NSK MEGATORQUE M-ESA-Y5120T25 Manuals

Manuals and User Guides for NSK MEGATORQUE M-ESA-Y5120T25. We have 1 NSK MEGATORQUE M-ESA-Y5120T25 manual available for free PDF download: User Manual

NSK MEGATORQUE M-ESA-Y5120T25 User Manual

NSK MEGATORQUE M-ESA-Y5120T25 User Manual (294 pages)

Driver Unit Motor System

Brand: NSK | Category: Servo Drives | Size: 6 MB

Table of Contents

Table of Contents
12
1 Introduction

16
- Overview
  16
- Functional Principle
  18
  - Motor
    18
  - Driver Unit
    18
2 Notes to Users

20
- Operational Remarks
  20
- Interchangeability of Motor and Driver Unit
  22
3 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
4 Specifications

28
- Motor Specifications
  28
  - YS Series Motor
    28
    
    Name of Parts
    28
    
    Specifications
    29
    
    Dimensions
    33
  - JS Series Motor
    44
    
    Name of Parts
    44
    
    Specifications
    44
    
    Dimensions
    46
- Driver Unit
  50
  - Name of Parts
    50
  - General Specifications
    51
  - Functional Specifications
    53
  - 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
5 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
- 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
6 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
7 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
8 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
9 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
  - 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
10 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
11 Programming

190
- Commands and Parameters
  191
- Program Editing Command
  194
- Inputting a Program
  195
- Sample Program
  197
12 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
13 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
14 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
15 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

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