NPM PULSERVO User Manual
  1. Manuals
  2. Brands
  3. NPM Manuals
  4. Control Unit
  5. PULSERVO
  6. User manual

NPM PULSERVO User Manual

Closed-loop stepping motor
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
TA600019-EN0/4
Closed-loop stepping motor
PULSERVO
User's Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

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

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for NPM PULSERVO

Summary of Contents for NPM PULSERVO

  • Page 1 TA600019-EN0/4 Closed-loop stepping motor PULSERVO User’s Manual...

  • Page 2: Table Of Contents

    1.3.1 Warranty period ............................9 1.3.2 Warranty scope ............................9 1.4 Notice .................................. 9 1.5 Confirmation ................................ 9 2. PULSERVO’s features ............................10 3. Product model ................................. 14 3.1 How to see product models..........................14 3.2 Pulse input type ..............................15 3.2.1 Combination models of a standard motor and a driver ................
  • Page 3 TA600019-EN0/4 4.3.2 Motoro size 56 geared model specifications ....................40 4.3.3 Motor size 60 geared model specifications ....................41 4.3.4 Motor external dimensions ......................... 42 4.4 Lead wire ................................45 5. Cable specifications ..............................46 5.1 Input / output signal cable ..........................46 5.1.1 For pulse input type ............................
  • Page 4 TA600019-EN0/4 10. System configuration ............................65 11. Precautions for mounting ............................66 12. External connection diagram ..........................67 13. Operation display and setting ..........................68 13.1 Operation display LED ............................ 68 13.2 Resolution setting switch (RES1 to 4) ......................69 13.3 Motor direction switch (DIR) ..........................
  • Page 5 TA600019-EN0/4 21.1 Operation display LED ............................ 88 21.2 Motionnet communication display LED ......................89 21.3 Resolution setting switch (RES1 to 4) ......................89 21.4 Limit signal logic setting switch (SW1.1) ......................90 21.5 Motionnet communication speed / termination resistor switch (SW1.2 to SW1.4) ......... 90 21.6 Device number setting switch (SW3, SW4) ....................
  • Page 6 TA600019-EN0/4 27. Features of Motionnet ............................112 27.1 Serial communications ..........................113 27.2 Motion control ..............................114 - C5 -...

  • Page 7: Introduction

    TA600019-EN0/4 1. Introduction Thank you for choosing our PULSERVO. This manual describes the specifications, functions, connections, and usages. Be sure to read this manual thoroughly and keep it handy in order to use the product appropriately. 1.1 How to use this manual Reproduction of this manual in whole or in part without permission is prohibited by the Copyright Act.
  • Page 8 TA600019-EN0/4 W a r n i n g "Warning" indicates that it may result in the death or serious injury of the operator during operations of this product. C a u t i o n "Caution" indicates that it may result in minor injury of the operator during operations of this product. C a u t i o n "Caution"...
  • Page 9 TA600019-EN0/4 1.1.1.2 Warning symbol In this manual, the following symbols are added along with the notations "Danger," "Warning," "Caution," and "Importance" to indicate the warning contents in an easy-to-understand manner. This symbol indicates that a high voltage may be applied. It warns that the failure to confirm safety or mishandling of the product might cause a risk of electric shock, burn, or death.

  • Page 10: Technical Terminology

    1.1.2 Technical terminology (1) Motionnet Motion net is a high-speed serial communication system proposed by NPM. This system is based on four types of devices G9000 series developed uniquely by our company, and CPU emulation and CPU that take advantage of input / output (I/O) control, motion control, and high speed by serial communication at a transmission speed of 20 Mbps.

  • Page 11: Handling The Product

    TA600019-EN0/4 1.2 Handling the product 1.2.1 Storing Store the product in an environment where condensation does not occur at a temperature of −20°C to +70°C and humidity of 10 to 90 %RH. 1.2.2 Unpacking Check if the following items are included when unpacked. Driver Stepping motor Accessory...
  • Page 12 TA600019-EN0/4 C a u t i o n • Be sure to observe the mounting method. Please follow the rules for heat dissipation from the equipment. There is a risk of fire or failure. (For details, see Precautions for mounting Precautions for mounting “11.
  • Page 13 TA600019-EN0/4 1.2.3.2 Precaution in operation D a n g e r • Do not open the main unit cover during energization or operation. There is a risk of electric shock. • Do not operate with the main unit cover removed. High voltage terminals and charging parts may be exposed and electric shock may occur.
  • Page 14 TA600019-EN0/4 1.2.3.3 Maintenance Precautions D a n g e r • Do not conduct an inspection on the product while it is energized. It may result in an electric shock. • Inspect after turning off the input power off and 3 minutes or more. •...

  • Page 15: Product Warranty

    The warranty period is one year from the date of delivery to an assigned place. 1.3.2 Warranty scope If any defect is found in a product during the warranty period under the normal use following this document, NPM will repair or replace the product without charge.

  • Page 16: Pulservo's Features

    TA600019-EN0/4 2. PULSERVO’s features PULSERVO, a closed-loop stepping motor, is a system that utilizes stepping motor’s features, and overcomes “out of step”, which is the open-loop control’s weakness. We offer two types: “Motionnet (Serial communication control system) type” as well as “Pulse input type”.
  • Page 17 (150 % is a maximum value in parameter setting) Tuning-less No need of complex tuning done for a servo motor. You can use PULSERVO in low rigidity system such as belt drive. Positioning hysteresis with loaded PULSERVO can achieve high positioning accuracy with low hysteresis from both CW and CCW directions by closed-loop control even when the system has a large load applied.
  • Page 18 TA600019-EN0/4 Smooth rotation PULSERVO can achieve smooth rotation with less torque ripple with vector control and filtering control inside a driver. Phase-B current Current vector Torque Angle of motor rotation Phase-A current (10) High-speed positioning with short stroke High starting torque, which is a stepping motor’s feature, together with low vibration operations, which is the PULSERVO’s feature, achieves high-speed repetition positionings in short strokes.
  • Page 19 CPU message communications through serial communication at a transmission speed of 20 Mbps. Motionnet type of PULSERVO is equipped with G9103, which is one of the motion control LSIs in Motionnet. G9103 can perform all of the pulse-train input controls such as constant speed operation, linear acceleration/deceleration, S-curve acceleration/deceleration, as well as preset (positioning) operation, and origin return operation, which are required for motion controls.

  • Page 20: Product Model

    － － □ 42 S (3) (4) (5) (7) (8) (1) Series name Option PULSERVO None: Standard (2) Type S: Pulse input type BK: with brake M: Motionnet type PG: with gearhead (3) Motor Frame size Geared type None: Non gear 20: 20 mm□...

  • Page 21: Pulse Input Type

    TA600019-EN0/4 3.2 Pulse input type 3.2.1 Combination models of a standard motor and a driver Motor size Set model Motor model Driver model Note PLS-S-20M PSM-20M PSD-S-20M Not usable for new designs PLS-S-20MR PSM-20MR PSD-S-20M PLS-S-20L PSM-20L PSD-S-20L Not usable for new designs PLS-S-20LR PSM-20LR PSD-S-20L...

  • Page 22: Combination Models Of A Motor With Gearhead And Drivers

    TA600019-EN0/4 3.2.3 Combination models of a motor with gearhead and drivers Reduc Reduc Driver Driver Size Set model Motor model -tion Size Set model Motor model -tion model model ratio ratio PLS-S-42S-PG-PN3 PSM-42S-PG-PN3 PLS-S-56S-PG-PN3 PSM-56S-PG-PN3 PLS-S-42S-PG-PN5 PSM-42S-PG-PN5 PLS-S-56S-PG-PN5 PSM-56S-PG-PN5 PLS-S-42S-PG-PN8 PSM-42S-PG-PN8 PLS-S-56S-PG-PN8 PSM-56S-PG-PN8...

  • Page 23: Motionnet Type

    TA600019-EN0/4 3.3 Motionnet type 3.3.1 Combination models of a standard motor and a driver Motor size Set model Motor model Driver model Note PLS-M-20M PSM-20M PSD-M-20M Not usable for new designs PLS-M-20MR PSM-20MR PSD-M-20M PLS-M-20L PSM-20L PSD-M-20L Not usable for new designs PLS-M-20LR PSM-20LR PSD-M-20L...

  • Page 24: Combination Models Of A Motor With Gearhead And A Driver

    TA600019-EN0/4 3.3.3 Combination models of a motor with gearhead and a driver Reduc Reduc Driver Driver Size Set model Motor model -tion Size Set model Motor model -tion model model ratio ratio PLS-M-42S-PG-PN3 PSM-42S-PG-PN3 PLS-M-56S-PG-PN3 PSM-56S-PG-PN3 PLS-M-42S-PG-PN5 PSM-42S-PG-PN5 PLS-M-56S-PG-PN5 PSM-56S-PG-PN5 PLS-M-42S-PG-PN8 PSM-42S-PG-PN8 PLS-M-56S-PG-PN8...

  • Page 25: Motor Specifications And External Dimensions

    TA600019-EN0/4 4. Motor specifications and external dimensions 4.1 Motor specifications and external dimensions of standard type 4.1.1 Motor specifications Motor size Motor model PSM-20M PSM-20MR PSM-20L PSM-20LR Rated current / phase Holding torque N·m 0.011 0.020 Roter inertia kg·m 2.5×10 3.3×10 Weight Stator part length...

  • Page 26: Torque Characteristic

    TA600019-EN0/4 4.1.2 Torque characteristic The following torque characteristics are reference values. Series Series Series - 20 -...
  • Page 27 TA600019-EN0/4 Series Series - 21 -...

  • Page 28: Motor External Dimensions

    TA600019-EN0/4 4.1.3 Motor external dimensions 4.1.3.1 Motor size : 20 (1) PSM-20M The dimensions will be changed to PSM-20MR, so please do not use it for new designs. (2) PSM-20MR - 22 -...
  • Page 29 TA600019-EN0/4 (3) PSM-20L The dimensions will be changed to PSM-20LR, so please do not use it for new designs. (4) PSM-20LR - 23 -...
  • Page 30 TA600019-EN0/4 Motor size: 28 4.1.3.2 (1) PSM-28S The dimensions will be changed to PSM-28SR, so please do not use it for new designs. (2) PSM-28SR (3) PSM-28M The dimensions will be changed to PSM-28MR, so please do not use it for new designs.
  • Page 31 TA600019-EN0/4 (4) PSM-28MR (5) PSM-28L The dimensions will be changed to PSM-28LR, so please do not use it for new designs. (5) PSM-28LR - 25 -...
  • Page 32 TA600019-EN0/4 4.1.3.3 Motor size: 42 (1) PSM-42S (2) PSM-42M - 26 -...
  • Page 33 TA600019-EN0/4 (3) PSM-42L (4) PSM-42XL - 27 -...
  • Page 34 TA600019-EN0/4 4.1.3.4 Motor size: 56 (1) PSM-56S (2) PSM-56M - 28 -...
  • Page 35 TA600019-EN0/4 (3) PSM-56L - 29 -...
  • Page 36 TA600019-EN0/4 4.1.3.5 Motor size: 60 (1) PSM-60S (2) PSM-60M - 30 -...
  • Page 37 TA600019-EN0/4 (3) PSM-60L - 31 -...

  • Page 38: Specifications Of Motors With Brakes

    TA600019-EN0/4 4.2 Specifications of motors with brakes 4.2.1 Motor specification Allowable Electromagnetic brake specifications overhang load Rotor moment of Motor Weight Motor model Distance from tip Power Static inertia size Rated of motor axis Operation Power Con- friction (kg･m current (mm) method sumption...

  • Page 39: Motor External Dimensions

    TA600019-EN0/4 4.2.2 Motor external dimensions 4.2.2.1 Motor size: 42 (1) PSM-42S-BK (2) PSM-42M-BK - 33 -...
  • Page 40 TA600019-EN0/4 (3) PSM-42L-BK (4) PSM-42XL-BK - 34 -...
  • Page 41 TA600019-EN0/4 4.2.2.2 Motor size: 56 (1) PSM-56S-BK (2) PSM-56M-BK - 35 -...
  • Page 42 TA600019-EN0/4 (3) PSM-56L-BK - 36 -...
  • Page 43 TA600019-EN0/4 4.2.2.3 Motor size: 60 (1) PSM-60S-BK (2) PSM-60M-BK - 37 -...
  • Page 44 TA600019-EN0/4 (3) PSM-60L-BK - 38 -...

  • Page 45: Specifications And External Dimensions Of Motors With Gearheads

    TA600019-EN0/4 4.3 Specifications and external dimensions of motors with gearheads 4.3.1 Motor size 42 geared model specifications Allowable Rotor Angular Allow overhang Average Allowable moment Back- trans- Resolution Unit able load (N) static allowable allowable Gear speed Motor model lash mission (10,000 P/R weight...

  • Page 46: Motoro Size 56 Geared Model Specifications

    TA600019-EN0/4 4.3.2 Motoro size 56 geared model specifications Allowable Angular Rotor Average overhang Back- trans- Resolution Allowable Unit Allowable static inertia allowable allowable Gear load (N) Motor model lash mission (10,000 P/R speed range weight thrust load torque moment torque torque ratio (min)

  • Page 47: Motor Size 60 Geared Model Specifications

    TA600019-EN0/4 4.3.3 Motor size 60 geared model specifications Allowable overhang Angular Rotor Average Allowable load (N) Back trans Resolution Unit Allowable static inertia allowable allowable Gear speed Motor model -lash -mission (10,000 P/R weight thrust torque moment torque torque ratio range Axis (min)

  • Page 48: Motor External Dimensions

    TA600019-EN0/4 4.3.4 Motor external dimensions 4.3.4.1 Motor size: 42 □Gear ratio Motor model Gearhead stage Length (mm) PSM-42S-PG-PN□ 3, 5, 8, 10 PSM-42M-PG-PN□ 3, 5, 8, 10 Single PSM-42L-PG-PN□ 3, 5, 8, 10 PSM-42XL-PG-PN□ 3, 5, 8, 10 *Please order with assigning gear ratio to □ of motor model number. Parallel key (Accessory) Gear ratio: 03, 05, 08, 10 □Gear ratio...
  • Page 49 TA600019-EN0/4 4.3.4.2 Motor size: 56 □Gear ratio Motor model Gearhead stage Length (mm) 3, 5, 8, 10 PSM-56S-PG-PN□ 3, 5, 8, 10 PSM-56M-PG-PN□ Single 3, 5, 8, 10 PSM-56L-PG-PN□ *Please order with assigning gear ratio to □ of motor model number. Parallel key (Accessory) Gear ratio:03, 05, 08, 10 □Gear ratio...
  • Page 50 TA600019-EN0/4 4.3.4.3 Motor size: 60 □Gear ratio Motor model Gearhead stage Length (mm) 3, 5, 8, 10 PSM-60S-PG-PN□ 3, 5, 8, 10 PSM-60M-PG-PN□ Single 3, 5, 8, 10 PSM-60L-PG-PN□ *Please order with assigning gear ratio to □ of motor model number. Parallel key (Accessory) Gear ratio:03, 05, 08, 10 □Gear ratio...

  • Page 51: Lead Wire

    TA600019-EN0/4 4.4 Lead wire From the motor, lead wires with connectors come out to connect with a driver and encoder. The length is 310 mm in all models. (See the figure below) Refer to “5.2 Encoder junction cable” and “5.3 Motor junction cable” for the junction cable with the driver. - 45 -...

  • Page 52: Cable Specifications

    TA600019-EN0/4 5. Cable specifications The following cables are available as options. Please contact with us when you require. 5.1 Input / output signal cable 5.1.1 For pulse input type Model Length (m) Specifications □□□ CASO-S-□□□F Normal cable □□□ Flexible cable CASO-S-□□□M * Regarding length of cable, 1 m, 2 m, 3 m, 4 m, 5 m, 7 m, 10 m and 15 m are available as standard.

  • Page 53: Motor Junction Cable

    TA600019-EN0/4 5.3 Motor junction cable Model Length (m) Specifications □□□ CSVO-M-□□□F Normal cable □□□ Flexible cable CSVO-M-□□□M * Regarding length of cable, 1 m, 2 m, 3 m, 4 m, 5 m, 7 m, 10 m and 15 m are available as standard. In the case of 1 m, for example, assign 001 to □□□...

  • Page 54: Motionnet Dedicated Cables (Rj45 - Rj45 Types)

    TA600019-EN0/4 5.6 Motionnet dedicated cables (RJ45 - RJ45 types) Model Length (m) Specifications K-SP-10493-001 0.6 m Normal cable K-SP-10493-002 1.0 m Normal cable K-SP-10493-003 2.0 m Normal cable K-SP-10493-004 3.0 m Normal cable K-SP-10493-005 5.0 m Normal cable *Please contact us if you ask for cables with other than RJ-45 type or only cables without connector. [ About cables used for Motionnet ] We recommend to use LAN cables that guarantee enhanced quality for high-speed communication which are 100BASE and 1000BASE LAN cable.

  • Page 55: Cable Diagram

    TA600019-EN0/4 5.7 Cable diagram 5.7.1 Motor junction cable diagram This is a junction cable that connects between a motor and a driver. Driver side Motor side Wiring Pin assignment Pin No. Pin No. Pin assignment The same connectors are used on both driver and motor sides. Item Manufacturer Model...

  • Page 56: Parameter Setting Cable Diagram

    TA600019-EN0/4 5.7.3 Parameter setting cable diagram This is a cable that connects between an PC and driver. Driver side PC side Wiring Pin assignment Pin No. Pin No. Pin assignment Connector Connector on a driver side Item Manufacturer Model Housing MOLEX 5264-03 MOLEX...

  • Page 57: Accessories

    TA600019-EN0/4 6. Accessories PULSERVO comes with the following components. 6.1 Accessories for Pulse Input type Purpose Item Manufacturer Model Quantity PADP-20V-1-S Connector Input / Output connection (CN4) SPH-002T-P0.5L Housing 51353-1000 MOLEX Driver side (CN3) 56134-9000 Connection with Housing SMP-09V-NC an encoder Encoder side SHF-001T-0.8BS...

  • Page 58: Parameter Setting

    TA600019-EN0/4 7. Parameter setting To operate a system, some parameters are initially installed in a driver. To maximize the driver’s function, changing parameters may be needed according to your usage. 7.1 Parameter setting program The following is the programming window for changing parameters. You can change Servo-ON/OFF signal logic, in-position signal logic and alarm output signal logic, and the like according to your system.

  • Page 59: Parameter Items

    TA600019-EN0/4 7.2 Parameter items The following is the explanation for the parameter items. Refer to it when you set the parameters. Parameter setting Setting Default Function description items range “Alarm output” state on Sets the logic of Alarm output signal. Sets the “Alarm output” state ON, OFF Alarm when an Alarm occurs.
  • Page 60 TA600019-EN0/4 Parameter Default Setting range Functions setting item setting Sets the Open-loop Control Range. When the deviation between the command pulse and feedback pulse falls within the specified open-loop range after a command pulse is input, closed-loop control (deviation correction operation) will not be performed, and the motor will stop. When you select 0, full closed-loop with No Open-loop control range will be set.

  • Page 61: Monitor Feature

    8. Monitor feature PULSERVO has a feature to monitor the command pulses input to a driver, the feedback pulses acquired from an encoder and the motor current value through RS-232C. Using this feature, you can simply evaluate the movement following operations in the mechanical part connected with the motor.

  • Page 62: Monitor Function Specifications

    TA600019-EN0/4 8.2 Monitor function specifications Items Description ･Number of command pulses ･Number of feedback pulses ･Command speed (converted by command speed and motor resolution, unit: pps) Acquirable data ･Operation speed (converted by feedback pulses and motor resolution, unit: pps) ･Motor current value (unit: mA) Command type Control by command through RS-232C Baud rate: 115200 bps, Data length: 8-bit, Parity: none,...
  • Page 63 TA600019-EN0/4 Command / function MSP / Sampling cycle setting MSP[Setting value] [line break] Command format …… Setting value: Sampling cycle is input in decimal number. (Unit: ms) OKY10 …… Reply when process is completed. Reply format (example) (Setting value is added after OKY) Settable range Memory mode :1 to 1,000 (by ms) Remarks...
  • Page 64 TA600019-EN0/4 Command / function MGD / Stored data transfer (memory mode) MGD[format] [line break] ……format: reply format Command format (0: break by space, 1: break by comma) …… Reply when sending data starts ^P0 0 0 0 0 609 …… Reply of sampling data ^P1 1 0 0 0 608 ……...
  • Page 65 TA600019-EN0/4 Command / function MCT / Sampling number setting (Free-run mode) MCT[setting value] [line break] Command format …… Setting value: Sampling number is input in decimal number OKY100…… Reply when process is completed (Setting value is added after OKY.) Reply format (example) The range to set: Remarks 0 to 50,000...

  • Page 66: Example To Use Monitor Functions

    TA600019-EN0/4 8.4 Example to use monitor functions 8.4.1 In Memory mode ……… MSP1 Sampling cycle setting (1 ms) OKY1 ……… MSS0 Sampling start (memory mode) OKY0 ^PQ199 ……… MGD0 Stored data transmission (break by space) ^P0 0 0 0 0 609 ^P1 1 0 0 0 608 ^P2 1 0 0 0 612 ^P3 3 0 0 0 617...

  • Page 67: Pulse Input Type

    【Pulse input type】 TA600019-EN0/3 【Pulse input type】 - 61 -...

  • Page 68: Driver Specifications And External Dimensions

    【Pulse input type】 TA600019-EN0/3 9. Driver specifications and external dimensions 9.1 Specifications PSM-20 PSM-28 PSM-42 PSM-56 PSM-60 Applicable motor series series series series series PSD-S-20 PSD-S-28 PSD-S-42 PSD-S-56 PSD-S-60 Driver model series series series series series Input voltage *5 24 VDC ± 10% Control method Closed-loop control by ARM-based 32 bit MCU Consumed power...
  • Page 69 【Pulse input type】 TA600019-EN0/3 *1: Maximum rotation speed varies depending on the set resolution. Maximum rotation speed within resolution setting up to 10,000 P/R is 3,000 rpm. *2: About functions in detail, please refer to “13 Operation display and setting”. *3: About details of input/output signals, refer to "15 Input / Output signals”...

  • Page 70: External Dimensions

    【Pulse input type】 TA600019-EN0/3 9.2 External dimensions Mounting hole for grounding Mounting hole for grounding - 64 -...

  • Page 71: System Configuration

    【Pulse input type】 TA600019-EN0/3 10. System configuration 5) Parameter setting cable Control unit DC power 4) Power cable for driver 1) Input output signal cable 2) Encoder junction cable 3) Motor junction cable DC power 4) Power cable for driver - 65 -...

  • Page 72: Precautions For Mounting

    【Pulse input type】 TA600019-EN0/3 11. Precautions for mounting 1) Use it in doors. 2) Ambient temperature is 0 to 50°C 3) When the case temperature becomes more than 50°C, place any cooling device externally to release heat. 4) Place it away from direct sunlight, strong magnetism and radioactive materials. 5) In order to connect input / output signal cables between the driver and the master controller, connect it while both a master controller and driver are power off.

  • Page 73: External Connection Diagram

    【Pulse input type】 TA600019-EN0/3 12. External connection diagram Pulse input type driver Electro -magnetic brake - 67 -...

  • Page 74: Operation Display And Setting

    【Pulse input type】 TA600019-EN0/3 13. Operation display and setting Pulse input type setting switch Rotating direction switch Operation display LED Resolution setting switch Input / output signal connector (CN4) Encoder connector (CN3) Motor connector (CN2) Power supply connector (CN1) 13.1 Operation display LED Display Color Functions...

  • Page 75: Resolution Setting Switch (Res1 To 4)

    【Pulse input type】 TA600019-EN0/3 13.2 Resolution setting switch (RES1 to 4) These switches are used to set the number of common pulses per motor rotation from a master controller. RES switch Driver model PSD-S-20 PSD-S-28 to 60 1,000 1,000 1,600 1,600 The above figure shows the default 2,000...

  • Page 76: Connector Pin Assignment

    【Pulse input type】 TA600019-EN0/3 14. Connector pin assignment 14.1 Power connector (CN1) Pin No. Function Power input: 24 VDC ±10% Power input: GND 14.2 Motor connector (CN2) Pin No. Function Phase A Phase B Phase /A Phase /B 14.3 Encoder connector (CN3) Input / Output Pin No.

  • Page 77: Input / Output Signal Connector (Cn4)

    【Pulse input type】 TA600019-EN0/3 14.4 Input / Output signal connector (CN4) Pin No. Function Input / Output A− Output Output B− Output Output Z− Output Output Brake− * Output Brake+ * Output 24 GND (EXT) Input 24 V (EXT) Input Alarm Reset Input Servo-ON/OFF...

  • Page 78: Input / Output Signals

    【Pulse input type】 TA600019-EN0/3 15. Input / Output signals 15.1 Input signals 15.1.1 CW, CCW Input ◆Signal explanation Command signals are input from a master controller. In 1 pulse input type, the direction signal is input in the Dir pin and the pulse signals are input in the Pulse pin.

  • Page 79: Alarm Reset, Servo-On/Off Input

    【Pulse input type】 TA600019-EN0/3 15.1.2 Alarm Reset, Servo-ON/OFF Input ◆Signal explanation ･Servo-ON/OFF Input Motor excitation is switched between ON and OFF by the Servo-ON/OFF signals. The signal logic can be changed by a parameter ‘Motor state at “Servo-ON/OFF” input ON’ in the parameter setting program.

  • Page 80: Output Signals

    ･In-position Output In-position signals are output. When PULSERVO received a command from a master controller and position deviation from target position is less than the value specified as the range of in-position, in-position signals are output. Signal logic can be changed by a parameter ‘...

  • Page 81: A, B, Z Encoder Output

    【Pulse input type】 TA600019-EN0/3 15.2.2 A, B, Z encoder Output ◆Signal explanation Feedback signals (phases A, B and Z) from encoder are output in differential signals of the phase difference of 90 degree. Regardless of resolution specified by resolution setting switches (RES1 to 4), 4,000 P/R (x4) is output in PSD-S-20 and 10,000 P/R (x4) is output in PSD-S-28 to 60.

  • Page 82: Diagnosis For Failure And Countermeasures

    【Pulse input type】 TA600019-EN0/3 16. Diagnosis for failure and countermeasures 16.1 When the alarm LED is not blinking When you cannot operate motors normally even though an alarm LED of driver is not blinking, please check the followings. Phenomenon Causes to be expected Countermeasures Excitation is OFF by SERVO-ON/OFF signals.

  • Page 83: When The Alarm Led Is Blinking

    【Pulse input type】 TA600019-EN0/3 16.2 When the Alarm LED is blinking The blinking of the driver’s Alarm LED shows an error occurrence. Please check causes by checking the number of blinking. The blinking number of Alarm LED is 1 to 15 (Turning ON for 0.5 s and then turning OFF for 0.5 s). There is interval of 2 s and then, the same number of blinking is repeated.
  • Page 84 【Pulse input type】 TA600019-EN0/3 Number Alarm Alarm occurrence Causes of alarm Check Countermeasures content condition blinking 1. Correct command When operation Check a position distance to an position command input command of a appropriate value. exceeds operable range master controller. of mechanical part.
  • Page 85 【Pulse input type】 TA600019-EN0/3 Number Alarm Alarm occurrence Causes of alarm Check Countermeasures content blinking condition When a motor has Check disconnection of 1. Change out a motor. an abnormality. motor phase lines. (A and /A, B and /B) 1. Check the connection of motor When a cable Check connection of When...
  • Page 86 【Pulse input type】 TA600019-EN0/3 Number Alarm Alarm occurrence Causes of alarm Check Countermeasures content blinking condition There is some Check the vibration 1. Remove the causes of vibration in the conditions of vibration. mechanical parts. mechanical parts. Tension of the Check the tension of a 1.

  • Page 87: Motionnet Type

    【Motionnet type】 TA600019-EN0/4 【Motionnet type】 - 81 -...

  • Page 88: Driver Specifications And External Dimensions

    【Motionnet type】 TA600019-EN0/4 17. Driver specifications and external dimensions 17.1 Specifications 17.1.1 Motor driver specifications PSM-20 PSM-28 PSM-42 PSM-56 PSM-60 Applicable motor series series series series series PSD-M-20 PSD-M-28 PSD-M-42 PSD-M-56 PSD-M-60 Driver model series series series series series Input voltage *4 24 VDC ±...
  • Page 89 【Motionnet type】 TA600019-EN0/4 *1: Maximum rotation speed varies depending on the set resolution. Maximum rotation speed within resolution setting up to 10,000 P/R is 3,000 rpm. *2: About functions in detail, please refer to “21 Operation display and setting”. *3: About current during running, please refer to “7.1 Parameter setting program”. *4: Please prepare DC power supply more than the capacity required by the following calculation formula.

  • Page 90: Serial Communication And Motion Control Part Specifications

    【Motionnet type】 TA600019-EN0/4 17.1.2 Serial communication and motion control part specifications Common to each driver Items Specifications Motion control by Serial communication system Motionnet Dedicated LSI is mounted: Motionnet motor control LSI: G9103 (Made by Nippon Serial communication and motion control Pulse Motor) Communication time: 15.1 μs, maximum.

  • Page 91: External Dimensions

    【Motionnet type】 TA600019-EN0/4 ･Controlled by G9103 general-purpose input / output. 17.2 External dimensions Mounting hole for grounding Mounting hole for grounding - 85 -...

  • Page 92: System Configuration

    【Motionnet type】 TA600019-EN0/4 18. System configuration Motionnet dedicated cable Motionnet dedicated cable Input / output 1) Input output cable 2) Encoder junction cable 3) Motor junction cable DC power 4) Power cable for driver 19. Precautions for mounting 1) Use it in doors. 2) Ambient temperature is 0 to 50°C 3) When the case temperature becomes more than 50°C, place any cooling device externally to release heat.

  • Page 93: External Connection Diagram

    【Motionnet type】 TA600019-EN0/4 20. External connection diagram Motionnet type driver Note: Please connect connection cable shield of I/O signal connector (CN4) with a connector body and ground it. - 87 -...

  • Page 94: Operation Display And Setting

    【Motionnet type】 TA600019-EN0/4 21. Operation display and setting ID display Operation display LED Communication connector (CN5, CN6) Parameter setting Connector (CN7) Communication speed/Termination resistor Resolution setting Limit Sensor Logic setting switch (SW1) switch デバイス番号設定スイッチ（SW3,4） Device number setting switch (SW3,4) Input / output signal connector (CN4) Encoder connector (CN3) Motor connector (CN2)

  • Page 95: Motionnet Communication Display Led

    【Motionnet type】 TA600019-EN0/4 21.2 Motionnet communication display LED In Motionnet serial communication, these LEDs shows whether the communication between the master control and the motor control LSI: G9103 in a driver is normal. ･Green LED When G9103 received serial communication data normally, Green LED shows MSEL signals output from G9103. When many local boards are connected in serial communication line, this LED may darken.

  • Page 96: Limit Signal Logic Setting Switch (Sw1.1)

    【Motionnet type】 TA600019-EN0/4 21.4 Limit signal logic setting switch (SW1.1) This switch is used to set the logic of a limit signal (End limit signal). The logics of both +Limit and –Limit signals are set simultaneously and cannot be set independently. SW1.1 Setting *2 Negative logic *1...

  • Page 97: Device Number Setting Switch (Sw3, Sw4)

    【Motionnet type】 TA600019-EN0/4 21.6 Device number setting switch (SW3, SW4) Motionnet device number 0 to 63 is set by adding the setting numbers allocated to SW3 and SW4. Example: When SW3 setting is 3 and SW4 setting is 5, a device number is 53 (48 + 5 = 53). Setting Setting - 91 -...

  • Page 98: Connector Pin Assignment

    【Motionnet type】 TA600019-EN0/4 22. Connector pin assignment 22.1 Power connector (CN1) Pin No. Function Power input: 24 VDC ±10% Power input: GND 22.2 Motor connector (CN2) Pin No. Function Phase A Phase B Phase /A Phase /B 22.3 Encoder connector (CN3) Pin No.

  • Page 99: Input / Output Signal Connector (Cn4)

    【Motionnet type】 TA600019-EN0/4 22.4 Input / Output signal connector (CN4) Pin No. Function Input / Output +Limit Input −Limit Input Slow-down Input Origin Input Simul Start Input Simul Stop Input Input Input Latch Input EMG. Stop Input Out1 Output Out2 Output Compare Output...

  • Page 100: External Input / Output Signals

    【Motionnet type】 TA600019-EN0/4 23. External Input / Output signals 23.1 External Input signals 23.1.1 Limit, Slow-down, ORG, Simul Start/Stop, In1, In2, EMG.Stop and Latch Input ◆Signal explanation Explanation Signal names +Limit is +directional end limit input. −Limit is −directional end limit input. This signal prevents from +Limit outputting pulse in that direction.

  • Page 101: External Output Signals

    【Motionnet type】 TA600019-EN0/4 23.2 External output signals 23.2.1 Out1/2, Compare, Alarm, In-position Output ◆Signal explanation Signal name Functions General-purpose output. It is connected to general-purpose output P2 of G9103. Logic cannot be Out1 changed. Output becomes ON by setting to “1” in software. General-purpose output.

  • Page 102: Serial Communication (Rs485+, Rs485−)

    【Motionnet type】 TA600019-EN0/4 23.3 Serial communication (RS485+, RS485−) ◆Signal explanation Serial communication signals. ◆Interface circuit Serial communication signals are isolated by using a pulse transformer. They are input and output by a line transceiver (SN65HVD1176D or equivalent) that meets the RS-485 specifications. The board inputs/outputs the forward phase of the line transceiver through the RS485+ side and the reverse phase through the RS485−...

  • Page 103: Internal I/O Signals Between Motor Driver And G9103

    When a master controller send a command by sending data to G9103, a motor controller LSI, G9103 outputs common pulses to a motor driver according to the command. The Motor driver operates the motor according to the command. PULSERVO PULSERVO driver Motor Master controller...

  • Page 104: Motor Excitation Output

    TA600019-EN0/4 24.1.2 Motor excitation output ◆Signal explanation Motor excitation signals are connected to general-purpose output pin P0 of G9103. This signal can make motor excitation turn ON and OFF. PULSERVO driver PULSERVO Motor control LSI: G9103 Motor driver part motor...
  • Page 105 【Motionnet type】 TA600019-EN0/4 ◆Precautions for operation General I/O port P0 is “0” right after power on. If general-purpose I/O pin setting is made in this state, unintended excitation ON/OFF may happen because excitation is reversed. (See the figure below). To avoid this, set general-purpose output P0 to “1” before making general-purpose I/O pin setting. Before general-purpose After general-purpose I/O pin setting is made Parameter setting program...
  • Page 106 【Motionnet type】 TA600019-EN0/4 Operation procedures and graphic explanation of excitation state Example: In the case of ‘Motor state at “Servo-On/Off input” ON’ is Excitation ON [In the case that general-purpose I/O pin setting is [In the case that port setting is made before made just after power on] general-purpose I/O pin setting is made] Passage...

  • Page 107: Alarm Reset Output

    Motor excitation sequence reset Alarm status reset Alarm output reset Motor excitation turns off when alarm occurs. If motor excitation output is not operated, the excitation returns ON by alarm reset. PULSERVO driver PULSERVO Motor control LSI: G9103 Motor driver motor...

  • Page 108: Input To G9103

    Alarm input of G9103 When an alarm occurs, G9103 stops outputting command pulses. Motor become excitation OFF by Alarm occurrence. Alarm is reset by power ON again or by alarm reset that is output from general-purpose pin of G9103. PULSERVO driver PULSERVO...

  • Page 109: Inp Input

    ◆Signal explanation When PULSERVO receives a command from a master controller and the position deviation is less than the setting value specified as in-position complete range, it outputs an in-position signal from the motor driver. This signal is output as in- position signal (pin 15 of CN4) and it is also connected INP input of G9103.

  • Page 110: Encoder Input

    In-position signal output ◆90-degree phase difference and filtering setting of G9103 From an encoder, 90-degree phase difference signal is input. PULSERVO will use this signal in x4, so please set as follows. Digital filter (150 ns) to reduce noise can be applied.

  • Page 111: G9103 Internal Setting List

    【Motionnet type】 TA600019-EN0/4 25. G9103 internal setting list The following is the list of G9103 registers which have been assigned in advance. 25.1 Environment setting 1 (RENV1) Bit name Contents Setting RMD2-0 Output pulse specification 2 to 0 ALML ALM signal input logic INPL INP signal input logic Input signal (±Limit, ORG, Slow-down, INP, ALM) filter...

  • Page 112: Assignment Of General-Purpose I/O And The Status

    【Motionnet type】 TA600019-EN0/4 25.3 Assignment of general-purpose I/O and the status P5M P4M The output logic can be Servo-On/Off changed by the parameter (Motor excitation) output setting software. Alarm Reset output You can reset at the rising / falling edge of signal. General-purpose output 1 1：ON (OUT1)

  • Page 113: Diagnosis For Failure And Countermeasures

    【Motionnet type】 TA600019-EN0/4 26. Diagnosis for failure and countermeasures 26.1 When the alarm LED is not blinking When motor does not operate normally even though an alarm LED of the driver is not blinking, please check the followings. Phenomenon Causes to be expected Countermeasures Excitation is off by SERVO- On/Off signals.

  • Page 114: When The Alarm Led Is Blinking

    【Motionnet type】 TA600019-EN0/4 26.2 When the alarm LED is blinking The blinking of the driver’s Alarm LED shows an error occurrence. Please check causes by checking the number of blinking. The blinking number of Alarm LED is 1 to 15 (Turning ON for 0.5 s and then turning OFF for 0.5 s). There is interval of 2 s and then, the same number of blinking is repeated.
  • Page 115 【Motionnet type】 TA600019-EN0/4 Number Alarm Alarm content occurrence Causes of alarm Check Countermeasures blinking condition When operation position Check a position 1. Correct command distance to an command input exceeds command of a appropriate value. operable range of master controller. mechanical part.
  • Page 116 【Motionnet type】 TA600019-EN0/4 Number Alarm Alarm occurrence Causes of alarm Check Countermeasures content blinking condition When a motor has Check disconnection 1. Change out a motor. an abnormality. of motor phase lines. (A and /A, B and /B) When a cable Check connection of 1.
  • Page 117 【Motionnet type】 TA600019-EN0/4 Number Alarm Alarm content occurrence Causes of alarm Check Countermeasures blinking condition There is some Check the vibration 1. Remove the causes of vibration in the conditions of vibration. mechanical parts. mechanical parts. Tension of the Check the tension of a 1.
  • Page 118 TA600019-EN0/4 27. Features of Motionnet Motionnet is a high-speed serial communication system created by NPM (Nippon Pulse Motor). We use four specially developed devices: G9000 series as the core. This serial communication system at 20 Mbps transmission speed is a complete system affording remote operation by emulating a CPU and handling CPU message communication.
  • Page 119 【Motionnet type】 TA600019-EN0/4 27.1 Serial communications Data transmission speed Up to 20 Mbps Cyclic communication time and transmission cycle 1) Cyclic communication time 15.1 µs per unit max (Data transmission speed: 20 Mbps) 2) Cyclic data transfer cycle 0.97 ms max for 64 local devices connected (Data transmission speed: 20 Mbps) (The less number units are connected, the less transmission time are required.) Data communication time 19.3 μs (When writing 4 bytes of movement amount data to the movement amount setting register in G9103)
  • Page 120 【Motionnet type】 TA600019-EN0/4 27.2 Motion control (1) Interrupt signal output Interrupt requests can be sent to the center board via cyclic communication depending on various factors. (2) Acceleration/deceleration control Linear acceleration/deceleration and S-curve acceleration/deceleration can be performed, and linear acceleration/deceleration sections can be added to S-curve acceleration/deceleration. (3) Speed override In all operation modes, the speed can be changed during operation.
  • Page 121 【Motionnet type】 TA600019-EN0/4 (8) Software-limit function The software limit can be set with two comparator circuits. When a motor enters the software-limit range, it stops immediately or decelerates to stop. After that, the motor can move only in the reverse direction. (9) Backlash compensation The backlash compensation function is provided.
  • Page 122 【Motionnet type】 TA600019-EN0/4 (14) Simultaneous start / Simultaneous stop You can perform simultaneous start and stop with the other axis of products that G9103 is mounted (15) Pre-registers Data for the next operation can be set during current operation. (16) Mechanical input signals The following four signals can be connected.
  • Page 123 TA600019-EN0/4 NPM reserves all intellectual property rights, including copyrights, for the software. NPM does not transfer any rights regarding the software to customer(s). Customer(s) may use the current software only for the purpose of using the products. NPM does not provide no warranty, whether expressed or implied, including the completeness, accuracy, applicability, usefulness, or non-infringement of third-party intellectual property of our software.
  • Page 124 TA600019-EN0/4 Revision Revision Date Contents Nov. 10, 2015 New document. Dec. 22, 2016 1) 3-1-1. Motor specifications Rotor inertia: Change the unit Length: Change to “Stator part length”. 2) 3-2-1. Motor specifications Allowable overhang weight →Allowable overhand load Allowable torque load →Rotor moment of inertia 3) 3-2-2.
  • Page 125 TA600019-EN0/4 Revision Date Contents Apr. 19, 2018 3-1-1. Motor specification Changed PSM-20L Roter inertia value 5×10-7 → 3.3×10-7 3-1-3. Motor external dimensions Changed external dimensions of all motors 3-2-2. Motor external dimensions Changed external dimensions of all motors 3-2-1. Motor specifications Changed the following item values Rated current of electromagnetic brake specifications Power consumption of electromagnetic brake specifications...
  • Page 126 3.3.1 Combination models of a standard motor and a driver 4.1.1 Motor specification 4.1.3 Motor external dimensions Adds revised external dimensions of 20 mm and 26 mm size motors. 2. PULSERVO’s feature (2) RS-232 → RS-232C 9.1 Specifications PSD-M-20 → PSD-S-20, PSD-M-28 → PSD-S-28, PSD-M-42 → PSD-S-42, PSD-M-56 →...
  • Page 127 TA600019-EN0/4 www.pulsemotor.com/global Information www.pulsemotor.com/global/contact Issued in December 2021 Copyright 2015 Nippon Pulse Motor Co., Ltd.

Table of Contents