NSK Megatorque Motor EGA Startup Manual

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 
TM
MEGATORQUE MOTOR
SYSTEM
Start-up Guide
NSK Ltd.
DocumentNo.C20195-02
Page 2
1. Preface
Electromagnetic contactor
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
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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.
2
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CN1 signal and Pin number.
49 47 45 43 41 39 37 35 33 31 29 27 50 48 46 44 42 40 38 36 34 32 30 28 26
CN1 10150-3000PE (Soldering side view)
24 22 20 18 16 14 12 10 8 6 4 2
25 23 21 19 17 15 13 11 9 7 5 3 1
Signal name and its function. (shipping set) Terminal
number
Signal
name
Description
1 - Do not connect 2 - Do not connect
3 A0 A phase pulse output 4 A0 /A phase pulse output 5 BO B phase pulse output 6 BO /B phase pulse output 7 ZO Z phase pulse output
8 ZO /Z phase pulse output
Terminal
number
Signal
name
Description
30 MON1 Analog monitor output 31 SG Common for pin 30
13 CONT7
Position command pulse disabled function/shutdown at
14 CONT7
zero velocity function
15 CONT8
Alarm reset function
16 CONT8 38 SG Common for pins 13 to 16
32 CONT6 CW over travel function
9 PS Resolver signal output
10 PS /Resolver signal output 11 ZOP Z phase pulse output
12 SG Common for pins 3 to 11 17 - Do not connect
18 - Do not connect 19 - Do not connect 20 - Do not connect
21 - Do not connect 22
T-COMP
Torque compensation input
23 SG Common for pin 22 26 F-PC CW command pulse input
27 F-PC CW command pulse input 28 R-PC CCW command pulse input 29 R-PC CCW command pulse input 47 SG Common for pins 26 and 27
33 CONT5 CCW over travel function 34 CONT4 Deviation clear function
35 CONT3
Magnetic pole position estimation input
36 CONT2 Emergency stop function 37 CONT1 Servo-ON function
50
CONT-COM
General input power supply 39 OUT1 In-Position window 40 OUT2
Magnetic pole position estimation ready
41 OUT3 Operation setup completion 42 OUT4
Magnetic pole position estimation end
43 OUT5 Alarm code bit 5 44 OUT6 Alarm code bit 6
45 OUT7 Alarm code bit 7 46 OUT8 Alarm status 49 OUT-PWR Power source for general output 24 OUT-COM General output Common
48 SG Common for pins 28 and 29
25 OUT-COM General output Common
3
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4. CN1 wiring example
15 CONT8
ALM
AO
CN1
SG
SG
Polarity of the power supply may be reversed to minus common.
5/12/24 [VDC]
Magnetic pole position estimation input
Position command pulse disabled function
5/12/24 [VDC]
Magnetic pole position estimation ready
Operation setup completion
Magnetic pole position estimation end
Host equipment Driver model EGA
Servo-ON function
Emergency stop function
Deviation clear function
CCW over travel function
CW over travel function
Alarm reset function
CW command pulse input
CCW command pulse input
In-Position window
Alarm status
SG
SG
50 CONT-COM 37 CONT1
36 CONT2 35 CONT3 34 CONT4 33 CONT5 32 CONT6
13 CONT7 38 SG
38 SG
26 F-PC 27 /F-PC 47 SG 28 R-PC 29 /R-PC 48 SG
49 OUT-PWR 39 INP 40 CSETRDY 41 S-RDY 42 CSETCMP 46
24,25
OUT-COM
A phase pulse output
B phase pulse output
Z phase pulse output
SG
FG
3 4 /AO 5 BO 6 /BO 7 ZO 8 /ZO
12 SG
4
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5. Initial setting
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
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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 01AutoTun_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 3Command 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.
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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]
  JRAT1 setting value = (0.026 / 0.0026) × 100 = 1000 [%]
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.
8.2Magnetic 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.
Adjust setting value of Gr.B_ID01:Excitation Command Frequency setting (EMPFREQ) Adjust setting value of Gr.B_ID02:Acceleration threshold (ACC).
7
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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
8.3Homing
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
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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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