This manual describes necessary procedure to perform PB motor operation as a startup guid e. Refer manual
M-E099GA0C2-191 for detail.
Please use application software “MEGATORQUE MOTOR SETUP ” to set parameter setting value of model
EGA driver. “MEGATORQUE MOTOR SETUP” is a free software which can be downloaded from NSK
Website.
(http://www.nsk.com/)
2. System configuration
For high-frequency operation, use an external
regenerative resistor.
T S R
Citcuit Breaker
Used to protect power line.
Turns off the power supply when
overload runs.
Noise filter
Installed to protect power line from
external noise.
Switches power On/Off.
Please place safeguard circuit.
External regenerative resistor
Enables parameter set up and monitoring
through communication with a PC.
RS-232C
MEGATORQUE
MOTOR SETUP
Host equipment
Motor cable
1
Converter cable
Converter
Motor
Page 3
3. Motor of installation
Table
Install and secure the Motor on a rigid base, otherwise mechanical vibrations may occur. And fail to magnetic
pole detecting.
OK
Table fixing bolt
Mounting base
MEGATORQUE
MOTOR
Flatness of mounting
surface: 0.02 mm or less.
Motor fixing bolt
NG
The load is not directly
applied to the motor rotor.
The motor is not directly
installed on the mounting
base.
■Checking the operating conditions
The MEGATORQUE MOT OR system involves significantly larger moment of inertia for lo ad compared to
the moment of inertial for rotor.
Load
MEGATORQUE
MOTOR
Mounting base
✔ Remember to check for appropriate allowable moment load, allowable axial load and allowable
radial load for your specific applications of the motor.
Please change parameter setting value of Model EGA driver required according to the conditions to be used.
Use application software “MEGATORQUE MOTOR SETUP” to set the parameters.
◆ Single phase AC main power
Change “System parameter_ID01 : main circuit power input type” to “01 : AC Single-phase”, then connect
AC power line
to terminal R and T of connector CNA.
◆ CN1 I/O signal configuration
The pin-out arrangement and polarity of signals from CONT1 to CONT8 can be changed by setting of
parameter “Gr.9_Function enabling condition settings”, and pin-out arrangement of signals from OUT1 to OUT8
can be changed by “Gr.A_General output terminal output condition / Monitor output selection / Serial
communication settings”.
Input signals “Gr.9_ID00:CW Over Travel function(F-OT)”, “Gr.9_ID01:CCW CW Over Travel
function(R-OT)”, and “Gr.9_ID42:Emergency Stop Function(EMR)” are normal close polarity input as
shipping set.
To enable motor operation, wire these input signals properly, or change its polarity by parameter setting value.
6. Operation sequence
Control source
0 msec (Min)
Main circuit power
Magnetic Pole Position Estimation
ready signal (output)
Magnetic Pole Position Estimation
input signal (input)
Magnetic Pole Position Estimation
end signal (output)
Operation set up completion signal (output)
Servo On signal (input)
Pulse command
Motor speed
In Position window (output)
power is turned on.
:
The m agnetic pole position estimation must be conducted everytime when
Magnetic pole position estimation will cause the motor rotation reciprocally
maximum of +/-18 degree.
Do not apply external and/or unbalanced force to the motor to complete
magnetic pole position estimation process properly.
Start motor operation after completion of magnetic pole estimation process.
:
Install external Home sensor if homing operation is required.
Motor incorporates incremental sensor, no absolute sensor is incorporated.
5
Page 7
7. Motor operation
and driver
ready (RDY) is ON.
completion signal is ON.
Ste
Content
Confirm wiring for Input and Output signals.
Confirm wiring for Input / Output signals work properly by Host equipment and application software
1
“MEGATORQUE MOTOR SET UP”.
Set Tuning mode and L oad inertia moment rati o.
Set Tuning mode “Gr.0_ID00 : Tuning mode (TUNMODE)” to 01:AutoTun_JRAT-Fix”.
Set the ratio of Load moment inertia against Motor ro tor inertia to “Gr.1_ID14:Load inertia moment ratio 1
2
(JRAT1)”.
JRAT1 setting value = (Load moment inertia) / (Motor rotor inertia) × 100 [%]
Execute Magnetic pole position estimation.
Close “Magnetic pole position estimation” input after confirming “Magnetic pole position estimation ready”
3
output. Motor will start maximum +/-18 degree reciprocal motion.
Close Servo On.
Close Servo On input signal. Confirm motor servo against external force, and 7 segment display on the front
4
panel of model EGA driver shows character “8”.
Input pulse command.
Input Pulse command to model EGA driver.
In case of no motor motion, please check pulse command from host equipment to model EGA driver which can
be confirmed by monitor function “Monitor _ID1 3:Command pulse frequency (FMON1)”.
5
No number (“0”) appears on monitor if Model EGA driver does not receive position command pulse from host
equipment.
Please check wiring from host equipment to model EGA driver.
Note:
Apply slow motor speed pulse command to confirm motor speed and motor rotating direction with secured
interlock signals such as Emergency stop and Over travel.
Stop motor operation immediately in case of any abnormal motion.
※
Shipping set of Tuning mode “Gr.0_ID00 : Tuning mode (TUNMODE)” is “00” as Auto-tuning for such as
servo gain and is valid.
■ Display of the Digital operator
NO
1
Display Description Check points to get proper state
Control power supply established.
Control power supply (r, t) is established,
-
2
3
4
Main circuit power supply established.
Main power supply (R, S and T) is
established, but operation preparation
・Confirm main AC voltage line
connected to model EGA driver.
completion signal is OFF.
Operation preparation completion signal is
established.
Main power supply (R, S and T) is
established, and operation preparation
Servo is ON.
Segment repeats on and off individually to
display character “8”.
6
・Confirm input signal polarity of Over
travel and Emergency stop.
・Confirm magnet pole position
estimation has completed properly.
・Confirm Servo On input signal is closed
properly.
Page 8
8. Important notation.
8.1 Ratio of Load moment inertia ag ainst Motor rotor inertia.
Model EGA driver features Auto Tuning function which generates servo parameters automatically by parameter
setting value of ratio of Load moment inertia against Motor rotor inertia, a nd motor responsiveness. No Manual
tuning is required if motor performance is fully satisfied.
Before starting motor operation, change parameter setting of “Gr.0_ID00:Tuning mode(TUNMODE)” to “01:
AutoTun_JRAT-Fix”(This setting changes a mode from a real time auto tuning mode to an auto tuning mode), then
enter ratio of Load moment iner tia against motor rotor inertia to “Gr.1_ID14:Load inertia moment ratio 1
(JRAT1)”.
Please refer PB motor catalog for the value of Motor rotor inertia. Motor operation does not required to enter
value to “Gr.1_ID14:Load inertia moment ratio 1 (JRAT1)”.
Formula for Load inertia moment ratio JRAT1:
JRAT1 = (Loa d moment of inertia) / (Motor rotor moment of inertia) × 100 [%]
【Example】
・Load moment of inertia: 0.026 [kg・m2]
・Motor rotor moment of inertia : M-PB1006JN001:0.0026 [kg・m2]
If Load moment of inertia value is not available, enter value listed in the table below as a temporary setting
value.
Temporary setting value of Load moment of inertia ratio
Load moment of inertia JRAT1 : Load moment of inertia ratio
[%]
Relatively small 1000
Relatively large 5000
Although temporary setting value for JRAT1 may able to provide some degree of performance, enter proper
JRAT 1 value for faster motor speed and better accuracy positioning operation.
To improve responsiveness of motor motion and positioning settling time, increase “Gr.0_ID00:Auto-Tuning
response (ATRES)” setting value gradually. Decrease “Gr.0_ID00:Auto-Tuning response (ATRES)” setting value
to reduce motor oscillation.
Manual tuning is reco mmended if motor performance is not sufficient using Auto Tuning function. Please refer
manual M-E099GA0C2-190 how to implement manual tuning.
8.2 Magnetic pole position estimation
Model EGA driver requires Magnetic pole position estimation every time when power is turned on.
In case of situation described in below whic h may affect Magnetic pole position estimation, please adjust
“Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)” and “Gr.B_ID02:Acceleration threshold
(ACC)” with considering conditions of equipment.
◆ Conditions which may affect Magnetic pole position estimation.
・ Motor has external and/or unbalanced force.
・ Low rigidity of equipment. (Base, Load, Installation)
・ Excessive Load moment of inertia.
・ Frequency setting value of “Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)” is close to
resonance frequency of equipment.
・ Motor combined with improper converter unit.
◆ Parameter setting procedure to solve “Magnetic pole position estimation error”.
① Adjust setting value of “Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ)”
② Adjust setting value of “Gr.B_ID02:Acceleration threshold (ACC)”.
7
Page 9
Alarm code 44 : Magnetic pole position
estimation error
Start homing
Homing completion
ON
ON
ON
ON
Read out
RESANG
[Pulse]
65535
◆ Alarm code for “Magnetic pole position estimation error”.
Driver condition code at alarm 9 : Implementing Magnetic pole position estim ation
8.3 Homing
Motor does not incorporate home sensor. Homing must be operated by host equipment using external home
sensor referring homing sequence and home sensor setting position described in below.
Motor motion
Home sensor
Z phase signal pulse
ON
OFF
OFF
OFF
OFF
Home
Example of homing sequence
To secure home position by detectin g r ise up of Z phase signal properly, turn off point of home sensor must be
adjusted at the middle point between Z phase signal described in below. Adjust home sensor turn off position
around 32767 [pulse] by monitoring motor position using “Monitor_ID80:Resolver sensor electric
angle(RESANG)”.
Home sensor
Z phase signal
ON
OFF
OFF
Middle point
Motor angle 4.5°
0
Home
Rise up of 1st Z phase signal
(Home)
Home sensor turn off position
8
Page 10
9. Related document
・Please refer manual M-E099GA0C2-191 about the detail of Parameters, Tuning procedure, Alarm and
Optional parts.
・Please use application software ”MEGATORQUE MOTOR SETUP” to Edit parameters, and Monitor
signals. Refer HELP for instruction manual.
10. Major section and page number to refer in manual M-E099GA0C2-191
Item Section Page no.
Motor specifications 2 2-1
Specifications of driver 2-3
Specifications of converter 2-12
Motor installation 3 3-4
Set main circuit power input type as Single phase AC
power
Motor and signal state at occurrence of alarm 5-12
Monitor Input / Output signal sta te 5-16
5 5-1
Parameters for tuning. 5-29
Servo Tuning functions and basic adjustment procedure 6 6-1
Set Load inertia moment 6-9
Manual tuning 6-13
Digital operator 7 7-1
List of warning and alarm 8 8-3
Trouble shooting when alar m activated 8-7
Optional parts 9 9-7
Install product in safety.
Safety precautions
ⅰ〜ⅹⅰ
9
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