NSK Megatorque PS Series Manuals

Manuals and User Guides for NSK Megatorque PS Series. We have 1 NSK Megatorque PS Series manual available for free PDF download: User Manual

NSK Megatorque PS Series User Manual (370 pages)

MOTOR SYSTEM (EDC Driver Unit System)

Brand: NSK | Category: Engine | Size: 4 MB

Table of Contents
11
1 Introduction

15
- Notes for Users
  15
- Terminology
  20
2 Specifications

21
- System Configuration
  21
  - Control Mode
    21
  - Examples of System Configuration
    22
- Referebce Number and Coding
  24
  - PS Series Megatorque Motor
    24
  - EDC Driver Unit for PS Series Megarotque Motor
    24
- Name of Part
  25
  - PS Series Megatorque Motor
    25
  - EDC Driver Unit
    26
  - Handy Terminal
    28
  - Motor and EDC Driver Unit Combinations
    29
  - Cable Set
    30
  - Handy Teminal
    30
- Motor Specifications
  31
  - PS Series Megatorque Motor
    31
  - Axial Load and Moment Load
    32
- External Dimensions
  33
  - PS Series Megatorque Motor
    33
  - EDC Driver Unit
    34
  - Cable Set
    36
    
    Flexible Cable
    36
- Driver Unit Specifications
  37
- RS-232C Interface Specifications
  39
  - CN1: RS-232C Serial Communication Connector
    39
    
    CN1 Pin^out
    39
    
    CN1 Signal List
    39
- Specifications of Control Input/Outputinter Facing
  40
  - CN2: Control Input/Output Signsl Connector
    40
    
    CN2 Pin-Out
    41
    
    CN2 Signal List
    42
  - CN2 Interfacing
    45
    
    General Input Signal
    45
    
    Pulse Train Input Signal
    46
    
    Output Signal
    47
    
    Position Feedback Signal Output
    47
    
    5, Analog Monitor Output
    48
- CN3: Resolver Cable Connector
  49
  - CN3 Pin-Out
    49
  - CN3 Signal List
    49
- CN4: Motor Connector
  50
  - CN4 Pin-Out
    50
  - CN4 Signal List
    50
- CN5: Connector for Power Supply
  51
  - CN5 Pin-Out
    51
  - CN5 Wiring Diagram
    51
3 Unpacking, Installation and Wiring

53
- Unpacking
  53
  - Receiving Check
    53
  - Motor and EDC Driver Unit Combinations
    53
- Installation
  54
  - Motor Mounting
    54
    
    Environmental Conditions of Motor
    54
    
    Motor Installation
    54
    
    Confirmation of Use Conditions
    55
    
    Coupling Load to Motor
    55
    
    Dummy Inertia
    55
  - Installation of Driver Unit
    56
- Wiring
  57
4 Handy Terminal Communication

67
- Cehck on Handy Terminal
  68
- Monitoring Current Status
  71
  - Inputting a Command While Monitoring Multiple Conditions
    71
5 Tuning

73
- Tuning Flowchart
  73
- Tuning Level 1: Automatic Tuning
  74
  - Precaustions for Automatic Tuning
    75
  - Initilization of Servo Parameters
    76
  - Automatic Tuning
    77
  - Trial Running
    79
- Tuning Level 2: Servo Gain Tuning
  81
  - Input of Load Inertia
    81
  - Minor Tuning of Servo Gains
    82
- Tuning Level 3: Manual Tuning
  85
  - Precautions for Manual Tuning
    85
  - Setting Velocity Loop
    85
    
    Proportional Gain (VG)
    86
- Setting Filters (Tuning Level 2)
  87
  - Setting Low-Pass Filter
    87
  - Setting Notch Filter
    88
6 Operation

89
- Preparation
  89
  - Wiring Check
    89
  - Operation Procedure
    89
- Position Scale
  90
- Positioning Operation
  97
  - Positioning Command
    97
  - Program Positioning Operation
    98
    
    Program Positioning Operation Via RS-232C Communication
    102
    
    Programming
    103
    
    Program Sequence
    108
    
    Pulse Train Command Positioning Operation
    111
    
    Format of Pulse Train Input
    114
    
    Resolution of Pulse Train
    115
    
    Input Timing
    116
    
    Jogging
    117
    
    Jogging with Control Input and Output
    118
    
    Jogging Via RS-232C Communication
    119
    
    RS-232C Communication Positioning Operation
    120
- Control Input
  123
  - Emergency Stop: EMST
    123
  - Alarm Clear: ACLR
    124
  - Hardware over Travel Limit: OTP and OTM
    125
  - Servo On: SVON
    126
  - Program Start: RUN
    128
  - Stop: STP
    129
  - Jogging: JOG
    131
    
    Jog Direction: dir
    131
- Control Output
  132
  - Driver Unit Ready: DRDY
    132
  - Warning: WRN
    132
  - Over Travel Limit: OTPA and OTMA
    133
  - Servo State: SVST
    135
  - In Operation: BUSY
    136
  - In-Position: IPOS
    137
    
    CFIN Mode (Parameter FW < 0)
    138
    
    IPOS Mode (Parameter FW = 0)
    139
    
    FIN Mode (Parameter FW > 0)
    140
    
    In-Position Stability Timer
    141
  - Target Proximity: NEARA and NEARB
    142
  - Position Feedback Signal
    143
    
    Resolution of Position Feedback Signal
    144
    
    Signal Output Timing
    146
- RS-232C Monitor
  147
8 More Advanced Function

161
- Function of Input
  162
  - Masking of Control Output Function
    170
  - Forcible Change in Setting of Output
    171
- Extended Control Input
  172
  - Input HOLD: HLD
    172
  - Velocity Override: ORD
    173
  - Integration OFF: IOFF
    174
  - Home Return Start: HOS
    175
  - Home Position Limit: HLS
    175
- Extended Control Output
  176
- Teaching
  183
- Tuning
  186
  - Servo Block Diagram
    186
  - Digital Filter
    188
  - Position Loop Dead Band
    189
  - Automatic Gain Switching
    190
- Positioning Operation
  191
- Program Operation
  199
  - Change of Parameter Via Program Operation
    199
  - Automatic Program Execution at Power on
    201
- Home Return
  205
  - Home Return Operation Via the Home Position Sensor
    207
    
    Home Return Mode: OS4
    207
    
    Home Return Mode: OS1
    209
    
    Home Return Mode: OS3
    209
    
    Home Return Mode: OS5
    209
  - Home Return with Travel Limit
    210
    
    Home Return Mode: OS7
    210
  - Teaching of Home Position
    212
    
    Home Return Mode: OS6
    212
    
    Teaching of Home Position in Servo-Off Sate
    213
  - Position Adjustment of Home Limit Sensor
    214
  - Teaching of Home Position Offset
    215
- RS-232C Communication
  216
  - Specifications of Communication
    216
  - Communication Procedure
    216
    
    Power on
    216
    
    Command Entry
    217
    
    Cancelling Command
    218
    
    Input of the Password
    218
    
    Readout of Parameter Settings and Internal State
    219
    
    Reading out Parameter Settings by a Group
    220
    
    Error Message
    221
  - Communication with Personal Compute
    222
    
    Setup of Hyper Terminal
    222
    
    Backup of Parameter
    223
    
    Restoring Parameters
    224
9 Details of Command and Parameter

225
- Handling Instruction of Command and Parameter
  225
  - Character String of Command
    225
  - Grammar of Command
    225
  - Error Message
    226
  - Multi-Statement on a Line
    226
  - Wildcard Search
    227
  - Repeating Readout
    227
  - Multi-Monitor
    228
  - Initialization of Specified Parameter
    228
  - Adjusting
    229
  - Output to Analog Monitor
    229
- Glossary of Command and Parameter
  230
- Category Parameter
  271
- Shipping Set
  271
- Data Range
  271
- Category Parameter Format Data Range
  279
- Data Range
  279
- Shipping Set
  280
- Parameter List
  309
10 Maintenance

311
- Backup Parts
  311
- Storing the Parts
  311
- Periodic Check
  312
  - Motor
    312
  - Driver Unit
    312
- Periodic Replacement of Parts
  313
  - Motor
    313
  - Cables
    313
  - Driver Unit
    314
- Repair Service
  316
- Warranty Period and Covering Range
  316
  - Warranty Period
    316
  - Limited Warranty
    316
  - Immunities
    316
  - Service Fee
    316
  - Notice for Discontinuity of the Product and Duration of Support
    316
11 Alarm and Warning

317
- Identifying Alarm and Warning
  317
  - LED Alarm Indicator
    317
  - Confirmation of Alarm and Warning
    318
  - History of Alarm and Warning
    319
- List of Alarm and Warning
  321
  - 11.2. List of Alarm and Warning --------------------------- 11-5 Appendix 3.1. When Using the Handy Terminal
    321
  - Normal State
    321
  - Condition in the State of Alarm and Warning
    322
    
    Alarm
    322
    
    Over Travel Limit
    323
    
    Warning
    323
- Cause and Remedy
  324
  - CPU Error
    324
  - Alarm A0: Disconnected Sensor Cable
    324
  - Alarm A1: Position Data Error
    325
  - Alarm A2: Motor Cable Disconnected
    325
  - Warning A3: Software Thermal
    326
- Alarm A4: Excess Velocity
  327
- Warning A5: Home Position Undefined
  327
- Alarm A7: Resolver Amplifier Alarm
  328
- Alarm A9: Commutation Error
  328
- Warning C0: Position Command/Feedback Signal Error
  329
- Alarm C3: CPU Error
  329
- Alarm E0: RAM Error
  330
- Alarm E2: ROM Error
  330
- Alarm E7: System Error
  331
- Alarm E8: Interface Error
  331
- Alarm E9: ADC Error
  331
- Warning F1: Excess Position Error
  332
- Over Travel F2: Software over Travel Limit
  333
- Over Travel F3: Hardware over Travel Limit
  334
- Alarm F4: Emergency Stop
  335
- Warning F5: Program Error
  335
- Warning F8: Automatic Tuning Error
  336
- Warning P0: over Heat
  337
- Alarm P1: Main Power Overvoltage
  337
- Alarm P2: Motor over Current
  338
- Alarm P3: Control Power under Voltage
  338
- Warning P5: Main Power under Voltage
  339
- Alarm P9: Power Module Alarm
  339
12 Troubleshooting

341
- Identifying Problem
  341
  - Power Trouble
    342
  - Motor Trouble
    342
  - Vibration, Abnormal Noise or Unstable Settling
    343
  - Improper Positioning
    343
  - Communication Problem
    344
Appendix 1: How to Monitor Input and Output Signal

345
Appendix 2: How to Check Motor Condition

349
Appendix 3: How to Back up and Restore the Settings of Programs and Parameters

352
- Appendix 3.1. When Using the Handy Terminal FHT21
  
  352
  - Fht21
    353
- Appendix 3.2. When Using a Personal Computer
  
  355
- Appendix 3.3. Back up Manually
  
  358
Appendix 4: Procedure for Replacing EDC Driver Unit

360
Appendix 5: Dump Resistor

362
Appendix 6: Wiring of RS-232C Communication Cable

364
Appendix 7: Setting List of Parameter and Program of EDC Driver Unit

365

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More NSK Manuals

NSK Megatorque PS Series Manuals

NSK Megatorque PS Series User Manual (370 pages)

Table of Contents

1 Introduction

2 Specifications

3 Unpacking, Installation and Wiring

4 Handy Terminal Communication

5 Tuning

6 Operation

8 More Advanced Function

9 Details of Command and Parameter

10 Maintenance

11 Alarm and Warning

12 Troubleshooting

Appendix 1: How to Monitor Input and Output Signal

Appendix 2: How to Check Motor Condition

Appendix 3: How to Back up and Restore the Settings of Programs and Parameters

Appendix 3.1. When Using the Handy Terminal FHT21

Appendix 3.2. When Using a Personal Computer

Appendix 3.3. Back up Manually

Appendix 4: Procedure for Replacing EDC Driver Unit

Appendix 5: Dump Resistor

Appendix 6: Wiring of RS-232C Communication Cable

Appendix 7: Setting List of Parameter and Program of EDC Driver Unit

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