NSK MEGATORQUE ESA25 Manuals

Manuals and User Guides for NSK MEGATORQUE ESA25. We have 1 NSK MEGATORQUE ESA25 manual available for free PDF download: User Manual

NSK MEGATORQUE ESA25 User Manual (294 pages)

Motor System & Driver Unit System

Brand: NSK | Category: Engine | Size: 25 MB

Limited Warranty
3
About this Manual
10
Technical Information
10
Remaining Hazards
10
Table of Contents
12
Introduction
16
Overview
16
Functional Principle
18
Motor
18
Driver Unit
18
Notes to Users
20
Operational Remarks
20
Interchangeability of Motor and Driver Unit
22
System Outline
24
System Configuration
24
Reference Number Configuration
25
Motor
25
Driver Unit
25
Cable Set
25
Handy Terminal
25
Standard Combination
26
YS Series Motor
26
Motor and Driver Unit
26
Cable Set
26
JS Series Motor
27
Motor and Driver Unit
27
Cable Set
27
Specifications
28
Motor Specifications
28
YS Series Motor
28
Name of Parts
28
Specifications
29
Dimensions
33
Motor with Brake
38
Low Profile Type
42
JS Series Motor
44
Name of Parts
44
Specifications
44
Dimensions
46
Driver Unit
50
Name of Parts
50
General Specifications
51
Operation Mode
51
Power Supply Capacity
51
Environmental Specifications
52
Functional Specifications
53
Position Control Mode
53
Velocity Control Mode
53
Torque Control Mode
53
Maximum Velocity
54
Monitor Output
54
Jumper
55
Dimensions
56
Cable Set
57
Cable Set for YS Motor and JS Motor
57
Cable Set for YS Motor with Brake
57
Handy Terminal
58
Name of Parts and Dimensions
58
Specification
59
Connector Specifications
60
CN1 : RS-232C Serial Communication Connector
60
CN1 Pin-Out
60
CN1 Signal List
60
Sample Wiring Diagram
61
CN2,CN5 : Control I/O Signal Connectors
62
Pin- out (CN2, CN5)
62
Signal Name and Function (CN2, CN5)
63
Setting the Polarity (a or B Contact) of the Input Ports
65
Setting Example
66
Signal Specifications (CN2, CN5)
67
General Input
67
Pulse Train Input
67
General Output
68
Alarm Output
68
Position Feedback
69
Analog Command Input
69
Analog Monitor Output
70
Wiring Example (CN2, CN5)
71
Position Control Mode Wiring Example
71
Wiring Example of Velocity Control/Torque Control Mode
72
Wiring Example for YS Series Motor Equipped with Brake
73
CN3 : Resolver Cable Connector
76
CN3 Pin-Out
76
CN3 Signal List
76
CN4 : Motor Cable Connector
77
CN4 Pin-Out
77
CN4 Signal List
77
TB : Terminal Block for Power Supply
78
Terminal List
78
Wiring Diagram
78
Installation
80
Unpacking and Inspection
80
Combination of Motor and Driver Unit
81
Motor Mounting
82
Bearing Load
83
Attaching the Load
83
Using a "Dummy" Load
84
Load Inertia
86
Fluctuating Load Inertia
86
Motor Operating Condition
86
Driver Unit Mounting
87
Connecting Power
88
Ground Connection and Wiring
90
Motor Thermal Protection
91
Connecting Motor and Driver Unit
92
Power on and Servo
93
Precautions
93
Turning Power
93
Turning Servo
94
Handy Terminal Communication
96
When Power Is Turned
96
Command Entry
97
Password
97
Canceling Command
98
Error
98
Entering Parameter
99
Parameter that Requires Entry of Password
99
Readout Command
100
TS" Command for Reading Set Value
100
Reading Function Command for Set Value
101
Tuning and Trial Running
102
Tuning Procedure
102
Automatic Tuning
103
Precautions
103
Initialize Servo Parameters
105
Execution of Automatic Tuning (Tuning Level 1)
106
Trial Running (Tuning Level 1)
107
Servo Gain Minor Adjustment (Tuning Level 2)
109
Manual Tuning
111
Precautions
111
Adjustment of the Velocity Gain
111
Adjustment of Velocity Integrator Frequency
113
Setting Filters (Tuning Level 2)
115
Operational Function
118
General Operation and Function
118
Servo
119
Emergency Stop
119
Clearing Position Error Counter
120
Integration off (IOFF)
120
Over-Travel Limit Switch
121
Hardware Over-Travel Limit Switch
121
Software Over-Travel Limit Switch
122
Alarm Output
123
Brake Signal Output
124
In-Position Output
125
Output Signal Format
126
Output Timing
129
Parameter
129
Monitor Functions
130
Velocity Monitor
131
Reading Current Position
135
Analog Monitor
136
For more Advanced Operation
138
Position Scale
138
Resolution
138
Direction of Position Scale
138
Types of Position Scale
139
Position Scale Reset
142
Example of Position Scale Setting
142
Direction of Position Scale
144
Digital Filter
145
Feed Forward Compensation
146
Integrator Limit : ILV
147
Dead Band Setting : DBP
148
RS-232C Communication
149
Specification of Communication
149
Communication Procedure
149
When Power Is Turned
149
Command Entry
150
Password
151
Canceling Command
152
Error
153
Readout Command
154
Communication with Personal Computer
156
Set-Up of Hyperterminal
156
Store Parameters of ESA Driver Unit
157
Transmit Stored Parameters to ESA Driver Unit
157
Daisy Chain Communication
158
Procedure to Set Daisy Chain Communication
158
Initial Setting
159
Interfacing
159
Operation
162
Operation
164
Preparation
164
Wiring Check
164
Procedure for Positioning Operation
164
Position Control Mode Operation
165
Home Return
165
Home Return Parameter List
168
Adjusting Home Position Switch and Home Offset Value
168
Programming Home Return Operation (Example)
172
Programmable Indexer
173
Programmable Indexer Channel Switching
174
Pulse Train Command Operation
175
Pulse Train Signal Format
175
Pulse Train Resolution
176
Input Timing
179
RS-232C Position Commands
180
Jog Operation
181
Velocity Control Mode Operation
182
RS-232C Communication Command
183
Analog Velocity Command
184
Torque Control Mode Operation
186
RS-232C Communication Command
186
Analog Torque Command
187
Programming
190
Commands and Parameters
191
Program Editing Command
194
Inputting a Program
195
Deleting the Program
196
Sample Program
197
Command and Parameter
200
List of Command and Parameter
200
Glossary
204
AB : I/O Polarity
204
AC : Analog Command Mode
205
AD : Absolute Positioning, Degree
205
AG : Analog Command Gain
206
AN : Axis Number
206
AR : Absolute Positioning, Resolver
207
AS : Ask Daisy Chain Status
207
AT : Automatic Tuning
207
AX : Axis Select
208
AZ : Absolute Zero Position Set
208
BM : Backspace Mode
208
CA : Channel Acceleration
209
CC : Clear Channel
209
Channel Select
209
CL : Clear Alarm
209
CM : Communication Mode
210
CO : Position Error Counter over Limit
210
CR : Circular Resolution
210
CV : Channel Velocity
211
DB : Dead Band
211
DC : Digital RS-232C Command
212
DI : Direction Inversion
212
FC : Friction Compensation
212
FD : Feed Back Direction Mode
213
FF : Feed Forward Gain
213
FO : Low-Pass Filter off Velocity
213
FP : Low-Pass Filter, Primary
214
Feedback Signal Resolution
214
FS : Low-Pass Filter, Secondary
214
FW : FIN Width
215
FZ : Feedback Phase Z Configuration
215
HA : Home Return Acceleration
215
HD : Home Return Direction
216
HO : Home Offset
216
HS : Home Return Start
216
HV : Home Return Velocity
216
HZ : Home Return Near-Zero Velocity
217
ID : Incremental Positioning, Degree
217
ILV : Integration Limit
217
IN : In-Position
217
IO : Input /Output Monitor
218
IR : Incremental Positioning, Resolver
218
IS : In-Position Stability Timer
218
JA : Jog Acceleration
219
JP : Jump
219
JV : Jog Velocity
219
LG : Lower Velocity Gain
220
LO : Load Inertia
220
LR : Low Torque Ripple
220
MA : Move Acceleration
221
MI : Read Motor
221
MM : Multi-Line Mode
221
MN : Monitor
222
MO : Motor off
222
MS : Motor Stop
222
MT : Factory Use Only
223
MV : Move Velocity
223
NP : Notch Filter, Primary (Primary Notch Filter Frequency)
223
NS : Notch Filter, Secondary (Secondary Notch Filter Frequency)
224
NW : Neglect Width
224
OE : Sequence Option Edit
224
OG : Origin Set
225
OL : Overload Limit
225
OS : Origin Setting Mode
225
OTP : Overtravel Limit Switch Position
225
PA : Phase Adjust
226
PC : Pulse Command
226
PG : Position Gain
226
PH : Programmed Home Return
227
PS : Position Scale
227
RA : Read Analog Command
227
RC : Rated Current (Software Thermal)
228
RI : Factory Use Only
228
RR : Resolver Resolution
228
SE : Serial Error
228
SG : Servo Gain Adjust, Minor
229
Set Initial Parameters
229
Set Servo Loop
230
SM : Factory Use Only
230
SP : Start Program
230
Servo-On
230
TA : Tell Alarm Status
231
TC : Tell Channel Program
232
TE : Tell Position Error Counter
232
TL : Torque Limit Rate
232
TP : Tell Position
233
TR : Tell RDC Position Data
233
TS : Tell Settings
234
VG : Velocity Gain
234
Velocity Integrator Frequency
235
VM : Velocity Integrator Mode
235
VO : Velocity Error over Limit
235
VW : Velocity Error over Limit Width
236
WD : Write Data to EEPROM
236
WM : Write Mode to EEPROM
236
ZP : Factory Use Only
237
ZV : Factory Use Only
237
Maintenance
238
Precautions
238
Maintenance Check
239
Motor
239
Driver Unit and Cable Set
239
Periodical Replacement of Parts
240
Motor
240
Driver Unit
240
Storing
240
Warranty Period and Covering Range
241
Warranty Period
241
Range of Warranty
241
Immunities
241
Service Fee
241
Alarm
242
Identifying Alarm
242
LED Alarm Indicator
242
Using TA Command
243
Alarm Code List
244
Description of Alarm
245
Normal State
245
Alarms Related to Power Amplifier
245
Heat Sink Overheat or Regeneration Resistor Overheat
245
Abnormal Main AC Line Voltage
246
Over Current
246
Control AC Line Under-Voltage
247
Alarms Related to Motor
248
Resolver Circuit Error
248
Software Thermal Sensor
248
Velocity Error over
249
Alarms Related to Control
250
Memory Error
250
EEPROM Error
250
System Error
250
CPU Error
251
Interface Error
251
Analog Command Error
251
Excess Position Error
252
Software over Travel Limit
252
Hardware over Travel Limit
253
Emergency Stop
253
Program Error
253
Automatic Tuning Error
254
RS-232C Error
254
CPU Error
255
History of Alarm
256
Indication of History of Alarm
256
Clear History of Alarm
256
Troubleshooting
258
Identifying Problem
258
Troubleshooting
259
Power Trouble
260
Motor Trouble
261
Command Trouble
263
Terminal Trouble
267
Appendix 1: Verify Input / Output Signal
268
Appendix 2 : How to Check Motor Condition
272
Appendix 3 : Initializing Driver Unit
276
Appendix 4 : How to Replace ESA25 Driver Unit
278
Appendix 5 : Regeneration Dump Resistor
285
Appendix 6: Brake Built in YS Series Motor
286
Appendix 7: Parameter • Program Setting List
290
Channel Program
291
Motor System
292

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NSK MEGATORQUE ESA25 User Manual (294 pages)

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