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Giken GSK Instruction Manual

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GIK EN
Nov.2024
GSK/GKL
Controller Instruction Manual
GIKEN INDUSTRIAL CO., LTD.

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  • Page 1 GIK EN Nov.2024 GSK/GKL Controller Instruction Manual GIKEN INDUSTRIAL CO., LTD.
  • Page 2 ① Please read this instruction manual carefully in order to ensure that you use this product correctly. ② A part or no part of this instruction manual may be used or reproduced without the permission of GIKEN Industrial Co., LTD.
  • Page 3 But you don’t need it when you use only one axis ３．Please set axis No. at one axis side on 『d00177』 and two axis side on 『d10177』 from the panel section to make GSK/GKL controller driver recognize axis Number. (You cannot communication from the PC when axis No. isn’t set.) *You must set axis No.

  • Page 4: Table Of Contents

    ３－１ Wiring reference diagram ........................32 ３－１－１ GSKW/GKLW Controller system wiring reference diagram ............32 ３－１－２ GSK/GKL Controller system wiring reference diagram ..............33 ３－２ Used connector and mating connector....................34 ３－２－１ GSK/GKL Used connector and mating connector ................. 34 ３－２－２...
  • Page 5 ３－４－２ GSKW Cable model list ......................... 39 ４ Signal ............................. 40 ４－１ Signal type ............................... 40 ４－２ Input and output signals .......................... 41 ４－２－１ Input and output signals ......................... 41 ４－２－２ Output signal ..........................43 ４－３ Input & output signal map ........................45 ４－４...
  • Page 6 １２－３ Tightening operation glossary ......................112 １３ Supplemental explanation......................115 １３－１ Precautions for wiring the arc net....................... 115 １３－２ About GSK/GKL tightening setting additional items ................116 １３－２－１ Judgment area ........................... 116 １３－２－２ Smooth tightening ........................116 １３－３ SD card ............................... 117 １３－３－１...
  • Page 7 １３－４－４ Nut runner failure prediction warning ..................122 １３－５ Precautions for Input/Outout communication ..................123 １３－６ Precautions to read history ......................... 124 １３－７ Items of setting possible and setting not possible ................124 １３－８ About connection setting of ID controller .................... 125 １３－８－１...

  • Page 8: １ System Out Line

    １ System out line １－１ GSK System out line ・“GSK” is the torque control type nut runner system what has the function necessary to tightening of the screw and locating. ・This system has the name specified as GSK and it can be divided into the controller section, IF unit section(Interface) and AC nut runer section.

  • Page 9: １－４ Gsk Ac Nut Runner Section

    １－４ GSK AC nut runner section ・ANZM type nut runner can be continued to used like a conventional GSS series. ＜Specification of nut runner ＞ MAX. MAX. Power tightening rotational Weight supply current Nutrunner Transducer torque speed Moter model model model （A rms）...

  • Page 10: １－５ Gkl System Out Line

    １－５ GKL System out line ・“GKL” is the torque control type nut runner system what has the function necessary to tightening of the screw and locating. ・This system has the name specified as GKL and it can be divided into the controller section, IF unit section(Interface) and AC nut runer section.

  • Page 11: １－８ Gkl Ac Nut Runner Section

    １－８ GKL AC nut runner section ・ANM type nut runner can be continued to used like a conventional GSL series. ＜Specification of nut runner ＞ MAX. MAX. Power tightening rotational Weight supply current runner torque speed Moter model model （N.m） （rpm）...

  • Page 12: ２ Specifications

    ２－１ Specifications of controller Standard type（M-NET） CC-link DeviceNet IF unit EthhhherNetI/P PROFINET I/O PROFINET IRT Single standard type（GSK/GKL）3 kinds, Single T type（GSK/GKL）3 kinds, Composition Controller unit 2 axis standard type（GSKW/GKLW）2kinds, 2 axis T type（GSKW/GKLW）2kinds Tightening Result （Torque and time and angle and judge）...
  • Page 13 Controller unit 109.5×226×211.6 GSKW-T5/GKLW-T5 Display 182.5×138.8×45.8 GSK-D2 Please install by considering the projection of GKL-D2 the connector Axis number ・30 axis ｘ 16 program ｘ 220 step ・30 axis ｘ 50 program ｘ 70 step Program number ・8 axis ｘ 50 program ｘ 220 step...

  • Page 14: ２－２ Basic Specification

    ２－２ Basic specification ２－２－１ GSK Basic specification GSK-IF-N1：M-NET（Standard） GSK-IFCC-N1：CC-Link GSK-IFDN-N1：Devie-NET GSK-IFET-N1：EtherNetI/P I/F model GSK-IFPNIO-N1：PROFINET I/O GSK-IFPNIRT-N1：PROFINET IRT GSK-IFSG-N1：Parallel I/O（Input/output: 24 points each） GSK-IFSG2-N1：Parallel I/O（Input/output: 48 points each） Standard specification GSK-14-E-N2 GSK-15-E-N2 GSK-17-E-N2 model （GSK） Standard specification GSKW-14-E-N2 GSKW-15-E-N2 model （GSKW）...
  • Page 15 ※About combination of controllers and NRs other than ANZM series The combination of each NR and controller is shown below. ・ANZM series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms ANZM-12000 GSK-17（T7）-E-N2 ANZM-15000 ANZM-20000 27.0 GSK-17（T7）-E1-N2 ANZM-28000 ・ANZMC series Driving power supply rated...
  • Page 16 ・ANZMH series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms ANZMH-200 GSK-14（T4）-E-N2 ANZMH-450 GSKW-14（T4）-E-N2 GSK-15（T5）-E-N2 ANZMH-900 GSKW-15（T5）-E-N2 ANZMH-1500 ANZMH-1550 ANZMH-1850S GSK-17（T7）-E-N2 ANZMH-2000 ANZMH-2001 ANZMH-9000 37.5 GSK-17（T7）-E1-N2 ・ANZMCH series Driving power supply rated Nut runner model Adaptive Controller...
  • Page 17 ・ANCKHM series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms ANCKHM-200 GSK-14（T4）-E1-N2 ANCKHM-300 GSKW-14（T4）-E1-N2 GSK-15（T5）-E1-N2 ANCKHM-500 GSKW-15（T5）-E1-N2 ・ANZMCTH series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms ANZMCTH-100E1 GSK-14（T4）-E1-N2 ANZMCTH-150E1 GSKW-14（T4）-E1-N2 ANZMCTH-230E1 ANZMCTH-450E1 GSK-15（T5）-E1-N2...
  • Page 18 ・ANZMRCH series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms ANZMRCH-2000 ANZMRCH-2001 GSK-17（T7）-R-N2 ANZMECH-2500 ・LUR series Driving power supply rated Nut runner model Adaptive Controller electrical capacity Arms LUR-1000 GSK-15（T5）-E-L2...

  • Page 19: ２－２－１ Gkl Basic Specification

    ２－２－１ GKL Basic specification GKL-IF-N1：M-NET（Standard） GKL-IFCC-N1：CC-Link GKL-IFDN-N1：Devie-NET GKL-IFET-N1：EtherNetI/P I/F model GKL-IFPNIO-N1：PROFINET I/O GKL-IFPNIRT-N1：PROFINET IRT GKL-IFSG-N1：Parallel I/O（Input/output: 24 points each） GKL-IFSG2-N1：Parallel I/O（Input/output: 48 points each） Standard specification GKL-14-E-N2 GKL-15-E-N2 GKL-17-E-N2 model （GKL） Standard specification GKLW-14-E-N2 GKLW-15-E-N2 model （GKLW） T specification model GKL-T4-E-N2 GKL-T5-E-N2 GKL-T7-E-2...
  • Page 20 Rating 0.159 0.318 0.64 1.27 2.39 2.39 torque N.m Instantane ous max. 0.95 1.91 3.82 7.64 14.32 14.32 torque Maximum rotation 12500 7500 12500 number without loads rpm Motor drive Transistor PWM sine wave drive system Angle Incremental encoder sensor (With the zero magnification signal, line driver output, 256C/T) Operating temperatur...

  • Page 21: ２－３ Functions/Features

    ２－３ Functions/Features Over current, over load, over speed, encoder failure, drive power Protective function failure, E2PROM failure and CPU failure, etc. Alarm No., NG information Display Program No., Block No. 7SEGMENT LED function Operation monitor Tightening result (Torque, etc.) Set the following parameters by a personal computer and input them to the IF unit.

  • Page 22: ２－４ Size

    ２－４ Size ２－４－１ Interface dimensions：Standard type・・・GSK-IF/GKL-IF...

  • Page 23: ２－４－２ Controller Dimensions：standard Type・・・Gsk-14/Gkl-14

    ２－４－２ Controller dimensions：Standard type・・・GSK-14/GKL-14...

  • Page 24: ２－４－３ Controller Dimensions：standard Type・・・Gsk-15/Gkl-15

    ２－４－３ Controller dimensions：Standard type・・・GSK-15/GKL-15...

  • Page 25: ２－４－４ Controller Dimensions：standard Type・・・Gsk-17/Gkl-17

    ２－４－４ Controller dimensions：Standard type・・・GSK-17/GKL-17...

  • Page 26: ２－４－５ Controller Dimensions：standard Type・・・Gskw-14/Gklw-14

    ２－４－５ Controller dimensions：Standard type・・・GSKW-14/GKLW-14...

  • Page 27: ２－４－６ Controller Dimensions：standard Type・・・Gskw-15/Gklw-15

    ２－４－６ Controller dimensions：Standard type・・・GSKW-15/GKLW-15...

  • Page 28: ２－４－７ Controller Dimensions：t Type・・・Gsk-T4/Gkl-T4

    ２－４－７ Controller dimensions：T type・・・GSK-T4/GKL-T4...

  • Page 29: ２－４－８ Controller Dimensions：t Type・・・Gsk-T5（T7）/Gkl-T5（T7

    ２－４－８ Controller dimensions：T type・・・GSK-T5（T7）/GKL-T5（T7）...

  • Page 30: ２－４－９ Controller Dimensions：t Type・・・Gskw-T4/Gklw-T4

    ２－４－９ Controller dimensions：T type・・・GSKW-T4/GKLW-T4...

  • Page 31: ２－４－１０ Controller Dimensions：t Type・・・Gskw-T5/Gklw-T5

    ２－４－１０ Controller dimensions：T type・・・GSKW-T5/GKLW-T5...

  • Page 32: ２－４－１１ Dimensions（Display） ： Model ・・・Gsk-D2/Gkl-D2

    ２－４－１１ Dimensions（display） ： Model ・・・GSK-D2/GKL-D2...

  • Page 33: ３ Wire Connection

    ３ Wire connection ３－１ Wiring reference diagram ３－１－１ GSKW/GKLW Controller system wiring reference diagram...

  • Page 34: ３－１－２ Gsk/Gkl Controller System Wiring Reference Diagram

    ３－１－２ GSK/GKL Controller system wiring reference diagram...

  • Page 35: ３－２ Used Connector And Mating Connector

    ３－２ Used connector and mating connector ３－２－１ GSK/GKL Used connector and mating connector GSK/GSKW/GKL/GKLW connector unit (14/T4) Port No. Used model Matching model Matching model pin annexed Use／Matter 734-166 734-106 For the control power ― ○ supply connection （WAGO） （WAGO）...

  • Page 36: ３－２－２ Interface Communication Port Details

    A setting personal computer Use to rewrite or read the data using the setting software. (USB) If you want to connect a plurality of GSK/GKL driver, it connects the Driver（ARCNET） driver to each other in the ARCNET. CAN communication connector...

  • Page 37: ３－３ Connection To The Outside

    ３－３ Connection to the outside ３－３－１ External connection diagram（Controller～NR）：standard and T type 1-axis type has none. CN.21 at positioning mode ※Pins not shown in the above figure are not connected.
  • Page 38 ３－３－２ External connection diagram（I/F unit～ ）：standard and T type Connected equipment...

  • Page 39: ３－４ Cable Model List

    ３－４ Cable model list ３－４－１ GSK Cable model list （Please be sure to read the following notes.） Cable name Use nut runner Cable model ANZM-50～ANZM-850 etc. K8M5DW-4R-□M Integrated power cable ANZM-1600～ANZM-3500 etc. K8M30D-4R-□M （Nut runner ～ Controller） ANZM-5000～ANZM-9000 etc. K8M90D-4R-□M ANZM-50～ANZM-850 etc.

  • Page 40: ３－４－２ Gskw Cable Model List

    ３－４－２ GSKW Cable model list Cable name Use nut runner Cable model ANZM-50～ANZM-850 etc. K8M5DW-4R-□M Integrated power cable （Nut runner ～ Controller） ANZM-1600～ANZM-3500 etc. K8M30D-4R-□M ANZM-50～ANZM-850 etc. K8M5TW-4R-□M Movable relay power cable （Nut runner ～Relay part） ANZM-1600～ANZM-3500 etc. K8M30T-4R-□M ANZM-50～ANZM-850 etc. K8M5TW-4A-□M Unmovable relay power cable （Relay part ～...

  • Page 41: ４ Signal

    Communication of tightening management with PLC Model：GSK-IFET-N1/GKL-IFET-N1 PROFINET I/O Model：GSK-IFPNIO-N1/GKL-IFPNIO-N1 Communication of tightening management with PLC PROFINET IRT Model：GSK-IFPMIRT-N1/GKL-IFPNIRT-N1 Communication of tightening management with PLC Analog monitor Output item Matter Output the date of torque, speed and current by the panel operation Monitoring of the torque sensor（≒5V/sensor rate）、Scaling of the current(10A/10V)

  • Page 42: ４－２ Input And Output Signals

    Determination reset Only when it receives the output signal of the program operation end (Total OK bit or Total NG bit : 0⇒1)GSK/GKL will accept this reset signal GSK/GKL will reset the alarm condition at the rising edge of the Alerm reset bit (Alerm reset bit: 0⇒1).
  • Page 43 Program No. specify from among the up to the value of provisions. Input ENABLE It tells the program number acquisition time. GSK/GKL will reset to the start condition at the rising edge of the GSK reset GKL reset GSK/GKL reset bit (GSK/GKL reset bit: 0⇒1).。...

  • Page 44: ４－２－２ Output Signal

    ４－２－２ Output signal Output （“GSK/GKL”→“PLC”） Name Matter GSK/GKL will notify the PLC that it is possible operations 0：Incompletion of operation preparation GSK/GKL cannot operate. 1：Completion of operation preparation. Completion of It accepts the signal to perform an operation such as a start.
  • Page 45 ※This signal doesn’t change when X-axis/Y-axis complete the block. GSK/GKL notify the block number what the work is completed in Block end 1 the automatic operation. The block number represented by a six-digit binary number data ～...

  • Page 46: ４－３ Input & Output Signal Map

    ４－３ Input & output signal map Communication input （PLC ⇒ GSK/GKL） bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 Operation Automatic/ Determinati Start Inching start Alerm reset QL sginal QL mode ready...

  • Page 47: ４－４ Sequencerselected

    But it can be connected with the sequencer in other communications by setting the expansion board. GSK/GKLIF reads the ID according to the board in the time of power supply on and moves according to the respective communication, so there is no setting change in the communication.

  • Page 48: ５ Operation Timing Chart

    (It will work at the speed and direction setting of rotation and inching that has been selected (1 to 24) by the program selection signal (1 to 5) Control power supply Drive power supply Input signal 0.2 sec. min. 0.2 sec. min. (PLCGSS) (PLC→GSK) 10 sec. min. Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 49: ５－３ Program Operation -2 Step Operation ②

    ５－２ program operation -2 step operation ① (1 block setting, if the judgment OK) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset Alarm reset QL input QL mode IN wait input 0.2 sec.

  • Page 50: ５－４ Program Operation -2 Step Operation③

    (When 1 block has settings of the 3 axis, first and second axis become NG at first step, third Axis is OK up to a two-step: there is QL process) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset 0.2 sec.
  • Page 51 (When 1 set block has the 2 axis, first axis become NG at first step, second axis is OK up to a two-step : QL process is nothing) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 52: ５－５ Program Operation -1Step Operation①

    (2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK, 2 th block all axes OK : 1 block after QL) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset 0.2 sec.

  • Page 53: ５－７ Program Operation --2 Step Operation④

    (2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK, 2 th block all axes OK: at the end of the program collectively QL） Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready 0.2 sec. min. Automatic/inching Program start Inching start Determination reset 0.2 sec.
  • Page 54 ５－７ program operation --2 step operation④ (1 block, there is IN set ting to the second step)） Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset Alarm reset QL input QL mode 0.2 sec.

  • Page 55: ５－８ Program Operation -1Step Operation③

    (3 blocks, if allowed to operate in the block order specified by the block selection signal: When the block select 1 to 5 are all OFF will operate from the block 1 in the order) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 56: ５－９ Interruption Of Program Operation（Reset

    (And if one block after the end of reset in one step × 2 blocks operation is turned ON If it became a reset or ON in the first block of the operation) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 57: ５－１０ Operation Preparation Off And Program Start Off In The Program Operation

    （At the 1 step × 2 blocks program , “Operation preparation OFF" occur in the first block and “program start off” occur the 2nd block.） Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 58: ５－１２ Tightening Angle Sampling Operation

    （At the 1 step × 2 blocks program ,the alarm occurs in the middle of first block , if that was allowed to restart after the alarm reset） Control power supply Drive power supply Input signal 0.2 sec. min. (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset 0.2 sec. min.
  • Page 59 (It will start the operation at the tightening angle sampling start signal turn ON in the state of Completion of operation preparation.) Control power supply Drive power supply Input signal (PLCGSS) (PLC→GSK) Operation ready Automatic/inching Program start Inching start Determination reset...

  • Page 60: ６ Setting

    ６ Setting ６－１ Display / setting function It will display the each kinds fata, parameters and condition by the 7SEG.LED 6-digit. You can change the settings in the push-button operation. ６－１－１ View of the display unit...

  • Page 61: ６－１－２ Operation The Display Unit

    ※important※ GSK/GKL driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis. If you use the driver in two or more axes, please set the axis number in the following way by operating the panel.

  • Page 62: ６－１－３ Setting Example

    ６－１－３ Setting example For GSK/GKL · GSKW/GKLW, each parameter can be changed by using the bottom button of 7 SEG display part. Here, we will explain the setting of representative parameters using 7 SEG display by using several examples. For the setting place etc. of each parameter, please refer to paragraph 7.
  • Page 63 ※Please set so that controller axis numbers do not overlap.

  • Page 64: ６－１－５ Procedure To Erase The 7 Segment Display Of W Type Unused Axis

    Here is the procedure for setting to erase the indication of the unused axis which discharges the alarm. ※This setting procedure is available only after GSK/GKL version "1851-2.18". Please note that the display on the 2 axes side will not disappear...

  • Page 65: ６－１－６ Procedure Of Changed Tightening Sampling Stop Torque

    ６－１－６ Procedure of changed tightening sampling stop torque It setting When you set the tightening method from the PC, there is a sampling setting as a method for making that setting. Here, we show how to set the target torque of the sampling operation to automatically collect the tightening information with the setting method.

  • Page 66: ６－２ Program

    ６－２ Program...

  • Page 67: ７ Setting Function Details

    ７ Setting function details ７－１ Fn. ** Display setting function list It can set internal data and modify and monitor at the panel surface of the GSK/GKL controller. Select data Matter of display data Remarks Fn0-00 status of 2-axis motion...

  • Page 68: ７－２ （D-00***, D-10***）Each-Axis Setting, Driver Parameter Setting

    Setting the axis number (d0xxxx) GSK/GKL driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis. Please set the following parameters to manipulate the case of a two-axis for the driver panel.
  • Page 69 Address Name Matter unit GSK（W）-○○-E-N2：4 GSK（W）-○○-E1-N2：4 GSK（W）-○○-E2-N2：4 Sensor resolution GSK（W）-○○-R-N2：1 ― magnification GSK（W）-○○-E-P2：4 GSK（W）-○○-E-P3：4 GKL（W）-○○-E-N2：4 It sets the resolution magnification of the sensor. Magnification of the NR, positioning encoder, positioning resolver: 4 ― sensor resolution Gear abnormality When the gear failure is detected, it will set the number of determination count ―...

  • Page 70: ７－３ Socket-Fittings Setting

    It is the setting for performing screw tightening before the preparation operation. (Numbers 1 to 50) Bolt picked up, it performs a gear check, fitting, etc., and then to state that can be screw-tightening. Number is the number of the case to be set from GSK/GKL driver panel (Axx-yy) Number...

  • Page 71: ７－４ Pre-Tightenings Setting

    Rotating at high speed until the seating position is set for moving the screw. (Numbers 1 to 50) Number is the number of the case to be set from GSK/GKL driver panel (Lxx-yy) ★：This is a GSK-only setting. Set to 0 since it is not used in GKL.
  • Page 72 Number Matter increments (yy) Pre- tightening cut angle ★ No.22 1 degree It stops when it reaches this set angle from measurement starting torque. This setting uses angles to prevent mistakes. Stall time ☆ When using a sensorless type nut runner, in order to stabilize the tightening torque, the No23 1msec torque must be held for a certain time after reaching the cut torque.
  • Page 73 Pre-tightening reference waveform...

  • Page 74: ７－５ Revese Tightening Setting

    ７－５ Revese tightening setting You use the seating detection determined that the burning decision. Number is the number of the case to be set from GSK/GKL driver panel (Gxx-yy) Number Matter Increments (yy) Reversal torque No.00 0.1Nm If this torque is exceeded when reaching the measurement angle, NG is output.
  • Page 75 Reverse tightening reference waveform...

  • Page 76: ７－６ Real Tightening Setting

    (GKL) motor. Number is the number of the case to be set from GSK/GKL driver panel (Uxx-yy). ★：This is a GSK-only setting. Set to 0 since it is not used in GKL. ☆：This is a GKL-only setting. Set to 0 since it is not used in GSK.
  • Page 77 Number Matter Increments (yy) Angle upper limit: It sets the allowable upper limit of the angle. No.13 Unlike Overtime, this time is measured from the "Measurement starting 0.1 degree torque" or “Snag torque”. Angle lower limit: It sets the allowable upper limit of the angle. No.14 Unlike Overtime, this time is measured from the "Measurement starting 0.1 degree...
  • Page 78 Number Matter Increments (yy) Torque Zone end point tolerance ★: 0.1 degree method It sets the intersection angle of the end point for the zone judgment. No.24 Angle Gradient decision upper limit: method It sets the upper limit value for gradient judgment. smoothing tightening ★: No.25 It sets whether to perform smoothing tightening.
  • Page 79 Real tightening reference waveform (Torque method)
  • Page 80 Gradient calculation method...

  • Page 81: ７－７ Rate Setting

    It is the basic settings for the nut runner axis. （Number 1 to 30） Please set a value corresponding to the motor and sensors to be used in the nut runner. Number is the number of the case to be set from GSK/GKL driver panel (Uxx-yy). Number...
  • Page 82 Note 1: About value of nut runner type. Value remarks Nut runner type Nut runner type OTHER ― 1～10 ― ― ANZMT-350UW ― ANZMT-500UW ― ANZMT-1600UW ANMH-2000 ANZMCH-200 ANMH-2001 ANZMCH-450 ― ANZMCH-900 ― ANZMCH-1550 ― ANZMCH-1850S ― ANZMCH-2001 ― ANZR（C）-5000 ―...
  • Page 83 Value remarks Nut runner type Nut runner type ANZM（C）-4500 ― ANZM（C）-15000 ― ANZMH-1500 ― ANZMH-900 ANM-1400 ANM-1700 ANZM（C）-3500 ANZMSH-700 ― ANZMH-9000 ― ANZMSH120E1 ― ANZMH-2001 ― ANZMSH-130 ― ANZMSH-420 ― ANZMH-1800S ― ANZMSH-2000 ― AMZMH-2000 ― ANZMSH-500 ― ANZM（C）-1800S ― ANZM（C）-12000 ―...
  • Page 84 Note 2: About value of sensor type. (GSK only) Value Sensor type remarks Nothing 100S 1500 2500 4000 5000 7000 7500 8000 1200 15000 20000 ANMSH-13 AZM-40SH ANZMSH-70 AZMT-150 OTHER 1850 5500 AZMC-51...
  • Page 85 Note 3: About value of motor model Value Motor type remarks TS4129N2820E230 1～6 ― TS4509N2825E203 TS4515N2820E202 TS4603N1920E203 TS4603N1925E203 TS4609N1920E203 TS4612N6920E601 TS4614N6920E102 TS4617N1520E203 TS4617N1920E203 TS4618N1920E203 TS4619N1920E203 TS4619N1922E207 TS4839N2820E235 TS4617N1925E203 TS4609N1925E203 TS4618N1927E203 TS4610N1625E206 TS4619N1926E207 TS4619N3326E207 This setting can be used with controller version TS4603N1520E203 1851-2.38 or higher.

  • Page 86: ７－８ X-Axis Rate Setting

    X-axis rate number 28 to 30, number 28 is X/Y-axis Inching. - No. 29 is specified point movement. - No. 30 is used in the back X. Number is the number of the case to be set from GSK/GKL driver panel (= xx-yy). Number...
  • Page 87 Note 1: About value of motor model Value Motor type remarks 0～2 ― TS4603 TS4604 TS4607N2088 TS4609 TS4607N3222 ― TS4612 TS4610 TS4606 TS4612N3222 TS4613N3222 TS4614N6920 TSM4104N2820 TSM4104N7820 TSMB TS4602N7032E200 TS4602N8000E200 TS4603N8000E200 This setting can be used with controller version TSM4204N7820E205 1851-2.37 or higher.

  • Page 88: ７－９ Y-Axis Rate Setting

    ７－９ Y-axis rate setting It is the basic settings for the Y-axis.（Number 1 to 30） Number is the number of the case to be set from GSK/GKL driver panel (= xx-yy). Number Matter Setting range increments (yy) Acceleration and deceleration time constant No.00...

  • Page 89: ７－１０ Point Setting

    It will remember the XY coordinates of each unit in the form of a point number. If GSK/GKLIF instructs the move to GSK/GKL driver, specify the point number, not the coordinate value. Number is the number of the case to be set from GSK/GKL driver panel (= x-yyy-z).

  • Page 90: ７－１１ (Fn.01) Tightening Result Monitor Of The 1Th Axis

    ７－１１ (Fn.01) Tightening result monitor of the 1th axis Number Content Fn.1- 00 to 42 This displays the result of 1th axis. Monitor only. You cannot change the content. ７－１２ (Fn.02) Tightening result monitor of the 2th axis Number Content Fn.2- 00 to 42 This displays the result of 2th axis.

  • Page 91: ７－１３ （Fn.03） Input And Output Monitor

    Unit number Matter Setting range [No.0 ~ No.12]: check the network status Display the internal state of Un.0 [No.14, No.15]: GSK/GKL-IF alarm display the GSK/GKL-IF [Other than those described above]: Preliminary Fn3-00 to 19 Display the input and output signals of [No.0-No.5]: the contents of the input signal 0 to 5...

  • Page 92: ７－１４ （Fn.04）Operation Instruction From Gsk/Gkl Drive

    For example, when you want to save the SETTING.BIN file, please do in the 1 → 2 of the order. You need to do from writing again "1" If you perform another operation. ★2: After the end of a read, please cut the powersupply and turn on the power of GSK/GKL interface after that. ７－１５ (Fn.5) unit setting...

  • Page 93: ７－１６ (Fn.6) Interface Unit Setting

    ― ※Language will be changed by sending the information of the language switching to an external display. M-NET signal monitor unit selection This select the unit number (1 to 7) to be displayed in GSK/GKL driver No.05 0001-0007 ― panel according to the M-NET signal monitor (Fn03).
  • Page 94 Setting Number Matter Increments range Communication speed of the external display (bps) 0:38400 1:57600 2:76800 3:115200 【Note: the operation of the later version 1721-141】 When the power is ON it will connect at the optimal speed to check the communication speed of the display. No.07 ―...

  • Page 95: ７－１７ (Fn.7) Id Controller Connection Setting

    ７－１７ (Fn.7) ID controller connection setting Number Matter No.0 ID controller output content setting No.1 ID controller output content setting No.2 Function selection of the Interface unit CH12 No.3 SIO start address setting " set at the 1-7 " No.- Save at once all of the data of Fn.12 at the SAVE button.
  • Page 96 Setting Torque, angle, Time Remark value gradient It doesn’t transmit. ０ digit with decimal point ２ ＊．＊ ＊．＊ digit with decimal point ３ ＊＊．＊ ＊．＊＊ digit with decimal point ４ ＊＊＊．＊ ＊．＊＊＊ digit with decimal point ５ ＊＊＊＊．＊ ＊＊．＊＊＊ digit with decimal point ６...

  • Page 97: ８ Supplementary Explanation

    When the data is confirmed the data was read from GSK/GKL_PC- automatic measurement screen. - (The history data is read to PC by the all or Specified axis when the read switch on setting software.There is the cancel SW.)

  • Page 98: ９ Monitor Output

    ※When using the W type controller and checking CH 2, please set the value which added 10000 to the number of CH 1. ※ For GSK-T4-E-N2 and GSKW-T4-E-N2 there is no analog monitor pin notation. Pins for analog monitor in these controller types are within the red frame in the left figure.

  • Page 99: １０ Code Table

    １０ Code table １０－１ NG Code List Code Operation Matter display Emergency stop Basic NG Preparation for operation off during operation or START OFF in the running program. Zero offset error During the zero / magnification check, zero point output exceedes the set over range. Magnification error During the zero / magnification check, magnification output exceeds the set over the range.
  • Page 100 Code Operation Matter display Reverse tightening pass torque NG During operation, the torque did not reach the set value. Reverse tightening sticking judgment NG During operation, the torque exceeds the set value. REV.T Reverse tightening torque over The torque at the measurement angle exceeded the judgment torque. Reverse tightening over time The time of this operation has exceeded the set value.

  • Page 101: １０－２ Alarm Code List

    １０－２ Alarm Code List Alarm generated in the GSK/GKL IF (EC*) Code display Detection Cause Counterplan Matter factor It is Outside the range specified Confirmation of program program No. selection signal Selected Program data GSK/GKLIF program error Readjustment of a remember is illegal state.
  • Page 102 Reboot the master ARC-NET communication failure Same as EC2 It occurs, when It's checked whether index Arcnet turning on the Without replies from GSK/GKL of an axis on the driver communication power. driver side is parallel with index error of an axis of unit setting.
  • Page 103 Alarm generated in the GSK/GKL driver (E**) Code Alerm names and detection contents / Cause of generation and treatment [IPM error] Power drive signal error (overcurrent / overheat / power supply error) 1. Short circuit between motor windings : Replace motor 2.
  • Page 104 [Abnormal sensor] Excessive amplitude of resolver signal 1. Unresolvable resolver : Please contact us 2. Sensor setting error : Review parameters of “d00114” and “d00142” 3. Resolver reception circuit error : Replace controller 4. A value exceeding the motor speed upper limit was set : Review of settings 5.

  • Page 105: １１ Indication On The Display

    １１ Indication on the display 【Axis arrangement】 Arrangement axis is being indicated. It's white display before tightening. The time of tightening OK is green. Tightening NG will be red indication. 【Tightening result data】 Data of a tightening result is indicated. A message of a tightening result is shown to MSG part.
  • Page 106 【Setting menu】 It's possible to confirm the parameter of setting variously. Setting parametor change is possible by input PIN code. 【Selevt language】 It's possible to change the language shown to a display. The language which can be indicated is two, Japanese and English.
  • Page 107 【common setting】 【unit setting】 There is [unit setting] [tightening data output] [option It's indicating which unit an axis is. setting] in common setting. 【output of tightening data】 【option setting】 The tightening data output output from a The setting contents by the option item are being controller is established.
  • Page 108 【ＸＹ point teaching】 【Buffering territory setting】 Details of each parameter in the set coordinate Each parameter details in a set interaction location are indicated by each axis of XY. region are indicated by each XY axis. 【Monitor timer】 The restriction time details established as the intervention waiting time with the other units are indicated.
  • Page 109 【Socket adjustment】 Each parameter of socket adjustment is indicated. 【Pre-tightening】 A parameter of pre-tightening set value is indicated. It's possible to do smaller control and judgment by option setting. 【Reverse】 A parameter of reverse set value is indicated.
  • Page 110 【Real-tightening –torque control mode】 A parameter of real-tighteningl set value by the torque control mode is indicated. It's possible to do smaller control and judgment by option setting. 【Real-tightening –angle control mode】 A parameter of real-tighteningl set value by the angle control mode is indicated. It's possible to do smaller control and judgment by option setting.
  • Page 111 【Program setting】 The program setting can be confirmed. 【ＩＯ monitor input】 It's possible to do input confirmation of I/O monitor. A screen is changed by an arrow button. 【ＩＯ monitor output】 It's possible to do output confirmation of I/O monitor. A screen is changed by an arrow button.

  • Page 112: １２ Maintenance And Check

    １２ Maintenance and check １２－１ PRrecautions １２－１－１ Precautions for maintenance and check ・Before removing the unit, make sure to cut off the power supply, and discharge the voltage by operating DISCHARGE, and detect the voltage. ・Do not operate when your hands are wet, Doing so may cause electric shock. ・Do not attempt the insulation resistance test of the driver with a Megger tester.

  • Page 113: １２－１－４ Capacitor

    １２－１－４ Capacitor ・A smoothing capacitor deteriorates its characteristic under the effect of ripple current. The operating life of capacitor varies depending on the ambient temperature and using conditions but it lates about 5 years under the general operating condition. １２－１－５ Relay ・Contacts wear due to the open/close current.
  • Page 114 BLOCK： A set of operations in tightening program. Block start begins from rating step and shows the set of steps to the end declaration. In automatic operation, one-time program start executes one block. It is also possible to start from the block on the way by designating the block number. The determination (Block OK/NG) against the operated block is output on the step in the block end declaration.
  • Page 115 ZERO MAGNIFICATION CHECK： Inspects the torque sensor zero point and magnification (Output voltage at 1/8 momentary maximum current). ※When the zero magnification check is set on the program, the zero point of the torque sensor becomes zero automatically. However, the value exceeding the one of the rating setting becomes “Zero magnification NG”. APPLICABLE TO QC PERSONAL COMPUTERr：...

  • Page 116: １３ Supplemental Explanation

    Make sure to set the SIO start address setting “Fn12 No.13” from the controller panel when SIO is selected for the communication with PLC. (If the PLC address does not match the GSK/GKL controller SIO start address, the communication between PLC and GSS cannot be established.

  • Page 117: １３－２ About Gsk/Gkl Tightening Setting Additional Items

    １３－２ About GSK/GKL tightening setting additional items １３－２－１ Judgment area You set the area value to be used for judging screw defects. Calculation of area value is obtained by integral calculation on torque and angle curve during Pre-tightening cycle (option setting item in case of Real tightening).

  • Page 118: １３－３ Sd Card

    １３－３ SD card In GSK/GKL, several functions can be used by inserting the SD card memory into the SD card slot at the top of the I / F. The available functions are shown below. ① Automatic storage of tightening result ※Caution※...

  • Page 119: １３－３－１ Automatic Storage Of Tightening Result

    １３－３－１ Automatic storage of tightening result The tightening result when operating automatically, is received at any time from GSK/GKL – IF and the data is preserved in a "HISTORY.CSV" file. ・SAVE.INI file When this automatic preservation is performed with multi-axis tightening, it may take too much time to store all the waveform data.
  • Page 120 ・HISTORY.CSV file When the SD card is inserted into the slot of the GSK/GKL-IF, the tightening result is written to the SD card. "HISTORY.CSV" is the file which the tightening result is written at this time. The file name actually saved is "0000_his.CSV".

  • Page 121: １３－４ Predictive Maintenance Function

    １３－４ Predictive maintenance function ※This function can be used with I/F version 1721-2.76 or higher. This function is available with GSK setting software version 0.0.119 or higher. This function is available with GKL setting software version 0.0.17 or higher. １３－４－１ Outline of Predictive Maintenance The predictive maintenance function is a function to urge early exchange and maintenance by notifying before the GSK/GKL Nutrunner system fails.

  • Page 122: １３－４－２ Flow To Alarm Notification

    1. Each driver notifies the current state to the GSK/GKL I / F 2. When the GSK/GKL I/F judges that a warning has occurred, it turns on the warning bit of the IO output signal. 3. Confirm warning details by using a PC or external display (currently being created)

  • Page 123: １３－４－４ Nut Runner Failure Prediction Warning

    The GSK/GKL controller increments this count by 1 each time the relay is moved. method The GSK/GKL I / F checks the number of relay operations of each driver and it judges whether it exceeds the warning level or not.

  • Page 124: １３－５ Precautions For Input/Outout Communication

    ON. ８．GSK/GKL reset（ALL reset） When GSK/GKL reset is input, make sure to input from the program selection because all steps return to the initial status.

  • Page 125: １３－６ Precautions To Read History

    １３－６ Precautions to read history Make sure to give sufficient reading time to read the history data. （In the case of communication speed at 38400 Bps, about 1 minutes of reading time is needed per axis.） １３－７ Items of setting possible and setting not possible Item Manual input Input from setup soft...

  • Page 126: １３－８ About Connection Setting Of Id Controller

    １３－８ About connection setting of ID controller １３－８－１ Outline Connecting the interface unit with ID controller by serial communication (RS422), transfer of engine number, setting of the calendar and transmission of result data become possible. １３－８－２ Secification of communication Communication method ：RS422 Communication speed：9600bps Start bit：１...

  • Page 127: １３－８－５ Select With Condition Of Starting Transmission

    ②Tspecification with Torque（1 figure = 1 of ｆｎ12 no.2） axis torque］［1 axis judgement］［2 axis torqur］［2 axis judgement］・・・［ｎ axis torque］ ＃［1 ［ｎ axis judgement］ＣＲ ［Each axis torque］＝123.4 （Number of letters is according to the parameter） ［Each axis judgement］＝2 2＝ＯＫ） （1＝ＮＧ ③T specification without torque（ｆｎ1 figure = 3 of ｆｎ12 no.2）...

  • Page 128: １３－８－６ Selecting Transmission Data

    １３－８－６ Selecting transmission data It is possible to set each data to be transmitted or not to be transmitted, specifying figure number, with or without decimal point to the parameter if necessary. If there are some items which are not transmitted, the following items are transmitted shortening the items not to be transmitted.

  • Page 129: １３－９ About Installation

    Unlike other controllers, no additional installation procedures are required. When installing all GSK and GKL units, please make sure that the temperature inside the panel where the GSK and GKL units (I/F, controller) will be installed is cooler than 50°C (122°F).

  • Page 130: Update Log

    Update log Version Date Update contents May .2016 ― Added correspondence table of nut runner and controller Jun .2017 Etc. Added the commentary about Additional functions Nov.2017 Added setting procedure Etc. Alarm list modified Mar.2020 Contact email address has been updated. Aug.2020 Added description of GKL type GKL specifications added...
  • Page 131 GIKEN INDUSTRIAL CO., LTD. ■Headquaters 97-8, Imago-cho Yamatokoriyama, Nara, 639-1031 TEL ： 0743-59-3730 FAX ： 0743-59-3733 E-Mail（Sales engineering department）：gyomu@gikenkogyo.com E-Mail（Control engineering section）：seigyo@gikenkogyo.com ■Nagoya Branch Office 1202, Kumada, Nagakute, Aichi, 480-1144 TEL ： 0561-63-5321 FAX ： 0561-63-5320 E-Mail：nagoya@ gikenkogyo.com ■Kanto Branch Office 1-2-15, Matoba, Kawagoe, Saitama, 350-1101 TEL ：...

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