NSK MEGATORQUE M-ESB-YSB2Q2QA25QQ Manuals

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NSK MEGATORQUE M-ESB-YSB2Q2QA25QQ User Manual (356 pages)

ESB Driver Unit Motor System

Brand: NSK | Category: Industrial Equipment | Size: 7.72 MB

Table of Contents
12
Introduction

18
- Notes to Users
  19
- Terminology
  23
Specifications

26
- System Configuration
  26
- Coding for Reference Number
  30
  - YSB Motor
    30
  - ESB Driver Unit for YSB Motor
    30
  - Cable Set for ESB Driver Unit
    31
  - Handy Terminal
    31
- Name of Parts
  31
  - YSB Series Megatorque Motor
    31
  - ESB Driver Unit
    32
  - Handy Terminal
    36
- Standard Combination List
  37
  - Combination of Motor and Driver Unit
    37
  - Cable Set
    37
  - Handy Terminal
    37
- Motor Specifications
  38
  - YSB Series
    38
  - Axial Load and Moment Load
    40
- Dimensions
  41
  - Motors
    41
  - ESB Driver Units
    45
  - Dimensions of Cable Set
    47
- Specifications of Driver Unit
  48
- RS-232C Interface Specifications
  51
  - CN1: RS-232C Serial Communication Connector
    51
    
    CN1 Pin-Out
    51
    
    CN1 Signal List
    51
- Control Input / Output Interface Specifications --2-27
  52
- CN3: Resolver Cable Connector
  69
  - Pin-Out
    69
  - Signal List
    69
- CN4: Motor Connector
  70
  - CN4: Pin-Out
    70
- TB: Terminal Block for Power Supply
  71
  - Terminal List
    71
  - Terminal Code and Function
    72
  - Wiring Diagram
    72
- Jumper Pin
  73
  - JP1 (Output Mode Selection of
    73
Unpacking • Installation • Wiring

74
- Unpacking
  74
  - Receiving Check
    74
  - Combination of Motor and Driver Unit
    74
- Installation
  75
  - Motor Mounting
    75
    
    Fixing Motor
    75
    
    Loading Attachment (Work) to Motor
    75
    
    Checking Load Inertia
    75
  - Driver Unit Mounting
    76
- Wiring
  77
  - Motor Wiring
    77
  - Connecting Power
    78
  - Prevent Overheating of Motor
    79
  - Ground Connection
    79
  - Wiring of Connector
    82
    
    Example of B3 and 23 Driver
    82
    
    Wiring Example of B5 and 25Driver Units (CN2 and CN5 Connectors)
    89
- Turning on Main Power
  92
Handy Terminal Communication

98
- Setting Parameters
  99
  - Setting Without the Password
    99
  - Setting with the Password
    99
- Readout of Parameter
  100
  - TS Command
    100
  - Use of "?" to Read out Parameter Setting
    101
Tuning and Trial Running

102
- Tuning Sequence
  102
- Automatic Tuning
  103
  - Precaution
    103
  - Initialize Servo Parameter
    105
  - Execution of Automatic Tuning (Tuning Level 1)
    106
  - Trial Running (Tuning Level 1)
    107
  - Minor Servo Adjustment (Tuning Level 2)
    109
- Manual Tuning
  111
- Setting Filters (Tuning Level 2)
  115
Operation

118
- Preparation
  118
  - Wiring Check
    118
  - Operation Procedure
    119
- Position Control Mode Operation
  120
  - Setting Home Position
    120
    
    Setting Home Position by AZ Command
    121
    
    Setting Home Position by Home Return
    122
  - Programmable Indexer Positioning
    130
    
    Internal Program Channel Selection
    132
    
    Programming
    133
  - Pulse Train Command Positioning Operation
    140
    
    Pulse Train Command Format
    140
    
    Pulse Train Resolution
    141
    
    Pulse Train Input Timing
    142
  - RS-232C Communication Position Operation
    146
- Velocity Control Mode Operation
  148
- Torque Control Mode Operation
  154
  - RS-232C Communication Command Operation
    154
  - Analog Torque Command Operation
    155
    
    Dead Band Set to Command Voltage
    156
    
    Offsetting Analog Command
    156
Operational Function

158
- General Operation and Function
  158
  - Servo on (SVON) Input
    158
  - Emergency Stop (EMST) Input
    159
  - Interruption of Positioning (STP)
    160
  - Making Pulse Train Command or Analog Command Ineffective (INH)
    161
  - Clearing Position Error Counter (CLR)
    162
  - Integration Off/Lower Gain (IOFF) Input --7-6
    163
  - Brake-Off (CLCN) Input
    164
  - Over Travel Limit
    166
    
    Hardware over Travel Limit Sensor (DTP and OTM) Input
    166
    
    Software over Travel Limit
    167
  - Alarm Output (DRDY and OVER)
    169
  - Brake
    170
    
    Brake Output (BRK)
    170
    
    Brake Control Output (BRKC)
    171
    
    Brake Sequence Function
    171
  - In-Position Output (IPOS)
    173
    
    Output Signal Format
    174
    
    Parameter in
    175
    
    Parameter IS
    175
    
    IPOS Output in Special Occasion
    175
  - Completion of Home Return / Detection of Home Position (HOME)
    177
  - Definition of Home Position (HCMP)
    178
  - Velocity Threshold (SPD)
    178
  - Target Proximity / in Target
    179
  - Position Feedback Signal
    183
  - Analog Velocity Monitor
    184
  - Monitoring Via RS-232C Communication
    185
    
    Monitoring Control Input/Output Signals (B3 and 23 Driver Units)
    186
    
    Monitoring Control Input/Output Signals (B5 and 25 Driver Units)
    187
    
    Monitoring Pulse Train Input Counter
    188
    
    Monitoring Current Position
    188
    
    Monitoring Position Error Counter
    189
    
    Monitoring Motor Velocity
    189
    
    Monitoring Torque Command and Software Thermal Loading
    190
    
    Monitoring State of Automatic Gain Switching
    190
    
    Monitoring Parameter Setting
    191
    
    Monitoring Alarm Identification
    192
    
    Monitoring Contents of Channel
    192
  - Monitoring Histories of Program Execution and Change on Control I
    193
- Monitoring Analog Control
  195
- For more Advanced Operation
  197
  - Absolute Position Scale (for Absolute Position Sensor)
    197
    
    Direction of Position Scale
    197
    
    Resolution of Position Scale
    198
    
    Offsetting Position Data
    199
    
    Monitoring Position Data
    199
    
    Setting User Home Position
    200
  - Incremental Position Scale (for Incremental Position Sensor)
    201
    
    Resolution of Position Scale
    201
    
    Direction of Position Scale
    201
    
    Type of Position Scale
    202
    
    Resetting Position Data
    204
    
    Example of Setting Position Scale
    204
  - Digital Filter
    205
  - Feed Forward Compensation
    206
  - Integration Limiter: ILV
    207
  - Dead Band: DBP
    208
  - Automatic Gain Switching
    209
  - Acceleration Profiling
    210
- RS-232C Communication
  214
  - Specifications of Communication
    214
  - Communication Procedure
    214
    
    Turning on Power
    214
    
    Command Entry
    215
    
    Password
    216
    
    Canceling Command
    217
    
    Error
    218
  - Communication with Personal Computer --7-64
    221
    
    Set-Up of Hyperterminal
    221
    
    Store Parameters of ESB Driver Unit
    222
    
    Transmit Stored Parameters to ESB Driver Unit
    222
  - Daisy Chain Communication
    223
    
    Procedure to Set Daisy Chain Communication
    223
    
    Initial Setting
    224
    
    Interfacing
    225
    
    Operation
    227
    
    Termination of Daisy Chain Mode
    228
8.1. Glossary of Command and Parameter

230
8 Glossary of Command and Parameter -8-1

230
- AB: I/O Polarity
  230
- AD: Absolute Positioning, Degree
  231
- AE: Automatic Tuning Error, Alarm Type
  232
- AF: Analog Command Offset
  232
- AG : Analog Command Gain
  232
- AL: Acceleration Limiter
  233
- AN: Axis Number
  233
- AO: Absolute Position Scale Offset
  233
- AR: Absolute Positioning, Resolver
  234
- AS: Read out Daisy Chain Status
  234
- AT: Automatic Tuning
  235
- AX: Axis Select
  235
- AZ : Absolute Zero Position Set
  235
- BF : Brake Sequence Function
  236
- BM: Backspace Mode
  236
  - CC: Clear Channel
    237
- CD: Delete Channel
  238
- Editing Program to Channel
  238
- CI: Insert Channel
  239
- CM: Communication Mode
  239
- CO : Position Error Counter over Limit
  240
- CR : Circular Resolution
  240
- CS : Acceleration Pattern Select
  240
- CS : Acceleration Pattern Select
  241
- CV: Channel Velocity
  241
- CX: Setting CS Function
  242
- CY: Criterion to Function CS
  242
- Check Actual Acceleration
  242
- DB: Dead Band
  243
- DC: Digital RS-232C Command
  243
- DI: Direction Inversion
  244
- DP: Debugger for Program
  244
- DT: Direct Teaching
  244
- EC: End of Command Message
  245
- EP: Excessive Position Error, Alarm Type
  245
- FC : Friction Compensation
  245
- FD: Feed Back Direction Mode
  246
  - FF: Feed Forward Gain
    246
- FO: Low-Pass Filter off Velocity
  246
- FP: Low-Pass Filter, Primary
  247
- FS : Low-Pass Filter, Secondary
  247
- FW: FIN Width
  248
- FZ: Feedback Phase Z Configuration
  248
- GP: Gain Switching Point
  249
- GT: Switching Gain Timer
  249
- HA: Home Return Acceleration
  249
- HD: Home Return Direction
  250
- HI: Home In-Position
  250
- HO: Home Offset
  250
- HS: Home Return Start
  251
- HT : Hardware Travel Limit Over, Alarm Type --8-22
  251
- HV: Home Return Velocity
  251
- HW: HOME Signal Holding Time
  252
- HZ: Home Return Near-Zero Velocity
  252
- ID: Incremental Positioning, Degree
  253
- ILV: Integration Limit
  253
- IM: IOFF Mode
  254
- IN: In-Position
  254
- IO: Input/Output Monitor
  254
- IR: Incremental Positioning, Resolver
  255
- IS: In-Position Stability Counter
  255
- JA: Jog Acceleration
  256
- JP: Jump
  256
- JV: Jog Velocity
  256
- KB: Kill Brake
  257
- LG: Lower Gain
  257
- LO: Load Inertia
  257
- LR: Low Torque Ripple
  257
- MA: Move Acceleration
  258
- MD: Move Deceleration
  258
- MI : Read Motor
  258
- MM: Multi-Line Mode
  259
- MN: Monitor Select
  259
- MO Motor off
  260
- MS: Motor Stop
  260
- MT: Motor Torque (Factory Use Only)
  260
- MV: Move Velocity
  260
- NA : Near Position
  261
- NB : Near Position
  261
- NMA: Near a Output Mode
  261
- NMB: Near B Output Mode
  261
- NP: Notch Filter, Primary
  262
- NQ: Notch Filter, Q Parameter
  262
- NS: Notch Filter, Secondary
  262
- NW: Chattering Preventive Timer
  263
- OE: Sequence Option Edit
  263
- OG: Origin Set
  263
- OL: Overload Limit (Factory Use Only)
  263
- OM: Output Signal Mode
  264
- OP: Forced Output Port Primary/Extended
  264
- OR: Criterion, Overrun Alarm
  265
- OS: Origin Setting Mode
  265
- OTP: over Travel Limit Switch Position
  265
- OTM: over Travel Limit Switch Position
  265
  - PE: Program Error, Alarm Type
    267
  - PG: Position Gain
    267
  - PH: Program Home Return
    267
  - PS: Position Scale Select
    268
  - RA: Read Analog Command
    268
  - RC: Rated Current (Factory Use Only)
    268
  - RI: Rotor Inertia (Factory Use Only)
    269
  - ABS/INC (Factory Use Only)
    269
  - RP: Read Pulse Train Command
    269
    
    RR : Resolver Resolution (Factory Use Only)
    270
  - SB: Criterion, SPD Signal Output
    270
  - SE: Serial Error
    270
  - SG: Servo Gain
    271
  - System Initialization
    271
  - Set Control Mode
    272
  - SO : SPD Output Mode
    272
  - SP: Start Program
    273
  - ST: Speed Stability Timer
    273
  - Servo on
    273
  - TA: Tell Alarm Status
    274
  - TC: Tell Channel Program
    275
  - TE: Tell Position Error Counter
    275
  - TG: Tell Gain Switching
    275
  - TI: Timer
    276
  - TL: Torque Limit Rate
    276
  - TO: Software Travel Limit Over, Alarm Type
    276
  - TP: Tell Position
    277
  - TR: Tell RDC Position Data
    277
  - TS: Tell Settings
    278
    
    TT: Tell Torque & Thermal
    280
  - TV: Tell Velocity
    280
  - TY: I/O Type
    281
  - VG: Velocity Gain
    281
  - VGL: Velocity Gain, Lower
    282
  - Velocity Integrator Frequency
    282
  - VIL: Velocity Integrator Frequency, Lower
    282
  - VM: Velocity Integrator Mode
    283
  - VO: Velocity Error over Limit
    283
  - VW: Velocity Error over Limit Width
    283
  - WC: Brake-On Timer
    283
  - WD : Write Data to EEPROM
    284
  - WM: Write Mode to EEPROM
    284
  - WU: Brake-Off Timer
    284
  - ZAS: Start Point of Zone a
    285
  - ZAE: End Point of Zone a
    285
  - ZBS: Start Point of Zone B
    285
  - ZBE: End Point of Zone B
    285
- Parameter List
  286
Maintenance

296
- Precautions
  296
- Periodical Check
  297
  - Motor
    297
  - Driver Unit and Cable Set
    297
- Periodical Replacement of Parts
  298
  - Motor
    298
  - Driver Unit
    298
- Storing
  298
- Warranty Period and Covering Range
  299
  - Warranty Period
    299
  - Limited Warranty
    299
  - Immunities
    299
  - Service Fee
    299
Alarm

300
- Identifying Alarm
  300
  - LED Alarm Indicator
    300
  - Using TA Comand
    301
  - Alarm History
    302
- Alarm List
  303
  - Normal State
    303
  - Alarm State
    304
- Cause and Remedy of Alarm
  307
  - CPU Error
    307
  - Heat Sink Overheat or Regeneration Redistor Overheat: P0
    307
  - Abnormal Main AC Line
    308
  - Over Current: P2
    308
  - Control AC Line under Voltage: P3
    308
  - Resolver Circuit Error: A0
    309
  - Software Thermal Sensor: A3
    309
  - Velocity Error Over: A4
    310
  - Home Position Undefiend: A5
    310
  - Brake Error: A8
    310
  - Memory Error: E0
    311
  - EEPROM Error: E2
    311
  - System Error: E7
    311
  - Interface Error: E8
    311
  - Analog Command Error: E9
    311
  - Excessive Position Error: F1
    312
  - Software over Travel Limit: F2
    312
  - Hardware over Travel Limit: F3
    312
  - Emergency Stop: F4
    312
Troubleshooting

314
- Identifying Problem
  314
- Troubleshooting
  315
  - Power Trouble
    316
  - Motor Trouble
    317
  - Command Trouble
    319
  - Terminal Trouble
    323
  - Brake Sequence Function
    323
- Appendix 1: Monitoring Input/Output Signals
  
  324
- Appendix 2: How to Check Motor Condition
  
  330
- Appendix 3: Initialization of Driver Unit
  
  334
- Appendix 4: How to Replace ESB Driver Unit
  
  337
- Appendix 5: Regeneration Dump Resistor
  
  344
- Appendix 6: Wiring of RS-232C Communication Cable
  
  346
- Appendix 7: ESBB3 Driver Unit Parameter/Program List
  
  347
  - Appendix8: ESB23 Driver Unit Parameter/Program List
    348
- Appendix 8: ESB23 Driver Unit
  
  349
- Appendix 9: ESBB5 Driver Unit Parameter/Program List
  
  349
- Appendix 10: ESB25 Driver Unit Parameter/Program List
  
  351

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NSK MEGATORQUE M-ESB-YSB2Q2QA25QQ Manuals

NSK MEGATORQUE M-ESB-YSB2Q2QA25QQ User Manual (356 pages)

Table of Contents

Introduction

Specifications

Unpacking • Installation • Wiring

Handy Terminal Communication

Tuning and Trial Running

Operation

Operational Function

8.1. Glossary of Command and Parameter

8 Glossary of Command and Parameter -8-1

Maintenance

Alarm

Troubleshooting

Appendix 1: Monitoring Input/Output Signals

Appendix 2: How to Check Motor Condition

Appendix 3: Initialization of Driver Unit

Appendix 4: How to Replace ESB Driver Unit

Appendix 5: Regeneration Dump Resistor

Appendix 6: Wiring of RS-232C Communication Cable

Appendix 7: ESBB3 Driver Unit Parameter/Program List

Appendix 8: ESB23 Driver Unit

Appendix 9: ESBB5 Driver Unit Parameter/Program List

Appendix 10: ESB25 Driver Unit Parameter/Program List

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