NSK EDD Megatorque Motor User Manual

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Page 1

MEGATORQUE MOTORTM SYSTEM

User’s Manual

(Driver Unit Model EDD)

Document Number: C20201-01

M-E099DD0C2-201

Page 2

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.

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.

ENT

:MO :_

2) Input the command PI0 (Edit input function).

:PI0 FNEMST;_

ENT

0 ?

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 :_

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)

Page 9

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.

Page 10

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

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

Page 11

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

 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 Range（AWG）

Input

Output

All Models

 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.

Page 12

！

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]

Page 13

— i —

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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— ii —

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

Page 15

— iii —

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

 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.

 The Motor rotates to any point by the Jog input and

the Jog direction input.

 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

 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.

Executes Home Return operation by the start command of Home Return.

 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

 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 Ex：002… 2［m］, 004… 4［m］，

010…10［m］, 015…15［m］， 030…30［m］

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)

：Space key

Note 2)

：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

M-C001SDP03

M-C002SDP03

M-C003SDP03

M-C004SDP03

M-C005SDP03

M-C006SDP03

M-C008SDP03

M-C010SDP03

M-C015SDP03

M-C020SDP03

M-C030SDP03

Flexible cable

M-C001SDP13

M-C002SDP13

M-C003SDP13

M-C004SDP13

M-C005SDP13

M-C006SDP13

M-C008SDP13

M-C010SDP13

M-C015SDP13

M-C020SDP13

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]

110

135

Hollow diameter

[mm]

ø 35

Maximum rotational speed*1

[s-1]

3 / 3

10 / 5

10 / 4

Rated rotational speed*1

[s-1]

1 / 1

5 / 3

5 / 2

Resolution of position sensor

[count/ revolution]

2 621 440

Absolute positioning accuracy

[arc-sec]

*2, *3

Repeatability

[arc-sec]

± 2

Allowable axial load

[N]

1 000*4

Allowable radial load

[N]

820*5

Allowable moment load

[N•m]

Rotor inertia

[kg•m

]

0.0023

0.0024

0.0031

0.0038

Allowable range of inertia

[kg•m

]

0.15 to 0.23

0.0015～0.24

0.03～0.31

0.03～0.38

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]

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

Resolution of position sensor

[count/ revolution]

2 621 440

Absolute positioning accuracy

[arc-sec]

*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]

Rotor inertia

[kg•m

]

0.011

0.014

0.019

0.024

Allowable range of inertia

[kg•m

]

0～1.1

0～1.4

0.12～1.9

0.12～2.4

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

[N•m]

12 / 10

45 / 45

135 / -

180 / -

Rated output torque*1

[N•m]

2 / 2

15 / 15

45 / -

60 / -

Motor height

[mm]

112

Hollow diameter

[mm]

ø 36

ø 56

ø 50

Maximum rotational speed

[s-1]

2 / 2

3 / 1.5

3 / -

Rated rotational speed*1

[s-1]

1 / 1

1 / -

Resolution of position sensor

[count/ revolution]

2 621 440

Absolute positioning accuracy

[arc-sec]

*2, *3

*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]

160

200

Rotor inertia

[kg•m

]

0.0024

0.011

0.057

0.065

Recommended range of inertia

[kg•m

]

0.02 to 0.24

0.11 to 0.77

0.57 to 3.99

0.65 to 4.55

Mass

[kg]

3.7

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

[N•m]

50 / -

Rated output torque*1

[N•m]

14 / -

Motor height

[mm]

130

Hollow diameter

[mm]

Maximum rotational speed

[s-1]

10 / -

Rated rotational speed*1

[s-1]

4 / -

Resolution of position sensor

[count/ revolution]

2 621 440

Absolute positioning accuracy

[arc-sec]

*2, *3

Repeatability

[arc-sec]

± 2

Allowable axial load

[N]

1 000*5

Allowable radial load

[N]

820*6

Allowable moment load

[N•m]

Rotor inertia

[kg•m

]

0.0028

Recommended range of inertia

[kg•m

]

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 Fr＝F + weight of payload Moment load M = 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

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

(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

2.5

4.1

4.0

Maximum output [Arms]

2.6

2.4

3.5

5.8

6.6

8.2

14.9

Input power Rated capacity [kVA]

0.3

0.4

0.6

0.9

0.45

0.6

Max. capacity [kVA]

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

UL61800-5-1

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

3.9

Maximum output [Arms]

6.5

14.9

Input power

Rated capacity [kVA］

0.2

0.5

0.8

1.0

Max. capacity [kVA]*3

2.3 / 0.8

4.1 / 1.9

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

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

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

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

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－

BUS

5 4 3 2 1

2.8.1.2. CN0 Signal List

Table 2-14: CN0 Signal List

Signal

name

I/O

Function

BUS

Output

+5 V power source

D -

I/O

Transmit / receive data (differential)

D +

I/O

Transmit / receive data (differential)

N.C.

－

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

+5V

RTS

DTR DSR RXD CTS TXD

4 3 2

9 8 7

2.9.1.2. CN1 Signal List

Table 2-16: Signal list

Signal name

I/O

Function

TXD

Output

Transmit data

CTS

Input

Clear to send

RXD

Input

Receive data

DSR

Input

Data set ready

DTR

Output

Data terminal ready

–

Digital signal ground

RTS

Output

Ready to send

+5V

Output

Never connect

–

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

PI0

(EMST)

PO0

(DRDY)

PI1

(ACLR)

PO1

(WRN)

PI2

(OTP)

PO2

(OTPA)

PI3

(OTM)

PO3

(OTMA)

PI4

(SVON)

PO4

(SVST)

PI5

(RUN)

PO5

(BUSY)

PI6

(STP)

PO6

(IPOS)

10 － 35

PO7

(NEARA)

PI7

(PRG0)

36 CHA

PI8

(PRG1)

37 *CHA

PI9

(PRG2)

38 CHB

PI10

(PRG3)

39 *CHB

PI11

(PRG4)

40 CHZ

PI12

(PRG5)

41 *CHZ

PI13

(PRG6)

42 － 18

PI14

(PRG7)

43 SGND

PI15

(JOG)

44 AIN+

PI16

(DIR)

45 AIN-

－

22 CWP+

47 －

23 CWP-

48 － 24 CCWP+

49 － 25 CCWP-

－

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

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

PI0

EMST

Emergency stop

Terminates positioning operation and the Motor stops by the dynamic break.

PI1

ACLR

Alarm clear

Clears warning.

PI2

OTP

Over travel limit, + direction

If OTP goes active, the Motor servo is locked in the CW direction.

PI3

OTM

Over travel limit, - direction

If OTM goes active, the Motor servo is locked in the CCW direction.

PI4

SVON

Servo-on

If SVON goes active, the servo turns on and the System waits for a command to be entered.

PI5

RUN

Start program

Starts program operation specified by the PRG input.

PI6

STP

Stop

Stops positioning operation and execution of the program.

10 - -

Do not connect

PI7

PRG0

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.

PI8

PRG1

Internal program channel selection 1

PI9

PRG2

Internal program channel selection 2

PI10

PRG3

Internal program channel selection 3

PI11

PRG4

Internal program channel selection 4

PI12

PRG5

Internal program channel selection 5

PI13

PRG6

Internal program channel selection 6

PI14

PRG7

Internal program channel selection 7

PI15

JOG

Jogging

If JOG goes active, the Motor rotates If it goes inactive, the Motor decelerates and stops.

PI16

DIR

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

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.)

PO1

WRN

Negative

Warning

Warns abnormality in the System.

PO2

OTPA

Negative

Over travel limit (+ direction) detected

Reports the output of over travel limit (software and hardware) in the plus direction.

PO3

OTMA

Negative

Over travel limit (- direction) detected

Reports the output of over travel limit (software and hardware) in the minus direction.

PO4

SVST

Positive

Servo state

Reports the state of servo.

PO5

BUSY

Positive

In-operation

Reports the state of positioning operation.

PO6

IPOS

Positive

In-position

Reports the condition of positioning error and the positioning operation.

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.

–

*CHA

–

Position feedback signal ø*A

38 – CHB

–

Position feedback signal øB

–

*CHB

–

Position feedback signal ø*B

40 – CHZ

–

Position feedback signal øZ

–

*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－

User’s 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－

User’s 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

Signal name

Function

INC-A

Incremental resolve signal øA

INC-B

Incremental resolver signal øB

INC-C

Incremental resolver signal øC

ABS-A

Absolute resolver signal øA+

ABS-B

Absolute resolver signal øB+

ABS-C

Absolute resolver signal øC+

ABC-COMMON

Absolute resolver common

INC-COMMON

Incremental resolver common

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 thermal sensor input

2.12.2. CN4 Signal List

Table 2-29: Signal list

Pin No.

Signal name

Function

Motor winding ø U

Motor winding ø V

Motor winding ø W

R+

External regeneration resistor terminal

R-

External regeneration resistor terminal

SE+

External regeneration resistor thermal sensor input*

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

Fixed surface

A(M6)

Fixed surface

B(M5)

Tightening torque

[N･m]

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

6 to 7.5

Table 3-2: Bolt tightening torque and screw insertion depth

Motor type

PN2 series

PN3

series

PN4 series

Tightening torque

[N･m]

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

[N･m]

3.4 or less

7.8 or less

5.3 to 6.5

7.8 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

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 [kg･m2]

Recommended load moment of

inertia [kg･m2]

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

/(r2 × GD

) ≤ 5

Where GD

= inertia of indirectly connected load, GD

= 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 1.2N･m.

！

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

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

SW1

SW2

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

CWP+ 23

CWP– 24

CCWP+

CCWP–

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

User’s 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

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.

ENT

: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 :_

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;

ENT

0 ?

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

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.)



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)

: Space key

Note 2)

: 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

2) Set the parameter MV to 0.5 [s-1]

Enter as Parameter code + data.

:MV0.5 :_

. = V

0 ?

ENT

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

ENT

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. RS-232C Communication and USB Communication

— 4-4 —

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

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

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 :_

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. RS-232C Communication and USB Communication

— 4-5 —

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

1 #

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

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. RS-232C Communication and USB Communication

— 4-6 —

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. RS-232C Communication and USB Communication

— 4-7 —

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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4. RS-232C Communication and USB Communication

— 4-8 —

 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

Page 85

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

Page 86

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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4. RS-232C Communication and USB Communication

— 4-11 —

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.

！

Page 88

4. RS-232C Communication and USB Communication

— 4-12 —

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 “:”.

Page 89

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. RS-232C Communication and USB Communication

— 4-14 —

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. RS-232C Communication and USB Communication

— 4-15 —

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

— 4-16 —

 Input the command WWC for cancellation of Multi-monitor.

Page 93

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.

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

Satisfied?

YES

Satisfied?

YES

Satisfied?

YES

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 :_

Page 94

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

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.

Page 96

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

2 $

SP … SP

4) Input the password. The screen displays an acknowledgement.

:/NSK ON NSK ON :_

K N S

ENT

5) Input the command SI (Set initial parameters) to initialize the parameters. The initialization will start.

:/NSK ON NSK ON :SI :_

ENT

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

0.000

PGL

0.001

FP*

VG*1

1.50

FS*

VGL

1.50

NP*

NPQ

0.25

50.00

0.00

NSQ

0.25

100.00

DBP

GP 0

100.00

0.0

100.00

*1:Adjustment of these parameters are necessary for tuning level 1 and 2.

:TS1

PG0.05;

ENT

1 #

SP … SP

Page 97

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

Load inertia

Servo gain

Position gain

Velocity gain

Primary low-pass filter frequency

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 ?_

ENT

 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]

ENT

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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.

Page 99

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 :_

ENT

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 :_

0 ? M 1 #

ENT

. =

5) Display the menu of the demonstration program on the screen.

: : :SP/AJ 0>ID9000;_

P / S

ENT

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. Tuning

— 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 :>_

ENT

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 :>_

ENT

 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.