NSK Megatorque Motor EGA Startup Manual

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 

MEGATORQUE MOTOR

SYSTEM

Start-up Guide

(Driver Model EGA)

NSK Ltd.

Document No.C20195-02

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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

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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.

Table fixing bolt

Mounting base

MEGATORQUE

MOTOR

Flatness of mounting surface: 0.02 mm or less.

Motor fixing bolt

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.

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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

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 

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25 OUT-COM General output Common

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4. CN1 wiring example

15 CONT8

ALM

CN1

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

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

3 4 /AO 5 BO 6 /BO 7 ZO 8 /ZO

12 SG

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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.

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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

“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

(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”

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

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)”.

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

Display Description Check points to get proper state

Control power supply established. Control power supply (r, t) is established,



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”.

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・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.

8.2 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)”.

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Alarm code 44 : Magnetic pole position

estimation error

Start homing

Homing completion



ON



ON

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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

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°

Home

Rise up of 1st Z phase signal (Home)

Home sensor turn off position

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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

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