NSK EDD Megatorque Motor User Manual

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MEGATORQUE MOTORTM SYSTEM
User’s Manual
(Driver Unit Model EDD)
Document Number: C20201-01
M-E099DD0C2-201
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Limited Warranty
NSK Ltd. warrants its products to be free from defects in material and/or workmanship which NSK Ltd. is notified of in writing within, which comes first, one (1) year of shipment or 2400 total operation hours. NSK Ltd., at its option, and with transportation charges prepaid by the claimant, will repair or replace any product which has been proved to the satisfaction of NSK Ltd. to have a defect in material and/or workmanship.
This warranty is the sole and exclusive remedy available, and under no circumstances shall NSK Ltd. be liable for any consequential damages, loss of profits and/or personal injury as a result of claim arising under this limited warranty. NSK Ltd. makes no other warranty express or implied, and disclaims any warranties for fitness for a particular purpose or merchantability.
Copyright 2019 by NSK Ltd., Tokyo, Japan
All rights reserved.
No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd.
NSK Ltd. reserves the right to make changes to any products herein to improve reliability, function or design without prior notice and without any obligation.
NSK Ltd. does not assume any liability arising out of the application or use of any product described herein; neither does it convey any license under its present patent nor the rights of others.
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Notes for Proper Use of Megatorque Motor System
1. For Safety Use of the Products
This product is intended for the uses of general industry, and is not designed and/or manufactured for the uses
involving human lives.
When you consider to use this product for special uses such as nuclear control, aero-space devices, traffic control,
medical devices, various safety devices or such systems, please contact us.
Although this product is manufactured under strict quality control, be sure to provide safety equipment for
applications to the facility which can cause serious accidents or losses due to the failure of this product.
2. Precautionary statement for the prolonged use of the Driver Unit
1) Temperature
Keep the ambient temperature of the Driver Unit within 0 to 50[°C]. You cannot use the Driver Unit in a high
temperature atmosphere over 50[°C]. Keep a clearance of 100 mm in the upper and the lower side of the Driver Unit when it is installed in an enclosure. If heat is built up on the upper side of the Driver Unit, provide ventilation openings on the top surface or equip a forced air cool unit to take the heat out of the Driver Unit. (Measures against contamination are required for the ventilation openings.)
2) Dust-proof and Waterproof
Put the Driver Unit in an enclosure with the protection code of IP54 or better. Protect the Driver Unit from oil-mist,
cutting oil, metal chips and paint fume, etc. Otherwise it may result in failure of electric circuits of the Driver Unit. (The IP code is to specify the protection level of enclosures from solid contamination and water. It is specified in the IEC standard and other safety regulations.)
3) Wiring/Ground
Refer to the User's Manual for proper wiring. When wiring and installing the Driver Unit, take appropriate measures not to contaminate it. Use the product by adhering to power specifications of Driver Unit. For IO cable of CN2 control, use the one with cable length shorter than 2[m]. For CN0 USB communication cable, use the double-shielded one with length shorter than 3[m], and for the connector
at Driver Unit side, use USB mini-B.
4) Storing
Store the Driver Unit in a place at where it is not exposed to rain, water, and harmful gas or liquid. Store the Driver Unit in the place at where it is not exposed to direct sunlight. Keep the ambient temperature and the
humidity as specified.
5) The limited number of times for overwriting data to EEPROM.
The EEPROM is used to backup all data and programs. However, the number of times for overwriting is limited to
approximately 100 000 times.
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3. Precautionary statement for the prolonged use of the Motor
1) Temperature
Keep the ambient temperature of the Motor within 0 to 40[°C]. You cannot use the Motor in a high temperature
atmosphere over 40[°C].
2) Dust-proof and Waterproof of the Motor
The standard Motors PS series/PN series/PX series are not made for dust-proof or waterproof (IP30 equivalent).
You cannot use the Motor in humid or oily atmosphere.
3) Use conditions
The allowable moment load and axial load depend on the Motor size. Double check the specified limits of the Motor
meet the actual use conditions.
An excessive load or excessive offset load will cause permanent deflection of the rotor and the bearing abnormality.
Be sure not to drop the Motor or not to give an excessive impact to it while transporting it or installing it.
The flatness of the Motor mounting surface shall be 0.02 mm or less.
4) Periodic check
Puncture of the Motor and shorting or breakage of cable may occur depending on using and environmental conditions.
If the Motor is left in such conditions, it cannot exhibit its capability 100 % and will lead to a problem of the Driver Unit. We recommend conducting the periodic preventive measures such as an insulation resistance check of the Motor, to see its current condition.
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4. Quick troubleshooting Confirm it one more time.
1) When an alarm occurs When an alarm occurs right after the power is on, please refer to
4.1. Quick Troubleshooting…Alarm when the power is on .
Did you take proper action to the alarm?
Follow the remedy described in the manual again.
2) When the power does not turn on and the indication display does not turn on
Check the voltage of main and control power by a tester if the voltage is in the range of specifications that are described
in the User’s manual.
3) When the Motor does not move
Turn off the Motor power and check the followings.
Does the Motor turn smoothly? Is there any jerky motion? Does the rotation axis have any axial play?
(Never disassemble the Motor.)
Are the control Inputs and Outputs properly functioning?
Monitor the status of SVON and IPOS signals by the I/O command through the Handy Terminal. Check if the voltage of input signal and 24 VDC power source are stable using an oscilloscope, etc.
4) The Motor vibrates. Positioning is inaccurate. Alarm of software thermal occurs frequently.
Did you tune the servo parameters LO (Load inertia), SG (Servo gain), VG (Velocity loop proportional gain), PG
(Position loop proportional gain), FP (Primary low-pass filter) and NP (Primary notch filter)?
Apply tuning to servo parameters by referring to “5. Tuning.”
Are the fixing bolts of the load and the Motor securely fastened?
Check and fasten them tightly if necessary.
Connect the ground terminal of the Driver Unit to one point grounding. (Refer to the User’s Manual for wiring.) Is any external force in rotational direction when the Motor is stopping with the Servo lock state? (It leads to the Motor
overheat if external force is applied.)
5) Breaker trip occurs frequently. When the System recovers from the breaker trip by turning on the power again, take the following action.
Select a breaker of which rated current suits to the power capacity of the Driver Unit.
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4.1. Quick Troubleshooting…Alarm when the power is on
The alarm occurs when the power is turned on if input signals of EMST (Emergency stop, Pin No.3) and OTP/OTM
(Over travel limits, Pin No. 5 and 6) of the connector CN2 are not connected. However, the Driver Unit is not defective.
This is because the ports of EMST input and OTP/OTM inputs are set to the normally closed contact (B contact) at the
factory.
To cancel the alarm, wire these ports or follow the procedure below to change the polarity to the normally open contact
(A contact).
Step 1: identify the alarm.
1) Turn on the power of the Driver Unit.
2) Check the 7 segments LED on the front panel of the Driver Unit.
The LED changes in order of F 4 in case of Emergency stop.
The LED changes in order of F 3 in case of Travel limit over alarm.
Power LED:Turns on after the power is on. Normal: Green Abnormal: Orange
7segments LED: Identifies a type of alarm.
It indicates a type of alarm in 2 digit
numbers. The numbers will be dispalyed in time sharing.
If two or more errors occurs, the LED
indicates them in the same manner as described above.
Powe LED: Turns on after the power is on. Normal: Green Abnormal: Orange
When an alarm occurs
In normal state
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Step 2: Polarity setting of Input ports.
1) Input the command MO (Motor Off) to make the Motor servo off to set the polarity of control inputs.
O
ENT
M
:MO :_
2) Input the command PI0 (Edit input function).
:PI0 FNEMST;_
I
ENT
0 ?
P
3) Following the display of the parameter FN (Function), the parmaeters NW (Anti-chattering timer) AB (Input polarity) appear sequentially by
a press of SP key, then the prompt ? appears on the bottom line.
FNEMST; AB1; NW0.2 ?_
SP SP
SP key operation is not necessary in the terminal screen of EDD MegaTerm. After operating (2) above, proceed to
operation (4).
4) Input the paramter AB0 to change the polarity to the normally open contact.
After the imput, a prompt ? appears again, press the ENT key when the prompt ? appears again.
Thus the input EMST is set to the normally open contact.
?AB0 ? :_
ENT
B A
ENT
0 ?
5) Input the command SV (Servo on) to turn on the servo of the Motor..
:SV :_
V
S
ENT
When setting the input OTP to the normally closed contact, input the command PI2 and follow the procedure above. When setting the input OTM to the normally closed contact, input the command PI3 and follow the procedure above.
5. Others
Combination of the Motor and the Driver Unit shall conform to the specification. Be sure to keep the record of parameter settings. Do not modify the cable set. Lock the connectors securely and check for loose fixing screw(s). Please keep expendable parts and backup parts. (The Motor, the Driver Unit and the Cable set for replace) Use alcohol for cleaning, and never apply thinner.
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(Blank Page)
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Conformity with the International Safety Regulations
The Megatorque Motor Systems conform to the EU Directives (CE Marking) and Underwriters Laboratory (UL) regulations.
Conformity with the EU Directives
The Megatorque Motor System is a machine component that conforms to provisions of the Low Voltage Directive 2014/35/EU and EMC Directives 2014/30/EU. This will help a user in easy conformity with the EU Directives (CE marking) of a machine into which the Megatorque Motor System is incorporated.
Table 1: List of compliance standard
Item
Conformed regulation
Megatorque Motor
EN60034-1
: Rotating electrical machines
Low Voltage Directive
Motor / Driver Unit
EN61800-5-1
: Adjustable speed electrical power drive
systems
EN55011
: Conducted emission(Group1, Class A)
Electromagnetic Compatibility Directive
EN55011
: Radiated emission(Group1, Class A)
EN61000-6-4
: Emission standard for industrial
environments
EN61000-6-2
: Immunity for industrial environments
EN61800-3
: EMC requirements and specific test
methods (Emission: Category C2)
(Immunity: Second environment)
EN61000-4-2
: Electrostatic discharge immunity
EN61000-4-3
: Radiated electromagnetic field immunity
EN61000-4-4
: Electric first transient/ burst immunity
EN61000-4-5
: Surge immunity
EN61000-4-6
: Conducted disturbance immunity
EN61000-4-8
: Power frequency magnetic field immunity
EN61000-4-11
: Voltage Dips & Interruptions immunity
Warning In a domestic environment, this product may cause radio interference, in which case
supplimentary mitigation measures may be required.
Conformity with EMC Directive
NSK defined installation models (conditions) for the Megatorque Motor PS/PN Series, including installation space and wiring between Driver Units and Motors, and set EMC Directive based on 4 [m] cable models, which have been certified by TÜV SÜD Product Service GmbH. When Megatorque Motor PS/PN Series is incorporated into machinery, real-world installation and/or wiring conditions may differ from those of established models. Therefore, it is necessary to check for EMC Directive compliance (especially radiation and conduction noise) in the machinery incorporating the PS/PN Series Motors.
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Conditions to Conform with EU Directives
The wiring example shown below is one of our recommendations for the conformity with the EU Directives.
Figure 1: Wiring diagram (Example)
Surge
absorber
Resolver
AC power source
Protective ground (PE)
Main power
CN5
Control power
CN4
CN3
L N
L N
CN1
Handy
Terminal
Ferrite core 1
(3 turns)
Ferrite core 3
(1 turn)
Ferrite core 3 (1 turn)
Ferrite core 3
(2 turns)
Megatorque Motor
Ferrite core 2
(2 turns)
Motor
Driver Unit Model EDD
Inside of control panel
Circuit breaker
Noise filter
Environmental conditions
The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified by IEC60664-1. The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water, oil or dust (IP54).
Power source
The Driver Unit Model EDD shall be used in the environmental condition of Over-voltage category III as specified by IEC60664-1.
Circuit breaker
Install a circuit breaker that conforms to IEC standard and UL safety standard between the power source and the Driver Unit.
Noise filter
Install a noise filter between the power source and the Driver Unit.
Ferrite core
Ferrite cores for signal cable shall be set to the power cable, the Motor cable and the resolver cable.
Protective Grounding
Be sure to ground the protective grounding terminal of the Driver Unit Model EDD to the protective ground (PE) of the control panel for a measure against electrical shock.
Table 2: List of recommended parts
Item
Specification
Model Number
Remarks
Circuit breaker
Rated current:
15 [A]
BW32AAG
(Fuji Electric)
Conforms to IEC regulations and approved by UL
Noise filter
Single phase:
250 [VAC], 10 [A]
FN2070-10/06
(SCHAFFNER)
Surge absorber
R-A-V781BWZ-4
(Okaya electric)
Ferrite core 1
E04RA400270150
(Seiwa Electric MFG)
Ferrite core 2
E04SR301334
(Seiwa Electric MFG)
For the Terminal
Ferrite core 3
E04SR211132
(Seiwa Electric MFG
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Conformity with Underwriters Laboratories Standards
Motors
Motor is compliant with UL1004-1 standard. (File number:E216970)
Driver Unit Model EDD
Driver Unit Model EDD is compliant with UL61800-5-1 standard. (File number:E216221)
Cable set
The cable material which is conforming to UL standard is used.
Be sure to meet the following as they are the supplementary conditions for the qualification.
Environmental conditions
The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified by IEC60664-1. The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water, oil or dust (IP54).
Power source
The Driver Unit Model EDD shall be used in environmental condition of “Over-voltage category III” as specified by IEC60664-1. Suitable for use on a circuit capable or delivering not more than 5,000[Arms] symmetrical amperes, 240[V] maximum.
Circuit breaker
Install a circuit breaker (rated 15[A]) that conforms the UL safety standard between the power source and the Driver Unit. (Please refer to Table 2 above for the specifications.)
Protective Grounding
Be sure to ground the protective grounding terminal of the Driver Unit Model EDD to the protective ground (PE) of the control panel for a measure against electrical shock.
Wiring
Use 75 [C] CU wire only.
Wire range for field wiring terminals are marked adjacent to the terminal, on the wiring diagram or
instruction manual.
Table 3: Acceptable lead diameter
Model No.
Wire RangeAWG
Input
Output
All Models
18
19
Others
Solid state Motor overload protection level of 115 [%] of FLA is provided in each model.
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit
protection must be provided in accordance with the National Electrical Code and any additional local codes.
Motor over temperature protection is not provided by the driver unit.
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Danger : Megatorque Motor PN series with Brake unit, Megatorque Motor Z
series with High environmental resistance, Megatorque Motor High speed PX series with its Driver Unit, and their system as a combination of Motor and Driver Unit do not comply with UL and CE marking regulation. Driver Units comply with UL Standard and CE Mark when used with a standard PN series Megatorque Motor. However, they do not comply with UL standards or CE Mark when used with Megatorque Motor PN series with Brake unit and Megatorque Motor Z series with High environmental resistance.
Caution : Risk of Electric Shock- Capacitor discharge time is at least 5 [min]
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Contents
1. Introduction ------------------------------------ 1-1
1.1. Notes to Users --------------------------------------------- 1-2
1.1.1. Notes for Safety ----------------------------------- 1-2
1.1.2. Precautions for Use ------------------------------ 1-2
1.1.3. Interchangeability of Motor and Driver Unit 1-5
1.2. Terminology ------------------------------------------------ 1-6
2. Specifications --------------------------------- 2-1
2.1. System Configuration ------------------------------------ 2-1
2.1.1. Control Mode -------------------------------------- 2-1
2.1.2. Examples of System Configuration ---------- 2-2
2.2. Reference Number and Coding ----------------------- 2-4
2.2.1. Mega torque Motor ------------------------------- 2-4
2.2.2. Driver Unit Model EDD -------------------------- 2-4
2.2.3. Cable Set ------------------------------------------- 2-4
2.2.4. Handy Terminal ----------------------------------- 2-4
2.3. Name of Each Part ---------------------------------------- 2-5
2.3.1. Mega torque Motor ------------------------------- 2-5
2.3.1.1. PS Series ------------------------------------ 2-5
2.3.1.2. PN Series ------------------------------------ 2-6
2.3.1.3. PX Series ------------------------------------ 2-7
2.3.2. Driver Unit Model EDD -------------------------- 2-8
2.3.3. Handy Terminal ----------------------------------- 2-9
2.4. Standard Combination List ---------------------------- 2-10
2.4.1. Motor and Driver Unit Model EDD Combinations ------------------------------------ 2-10
2.4.2. Cable Set ----------------------------------------- 2-11
2.4.3. Handy Terminal --------------------------------- 2-11
2.5. Motor Specifications ------------------------------------ 2-12
2.5.1. PS Series ----------------------------------------- 2-12
2.5.2. PN Series ----------------------------------------- 2-13
2.5.3. PX Series ----------------------------------------- 2-13
2.5.4. Axial Load and Moment Load --------------- 2-14
2.6. External Dimensions ----------------------------------- 2-15
2.6.1. Megatorque Motors ---------------------------- 2-15
2.6.1.1. PS Series ---------------------------------- 2-15
2.6.1.2. PN Series ---------------------------------- 2-19
2.6.1.3. PX Series ---------------------------------- 2-21
2.6.2. Driver Unit Model EDD ------------------------ 2-22
2.6.3. Cable Set ----------------------------------------- 2-23
2.6.3.1. Stationary Cable -------------------------- 2-23
2.6.3.2. Flexible Cable ----------------------------- 2-23
2.7. Driver Unit Specifications ----------------------------- 2-25
2.8. USB Interface Specifications ------------------------- 2-27
2.8.1. CN0: USB Communication Connector ---- 2-27
2.8.1.1. Pin-Out (CN0) ----------------------------- 2-27
2.8.1.2. CN0 Signal List --------------------------- 2-27
2.9. RS-232C Interface Specifications ------------------- 2-28
2.9.1. CN1: RS-232C Serial Communication Connector ----------------------------------------- 2-28
2.9.1.1. CN1 Pin-Out ------------------------------- 2-28
2.9.1.2. CN1 Signal List --------------------------- 2-28
2.10. Specifications of Control Input/Output Interface2-29
2.10.1. CN2: Control Input/Output Signal Connector ----------------------------------------- 2-29
2.10.1.1. CN2 Pin-Out ----------------------------- 2-30
2.10.1.2. CN2 Signal List ------------------------- 2-31
2.10.2. CN2 Interfacing --------------------------------- 2-33
2.10.2.1. General Input Signal ------------------- 2-33
2.10.2.2. Pulse Train Input Signal -------------- 2-34
2.10.2.3. Analog Command Input Signal ----- 2-35
2.10.2.4. Output Signal ---------------------------- 2-36
2.10.2.5. Position Feedback Signal Output -- 2-36
2.10.2.6. Analog Monitor Output ---------------- 2-37
2.11. CN3: Resolver Cable Connector ------------------ 2-38
2.11.1. CN3 Pin-Out ------------------------------------- 2-38
2.11.2. CN3 Signal List --------------------------------- 2-38
2.12. CN4: Motor Connector ------------------------------- 2-39
2.12.1. CN4 Pin-Out ------------------------------------- 2-39
2.12.2. CN4 Signal List --------------------------------- 2-39
2.13. CN5: Connector for Power Supply --------------- 2-40
2.13.1. CN5 Pin-Out ------------------------------------- 2-40
2.13.2. CN5 Wiring Diagram--------------------------- 2-40
3. Unpacking, Installation and Wiring ------ 3-1
3.1. Unpacking -------------------------------------------------- 3-1
3.1.1. Receiving Check---------------------------------- 3-1
3.1.2. Motor and Driver Unit Model EDD Combinations -------------------------------------- 3-1
3.2. Installation -------------------------------------------------- 3-2
3.2.1. Motor Mounting ----------------------------------- 3-2
3.2.1.1. Environmental Conditions of Motor --- 3-2
3.2.1.2. Motor Installation --------------------------- 3-2
3.2.1.3. Coupling Load to Motor ------------------ 3-3
3.2.1.4. Confirmation of Use Conditions -------- 3-4
3.2.1.5. Dummy Inertia ------------------------------ 3-4
3.2.2. Installation of Driver Unit ----------------------- 3-5
3.3. Wiring -------------------------------------------------------- 3-6
3.3.1. Connection of Cable Set------------------------ 3-6
3.3.2. Connecting Power-------------------------------- 3-7
3.3.3. Ground Connection ------------------------------ 3-8
3.3.4. Connector Wiring --------------------------------- 3-9
3.3.4.1. Wiring Example (CN2) -------------------- 3-9
3.4. Turning on Main Power-------------------------------- 3-10
3.4.1. Precautions Before Power-on --------------- 3-10
3.4.2. Points to be Checked When Power-on --- 3-11
3.4.3. Polarity Setting of Control Input Port
(Normally Open Contact and Normally Closed Contact)--------------------------------- 3-12
3.4.4. Power on and Servo on ----------------------- 3-13
4. RS-232C Communication and USB Communication ------------------------------- 4-1
4.1. RS-232C Communication
(Handy Terminal Communication) -------------------- 4-2
4.1.1. Check on Handy Terminal ---------------------- 4-3
4.1.2. Setting Parameters ------------------------------- 4-3
4.1.2.1. Input of the Password -------------------- 4-3
4.1.2.2. Reset to Shipping Set -------------------- 4-4
4.1.3. Readout of Parameter--------------------------- 4-4
4.1.3.1. Monitoring Parameters by a Group --- 4-5
4.1.3.2. Monitoring Parameters Altered from Shipping Set -------------------------------- 4-5
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4.1.4. Monitoring the Current Status ------------------ 4-6
4.1.4.1. Inputting a Command while Monitoring Multiple Conditions ---------- 4-6
4.2. USB Communication (EDD MEGATERM) ---------- 4-7
4.2.1. Setting Application Software -------------------- 4-9
4.2.2. Establishing Communication------------------ 4-10
4.2.3. Setting Parameters ------------------------------ 4-10
4.2.3.1. Input of the Password ------------------- 4-11
4.2.3.2. Reset to Shipping Set ------------------- 4-12
4.2.4. Readout of Parameter -------------------------- 4-12
4.2.4.1. Monitoring Parameters by a Group -- 4-13
4.2.4.2. Monitoring Parameters Altered from Shipping Set ------------------------------- 4-14
4.2.5. Monitoring the Current Status ---------------- 4-14
4.2.5.1. Inputting a Command while Monitoring Multiple Conditions -------- 4-15
5. Tuning ------------------------------------------- 5-1
5.1. Tuning Flowchart ------------------------------------------ 5-1
5.2. Tuning Level 1: Automatic Tuning -------------------- 5-2
5.2.1. Precautions for Automatic Tuning ------------- 5-3
5.2.2. Initialization of Servo Parameters ------------- 5-4
5.2.3. Automatic Tuning ---------------------------------- 5-5
5.2.4. Trial Running ---------------------------------------- 5-7
5.3. Tuning Level 2: Servo Gain Tuning ------------------- 5-9
5.3.1. Input of Load moment of Inertia ---------------- 5-9
5.3.1.1. When the Load moment of inertia is Unknown ------------------------------------- 5-9
5.3.2. Minor Tuning of Servo Gains ----------------- 5-10
5.4. Tuning Level 3: Manual Tuning ---------------------- 5-13
5.4.1. Precautions for Manual Tuning --------------- 5-13
5.4.2. Setting Velocity Loop Proportional Gain (VG) 5-13
5.5. Setting Filters (Tuning Level 2) ---------------------- 5-15
5.5.1. Setting Low-pass Filter ------------------------- 5-15
5.5.2. Setting Notch Filter ------------------------------ 5-16
6. Operation --------------------------------------- 6-1
6.1. Preparation ------------------------------------------------- 6-1
6.1.1. Wiring Check ---------------------------------------- 6-1
6.1.2. Operation Procedure ------------------------------ 6-1
6.2. Position Scale ---------------------------------------------- 6-2
6.2.1. Resolution of position Scale -------------------- 6-2
6.2.2. Direction of Position Scale ---------------------- 6-3
6.2.3. Setting Home Position ---------------------------- 6-4
6.2.4. Software Over Travel Limit ---------------------- 6-6
6.2.4.1. Setting the Limits by Teaching ---------- 6-7
6.2.4.2. Setting the Limits by Direct Input ------- 6-8
6.3. Positioning Operation ------------------------------------ 6-9
6.3.1. Positioning Command ---------------------------- 6-9
6.3.2. Program Positioning Operation -------------- 6-10
6.3.2.1. Program Operation via Control Inputs and Outputs----------------------- 6-11
6.3.2.2. Program Positioning Operation via RS-232C Communication -------------- 6-13
6.3.2.3. Programming ------------------------------ 6-14
6.3.2.4. Program Sequence ---------------------- 6-20
6.3.3. Pulse Train Command Positioning Operation 6-23
6.3.3.1. Format of Pulse Train Input ----------- 6-25
6.3.3.2. Resolution of Pulse Train -------------- 6-26
6.3.3.3. Input Timing ------------------------------- 6-27
6.3.4. Jogging --------------------------------------------- 6-28
6.3.4.1. Jogging with Control Input and Output 6-29
6.3.4.2. Jogging via RS-232C Communication 6-30
6.3.5. RS-232C Communication Positioning Operation ----------------------------------------- 6-31
6.3.6. Velocity and Torque Control by Analog Input 6-33
6.3.6.1. Selection of Control Mode ------------- 6-33
6.3.6.2. RS-232C Communication Operation 6-34
6.3.6.3. Analog Input Operation ----------------- 6-35
6.3.6.4. Analog Command Input Offset ------- 6-36
7. Operational Function ------------------------ 7-1
7.1. Control Input ----------------------------------------------- 7-1
7.1.1. Emergency Stop: EMST ------------------------- 7-1
7.1.2. Alarm Clear: ACLR ------------------------------- 7-2
7.1.3. Hardware Over Travel Limit: OTP and OTM 7-3
7.1.4. Servo on: SVON ----------------------------------- 7-4
7.1.5. Program Start: RUN Internal Program
Channel Selection: Input PRG0 to PRG7 --- 7-6
7.1.6. Stop: STP ------------------------------------------- 7-7
7.1.7. Jogging: JOG Jogging Direction: DIR -------- 7-9
7.2. Control Output ------------------------------------------- 7-10
7.2.1. Driver Unit Ready: DRDY --------------------- 7-10
7.2.2. Warning: WRN ----------------------------------- 7-10
7.2.3. Over Travel Limit Direction:
OTPA and OTMA --------------------------------- 7-11
7.2.4. Servo State: SVST ------------------------------ 7-13
7.2.5. In-operation: BUSY ----------------------------- 7-14
7.2.6. In-position: IPOS -------------------------------- 7-15
7.2.6.1. CFIN Mode: Parameter FW < 0 ------ 7-16
7.2.6.2. IPOS Mode (Parameter FW = 0) ---- 7-17
7.2.6.3. FIN Mode (Parameter FW > 0) ------- 7-18
7.2.6.4. In-position Limit: Parameter IN ------- 7-19
7.2.6.5. Parameter IS:
In-position Stability Timer ----------------- 7-19
7.2.7. Target Proximity: NEARA and NEARB ---- 7-20
7.2.8. Position Feedback Signal --------------------- 7-21
7.2.8.1. Resolution of Position Feedback Signal --------------------------------------- 7-22
7.2.8.2. Signal Output Timing ------------------- 7-24
7.3. RS-232C/USB Monitor -------------------------------- 7-25
7.3.1. Monitoring Way for Control
Input/Output Signal ------------------------------ 7-26
7.3.1.1. Electrical Condition Monitor: Monitor IO0 -------------------------------- 7-27
7.3.1.2. Monitor for Internal Recognition of Input and Output State: Monitor IO1 ------- 7-28
7.3.1.3. Monitor for State of Input Functions:
Monitor IO2 -------------------------------- 7-28
7.3.1.4. Monitor for State of Output Functions:
Monitor IO3 -------------------------------- 7-29
7.3.1.5. Monitor for Individual Function ------- 7-29
7.3.2. Alarm Monitor ----------------------------------- 7-30
7.3.2.1. Monitor All Occurring Alarms at
One Time ---------------------------------- 7-30
7.3.2.2. Monitor for Alarm History and Event:
Monitor TA/HI ----------------------------- 7-31
7.3.3. Pulse Train Counter: Monitor RP ----------- 7-32
7.3.4. Position Feedback Signal Counter: Monitor FK --------------------------------------- 7-32
7.3.5. Current Position Monitor: Monitor TP ----- 7-32
7.3.6. Monitor for Software Thermal Loading: Monitor TJ ---------------------------------------- 7-33
7.4. Analog Monitors ----------------------------------------- 7-34
7.4.1. Use of Preset Monitors ------------------------ 7-35
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7.4.2. Customization of Monitor Data --------------- 7-36
7.4.2.1. Analog Monitor for State of Control Inputs and Outputs Functions --------- 7-37
8. More Advanced Function ------------------ 8-1
8.1. Assignment of Input/Output Function ---------------- 8-1
8.1.1. Function of Control Input ------------------------- 8-2
8.1.2. Function of Control Output ---------------------- 8-4
8.1.3. Editing Function of Control Input and Output -- 8-6
8.1.3.1. Editing Control Input Function ---------- 8-6
8.1.3.2. Editing Control Output Function -------- 8-8
8.1.3.3. Masking Control Output Function ---- 8-10
8.1.3.4. Forcible Output in Setting of Output Port Function ------------------------------ 8-11
8.2. Extended Control Input -------------------------------- 8-12
8.2.1. Input HOLD: HLD -------------------------------- 8-12
8.2.2. Velocity Override: ORD ------------------------ 8-13
8.2.3. Integration OFF: IOFF -------------------------- 8-14
8.2.4. Home Return Start: HOS ---------------------- 8-15
8.2.5. Home Position Limit: HLS --------------------- 8-15
8.3. Extended Control Output ------------------------------ 8-16
8.3.1. In-zone Output: ZONEA, ZONEB, and ZONEC--------------------------------------- 8-16
8.3.2. Outputs of Operating Conditions ------------- 8-17
8.3.2.1. Position Error: TEU (Position Error, Under)
and TEO (Position Error, Over) ----------- 8-18
8.3.2.2. Velocity: Outputs TVEU (Velocity Error,Under)
and TVEO (Velocity Error, Over) ------- 8-19
8.3.2.3. Velocity: Outputs TVU (Velocity, Under)
and TVO (Velocity, Over) ------------------ 8-19
8.3.2.4. Torque Command: Outputs TTU (Torque Command, Under) and TTO (Torque Command, Over) ------- 8-19
8.3.2.5. Thermal Loading: Outputs TJU (Thermal Loading, Under) and TJO (Thermal Loading, Over) --- 8-20
8.3.3. Travel Limit Output (±): OTXA ---------------- 8-21
8.3.4. Output Normal: NRM --------------------------- 8-22
8.3.5. Home Return Completed: HOME ------------ 8-22
8.3.6. Home Position Defined: HCMP -------------- 8-22
8.4. Teaching --------------------------------------------------- 8-23
8.4.1. Preparation for Teaching ---------------------- 8-24
8.4.2. Teaching of Parameter ------------------------- 8-24
8.4.3. Teaching the Position Data of Positioning Program ------------------------------------------- 8-25
8.5. Tuning ------------------------------------------------------ 8-26
8.5.1. Servo Block Diagram -------------------------- 8-26
8.5.2. Digital Filter --------------------------------------- 8-28
8.5.3. Position Loop Dead Band -------------------- 8-29
8.5.4. Automatic Gain Switching -------------------- 8-30
8.6. Positioning Operation ---------------------------------- 8-31
8.6.1. Acceleration Profiling and Individual Acceleration Setting ---------------------------- 8-31
8.6.2. Examples of Acceleration Profiling and Individual Setting of Acceleration and Deceleration -------------------------------------- 8-33
8.6.3. Shorter Way Positioning ---------------------- 8-34
8.6.4. User Scale Positioning ------------------------ 8-36
8.7. Program Operation ------------------------------------- 8-39
8.7.1. Change of Parameter via Program Operation ----------------------------- 8-39
8.7.2. Automatic Program Execution at Power on - 8-41
8.8. Home Return --------------------------------------------- 8-45
8.8.1. Home Return Operation via the Home Position Sensor ------------------------ 8-46
8.8.1.1. Home Return Mode: OS4 -------------- 8-46
8.8.1.2. Home Return Mode: OS5 -------------- 8-48
8.8.1.3. Home Return Mode: OS1 -------------- 8-48
8.8.1.4. Home Return Mode: OS3 -------------- 8-48
8.8.2. Home Return with Travel Limit -------------- 8-49
8.8.2.1. Home Return Mode: OS7 -------------- 8-49
8.8.3. Teaching of Home Position ------------------ 8-51
8.8.3.1. Home Return Mode: OS6 -------------- 8-51
8.8.3.2. Teaching of Home Position in Servo-off Sate ---------------------------- 8-52
8.8.4. Position Adjustment of Home Limit Sensor -- 8-53
8.8.5. Teaching of Home Position Offset --------- 8-54
8.9. RS-232C Communication----------------------------- 8-55
8.9.1. Specifications of Communication----------- 8-55
8.9.2. Communication Procedure------------------- 8-55
8.9.2.1. Power on ----------------------------------- 8-56
8.9.2.2. Command Entry -------------------------- 8-57
8.9.2.3. Cancelling Command ------------------- 8-58
8.9.2.4. Input of the Password ------------------ 8-58
8.9.2.5. Readout of Parameter Settings and Internal State ------------------------------ 8-59
8.9.2.6. Reading out Parameter Settings by a Group --------------------------------- 8-60
8.9.2.7. Error Message ---------------------------- 8-61
9. Details of Command and Parameter ---- 9-1
9.1. Difference of RS-232C Communication and USB Communication ------------------------------------- 9-1
9.1.1. Different Commands between RS-232C Communication and USB Communication - 9-1
9.1.2. Simultaneous Operation of RS-232C Communication and USB Communication - 9-1
9.1.3. Command Parameters Invalid in USB Communication ---------------------------- 9-1
9.1.4. Inhibited Operations in USB Communication ---------------------------- 9-2
9.2. Handling Instruction of Command and Parameter 9-3
9.2.1. Character String of Command ---------------- 9-3
9.2.2. Grammar of Command ------------------------- 9-3
9.2.3. Error Message ------------------------------------ 9-4
9.2.4. Multi-statement on a Line ---------------------- 9-4
9.2.5. Wildcard Search ---------------------------------- 9-5
9.2.6. Repeating Readout ------------------------------ 9-5
9.2.7. Multi-monitor --------------------------------------- 9-6
9.2.8. Initialization of Specified Parameter --------- 9-6
9.2.9. Adjusting -------------------------------------------- 9-7
9.2.10. Output to Analog Monitor ----------------------- 9-7
9.3. Glossary of Command and Parameter -------------- 9-8
9.4. Parameter List ------------------------------------------- 9-84
10. Maintenance ------------------------------- 10-1
10.1. Backup Parts ------------------------------------------- 10-1
10.2. Storing the Parts -------------------------------------- 10-1
10.3. Periodic Check----------------------------------------- 10-2
10.3.1. Motor ---------------------------------------------- 10-2
10.3.2. Driver Unit (Including Cables and Handy Terminal) -- 10-2
10.4. Periodic Replacement of Parts -------------------- 10-3
10.4.1. Motor ---------------------------------------------- 10-3
Page 16
iv
10.4.2. Cables --------------------------------------------- 10-3
10.4.3. Driver Unit ---------------------------------------- 10-4
10.5. Repair Service ----------------------------------------- 10-6
10.6. Warranty Period and Covering Range ----------- 10-7
10.6.1. Warranty Period --------------------------------- 10-7
10.6.2. Limited Warranty -------------------------------- 10-7
10.6.3. Immunities ---------------------------------------- 10-7
10.6.4. Service Fee -------------------------------------- 10-7
10.6.5. Notice for discontinuity of the Product and Duration of Support ---------------------------- 10-7
10.6.6. Application to special uses ------------------- 10-7
11. Alarm and Warning ----------------------- 11-1
11.1. Identifying Alarm and Warning --------------------- 11-1
11.1.1. LED Alarm Indicator ---------------------------- 11-1
11.1.2. Confirmation of Alarm and Warning -------- 11-2
11.1.3. History of Alarm and Warning --------------- 11-3
11.2. List of Alarm and warning --------------------------- 11-5
11.2.1. Normal State ------------------------------------- 11-5
11.2.2. Condition in the State of Alarm and Warning 11-6
11.2.2.1. Alarm -------------------------------------- 11-6
11.2.2.2. Warning ----------------------------------- 11-7
11.2.2.3. Over Travel Limit ------------------------ 11-7
11.3. Cause and Remedy ----------------------------------- 11-8
11.3.1. CPU Error ----------------------------------------- 11-8
11.3.2. Alarm A0: Disconnected Sensor Cable --- 11-8
11.3.3. Alarm A1: Position Data Error --------------- 11-9
11.3.4. Alarm A2: Motor Cable Disconnected ----- 11-9
11.3.5. Warning A3: Software Thermal ----------- 11-10
11.3.6. Alarm A4: Excess Velocity ----------------- 11-11
11.3.7. Warning A5: Home Position Undefined - 11-11
11.3.8. Alarm A9: Commutation Error ------------- 11-12
11.3.9. Warning C0: Position Command/Feedback Signal Error ------------------------------------- 11-13
11.3.10. Alarm C3: CPU Error ---------------------- 11-13
11.3.11. Alarm E0: RAM Error ---------------------- 11-14
11.3.12. Alarm E2: ROM Error ---------------------- 11-14
11.3.13. Alarm E7: System Error ------------------- 11-15
11.3.14. Alarm E8: Interface Error ----------------- 11-15
11.3.15. Alarm E9: ADC Error ---------------------- 11-15
11.3.16. Warning F1: Excess Position Error ---- 11-16
11.3.17. Over Travel F2:
Software Over Travel Limit -------------- 11-17
11.3.18. Over Travel F3:
hardware Over Travel Limit ------------- 11-18
11.3.19. Alarm F4: Emergency Stop -------------- 11-19
11.3.20. Warning F5: Program Error -------------- 11-19
11.3.21. Warning F8: Automatic Tuning Error -- 11-20
11.3.22. Warning P0: Over Heat ------------------- 11-21
11.3.23. Alarm P1: Main Power Overvoltage --- 11-21
11.3.24. Alarm P2: Motor Over Current ---------- 11-22
11.3.25. Alarm P3: Control Power Under Voltage 11-22
11.3.26. Warning P5: Main Power Under Voltage 11-23
11.3.27. Alarm P9: Power Module Alarm -------- 11-23
12. Troubleshooting ------------------------- 12-1
12.1.Identifying Problem ------------------------------------ 12-1
12.2.Troubleshooting ---------------------------------------- 12-1
12.2.1. Power Trouble----------------------------------- 12-2
12.2.2. Motor Trouble ----------------------------------- 12-2
12.2.3. Vibration, Abnormal Noise or Unstable Settling -------------------------------------------- 12-3
12.2.4. Improper Positioning--------------------------- 12-3
12.2.5. RS-232C Communication Problem -------- 12-4
Appendix
Appendix 1: How to Monitor Input and Output Signal ................ 1
Appendix 2: How to Check Motor Condition .............................. 6
Appendix 3: How to Back up and Restore the Settings
of Programs and Parameters ............................. 10
Appendix 4: Handling of Saved Data in MegaTerm ................. 18
Appendix 5: Procedure for Replacing
Driver Unit Model EDD ....................................... 20
Appendix 6: Regeneration Resistor ........................................ 22
Appendix 7: Wiring of RS-232C Communication Cable ........... 24
Appendix 8: USB Communication Cable ................................. 25
Appendix 9: Setting List of Parameter and Program of
Driver Unit Model EDD ....................................... 26
Page 17
1. Introduction
1-1
1. Introduction
This is the operation manual of the Megatorque Motor System with the Driver Unit Model EDD. Please
refer to “2.4. Standard Combination List” for the applicable Megatorque Motor System.
Before operating the Megatorque Motor System for the first time, this manual should be read thoroughly. We describe the standard Motors only in “2.5. Motor Specifications.” If your Motor is not one of these,
please refer to the attached specification document.
Page 18
1. Introduction
1-2
1.1. Notes to Users
1.1.1. Notes for Safety
For your safety, you should read this manual thoroughly and understand the contents before operating the
Megatorque Motor System.
The following notices are added to give particular emphasis on the safety precautions in this manual.
Danger : A matter that might cause serious injuries.
Warning : A matter that might result in injuries.
Caution : A matter that might result in the breakdown of equipment into which the
Motor is installed or the break down of the mechanism surrounding the Motor.
1.1.2. Precautions for Use
Pay special attention to the following when installing, checking and troubleshooting the Megatorque
Motor System.
Caution : When making a combination of a Motor and a Driver Unit, confirm that
their specifications for Motor size and maximum Motor torque match each other.
This is because the Driver Unit holds the unique parameter settings for a matching Motor.
• Refer to “2.4.Standard Combination List” for the combination.
Make sure that the reference numbers on each identification plate of a Motor and a
Driver Unit indicate the same coding for Motor size, Motor maximum torque and position sensor.
If the reference numbers are not matched, the Motor may lose its accuracy and emit noise, and furthermore, it may not move or lose its control.
Caution : Do not cut the Cable Set, or do not hook it up to other cable.
The modification of the Cable Set may worsen the Motor and Driver Unit performances, typically positioning accuracy and repeatability of the resolver.
Caution : Never disassemble the Motor because it has been precisely assembled
and tuned.
If disassembled, it may cause abnormalities such as deterioration in rigidity and positioning accuracy, and generation of noise.
Caution : Be sure to connect protective ground of the Driver unit Model EDD.
Failure to do so may cause an electric shock.
Danger : Be sure to connect the Emergency Stop signal circuit to the EMST port of
the CN2 control I/O connector.
Please set the System so that you can immediately stop the Motor in case of an emergency.
Caution : Do not remove the panel of the Driver Unit so as not to cause an electric
shock. It is extremely dangerous due to high voltage present.
Driver Units have high capacity electrolytic capacitors in its internal circuits, and thus resulting in high residual voltage of the capacitors for few minutes after the main power is turned off.
Page 19
1. Introduction
1-3
Caution : Use of an optional regeneration resistor shall be considered for a heavy-
duty operation.
The Megatorque Motors regenerate when they decelerate carrying heavy load inertia.
An internal capacitor charges the Motor regeneration. However, when high and continuous regeneration exceeding its capacity is applied, excess energy activates an alarm “Alarm P1: Abnormal main power voltage” and the Motor stops. In such a case, you need to lower operating conditions (velocity, deceleration rate, and operation duty cycle), or you require an external high capacity regeneration resistor.
Danger : Never apply water or oil to the Driver Unit.
Take appropriate measures to protect the Driver Unit from water, oil, slag, dust, and corrosive gas.
Figure 1-1: Outline of Driver Unit Model EDD
Warning : Do not test the insulation of the Driver Unit.
The high voltage used in the test may destroy the internal circuits of Driver Unit.
Caution : In most cases, the Direct Drive Motor System cannot exhibit its full
performance unless the shipping set of the parameters is altered for actual applications.
• Refer to “5. Tuning” and be sure to set the servo parameters to actual use conditions.
Caution : Allowable moment load and axial load depend on Motor size. Please
confirm that actual load conditions are in the limits of the Motor.
Refer to “2.5. Motor Specifications” for the allowable moment load, axial load and radial load.
Caution : An excessive eccentric load or an excessive load may cause the
permanent deformation of the rotor or premature failure of the bearing inside the Motor. When handling the Motor, please pay special attention not to drop it and not to give a shock to it. Protect the Motor from a collision with an obstacle.
Page 20
1. Introduction
1-4
Excessive load to the Motor may damage the bearing of Motor and may mechanically lock the Motor.
The flatness of the Motor mounting surface shall be 0.02 mm or less.
Caution : For an oscillating operation less than 45 [°], turn the Motor 90 [°] or more
at least once a day.
Caution : Do not give a direct impact to the Motor with a hammer or the like. A
direct impact to the outside of the Motor or the load fixed to the Motor may deteriorate accuracy of the built-in position sensor.
Caution : When attaching a rotary machine component to the Motor such as a
bearing or a ball screw, be sure to align both centers within 0.01 mm. Excessive eccentric load or excessive load to the Motor may cause the premature failure of Motor’s bearing.
Danger : As the Motor may become hot depending on your use conditions, handle
it in a sufficiantly cold state, and be careful of burns, etc.
Danger : The Motor has a rotational part and a stationary part. Be careful not to be
caught in the rotational part, including the parts that you install.
Warning : Be sure not to activate the dynamic brake in the following conditions.
Otherwise the dynamic brake circuit may break and the Motor will enter in a “free run” state, leading to possible injuries.
Do not activate the dynamic brake in normal operations. Stop the Motor by a control command, not by the dynamic brake. The dynamic brake is an auxiliary function to stop the Motor immediately in an emergency. In the middle of operation, an alarm, a warning or the Emergency stop input activates the dynamic brake. Warnings that initiate “Servo-off” state are “A3” (Software thermal), “C0” (Position command/Feedback error), “F5” (Program error), and “F8” (Automatic tuning error).
The load moment of inertia to a Motor must be within the range of the recommended load moment of inertia described in "2.5 Motor Specifications." In case of an indexing operation, a position command shall be 360 degrees or less, while the maximum speed for continual rotation must be 0.5 [s-1] or less. (However, there may be a possibility to exceed the above limits in some cases. Please consult NSK when you require a close investigation on the limits.)
For the PN4180 Motor, be sure to stop the Motor for 20 minutes or longer when you stop it by the dynamic brake.
Caution : When the Motor is continually accelerating a high inertial load with high
acceleration, the system constantly outputs a high torque exceeding the rated torque, and thus likely to activate the warning “A3” (Software thermal). In such a case take a remedy to decrease the load moment of inertia or to lower the speed.
Page 21
1. Introduction
1-5
1.1.3. Interchangeability of Motor and Driver Unit
Interchangeable types
The standard Motors and the Driver Units Model EDD can be randomly matched (interchangeable).
Therefore, you may have a combination of a Motor and a Driver Unit that have the different serial number.
However, please refer to “2.4. Standard Combination List” for combination of reference numbers of the
Motors, the Driver Units and the Cable Sets.
Non-interchangeable types
The interchangeability of the Motors and the Driver Units won’t be applicable for a Megatorque Motor
System that is made to a special order. In such a case please refer to respective specification documents.
Be sure to make a combination of a Motor and a Driver Unit with the same serial number when they are
not interchangeable. Moreover, you must use the specified Cable Set.
Please be aware that the Megatorque Motor System won’t fully exhibit its performance as described in its
specifications if a Motor and a Driver Unit are matched with different serial number, or if you change the length of the Cable Set. Especially in case of a System that incorporates an absolute position sensor, you may lose positioning repeatability of the Home position.
Page 22
1. Introduction
1-6
1.2. Terminology
It is necessary to be familiar with some terms used in this document.
Cable Set -------------- A cable set exclusive use for the Megatorque Motor System. Connects driver Unit
and Megatorque Motor
CCW ------------------- Counterclockwise; direction of Motor rotation. Seen from the top of rotor. closed ------------------ Logic output state; output current will flow. count/rev. -------------- Count/revolution. A unit of resolution. In some cases, it is described as pulse/rev. in
this manual.
CW --------------------- Clockwise; direction of Motor rotation. Seen from the top of rotor. Driver Unit ------------ Means Megatorque Motor System’s driver unit when capitalized. Handy Terminal ------ Means an optional handy terminal (FHT31) for RS-232C communication used for
parameter settings and programming, etc. Exclusive use for Megatorque Motor System. .
LO ---------------------- A parameter to set a load inertia moment to the Motor. Unit is in [kg•m2].  Motor ------------------ Means Megatorque Motor System’s motor when capitalized.
velocity gain (VG) --- Shorter name for velocity loop proportional gain.
The velocity error, the deviation of velocity feedback from the velocity command, will be amplified by a number defined as a velocity gain set by the parameter VG, and will be output as a torque command.
+ (plus) direction The direction in which the position data inside the Driver Unit counts up.
- (minus) direction The direction in which the position data inside the Driver Unit counts down.
The following commands are used for the Driver Unit to set function and to execute operation.
Command -------------- Execution instruction to the Driver Unit. It includes the command RUN to start
positioning operation and stop commands to stop positioning operation.
Parameter -------------- The parameters hold the operational settings of internal function of the Driver Unit.
Changing of these settings enables to move the Motor as planed
Global parameter-----A parameter set to a command line in program channels. This term is used
to distinguish them from local parameters. It is stored in a non-volatile memory.
Local parameter------A parameter that is temporarily becomes effective in a program operation.
It is not stored to a non-volatile memory.
Monitor ---------------- A monitor can output data showing the internal state of the Driver Unit, such as
Motor velocity and position scale data. You can monitor them anytime.
Page 23
2. Specifications
2-1
2. Specifications
2.1. System Configuration
2.1.1. Control Mode
The Driver Unit Model EDD is compatible with 45 types of interface devices, and is capable of the
operations described in “Table 2-1: Applicable interface and control mode.”
Table 2-1: Applicable interface and control mode
Applicable
interface
Control mode
Controllers/Interfacing devices
Application
General
Input/Output
<Program operation>
Positioning commands are programmed and stored to
the Driver Unit.
Performs a positioning by the inputs of channel
selection and the program starting command.
The commands are in the absolute or incremental
position format.
<Jogging operation>
The Motor rotates to any point by the Jog input and
the Jog direction input.
<Home Return operation>
Set a current position to the Home position or set the
Home position by Home Return operation started by the Home position limit input.
An input of starting Home Return signal executes the
operation.
PLC (Input/Output unit) NC controller (Provided with
Inputs/Outputs of M function)
Various types of
indexing application
Intermittent
positioning control
Pulse train input
<Pulse train command positioning operation>
Number of input pulses governs the positioning
operation.
PLC (Positioning control unit) Position controller (Pulse
output)
RS-232C
communication
<RS-232C serial communication>
The master controller outputs directly the positioning
command.
<Program operation> Program start command starts positioning operation. <Jogging operation>
The Jog operation command moves the Motor to any
point.
<Home Return operation>
Executes Home Return operation by the start command of Home Return.
<Velocity/torque command operation>
Executes Velocity/torque command operation by the
command DC.
PLC
(Serial communication unit)
RS-232C communication
terminal (Handy Terminal, etc.)
Various types of
indexing application
Intermittent
positioning control
Constant velocity
operation
Tension control
USB
communication
<Program operation>*1
Positioning operation is controlled by the program
start command.
<Jogging operation>*1
The Motor rotates to any point by the Jog operation
command.
<Home Return operation>*1
Input of the start command of Home Return operation
executes the operation.
PC (EDD MEGATERM)
Analog input
<Analog input>
Velocity/torque operation according to input voltage
PLC (Analog voltage unit)
Constant velocity
operation
Tension control
PLC: Programmable Logic Controller
*1. Please do not use it for normal operation but for trial operation only such as tuning.
Page 24
2. Specifications
2-2
2.1.2. Examples of System Configuration
Fig 2-1: System configuration for program operation
Megatorque Motor
PLC*
Motor controller*
24 VDC
power supply*
Driver Unit Model EDD
Motor cable
Resolver cable
Signal for control I/O
Power supply for control input
* The user shall provide
these devices.
RS-232C
communication
(USB communication)
PC*
Main power Single phase: 100 to 240 [VAC]
Circuit breaker* (MCCB)
Noise filter*
Magnetic
contactor*
Handy Terminal
Fig 2-2: System configuration for pulse train operation and analog input operation
Pulse train input/analog input operation
Megatorque Motor
PLC*
Motor controller*
Driver Unit Model EDD
Motor cable
Resolver cable
Signal for control I/O
Power supply for control input
* The user shall provide
these devices.
RS-232C
communication
(USB communication)
PC*
Main power Single phase: 100 to 240 [VAC]
Circuit breaker* (MCCB)
Noise filter*
Magnetic
contactor*
Handy Terminal
24 VDC
power supply*
Page 25
2. Specifications
2-3
Fig 2-3: System configuration for RS-232C serial communication command positioning
Motor cable
Resolver cable
Signal for control I/O
Power supply for control input
RS-232C communication
(USB communication)
Megatorque Motor
PLC*
Motor controller*
Driver Unit Model EDD
* The user shall provide
these devices.
PC*
Main power Single phase: 100 to 240 [VAC]
Circuit breaker* (MCCB)
Noise filter*
Magnetic
contactor*
24 VDC
power supply*
Page 26
2. Specifications
2-4
2.2. Reference Number and Coding
2.2.1. Mega torque Motor
Fig 2-4: Reference number coding of Mega torque Motor
Megatorque Motor series
M-PS 1 006 K N 002
Motor size code
K: Incorporates absolute posiiton
sensor
Motor maximum torque [N•m]
N: No brake
Design number
2.2.2. Driver Unit Model EDD
Fig 2-5: Reference number coding of Driver Unit Model EDD
Driver Unit Model EDD
M-EDD – PS1006 A B 5 01 – 03
Motor size code
Design number
Power voltage A: 100 to 240 [VAC]*1 (single phase)
Positon sensor code B: Absolute position sensor
Function 5: Standard
03: Connectors, fixing brackets and startup guide is included
*1. For compatible Motors PN 4135, PN 4180 and PX 3050, the power voltage is 200 to 240 [VAC]
(single phase).
2.2.3. Cable Set
Fig 2-6: Reference number coding of Cable Set
Cable Set for Megatorque Motor
M-C 004 SDP 03
Cable length Ex002… 2[m], 004… 4[m],
01010[m], 01515[m], 03030m
Design number 03: Stationary Cable 13: Flexible Cable
Driver Unit Model EDD
2.2.4. Handy Terminal
Fig 2-7: Reference number coding of Handy Terminal
Handy Terminal
M-FHT 31
Handy Terminal serial number
Page 27
2. Specifications
2-5
2.3. Name of Each Part
2.3.1. Mega torque Motor
2.3.1.1. PS Series
Fig 2-8: PS series Megatorque Motor
Mounting connector
Resolver connector
Dust cover (stationary part)
Rotor (rotational part)
Hollow
Stator (stationary part)
Page 28
2. Specifications
2-6
2.3.1.2. PN Series
Fig 2-9: PN2012 Motor
Mounting base
Motor connector
Resolver connector
Cover (stationary part)
(rotational part)
Hollow
Rotor (rotational part)
Fig 2-10: PN3045, PN4135 and PN4180 Motors
Mounting base
Motor connector
Resolver connector
Cover (stationary part)
(rotational part)
Hollow
Rotor (rotational part)
Page 29
2. Specifications
2-7
2.3.1.3. PX Series
Fig 2-11: PX3050 Motor
Motor connector
Resolver connector
Cover (stationary part)
Hollow
Rotor (rotational part)
Page 30
2. Specifications
2-8
2.3.2. Driver Unit Model EDD
Fig 2-12: Driver Unit Model EDD (standard)
(1)
Power LED
(2)
7 segments LED
(3)
CN1 (9 pins) RS-232C serial communication cable connector Connect the optional Handy Terminal FHT31.
(4)
CN2 (50 pins) Motor control signal Input/Output (I/O) connector
(5)
CN3 (14 pins) Resolver cable connector Connect the exclusive resolver cable.
(6)
CN4 Motor cable connector Connect the exclusive Motor cable.
(7)
Ground terminal M4 screws
(8)
Type Reference number plate
(9)
No. Serial number plate
(10)
Monitor terminal
(11)
CN5 Connector for main power
(12)
Power amplifier charge indicator Indicates that the capacitor of the power amplifier still charges residual voltage.
(13)
CN0 USB connector For communication with PC
(2)
Heat sink
(1)
(3)
(4)
(5)
(7)
(6)
(8)
(9)
(10)
(11)
(12)
(13)
Page 31
2. Specifications
2-9
2.3.3. Handy Terminal
Fig 2-13: Handy Terminal M-FHT31
Cable
(Cable length )
Numeric keys Code keys (superscript)
Alphabetic keys
Special code keys
SHIFT
Shift key
Note 1)
CTRL
Control key
(Not used)
SP
Space key
Note 2)
BS
Back space key
Note 3)
ENT
Enter key
Note 4)
Frame
LCD
Note: (1) SHIFT: Press number key while pressing the SHIFT key to enter a
code key. The superscript of each numeric key may be entered.
(2) SP: Use this key to input a blank between letters. (3) BS: BS: Press the BS key when correcting logged in mistakes. (4) ENT: Press the key at the end of a command or parameter setting.
Connector
ESC
Escape key (Not used)
Page 32
2. Specifications
2-10
2.4. Standard Combination List
2.4.1. Motor and Driver Unit Model EDD Combinations
Table 2-2: Motor and Driver Unit Model EDD Combinations
Motor
diameter
Motor
reference number
Driver Unit
Reference number
: code for specification of
included items.
Power
voltage[VAC]
Cable
reference number
Remarks
ø100
M-PS1004KN510
M- EDD-PS1004AB501-
100 to 240
M-C0SDP03
(Fixed type cable)
M-C0SDP13
(Flexible type cable)
Cable length
01: 1 [m] 02: 2 [m]
03. 3 [m] 04: 4 [m] 05: 5 [m] 06: 6 [m]
08: 8 [m] 10: 10 [m] 15: 15 [m] 20: 20 [m] 30: 30 [m]
• 256 channels for internal program.
• Pulse train input
(Photo coupler)
Analog input
M-PS1006KN002
M- EDD-PS1006AB501-
M-PS1012KN002
M- EDD-PS1012AB501-
M-PS1018KN002
M- EDD-PS1018AB501-
ø150
M-PS3015KN002
M- EDD-PS3015AB501-
M-PS3030KN002
M- EDD-PS3030AB501-
M-PS3060KN002
M- EDD-PS3060AB501-
M-PS3090KN002
M- EDD-PS3090AB501-
ø170
M-PN2012KN201
M- EDD-PN2012AB501-
ø210
M-PN3045KN001
M- EDD-PN3045AB501-
ø160
M-PX3050KN502
M- EDD-PX3050AB501-
200 to 240
ø280
M-PN4135KN001
M- EDD-PN4135AB501-
M-PN4180KN001
M- EDD-PN4180AB501-
* The PN2012 and PX3050 Motors are compatible with cable lengths up to 8 [m].
Page 33
2. Specifications
2-11
2.4.2. Cable Set
Table 2-3: Reference Number of Cable Set
Function
Cable length [m]
Cable set reference number
Stationary cable
1
M-C001SDP03
2
M-C002SDP03
3
M-C003SDP03
4
M-C004SDP03
5
M-C005SDP03
6
M-C006SDP03
8
M-C008SDP03
10
M-C010SDP03
15
M-C015SDP03
20
M-C020SDP03
30
M-C030SDP03
Flexible cable
1
M-C001SDP13
2
M-C002SDP13
3
M-C003SDP13
4
M-C004SDP13
5
M-C005SDP13
6
M-C006SDP13
8
M-C008SDP13
10
M-C010SDP13
15
M-C015SDP13
20
M-C020SDP13
30
M-C030SDP13
* The mass of the stationary cable 4 m (M-C004SDP03) is 0.85 kg. * The mass of the flexible cable 4 m (M-C004SDP13) is 0.85 kg.
2.4.3. Handy Terminal (For parameter and program input)
Handy Terminal is required for inputting parameters and programs.
Table 2-4: Reference number of Handy Terminal
Handy Terminal reference number
M-FHT31
Page 34
2. Specifications
2-12
2.5. Motor Specifications
2.5.1. PS Series
Table 2-5: Specifications of PS1 Motor
Reference number
Item [Unit]
M-PS1004KN510
M-PS1006KN002
M-PS1012KN002
M-PS1018KN002
Motor outside diameter
[mm]
ø 100
Maximum output torque*1
[N•m]
3 / 2
6 / 6
12 / 12
18 / 18
Rated output torque*1
[N•m]
1 / 1
2 / 2
4 / 3
6 / 6
Motor height
[mm]
63
85
110
135
Hollow diameter
[mm]
ø 35
Maximum rotational speed*1
[s-1]
3 / 3
10 / 5
10 / 4
10 / 4
Rated rotational speed*1
[s-1]
1 / 1
5 / 3
5 / 3
5 / 2
Resolution of position sensor
[count/ revolution]
2 621 440
Absolute positioning accuracy
[arc-sec]
60
*2, *3
Repeatability
[arc-sec]
± 2
Allowable axial load
[N]
1 000*4
Allowable radial load
[N]
820*5
Allowable moment load
[N•m]
20
28
Rotor inertia
[kg•m
2
]
0.0023
0.0024
0.0031
0.0038
Allowable range of inertia
[kg•m
2
]
0.15 to 0.23
0.00150.24
0.030.31
0.030.38
Mass
[kg]
2.42
2.4
3.5
4.5
Environmental conditions
Ambient temperature: 0 to 40[[°C]]. Humidity: 20 to 80[%].
Indoor use only. Free from condensation, dust and corrosive gas. (IP30 equivalent.)
Table 2-6: Specifications of PS3 Motor
Reference number
Items [Unit]
M-PS3015KN002
M-PS3030KN002
M-PS3060KN002
M-PS3090KN002
Motor outside diameter
[mm]
ø 150
Maximum output torque*1
[N•m]
15 / 15
30 / 30
60 / 60
90 / 90
Rated output torque*1
[N•m]
5 / 5
10 / 10
20 / 20
30 / 30
Motor height
[mm]
85
102
136
170
Hollow diameter
[mm]
ø 56
Maximum rotational speed*1
[s-1]
10 / 4
10 / 3
8 / 2.5
5 / 1.5
Rated rotational speed*1
[s-1]
5 / 3
5 / 2
1 / 1
1 / 1
Resolution of position sensor
[count/ revolution]
2 621 440
Absolute positioning accuracy
[arc-sec]
60
*2, *3
Repeatability
[arc-sec]
± 2
Allowable axial load
[N]
2 000*4
Allowable radial load
[N]
1 700*5
Allowable moment load
[N•m]
42
Rotor inertia
[kg•m
2
]
0.011
0.014
0.019
0.024
Allowable range of inertia
[kg•m
2
]
01.1
01.4
0.121.9
0.122.4
Mass
[kg]
5.5
6.9
11.0
13.8
Environmental conditions
Ambient temperature: 0 to 40[[°C]]. Humidity: 20 to 80[%].
Indoor use only. Free from condensation, dust and corrosive gas. (IP30 equivalent.)
*1. The displayed numerical values are a combination with the Driver Unit power voltage 200 [VAC] / 100 [VAC]. *2. Accuracy at an ambient temperature of 25 ± 5 [C]. *3. 90 [sec] when the cable length exceeds 8 [m]. *4. When the radial load is 0 [N]. *5. When the axial load is 0 [N].
Page 35
2. Specifications
2-13
2.5.2. PN Series
Table 2-7: Specifications of PN Motor
Reference number
Item [Unit]
M-PN2012KN201
M-PN3045KN001
M-PN4135KN001
M-PN4180KN001
Motor outside diameter
[mm]
ø 170
ø 210
ø 280
Maximum output torque
*1
[N•m]
12 / 10
45 / 45
135 / -
180 / -
Rated output torque*1
[N•m]
2 / 2
15 / 15
45 / -
60 / -
Motor height
[mm]
35
85
95
112
Hollow diameter
[mm]
ø 36
ø 56
ø 50
Maximum rotational speed
*1
[s-1]
2 / 2
3 / 1.5
3 / -
3 / -
Rated rotational speed*1
[s-1]
1 / 1
1 / 1
1 / -
1 / -
Resolution of position sensor
[count/ revolution]
2 621 440
Absolute positioning accuracy
[arc-sec]
90
*2, *3
60
*2, *4
Repeatability
[arc-sec]
± 2
Allowable axial load
[N]
1 000*5
4500*5
9500*5
Allowable radial load
[N]
300*6
4500*6
9500*6
Allowable moment load
[N•m]
20
80
160
200
Rotor inertia
[kg•m
2
]
0.0024
0.011
0.057
0.065
Recommended range of inertia
[kg•m
2
]
0.02 to 0.24
0.11 to 0.77
0.57 to 3.99
0.65 to 4.55
Mass
[kg]
3.7
13
26
31
Environmental conditions
Ambient temperature: 0 to 40[°C]. Humidity: 20 to 80[%].
Indoor use only. Free from condensation, dust and corrosive gas. (IP30 equivalent.)
2.5.3. PX Series
Table 2-8: Specifications of PX Motor
Reference number
Item [Unit]
M-PX3050KN502
Motor outside diameter
[mm]
ø 160
Maximum output torque
*1
[N•m]
50 / -
Rated output torque*1
[N•m]
14 / -
Motor height
[mm]
130
Hollow diameter
[mm]
35
Maximum rotational speed
*1
[s-1]
10 / -
Rated rotational speed*1
[s-1]
4 / -
Resolution of position sensor
[count/ revolution]
2 621 440
Absolute positioning accuracy
[arc-sec]
60
*2, *3
Repeatability
[arc-sec]
± 2
Allowable axial load
[N]
1 000*5
Allowable radial load
[N]
820*6
Allowable moment load
[N•m]
28
Rotor inertia
[kg•m
2
]
0.0028
Recommended range of inertia
[kg•m
2
]
0.003 to 0.28
Mass
[kg]
9.5
Environmental conditions
Ambient temperature: 0 to 40[°C]. Humidity: 20 to 80[%].
Indoor use only. Free from condensation, dust and corrosive gas. (IP30
equivalent.)
*1. The displayed numerical values are a combination with the Driver Unit power voltage 200 [VAC] / 100 [VAC].
PN4 and PX3 correspond only to 200 [VAC]. *2. Accuracy at an ambient temperature of 25 10 [℃]. *3. The cable length of PN2012 and PX3050 is up to 8 [m]. *4. 90 [sec] when the cable length exceeds 8 [m]. *5. When the radial load is 0 [N]. *6. When the axial load is 0 [N].
Page 36
2. Specifications
2-14
2.5.4. Axial Load and Moment Load
Caution : Axial load Fa shall be less than to the allowance limits load.
 Radial load Fr shall be less than to the allowance limits load.
Moment load M shall be less than to the allowance limits load.
Fig 2-14: Load applied to a Motor
F L F
(1) When F is the external force, then
Axial load Fa = F + weight of paylaod. Moment load M = 0
(2) When an extyernal force is F, then
Axial load FA = F + weight of payload Moment load M = F × L
(3) When an external force is F, then
Radial load FrF + weight of payload Moment load M = F × (LA)
F
L
A
Table 2-9: Dimension A (Distance between the bearing and the rotor surface)
Motor reference number
M-PS1004KN510
M-PS1006KN002 M-PS1012KN002 M-PS1018KN002
M-PS3015KN002 M-PS3030KN002 M-PS3060KN002 M-PS3090KN002
Dimension A
28.6
30.2
32.9
Table 2-10: Dimension A (Distance between the bearing and the rotor surface)
Motor reference number
M-PN2012KN201
M-PN3045KN001
M-PN4135KN001 M-PN4180KN001
M-PX3050KN502
Dimension A
16.7
33.8
54.2
30.4
Page 37
2. Specifications
2-15
2.6. External Dimensions
2.6.1. Megatorque Motors
2.6.1.1. PS Series
Fig 2-15 PS1004 type Motor
6-M4 × 0.7 depth 7 PCD92 (60° equal pitch)
Rotor Shaft (rotation part) Material: Stainless
Rotation Part
Resolver Connector
Motor Connector
Do not use
6-M4 × 0.7 depth 6 PCB45 (60° equal pitch)
Fixed Part Material: Iron Surface Treatment: Electroless Nickel Plating
Do not use
Fig 2-16: PS1006 type Motor
6-M4 × 0.7 depth 7 PCD92 (60° equal pitch)
Rotor Shaft (rotation part) Material: Aluminum
Rotation Part
Resolver Connector
6-M4 × 0.7 depth 6 PCD45 (60° equal pitch)
Fixed Part
Motor Connector
4 or more
Caution : The bend radius of the motor cable lead (φ7) and the resolver cable lead
( φ7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
!!!
Page 38
2. Specifications
2-16
Fig 2-17: PS1012 type Motor
6-M4 × 0.7 depth 7 PCD92 (60° equal pitch)
Rotor Shaft (rotation part) Material: Aluminum
Resolver Connector
6-M4 × 0.7 depth 6 PCD45 (60° equal pitch)
Fixed Part
Motor Connector
5 or more
Rotation Part
Fig 2-18: PS1018 type Motor
6-M4 × 0.7 depth 7 PCD92 (60° equal pitch)
Rotor Shaft (rotation part) Material: Aluminum
Resolver Connector
6-M4 × 0.7 depth 6 PCD45 (60° equal pitch)
Fixed Part
Motor Connector
6 or more
Rotation Part
Caution : The bend radius of the motor cable lead (ø 7) and the resolver cable lead
(ø 7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
!!!
Page 39
2. Specifications
2-17
Fig 2-19: PS3015 type Motor
6-M6 × 1.0 depth 9 PCD139 (60° equal pitch)
Rotor (rotation part) Material: Aluminum
Resolver Connector
6-M6 × 1.0 depth 9 PCD69 (60° equal pitch)
Motor Connector
4 or more
Rotation Part
Fixed Part
(C0.5)
depth 8
(C0.5)
depth 9
Fig 2-20: PS3030 type Motor
6-M6 × 1.0 depth 9 PCD139 (60° equal pitch)
Rotor (rotation part) Material: Aluminum
Resolver Connector
6-M6 × 1.0 depth 9 PCD69 (60° equal pitch)
Motor Connector
5 or more
Rotation Part
Fixed Part
(C0.5)
depth 8
(C0.5)
depth 9
Caution : The bend radius of the motor cable lead (ø 7) and the resolver cable lead
(ø 7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
!!!
Page 40
2. Specifications
2-18
Fig 2-21: PS3060 type Motor
6-M6 × 1.0 depth 9 PCD139 (60° equal pitch)
Rotor (rotation part) Material: Aluminum
Resolver Connector
6-M6 × 1.0 depth 9 PCD69 (60° equal pitch)
Motor Connector
5 or more
Rotation Part
Fixed Part
(C0.5)
depth 8
(C0.5)
depth 9
Fig 2-22: PS3090 type Motor
6-M6 × 1.0 depth 9 PCD139 (60° equal pitch)
Rotor (rotation part) Material: Aluminum
Resolver Connector
6-M6 × 1.0 depth 9 PCD69 (60° equal pitch)
Motor Connector
6 or more
Rotation Part
Fixed Part
(C0.5)
depth 8
(C0.5)
depth 9
Caution : The bend radius of the motor cable lead (ø 7) and the resolver cable lead
(ø 7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
!!!
Page 41
2. Specifications
2-19
2.6.1.2. PN Series
Fig 2-23: PN2012 type Motor
Resolver Cable
Motor Cable
Resolver Connector
Motor Connector
Rotor (rotation part) Material: Stainless Steel Surface Treatment: N/A
Motor Cable
Resolver Cable
Nameplate
Rotation Part
6-M5 depth 9 PCD120 (60° equal pitch)
B Surface
Arrow C
Arrow C
Nameplate
Nameplate
Tightening Torque: 5.3 to 6.5 Nm Screw Insertion Depth: 5 to 6.5 mm
depth 4.5
Note: Regards to inserting pin into rotor pinhole (2-ø3H7 depth 4.5)
• Set the tolerance of pin to fit the clearance of pinhole.
• Do not apply large moment and shock when inserting pins.
• Use the pinhole as positioning purpose only.
• Do not use the pinhole to hold the load on rotor.
Rotor (rotation part) Material: Iron Surface Treatment: Low Temperature Chrome Plating
* The dimensions indicated by the asterisk is the casting surface. Provide a margin of 3 mm or more for the casting surface.
300 (from B surface)
(C0.5)
7 through
(Fixing Motor)
Caution : The bend radius of the motor cable lead (ø 7) and the resolver cable lead
(ø 7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
Fig 2-24: PN3045 type Motor
Rotor (rotation part) Material: Aluminum Surface Treatment: N/A
Nameplate
6-M6 × 1.0 depth 8
PCD145 (60° equal pitch)
6 or more
4-ø10 through
depth 8
Resolver Connector
Nameplate
Nameplate
(C0.5)
Note: Regards to inserting pin into rotor pinhole (2-ø6H7 depth 8)
• Set the tolerance of pin to fit the clearance of pinhole.
• Do not apply large moment and shock when inserting pins.
• Use the pinhole as positioning purpose only.
• Do not use the pinhole to hold the load on rotor.
(width of ø155 h8)
5.5 or more
depth 8
(C0.5)
Fixed Part Material: Iron Surface Treatment: Low Temperature Chrome Plating
Motor Connector
* The dimensions indicated by the asterisk is the casting surface. Provide a margin of 3 mm or more for the casting surface.
Page 42
2. Specifications
2-20
Fig 2-25: PN4135 type Motor
Rotor (rotation part) Material: Aluminum Surface Treatment: N/A
Nameplate
6-M8 × 1.25 depth 12
PCD180 (60° equal pitch)
4.5 or more
4-ø12 through
depth 8
Resolver Connector
Nameplate
(C0.5)
(width of ø205 h8)
5 or more
depth 8
(C0.5)
Motor Connector
* The dimensions indicated by the asterisk is the casting surface. Provide a margin of 3 mm or more for the casting surface.
Nameplate
Note: Regards to inserting pin into rotor pinhole (2-ø6H7 depth 8)
• Set the tolerance of pin to fit the clearance of
pinhole.
• Do not apply large moment and shock when inserting pins.
• Use the pinhole as positioning purpose only.
• Do not use the pinhole to hold the load on rotor.
Fixed Part Material: Iron Surface Treatment: Low Temperature Chrome Plating
Fig 2-26: PN4180 type Motor
Rotor (rotation part) Material: Aluminum Surface Treatment: N/A
Nameplate
6-M8 × 1.25 depth 12
PCD180 (60° equal pitch)
4.5 or more
4-ø12 through
depth 8
Resolver Connector
Nameplate
(C0.5)
(width of ø205 h8)
5.5 or more
depth 8
(C0.5)
Motor Connector
* The dimensions indicated by the asterisk is the casting surface. Provide a margin of 3 mm or more for the casting surface.
Nameplate
Note: Regards to inserting pin into rotor pinhole (2-ø6H7 depth 8)
• Set the tolerance of pin to fit the clearance of
pinhole.
• Do not apply large moment and shock when
inserting pins.
• Use the pinhole as positioning purpose only.
• Do not use the pinhole to hold the load on rotor.
Fixed Part Material: Iron Surface Treatment: Low Temperature Chrome Plating
Page 43
2. Specifications
2-21
2.6.1.3. PX Series
Fig 2-27: PX3050 type Motor
12-M5 × 0.8 depth 9
PCD94 (30° equal pitch)
Cover
Non-Rotation
Part
Waste Heat Hole
Rotor Rotation Part Material: Aluminum Surface Treatment: N/A
7.5 or more
(width of ø105 h8)
Nameplate
Fixed Surface B
10 or more
Fixed Surface A
Resolver Connector
Motor Connector
6-M5 × 0.8 depth 8
PCD151 (60° equal pitch)
6-M6 × 1.0 depth 9
PCD69 (60° equal pitch)
Waste Heat Hole
Fixed Surface B Material: Iron Surface Treatment: Electroless Nickel Plating
Fixed Surface A Material: Iron
Surface Treatment: Electroless Nickel Plating
depth 9
(C0.5)
Caution : The bend radius of the motor cable lead (ø 7) and the resolver cable lead
(ø 7) should be R30 [mm] or more.
Caution : Do not use the leads of the motor cable and the resolver cable with
flexing motion.
Caution : Do not add the stress (tension, vibration, etc) to the joint of the leads and
the connector. It causes the disconnection and the loose connection.
!!!
Page 44
2. Specifications
2-22
2.6.2. Driver Unit Model EDD
Fig 2-28: Driver Unit Model EDD
(Motor type: PS1004, PS1006, PS1012, PS1018, PS3015, PS3030, and PN2012)
Fig 2-29: Driver Unit Model EDD
(Motor type: PS3060, PS3090, PN3045, PN4135, PN4180, and PX3050)
Page 45
2. Specifications
2-23
2.6.3. Cable Set
Caution : If you connect the cable to a moving part, be sure to use a flexible type
cable.
2.6.3.1. Stationary Cable
Caution : Bending radius of a Motor cable (ø 8) and resolver cable (ø 8) shall be
R43 mm or over.
Caution : Do not add the stress (tension, vibration, etc) to the cable and the
connector. It causes the disconnection and the loose connection.
Fig 2-30: Cable Set (Fixed type: M-C0×××SDP03)
Driver Unit side
Motor side
Motor Cable
Resolver Cable
2.6.3.2. Flexible Cable
Caution : Do not move the following parts.
A range of 200 [mm] from the end face of the Motor side receptacle housing A range of 200 [mm] from the end face of the Driver Unit side plug assembly and
connector header
Caution : The bending radius of a Motor cable (ø 8) and resolver cable (ø 8) shall
be R80 mm or over. The radius of cables at the connecting position shall be R40 mm or over.
Caution : Do not add the stress (tension, vibration, etc) to the cable and the
connector. It causes the disconnection and the loose connection.
!!!!!
Page 46
2. Specifications
2-24
Fig 2-31: Cable Set (Flexible type: M-C0×××SDP13)
Driver Unit side
Motor side
Motor Cable
Resolver Cable
Page 47
2. Specifications
2-25
2.7. Driver Unit Specifications
Table 2-11: Specifications of Driver Unit Model EDD (PS Series)
Item
Specification
Motor type
PS1004
PS1006
PS1012
PS1018
PS3015
PS3030
PS3060
PS3090
Output current
Continuous output [Arms]
0.5
0.8
1.2
2.1
2.1
2.5
4.1
4.0
Maximum output [Arms]
2.6
2.4
3.5
5.8
6.6
8.2
14.9
14.9
Input power Rated capacity [kVA]
0.3
0.3
0.4
0.6
0.6
0.9
0.45
0.6
Max. capacity [kVA]
*3
1.1 / 0.3
1.0 / 0.4
1.4/ 0.6
2.2 / 0.9
2.2 / 1.0
2.7 / 1.2
4.6 / 2.0
4.7 / 2.2
Control capacity [kVA]
0.06
Control power
Single phase 100 to 240 [VAC] 50/60[Hz] Voltage Fluctuation: +10/-15[%] or less
Main power
Position sensor resolution [count/revolution]
2 621 440
Maximum velocity speed [s-1]
10*1
Control mode Positioning control
Program operation (256 program channels), Pulse train command, RS-232C serial communication command, Jogging, Home Return
Velocity control
RS-232C serial communication command, Analog input command
Torque control
RS-232C serial communication command, Analog input command
Input signal Pulse train command
Photo coupler input. Maximum frequency 2 [Mpps] Input format: CW/CCW, Pulse & direction or øA/øB Resolution changer for free manipulation is available. (1000 to 5 242 880 [count/revolution])
Analog input
Analog command voltage input voltage ±10 [V]
Control input
Photo coupler (± common), 17 input ports. Input voltage: 24 [VDC] Emergency stop, Alarm clear, Over travel limit + direction, Over travel limit – direction, Servo ON, Program operation start, Stop, Internal program channel switching 0 to 7, Jog, Jog direction, (Hold, Velocity override, Integration OFF, Home Return start, and Home position limit) *2
Output signal
Position feedback signal
Signal format: øA/øB/øZ line driver. Free resolution setting to øA/øB is available. Resolution of øA/øB: Shipping set: 20 480 [count/revolution] (Quadrupled: 81 920)
Maximum: 1 310 720 [count/revolution] (Quadrupled: 5 342 880)
*Because the maximum frequency is 781 [kHz], the setting of the resolution limits the
maximum rotational speed. (Max. velocity = 781 [kHz]/ resolution of øA (øB)
Resolution of øZ: 80 [count/revolution]
Control output
Photo coupler (± common), 8 output ports. Max. switching capacity: 24 [VDC]/50 [mA] Driver Unit ready, Warning, Travel limit detection +/- directions, Servo state, Busy, In-position, Target proximity A (Target proximity B, Zone A•B•C, Travel limit +/- directions, Normal, Position error under/over, Velocity under/over, Torque command under/over, Thermal loading under/over, Home Return complete, Home position defined)*2
Alarm
Excess error, Program error, Automatic tuning error, Position command/Position feedback error, Software thermal error, Home position undefined, Main AC line under voltage, Over travel limit, RAM error, ROM error, System error, Interface error, ADC error, Emergency stop, CPU error, Position sensor error, Absolute position error, Motor cable disconnected, Excess velocity, Commutation error, Overheat, Main AC line over voltage, Excess current, Control AC line under voltage, Power module error
Monitors
Analog monitor ×2, (Free range and offset setting), RS-232C/USB monitor
Communication
RS-232C serial communication (Asynchronous, 9600 [bps]), USB (USB2.0 compatible)
Data backup
EEPROM (Overwriting and deleting of parameters are limited to 100 000 times.)
Others
Automatic tuning Function set to Input/Output ports available Temporal parameter setting by program is available Individual acceleration/deceleration setting Acceleration profiling (deformation sine, deformation trapezoid, cycloid, simple harmonic)
Environmental conditions
Operating temperature / Storing temperature
0 to 50[°C] / -20 to 70[°C]
Operation / storing humidity
90% or less. No condensation. 20 to 80% for storing (no condensation)
Vibration resistance
4.9 [m/s2 ]
Internal function
Regeneration
Optional regeneration resistor available when the regeneration energy is beyond 28[J]. Connect to R+, R-, SE+ and SE-. (Never short-circuit them.)
Dynamic brake
Functions at power-off, servo-off and an occurrence of alarm.
Compatible safety regulation
UL
UL61800-5-1
CE
LVD
EN61800-5-1
EMC
EN61800-3
Connector
USB
CN0
USB mini-B
RS-232C
CN1
D-sub 9 pins
Control I/O
CN2
Half pitch connector 50 pins
Position sensor
CN3
Half pitch connector 14 pins
Motor / optional regeneration resister
CN4
Plastic connector
Control / main power source
CN5
Plastic connector
Mass [kg]
1.1
1.6
*1: Depends on the Motor type. Refer to 2.5 Motor Specifications.” *2: Change of function assignment of the Input/Output ports will make these functions effective. *3: The displayed numerical values are a combination with the Driver Unit power voltage 200 [VAC] / 100 [VAC].
Page 48
2. Specifications
2-26
Table 2-12: Specifications of Driver Unit Model EDD (PN Series/PX Series)
Item
PN2012
PN3045
PN4135
PN4180
PX3050
Output current
Continuous output [Arms]
1.2
4.5
4.5
4.5
3.9
Maximum output [Arms]
6.5
14.9
14.9
14.9
14.9
Input power
Rated capacity [kVA
0.2
0.5
0.8
1.0
1.0
Max. capacity [kVA]*3
2.3 / 0.8
4.1 / 1.9
4.8 /
4.8 /
4.5 /
Control capacity [kVA]
0.06
Control power
Single phase 100 to 240 [VAC] 50/60[Hz] Voltage Fluctuation: ±10/15[%] or less
Single phase 200 to 240 [VAC] 50/60[Hz] Voltage Fluctuation: ±10/15[%] or less
Main power
Position sensor resolution [count/revolution]
2 621 440
Maximum velocity speed [s-1]
10*1
Control mode
Position control
Program operation (256 program channels), Pulse train command, RS-232C serial communication command, Jogging, Home Return
Velocity control
RS-232C serial communication command, Analog input command
Torque control
RS-232C serial communication command, Analog input command
Input signal
Pulse train command
Photo coupler input. Maximum frequency 2 Mpps Input format: CW/CCW, Pulse & direction or øA/øB Resolution changer for free manipulation is available. (1000 to 5 242 880 [count/revolution])
Analog input
Analog command voltage input voltage ±10 [V]
Control input
Photo coupler (± common), 17 input ports. Input voltage: 24 VDC Emergency stop, Alarm clear, Over travel limit + direction, Over travel limit – direction, Servo ON, Program operation start, Stop, Internal program channel switching 0 to 7, Jog, Jog direction, (Hold, Velocity override, Integration OFF, Home Return start, and Home position limit) *2
Output signal
Position feedback signal
Signal format: øA/øB/øZ line driver. Free resolution setting to øA/øB is available. Resolution of øA/øB: Shipping set: 20 480 [count/revolution] (Quadrupled: 81 920)
Maximum: 1 310 720 [count/revolution] (Quadrupled: 5 342 880)
*Because the maximum frequency is 781 [kHz], the setting of the resolution limits the maximum
rotational speed. (Max. velocity = 781 [kHz] / resolution of øA (øB)
Resolution of øZ: 80 [count/revolution]
Control output
Photo coupler (± common), 8 output ports. Max. switching capacity: 24 VDC/50 [mA] Driver Unit ready, Warning, Travel limit detection + directions, Servo state, Busy, In-position, Target proximity A (Target proximity B, Zone A•B•C, Travel limit +/- directions, Normal, Position error under/over, Velocity under/over, Torque command under/over, Thermal loading under/over, Home Return complete, Home position defined)*2
Alarm
Excess error, Program error, Automatic tuning error, Position command/Position feedback error, Software thermal error, Home position undefined, Main AC line under voltage, Over travel limit, RAM error, ROM error, System error, Interface error, ADC error, Emergency stop, CPU error, Position sensor error, Absolute position error, Motor cable disconnected, Excess velocity, Commutation error, Overheat, Main AC line over voltage, Excess current, Control AC line under voltage, Power module error
Monitors
Analog monitor ×2, (Free range and offset setting), RS-232C/USB monitor
Communication
RS-232C serial communication (Asynchronous, 9600 bps), USB (USB2.0 compatible)
Data backup
EEPROM (Overwriting and deleting of parameters are limited to 100 000 times.)
Others
Automatic tuning Function set to Input/Output ports available Temporal parameter setting by program is available Individual acceleration/deceleration setting Acceleration profiling (deformation sine, deformation trapezoid, cycloid, simple harmonic)
Environ­mental conditions
Operating temperature / storing temperature
0 to 50[°C] / -20 to 70[°C]
Operating humidity / storing humidity
90% or less. No condensation.
Vibration resistance
4.9[m/s2]
Internal function
Regeneration
Optional regeneration resistor available when the regeneration energy is beyond 28[J]. Connect to R+, R-, SE+ and SE-. (Never short-circuit them.)
Dynamic brake
Functions at power-off, servo-off and an occurrence of alarm. Brake can be released by command (refer to "9.3.Glossary of Command and Parameter " command KB)
Compatible safety regulation
UL
UL61800-5-1
CE LVD
EN61800-5-1
EMC
EN61800-3
Connector
USB
CN0
USB mini-B
RS-232C
CN1
D-sub 9 pins
Control I/O
CN2
Half pitch connector 50 pins
Position sensor
CN3
Half pitch connector 14 pins
Motor/ optional regeneration resister
CN4
Plastic connector
Control / main power source
CN5
Plastic connector
Mass [kg]
1.1
1.6
*1: Depends on the Motor type. Refer to “2.5 Motor Specifications.” *2: Change of function assignment of the Input/Output ports will make these functions effective. *3: The displayed numerical values are a combination with the Driver Unit power voltage 200 [VAC] / 100 [VAC].
Page 49
2. Specifications
2-27
2.8. USB Interface Specifications
Caution : Use a cable of 3 m or less for a connection cable with PC, etc. Caution : Be sure to connect a protective ground of the Driver Unit Model EDD.
Failure to connect a protective device may result in electric shock, and also cause
PC malfunctions.
Caution : USB communication is for maintenance. Do not use it for normal
operation.
Caution : When USB communication and RS-232C serial communication are
performed at the same time, USB communication is processed first, then RS-232C serial communication is processed.
Refer to “8.10 USB Communication” for specifications of USB communication.
2.8.1. CN0: USB Communication Connector
* Use EDD MEGATERM as PC side terminal software of USB communication.
Table 2-13: CN0 Connector List
2.8.1.1. Pin-Out (CN0)
Fig 2-32: CN0 Pin-out
GND
N.C.
D D
V
BUS
5 4 3 2 1
2.8.1.2. CN0 Signal List
Table 2-14: CN0 Signal List
Pin
Signal
name
I/O
Function
1
V
BUS
Output
+5 V power source
2
D -
I/O
Transmit / receive data (differential)
3
D +
I/O
Transmit / receive data (differential)
4
N.C.
5
GND
GND
!!!
Driver Unit side connector USB mini-B
J.S.T. Mfg. Co., Ltd.
UB-M5BR-DMP14-4S or equivalent
Page 50
2. Specifications
2-28
2.9. RS-232C Interface Specifications
Refer to “8.9. RS-232C Communication” for specifications of RS-232C communication. Refer to “Appendix 6. Wiring of RS-232C Communication Cable” for connecting with a control device.
Optional RS-232C cable [M-C003RS03] is available from NSK.
2.9.1. CN1: RS-232C Serial Communication Connector
* The optional Handy Terminal FHT 31 is available for the RS-232C communication terminal.
Table 2-15: Connector list
Driver Unit connector
Japan Aviation Electronics Industry, Ltd. DELC-J9SAF-13L9E or equivalent
Mating connector type
DE-9PF-N* or equivalent
Mating connector shell type
DE-C2-J6R* or equivalent
* The user shall provide these connectors.
They are not necessary if NSK Handy Terminal FHT 21 is used.
2.9.1.1. CN1 Pin-Out
Fig 2-33: Pin-out
FG
+5V
RTS
SG
DTR DSR RXD CTS TXD
5
4 3 2
1
9 8 7
6
2.9.1.2. CN1 Signal List
Table 2-16: Signal list
Pin
Signal name
I/O
Function
1
TXD
Output
Transmit data
2
CTS
Input
Clear to send
3
RXD
Input
Receive data
4
DSR
Input
Data set ready
5
DTR
Output
Data terminal ready
6
SG
Digital signal ground
7
RTS
Output
Ready to send
8
+5V
Output
Never connect
9
FG
Frame ground (shield)
Page 51
2. Specifications
2-29
2.10. Specifications of Control Input/Output Interface
2.10.1. CN2: Control Input/Output Signal Connector
The connector and the mating connectors to be used for the CN2 connector are listed in the Table 2-17:
Connector list.
Table 2-17: Connector list
Driver Unit connector
Japan Aviation Electronics Industry, Ltd. DF02R050NA6 or equivalent
Mating connector type
DF02P050F22A1 or equivalent
Mating connector hood
DF02D050C21 or equivalent
The following are wiring precautions for the connector CN2.
1) Use shielded cable for wiring of the CN2 connector.
2) Be sure to use twisted cables for the pulse train input and the position feed back signals.
Wiring length shall be short as possible.
3) These cables should be laid separately from the main power line.
4) Connect one end of the shielded cable to the frame ground. Refer to “3.3.3. Ground Connection and Wiring” for the way of connection.
Caution : Check for wiring mistake in the polarity of external power supply and
shorting between connector pins.
Caution : Never connect the idle pins that are instructed as “Do not connect.”
Do not treat the idle pins as instructed at the master controller (PLC, etc) side after you have connected all pins of the CN2 connector.
Connection of an idle pin that is clearly instructed not to connect may make the
external noise easily affect the Driver Unit, and may lead to malfunction or breakdown of the Driver Unit.
Caution : Use a CN2 control I/O cable of less than 2 m.
!!!
Page 52
2. Specifications
2-30
2.10.1.1. CN2 Pin-Out
The pin-out for the CN2: Control Input/Output Signal Connector is shown in the Fig 2-34: Pin-out
(shipping set).”
For each port of CN2, assignment of Input/Output function can be changed. (Except for some ports)
Replace it with extended function Change already assigned function to another port Mask function of unused ports
Fig 2-34: Pin-out (shipping set)
1 DC24
26 COM
2 DC24
27 COM
3
PI0
(EMST)
28
PO0
(DRDY)
4
PI1
(ACLR)
29
PO1
(WRN)
5
PI2
(OTP)
30
PO2
(OTPA)
6
PI3
(OTM)
31
PO3
(OTMA)
7
PI4
(SVON)
32
PO4
(SVST)
8
PI5
(RUN)
33
PO5
(BUSY)
9
PI6
(STP)
34
PO6
(IPOS)
10 - 35
PO7
(NEARA)
11
PI7
(PRG0)
36 CHA
12
PI8
(PRG1)
37 *CHA
13
PI9
(PRG2)
38 CHB
14
PI10
(PRG3)
39 *CHB
15
PI11
(PRG4)
40 CHZ
16
PI12
(PRG5)
41 *CHZ
17
PI13
(PRG6)
42 - 18
PI14
(PRG7)
43 SGND
19
PI15
(JOG)
44 AIN+
20
PI16
(DIR)
45 AIN-
21
46
22 CWP+
47
23 CWP-
48 - 24 CCWP+
49 - 25 CCWP-
50
DRDY : Driver Unit ready WRN : Warning OTPA : Travel limit detection, + direction OTMA : Travel limit detection, - direction SVST : Servo state BUSY : In-operation IPOS : In-position NEARA : Target proximity A NEARB : Target proximity B ZONEA : Zone A ZONEB : Zone B ZONEC : Zone C TEU : Position error under TEO : Position error over TVEU : Velocity error under TVEO : Velocity error over TVU : Velocity under TVO : Velocity over TTU : Torque command under TTO : Torque command over TJU : Thermal loading under TJO : Thermal loading over OTXA : Travel limit ditection, ± direction NRM : Normal HOME : Home Return complete
DRDY : Driver Unit ready NRM : Normal
EMST : Emergency stop
EMST : Emergency stop ACLR : Alarm clear OTP : Travel limit, + direction OTM : Travel limit, – direction SVON: Servo on RUN : Positioning start STP : Stop PRG0: Internal program channel selection 0 PRG1: Internal program channel selection 1 PRG2: Internal program channel selection 2 PRG3: Internal program channel selection 3 PRG4: Internal program channel selection 4 PRG5: Internal program channel selection 5 PRG6: Internal program channel selection 6 PRG7: Internal program channel selection 7 JOG : Jogging DIR : Jogging direction HLD : Hold ORD : Velocity override IOFF : Integration off HOS : Home Return start HLS : Home position limit NONE: (Set to a no-function port)
Input dedicated to safety function
Output dedicated to safety function
General input
General output
Note:1) Function in brackets is the shipping set
2) The pins with hyphen is prohibited.
PI0 and PO0 are the dedicated ports to the safety function input and output respectively.
You cannot change the function setting to the PI0 (Pin number 3: EMST input [Emergency
stop]). You may only set the logic of the connector and the stability timer to it.
You can only change the function of the PO0 (Pin number 28: DRDY output [Driver Unit
ready]) to the function NRM (normal) output. You cannot set the output logic and the stability timer to it.
Page 53
2. Specifications
2-31
2.10.1.2. CN2 Signal List
Table 2-18: Signal list (Shipping set)
Input
Output
Pin
No
Port
code
Signal
code
Contact
logic
Signal name
Function
Input
1 - DC24
-
24 VDC external power supply
External power supply for input signal
2 - DC24
-
24 VDC external power supply
External power supply for input signal
3
PI0
EMST
B
Emergency stop
Terminates positioning operation and the Motor stops by the dynamic break.
4
PI1
ACLR
A
Alarm clear
Clears warning.
5
PI2
OTP
B
Over travel limit, + direction
If OTP goes active, the Motor servo is locked in the CW direction.
6
PI3
OTM
B
Over travel limit, - direction
If OTM goes active, the Motor servo is locked in the CCW direction.
7
PI4
SVON
A
Servo-on
If SVON goes active, the servo turns on and the System waits for a command to be entered.
8
PI5
RUN
A
Start program
Starts program operation specified by the PRG input.
9
PI6
STP
A
Stop
Stops positioning operation and execution of the program.
10 - -
-
Do not connect
-
11
PI7
PRG0
A
Internal program channel selection 0
For a program positioning operation:
A combination of ON OFF of PRG0 to PRG7 inputs specifies a channel (0 to 255) to be executed.
12
PI8
PRG1
A
Internal program channel selection 1
13
PI9
PRG2
A
Internal program channel selection 2
14
PI10
PRG3
A
Internal program channel selection 3
15
PI11
PRG4
A
Internal program channel selection 4
16
PI12
PRG5
A
Internal program channel selection 5
17
PI13
PRG6
A
Internal program channel selection 6
18
PI14
PRG7
A
Internal program channel selection 7
19
PI15
JOG
A
Jogging
If JOG goes active, the Motor rotates If it goes inactive, the Motor decelerates and stops.
20
PI16
DIR
A
Jogging direction
Specifies the direction of jogging.
21 – –
Do not connect
-
22 – CWP+
CW pulse train (+)
Pulse train command rotates the Motor in the CW direction.
• Selection of Step and
Direction or øA/øB format is available.
• Free setting of pulse
input to a circular division is available.
23 – CWP-
CW pulse train (-)
24 – CCWP+
CCW pulse train (+)
Pulse train command rotates the Motor in the CCW direction.
25 – CCWP-
CCW pulse train (-)
Output
26 – COM
Output signal common
Common for output signal.
27 – COM
Output signal common
28
PO0
DRDY
Positive
Driver Unit ready
Reports that the Motor is ready to rotate. (Those pins are open when the Motor is not ready or an alarm occurs.)
29
PO1
WRN
Negative
Warning
Warns abnormality in the System.
30
PO2
OTPA
Negative
Over travel limit (+ direction) detected
Reports the output of over travel limit (software and hardware) in the plus direction.
31
PO3
OTMA
Negative
Over travel limit (- direction) detected
Reports the output of over travel limit (software and hardware) in the minus direction.
32
PO4
SVST
Positive
Servo state
Reports the state of servo.
33
PO5
BUSY
Positive
In-operation
Reports the state of positioning operation.
34
PO6
IPOS
Positive
In-position
Reports the condition of positioning error and the positioning operation.
35
PO7
NEARA
Positive
Target proximity A
Reports that the Motor is approaching to the destination.
36 – CHA
Position feedback signal øA
A pulse signal that reports the number of rotations of the Motor and is outputted by the line driver unit.
Free setting of output resolution in øA/øB phase is available.
37
*CHA
Position feedback signal ø*A
38 – CHB
Position feedback signal øB
39
*CHB
Position feedback signal ø*B
40 – CHZ
Position feedback signal øZ
41
*CHZ
Positioning feedback signal ø*Z
42 – –
Do not connect.
43 – SGND
Signal ground
Ground for the position feedback signal.
Input
44 AIN+
Analog input
Analog input signal of ±10 [VDC].
45 AIN-
Ground for analog input
46 –
Do not connect.
47 –
Do not connect.
48 –
Do not connect.
49 –
Do not connect.
50 –
Do not connect.
Caution : Follow the specification documents for the specially ordered System
when its settings of Inputs and Outputs are different from the standard.
Caution : Never connect the idle pins that are instructed as “Do not connect.”
Do not disconnect the idle pins at the master controller (PLC, etc) side after you have connected all pins of the CN2 connector. It causes the malfunction and the breakdown.
Page 54
2. Specifications
2-32
Table 2-19: Expanded function for function assignable control Input/Output
Input
Output
Function code
Function name
Description
Input
HLD
Hold
Pauses the Motor operation and execution of the program.
ORD
Velocity override
Changes the velocity command in a rate of the specified velocity.
IOFF
Integration OFF
Terminates velocity integration control.
HOS
Home Return start
Starts Home Return operation.
HLS
Home position limit
Reports that the Motor is nearing to the Home position.
Output
NEARB
Target proximity B
Reports that the Motor is nearing to the target position B.
ZONEA
In-Zone A
Reports that the Motor has entered in a preset zone.
ZONEB
In-Zone B
ZONEC
In-Zone C
TEU
Position error, under
Reports condition of position error against the threshold value.
TEO
Position error, over
TVEU
Velocity error under
Reports condition of velocity error against the threshold value.
TVEO
Velocity error over
TVU
Velocity under
Reports condition of velocity.
TVO
Velocity over
TTU
Torque command, under
Reports condition of Driver torque command against the threshold value.
TTO
Torque command, over
TJU
Thermal loading, under
Reports condition of thermal loading against the threshold value.
TJO
Thermal loading, over
OTXA
Travel limit switch, ± direction
Reports detection of limit switch in + or – direction (hardware and software).
NRM
Normal
Reports detection of alarm or warning.
HOME
Home return completed
Reports that the Motor has completed Home Return and is on the Home position.
HCMP
Home position defined
Reports that the Home position has been defined.
Page 55
2. Specifications
2-33
2.10.2. CN2 Interfacing
2.10.2.1. General Input Signal
Applied inputs: SVON, EMST, OTP, ACLR, PRG0 to PRG7, JOG, DIR, and STP
Table 2-20: General specifications
Item
Specification
Input voltage
24 VDC ± 10%
Input impedance
3.9 k
Maximum current
10 mA or less (per input)
Fig 2-35: General specifications
3.9kΩ
560Ω
Drive Unit side
DC24
Input
* You may reverse the polarity of the external
power supply and connect as “minus • common.”
Page 56
2. Specifications
2-34
2.10.2.2. Pulse Train Input Signal
Applied inputs: CCWP +, CCWP -, CWP +, and CWP -
Table 2-21: Pulse train input
Item
Specification
Input voltage
5 VDC ±10%
Input impedance
620
Maximum current
25 mA or less
Fig 2-36: Pulse train input
1 k
Driver Unit side
620
Input +
Input -
1) Connection with the line driver output. Connect directly to the input ports.
Fig 2-37: Connection with the line driver output.
1 K
Driver Unit side
620
Input
Input
Users controller side
2) Connection with the open collector output. Please insert a resistor (68 [1/8 [W]) into the circuit as shown below.
Fig 2-38: Connection with the open collector output
1 k
Driver Unit side
68
Input
Input
Users controller side
+ 5 V
220
620
Page 57
2. Specifications
2-35
2.10.2.3. Analog Command Input Signal
Applied output: AIN +, AIN -
Table 2-22: Specifications of analog command input signal
Item
Specification
Maximum input voltage
± 10 [VDC]
Input impedance
20 [kΩ]
Maximum input current
0.5 [mA]
ADC resolution
12 [bit]
Effective resolution
10 [bit] (Typ.)
Fig 2-39: Specifications of CN2 analog command input signal
Driver Unit side
20 [kΩ]
AIN +
AIN –
+
Controller side
Page 58
2. Specifications
2-36
2.10.2.4. Output Signal
Applied output: PO0 to PO7 (Shipping set: DRDY, WRN, OTPA, OTMA, SVST, BUSY, IPOS, and
NEARA)
Table 2-23: General output photo coupler specification
Item
Specification
Maximum load capacity
24 VDC/50 mA
Maximum saturated voltage
2 V or less
Fig 2-40: General output photo coupler specification
Driver Unit side
Output
COM
* You may reverse the polarity of the external
power supply and connect as “minus • common.”
2.10.2.5. Position Feedback Signal Output
Applied output: CHA, CHB, CHZ, *CHA, *CHB, and *CHZ
Table 2-24: Specifications of position feedback output signal
Item
Specification
Output format
Line driver unit (CHA, CHB, CHZ, *CHA, *CHB and *CHZ)
Line driver
Texas Instruments: AM26LV31E or equivalent
Recommended line receiver
Texas Instruments: AM26LV32E, or AM26C32 or equivalent
Fig 2-41: Position feedback signal output
SGND
CHA CHB
CHZ
CHA CHB CHZ
Driver Unit side
Page 59
2. Specifications
2-37
2.10.2.6. Analog Monitor Output
Applied output: MON1, MON2
Table 2-25: Analog monitor specification
Item
Specification
Output format
Op-amp
Maximum output voltage
5 V
Minimum voltage width
5.3 mV
Saturated current
4 mA or less
Fig 2-42: Analog monitor
MON1,2
GND
- +
Drive Unit side
Page 60
2. Specifications
2-38
2.11. CN3: Resolver Cable Connector
Caution : Connect the Cable Set provided with the Driver Unit. Do not cut or
hookup to other cable because the Cable Set is uniquely made for the position sensor.
Table 2-26: Connector list
Driver Unit connector
Japan Aviation Electronics Industry, Ltd.
DF02R014NA6 or equivalent
Mating connector type
Japan Aviation Electronics Industry, Ltd.
DF02P014F22A1*or equivalent
Mating connector hood
Japan Aviation Electronics Industry, Ltd.
DF02D014C21*or equivalent
* Provided with the Cable Set.
2.11.1. CN3 Pin-Out
Fig 2-43: Pin-out
1 INC-A
8 ABS­COM
2 INC-B
9 INC­COM
3 INC-C
10 –
4 – 11 – 5 ABS-A
12 –
6 ABS-B
13 – 7 ABS-C
14 FG
2.11.2. CN3 Signal List
Table 2-27: Signal list
Pin
Signal name
Function
1
INC-A
Incremental resolve signal øA
2
INC-B
Incremental resolver signal øB
3
INC-C
Incremental resolver signal øC
5
ABS-A
Absolute resolver signal øA+
6
ABS-B
Absolute resolver signal øB+
7
ABS-C
Absolute resolver signal øC+
8
ABC-COMMON
Absolute resolver common
9
INC-COMMON
Incremental resolver common
14
FG
Frame ground
Danger : Never connect pins not listed above. Danger : Check orientation of the connector when inserting it. Tighten the screws
to secure the connector so that it does not disconnect because of shock or pulling.
Danger : Do not connect or disconnect the cable when the power of the Driver Unit
is on.
!!!
Page 61
2. Specifications
2-39
2.12. CN4: Motor Connector
Caution : Use the Cable Set provided with the Driver Unit. Please do not cut the
cable or hookup to other cable because the Cable Set is specially made for the position sensor.
Table 2-28: Connector list
Connector of Driver Unit
PHOENIX CONTACT
MSTBA2,5/8-G-5,08-LR or equivalent
Mating connector
PHOENIX CONTACT
FKC 2,5/8-ST-5,08-LR *or equivalent
* Provided with the Cable Set.
2.12.1. CN4 Pin-Out
Fig 2-44: Pin-out
U V W
R+ R­SE+ SE-
Motor winding ø U
1 2 3 4 5 6 7 8
Motor winding ø V
Motor winding ø W
External regeneration resistor terminal
External regeneration resistor terminal
External regeneration resistor thermal sensor input
External regeneration resistor thermal sensor input
2.12.2. CN4 Signal List
Table 2-29: Signal list
Pin No.
Signal name
Function
1
U
Motor winding ø U
2
V
Motor winding ø V
3
W
Motor winding ø W
5
R+
External regeneration resistor terminal
6
R-
External regeneration resistor terminal
7
SE+
External regeneration resistor thermal sensor input*
8
SE-
External regeneration resistor thermal sensor input*
* Short these pins if external regeneration resistor is not in use. If they remain open,
the alarm of “over heat” occurs.)
Danger : Do not connect or disconnect the connector when the power of the Driver
Unit is on.
Danger : A high voltage is applied to the connector after the power is turned on.
Take extra care for short circuit.
Danger : Check the orientation of the connector when inserting it. Though the
connector is lock type, be sure to insert it to the bottom. Otherwise you cannot secure the connector.
Danger : A high voltage remains between the pins R+ and R- even after the main
power is turned off. Be careful not to get an electric shock.
Danger : Operate the lever on both sides slowly when disconnecting the
connector.
!!!!!
Page 62
2. Specifications
2-40
2.13. CN5: Connector for Power Supply
The connectors for CN5 are shown in the Table 2-30: Connector list
Table 2-30: Connector list
Connector of Driver Unit
PHOENIX CONTACT
MSTBA2,5/5-G-5,08-LR or equivalent
Mating connector
PHOENIX CONTACT
FKC 2,5/5-ST-5,08-LR or equivalent
2.13.1. CN5 Pin-Out
Fig 2-45: Pin-out
L N L N
Control power
5 4 3 2 1
Main power
2.13.2. CN5 Wiring Diagram
Fig 2-46: Wiring diagram
MAIN
100-240VAC
CTRL
100-240VAC
L N L N
CN5
Control power
Single phase
Main power
Single phase
Danger : Do not connect or disconnect the connector when the cable is energized. Danger : A high voltage is applied to the connector after the power is turned on.
Take extra care for short circuit.
Danger : Check the orientation of the connector when inserting it. Though the
connector is lock type, be sure to insert it to the bottom. Otherwise you cannot secure the connector.
Danger : A high voltage remains even after the main power is turned off. Be
careful not to get an electric shock.
Danger : Operate the lever on both sides slowly when disconnecting the
connector.
!!!!!
Page 63
3. Unpacking, Installation and Wiring
3-1
3. Unpacking, Installation and Wiring
3.1. Unpacking
3.1.1. Receiving Check
Make sure you have received the following units.
1) Megatorque Motor
2) Driver Unit
3) Cable Set (Motor and Resolver cable)
3.1.2. Motor and Driver Unit Model EDD Combinations
Caution : Confirm that the reference number of the Motor and the Driver Unit on
each nameplate matches each other in the following codes: Motor series and size, and maximum torque.
Fig 3-1: Indication on the nameplate of Motor
NO.
PS1-1810001
MODEL M-PS 1 006 KN002
Maximum output torque
Motor size code
Motor series code
Serial number
Fig 3-2: Indication on the nameplate of Driver Unit
No. Type
PS1-1810020
EDD- PS 1 006 A B 5 01-**
Maximum output torque
Motor size code
Moter series code
Serial No.
(This part is blank depending on some version.)
Page 64
3. Unpacking, Installation and Wiring
3-2
3.2. Installation
3.2.1. Motor Mounting
Please follow the notes described below to make full use of the capabilities of the Megatorque Motor, a
highly capable DD (direct drive) motor series.
3.2.1.1. Environmental Conditions of Motor
Use the Motor in the indoor condition free from corrosive gas. The operating ambient temperature for the Motor shall be 0 to 40[°C].
The PS/PN/PX series Megatorque Motor is neither dust-proof nor waterproof. (IP30 equivalent)
Do not expose the Motor to water or oil from any source.
3.2.1.2. Motor Installation
Install and secure the Motor on a rigid base, otherwise mechanical vibrations may occur.
Warning : Mount the Motor using the tapped holes of the bottom of the Motor or
mounting holes of the Motor mounting base.
The mounting surface flatness should be 0.02 [mm] or less. The Motor can be installed either horizontally or vertically. The bolt tightening torque and screw insertion depth should be as follows.
Table 3-1: Bolt tightening torque and screw insertion depth
Motor type
PS1
series
PS3
series
PX3 series
Bolt hole
M4
M6
Fixed surface
A(M6)
Fixed surface
B(M5)
Tightening torque
[Nm]
3.4 or less
13 or less
14 or less
9.0 or less
Screw insertion depth
[mm]
4 to 5.5
7 to 8.5
7 to 8.5
6 to 7.5
Table 3-2: Bolt tightening torque and screw insertion depth
Motor type
PN2 series
PN3
series
PN4 series
Tightening torque
[Nm]
5.3 to 6.5
7.8 or less
20 or less
Screw insertion depth
[mm]
5 to 6.5
6 to 7.5
10 to 11.5
Caution : For the PX3050 Motor, use either fixed surface A or fixed surface B as the
installation surface.
Caution : When using fixed surface A as the installation surface, set the mating
width of ø78h8 to 3.5 [mm] or less.
Refer to "Fig 2-27: PX3050 type Motor" for the fixed surface of the PX3 series
Motor
Page 65
3. Unpacking, Installation and Wiring
3-3
Fig 3-3: Mounting Motor
Table
Fixing bolt
Megatorque
Motor
Mounting base
Motor fixing bolt
Flatness of mounting surface shall be
0.02 mm or less.
Note: If the motor is installed as indicated in the figure below, mechanical vibrations will be
generated and the velocity loop proportional gain(VG)cannot be increased. It will occur overshoot and the motor can not operate smoothly.
• Attach the load directly to the Motor rotor.
• Mount the motor directly to the base.
Load
Megatorque
Motor
Mounting base
The load is not attached directly to the rotor.
The Motor is not mounted directly on the mounting base.
Caution : The bend radius of the motor cable lead and the resolver cable lead
should be R30 [mm] or more. Do not use the leads of the motor cable and the resolver cable with flexing motion.
3.2.1.3. Coupling Load to Motor
Caution : When you use pin holes on the rotor (output axis) of PS3 Motor, follow
the notes below.
Set the tolerance quality of locating pin diameter for running fit. Do not apply excessive force or shock to the Motor when inserting a locating pin. The function of the pinholes is simply to adjust the position of a mating part with the
Motor. Do not use the pinholes to lock the mating part (load).
Warning : Fix the load using the bolt-holes of the rotor. Take a great care for play
between the rotor and the load.
The following are the maximum tightening torque of fixing bolts
Table 3-3: Bolt tightening torque and screw insertion depth
Motor type
PS1 series
PS3 series
PN2012
PN3045
PN4135
PN4180
PX3050
Tightening torque
[Nm]
3.4 or less
7.8 or less
5.3 to 6.5
7.8 or less
20 or less
20 or less
4.4 or less
Screw insertion depth
[mm]
5 to 6.5
7 to 8.5
5 to 6.5
6 to 7.5
10 to 11.5
10 to 11.5
7 to 8.5
Page 66
3. Unpacking, Installation and Wiring
3-4
3.2.1.4. Confirmation of Use Conditions
The load moment of inertia is generally much bigger than the rotor moment of inertia in the Megatorque
Motor System. Recommended load moment of inertia of each Motor size is shown in the Table 3-4: Recommended load moment of inertia of Megatorque Motor.
Table 3-4: Recommended load moment of inertia of Megatorque Motor
Motor type
Rotor moment of inertia [kgm2]
Recommended load moment of
inertia [kgm2]
PS1004
0.0023
0.15 to 0.23
PS1006
0.0024
0.015 to 0.24
PS1012
0.0031
0.03 to 0.31
PS1018
0.0038
0.03 to 0.38
PS3015
0.011
0 to 1.1
PS3030
0.014
0 to 1.4
PS3060
0.019
0.12 to 1.9
PS3090
0.024
0.12 to 2.4
PN2012
0.0024
0.02 to 0.24
PN3045
0.011
0.11 to 0.77
PN4135
0.057
0.57 to 3.99
PN4180
0.065
0.65 to 4.55
PX3050
0.0028
0.0028 to 0.28
Warning : Check if the use conditions exceed the allowable axial load and the
allowable moment load of the Motor.
Refer to “2.5. Motor Specifications” for the allowable axial load, allowable radial
load and the allowable moment load.
3.2.1.5. Dummy Inertia
For the full use of the benefits of the direct drive motor system, it is essential to maximize the resonance
frequency of the whole mechanism by increasing the rigidity of the load, as well as securely fastening the Motor to a highly rigid mechanical system. Therefore, adding some dummy load to the rotor directly may help in the following cases.
(1) A key is used to fix the load to the rotor because the load cannot be directly attached to the rotor. (2) The load is directly fixed to the rotor. However, vibration occurs due to torsional deflection on the
rotary axis of the load. (3) Inertia of the whole mechanism is very low when a thin shaft such as a ball screw shaft is attached. (4) There exists play because a sprocket chain or a gear train is used.
Inertia of a dummy load shall be approximately 20% of the load moment of inertia.
When a speed reducer mechanism is used, it shall be
GD
2
1
/(r2 × GD
2
d
) ≤ 5
Where GD
2
1
= inertia of indirectly connected load, GD
2
d
= inertia of directly attached load, and
r = reduction ratio.)
Fig 3-4: Example of dummy load
Dummy load
Megatorque
Motor
Load
Page 67
3. Unpacking, Installation and Wiring
3-5
3.2.2. Installation of Driver Unit
The Driver Unit Model EDD must be fixed so that fins are in the vertical position for natural air-cooling.
Caution : (1) Ambient temperature
Ambient temperatures should be in a range from 0 to 50 [[°C]]. The Driver Unit
cannot be used in excess of 50 [[°C]]. A sufficient space of at least 100 [mm] should be provided both above and below the Driver Unit in a control cabinet. Operate the Driver Unit in an environment in which internally generated heat can be dissipated. If heat is trapped above the Driver Unit, open the space above it to allow for the heat to dissipate (in this case, also take steps to prevent the entry of dust) or provide a forced air cooling system.
(2) Dust-proof • Waterproof
Use the Driver Unit in a control cabinet with IP54 or higher. Protect the Driver Unit
from exposure to oil mist, cutting water, cutting dust, coating gas, etc., to prevent their entry into the Driver Unit through ventilation openings, which may cause circuit failure.
IP code is specified in the IEC standard and classifies the protection level of
enclosures from the solid contaminant and water.
Explanation of IP54:
Code 5: Dust-proof (protection against external solid contaminant) Code 4: Waterproof (must not be affected by water splash in any direction.)
Caution : When installing two or more Driver Units for multi-axis combinations,
provide a 10 mm or more space between adjacent Driver Units.
Maintain inside temperature of the enclosure into which the Driver Unit is installed between 0 to 50[°C].
If the alarm P0 (Over heat) occurs frequently, provide a forced cooling to the heatsink. Refer to “11. Alarm and Warning” for details.
The Driver Unit Model EDD can be attached to a panel using front mounting brackets (optional). The maximum power loss of the Driver Unit Model EDD is 55 W.
Fig 3-5: Installation of Driver Unit
100 m
m or more
100 m
m or more
Page 68
3. Unpacking, Installation and Wiring
3-6
3.3. Wiring
3.3.1. Connection of Cable Set
Caution : Do not cut the Motor cable to change the length shorter or longer or do
not hook it up to other cable. You need to separately purchase the cable with specified length. The standard cable length is available in 1, 2, 3, 4, 5, 6, 8, 10, 15, 20 and 30 meters.
Caution : Do not place the power lines (AC main power and Motor cable) and the
signal lines in close proximity. Do not tie wrap them and not to put in the same duct or conduit.
Caution : When considerable vibrations are applied to the cable, fix the cable near
the connector so that no stress is applied to the connector part.
Fig 3-6: Connection of cable set
To CN3
To CN4
To ground terminal
Page 69
3. Unpacking, Installation and Wiring
3-7
3.3.2. Connecting Power
Refer to “2.13. CN5: Connector for Power Supply” for details. Use AWG18 of anti-heat vinyl UL cables for the power supply. Do not place the main power AC line cable and the signal wires in close proximity. Do not tie wrap them,
and do not put them in the same duct or conduit.
Separate the wiring of the primary and the secondary noise filters, and take different routing. The Driver Unit and the noise filters shall be close to each other. Be sure to install the surge killer circuit to the coils of magnetic switch, relay and solenoid. Refer to
catalogs of each manufacturer for more details.
An inrush current is generated when the power is turned on because of the capacitive load connected to
the main power supply circuit. For this reason, use the contacts such as a magnetic switch that has a higher rated current as shown below.
Table 3-5: Noise filter requirement [Reference only][Recommended manufacturer: Schaffner]
Power source
Type
Rated voltage
Rated current
Single phase 100 to 240 [VAC]
FN2070-10
250 [VAC]
10 [A]
Table 3-6: Capacity of circuit breaker for power supply
Contacts
Rated current
Non-fuse breaker
15 A
Short circuit breaker
15 A, Sensitivity: 15 mA
Magnetic switch
15 A
Table 3-7: Inrush current
Item
Inrush current (Typical)
Time
At power supply
100 [VAC]
At power supply
200 [VAC]
Control power
7.5 A
15 A
10 msec
Main power
10 A
20 A
10 msec
Table 3-8: Leakage current
Leakage current (Typical)
1.4 [mArms] (40 to 100 [Hz])
Caution : Do not lose the screws of the ground terminal when wiring the connector.
Refer to Table 3-7: Inrush current for wiring the power.
Page 70
3. Unpacking, Installation and Wiring
3-8
3.3.3. Ground Connection
For grounding the Driver Unit, use braided copper cable or heavy gage cable as possible such as AWG12
or larger.
The ground terminal is M4 screw. There is a possibility that the thread of a screw is damaged when the
tightening torque of the screw exceeds maximum value 1.2Nm.
Caution : Ground the Motor separately when it is isolated from the machine into
which it is installed.
Warning : All the ground lines must be connected at one point and the grounding
resistance shall be 100  or less.
Fig 3-7: Wiring example of power supply


 Connect at one point.


Resolver
Motor
Driver Unit
AC power
Protective
ground Class
D or better
FG
Main power
CN5
Control power
Master controller
Controller (pulse train output)
PLC, etc.
24 VDC
power supply
CN4
CN2
CN3


ELB1
MC1
Input signal
+ 24 V
DRDY
COM
RY1
NF1
+ 24 V
GND
ELB1: Short circuit breaker CB1: No fuse breaker NF1: Noise filter MC1: Magnetic switch RY1: Relay SW1: Main power switch ON SW2* Main switch OFF
NF
SW1
SW2
MC1
MC1
RY1
CB1
Caution : We recommend the noise filter below for compliance with the EMC
Directive.
FN2070-10/06 (Schaffner EMC Ltd.) or equivalent.
(Use a breaker compatible with the European Safety Directives.)
Caution : Provide a circuit to shut down the main power by the output of an alarm.
When an alarm occurs, the output DRDY (Driver Unit ready) of the connector CN2
opens.
The Driver Unit gives the warning P5 (Main AC line low voltage) when the main power is turned off
while the servo is on.
Refer to “7.1.4. Servo on: SVON” for turning on and off of the main power.
Input of ACLR (Alarm clear) signal, the command CL (Alarm clear), or turning on the control
power again will clear the alarm.
Page 71
3. Unpacking, Installation and Wiring
3-9
3.3.4. Connector Wiring
Caution : Be sure to install a surge killer circuit when inductive switches such as
relays are used.
Caution : When inputting the inputs “Over travel limit, + direction” and “Over travel
limit, - direction,” connect the outputs of your sensors directly to the inputs, not via the master controller. (Those connectors are shown as
in Fig 3-8 below.)
3.3.4.1. Wiring Example (CN2)
Fig 3-8: CN2 wiring example
1,2
DC24 7 SVON 3
EMST 4
ACLR 5
OTP 6
OTM 8
RUN 9
STP 11
PRG0 12
PRG1 13
PRG2 14
PRG3 15
PRG4 16
PRG5 17
PRG6 18
PRG7 19
JOG 20
DIR
22
CWP+ 23
CWP– 24
CCWP+
25
CCWP–
44
AIN+ 45
AIN– 28
DRDY 29
WRN 30
OTPA 31
OTMA 32
SVST 33
BUSY 34
IPOS 35
NEARA
26,27
COM 36
CHA 37
CHA 38
CHB 39
CHB 40
CHZ 41
CHZ 43
SGND
CN2
Driver Unit ready
Warning
Over travel limit detection, + direction
Over travel limit detection, – direction
Servo ON state
State of operation
In position
Target proximity A
24 VDC
Polarity of the power supply may be reversed to minus common.
Servo ON
Emergency stop
Alarm clear Over travel limit, + direction Over travel limit, – direction
Start positioning
Stop Internal program channel selection 0 Internal program channel selection 1 Internal program channel selection 2 Internal program channel selection 3 Internal program channel selection 4 Internal program channel selection 5 Internal program channel selection 6 Internal program channel selection 7
Jog
Jog direction
Users controller
Position feedback signal øZ
Position feedback signal øB
Position feedback signal øA
5 VDC
CW pulse train
CCW pulse train
24 VDC
Signal ground
FG
Polarity of the power supply may be reversed to minus common.
Driver Unit Model EDD
Analog command output
Analog command ground
Page 72
3. Unpacking, Installation and Wiring
3-10
3.4. Turning on Main Power
3.4.1. Precautions Before Power-on
Danger : The operator shall be out of the Motor motion range.
Danger : There shall be no mechanical interference when the Motor makes a full
turn
Warning : The Motor must be securely fastened to the machine base.
Warning : The load (work) must be securely fastened to the Motor.
Caution : Before turning on the power check the following. Improper connection may
result in breakage of the Driver Unit.
(1) Connections of each cable. (2) Connection of the Handy Terminal (3) Confirm the safe conditions.
Caution : Turn on the power when the Motor is stationary. Otherwise the System
cannot detect the position coordinates and the alarm A1 (Absolute position error) occurs.
Page 73
3. Unpacking, Installation and Wiring
3-11
3.4.2. Points to be Checked When Power-on
(1) Turn on the power and confirm that the LED on the front panel indicates the normal state of the System.
Fig 3-9: When error occurs
Fig 3-10: In normal state
Power LED: It tuns on when the pwoeris on. Normal state: Green Error occurs: Orange
7segments LED: Identifies a type of alarm.
It indicates a type of alarm in 2 digit
numbers. The numbers will be dispalyed in time sharing.
If two or more errors occurs, the LED
indicates them in the same manner as described above.
Power LED: Turns on when the power
turns on.
Normal state: Green • Error: Orange
(2) Check if the Emergency stop (CN2, pin #3: EMST) input is effective.
• When the emergency stop input is ON, the 7 segments LED on the front panel indicates the alarm
code in the order of F 4 If not, refer to “11. Alarm and Warning”
Warning : The shipping set of the EMST input (EMST) is a normally closed contact.
If it is not connected, the alarm F4 (Emergency stop) occurs. Wire the EMST circuit or change the polarity to a normally open contact referring to “3.4.3. Polarity Setting of Control Input Port” to clear the alarm.
Warning : The shipping set of the inputs OTP and OTM (Over travel limit) are the
normally closed contact. It will cause an alarm if they are not connected. Wire them or change the polarity to the normally open contact referring to “3.4.3.Polarity Setting of Control Input Port” to clear the alarm.
(3) The System is in the normal state when the display of the Handy Terminal shows the prompt
“: (colon)” after the message of “NSK MEGATORQUE.”
Fig 3-11: Indication of the display of the Handy Terminal
NSK MEGATORQUE XSY*****.*,XOP* DD1DA0_*****.* :_
The part represented by (*) depends on the System type.
Page 74
3. Unpacking, Installation and Wiring
3-12
3.4.3. Polarity Setting of Control Input Port (Normally Open Contact and Normally Closed Contact)
The shipping set of the inputs EMST, OTP, and OTM of the CN2 connector is the normally closed
contact. The following show how to change the polarity of the above inputs to the normally open contact.
Caution : You cannot change the polarity of a control input port when the Motor
servo is on. Be sure the servo is off when changing the polarity.
Input the command MO (Motor off) to turn the Motor servo off.
O
ENT
M
:MO :_
The following describe how to change the polarity of EMST input to the normally open contact.
(1) Input the command PI0.
(2) Following the indication of the command FN (Input function), an input of the space key will
show the NW (Anti-chattering timer) and the AB (Input polarity), and the prompt “? “ will appear.
On the terminal screen of EDD MEGATERM, space key operation is
unnecessary. After operation (1), operate (3).
(3) Input the command AB0. Input “ENT” after the prompt “?”.
?AB0 ? :
ENT
B A
ENT
0 ?
Thus the input EMST (Emergency stop) has been changed to the normally open contact.
(4) Turn on the Motor servo on by inputting the command SV (Servo-on).
:SV :_
V
S
ENT
Input the command PI2 to change the polarity of the input OTP (Travel limit, + direction) to the normally
open contact, and then follow the same procedures above.
Input the command PI3 to change the polarity of the input OTM (Travel limit, - direction) to the normally
open contact, and then follow the same procedures above.
:PI0 FNEMST;
I
ENT
0 ?
P
FNEMST; AB1; NW0.2 ?_
SP SP
Page 75
3. Unpacking, Installation and Wiring
3-13
3.4.4. Power on and Servo on
1) Turn on the power.
2) The System checks the output DRDY approximately three seconds later.
3) If the System is in the normal state, turn on the input SVON. The System gets in the Servo ON state.
If the System does not output the DRDY signal normally, take appropriate measures referring to
“11. Alarm and Warning.”
4) The output SVST (Servo state) closes when the Motor servo is on.
5) Then input a necessary operation command.
Fig 3-12: Flow of Power on and Servo on
Timer
Power on
Alarm
Start servo on
Operating Motor
User controller side
Driver Unit side
Intialization
DRDY closes
DRDY opens
SVON
NG
OK
Opens
Closes
DRDY
check
Error check
Action for alarm
WRN
check
Closes
Opens
SVST opens
SVST closes
Operation
SVST check
Open
Closes
Action for warning
Page 76
3. Unpacking, Installation and Wiring
3-14
Fig 3-13: Signal timing for Power on and Servo on
Confirmed
Approximately 3 seconds
on off
170 ms max. (3.2 s max.)
ON
OFF
on off
Control power
Main power
DRDY output
SVON input
SVSToutput
Closed
Open
Operation command effective
1 ms max.
It takes approximately 170 ms to turn the servo on after the input SVON (Servo ON)
is activated. (It takes 3.2 seconds for the first input of the SVON after the power is on.). Confirm condition of the output SVST (Servo state), then start the operation.
0.5 s min.
Caution : Turn on the input SVON after the main power is on. Turn off the input
SVON before the main power is off. If the main power is off leaving the SVON input ON, the Warning P5 (Main power under voltage) occurs.
Refer to “7.1.4. Servo on: SVON” for turning on and off of the main power. Input of the input ACLR (Alarm clear), the command CL (Clear alarm), or turning
on the power again will clear the warning.
Caution : The cogging torque is generated because a permanent magnet is built
into this motor. Therefore, rotors might move slightly at servo off and the power-off.
The cogging torque is magnetic suck power generated when the rotor is moved
while non-excited.
Page 77
4. RS-232C Communication and USB Communication
4-1
4. RS-232C Communication and USB Communication
The Driver Unit Model EDD has RS-232C communication and USB communication ports, and setting parameters, programming and various monitoring can be done by the following methods.
Entry method using the Handy Terminal by RS-232C communication Entry method using the EDD MEGATERM by USB communication
Page 78
4. RS-232C Communication and USB Communication
4-2
4.1. RS-232C Communication (Handy Terminal Communication)
Function of Handy Terminal
Monitoring the Motor conditions, internal channel programming and setting parameters with the RS-232C
communication interface can be done easily by connecting the FHT31 Handy Terminal to connector CN1 of the Driver Unit Model EDD. (No setting such as baud rate is required.)
Caution : When connecting or disconnecting the communication cable (CN1), be
sure that the power of the Driver Unit is turned off.
Appearance and function of each part
Fig 4-1: Handy Terminal M-FHT31
Cable
(Cable length: )
Numeric keys Code keys (superscript)
Alphabet keys
Special code keys
SHIFT
: Shift key
Note 1)
CTRL
: Control key (Not used)
SP
: Space key
Note 2)
BS
: Back space key
Note 3)
ENT
: Enter key
Note 4)
Frame
LCD
Note: 1) SHIFT: Press a numeric key while pressing the SHIFT key to enter a code
key. A superscript of the numeric keys will be entered.
2) SP: Use this key to input a blank between letters.
3) BS: Press the BS key when correcting logged in mistakes.
4) ENT: Press the key at the end of a command or the parameter setting.
Connect
ESC
: Escape key (Not used)
Page 79
4. RS-232C Communication and USB Communication
4-3
4.1.1. Check on Handy Terminal
Follow the procedure below to check the handy Terminal if it is functioning.
1) Connect the Handy Terminal to the connector CN1 of the Driver Unit Model EDD, and then turn on the power.
2) Be sure that the colon (:) is on the display. (Press the ENT key once if the colon is not on the display.)
:_
ENT
4.1.2. Setting Parameters
Following example describes how to check, and change the current setting of parameter MV (Motor
velocity).
1) Check the current setting of parameter MV.
Enter as ? + Parameter code as follows.
:?MV
MV1.000 :_
M ?
ENT
V
2) Set the parameter MV to 0.5 [s-1]
Enter as Parameter code + data.
:MV0.5 :_
. = V
0 ?
M
ENT
5
%
This completes the setting when the colon (:) appears on the screen.
Caution : Confirm that the colon (:) is on the screen when turning off the power of
the Driver Unit after the setting of parameters.
Otherwise the alarm E2 “ROM error” may occur when the power is on next time.
4.1.2.1. Input of the Password
Several parameters and commands require an entry of the password for setting and execution.
1) Enter the Password (/NSK ON)
:/NSK ON NSK ON :_
K N S
/
SP
N
ENT
O
The acknowledgment appears on the screen, and the colon appears indicating the normal stand­by state for command entry. Then set a parameter or a command.
However, the password is effective for only one entry of a parameter or a command.
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4.1.2.2. Reset to Shipping Set
You may reset a parameter, which has been altered once, to the shipping set. Though the command of
initialization resets all parameters to the shipping set at once, this section describes the way to rest parameters to the shipping set one by one.
The following example describes how to reset the parameter MV (Motor velocity) to the shipping set.
Enter as Parameter code + /RS.
:MV/RS :_
R V / M
ENT
S
4.1.3. Readout of Parameter
The following example describes how to read out the parameter VG (Velocity gain).
1) Check the current setting of the parameter VG.
Enter ? + Parameter code as
:?VG
VG0.50;_
V ?
ENT
G
The current setting of the VG is displayed and the prompt “;” (semicolon) is on the bottom line.
2) An input of the SP key reads out the next parameter while the prompt is “;”(semicolon).
:?VG VG0.50; VGL0.50 :_
SP
When all parameters with the code VG have read out, the prompt changes to “:” (colon). Input the BS key to abort the readout.
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4.1.3.1. Monitoring Parameters by a Group
There are many parameters for the Driver Unit. The command TS (Tell settings) will read out parameter
values by groups.
Refer to “9. Details of Command and Parameter” for the detail of the command TS.
The following example describes how to read out the setting of parameter VG for the velocity loop
proportional gain (velocity gain).
1) The parameter VG belongs to a group of TS1 as described on “9. Details of Command and
Parameter.” Thus enter as:
:TS1
PG0.05;
ENT
S
1 #
T
The screen will firstly show the setting of the parameter PG for the position loop proportional
gain.
2) Press the SP key to scroll the display until it spots the setting of the VG.
:TS1 PG0.05; PGL0.05; VG0.50;_
SP … SP
3) To terminate monitoring, keep pressing the SP key until the display stops scrolling, or enter the SP key. The colon will appear on the screen to indicate the completion of readout.
:TS1 PG0.05; PGL0.05; VG0.50;_
SP … SP
4.1.3.2. Monitoring Parameters Altered from Shipping Set
When adjusting and setting parameters, you may read out parameter values only which have been altered
from the shipping set.
The command TS0 monitors all parameter values that belong to parameter groups of TS1 to TS12. Here,
let’s use the command TS (Tell settings) to read out the parameters which have been altered from the
shipping set.
Among all parameters that can be read out by the command TS0, let’s read out only the
parameters whose setting have been altered from the shipping set. Enter as TS + number + /MD.
:TS0/MD PG0.16; VG4.13; IN100;
/ S 0 ? T D
ENT
M
Every input of the SP key identifies the parameter whose setting has been altered from the shipping set. Press the BS key to abort the readout.
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4.1.4. Monitoring the Current Status
This function is useful when you need to monitor various conditions of the System in the middle of
condition adjustment.
The following example describes how to monitor the current position by the Monitor TP (Read out current
position [in units of pulse]).
1) Enter as Monitor code + /RP.
:TP/RP TP 1310720 _
R P / T P
ENT
The current position is read out continuously. An input of the BS key will resume the readout and the prompt changes to “:” (colon).
4.1.4.1. Inputting a Command while Monitoring Multiple Conditions
The following example describes how to monitor simultaneously the monitor TP (Monitor current position
in units of pulse) and the monitor TV (Monitor current velocity). The function to monitor multiple conditions simultaneously is called “Multi-monitor.”
1) Input the monitor TP to the multi-monitor.
Input as Monitor code + /WW.
:TP/WW TP 1310720 :_
W P / T W
ENT
2) And subsequently input the monitor TV.
W V / T W
ENT
:TP/WW TP 1310720 :TV/WW_
3) Thus, two conditions can be monitored simultaneously. You may input the command in this state.
:TV/WW
TP 1310720 TV 0.002 :_
Input the command WWC for cancellation of Multi-monitor.
TP 1310720 TV 0.002 :WWC :_
ENT
W C W
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4.2. USB Communication (EDD MEGATERM)
Function of EDD MEGATERM
Use the application software "EDD MEGATERM" compatible with the Windows 7/10-based PC for USB
communication.
Setting parameters, programming and various monitoring by USB communication can be done easily by
connecting CN0 of PC and the Driver Unit Model EDD with a USB cable. (No setting such as baud rate is required.)
Caution : USB communication is dedicated for maintenance using the
MEGATERM. Do not use it for normal operation.
Caution : The connection cable with PC should be a double shielded item of 3 m or
less, and use USB mini-B for the connector on the Driver Unit side.
Caution : Depending on the usage environment, communication may be
interrupted. In that case, mount the high frequency division type ferrite core with three turns on the Driver Unit side and PC side. (Refer to Appendix 7)
Caution : When USB communication and RS-232C communication are performed
at the same time, USB communication is processed first, then RS-232C communication is processed.
Caution : All functions cannot be used even if USB communication is performed
with USB communication software other than the EDD MEGATERM.
Table 4-1: Specifications of USB communication
Item
Specification
Communication standard
USB 2.0 Full-Speed
Baud rate
12 [Mbps
The terminal screen of the EDD MEGATERM can be handled in the same way as the Handy Terminal,
but some operation methods and displays are different. The difference between RS-232C communication and USB communication is described in this section.
Use of the oscilloscope function and FFT function enables more visual tuning. When high-speed sampling
is required, use an analog monitor.
The FFT can measure sampling acquisitions up to 500 [Hz] at 1 [ms]. If further measurement is required,
measure it with the oscilloscope connected to the analog monitor. For measurement method, refer to "5.5.2. Setting Notch Filter."
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Difference between Handy Terminal and EDD MEGATERM
For the EDD MEGATERM, regardless of the setting of parameter MM: display mode switching, all
responses of multiple lines on the terminal screen are displayed in batch (always MM0 state).
According to the above, CH for channel editing command does not function such as editing/deleting of the
middle line, and only the last line can be added. Avoid using the command, and use the channel editing screen.
Likewise, since you cannot edit SP/AJ for operation pattern of demonstration operation, if you want to
change it, create a dedicated operation pattern on the channel edit screen.
Fig 4-2: Channel editing screen of EDD MEGATERM
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4. RS-232C Communication and USB Communication
4-9
4.2.1. Setting Application Software
First, set the application software "EDD MEGATERM" on the Windows 7/10-based PC.
1) Download the application software "EDD MEGATERM" from the NSK website.
2) Execute setup.exe in the downloaded folder to follow the instructions to install.
3) Execute WinUSB.vbs in the downloaded folder and follow the instructions to install.
4) Execute vc_redist.x86.exe or vc_redist.x86.exe in the downloaded folder and follow the
instructions to install.
5) Start the EDD MEGATERM in the menu Start Menu > All Programs > EDD MEGATERM
Ver.X.X.X.
For details, refer to readme.txt in the downloaded folder.
Fig 4-3: EDD MEGATERM startup screen
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4. RS-232C Communication and USB Communication
4-10
4.2.2. Establishing Communication
First, start the EDD MEGATERM and establish communication to open the terminal screen.
1) Connect the USB cable to CN0 of the Driver Unit.
2) Press the Connect button on the EDD MEGATERM screen and check that the
communication has been established as the Connect button turns green.
3) Select the Terminal tab and open the terminal screen.
4.2.3. Setting Parameters
Following example describes how to check, and change the current setting of parameter MV (Motor
velocity).
1) Check the current setting of parameter MV.
Enter as ? + Parameter code as follows.
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2) Set the parameter MV to 0.5 [s-1]
Enter as Parameter code + data.
This completes the setting when the colon (:) appears on the screen.
Caution : Confirm that the colon (:) is on the screen when turning off the power of
the Driver Unit after the setting of parameters.
Otherwise the alarm E2 “ROM error” may occur when the power is on next time.
4.2.3.1. Input of the Password
Several parameters and commands require an entry of the password for setting and execution.
1) Enter the Password (/NSK ON)
The acknowledgment appears on the screen, and the colon appears indicating the normal stand­by state for command entry. Then set a parameter or a command.
However, the password is effective for only one entry of a parameter or a command.
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4.2.3.2. Reset to Shipping Set
You may reset a parameter, which has been altered once, to the shipping set. Though the command of
initialization resets all parameters to the shipping set at once, this section describes the way to rest parameters to the shipping set one by one.
The following example describes how to reset the parameter MV (Motor velocity) to the shipping set.
1) Enter as Parameter code + /RS.
4.2.4. Readout of Parameter
The following example describes how to read out the parameter VG (Velocity gain).
1) Check the current setting of the parameter VG.
Enter as ? + Parameter code.
If all parameters including "VG" are read ahead of the parameter name, you will return to the prompt “:”.
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4. RS-232C Communication and USB Communication
4-13
4.2.4.1. Monitoring Parameters by a Group
There are many parameters for the Driver Unit. The command TS (Tell settings) will read out parameter
values by groups.
Refer to “9. Details of Command and Parameter” for the detail of the command TS.
The following example describes how to read out the setting of parameter VG for the velocity loop
proportional gain (velocity gain).
1) The parameter VG belongs to a group of TS1 as described on “9. Details of Command and
Parameter.” Enter as TS1.
All the parameters belonging to TS1 and the prompt “:” will appear on the screen to indicate the completion of readout.
VG is displayed on the third line.
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4.2.4.2. Monitoring Parameters Altered from Shipping Set
When adjusting and setting parameters, you may read out parameter values only which have been altered
from the shipping set.
The command TS0 monitors all parameter values that belong to parameter groups of TS1 to TS12. Here,
let’s use the command TS (Tell settings) to read out the parameters which have been altered from the
shipping set.
Among all parameters that can be read out by the command TS0, let’s read out only the
parameters whose setting have been altered from the shipping set. Enter as TS + number + /MD.
The parameters whose setting has been altered from the shipping set are identified. The prompt “:” (colon) will appear on the screen to indicate the completion of readout.
4.2.5. Monitoring the Current Status
This function is useful when you need to monitor various conditions of the System in the middle of
condition adjustment.
The following example describes how to monitor the current position by the Monitor TP (Read out current
position [in units of pulse]).
Enter as Monitor code + /RP.
The current position is read out continuously. An input of the BS key will resume the readout and the prompt changes to “:” (colon).
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4.2.5.1. Inputting a Command while Monitoring Multiple Conditions
The following example describes how to monitor simultaneously the monitor TP (Monitor current position
in units of pulse) and the monitor TV (Monitor current velocity). The function to monitor multiple conditions simultaneously is called “Multi-monitor.”
1) Input the monitor TP to the multi-monitor.
Input as Monitor code + /WW.
2) And subsequently input the monitor TV.
Thus, two conditions can be monitored simultaneously. You may input the command in this state.
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4. RS-232C Communication and USB Communication
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Input the command WWC for cancellation of Multi-monitor.
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5. Tuning
5-1
5. Tuning
The proper gain adjustment is essential to make the full use of the capability of the Megatorque Motor
System.
Danger : Please adjust the servo parameter according to the procedure of this
chapter. When a servo on is done without adjusting it, the motor might wear the hunting cap.
5.1. Tuning Flowchart
Fig 5-1: Tuning Flowchart
Preparation
Power on.
Automatic tuning
YES
5.2.2. Initialization of Servo Parameters
5.2.3. Automatic Tuning
5.2.4. Trial Running
Satisfaied?
End of Trial Runnig
Install the Motor and wire the Driver Unit.
Caution: Make sure that the LED shows the System is in the
normal state ( ). Turn on the power of the Driver Unit, and confirm that the screen of Handy Terminal displays the message shown below.
NO
5.3.1. Input of Load Inertia
5.3.2. Minor Tuning of Servo Gains
5.5. Setting Filter
5.4. Manual Tuning
Satisfied?
YES
NO
YES
NO
Satisfied?
YES
NO
Satisfied?
YES
NO
Satisfied?
YES
NO
Tuning Level 1
This is the basic function of the automatic tuning. The tuning completes at this stage if the results are satisfactory
Tuning Level 2
This step is additional procedure when the tuning level 1 is not successful
Tuning Level 3
When the tuning level 1 and 2 are not successful, it requires conventional manual tuning (Level 3).
NSK MEGATORQUE XSY*****.*,XOP* DD1DA0_0000.0 :_
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5. Tuning
5-2
5.2. Tuning Level 1: Automatic Tuning
Caution : The automatic tuning does not function if the following conditions are not
met. Confirm them before carrying out the automatic tuning.
The load moment of inertia must be in the recommended range of the Motor. Refer
to “3.2.1.4. Confirmation of Use Conditions.”
The Motor is set horizontally. (The load condition of the Motor must not be
affected by external force such as the gravity.)
Mechanical rigidity of the Motor mounting base and an attached load to the Motor
is sufficient enough.
There must be no backlash or play caused by gears or couplings.
Frictional load to the Motor shall be minimal.
If the above conditions are not met, proceed to “5.3 Tuning Level 2: Servo Gain Tuning.”
Preparation
You need to prepare the following for the automatic tuning.
Installation of the Motor. (Refer to “3.2.1.2. Motor Installation.”) Attach the load to the rotor of Motor. (Refer to “3.2.1.3. Coupling Load to Motor.” Installation of the Driver Unit. (Refer to “3.2.2. Installation of Driver Unit.” Connection of the Motor and the Driver Unit. (Use the cable set provided with the Driver Unit.)
Refer to “3.3.1.Connection of Cable Set.”
Connection of the Handy Terminal. Connection to AC power source. Refer to “3.3.2. Connecting Power.” Wiring Servo ON (SVON) and Emergency stop (EMST) signal circuits.
(Connector CN2) Refer to “3.3.4. Connector Wiring.”
Fig 5-2: Wiring example of automatic tuning setup (reference only)
CN1
CN5
CN4
Contorl
power
CTRL
CN3
Main
power
MAIN
PE
DC24
1,2
SVON 7
CN2
EMST 3
OTP 5
OTM 6
Mounting base
Work or attachment
(Load inertia)
AC power
Handy Terminal
24 VDC
(External power supply)
Cable set
Motor
Over travel limit sensors
AC power
Page 95
5. Tuning
5-3
5.2.1. Precautions for Automatic Tuning
Danger : Before performing the automatic tuning, be sure to wire the following
input signals so that the Motor can stop immediately in case of emergency.
Danger : The Motor will rotate for ± 20° during the automatic tuning in order to
estimate the Load moment of inertia. Do not enter the range of Motor rotations.
Caution : The Motor may vibrate at the end of automatic tuning if rigidity of the load
is insufficient. In such a case turn the Motor servo off by the following way. Then increase the rigidity or perform manual tuning to continue the tuning.
Make the input EMST (Emergency stop) OFF Make the input SVON (Servo on) OFF. Turn off the power of Driver Unit.
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5. Tuning
5-4
5.2.2. Initialization of Servo Parameters
The parameters have been initialized at the shipping of the Megatorque Motor System. The initialization
is not required for the first operation of the System.
1) Turn off the Servo ON signal (SVON, the connector CN2).
2) Execute the command TS (Tell settings) to read out the servo parameter. Then input the command TS1.
Firstly the parameter PG (Position gain) is read out. Then each input of SP key scrolls to following parameters that belong to the group TS1. Record the parameter values for future reference.
3) Then execute the command TS2 in the same way as above and record the readouts.
TL100.00; GP0; :TS2 FO0.000_
ENT
S
2 $
T
SP … SP
4) Input the password. The screen displays an acknowledgement.
:/NSK ON NSK ON :_
K N S
/
SP
N
ENT
O
5) Input the command SI (Set initial parameters) to initialize the parameters. The initialization will start.
:/NSK ON NSK ON :SI :_
I
ENT
S
The prompt “: (colon)” will appear when the initialization completes.
Table 5-1: Servo parameter list
Readout by TS1
Readout by TS2
Parameter
Initial setting
Current setting
Parameter
Initial setting
Current setting
PG*1
0.001
FO
0.000
PGL
0.001
FP*
0
VG*1
1.50
FS*
0
VGL
1.50
NP*
0
FQ
10
NPQ
0.25
LG
50.00
NS
0
LB
0.00
NSQ
0.25
TL
100.00
DBP
0
GP 0
BL
100.00
GT
0.0
FF
100.00
ZF
1
*1:Adjustment of these parameters are necessary for tuning level 1 and 2.
:TS1
PG0.05;
ENT
S
1 #
T
SP … SP
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5. Tuning
5-5
5.2.3. Automatic Tuning
The automatic tuning estimates the load moment of inertia attached to the Motor, then automatically sets
the following servo parameters following the result.
Table 5-2: Servo parameters to be set automatically
Parameter
Description
LO
Load inertia
SG
Servo gain
PG
Position gain
VG
Velocity gain
FP
Primary low-pass filter frequency
FS
Secondary low-pass filter frequency
Danger : Take appropriate precautions for a full turn of the Motor.
When the Motor cannot make a full turn because of construction of the
attachment or the load, keep the room so that the Motor can make ±20°rotation. Be sure to set the over travel limit switch (OTP and OTM) for the off-limits area.
1) Confirm that the LED on the front panel of Driver Unit indicates the System is in the normal state ( [Normally]).
2) Input the command AT (Automatic tuning)
: :AT AT Ready OK ?_
T
ENT
A
If the message “COND MISMATCH?” appears on the screen, check if the input STP (Stop), a
warning or an alarm is on, then input the command AT again.
3) Input OK for the confirmation. The Motor servo automatically activates, and the Motor rotates for 10 to 20° to estimate of load inertia starts.
Caution : If the BS key is inputted in the middle of estimating load inertia, the
estimation will be interrupted, thus making unable to renew the servo parameters.
4) The screen displays the estimated load inertia LO as shown below when the estimate completes successfully. (The value of LO depends on the condition of load inertia.)
AT Ready OK ?OK TO ABORT,PUSH [BS] LO*****;
Estimated load ineratia
:AT AT Ready OK ?OK TO ABORT,PUSH [BS]
K
ENT
O
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5. Tuning
5-6
5) After the LO value has appeared on the screen, press the SP key to read out the servo parameters that are set by the automatic tuning.
The BS key aborts the readout and the prompt “: (colon)” appears for the next command.
?OK TO ABORT,PUSH [BS] LO0.003; SG6; PG0.12; VG1.29; FP480; FS480; :_
SP … SP
For the EDD MEGATERM terminal screen display, the parameters set by automatic tuning are
displayed in batch.
Caution : Take an appropriate action referring to “11. Alarm and Warning” when the
error message shown in the table below appears on the screen in the middle of the automatic tuning. The LED on the front panel of Driver Unit indicates F8 for the error in the automatic tuning.
Table 5-3: Error message list for automatic tuning
Message on the screen
Description
POSITION OVER?
The Motor rotated beyond ± 28.8° in the middle of automatic tuning.
OVER INERTIA WRN.?
The load moment of inertia is too high. Refer to “3.2.1.4. Confirmation of Use Conditions” for the recommended load inertia.
CAN’T TUNE?
Cannot execute tuning.
ALARM DETECTED?
An alarm has occurred.
CANCELED?
The tuning is cancelled.
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5. Tuning
5-7
5.2.4. Trial Running
Danger : Take an appropriate precaution for a full turn of the Motor.
Use a demonstration program of the Driver Unit Model EDD to check the result of automatic tuning.
1) Be sure that the inputs of the EMST (Emergency stop), the inputs OTP/OTM (Hardware over travel limit) of the CN2 connector (control Input/Output) are not active.
2) Activate the input SVON (Servo on), input the command SV to put the Motor into the servo on state.
: : :SV :_
V
ENT
S
3) Confirm that the LED on the front panel of Driver Unit indicates the System is in the normal state.
4) Lower the Motor velocity MV to 0.1 [s-1] for a trial running.
: : :MV0.1 :_
V
0 ? M 1 #
ENT
. =
5) Display the menu of the demonstration program on the screen.
: : :SP/AJ 0>ID9000;_
P / S
J
ENT
A
The program for trial running appears on the screen.
6) Input the SP key to scroll the program to the end.
2>ID-9000; 3>TI500.0; 4>JP256; ?_
SP … SP
The following program appears on the screen. (Refer to “6.3.2.3. Programming” for changing the demonstration program.)
ID9000 : Rotate 90° in CW direction. (Rotates in CCW direction when the
parameter DI is set tot DI1.)
TI500.0 : Dwell timer is set to 500 msec. ID-9000 : Rotate 90° in CCW direction. (Rotates in CW direction when the
parameter DI is set tot DI1.)
TI500 : 0500 msec dwell timer JP256 : Jump to the channel 256 (the channel that is specified by the SP/JP.)
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5-8
7) A prompt “?” appears on the screen when the readout of the demonstration program completes. An input of the ENT key at this stage will make the screen to indicate that the demonstration program is ready.
4>JP256; 5? SP/AJ Ready OK ?_
ENT
8) Input “OK” if you use the demonstration program as displayed.
Press the ENT key after the prompt “?” to get out from the demonstration program without
moving the Motor. The screen displays as “CANCELED?”and the System gets in the normal
waiting state for command entry.
5? SP/AJ Ready OK ?OK :>_
K
ENT
O
The Motor starts a cyclic motion as soon as you input the OK message. (Firstly, the Motor moves in CW direction.)
9) Stop the Motor with the Command MS after confirmation of tuning results.
:> :> :>MS :>_
S
ENT
M
Complete the tuning at this stage if the Motor operates normally. If motion of the Motor is unstable, execute the next level of tuning referring to “5.3.2 Minor Tuning of
Servo Gains,or 5.4 Tuning Level 3: Manual Tuning and “5.5 Setting Filters (Tuning Level 2)
When the tuning is completed change the setting of the parameter MV that matches to actual use
conditions.
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