NSK EDD Megatorque Motor User Manual Download Page 340

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Summary of Contents for EDD Megatorque Motor

Page 1: ...MEGATORQUE MOTORTM SYSTEM User s Manual Driver Unit Model EDD Document Number C20201 01 M E099DD0C2 201 ...

Page 2: ... damages loss of profits and or personal injury as a result of claim arising under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2019 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writi...

Page 3: ...ion 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 w...

Page 4: ...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 o...

Page 5: ...y 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 tunin...

Page 6: ...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 alar...

Page 7: ...r the imput a prompt appears again press the ENT key when the prompt appears again Thus the input EMST is set to the normally open contact AB0 _ ENT B A ENT 0 5 Input the command SV Servo on to turn on the servo of the Motor SV _ V S ENT When setting the input OTP to the normally closed contact input the command PI2 and follow the procedure above When setting the input OTM to the normally closed c...

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Page 9: ...equirements 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 im...

Page 10: ...nvironmental 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 ...

Page 11: ...ing 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 pane...

Page 12: ...nd 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 ...

Page 13: ... 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 1...

Page 14: ...tion 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 ...

Page 15: ...ay 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...

Page 16: ... 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...

Page 17: ...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: ... 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 rep...

Page 19: ...ine 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 u...

Page 20: ...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 A...

Page 21: ...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...

Page 22: ...ity 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 f...

Page 23: ...ositioning operation Number of input pulses governs the positioning operation PLC Positioning control unit Position controller Pulse output RS 232C communication RS 232C serial communication The master controller outputs directly the positioning command Program operation Program start command starts positioning operation Jogging operation The Jog operation command moves the Motor to any point Home...

Page 24: ...ingle 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 2...

Page 25: ...solver 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: ...er 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 ...

Page 27: ...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: ...ing 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: ...r 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...

Page 31: ...P Space key Note 2 BS Back space key Note 3 ENT Enter key Note 4 Frame LCD Note 1 SHIFT Press number key while pressing the SHIFT key to enter a code key The superscript of each numeric key may be entered 2 SP Use this key to input a blank between letters 3 BS BS Press the BS key when correcting logged in mistakes 4 ENT Press the key at the end of a command or parameter setting Connector ESC Escap...

Page 32: ...2 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 ...

Page 33: ...SDP03 Flexible cable 1 M C001SDP13 2 M C002SDP13 3 M C003SDP13 4 M C004SDP13 5 M C005SDP13 6 M C006SDP13 8 M C008SDP13 10 M C010SDP13 15 M C015SDP13 20 M C020SDP13 30 M C030SDP13 The mass of the stationary cable 4 m M C004SDP03 is 0 85 kg The mass of the flexible cable 4 m M C004SDP13 is 0 85 kg 2 4 3 Handy Terminal For parameter and program input Handy Terminal is required for inputting parameter...

Page 34: ...uivalent Table 2 6 Specifications of PS3 Motor Reference number Items Unit M PS3015KN002 M PS3030KN002 M PS3060KN002 M PS3090KN002 Motor outside diameter mm ø 150 Maximum output torque 1 N m 15 15 30 30 60 60 90 90 Rated output torque 1 N m 5 5 10 10 20 20 30 30 Motor height mm 85 102 136 170 Hollow diameter mm ø 56 Maximum rotational speed 1 s 1 10 4 10 3 8 2 5 5 1 5 Rated rotational speed 1 s 1 ...

Page 35: ...ee from condensation dust and corrosive gas IP30 equivalent 2 5 3 PX Series Table 2 8 Specifications of PX Motor Reference number Item Unit M PX3050KN502 Motor outside diameter mm ø 160 Maximum output torque 1 N m 50 Rated output torque 1 N m 14 Motor height mm 130 Hollow diameter mm 35 Maximum rotational speed 1 s 1 10 Rated rotational speed 1 s 1 4 Resolution of position sensor count revolution ...

Page 36: ...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 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 T...

Page 37: ...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 cab...

Page 38: ...ch 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 vibrati...

Page 39: ...tch 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 s...

Page 40: ...tch 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 s...

Page 41: ...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 R...

Page 42: ...he 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 ...

Page 43: ... 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...

Page 44: ...s 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: ...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...

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: ...ning 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 th...

Page 48: ... 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...

Page 49: ...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 VBUS 5 4 3 2 1 2 8 1 2 CN0 Signal List Table 2...

Page 50: ...Japan Aviation Electronics Industry Ltd DELC J9SAF 13L9E or equivalent Mating connector type DE 9PF N or equivalent Mating connector shell type DE C2 J6R or equivalent The user shall provide these connectors They are not necessary if NSK Handy Terminal FHT 21 is used 2 9 1 1 CN1 Pin Out Fig 2 33 Pin out FG 5V RTS SG DTR DSR RXD CTS TXD 5 4 3 2 1 9 8 7 6 2 9 1 2 CN1 Signal List Table 2 16 Signal li...

Page 51: ...nd 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 conne...

Page 52: ...ue 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 chan...

Page 53: ...able 23 CWP CW pulse train 24 CCWP CCW pulse train Pulse train command rotates the Motor in the CCW direction 25 CCWP CCW pulse train Output 26 COM Output signal common Common for output signal 27 COM Output signal common 28 PO0 DRDY Positive Driver Unit ready Reports that the Motor is ready to rotate Those pins are open when the Motor is not ready or an alarm occurs 29 PO1 WRN Negative Warning Wa...

Page 54: ...EC 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 va...

Page 55: ...o 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: ...river 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 6...

Page 57: ...fications 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: ...de 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 receiv...

Page 59: ...utput 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: ... 1 INC A 8 ABS COM 2 INC B 9 INC COM 3 INC C 10 4 11 5 ABS A 12 6 ABS B 13 7 ABS C 14 FG 2 11 2 CN3 Signal List Table 2 27 Signal list Pin Signal name Function 1 INC A Incremental resolve signal øA 2 INC B Incremental resolver signal øB 3 INC C Incremental resolver signal øC 5 ABS A Absolute resolver signal øA 6 ABS B Absolute resolver signal øB 7 ABS C Absolute resolver signal øC 8 ABC COMMON Abs...

Page 61: ...ame Function 1 U Motor winding ø U 2 V Motor winding ø V 3 W Motor winding ø W 5 R External regeneration resistor terminal 6 R External regeneration resistor terminal 7 SE External regeneration resistor thermal sensor input 8 SE External regeneration resistor thermal sensor input Short these pins if external regeneration resistor is not in use If they remain open the alarm of over heat occurs Dang...

Page 62: ...VAC 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 ...

Page 63: ...erence 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 Maximu...

Page 64: ...mounting surface flatness should be 0 02 mm or less The Motor can be installed either horizontally or vertically The bolt tightening torque and screw insertion depth should be as follows Table 3 1 Bolt tightening torque and screw insertion depth Motor type PS1 series PS3 series PX3 series Bolt hole M4 M6 Fixed surface A M6 Fixed surface B M5 Tightening torque N m 3 4 or less 13 or less 14 or less ...

Page 65: ...r 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...

Page 66: ... 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 roto...

Page 67: ... 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 ...

Page 68: ...e 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 ...

Page 69: ...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 ...

Page 70: ...ler pulse train output PLC etc 24 VDC power supply CN4 CN2 CN3 ELB1 MC1 Input signal 24 V DRDY COM RY1 NF1 24 V GND ELB1 Short circuit breaker CB1 No fuse breaker NF1 Noise filter MC1 Magnetic switch RY1 Relay SW1 Main power switch ON SW2 Main switch OFF NF SW1 SW2 MC1 MC1 RY1 CB1 Caution We recommend the noise filter below for compliance with the EMC Directive FN2070 10 06 Schaffner EMC Ltd or eq...

Page 71: ...g 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 ...

Page 72: ...ecurely 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 t...

Page 73: ...e 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...

Page 74: ... 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 ...

Page 75: ...rmally take appropriate measures referring to 11 Alarm and Warning 4 The output SVST Servo state closes when the Motor servo is on 5 Then input a necessary operation command Fig 3 12 Flow of Power on and Servo on Timer Power on Alarm Start servo on Operating Motor User controller side Driver Unit side Intialization DRDY closes DRDY opens SVON NG OK Opens Closes DRDY check Error check Action for al...

Page 76: ...tate 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 ...

Page 77: ...n 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: ...sure that the power of the Driver Unit is turned off Appearance and function of each part Fig 4 1 Handy Terminal M FHT31 Cable Cable length Numeric keys Code keys superscript Alphabet keys Special code keys SHIFT Shift key Note 1 CTRL Control key Not used SP Space key Note 2 BS Back space key Note 3 ENT Enter key Note 4 Frame LCD Note 1 SHIFT Press a numeric key while pressing the SHIFT key to ent...

Page 79: ... MV1 000 _ M ENT V 2 Set the parameter MV to 0 5 s 1 Enter as Parameter code data MV0 5 _ V 0 M ENT 5 This completes the setting when the colon appears on the screen Caution Confirm that the colon is on the screen when turning off the power of the Driver Unit after the setting of parameters Otherwise the alarm E2 ROM error may occur when the power is on next time 4 1 2 1 Input of the Password Seve...

Page 80: ...r velocity to the shipping set Enter as Parameter code RS MV RS _ R V M ENT S 4 1 3 Readout of Parameter The following example describes how to read out the parameter VG Velocity gain 1 Check the current setting of the parameter VG Enter Parameter code as VG VG0 50 _ V ENT G The current setting of the VG is displayed and the prompt semicolon is on the bottom line 2 An input of the SP key reads out...

Page 81: ...P 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 co...

Page 82: ... 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 ...

Page 83: ... 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 C...

Page 84: ...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 ...

Page 85: ...tup 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 download...

Page 86: ...ver 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 cod...

Page 87: ...he 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 stand by state for command entry Then set a parameter or a command ...

Page 88: ...bes 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...

Page 89: ...nd 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 read...

Page 90: ...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 midd...

Page 91: ... 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 ...

Page 92: ...4 RS 232C Communication and USB Communication 4 16 Input the command WWC for cancellation of Multi monitor ...

Page 93: ...nit Caution Make sure that the LED shows the System is in the normal state Turn on the power of the Driver Unit and confirm that the screen of Handy Terminal displays the message shown below NO 5 3 1 Input of Load Inertia 5 3 2 Minor Tuning of Servo Gains 5 5 Setting Filter 5 4 Manual Tuning Satisfied YES NO YES NO Satisfied YES NO Satisfied YES NO Satisfied YES NO Tuning Level 1 This is the basic...

Page 94: ...g 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 Conne...

Page 95: ... 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 S...

Page 96: ...n the same way as above and record the readouts TL100 00 GP0 TS2 FO0 000_ ENT S 2 T SP SP 4 Input the password The screen displays an acknowledgement NSK ON NSK ON _ K N S SP N ENT O 5 Input the command SI Set initial parameters to initialize the parameters The initialization will start NSK ON NSK ON SI _ I ENT S The prompt colon will appear when the initialization completes Table 5 1 Servo parame...

Page 97: ...s area 1 Confirm that the LED on the front panel of Driver Unit indicates the System is in the normal state Normally 2 Input the command AT Automatic tuning AT AT Ready OK _ T ENT A If the message COND MISMATCH appears on the screen check if the input STP Stop a warning or an alarm is on then input the command AT again 3 Input OK for the confirmation The Motor servo automatically activates and the...

Page 98: ... 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 OV...

Page 99: ...state 4 Lower the Motor velocity MV to 0 1 s 1 for a trial running MV0 1 _ V 0 M 1 ENT 5 Display the menu of the demonstration program on the screen SP AJ 0 ID9000 _ P S J ENT A The program for trial running appears on the screen 6 Input the SP key to scroll the program to the end 2 ID 9000 3 TI500 0 4 JP256 _ SP SP The following program appears on the screen Refer to 6 3 2 3 Programming for chang...

Page 100: ...e System gets in the normal waiting state for command entry 5 SP AJ Ready OK OK _ K ENT O The Motor starts a cyclic motion as soon as you input the OK message Firstly the Motor moves in CW direction 9 Stop the Motor with the Command MS after confirmation of tuning results MS _ S ENT M Complete the tuning at this stage if the Motor operates normally If motion of the Motor is unstable execute the ne...

Page 101: ... an example when the load moment of inertia is 0 123 kg m2 1 Input the password The acknowledgement appears on the screen NSK ON NSK ON _ K N S SP N ENT O 2 Input the value of load inertia O 0 L 1 3 ENT 2 NSK ON NSK ON LO0 123 5 3 1 1 When the Load moment of inertia is Unknown When an estimation of load inertia is difficult temporally set a value referring to the criterion of load inertia in Table...

Page 102: ... servo loop gains Parameter Description PG Position gain position loop proportional gain VG Velocity gain velocity loop proportional gain When the automatic tuning is successfully completed the parameter SG has been set automatically for the estimated load inertia Leave the setting as is and start the minor tuning of the parameter SG If the automatic tuning has not been performed or the automatic ...

Page 103: ...alters the increment or the decrement for an input of the and keys This is to prevent abrupt change of SG value 2 Input the key several times observing the motion of the Motor SG AJ STEP 1 SG 10 _ SHIFT Pressing Observe how the responsiveness of the Motor improves as the SG setting increases 3 Keep pressing the key further until the Motor starts vibrating slightly and stops its reciprocating motio...

Page 104: ... displayed An input of the BS key reset to the setting before the tuning SG AJ STEP 1 SG 13 PG0 26 _ ENT Each setting is indicated with the prompt colon and the screen pauses the indication at this stage 7 Input the SP key An input of the BS key will abort the readout SG 13 PG0 26 VG2 81 _ SP SP ...

Page 105: ...2 4 Trial Running 5 4 2 Setting Velocity Loop Proportional Gain VG Perform a minor tuning of the parameter VG Velocity loop proportional gain 1 Input Parameter code AJ The screen changes as shown below then the parameter VG value can be changed by the keys and VG AJ STEP 0 10 VG 0 50 _ G V J ENT A Current value Increment decrement of VG value for an input of or key Caution An input of the keys SHI...

Page 106: ...G 6 Decrease the VG setting to 3 2 by pressing the key VG AJ STEP 0 10 VG 3 20 _ 7 Input the ENT key to complete a setting of the parameter VG The prompt colon appears for the confirmation VG AJ STEP 0 10 VG 3 20 _ ENT An input of the BS key returns to the setting before tuning The changing parameter VG will clear the parameter SG Servo gain to SG0 Setting of the parameter SG automatically sets th...

Page 107: ... start minor adjustment of the parameter FP Primary low pass filter 1 Input as Parameter code AJ The screen changes as shown below and you can change the FP value by the input of the keys and FP AJ STEP 10 FP 0 _ P F J ENT A Current setting Increment decrement of the FP value for an input of or key Caution An input of the keys SHIFT will alter the increment or the decrement of an input of the and ...

Page 108: ... pass filter FP0 _ ENT P 0 F 5 5 2 Setting Notch Filter When setting the notch filters NP and NS you need to measure the resonant frequency by checking the velocity waveform with the monitoring pins on the front panel of the Driver Unit by means of an oscilloscope etc or the EDD MEGATERM Check the resonant frequency as shown in Fig 5 3 Measuring resonance frequency If the frequency is 200 Hz type ...

Page 109: ...re Fig 6 1 Operation Procedure Check for the power voltage main power and control power Turn on the power then confirm that the power LED green and the 7 segments LED on the front panel of the Driver Unit are indicating normal state Confirm that the display of the Handy Terminal shows the screen for initial setting Power on 電源投入 Refer to 5 Tuning Tune the servo parameters Skip this part if all tun...

Page 110: ... The parameters and the commands of the Megatorque Motor System depend on the unit count of the resolution However the software over travel limit cannot be set in units of degree Table 6 2 Resolution of position scale Resolution of position scale Unit of count count revolution Unit of degree 0 01 revolution 2 621 440 36 000 Fig 6 2 Position scale system 1 310 720 counts 1 966 080 counts 90 180 270...

Page 111: ...ns is reversed as well All directions of positioning operation Directions of software travel limits Caution This manual expresses the plus direction for the count up direction the minus direction for the count down direction and the rotational direction not by the CW or CCW direction which is seen from the Motor output axis side The plus and minus directions depend on the setting of the parameter ...

Page 112: ...d for every power on because the Megatorque Motor System with Driver Unit Model EDD incorporates an absolute position sensor As shown in Fig 6 3 User home position and the parameter AO below the user absolute home position and the Motor absolute home position are set on the same position when the Motor is shipped When the user home position is changed by the command AZ or a Home Return operation t...

Page 113: ...input of the command AZ sets the current commanded position current position position error to the user absolute Home position The command AZ requires an input of the password NSK ON NSK ON AZ AO1203312 _ N SP Z ENT A N ENT O S K Execution of the command AZ changes the setting of the parameter AO The parameter AO is the offset between the Motor absolute position data and the user absolute home pos...

Page 114: ...its area below the parameters specify the off limits area into counting up direction of position scale from the point of the parameter OTP to the point of the parameter OTM The off limits area becomes effective if the difference between the parameter OTP and OTM is one pulse or more Fig 6 4 Software off limits area Counting up Off limits area OTM End of off limits area Counting up OTM End of the o...

Page 115: ...y teaching Input the SP key to put the prompt colon on the bottom line 5 Move the Motor to the position of minus side software over travel limit 6 Set the current position as the minus side software over travel limit Inputting the parameter OTM requires the password Input Parameter code ST N SP NSK ON NSK ON OTM ST OTM456789 _ ENT N ENT O S K T M O S T The parameter OTP is set by teaching Input th...

Page 116: ...n data can be directly set to the parameters OTP and OTM Software over travel The password is required in order to set the parameters OTP and OTM 1 Set the plus side over travel limit NSK ON NSK ON OTP123456 _ T P O 2 3 1 ENT 5 6 4 N S SP K N ENT O 2 Set the minus side over travel limit NSK ON NSK ON OTM456789 _ T M O 5 6 4 ENT 8 9 7 N S SP K N ENT O ...

Page 117: ...e direction Example AR100000 MI 0 to 2 621 439 ID Incremental positioning in units of degree 0 to 3 600 000 0 01 AD Absolute positioning in units of degree Shorter way 0 to 35 999 AD PL Absolute positioning in units of degree direction Example AD9000 PL 0 to 35 999 AD MI Absolute positioning in units of degree direction example AD9000 MI 0 to 35 999 IQ Incremental positioning with user scale 0 to ...

Page 118: ... mode ms ms BW BUSY signal stability timer 0 0 0 0 to 10 000 0 ms MD Deceleration select 0 0 0 0 Applies the deceleration value specified in the program being executed 0 1 to 800 0 s 2 OE Sequence code 0 0 Completes a positioning after the completion of channel program that is currently being executed 1 After completion of channel program that is currently executed the input RUN executes the progr...

Page 119: ...irst time after the power is turned on 1 Activate the input SVON Servo on to turn the Motor servo on 2 The output SVST Servo state closes when the Motor gets in the servo on state 3 Select the program channel with the inputs of PRG0 to 7 Internal program channel select Fix the selection 1 ms before the input RUN activates 4 The System executes a selected channel program when the input RUN turns ON...

Page 120: ...of the inputs PRG0 to 7 selects a channel to be executed Table 6 7 Channel selection Channel number Combination of PRG0 to 7 inputs ON OFF PRG7 PRG6 PRG5 PRG4 PRG3 PRG2 PRG1 PRG0 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 251 252 253 254 255 ...

Page 121: ... the plus direction The prompt is changed to from the colon The prompt indicates that the local parameter is applicable This means that parameters MV and MA specified in this channel are temporarily effective When the program of channel 0 completes after the Motor moved for 90 the global parameter becomes effective again for the channel program Confirm completion of the positioning then input the ...

Page 122: ...f channel Table 6 8 Program editing command and exclusive command of channel Category Name code Function Data Unit Editing command Requires the password CH Editing channel 0 to 255 channel CC Clears program in a channel 0 to 255 256 Initialize the demonstration program channel CC AL Clears program of all channel and initializes the demonstration program CD Deletes a specified channel thus the numb...

Page 123: ...fied channel 0 H C ENT CH0 0 _ 2 Input the parameter and the positioning command following the prompt line number and When an input to the line is confirmed by an entry of the ENT key the next line appears for an input V 0 M 0 D 9 I 0 5 ENT 0 ENT CH0 0 MV0 5 1 ID9000 2 _ 3 For completion of editing input the ENT key when the prompt line number and is on the bottom line 0 MV0 5 1 ID9000 2 _ ENT The...

Page 124: ...the BS key to enter the editing mode of the line CH0 0 MV0 500 1 ID9000 1 _ BS The prompt line number and appears on the bottom line 3 Input the new positioning command 0 MV0 500 1 ID9000 1 ID4500 2 _ 5 D 4 I 0 0 ENT Completion of the input shows the next line with line number of 2 4 Press the ENT key while the prompt line number and is on the bottom line 1 ID9000 1 ID4500 2 _ ENT This completes t...

Page 125: ...line and get in the editing mode of the line CH0 0 MV0 500 1 ID9000 1 _ BS The prompt line number and appears on the bottom line 3 Inserting or deleting the line Insert a new line by the command LI Insert a line 0 MV0 500 1 ID9000 1 LI 1 I L ENT As the new line is blank the prompt is only set the editing mode by the BS key to input the new command Delete a blank line by the command LD Delete a lin...

Page 126: ...ther way of reading out a program line An input of following the prompt line number will repeat the program starting from the current line An input of S following the prompt line number will repeat whole program starting the top line 0 MV0 500 1 ID4500 2 S 0 MV0 500 _ S ENT An input of E following the prompt line number jumps to the end line of the program and the System waits for next input Pleas...

Page 127: ...s Input the command TC Tell channel program TC AL TC0 0 MV0 500 1 ID9000 _ ENT C T L A It reads out the contents of the channel program Press the SP key to scroll the next line Press the BS to abort the readout Deletion of channel program You may delete all programs in a specified channel An example below shows how to delete the contents of channel 10 Input the command CC Clear channel CC10 _ 0 C ...

Page 128: ...xample of unconditional jump and dwell timer CH0 0 ID9000 1 TI1000 0 2 JP0 3 _ Dwell time 1 second Jump to the top line of the channel 0 Program body Processing pauses at this position until the positioning competes RUN input 90 incremental motion to the plus direction Specify the channel 0 by the input PRG Internal program channel select then input the input RUN Start program This repeats an incr...

Page 129: ...cremental 90 positioning to the plus direction Every input of the RUN signal executes the channel program of the next channel number regardless of the state of PRG input Activation of the commands MS Motor stop the input STP Stop the alarms and the warnings will internally reset the number of channel which is next in line for execution In such a case select the channel by the PRG input and start t...

Page 130: ...n Body of program 1 Jump to the top line of channel 0 Body of program 2 Continual operation between channels Set as the global parameter Run input Specify the channel 0 by the input PRG then input the RUN signal to alternate the incremental positioning of 90 to the plus direction and the minus direction having one second dwell time between Fig 6 14 Signal timing Continual positioning between chann...

Page 131: ...ction Format of pulse direction and øA øB are also available CWP CW pulse train direction CCWP CCW pulse train direction The pulse train command rotates the Motor in the minus direction CCWP CCW pulse train direction Control output IPOS Reports completion of positioning Open Positioning uncompleted Lost the target position Closed Positioning completed The target position secured TEU Reports that t...

Page 132: ...turned on Inputted pulses before closing the output SVST won t be counted 3 Input the pulse train The Motor rotates the amount of value set by the parameters PC Pulse command and CR Circular resolution 4 The input IPOS is forcibly opened when the pulse train command is detected When the pulse train input is detected the state of IPOS is forced to become open If the pulse train pauses more than 0 1...

Page 133: ...eter PC Pulse input format CWP input CCWP input PC0 shipping set CW CCW Inputs pulse train for rotation in the plus direction Inputs pulse train for rotation in the minus direction PC1 Pulse and direction Selects the rotational direction OFF Plus direction ON Minus direction Inputs a pulse train PC4 øA øB quadrupled øA øB Internal pulse command Inputs pulse train for øA Inputs pulse train for øB ...

Page 134: ...in of the position scale The positioning operation depends on the position of these grids However the position of the Motor right after turning on the servo deviates from the position of the grid in most cases For this reason the first pulse of a pulse train command compensates the difference between the current Motor position and the grid Figure 6 17 below shows how the first pulse of a pulse tra...

Page 135: ...m rotational speed Fig 6 18 When the parameter is set to PC0 CW CCW format PM2 Min 250 ns CWP input port CW pulses CCWP input port CCW pulses ON OFF ON OFF Min 250 ns Min 250 ns Rotation in the minus direction Rotation in the plus direction Fig 6 19 When the parameter is set to PC1 Pulse and direction format PM2 Min 250 ns Min 250 ns CWP input Direction CCWP input Step ON OFF ON OFF Rotation in th...

Page 136: ...tops _ON Starts accelerating DIR Jogging direction OFF in the plus direction _ON in the minus direction Command JG PL Specifies a jogging operation in the plus direction one direction JG MI Specifies a jogging operation in the minus direction one direction Parameter JV Specifies the jogging velocity 0 100 0 001 to 10 000 s 1 JA Specifies the jogging acceleration 1 0 0 1 to 800 0 s 2 JB Specifies t...

Page 137: ... the input SVON Servo on 2 The output SVST Servo state closes when the Motor servo is on 3 Set the jogging direction by the input DIR Jog direction 4 Activates the input JOG Jog The Motor starts a motion following the parameter value of JA Jog acceleration JB Jog deceleration and JV Jog velocity 5 The output BUSY In operation closes when the Motor is jogging and the output IPOS In position opens 6...

Page 138: ...ction 2 1 It takes 3 2 seconds to activate the Motor servo for the very first time after turning on the main power 2 CR Carriage return code 0DH 1 Turn on the Motor servo by the input SVON Servo on 2 The output SVST Servo state is closed when the Motor servo is on 3 Input the command JG PL Jog direction plus direction The Motor starts jogging operation following the parameter values of JA Jog acce...

Page 139: ...f the key for multiple line readout WM Sets the parameter backup function 0 0 Backups the parameters on the EEROM 1 Nullifies the backup function EC Reports completion of positioning via RS 232C 0 0 Does not output at the completion of positioning 1 Outputs at the completion of positioning PP Sets availableness of local parameter prompt 1 0 Nullifies function of indicated parameter prompt 1 Enable...

Page 140: ... return code 0AH 1 Activate the input SVON Servo on to turn the Motor servo on 2 When the Motor servo is on the output SVST Servo state closes This is the state when the command can be inputted If you do not check the output SVST provide delayed timing after an activation of the input SVON as shown in Fig 6 23 Signal timing of an RS 232C communication positioning 3 The positioning operation starts...

Page 141: ...connector Input Output inputs an analog voltage command to control velocity and torque 6 3 6 1 Selection of Control Mode Set the control mode by the parameter SL for control mode selection Table 6 13 Control mode Parameter Control mode SL1 Torque control mode SL2 Velocity control mode SL3 Positon control mode In the velocity control mode and torque control mode either RS 232C communication operati...

Page 142: ...a and the rotational velocity and output torque Fig 6 24 Communication operation command and Motor rotational velocity and output torque Relationship between communication command value and rotational velocity 32 767 32 767 10 s 1 10 s 1 Operation command DC Rotational velocity Relationship between communication command value and output torque 32 767 32 767 100 100 Operation command DC Maximum tor...

Page 143: ... AG for analog command gain Refer to Fig 6 25 Command voltage and Motor velocity and output torque AC1 and DI0 for command voltage and rotational velocity Table 6 15 Analog input operation rotational direction DI AC Command voltage Motor rotational direction 0 1 CW 0 1 CCW 0 1 CCW 0 1 CW 1 1 CCW 1 1 CW 1 1 CW 1 1 CCW Fig 6 25 Command voltage and Motor velocity and output torque AC1 and DI0 10 V Re...

Page 144: ...city control mode 10 V 3 mV 10 V 10 s 1 10 s 1 Input voltage Rotational velocity 1 Automatic setting of offset Set an offset so that the current input level will become zero 1 Connect the Driver Unit and your controller to input the analog command 0 2 Input the password A password receipt message appears NSK ON NSK ON _ K N S SP N ENT O 3 Execute the following command AF ST_ S F A T 4 Input the EN...

Page 145: ...analog input appears repeatedly In this case since the displayed value is 2 the command voltage has the offset 0 3 mV 2 0 6 mV RA RP 2_ ENT 5 After checking the display press the BS key If you do not press the BS key other commands will not be accepted while the display continues RA RP 2 _ BS 6 Input the password A password receipt message appears NSK ON NSK ON _ K N S SP N ENT O 7 Execute the fol...

Page 146: ...6 Operation 6 38 Blank Page ...

Page 147: ...n commands are accepted while the input EMST is OFF The output DRDY Driver Unit ready opens in the state of emergency stop Table 7 2 State of emergency stop 7 segments LED Command TA Tell alarm status Description Motor state F4 F4 Emergency Stop Emergency stop Servo off The state of emergency stop may not be established if the input EMST signal is not being OFF longer than 1 ms Fig 7 1 Signal timi...

Page 148: ...er Servo off A5 A3 Origin Undefined Home position undefined No change C0 C0 Pulse Command Feedback Error Error in the commanded position or the feedback signal Servo off F1 F1 Excess Position Error Excessive position error Servo off F5 F5 Program Error Program error Cycle stop F8 F8 AT Error Automatic tuning error Cycle stop P5 P5 Main AC Line Under Voltage Low voltage of main power Servo off Fig ...

Page 149: ...te the System only accepts the positioning command moving in the opposite direction of the detected limit Output OTPA or OTMA Travel limit detection opens in the alarm state of hardware over travel Refer to 7 2 3 Over Travel Limit Direction OTPA and OTMA for the signal timing of inputs OTP and OTM Table 7 6 Alarm state of the hardware travel limit 7segments LED Command TA tell alarm Description Mo...

Page 150: ...n the power The first activation of the Motor servo must be completed When the input SVON is turned off the Motor gets in the servo off state and stops by the dynamic brake At the same time the errors in the error counter will be cleared When the Motor servo has been activated by the input SVON execution of the command MO Motor off deactivates the Motor servo When the Motor servo has been deactiva...

Page 151: ...main power is turned on When turn off the main power leaving the control power on Turn off the main power after deactivation of the input SVON The warning P5 Main AC line under voltage occurs if the main power is turned off while the Motor servo is on Fig 7 5 Timing when separately turning on and off the main power and the control power Min 0 5 s on off on off Control power Power Input SVON ON OFF...

Page 152: ...e confirm all of the following conditions are met before execution of the program Otherwise the warning F5 Program error occurs 1 The System is not in the middle of execution of a program Check if the output BUSY In operation is open 2 The channels specified by the outputs PRG0 to PRG7 have the proper settings of commands and parameters 3 The conditions to execute the programs in the channels are ...

Page 153: ...ove deceleration is specified the System compares the deceleration between the value of parameter MB and MD and applies the higher deceleration The System chooses the deceleration to stop the Motor quickly Table 7 10 Parameter related to the input STP Parameter Function Initial setting Value range Unit MD Deceleration for input STP 0 0 0 0 Applies the deceleration value currently programmed in the...

Page 154: ...put STP is activated in the middle of positioning by the pulse train input This is because the command is regarded as zero during the input STP is being active The pulse train input does not move the Motor during the input STP is being active Fig 7 7 Signal timing of the input STP Pulse train command ...

Page 155: ...middle of jogging If the input JOG is turned ON again in the middle of the deceleration the Motor keeps decelerating and stops once Then the input JOG activates again after the Motor stopped If the input DIR is altered in the middle of jogging the Motor starts to move in the opposite direction after it stopped If the input DIR is altered in the middle decelerating the Motor stops anyway then the i...

Page 156: ...ng of outputs DRDY and WRN Time for CPU initialization apploximately 3 closed open on off Power Output DRDY Output WRN closed open Max 1 ms Max 1 ms Detection of alarm Detection of warning 7 2 2 Warning WRN This output reports the occurrence of the problem warning that can be rectified by reviewing operation procedure or by tuning of parameters which do not require the reset of the main power supp...

Page 157: ...m status Description F2 F2 Software Over Travel Software over travel F3 F3 Hardware Over Travel Hardware over travel The direction plus or minus of the limit detected by the output OTPA or OTMA depends on the setting of the parameter DI Direction inversion and the activated limit OTPA or OPMA as described in the table below Table 7 18 Limit direction and outputs OTPA and OTMA Parameter DI Activate...

Page 158: ...e Turn the servo OFF by the input SVON etc Move the Motor out from the off limits area or Move out the Motor manually from the off limit area after the servo is off When the over travel limit is detected in the middle of Motor rotation the Motor stops before completing the positioning thus the output IPOS In position will not be closed When the over travel limit is detected during the Motor is sto...

Page 159: ...N Servo on When the Motor servo is activated a positioning operation is executable by an instructed positioning operation command or a pulse train input For a strict check if a positioning operation is possible confirm that all of the following conditions are met including the output SVST Output SVST closed The servo is on Output WRN closed No warning is occurring Input STP OFF A positioning is op...

Page 160: ...ration 1 Program operation 2 Positioning command From the start to end of the first execution of a positioning 3 Jogging 4 Command AT Auto tuning 5 Home Return operation If the master controller cannot detect the closing time length of the output BUSY due to the operating time is too short the parameter BW BUSY width can be set to fix the minimum outputting time of the BUSY signal The parameter BW...

Page 161: ...re three reporting mode set by the parameter FW FIN with CFIN mode Holds the completion signal after completion of positioning IPOS mode After completion of positioning the way of outputting IPOS signal depends on the position error FIN mode The System outputs a pulse signal at the completion of a positioning Fig 7 11 Difference in modes to output IPOS signal Table 7 23 Parameter related to the ou...

Page 162: ...tting Motor motion 100 ms 100 ms Stability timer Example IS100 100 ms MV MB The Motor starts rotating at the riging edge Max 0 5 ms Max 0 5 max Max 1 ms Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 CFIN MA Clsoed If the target position data is secured Open If the target position data is lost The System always confirms completion of positioning every time the inputting puls...

Page 163: ...mmand IPOS mode Max 1 ms max 100 ms Residual pulses in the error counter IN setting Motor motion 100 ms Stability timer Example IS100 100 ms MV MB Max 0 5 ms Max 0 5 ms Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 IPOS MA Clsoed If the target position data is secured Open If the target position data is lost The Motor starts rotating at the rising edge In the pulse train co...

Page 164: ...ile the output IPOS is closed the output IPOS opens and the positioning starts Fig 7 16 Output IPOS in a positioning under the internal positioning command FIN mode 100 ms 100 ms Max 0 5 ms Max 1 ms FW setting Residual pulses in the error counter IN setting Motor motion Stability timer Example IS100 100 ms MV MB Input RUN ON OFF closed open Output BUSY closed open Output IPOS FW 0 FIN MA The Motor...

Page 165: ...y of 100 seconds which is to be specified for a Motor to the unit of pulse IN setting Resolution Repeatability degree 360 2 621 440 100 202 pulse 360 3600 7 2 6 5 Parameter IS In position Stability Timer This is to check the stability of positioning operation In case of the IPOS mode the output IPOS signal might become unstable at settling stage of a positioning if the parameter IN is set to low v...

Page 166: ...e of inputting a positioning command Table 7 26 Parameter related to outputs NEARA and NEARB Name code Function Initial setting Data range Unit NA Proximity limit A 0 0 to 262 144 000 pulse NB Proximity limit B When the output is closed once the Motor has been in proximity area the output remains closed until the next positioning command is executed The Condition of output signal is ensured to be ...

Page 167: ...ion for the user home position ans the Motor home position Table 7 27 Input Output and parameters related to the position feedback signal Category Name code Function Initial setting Range Description Unit Control output CHA Position feedback signal øA The pulse signal that indicates number of Motor rotation The signal format is the line driver format Number of outputting pulses of øA and øB in one...

Page 168: ... 781 000 1 310 720 0 6 s 1 There is another restriction on the specified maximum speed of each Motor type Actually in addition to above restrictions there is maximum speed of each Motor type Specify the total number of edge count of øA and øB pulse for one Motor revolution by the parameter FR Feedback signal resolution The signal phase relation between øA and øB can be specified by the parameter F...

Page 169: ...eed of a positioning operation is also limited not to exceed the VL setting In case of a pulse train command positioning be sure to control the inputting pulse frequency not to rotate the Motor faster than the VL value The allowable speed of each Motor type is another restriction besides the parameter VL Please refer to 2 5 Motor Specifications Fig 7 20 Resolution of position feedback signal and s...

Page 170: ... output øZ CHZ output MSB CHZ output MSB Caution If the phase Z is used to specify the position scale of the Motor be sure to use the rising edge of the signal The phase Z is made to have precise position repeatability on its rising edge regardless of the Motor rotational direction Use of the falling edge of the signal to detect the base position won t maintain the position repeatability because o...

Page 171: ...ient position command 0 000 to 10 000 s 1 TV Reads out current velocity 0 00 to 0 000 TE Reads out position error 0 to 2 621 439 pulse TXT Reports a positioning time 0 0 to 214 641 044 2 ms TST Reports a settling time 0 0 to 214 641 044 2 TP Monitors current position in units of pulse 0 to 2 621 439 pulse TPC Reports commanded position in units of pulse 0 to 2 621 439 TD Monitors current position ...

Page 172: ...nitor Command PI Edit input port PI0 is set to the input EMST Emergency stop FN Input function AB Input port polarity NW Anti chattering timer Input function AB Input port 0 normally open 1 normally closed NW Anti chattering timer 0 0 to 1 000 0 ms CN2 Input FN Input function Function such as EMST and ACLR Monitor IO0 Monitor IO1 Monitor IO2 Monitor F indicates function name Command PO Edit output...

Page 173: ...nitoring contents of the monitors IO0 and IO1 Gide G F E D C B A 9 8 7 6 5 4 3 2 1 0 CN2 pin number 20 19 18 17 16 15 14 13 12 11 9 8 7 6 5 4 3 Pin code Shipping set PI16 DIR PI15 JOG PI14 PRG7 PI13 PRG6 PI12 PRG5 PI11 PRG4 PI10 PRG3 PI09 PRG2 PI08 PRG1 PI07 PRG0 PI06 STP PI05 RUN PI04 SVON PI03 OTM PI02 OTP PI01 ACLR PI00 EMST CN2 pin number 35 34 33 32 31 30 29 28 Pin code Shipping set Reserved ...

Page 174: ...5 Example of Monitor IO1 IO1 GFEDCBA9876543210 00000000000000000 00000000000000000 State of input Guide State of output 0 Not functioning 1 Functioning 0 Not detected 1 Detected 7 3 1 3 Monitor for State of Input Functions Monitor IO2 Monitors the application state of input functions in a line The readout is the recognition of the Driver Unit The readout is the application state of the parameters ...

Page 175: ... Reserved Reserved ZONEC HCMP HOME NRM OTXA TJO TJU TTO TTU TVEO 7 3 1 5 Monitor for Individual Function An input of F Function name code of input or output is available to monitor the application state of a specified function For the inputs the monitor reports how the Driver Unit recognizes the application state of the specified function For the outputs the monitor reports the state just before a...

Page 176: ...SP key or pause reading out by the BS key SP SP TA F3 Hardware Over Travel F4 Emergency Stop The order of readout is not corresponding to the order of alarm occurrence 7 3 2 1 Monitor All Occurring Alarms at One Time You can monitor all occurring alarms at a time Input TA or TA RP Input the BS key to abort repetitive readout Fig 7 27 Monitor example of the alarm status TA RP FEDCBA9876543210 00000...

Page 177: ...a warning or an event occurs it stores the contents of occurrence with the information The Driver Unit can judge the event as it happened right after the power is turned on or it continually occurred through the record of the time of occurrence The meaning of event code is described in the table 7 34 below Events not fall under the description are treated as an alarm or a warning Refer to 11 Alarm...

Page 178: ...nd øB position feedback pulse This is used to check the number of outputted position feedback signal pulses from the Driver Unit Different from other monitors you can rest the monitor FK Position feedback signal counter That is you can monitor the total number of signal rising edges starting after when the counter is reset to 0 zero Fig 7 30 Monitoring example FK RP FK0 FK RP FK 0 _ Resets the cou...

Page 179: ...or temperature which is resulted from the calculation exceeds the threshold Fig 7 32 Example of the monitor TJ RP TJ RP TJ 0 _ The readout value of the monitor TJ Thermal loading is between 0 00 to 100 If the monitored TJ value is not zero TJ 0 the effective torque is exceeding the rated torque thus indicating the Motor is generating heat In consequence it is essential to keep the readout of monit...

Page 180: ... data range and the offset value to the monitored data Table 7 36 Input output and parameter related to analog monitor Category Name code Function Initial setting Data range Control output MON1 First analog monitor 0 to 5 V output 2 5 V center MON2 Second analog monitor Parameter MN First analog monitor 0 0 to 8 Refer to Table 7 37 Preset analog monitor Or input MN Monitor code MNR First analog mo...

Page 181: ... pulse MN7 MX7 0 to 16 383 MN8 MX8 Thermal loading 0 00 to 100 00 Fig 7 34 Preset analog monitor Current velocity MN0 MX0 5V 0V direction 10 s 1 direction 10 s 1 øU current MN4 MX4 5V Command velocity MN1 MX1 5V 0V direction 10 s 1 directio 10 s 1 Velocity error MN2 MX2 5V 0V direction 1 25 s 1 direction 1 25 s 1 Torque command MN3 MX3 5V 0V direction 100 direction 100 Transient positon command MN...

Page 182: ...SP ENT SP The screen indicates the default The monitor center is set to 0 s 1 MNY0 000 and the output range is set to 10 s 1 MNR10 000 Input the SP for the prompt colon An input of TV MN also set the monitor TV 2 Set the velocity to 1 s 1 at the monitor center MNR10 000 MNY0 000 MNY1 _ Y N M 1 ENT 3 Set the output range to 0 2 s 1 from the monitor center MNY0 000 MNY1 MNR0 2 _ R N M 0 ENT 2 Fig 7 ...

Page 183: ...ilter is used for the output of analog monitor As it takes 1 to 2 milli seconds for filtering to follow a change of digital signal do not use the analog monitor for the check of precise input and output signal timing For example the following describes how to monitor the state of SVON input Servo on The monitor FSVON Function SVON monitors the state of SVON input Type MNFSVON if you wish to output...

Page 184: ...7 Operational Function 7 38 Blank Page ...

Page 185: ...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...

Page 186: ...he rotation in the CCW direction OFF Activated ON Not activated 7 PI4 SVON Normally open Servo on Actives the Motor servo OFF Servo off ON Servo on 8 PI5 RUN Normally open Program start Starts program operation specified by the PRG inputs OFF ON Starts program 9 PI6 STP Normally open Stop Stops operation and execution of programs OFF Operation granted ON Decelerates Prohibit operation 11 PI7 PRG0 ...

Page 187: ...m execution OFF Normal ON Hold ORD Velocity override Overrides velocity OFF Normal ON Override IOFF Integration OFF Deactivates integral control OFF Normal ON Integration OFF HOS Home Return start Starts Home Return operation OFF ON Starts Home Return operation HLS Home position limit Reports the Motor is nearing to Home position proximity OFF Normal ON Home position proximity ...

Page 188: ...occurs Open Alarm Closed Normal 29 PO1 WRN Negative Warning Reports warning Open Warning Closed Normal 30 PO2 OTPA Negative Over travel limit direction Over travel limit software of hardware direction limit Open direction limit activated Closed Normal 31 PO3 OTMA Negative Over travel limit direction Over travel limit software of hardware direction limit Open direction limit activated Closed Normal...

Page 189: ...nd output Open Out of the limit Closed The command is under the threshold TTO Torque command over Open Out of the limit Closed The command is under the threshold TJU Thermal loading under Reports the condition of thermal loading Open Out of the limit Closed Thermal loading is under the threshold TJO Thermal loading over Open Out of the limit Closed Thermal loading is over the threshold OTXA Over t...

Page 190: ...tering timer are effective on the port PI0 The monitor IO Input Output monitor reads out conditions of each function Refer to 7 3 1 Monitoring Way for Control Input Output Signal for more details Table 8 5 Editing command for control input port Category Command name code Name Function Initial setting Data range Unit Editing command PI Edit input port Edits function of control input 0 to16 port PI ...

Page 191: ...nput port is PRG7 PI14 FNPRG7 AB0 NW0 2 I P ENT 4 1 SP SP Every input of the SP key reads out the parameter AB and the parameter NW 3 Change the function to the input HLD AB0 NW0 2 FNHLD _ N F L H ENT D Set the parameter AB and the NW in the same way 4 Input when the prompt is on the last line to confirm the settings FNHLD AB0 NW0 2 ENT SP SP Every input of the SP key reads out the parameter FN se...

Page 192: ...ut Signal The command OP Forcible output forcibly changes the settings of output port function Refer to 8 1 3 4 Forcible Output in Setting of Output Port Function for details Table 8 6 Edit command for control output port Category Command name code Name Function Initial setting Data range Unit Edit command PO Edi output port Edits output port 0 to 7 Port PO RS Resets function of specified port Exa...

Page 193: ... NEARA PO7 FNNEARA GC0 ST0 0 O P ENT 7 SP SP Every input of the SP key displays the parameters GC and ST respectively 2 Change the output function to the output ZONEA GC0 ST0 0 FNZONEA _ N F O Z E N A ENT Set the parameters GC and ST in the same way 3 For the confirmation of the settings input when the prompt is on the bottom line FNZONEA GC0 ST0 0 ENT SP SP Every input of the SP key displays the ...

Page 194: ...ter FN Port function PI6 FNSTP AB0 NW0 2_ I P ENT 7 SP SP Every input of the SP key displays the parameters AB Input port polarity and NW Anti chattering stability timer 3 Change the function to the NONE Mask function AB0 NW0 2 FNNONE _ N F O N E N ENT 4 For the confirmation input key when the prompt is on the last line FNNONE AB0 NW0 2_ ENT SP SP Every input of the SP key displays the parameters ...

Page 195: ...rt is to report an occurrence of alarm Thereby you can check if the master controller is able to detec the abnormal operation of Driver Unit 1 The port name of the 28th pin is PO0 as shown on Table 8 3 Output ports of the CN2 connector and assigned function Table 8 3 Output ports of the CN2 connector and assigned function 2 Input the password NSK ON NSK ON NSK ON _ K N S SP N ENT O 3 Input as OPXX...

Page 196: ...eration caused by an internal command or execution of a program However the output BUSY In operation remains closed The held operation starts again when the input HLD is OFF If the operation involves rotation of the Motor the Motor accelerates again Occurrence of an alarm and activation of the input STP Stop signal cancels the holding state and the output BUSY opens In such state deactivation of t...

Page 197: ...e Unit OV Velocity override 100 00 0 00 to 200 00 When the programmed velocity is overridden the System changes the operating velocity with preset acceleration and deceleration The acceleration deceleration and acceleration profiling for overriding velocity follow the programmed settings that has been dealt with When the ORD input activates during the operation of which programmed velocity is MV2 ...

Page 198: ... velocity loop proportional gain When the input IOFF activates the effect of integral control is controlled to the set ratio by the parameter LB Observer limiter Also the parameter LG Lower gain lowers the velocity loop proportional gain to the specified ratio For example the integral control effect becomes 0 if the parameter LB is set to LB0 0 as soon as the input IOFF activates The lowering gain...

Page 199: ...ned occurs if you execute an absolute positioning operation after you abort the Home Return operation Complete the Home Return operation and thus define the Home position of the scale system Refer to 8 8 Home Return for the procedures of the Home Return operation 8 2 5 Home Position Limit HLS When performing Home Return operation this input monitors that the Motor is nearing the proximity of the H...

Page 200: ...E ZCE End point of zone A End point of zone B End point of zone C 0 0 to 2 621 439 pulse ZAW ZBW ZCW Zone A stability timer Zone B stability timer Zone C stability timer 0 0 0 0 to 10 000 0 ms The parameters ZAS Start point of zone A and ZAE End point of zone A set the zone The zone starts from the start point in the counting up direction of scale data and ends at the end point as shown in the fig...

Page 201: ... error is greater or equal to the setting of parameter TEO Velocity error TVEU Tell velocity error under Reports the condition of current velocity error Open Not activated Closed Current position is less or equal to the setting of parameter TVEU TVEO Tell velocity error over Open Not activated Closed Current position is greater or equal to the setting of parameter TVEO Velocity TVU Tell velocity u...

Page 202: ...s greater or equal to the setting of parameter TEO Setting of the parameter ST Stability timer with the command PO Edit control output controls frequent opening and closing of output port caused by fluctuating position error Setting of the parameter ST to the output TEU acts as the following The TEO output closes when the position error is less or equal to the setting of parameter TEU longer than ...

Page 203: ...able 8 19 Parameter related to the outputs TVU and TVO Parameter code Function Initial setting Data Range Unit TVU Threshold Velocity under 0 000 0 000 to 10 000 s 1 TVO Threshold Velocity over 0 000 0 000 to 10 000 s 1 The output TVU closes when the absolute value of velocity is less or equal to the set value of TVU The output TVO closes when the absolute value of velocity is greater or equal to ...

Page 204: ...ding under 0 00 0 00 to 100 00 TJO Threshold Thermal loading over 0 00 0 00 to 100 00 The output TJU closes when the setting of parameter TJU is less or equal to the threshold The output TJO closes when the setting of parameter TJO is greater or equal to the threshold If the Motor is forced to rotate exceeding its rated conditions it continues overheating and eventually the warning A3 Software the...

Page 205: ...e over travel Fig 8 10 Motion timing with the input OTP and the output OTXA In case of positive logic The Motor stops immediately with the Motor servo on Motor motion closed open OFF closed opem Ouput DRDY Input OTP Outpu SVST closed open closed open Output BUSY closed open closed open Output IPOS FW 0 FIN Output OTXA ON OFF Max 1 ms Max 1 ms Max 1 m s Output IPOS FW 0 CFIN FW 0 IPOS Put the Motor...

Page 206: ...orts the following The commanded position is denotes the sum of the current position and the position error When the commanded position becomes other than 0 zero this output opens and does not close until the completion of next Home Return operation Refer to 8 8 Home Return for the signal timing of the output HOME 8 3 6 Home Position Defined HCMP This output reports that the Home position of posit...

Page 207: ...to 2 621 440 00 ZAS ST Start point of zone A 0 0 to 2 621 439 ZAE ST End point of zone A 0 ZBS ST Start point of zone B 0 ZBE ST End point of zone B 0 ZCS ST Start zone C 0 ZCE ST End point of C 0 Positioning command used for programming AR ST Positioning operation in units of absolute pulse Short cut 0 to 2 621 439 pulse AR PL ST Positioning operation in units of absolute pulse direction Example ...

Page 208: ...mmand KB Kill brake Input KB1 to cancel the brake MO KB1 _ B K ENT 1 Thus the resistance force dynamic brake for manual rotation of the Motor is removed Input KB0 ENT and SV ENT to return to the original state 8 4 2 Teaching of Parameter Set the current position to a parameter data For example let s set the travel limit 1 Turn off the main power of the Driver Unit 2 Move the Motor to the position ...

Page 209: ... with units of pulse 1 Start the program editing with the command CH Edit channel 0 H C ENT CH0 0 _ 2 Following the prompt line number and input the teaching command for the positioning command Input as Command name including option ST R A P L CH0 0 AR PL ST TP 1310720 _ S T ENT The System displays the current position data 3 An input of the SP key sets the current position to the target position ...

Page 210: ...n command TPC TDC TQC Position command Differentiator TV Current velocity FF Feedforward compensator ZF LO Feedforward gain PG PGL VG VGL GP GT TG Gain switching state monitor Gain switching Velocity loop proportional gain CN2 IOFF LG Velocity loop lower gain Filter switching ON OFF FO TVE Velocity error Position loop proportinal gain DBP TP TD TQ Current position TE Position error TVC Velocity co...

Page 211: ...8 More Advanced Function 8 27 ...

Page 212: ... code Function Initial setting Data range Unit FP Primary low pass filter 0 0 Filter off 10 to 1 000 Hz FS Secondary low pass filter 0 0 Filter off 10 to 1 000 Hz NP Primary notch filter 0 0 Filter off 40 to 1 000 Hz NPQ Primary notch filter Q parameter 0 25 0 10 to 5 00 NS Secondary notch filter 0 0 Filter off 40 to 1 000 Hz NSQ Secondary notch filter Q parameter 0 25 0 10 to 5 00 Refer to 9 Deta...

Page 213: ...ulse Require an entry of the password The parameter DBP specifies a dead band on the position loop deviation in both sides of 0 zero and zeroes the deviation that is under the DBP setting In some use conditions slight vibration may occur due minute deviation Provision of the dead band eliminates such slight vibration If a dead band is specified the repeatability of positioning accuracy will be det...

Page 214: ... gain for stopping 0 50 0 10 to 255 00 Monitor TG Monitor of gain switching state 0 Stopping gain PGL and VGL 1 Gain for operation PG and VG The gain switching function is not available when the parameter GP is set to GP0 In such case the parameters for operation PG and VG is always effective If setting of the parameter GP is other than 0 the gains PG and VG are used for operating the Motor When t...

Page 215: ... JB Jog deceleration Sets jogging deceleration 0 0 0 0 Same as JA 0 1 to 800 0 HA Home return acceleration Sets Home Return acceleration 1 0 0 1 to 800 0 s 2 HB Home return deceleration Sets home Return deceleration 0 0 0 0 Same as HA 0 1 to 800 0 CSA Acceleration pattern select Selects a pattern of acceleration profiling 1 0 Same as CSA For CSB only 1 Constant acceleration 2 Modified sine 3 modif...

Page 216: ...mong the profiles CSA2 CSB2 Modified sine Acceleration Velocity V Suits for high speed and heavy load application The maximum V α is low CSA3 CSB3 Modified trapezoid Acceleration Velo city V Suits for high speed and light load application The maximum acceleration is low CSA4 CSB4 Cycloid Acceleration Velo city V Suits for right load application Low vibration CSA5 CSB5 Half sine Acceleration Velo c...

Page 217: ...Velocity V MB1 MA2 CSA5 CSB4 1 Specify an acceleration profile For example set the half sine profile for acceleration and the cycloid pattern for deceleration CSA5 CSB4 _ S C ENT 5 S 4 C ENT A B The profile of deceleration will be the half sine as same as that of acceleration when the parameter CSB is set to CB0 2 Set the acceleration and deceleration Set the acceleration to 2 s 2 and the decelera...

Page 218: ...a exists In case of no off limits area The function of shorter way positioning is available for the absolute positioning commands shown in the table below Table 8 34 Absolute positioning command Command Function Initial setting Data range Unit AR Absolute positioning in units of pulse Shorter way 0 to 2 621 439 pulse AR PL Absolute positioning in units of pulse direction Example AR100000 PL 0 to 2...

Page 219: ...is in the plus direction if PL is specified such as AD24000 PL The Motor rotation is in the minus direction if MI such as AD24000 MI Fig 8 16 Positioning with specified rotational direction Current position Target position Plus direction Target position Target position Minus direction Specified in the minus direction MI Specified in the plus direction PL Count up Count up ...

Page 220: ... whose dividing number is specified by the parameter QR Use the monitor TQ Tell current position QR unit to read out the current position in units of dividing number Table 8 35 Command and parameter related to user scale positioning Category Name code Function Initial setting Data range Unit Command IQ Incremental positioning with user scale 0 to QR 100 360 parameter QR AQ Absolute positioning wit...

Page 221: ... Range 0 Range 2 Range 3 The System will perform the positioning on this user scale Set AQ3 for a shorter way positioning to the grid on 270 angle degree Execute the command IQ1 for positioning from current position to 90 angle degree in the plus direction Fig 8 18 User scale positioning For a positioning in units of 1 1000 set as QR360000 Target position Absolute positioning In case of AQ3 1 0 2 ...

Page 222: ...ommand IQ1 If the command IQ1 is executed at this moment the Motor moves to the grid 2 That is the Motor moves to the first grid from the current position Execute the command IQ0 to move the Motor to the original grid position which is the base point of the current position That is the Motor moves to the grid 1 Fig 8 19 Getting back to a grid in the user scale positioning Move to the grid in the p...

Page 223: ...of program operation 1 Holds local parameter after completion of program operation and maintains its effectiveness Comman d RE Restore global parameter Cancels local parameter and restore the global setting Cancels local parameter that has been held and makes global parameter effective until the next start of the program The following describe an example for use three different ways in setting of ...

Page 224: ...ive 2 When program execution of channel 0 starts the parameter for the mounted load A becomes effective At this moment the parameter for the mounted load A remains effective after the program execution because the parameter PK Parameter keep is set to PK1 3 When program execution of channel 1 starts the parameter changes to that of the mounted load B 4 The parameter RE Return is set to the program...

Page 225: ... state Reboot the main power for recovery from abnormal state The table below lists the required functions to perform the operation specified above Table 8 37 Inputs Outputs and parameters required for automatic execution of program after the power on Category Name code Function Initial setting Range Unit Control input EMST Emergency stop OFF Emergency stop Note ON Normal Note HLD Operation hold O...

Page 226: ... PI4 FNSVON AB0 NW0 2 AB1 Edit function of PO0 CN2 Pin No 3 These are current settings Input the SP key to scroll the readout Input the SP key when the prompt is on the end of line ーを入力 Detection signal for error in the Motor System Change the function of PO0 to NRM from DRDY Edit function of PI6 CN2 Pin No 9 These are current settings Input the SP key to scroll the readout Input the SP key when t...

Page 227: ...to four for a positioning in user unit Input the password Start the program 0 automatically after the power is on Edit the program Edit the program to repeat a positioning for 90 angle degrees The program consists of two parts the part that waits for activation of the Motor servo and the part that repeats a positioning for 90 angle degrees Fig 8 24 Edit the program CH0 0 TI3200 0 1 JP1 2 CH1 0 IQ1...

Page 228: ...tically In HLD state 1 2 3 4 1 Confirm that the input HLD is OFF The input HLD is effective as the contact polarity is normally closed 2 Turn on the main and the control power 3 When the time for initialization of the CPU elapses the output NRM is settled and the channel program 0 starts automatically At this moment the System is in the HOLD state thus holding the execution of commands in the prog...

Page 229: ...tion is not the home position Closed Home Return completed and the commanded position holds the home position HCMP Home position defined Outputs for definition of the home position Open Home position not defined Closed Home position defined Command HS Home Return start Starts the Home Return operation HS LS Adjust of home position limit Parameter OS Origin setting mode Specifies Home Return mode 6...

Page 230: ...losed open Output IPOS FW 0 CFIN closed open Output IPOS FW 0 FIN HA Clsed when the tareget position is sucred Opens when the target position is lost HB HA HB closed open closed open Positioning completed FW value Output HOME Output HCMP HZ HO HB HA Input HLS ON OFF Output Phase Z 1 2 3 4 5 6 7 8 Note It requires 3 2 seconds for the first servo on after the power is on CCW CW 1 Turn ON the input S...

Page 231: ...ete the operation If the Home Return operation is interrupted the System cannot define the home position Entering of the command for an absolute positioning at this state will cause the warning A5 Origin undefined You can program the command HS in a program channel This will make you possible to start the Home Return operation with the inputs RUN Start program and PRG Internal program channel sele...

Page 232: ...on the sensitivity of the limit sensor in this mode Fig 8 29 Pattern of Home Return Operation In case of OS1 DI0 and HD1 Home Return start position Home Return complete postion Input HLS ON Near zero area Direction CW CCW direction Velocity for CCW 度 Velocity for CW HO 8 8 1 4 Home Return Mode OS3 The OS3 mode is to return to the position at the neared phase Z signal after detection of the signal ...

Page 233: ...open Output IPOS FW 0 CFIN closed open Output IPOS FW 0 FIN H A Closed if the target position is secured Opens if the target position is lost H B closed open closed open FW value Output HOME Output HCMP HZ HO H B H A Input OTM ON OFF Output phase Z H V 1 2 3 4 5 6 Completes Home Return 7 Note It takes 3 2 second for the first activation of the servo after the power is on CCW CW 1 Activate the inpu...

Page 234: ...t define the home position Entering of the command for an absolute positioning at this state will cause the warning A5 Origin undefined You can program the command HS in a program channel This will make you possible to start the Home Return operation with the inputs RUN Start program and PRG Internal program channel selection The pattern of Home Return operation depends on its starting point as il...

Page 235: ...t position is secured Opens when the target position is lost 1 2 3 4 5 6 Note Requires 3 2 seconds for the firat servo on after the power is turned on 1 Activate the Motor servo by the input SVON Servo on 2 The SVST Servo state closes when the Motor servo is turned on 3 Turning the input HOS Start Home Return ON starts internal processing to set the current position command to the home position 4 ...

Page 236: ...m enables you to perform the teaching of the home position in the servo off state The following example shows how to edit the program on the program channel 0 Fig 8 34 Example of the program for Home position teaching in the servo off state CH0 0 AZ 1 _ Absolute zero position set Use the command SP Start program for the execution of above program ...

Page 237: ...ition 2 Check the wiring of home limit sensor 3 Check if the Driver Unit recognizes the input HLS Input the BS key to abort repetitive readout FHLS RP FHLS 1_ L H F S ENT 4 Turn the Motor servo on 5 Check the position of the home limit sensor Execute the command HS LS Home position sensor adjust The Motor starts the Home Return operation Input the BS key to stop the Home Return operation HS LS TO ...

Page 238: ... HS LS and finalize the position of home limit sensor Refer to 8 8 4 Position Adjustment of Home Limit Sensor 2 Turn off the main power supply to the Driver Unit 3 Input the command MO Motor off MO _ O M ENT Thus the Motor servo will not activate even the input SVON is activated 4 Move the motor to a position to be the home position 5 Teach the direction and amount of rotation to the current posit...

Page 239: ... of the SP key 20H Set the parameter MM Multi line mode to MM0 if an input of the SP key 20H is not necessary such as communicating with a higher level device This setting will make an input of the SP key 20H unnecessary even a response consists of multi line Table 8 39 Specification of RS 232C communication Item Specification Transmission Asynchronous full duplex Communication speed 9 600 b p s W...

Page 240: ... this message may differ with the setting condition of the Driver Unit and System versions When the initialization of the Driver Unit completes a prompt colon appears and the System waits for an entry of command NSK MEGATORQUE XSY XOP DD1DA0_0000 0 _ The part indicated by depends on the system Caution Be sure to turn off the power for the Driver Unit when connecting and disconnecting the communica...

Page 241: ... back the same character it has received from the communicating terminal However the Driver Unit converts an input of the carriage return 0DH to Carriage return 0DH Linefeed 0AH and returns it to the terminal When the last carriage return code is input the Driver Unit collectively decodes the character string it has received VG0 5 in the example above and executes it Therefore a command won t be e...

Page 242: ...Driver Unit 08H 5 0 G V Echo back form Driver Unit 20H 08H 08H 5 0 G V 8 9 2 4 Input of the Password Some special commands require password entry for preventing erroneous entries Input the password as NSK ON Carriage return 0DH The Driver Unit returns NSK ON for the acknowledgment A command that requires the password can be executed immediately after an entry of the password NSK ON NSK ON _ Entere...

Page 243: ... from Driver Unit 1 20H 0AH 0DH G V 5 0 G V Entered command Readout of velocity gain Waits for the next command 1 Readout of velocity gain lower 0DH 0 5 20H 0 L G V 0AH 2 2 3 3 Caution When the parameter MM is set to MM1 the prompt semicolon is added to the end of line Input of 20H is required every time the prompt appears For readout of internal stat input as Command name Carriage return 0DH For ...

Page 244: ...me Data Carriage return 0DH Linefeed 0AH The following show an example to read out the settings of servo parameters using the command TS 0 0 0 0 5 4 20H 0AH 0DH 1 F Z 5 TS2 FO0 FP0 FF1 0000 ZF1 _ Caution Input of 20H is required for every readout when the parameter MM is set to MM1 Input to the Driver Unit 0DH 2 S T Retured message from the Driver Unit 1 20H 0AH 0DH 2 S T 0AH 0DH 0 O F Entered com...

Page 245: ...d data is out of setting range VG256 RANGE OVER COND MISMATCH Required conditions are not met for an execution of the inputted command such as the command for servo ON The required condition depends on a command MO AD9000 COND MISMATCH NOT OMISSIBLE A data is not inputted with a command or a parameter that requires a data PG NOT OMISSIBLE PASSWORD REQUIRED The password is not inputted for a comman...

Page 246: ...8 More Advanced Function 8 62 Blank Page ...

Page 247: ...tion of line at the end Yes SP AJ Demonstration operation Test operation Yes Change of test operation Yes Test operation Yes Change of test operation No TA HI Alarm history display For the recent 32 times For the recent 10 times 9 1 2 Simultaneous Operation of RS 232C Communication and USB Communication RS 232C communication and USB communication can be operated simultaneously Note that USB commun...

Page 248: ...llowing operations in EDD MegaTerm Transferring to other screen when any command of Table 9 5 is being executed in the Terminal screen Pressing the shutdown button when any command in Table 9 5 is being executed in the Terminal editing screen or disconnecting the USB cable The behavior of Driver Unit when conducting the above operations will be as follows Table 9 4 Behavior of Driver Unit when inh...

Page 249: ...ar for Command Category Function Execution Grammar Example Command Command the Driver Unit for execution of operation or processing Some commands do not entail data entry Execution of command Command code Data CR 90 incremental positioning ID9000 Parameter Sets the operating conditions of internal function of Driver Unit Data setting Command code Data CR Velocity 0 5 s 1 MV0 5 Readout of data Para...

Page 250: ...pecified range VG256 RANGE OVER COND MISMATCH Inputted command does not meet the condition for execution Such as servo on Required conditions depend on a command MO AD9000 COND MISMATCH NOT OMISSIBLE Data is not specified for a command or parameter that requires data entry PG NOT OMISSIBLE PASSWORD REQUIRED The password is not inputted for a command that requires it LO0 001 PASSWARD REQUIRED DISAB...

Page 251: ... the BS key P PG0 12 PGL0 05 PC0 PS1 PK0 PWU0 PWV0 PWW0 PF50 00 In the display in the terminal screen of EDD MegaTerm all corresponding parameters and commands are displayed in a screen 9 2 6 Repeating Readout When an option code RP is added to a readout command such as the command TP the System repeats to display the readout A press of the BS key terminates repetitive readout SG RP SG 6 _ Adjust ...

Page 252: ...T TP WW TP 1310720 TV WW_ 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 9 2 8 Initialization of Specified Parameter Setting of a parameter can be reset to the shipping set when the option RS is added to a parameter code VG RS _ Input ...

Page 253: ...ts the value to the shipping set BS A press of the key reset the value before adjustment and terminates adjust mode ENT A press of the key sets the value as adjusted and terminates adjusting mode 9 2 10 Output to Analog Monitor The readout will be outputted to the primary analog monitor when the option code MN is attached to the parameter In such a case the default monitor offset or default range ...

Page 254: ...assword A command marked with is for factory use only The user is not allowed to input the command A command that is marked with P indicates that you can also input the command to an internal program A command that is marked with P ex is exclusive for internal program use Shipping set denotes a value that is set in the factory before shipment Conditions to be met denotes that required conditions f...

Page 255: ... Home Return The Motor is not stopping because of alarm or warning The input STP Stop is not activated In case of the shorter way positioning the Motor operates in one of the following manners Rotates to the target position in the direction of shorter way When the current position and the target position is the same the move distance is zero In case that the off limits area is specified by the par...

Page 256: ... Primary analog command filter is OFF Data range 2 10 to 1000 Hz Shipping set 200 AFS Analog Command Filter Secondly This sets up the low pass filter against analog input command Category Command Format 1 AFS data Data range 1 0 Secondary analog command filter is OFF Data range 2 10 to 1000 Hz Shipping set 200 P AG Analog Command Gain This sets up the analog command gain in velocity and torque con...

Page 257: ...urrently reported abnormality in the System Once an abnormal state is detected in the System the Driver Unit gets in alarm or warning state and holds this situation until it is cleared The command TA Tell alarm monitors the detected alarm and warning The monitor AM is to monitor only currently occurring abnormality not the abnormality held by the Driver Unit The following show a monitoring example...

Page 258: ...parameter QR Dividing number user scale Refer to 6 3 1 Positioning Command and 8 6 4 User Scale Positioning for details Category Command Format1 AQ data Positioning in shorter direction Format 2 AQ data PL Position in the plus direction Format 3 AQ data MI Positioning in the minus direction Data range 0 to QR 1 360 QR Position data Conditions to be met The Motor servo is on Not in the middle of op...

Page 259: ...rection is zero when the current position and the target position is the same When an off limits area is specified by the parameters OTP and OTM Software over travel limit the Motor rotes in the direction not to gets in the area regardless of moving distance The monitor TP Tell position unit pulse reads out the position data in units of pulse Setting of the option ST to a program enables to set th...

Page 260: ...or When the servo is off Commanded position Current position Execution of the command AZ sets automatically the value of the parameter AO Absolute position scale offset BDT Application use only This is reserved for EDD MegaTerm application software only Do not change the setting P BL Observer Limit Limits external disturbance control output Output of observer to specified ratio Refer to 8 5 1 Serv...

Page 261: ...gram The password is required Data range 1 0 to 255 Channel Deletes the contents of the program in the specified channel Data range 2 256 Resets the demonstration program SP AJ to the shipping set Conditions to be met No programmed operation is performed CD Delete Channel Deletes the channel specified by the command Refer to 6 3 2 3 Programming for details The numbering of following channels goes ...

Page 262: ...s eliminating the channel with the last channel number of 255 Category Command Format CI data Data range 0 to 255 Channel Conditions to be met No programmed positioning is performed The figure below shows an example of the command CI3 Figure 9 3 Execution example of the command CI3 CH0 CH0 CH0 CH1 CH1 CH2 CH4 CH253 CH255 CH255 CH254 CH254 CH3 CH2 CH3 Inserted channel Deleted Insert a new channel C...

Page 263: ...hipping set 200 000 P CR Circular Resolution In case of a positioning controlled by the pulse train input this parameter sets the number of pulses that requires for one revolution of the Motor Refer to 6 3 3 Pulse Train Command Positioning Operation for details Category Parameter Format CR data Data range 1 0 5 242 880 pulse for one revolution Data range 2 0 to 5 242 879 count revolution Shipping ...

Page 264: ... set 0 When data 0 and when the absolute value of input voltage is less than voltage conversion value the internal command will be 0 When data 0 the behavior will be as follows 1 when input voltage is equal to or higher than 0 V internal command input voltage voltage conversion value 2 when input voltage is 0 V internal command will be 0 3 when input voltage is less than 0 V internal command input...

Page 265: ...tion of position scale Refer to 6 2 2 Direction of Position Scale for details Category Parameter Format DI data Data range 0 Counting up to the CW direction seen from the Motor output axis 1 Counting up to the CCW direction seen from the Motor output axis Shipping set 0 Direction setting of hardware travel limit and the phase of position feed back output signal do not reverse even the counting dir...

Page 266: ...I Edit input port Category Monitor Format FACLR Data range 0 Off 1 On FBUSY Function BUSY This is to monitor the state of output BUSY In operation Refer to 7 2 5 In operation BUSY for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FBUSY Data range 0 Idle state 1 In operation FD Feedbac...

Page 267: ...eters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FDRDY Data range 0 Alarm 1 Normal FEMST Function EMST This is to monitor the state of the input EMST Emergency stop Refer to 7 1 1 Emergency Stop EMST for details The monitored state is after application of the parameters AB Polarity and NW Anti chattering timer in the command PI...

Page 268: ...I Edit input port Category Monitor Format FHLD Data range 0 Normal 1 On hold FHLS Function HLS HLS input This is to monitor the state of Home Position Limit For details see 8 2 5 Home Position Limit HLS The monitored state is after application of the parameters AB Input Contact and NW Anti chattering timer in the command PI Edit input port Category Monitor Format FHLS Data range 0 Normal 1 Near Ho...

Page 269: ...gory monitor Format FIOFF Data range 0 Normal 1 Integration control off FIPOS Function IPOS This is to monitor the state of the output IPOS In position Refer to 7 2 6 In position IPOS for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FIPOS Data range 0 Positioning is not yet completed...

Page 270: ...to the data resets the monitoring data FM Factory use only This is the parameter for the factory use only Do not change the setting FNEARA Function NEARA This is to monitor the state of the output NEARA Target proximity A Refer to 7 2 7 Target Proximity NEARA and NEARB for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are n...

Page 271: ...filter the parameters FP Primary low pass filter and FS Secondary low pass filter Setting of the low pass filter enables to decrease the resonance level without hampering the settling time Category Parameter Format FO data Data range 1 0 000 Low pass filter is always effective Data range 2 0 001 to 10 000 s 1 Low pass filter is off when the velocity is less or equal to the specified value Shipping...

Page 272: ...O Edit output port are not applied Category Monitor Format FOTMA Data range 0 Normal 1 Limit in the minus direction is detected FOTP Function OTP This is to monitor the state of the input OTP Travel limit direction Refer to 7 1 3 Hardware Over Travel Limit OTP and OTM for details The monitored state is after application of the parameters AB Polarity and NW Anti chattering timer in the command PI E...

Page 273: ...This parameter will be automatically set by an automatic tuning caused by the command AT Automatic turning FPRG0 to 7 Function PRG0 to 7 This is to monitor the state of the inputs PRG0 to 7 Internal program channel selection 0 to 7 Refer to 7 1 5 Program Start RUN Internal Program Channel Selection Input PRG0 to PRG7 for details The monitored state is after application of the parameters AB Polarit...

Page 274: ...elocity is to control the frequency of the position feedback signal not to exceed 781 kHz FRUN Function RUN This is to monitor the state of the input RUN Positioning start Refer to 7 1 5 Program Start RUN Internal Program Channel Selection Input PRG0 to PRG7 for details The monitored state is after application of the parameters AB Polarity and NW Anti chattering timer in the command PI Edit input ...

Page 275: ... Edit input port Category Monitor Format FSVON Data range 0 Servo OFF 1 Servo ON FSVST Function SVST This is to monitor the state of the output SVST Servo state Refer to 7 2 4 Servo state SVST for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FSVST Data range 0 Servo OFF 1 Servo ON FT...

Page 276: ... 3 2 5 Thermal Loading Outputs TJU Thermal Loading Under and TJO Thermal Loading Over for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTJO Data range 0 Not detected 1 Thermal loading is less or equal to the threshold FTJU Function TJU This is to monitor the state of the output TJU T...

Page 277: ...er to 8 3 2 4 Torque Command Outputs TTU Torque Command Under and TTO Torque Command Over for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTTU Data range 0 Not detected 1 Torque command is less or equal to the threshold FTVEO Function TVEO This is to monitor the state of the output ...

Page 278: ...ty timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FTVO Data range 0 Not detected 1 Velocity error is less or equal to the threshold FTVU Function TVU This is to monitor the state of the output TVU Tell velocity error under Refer to 8 3 2 3 Velocity Outputs TVU Velocity Under and TVO Velocity Over for details For the monitored state the paramete...

Page 279: ...f the output ZONEB Zone B Refer to 8 3 1 In zone Output ZONEA ZONEB and ZONEC for details For the monitored state the parameters ST Stability timer and GC Output logic in the command PO Edit output port are not applied Category Monitor Format FZONEB Data range 0 Not detected 1 Detected Zone B FZONEC Function ZONEC This is to monitor the state of the output ZONEC Zone C Refer to 8 3 1 In zone Outpu...

Page 280: ...ameter FW Category Parameter Format FW data Data range 1 0 1 to 10 000 0 ms CFIN mode Data range 2 0 0 IPOS mode Data range 3 0 1 to 10 000 0 ms FIN mode Shipping set 1 0 P FZ Feedback Phase Z Configuration The parameter sets the output signal format of Phase Z of the position feedback signal Refer to 7 2 8 Position Feedback Signal for details Category Parameter Format FZ data Data range 0 Phase Z...

Page 281: ... the acceleration for Home Return operation Refer to 8 8 Home Return for details Category Parameter Format HA data Data range 0 1 to 800 0 s 2 Shipping set 1 0 P HB Home Return Deceleration Sets the deceleration for Home Return Refer to 8 8 Home Return for details Category Parameter Format HB data Data range 1 0 0 Use the same value as the parameter HA Data range 2 0 1 to 800 0 s 2 Shipping set 0 ...

Page 282: ...on will be taught to the System Exceeding one revolution for the rotation amount is acceptable P HS Home Return Start Home Return operation starts in accordance with the parameter OS Home Return mode Refer to 8 8 Home Return for details An operation for adjusting position of the home limit sensor is also available Category Command Format 1 HS Starts Home Return operation Format 2 HS LS Operation f...

Page 283: ...600 000 0 01 sign for the plus direction sign for the minus direction Conditions to be met The Motor servo must be on Positioning operation caused by an internal command Positioning command Jogging and Home Return is not executed The Motor is not stopping by an alarm or warning The input STP Stop is not activated The monitor TD Tell position degree unit reports the current position in units of deg...

Page 284: ...ta range 0 Input Not functioning Output Not detect the state 1 Input Functioning Output Detect the state IO2 Input Output Monitor 2 State of input function Monitors the application state of input functions of the CN2 connector in a line The readout is the recognition of Driver Unit Indicates the state by zeros 0 and ones 1 to each function Refer to 7 3 1 3 Monitor for State of Input Functions Moni...

Page 285: ...ioning Command for details Category Command Format IR data Data range 0 to 262 144 000 pulse sign to rotate in the plus direction sign to rotate in the minus direction Conditions to be met The Motor servo must be on Positioning operation caused by an internal command Positioning command Jogging and Home Return is not executed The Motor is not stopping by an alarm or warning The input STP Stop is n...

Page 286: ...ase Z Executes a positioning in the specified direction to the nearest phase Z from the current position If the current position is the same as the above described position no positioning will be performed Only outputs the confirm signal for the completion of positioning Category Command Forma IZ data Data range 1 Positioning to the nearest phase Z in the plus direction 1 Positioning to the neares...

Page 287: ...g operation caused by an internal command Positioning command Jogging and Home Return is not executed The Motor is not stopping by an alarm or warning The input STP Stop is not activated After input of the command JG repetitive input of the ENT key with the interval of less than 0 5 seconds repeats a jogging operation If an input of the ENT key pauses for 0 5 seconds or longer or an ineffective ke...

Page 288: ... rotor manually in case of teaching operation Category Parameter The EEPROM does not back up the setting of this parameter Format KB data Data range 0 Dynamic brake effective 1 Dynamic brake ineffective Shipping set 0 When the servo is turned off because of an alarm the dynamic brake function is always effective regardless of the setting of parameter KB P LB Observer Limiter When the input IOFF In...

Page 289: ...t connector via 7 segments LED Category Parameter Format LM data Data range 0 Normal mode 1 Displays state of control output signal 2 Displays state of control input signal Shipping set 0 The parameter LM1 displays the state after application of the parameter ST Stability timer The parameter LM2 displays the state after application of the parameter AB Input port polarity and the parameter NW Anti ...

Page 290: ...nge 0 1 to 800 0 s 2 Shipping set 1 0 P MB Move Deceleration Sets the deceleration in positioning control operation Refer to 6 3 1 Positioning Command Category Parameter Format MB data Data range 1 0 0 Use the same value as the parameter MA Data range 2 0 1 to 800 0 s 2 Shipping set 0 0 P MD Move Deceleration with Stop The parameter MD sets the deceleration for a stop command caused by the input S...

Page 291: ...d TS Tell setting Refer to 8 9 1 Specifications of Communication for details Category Parameter Format MM data Data range 0 Does not pause for a key input when the readout is multiple lines 1 Pauses for a key input when the readout is multiple lines Shipping set 1 When the parameter is set to MM1 the Driver Unit pauses the readout displaying the colon on the end of a line such as PG0 10 in case of...

Page 292: ...dance with the specified monitor The output offset of parameter MNY is set to a value when the monitor center is set to 2 5 V The output range of parameter MNR is set to a value when the maximum monitor output is 5 0 V When a parameter or a monitor name is set to data the analog monitor outputs the value of specified parameter P MNR Monitor range Primary This parameter specifies the monitor output...

Page 293: ...ng interval when it is altered Data range 2 0 0 to 10 000 0 ms Minimum monitoring interval of monitors Shipping set 0 0 MS Motor Stop This command stops the Motor operation caused by the internal command Positioning command jogging and Home Return and the programmed control operation Higher deceleration compared between a setting of currently executing positioning operation and the parameter MD ST...

Page 294: ...n the error counter Normal Software thermal loading Data range 2 Command name Specify a monitor name such as MXTV for monitoring Shipping set 0 A change of this parameter will automatically reset the parameters MXY Monitor offset secondary and MXR Monitor range secondary in accordance with the specified monitor The output offset of parameter MXY is set to a value when the monitor center is set to ...

Page 295: ...r A The parameter sets a proximity distance to activate the output NEARA Target proximity A Refer to 7 2 7 Target Proximity NEARA and NEARB for details In a positioning operation the output NEARA closes when the Motor reaches to the point short from the target position set by the parameter NA in units of pulse Category Parameter Format NA data Data range 0 to 2 62 144 000 pulse Shipping set 0 P NB...

Page 296: ...er NP Refer to Digital Filter for details Category Parameter Format NPQ data Data range 0 10 to 5 00 Shipping set 0 25 P NS Notch Filter Secondary Set a notch filter to the torque command Refer to 8 5 2 Digital Filter for details Category Parameter Format NS data Data range 1 0 Secondary notch filter off Data range 2 40 to 1 000 Hz Shipping set 0 P NSQ Notch filter Secondary Q Parameter Sets the Q...

Page 297: ...6 3 2 4 Program Sequence for details Category Parameter Format OE data Data range 0 Completes program processing after execution of current channel 1 After completion of the current program channel executes the program of the following channel number Ignores the input RG 2 Continually executes the program channel with the following number Shipping set 0 OP Compulsion Output The command OP forcibly...

Page 298: ...er Travel Limit for details The limited area starts from the setting of the parameter OTP and ends at the setting of the parameter OTM following in the counting up direction of the scale data Category Parameter Format 1 OTP data Format 2 OTP ST Sets the current position to the limit Data range 0 to 2 621 439 pulse Condition to be met In case of the teaching by the OTP ST Alarm A0 Position sensor e...

Page 299: ...n Input CWP Direction and Input CCWP pulse 4 øA øB Input CWP øA and Input CCWP øB Shipping set 0 PF Factory use only This monitor is for factory use only P PG Position Gain This parameter sets the position loop proportional gain Refer to 8 5 1 Servo Block Diagram for details Category Parameter Format PG data Data range 0 001 to 10 000 Shipping set 0 001 The parameter SG Servo gain will be cleared ...

Page 300: ... electrical ON OFF signals as the ON OFF signals that carry information on the port polarity set by the parameter AB 2 The Driver Unit confirms that the signal is being ON continually longer than the specified time by the parameter NW 3 The Driver Unit makes the assigned function to the ports effective in accordance with the parameter The Driver Unit recognizes the ON OFF signals The function assi...

Page 301: ...ies a local parameter at completion of the program operation Data range 2 1 Keeps a local parameter and makes it effective at completion of the program operation Shipping set 0 The prompt tells you which parameter is currently effective The local parameter is effective The global parameter is effective The command RE Reset global parameter resets a global parameter and nullifies a local parameter ...

Page 302: ...he state if an output signal is detected or not detected in accordance with the setting of parameter FN 2 Checks if an output signal stays in detected condition continuously for a time length set by the parameterSN 3 Opens or closes the output ports in accordance with the settings of the parameter GC The output port PO0 is exclusively used for the safety function Thus setting to the parameter FN P...

Page 303: ... prompt is Setting the parameter PP0 will make possible not change the prompt Refer to 6 3 2 2 Program Positioning Operation via RS RS 232C Communication for details Category Parameter Format PP data Data range 0 Does not change the prompt Always 1 Indicates the effective parameter of Shipping set 1 P PS Position Scale Select This parameter specifies the position scale system Category Parameter Fo...

Page 304: ...isplayed Category Command Format RA RP When RA command is executed with RP attached readout will be repeated and when executed without RP the readout will be executed only once To terminate the repetition press BS key The display will be in the decimal notation of 32767 to 32767 P RE Reset Global Parameters This command nullifies the local parameter that has been held in the program and makes the ...

Page 305: ... Monitor RP for details Category Monitor Format RP data Data range Readout 2 147 483 648 to 2 147 483 647 pulse Input 2 147 483 647 to 2 147 483 647 pulse Setting the data to zero 0 resets the monitor to zero 0 The counting direction is up for the plus direction pulse train and down for the minus direction pulse train P SC Factory use only This parameter is factory use only Do not change the setti...

Page 306: ...by the commands TS1 and TS2 Format 2 SI SY Initializes all parameters excluding the parameter AO Absolute position scale offset Format 3 SI AL Initializes all parameters Condition to be met The servo must be deactivated In case of the commands SI SY or SI AL In case of the alarm E2 RAM error or the alarm E7 System error execution of the command SI will automatically initialize the broken area of t...

Page 307: ...r details Category Command Format 1 SP data Format 2 SP AJ Starts the demonstration program Data range 0 to 255 channel Conditions to be met The Motor is not stopping because of an alarm or wiring The input STP Stop is not activated All conditions for execution of the program is met In case of the command SP AJ the following conditions are necessary in addition to the above conditions The servo is...

Page 308: ... carriage return code 0Dh Before outputting the carriage return code 0Dh check sum output code 40h followed by check sum will be transmitted The check sum is created by summing up the ASCII code of entire object characters and then converting the lower 8 bit of the sum to 1 s complement Figure 9 6 Response in the case of SU0 LF CR TP TP100 _ Input to Driver Unit CR P T Return message from Driver U...

Page 309: ...log monitor to MNSW for testing the primary analog monitor The monitor outputs the saw wave of which frequency is 256 ms and output level is 0 to 5 V Figure 9 8 Example of the analog monitor SW Dispalay of an Oscilloscope 256 ms 0 V 5 V TA Tell Alarm Status This monitor reads out the contents of alarm and warning Refer to 7 3 2 Alarm Monitor for details Category Monitor Format 1 TA Identifies all ...

Page 310: ...ory Monitor Format TD Data range 0 to 35 999 0 01 TDC Tell Command Position Degree Unit Reports the current commanded position Refer to 7 3 RS 232C USB Monitor for details The commanded position equals a sum of the current position data and the position error that is the current target position Category monitor Format TDC Data range 0 to 35 999 0 01 TDV Factory use only This monitor is for the fac...

Page 311: ...and TEO Position Error Over for details The output TEU activates when the data of the position error counter is less or equal to the setting of the parameter TEU category Parameter Format TEU data Data range 0 to 2 621 439 pulse Shipping set 0 TG Tell Gain Switching This monitor reports the state of the automatic gain switching function Refer to 8 5 4 Automatic Gain Switching for details Category ...

Page 312: ...ver for details The output TJO reports that the thermal loading is over when it is greater or equal to the setting of the parameter TJO Category Parameter Format TJO data Data range 0 00 to 100 00 Shipping set 0 00 P TJU Tell thermal under This parameter specifies the threshold of the thermal loading to activates the output TJU Tell thermal under Refer to 8 3 2 5 Thermal Loading Outputs TJU Therma...

Page 313: ...get position that is The monitor TNC reads out the current poison in the units set by the parameter CR Circular resolution This monitor is used to read out the position data in the pulse train command positioning Category Monitor Format TNC Data range 0 to Parameter CR 1 360 Parameter CR TOB Factory use only This monitor is for factory use only TP Tell position pulse unit This monitor reads out th...

Page 314: ...e 9 9 Example of the command TPI AL TPI AL TPI0 FNEMST AB1 NW0 2 TPI1 FNACLR AB0 _ Port number Port number TPO Tell Output Port This command reads out the function setting of the control output ports Refer to 8 1 3 2 Editing Control Output Function for details Command Command Format 1 TPO data Monitors the function setting of a specified control input port Format 2 TPO AL Monitors the all function...

Page 315: ...arget position that is The readout is in units the resolution specified by the parameter QR Dividing number user scale This is used to monitor the position data in a positioning caused by the commands AQ or IQ User scale positioning Category Monitor Format TQC Data range 0 to Parameter QR 1 360 Parmeter TR Tell RDC Position Data This monitor reads out the error in error counter The monitor TR is u...

Page 316: ...S FW 4 Pulse train input CR PC PM 5 Position feedback FD FZ FR 6 Position scale data PS DI OTP OTM AO 7 Positioning MV MA MB JV JA JB HV HA HB HZ MD CSA CSB QR OE PK AE 8 Home return OS HD HO 9 Reserved SQ 10 General inputs outputs OV BW NA NB ZAS ZAE ZAW ZBS ZBE ZBW ZCS ZCE ZCW TEU TEO TVU TVO TVEU TVEO TTU TTO TJU TJO MN MNR MNY MX MXR MXY POD 11 Communication MM BM WM EC MR PP 12 Automatic tuni...

Page 317: ...hold specified by the parameter TTO Category Parameter Format TTO data Data range 0 00 to 100 00 Shipping set 0 00 P TTU Tell Torque Command Under The parameter sets the threshold to activates the TTU Torque command under Refer to 8 3 2 4 Torque Command Output TTU Torque command under and Output TTO Torque command over for details The output TTU activates when the torque command is less or equal t...

Page 318: ...Tell Velocity Error Over This parameter sets the threshold to activate the output TVEO Velocity error over See 8 3 2 2 Velocity Outputs TVEU Velocity Error Under and TVEO Velocity Error Over for details The output TVEO activates when the absolute value of the velocity error is greater or equal to the threshold set by the parameter TVEO Category Parameter Format TVEO data Data range 0 000 to 10 000...

Page 319: ...ute value of the velocity is less or equal to the threshold set by the parameter TVU Category Parameter Format TVU data Data range 0 000 to 10 000 s 1 Shipping set 0 00 TX0 Parameter Dump This command reads out all user parameters excluding the parameter AO Absolute position scale offset and the parameter MM Multi line mode The parameter AO holds the home position data set by the user Monitor the ...

Page 320: ... Velocity Gain This parameter sets the velocity loop proportional gain Refer to 5 4 2 Setting Velocity Loop Proportional Gain VG for details Category Parameter Format VG data Data range 0 10 to 255 00 Shipping set 1 50 If the parameter VG is changed the parameters SG Servo gain will be cleared to zero 0 P VGL Velocity Gain Lower This parameter set the velocity loop proportional gain for a stopping...

Page 321: ...s limited to the setting of the parameter VL regardless of the settings of other parameters such as the parameter MV In case of the pulse train command operation the warning C0 Pulse command Feedback error occurs referring to the setting of the parameter VL as a guide Category Parameter Format VL data Data range 0 001 to 10 000 s 1 Shipping set 10 000 WCD Application use only This parameter is onl...

Page 322: ...equency of writing and deleting Approximately 100 000 times Frequent back up of the settings may shorten the operation life of the EEPROM The parameter WM selects the necessity of backup Category Parameter Format WM data Data range 1 0 Back up to the EEPROM Data range 2 1 Not back up Shipping set 0 Caution When the setting of the WM is changed to WM1 Not back up to WM0 Back up to the EEPROM it may...

Page 323: ...ommand cancels the multi monitor function Refer to 4 1 4 1 Inputting a Command while Monitoring Multiple Conditions for details Category Command Format WWC XDB Factory use only This parameter is for factory use only Do not change the setting XDM Factory use only This parameter is for factory use only Do not change the setting XIE Factory use only This parameter is for factory use only Do not chang...

Page 324: ...use only Do not change the setting XMM Factory use only This parameter is for factory use only Do not change the setting XMT Factory use only This parameter is for factory use only Do not change the setting XOL Factory use only This parameter is for factory use only Do not change the setting XOP Factory use only This parameter is for factory use only Do not change the setting XPA Factory use only ...

Page 325: ...use only Do not change the setting XRO Factory use only This parameter is for factory use only Do not change the setting XRR Factory use only This parameter is for factory use only Do not change the setting XRT Factory use only This parameter is for factory use only Do not change the setting XRW Factory use only This parameter is for factory use only Do not change the setting XSY Factory use only ...

Page 326: ...s parameter sets the starting point of the zone A at where he output ZONEA Zone A closes Refer to 8 3 1 In zone Output ZONEA ZONEB and ZONEC for details The zone A starts from the setting of the parameter ZAS Start point of zone A in the counting up direction plus direction of scale data and ends at the setting of the parameter ZAE End point of zone A Category Parameter Format 1 ZAS data Format 2 ...

Page 327: ...e A Refer to 8 3 1 In zone Output ZONEA ZONEB and ZONEC for details When the Motor passes a narrow zone in high speed the time for outputting the ZONEA signal gets shorter The parameter ZAW is used for reliable detection of the output signal Category Parameter Format ZAW data Data range 0 0 to 10 000 0 ms Shipping set 0 0 P ZBS Start Point of Zone B This parameter sets the starting point of the zo...

Page 328: ...ne B Refer to 8 3 1 In zone Output ZONEA ZONEB and ZONEC for details When the Motor passes a narrow zone in high speed the time for outputting the ZONEB signal gets shorter The parameter ZBW is used for reliable detection of the output signal Category Parameter Format ZBW data Data range 0 0 to 10 000 0 ms Shipping set 0 0 P ZCS Start Point of Zone C This parameter sets the starting point of the z...

Page 329: ...te position error is not occurring Alarm A4 Over speed is not occurring P ZCW Zone C Width This parameter sets the minimum outputting time of the output ZONEC Zone C Refer to 8 3 1 In zone Output ZONEA ZONEB and ZONEC for details When the Motor passes a narrow zone in high speed the time for outputting the ZONEC signal gets shorter The parameter ZCW is used for reliable detection of the output sig...

Page 330: ... Notch filter secondary NS 0 0 40 to 1 000 P Notch filter secondary Q parameter NSQ 0 25 0 10 to 5 00 P Dead band DBP 0 0 to 4 095 P Observer limit BL 100 00 0 00 to 100 00 P Feed forward gain FF 1 0000 0 0000 to 1 0000 P Parameter for factory use only ZF 1 0 to 5 P Position error counter over limit CO 200 000 1 to 2 621 439 P In position limit IN 400 0 to 2 621 439 P In position stability timer I...

Page 331: ...l velocity error over TVEU 0 000 0 000 to 10 000 P Tell torque command under TVEO 0 000 0 000 to 10 000 P Tell torque command over TTU 0 00 0 00 to 100 00 P Tell thermal under TTO 0 00 0 00 to 100 00 P Tell thermal over TJU 0 00 0 00 to 100 00 P Monitor primary TJO 0 00 0 00 to 100 00 P Tell velocity error over MN 0 0 to 8 or command name P Monitor range primary MNR 10 000 Depends on MN setting P ...

Page 332: ...9 Details of Command and Parameter 9 86 Blank Page ...

Page 333: ...l computer is not available read out the settings by the following commands and write down the settings on the list provided on the last page of this manual Appendix 9 Setting List of Parameter and Program of Driver Unit Model EDD Parameter settings Command TS Tell settings Programs Command TC Tell channel program Settings of control Input and Output Commands TPI Tell input port and TPO Tell outpu...

Page 334: ...ck the resistance between the Motor coil and the ground earth with a 500v megohmmeter Resistance 2 M Refer to Appendix 2 Play in bearing Once a year Apply repetitive moment load less than the limit and feel play of the bearing No play by the feel 10 3 2 Driver Unit Including Cables and Handy Terminal Caution Do not disassemble the Driver Unit High residual voltage may exist inside the Driver Unit ...

Page 335: ...les When the cables are exposed to the following materials or environment Materials Oil or chemicals Environment Highly humid high or low temperature and vibration When a cable is forcibly dragged or bent A cable is fixed in a way so that the force to the cable is concentrated on one point A cable is put in a cable truck that has less room than normal We are sorry that repair service of a cable is...

Page 336: ... Function Approximated life Use conditions Electrolytic condenser Smoothes power voltage Others 10 years This is not the guaranteed life Annual average of ambient temperature 30 C or less Average load factor 80 or less Average daily operation time 20 hours or less These are not guaranteed values Relays The Driver Unit contains two relays Approximated life is 100 000 times of switching We do not re...

Page 337: ...he middle of backing up the data Table 10 6 Timing for writing data to the EEPROM Event Object of backup Way to prohibit the data backup At the end of life of the EEPROM Turning on the control power Number of times for power on None Readouts of the command TA HI Read out alarm history may not be correct All the other parts will operate normally Occurrence of an alarm Occurrence history of an alarm...

Page 338: ...ducts only When the NSK products are returned with jigs cables or the like that are installed or attached to them by the user or a system integrator NSK Ltd shall not be liable for loss or damage of these parts We presuppose that the returned unit for repair will be replaced with the new units The actual costs of examination repair work and parts generally exceed the cost of new unit ...

Page 339: ...ced by a failure of the supplied unit are not covered 10 6 4 Service Fee Prices of goods do not include any applicable service charges such as the dispatching of engineers Startup or maintenance services that require the dispatching of engineers are subject to payment even during the applicable warranty period Service charges will be invoiced in accordance with the supplier s standard service char...

Page 340: ...10 Maintenance 10 8 Blank Page ...

Page 341: ...not accepted Move the Motor out of the off limits area When the setting of logic is the shipping set 11 1 1 LED Alarm Indicator Turn on the power and confirm the 7 segments LED alarm indicator on the front panel of the Driver Unit for the condition of the System If it is in the state shown in the Figure 11 1 below an alarm or warning is occurring If the parameter LED LED mode is set other than LM0...

Page 342: ...rning There is no indication when no alarm or warning is reported 2 Every input of the SP key scrolls down to the next readout Keep pressing the SP key to monitor all alarms or press the BS key to quit monitoring SP SP TA F3 Hardware Over Travel F4 Emergency Stop The indicator shows that the alarm F3 Hardware over travel and the alarm F4 Emergency stop are occurring The monitoring order of alarms ...

Page 343: ...s 3 Time of occurrence Elapsed time from the power on and number of times of power on From the record of the time of occurrence you can figure out whether an alarm occurred right after the power was turned on or it has been occurring continuously The following describes how to monitor the history of alarms 1 Input the command TA HI Tell alarm status TA HI TIME 000 17 58 4 3 _ A T H I ENT Elapsed t...

Page 344: ...avel Software over travel limit is activated Servo lock F3 F3 Hardware Over Travel Hardware over travel limit is activated F4 F4 Emergency Stop The input of EMST is ON Servo off P3 P3 Control AC Line Under Voltage Control power falls below the limit It may be recorded to the alarm history depending on the details of alarm When the home position is reset by the command AZ Absolute ZERO position set...

Page 345: ...dition when the Motor does not move even in normal state In the condition shown in the table below the Motor gets in the servo off state and the dynamic brake is functioning to brake the Motor When the initialization of the CPU takes longer than 10 seconds at the power on the control circuit is not functioning normally Refer to 11 3 1 CPU Error for the cause and remedy Table 11 4 condition when th...

Page 346: ... Table 11 5 Alarm 7 seg LED Readout of the Command TA Tell alarm Name Motor condition Output DRDY Output WRN Output OTPA OTMA Alarm history Alarm clear CPU not functioning Servo off Open Open Open A0 A0 Position Sensor Error Disconnected sensor cable Servo offOpen Open A1 A1 Absolute Position Error Position data error Servo off Open A2 A2 Motor Cable Disconnected Disconnected Motor cable Servo off...

Page 347: ...rror Automatic tuning error Cycle stop 1 Open P5 P5 Main AC Line Under Voltage Low voltage of main power Servo off Open 1 When the warning F5 Program error or the warning F8 Auto tuning error is given in the middle of Motor operation the Motor stops after the completion of current operation 11 2 2 3 Over Travel Limit Reports the condition on both software and hardware over travel limit If the ship...

Page 348: ...esolver cable for proper connection 2 Defective resolver cable Visually check the cable for damage Replace the Motor or the resolver cable if necessary Refer to Appendix 2 How to Check Motor Condition 3 Defective resolve winding 4 Defective Driver Unit If it does not recover with above measures the Driver Unit may be defective Replace it referring to Appendix 5 Procedure for Replacing Driver Unit ...

Page 349: ...eak in the motor cable Table 11 11 Cause and remedy for the alarm A2 Cause Remedy 1 Motor cable disconnected Check the Motor cable for proper connection 2 Defective Motor cable Visually check the cable for damage Replace the Motor or the Motor cable if necessary Refer to Appendix 2 How to Check Motor Condition 3 Defective Motor winding 4 Defective Driver Unit If it does not recover with above meas...

Page 350: ...r adjustment of servo parameters Set the servo parameters properly Refer to 5 Tuning 6 Defective cable Motor or Driver Unit Follow Appendix 2 How to Check Motor Condition for checking their conditions Replace the cable or the Motor if necessary If above procedures do not work the Driver Unit may be defective Replace it referring to Appendix 5 Procedure for Replacing Driver Unit Model EDD if necess...

Page 351: ...be defective Replace it referring to Appendix 5 Procedure for Replacing Driver Unit Model EDD 1 The maximum rotational speed setting of parameters such as the parameter MV is 10 s 1 However the maximum rotational speed depends on each Motor model Refer to 2 5 Motor Specifications and set the operating velocity not to exceed the specification 11 3 7 Warning A5 Home Position Undefined In case of abs...

Page 352: ...f Motor and Driver Unit Check for proper combination 2 The Motor moves when the servo is turned on because of external force Remove the cause of external force Refer to 5 Tuning if the Motor is affected by the gravity because its axis is horizontal 3 Defective cable Motor or Driver Unit Follow Appendix 2 How to Check Motor Condition for checking their conditions Replace the cable or the Motor if n...

Page 353: ... the frequency of pulse train input Increase the resolution of the parameter CR Circular Resolution C0 1 The transient velocity command exceeding 1 5 times of the setting of parameter VL Velocity limiter is inputted longer than 1 ms continuously Decrease the frequency of pulse train input Increase the resolution of the parameter CR Circular Resolution Decrease the setting of parameter FR Feedback ...

Page 354: ... on the EEPROM due to its service life or the data is not properly overwritten to the EEPROM Table 11 19 Cause and remedy for the alarm E2 Cause Remedy 1 ROM data have been altered by noise or other cause Take measures against noise Initialize the memory by the command SI Set initial parameters and then turn on the power again If the alarm does not occur restore the previous parameter settings 2 E...

Page 355: ...may be set 11 3 14 Alarm E8 Interface Error The Driver Unit incorporates several printed circuit boards inside This alarm occurs when an error is detected on the printed circuits board for control Table 11 21 Cause and remedy for the alarm E8 Cause Remedy 1 Defective FPGA on PCB If a reset of the power does not solve the problem the Driver Unit may be defective Replace it referring to Appendix 5 P...

Page 356: ...rain command operation reduce the parameter settings of acceleration and deceleration to the pulse generating controller 3 Interference of mechanical clump 4 Excessive acceleration and deceleration 5 The setting of CO data is too low Firstly check if the shipping set of CO200000 is maintained The parameter CO isn t necessarily to be 200000 It is rather set to the specifications of machine into whi...

Page 357: ...over travel is detected based on the positioning command rather than the current Motor position Positioning command is equal to the sum of current position and position error Therefore if the positioning command is not within the range of software over travel detection the F2 alarm is not produced even the actual motor position is entered within the detection range due to the overshooting When you...

Page 358: ...a as the System accepts the move command to this direction Turn off the Motor servo then move the Motor manually out of the area 3 Wrong wiring OTP OTM etc Check wiring of OTP and OTM Check the OT sensor 4 Defective limit sensor Limit sensor that is connected to OTPA or OTMA sensors 1 When the limit sensor is activated the state of over travel limit warning is purposely hold until one of the follo...

Page 359: ... F5 0 The System is executing other program The input RUN Program start is disabled while the output BUSY In operation is closed When a mechanical contact is used for the input RUN check for chattering that may cause two or more rising signals Check if the input RUN is already ON due to noise If the warning occurs due to causes above increase the setting of the parameter NW Anti chattering timer o...

Page 360: ...ERTIA WRN The load moment of inertia is too much Remove the cause of excessive friction resistance or mechanical interference that locks the Motor Reduce the load moment of inertia Refer to Table 3 4 Recommended load moment of inertia of Megatorque Motor CAN T TUNE Cannot perform automatic tuning Remove the cause of external interference Mount the Motor so that the Moro axis is vertical Eliminate ...

Page 361: ...ning P0 0 P0 1 P0 2 Defective Cable Motor or Driver Unit Check the Motor condition referring to Appendix 2 How to Check Motor Condition Replace the cable or the Motor if necessary If above measures do not work the Driver Unit may be defective Replace it referring to Appendix 5 Procedure for Replacing Driver Unit Model EDD 1 If the thermo sensor remains ON the warning occurs again when the power is...

Page 362: ...ive Replace it referring to Appendix 5 Procedure for Replacing Driver Unit Model EDD 11 3 25 Alarm P3 Control Power Under Voltage The Driver Unit watches the voltage of control power supply It gives the alarm when the voltage falls below the threshold Table 11 34 Cause and remedy for the alarm P3 Cause Remedy 1 The voltage of control power supply falls below 60 VAC Turn off the power supply Fasten...

Page 363: ...e for Replacing Driver Unit Model EDD 1 The input ACLR Alarm clear or the command CL Clear alarm after the cause of the warning is removed 11 3 27 Alarm P9 Power Module Alarm The Driver Unit has the power module to flow the current through the Motor The Driver Unit gives the alarm when the power module generates heat abnormally or supplies excessive current to the Motor Table 11 36 Cause and Remed...

Page 364: ...11 Alarm and Warning 11 24 Blank Page ...

Page 365: ...ce voltage Check the voltage variation of the power source 3 Trouble recurrence Confirm the frequency of occurrence Example Once every one hour Several times week 4 Occurrence in special occasion At what particular occasion does the problem occur Example When welding process is performed in the proximity When the Motor is accelerating Occurs at the same position 5 State of warning and alarm The st...

Page 366: ...e Motor due to the mechanical interference with the surrounding mechanism 4 2 Poor tuning of servo gains 4 3 In the middle of processing a positioning command Executing a positioning command Executing a program operation caused by the parameter OE2 Confirm if the output BUSY is closed or monitor the state of Input and output by the monitor IO0 RP If the BUSY signal is closed the System is executin...

Page 367: ...oning Table 12 6 Troubleshooting for improper positioning Cause Remedy 1 Wrong combination of Motor and Driver Unit Check if the combination of the Motor and the Driver Unit is correct 2 An alarm or a warning is occurring Identify the alarm or the warning 3 Loose mounting of the fixture and or the Motor Check for loose mounting of the fixture and the Motor 4 Poor setting of the servo gains The pos...

Page 368: ...s message assumes the difference in the board rate This message appears on the display if the data length is longer than specified or the stop bit is not 2 bit Check if the baud rate of the Handy Terminal is 9 600 bps Refer to the instruction manual of the Handy Terminal Use another M FHT31 4 When _ under bar appears on the display 4 1 The Handy Terminal was connected while the power of the Driver...

Page 369: ...00000000000000 00000000000000000 I O guide Output 0 OFF 1 ON 0 Open 1 Closed Table A 1 Monitoring contents of the monitors IO0 and IO1 Gide G F E D C B A 9 8 7 6 5 4 3 2 1 0 CN2 pin number 20 19 18 17 16 15 14 13 12 11 9 8 7 6 5 4 3 Pin code Shipping set PI16 DIR PI15 JOG PI14 PRG7 PI13 PRG6 PI12 PRG5 PI11 PRG4 PI10 PRG3 PI09 PRG2 PI08 PRG1 PI07 PRG0 PI06 STP PI05 RUN PI04 SVON PI03 OTM PI02 OTP P...

Page 370: ...f output 0 Not functioning 1 Functioning 0 Not detected 1 Detected The readout of the state of the input signals by the monitor IO1 will be affected by the parameter AB Input polarity For example the shipping set of the input EMST Emergency stop is a normally closed contact As shown in Figure A 3 below the function of emergency stop is effective even the input signal is OFF at the moment of 1 At t...

Page 371: ...state just before the application of the output logic The monitor is not applicable for the parameters ST Stability timer and GC Output logic in the command PO Edit control input The number 1 indicates that the output will be detected and the number 0 indicates that the output will not be detected Table A 4 Readout pf Monitor IO3 Guide F E D C B A 9 8 7 6 5 4 3 2 1 0 Function code TVEU TVO TVU TEO...

Page 372: ...tor CN1 of the Driver Unit Then turn on the power of the Driver Unit 2 Confirm that the prompt colon is on the display If the prompt is not on the display press the ENT key once _ ENT Monitor the function state of input ports by the monitor IO2 Input function 1 Repeat monitoring the IO2 IO2 RP_ 2 O I R P 2 Input the ENT key for monitoring IO2 FEDCBA9876543210 0000000000100000 0000000000000000 ENT ...

Page 373: ...Appendix A 5 Input as F Input Output function code FRUN RP FRUN 1_ U R F N P R ENT Input of the BS key will terminate repetitive monitoring and the prompt colon appears on the display ...

Page 374: ... not turn the rotor while checking the Motor winding Table A 5 Checking points Cable connector Motor connector Result øU øV 1 2 U V 1 2 U V øV øW 2 3 V W 2 3 V W øW øU 3 1 W U 3 1 W U Table A 6 Specifications of resistance of Motor winding Motor type Winding resistance Specification PS1004 70 3 1 30 of error 2 Difference between each phase UV VW and WU is less than 15 PS1006 24 4 PS1012 10 6 PS101...

Page 375: ...pe 8 3 1 PS 3 type PN3 type PN4 type 9 9 1 PN2 type 7 7 2 2 Variation between each phase A B and C shall be 1 0 Ω or less INC B 2 9 INC B INC COM A 2 A 4 INC B INC COM INC C 3 9 INC C INC COM A 3 A 4 INC C INC COM ABS A 4 8 ABS A ABS COM B 1 B 4 ABS A ABS COM 1 Resistance PS1 type PX3 type 8 3 1 PS3 type PN3 type PN4 type 9 9 1 PN2 type 7 7 2 2 Variation between each phase A B and C shall be 1 0 Ω...

Page 376: ...A 10 Check with the Cable Megohmmeter Ω 1 2 3 4 5 6 7 8 9 Fig A 11 Check the Motor only Table A 8 Checking point Cable connector Motor connector Result øU PE 1 9 U PE 1 4 U PE øV PE 2 9 V PE 2 4 V PE øW PE 3 9 W PE 3 4 W PE Connector of Driver Unit Connector of Motor INC A INC B INC C INC common ABS A ABS B ABS C ABS common FG shielded wire Common øC øB ø A Incremental resolver Absolute resolver ø...

Page 377: ...ion of Insulation resistance Common to all type of Motor Specification With cable 1 M or over Motor only 2 M or over Visual check of the Motor and the Cables Check the Motor for damage Check the cable for damage of the cable insulation ...

Page 378: ...ion scale offset which sets the Motor home position and the parameter MM Multi line monitor which sets the monitoring mode to the Handy Terminal won t be backed up by the following procedures Keep note by hand with the following procedures 1 Monitor the setting of the parameter AO The setting of the parameter PO must be set to individual Motor thus it shall be noted for each Motor AO AO123456 _ A ...

Page 379: ...lls in high speed while uploading At the completion of uploading the display menu changes to the editing menu in the user state Editor 1 Upload 2 Delete 3 Download It changes to the normal mode by a press of the BS while pressing the SHIFT key How to restore the parameter settings 1 Execute restoring the parameter settings using the memory function of the Handy Terminal FHT31 1 While pressing the ...

Page 380: ...calls up the confirmation screen of notice RR FR AO PA OL RC RO MT RI ZP ZV MM can t be downloaded Press ENT Key ENT Press the ENT key again for the confirmation screen to start downloading Download EDD01 1 Yes 2 No ENT 4 Press the keys in order of 1 and ENT to start downloading ENT 1 The display scrolls in high speed while downloading At the completion of downloading the display menu changes to t...

Page 381: ... scale offset and MM Multi line monitor which have been noted previously 1 Input the parameter AO NSK ON NSK ON AO123456 _ O 1 A 3 4 2 6 ENT 5 N S SP K N ENT O 2 Input the parameter MM NSK ON NSK ON MM1 _ M 1 M ENT N S SP K N ENT O 3 Turn off the power for the completion ...

Page 382: ...ameter PG Position gain will be monitored 2 Every input of the SP monitors a setting will be read out Input the SP several times to read out all settings of parameters TS1 PG0 05 PGL0 05 VG0 50 _ SP SP The prompt colon appears on the screen for the completion of monitoring 2 Monitor the settings of programs Follow the procedures below and note down the settings 1 Monitor all programs by the comman...

Page 383: ...utputs Follow the procedure below for monitoring 1 Monitor all settings of control outputs by the command TPO AL Tell all output port TPO AL TPO0 _ ENT P O T A L This reads out all 2 Every input of the SP key will report the settings one by one on the line Input the SP key several times to monitor all of them SP SP TPO AL TPO0 FNDRDY GC0 _ How to restore the settings 1 Restore all settings that ha...

Page 384: ...ion screen Channel Fig A 12 Parameter edition screen Reference 5 Select Save as A from the menu bar 6 When the dialog box for saving is opened define the file name and save 7 Disconnect the communication Click 8 Terminate EDD MegaTerm and turn off the power of Driver Unit for completion Restoring by EDD MegaTerm 1 Connect Driver Unit and personal computer using a USB communication cable 2 Turn on ...

Page 385: ...nfirmation message for writing dialog box will be displayed Click to end Fig A 14 Confirmation message for writing 6 This process will be completed when Writing completion dialog box is displayed Click to end Fig A 15 Confirmation message for writing 7 Disconnect the communication Click 8 Terminate EDD MegaTerm and turn off the power of Driver Unit to complete the work ...

Page 386: ...or saved data in MegaTerm Table A 10 Character code information for saved data in MegaTerm MegaTerm type character code extension EDD MegaTerm Unicode mtd EDC MegaTerm SJIS ANSI mtd txt Encoding 1 Open the object file by text editor Notepad 2 Change the character code of the opened file and save it using Save as Change the character code from ANSI to Unicode 3 The process is completed when saving ...

Page 387: ...ifying the file to open Selecting Confirming message for writing Tick Send AO command when sending the Home offset value of Motor The Confirmation message for writing dialog box will be displayed Click to end Fig A 17 Confirmation message for writing This process will be completed when Writing completion dialog box is displayed Click to end Fig A 18 Confirmation message for writing Writing has bee...

Page 388: ...ce number and then restore the settings of the parameters the internal channel programs and the control inputs and outputs that have been copied from the old one Preparation Handy Terminal FHT31 FHT21 or FHT11 Back up the settings of the Driver Unit 1 Refer to Appendix 3 How to Back up and Restore the Settings of Programs and Parameters for backing up the whole settings of the Driver Unit to be re...

Page 389: ...pears on the last line of the screen at the completion of the initialization 3 Initialize the settings of control inputs Input the command PI CL Edit all input ports It requires an input of the password N SP NSK ON NSK ON PI CL _ N ENT O S K I P L ENT C The prompt colon appears on the last line of the screen at the completion of the initialization Initialize together the settings of control output...

Page 390: ...at 200 VAC the Motor will be stopped by the alarm P1 Main Power Over Voltage In such a case the following measures shall be taken Decrease acceleration and deceleration Decrease velocity Decrease the load moment of inertia If you do not want to downgrade the operational conditions an optional external regeneration resistor with high durability may be used without downgrading the performance of the...

Page 391: ...he cable of regeneration resistor and the sensor cable A thicker cable pair is the resistor cable while a thinner cable pair is the sensor cable No polarity is set to the both pairs Fig A 21 Connection of external regeneration resistor Resistor cable thicker cable Sensor cable thinner cable ...

Page 392: ...5 FG 1 TXD 3 RXD 7 RTS 2 CTS 4 DSR 5 DTR 6 SG 9 FG RS 232C terminal EDC Driver Unit CN1 RTS control CTS monitoring inactive Since this connection applies to non procedural communication the Driver Unit Model EDD may fail to read data if a large amount of data is received too quickly Make sure that the Driver Unit Model EDD echoes back or leave spaces between the data transmission Be sure to short ...

Page 393: ...ee turns Fig A 24 Installing USB Communication Cable and ferrite core Table A 11 Recommended USB Communication Cables Type Maker Cable length U2C 30BK ELECOM 3m Table A 12 Recommended Ferrite Cores Type Maker Impedance specification 100 MHz 3 turns Applicable cable Max mm E04SR241336 A Seiwa Electric MFG 1000 Ω φ10 0 to 13 0 PC Ferrite Core Ferrite Core Connecting to CNO ...

Page 394: ...0 000 LG 50 00 JA 1 0 TVEO 0 000 LB 0 00 JB 0 0 TTU 0 00 TL 100 00 MD 0 0 TTO 0 00 GP 0 HV 0 200 TJU 0 00 GT 0 0 HA 1 0 TJO 0 00 FO 0 000 HB 0 0 MN 0 FP 0 HZ 0 010 MNR 10 000 FS 0 CSA 1 MNY 0 NP 0 CSB 0 MX 0 NPQ 0 25 QR 360000 MXR 10 000 NS 0 OE 0 MXY 0 000 NSQ 0 25 PK 0 MM 1 DBP 0 AE 1 BM 1 BL 100 00 OS 6 WM 0 FF 1 0000 HD 1 EC 0 ZF 1 HO 0 MR 0 0 CO 200 000 SQ 0 PP 1 IN 400 OV 100 00 LO 0 000 IS ...

Page 395: ...Appendix A 27 Reference number S N Program Setting List A blank box is not in use Date CH Program CH Program CH Program CH Program 0 Command ...

Page 396: ...N GC ST FN GC ST PI0 EMST 1 0 2 PO0 DRDY 0 0 0 PI1 ACLR 0 0 2 PO1 WRN 1 0 0 PI2 OTP 1 0 2 PO2 OTPA 1 0 0 PI3 OTM 1 0 2 PO3 OTMA 1 0 0 PI4 SVON 0 0 2 PO4 SVST 0 0 0 PI5 RUN 0 0 2 PO5 BUSY 0 0 0 PI6 STP 0 0 2 PO6 IPOS 0 0 0 PI7 PRG0 0 0 2 PO7 NEARA 0 0 0 PI8 PRG1 0 0 2 PI9 PRG2 0 0 2 PI10 PRG3 0 0 2 PI11 PRG4 0 0 2 PI12 PRG5 0 0 2 PI13 PRG6 0 0 2 PI14 PRG7 0 0 2 PI15 JOG 0 0 2 PI16 DIR 0 0 2 ...

Page 397: ...MEGATORQUE MOTOR SYSTEM User s Manual Driver Unit Model EDD Document Number C20201 01 Feb 8 2019 1st Edition 1st Printing NSK Ltd ...

Page 398: ...nia Australia NSK AUSTRALIA PTY LTD MELBOURNE SYDNEY BRISBANE PERTH New Zealand NSK NEW ZEALAND LTD AUCKLAND China NSK SHANGHAI TRADING CO LTD JIANGSU NSK CHINA INVESTMENT CO LTD JIANGSU BEIJING TIAN JIN CHANGCHUN SHENYANG DALIAN NANJING FUZHOU WUHAN QINGDAO GUANGZHOU CHANGSHA LUOYANG XI AN CHONGQING CHENGDU NSK CHINA SALES CO LTD JIANGSU NSK HONG KONG LTD HONG KONG SHENZHEN Taiwan TAIWAN NSK PREC...

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NSK EDD Megatorque Motor, User Manual

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