection·····························································································································································...

  • Page 191: Maintenance

    8.Maintenance Trouble shooting Trouble shooting When troubles occurred without any alarm displayed, check and take corrective actions for them by referring to the description below. When alarm occurs, take corrective measures referring to “Trouble Shooting When Alarm Occurs “. ■  “≡“ does not blink in 7-segment LED even if main power is ON. Investigation Assumed causes and corrective actions ■ ...
  • Page 192 8.Maintenance Trouble shooting ■  Motor hangs up. Investigation Assumed causes and corrective actions ■  Phase order of motor power line is wrong. Check the motor power line. ✔  When performing the work for correction processing, be sure to intercept power supply. ■ ...

  • Page 193: List Of Warning And Alarm

    8.Wiring List of warning and alarm List of warning and alarm Names and contents of warning/ alarm, and the stop operations when detected, and alarm-reset methods are listed below. 1) Warning List Warning Title Warning Contents ■  When the effective torque exceeds the Overload Warning Overload Warning Level ■ ...

  • Page 194: Alarm List

    8.Maintenance Alarm list 2) Alarm List Operation at detecting: “DB “ performs the slowdown stop of the motor in dynamic brake operation when the alarm generating. Operation at detecting: “SB “ performs the slowdown stop of the motor with sequence current limiting value. When dynamic brake is selected by Emergency Stop Operation selection, the motor is decelerating stopped for the dynamic brake operation regardless of the operation when detecting it.
  • Page 195 8.Maintenance Alarm list Alarm name Detection Alarm 3 bits output Alarm name Alarm contents Operations Clear Display Bit7 Bit6 Bit5 “ “ ■  Encoder serial signal time out Serial Encoder Communication Error ■  Serial communication data error “ “ − ■ ...
  • Page 196 8.Maintenance Alarm list Alarm code Detection Alarm 3 bits output Alarm name Alarm contents Operations Clear Display Bit7 Bit6 Bit5 ■  Motor rotation speed is 120 % more than the highest speed Over-speed limit ■  Torque command and acceleration direction are not matching. Velocity Control Error ■ ...

  • Page 197: Trouble Shooting When Alarm Activated

    8.Maintenance Trouble shooting when alarm activated Trouble shooting when alarm activated 1) Alarm display When an alarm occurs, the display shows the alarm code and the status code of the driver. Display Description   Take appropriate action based on 2) Corrective action for alarm. Status code of the driver Alarm code Code...
  • Page 198 8.Maintenance Trouble shooting when alarm occurs ■  Alarm code 22 (Current Detection Error 0) Cause Status at the time of alarm ✔  ✔  Issued when servo is turned ON. ◆  Corrective actions Cause Investigation and corrective actions ■  Defect in internal circuit of driver. ■ ...
  • Page 199 8.Maintenance Trouble shooting when alarm occurs ■  Alarm code 41 (Overload 1) Cause Status at the time of alarm ✔              Issued at input of servo ON.       ✔  ✔  ✔    After command input, issued without rotating the motor.  ...
  • Page 200 8.Maintenance Trouble shooting when alarm activated ■  Alarm code 42 (Overload 2) Cause Status at the time of alarm ✔              Issued at input of servo ON.       ✔  ✔  ✔    After command input, issued without rotating the motor.  ...
  • Page 201 8.Maintenance Trouble shooting when alarm activated ■  Alarm code 43 (Regenerative Overload) Cause Status at the time of alarm             ✔    Issued when power supply control is turned ON.   ✔  ✔  ✔    ✔ ...
  • Page 202 8.Maintenance Trouble shooting when alarm activated ■  Alarm code 45 (Average continuous over speed) Cause Status at the time of alarm ✔  Occurred during operation. ◆  Corrective actions Cause Investigation and corrective actions ■  The average speed exceeds the ■  Review the operating conditions. ■ ...
  • Page 203 8.Maintenance Trouble shooting when alarm occurs ■  Alarm Code 53 (Dynamic Brake Resistor Overheat) Status at the time of alarm Cause ✔    Issued when power supply control is turned ON. ✔  ✔  Issued during operation. ◆  Corrective actions Cause Investigation and corrective actions ■ ...
  • Page 204 8.Maintenance Trouble shooting when alarm occurs ■  Alarm Code 55 (External Error) When host device or thermal output signal of external regenerative resistor are not connected Cause Status at the time of alarm ✔  ✔  Issued when power supply control is turned ON. ◆ ...
  • Page 205 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code 56 (Main Circuit Power Device Overheat) Cause Status at the time of alarm ✔    ✔  ✔  Issued when control power is turned ON. ✔  ✔  ✔    Issued at servo input. ✔ ...
  • Page 206 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code 62 (Main Circuit Under-voltage) Cause Status at the time of alarm       ✔  ✔  Issued when power supply control is turned ON. ✔  ✔  ✔      Issued after power supply of main circuit is turned ON.  ...
  • Page 207 8.Maintenance Trouble shooting when alarm occurs ■  Alarm Code 72 (Control Circuit Under-voltage 1) Cause Status at the time of alarm ✔  ✔  Issued when power supply control is turned ON. ◆  Corrective actions Cause Investigation and corrective actions ■  Defect in internal circuit of driver. ■ ...
  • Page 208 8.Maintenance Trouble shooting when alarm occurs   ■  Alarm Code 85 (Encoder Initial Process Error) Cause Status at the time of alarm ✔  ✔  ✔  Issued when power supply control is turned ON. ◆  Corrective actions Cause Investigation and corrective actions ■ ...
  • Page 209 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code A3 (Serial Encoder Internal Error 3) Cause Status at the time of alarm ✔    ✔  Issued when power supply control is turned ON. ✔  ✔    Issued while stopping the motor. ✔ ...
  • Page 210 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code C1 (Over-speed) Cause Status at the time of alarm ✔  ✔      Issued when command is entered after Servo ON.     ✔  ✔  Issued when the motor is started.  ...
  • Page 211 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code C3 (Velocity Feedback Error) Cause Status at the time of alarm ✔  ✔  ✔  Issued when command is entered.   ✔    Generated at the time of control input. ◆  Corrective actions Cause Investigation and corrective actions ■ ...
  • Page 212 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code D1 (Following Error / Excessive Position Deviation) Cause Status at the time of alarm                   ✔      Issued when control power supply is turned ON.  ...
  • Page 213 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code D3 (Faulty Position Command Pulse Frequency 2) Cause Status at the time of alarm ✔  ✔  Issued after entering position command pulse. ◆  Corrective actions Cause Investigation and corrective actions ■  Frequency of command pulse input is ■ ...
  • Page 214 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code E3 (Memory Error 1) ■  Alarm Code E4 (Memory Error 1) ■  Alarm Code E8 (CPU Surrounding Circuit Error) ■  Alarm Code E9 (System Code Error) Cause Status at the time of alarm ✔ ...
  • Page 215 8.Maintenance Trouble shooting when alarm activated ■  Alarm Code E7 (Motor Parameter Error) Cause Status at the time of alarm ✔  ✔  Issued when control power supply is turned ON. ◆  Corrective actions Cause Investigation and corrective actions ■  If control power supply is re-switched on ■ ...
  • Page 216 8.Maintenance Trouble shooting when alarm occurs   ■  Alarm Code F2 (Initial Process Time-Out) Cause Status at the time of alarm ✔  ✔  Issued when control power supply is turned ON. ◆  Corrective actions Cause Investigation and corrective actions ■  Defect in internal circuit of driver. ■ ...

  • Page 217: Inspection

    8.Maintenance Trouble shooting when alarm activated Inspection For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the following description. Inspection Inspection Testing conditions Solution if abnormal Items Methods Inspection location During While       Time operation stopping Check for...
  • Page 218 9 Appendix Standards conformity ............................9-1 Standards conformity ............................9-1 Over-voltage category, protection grade, pollution level ..................9-2 Connection and installation ..........................9-2 UL file number ..............................9-2 Compliance with EN Directives .......................... 9-3 Conformity verification test ..........................9-3 Requirements for driver installation to achieve the EMC certification ..............9-4 Requirements for converter installation to achieve the EMC certification ............

  • Page 219: Appendix

    9.Appendix Standards conformity Standards conformity For NSK Ltd. products, compatibility examinations of overseas standards are conducted by certificate authorities, and attestation markings are performed based on the published certificate of attestation. 1) Standards conformity ■ Drivers Applicable laws Reference Number.

  • Page 220: Over-Voltage Category, Protection Grade, Pollution Level

    9.Appendix Standards conformity 2) Over-voltage category, protection grade, pollution level ■ The "over-voltage category" of driver is "III" (EN61800-5-1). For the interface, use a DC power supply with reinforced and insulated input and outputs. ■ Make sure to install the driver in your control panel in an environment where the pollution level specified in EN61800-5-1 and IEC664 is no less than 2 ( polution level 1, 2).

  • Page 221: Compliance With En Directives

    Compliance with EN Directives Compliance with EN Directives NSK Ltd. implements the conformity verification test of "Low Voltage Directive" and "an EMC command" in a certificate authority so that a user's CE Marking acquisition can be performed easily, and CE Marking is done based on the published certificate of attestation.

  • Page 222: Requirements For Driver Installation To Achieve The Emc Certification

    9.Appendix Compliance with EN Directives 2) Requirements for driver installation to achieve the EMC certification For the installation requirements, in our company the verification test is implemented by the following installations and measures methods, as machines and configurations differ depending on customers’...

  • Page 223: Requirements For Converter Installation To Achieve The Emc Certification

    EMC testing, NSK Ltd. has been attaching the CE Marking to individual converters. In order to make your machines and systems compliant with the CE Marking, you must conduct the final EMC testing on your own initiative.

  • Page 224: Outline Drawing

    9. Appendix Outline drawing Outline drawing 1) Motor M-PB1006JN001 6-M4 × 0.7 depth 7 6-M4 × 0.7 depth 6 Rotating PCD92 (60°equal pitch) part PCD45 (60°equal pitch) Resolver connector Output shaft (Rotating part) Fixed part 10 or more 2.5 or more Material: Steel Motor connector Material: Steel...
  • Page 225 9. Appendix Outline drawing M-PB3030JN001 6-M6 × 1.0 depth 9 Rotating 6-M6 × 1.0 depth 9 PCD130 (60°equal pitch) part PCD69 (60°equal pitch) Resolver connector Motor connector Output shaft (Rotating part) 10 or more 3 or more Material: Steel Fixed part Surface treatment: Material: Steel (Range of Ø150h8)

  • Page 226: Driver

    9. Appendix Outline drawing 2) Driver M-EGA-15A2301 Main circuit (PC Communication) power Control power Regenerative resister (Motor) (Control signal I/O) Ground terminals (Position sensor) Label M-EGA-30A2301 Main circuit (PC Communication) power Control power Regenerative resister (Motor) (Control signal I/O) Ground terminals (Position sensor) Label...

  • Page 227: Converter

    9. Appendix Outline drawing 3) Converter M-ECC-PBxxxxGA201 Label (Driver side) (Motor side) (×4) Material: Steel Surface treatment: Nickel plating 4) Motor cable Motor side Driver side Dimension L Wiring table Connector motor side Connector driver side Signal Pin number Pin number Round solderless terminal...

  • Page 228: Converter Cable

    9. Appendix Outline drawing 5) Converter Cable Converter side Driver side Dimension L Wiring table Converter side Driver side Signal Pin number Pin number Do not connect Shell Shell 9-10...

  • Page 229: Optional Parts

    9. Appendix Optional parts Optional parts The following optional parts are available. 1) Connectors ■ Connectors available as discrete components Connector Description Reference No. Maker Model No. Name of Maker 10150-3000PE and Sumitomo 3M For control signal M-FAE0002 10350-52A0-008 Limited For connection to Phoenix Contact input power and...

  • Page 230: Setup Software And Serial Communication

    9. Appendix Optional parts 3) Setup software and serial communication Name Description Reference No. Between PC (RS-232C port) ⇔ Driver (CN2) PC communication cable M-FAE0006 ■ PC communication cable outline drawing 2850- 0 NO.8 NO.1 ケーブル Host PC side (COM) Driver side (CN2) JEZ-9S-3(LF) MUF-PK8K-X...

  • Page 231: Regenerative Resistor

    9. Appendix Optional parts Regenerative resistor ■ M-FAE0004 (80W, 50Ω) 122±0.4 6±1 6±1 φ4.3 ２ Silicon rubber glass braided wire 0.5mm White (Thermo start) (Thermo stat) ２ Silicon rubber glass braided wire 0.75mm Black ■ M-FAE0005 (220W, 100Ω) 220±0.4 6±1 6±1 φ4.3 ２...

  • Page 232: Supplementary Items For Usage

    9.Appendix Supplementary items for usage Supplementary items for usage 1) Homing Motor does not incorporate home sensor. Homing must be operated by host equipment using external home sensor referring homing sequence and home sensor setting position described in below . Home Start homing Motor motion...

  • Page 233: Setting Procedures For Parameters Of Magnetic Pole Position Estimation

    9.Appendix Supplementary items for usage 2) Setting procedures for parameters of magnetic pole position estimation Magnetic pole position estimation is necessary every time at start-up of driver model EGA. For the following cases, set the parameters of "Gr.B_ID01: Excitation Command Frequency setting (EMPFREQ)"...
  • Page 234 ・ 装置の剛性を見直して下さい • Check if load inertia moment is within ・ 負荷慣性モーメントが仕様以下であるか Is the Acceleration threshold set 加速度閾値上限値か？ specifications. to the upper-limit value? 見直してください • Contact NSK Ltd. ・ NSK に問合せください 5(初期値) ⇒ to X (initial value) Failure 失敗 Success 成功...
  • Page 235 9.Appendix Supplementary items for usage Upper-limit value of acceleration threshold of each motor are described below. PB1006 負荷慣性モーメント 負荷慣性モーメント比 加速度閾値上限値 Load inertia moment Load inertia moment ratio Upper-limit value of acceleration threshold [kg・m [rad/s [rad/s 0.026 1000 0.052 2000 0.078 3000 0.104 4000...
  • Page 236 MEGATORQUE MOTOR SYSTEM (Driver Model EGA) User’s Manual Document Number: C20191-03 April 25, 2014 1st Edition December 19, 2014 2nd Edition March 16, 2022 3rd Edition NSK Ltd.

This manual is also suitable for:

Megatorque motor pb seriesM-ega-15a2301M-ega-30a2301

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