NSK Megatorque M-EDC-PN2012 Series User Manual Download

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MEGATORQUE

MOTOR SYSTEM

User’s Manual

(EDC Driver Unit System)

Analog Driver Unit with Analog Interface

Document Number: C20171-01

Jun 20, 2008

1st Edition

1st Printing

NSK Ltd.

Summary of Contents for Megatorque M-EDC-PN2012 Series

Page 1: ...MEGATORQUETM MOTOR SYSTEM User s Manual EDC Driver Unit System Optional Driver Unit with Analog Interface M E099DC0C2 171 Document Number C20171 01 ...

Page 2: ... 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 1997 to 2008 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 writing from NSK Ltd NSK Ltd reserves the right to make changes to any pr...

Page 3: ... 2 Velocity Control Mode 3 2 3 2 1 Velocity Control With RS 232C Command 3 2 3 2 2 Velocity Control With Analog Command 3 3 3 2 2 1 Offsetting Analog Velocity Command 3 4 3 3 Torque Control Mode 3 6 3 3 1 Torque Control With RS 232C Command 3 6 3 3 2 Torque Control With Analog Command 3 7 3 3 2 1 Offsetting Analog Torque Command 3 8 4 Glossary of Commands and Parameters 4 1 5 Conformity with the I...

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Page 5: ...t consists of the EDC Driver Unit with the Analog Interface Please refer to the user s manual of the Megatorque Motor System Document number C20158 for other details For your safety please be sure to read the user s manual thoroughly before operating the Megatorque Motor System 1 1 ...

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Page 7: ...provide these devices Analog signal The optional parts listed below are not shipped with the Driver Unit Table 2 1 Optional parts lists Name System Reference Number Contents Connector 54306 5019 Molex M E014DCFS1 001 Connector for CN2 Shell 54331 0501 Molex Connector 231 305 026 000 WAGO Connector M E014DCFS1 002 Connector for CN5 Wiring lever 231 131 WAGO Driver Mounting Brackets M E050DCKA1 001 ...

Page 8: ... single phase Position sensor code B Absolute position sensor Function 5 Standard 1 Analog Input Optional C CC Link Optional 02 Provid connectors fixing blackets and English manual 01 Provide connectors fixing blackets and Japanese manual No code without connectors blackets and manual 2 3 EDC Driver Unit Figure 2 3 Dimension of Analog input type EDC Driver Unit same as standard type Motor type PS1...

Page 9: ... 2 3 Figure 2 4 Dimension of Analog input type EDC Driver Unit same as standard type Motor type PS3060 and PS3090 ...

Page 10: ...rque command Current command Thermal load RS 232C communications monitor Position data Alarm messages Servo parameter etc Communications RS 232C serial communications synchronous 9600 bps Data back up EEPROM The parameter can be rewritten 100 000 times 2 5 Specification related to resolution Table 2 3 resolution specification Item Specifications Resolver Resolution 2 621 440 counts revolution 1 Re...

Page 11: ...VON Servo on RUN Program start STP Stop PRG0 Internal program channel selection 0 PRG1 Internal program channel selection 1 PRG2 Internal program channel selection 2 PRG3 Internal program channel selection 3 PRG4 Internal program channel selection 4 IOFF Integration off NONE Set to a non function port General input DRDY Driver Unit ready WRN Warning OTPA Travel limit detection direction OTMA Trave...

Page 12: ...eration and the Motor stops by the dynamic break 4 PI1 ACLR Normally open Alarm clear Clears warning 5 PI2 OTP Normally closed Over travel limit direction If OTP goes active the Motor servo is locked in the CW direction 6 PI3 OTM Normally closed Over travel limit direction If OTM goes active the Motor servo is locked in the CCW direction 7 PI4 SVON Normally open Servo on If SVON goes active the se...

Page 13: ... limit software and hardware in the minus direction 32 PO4 SVST Positive Servo state Reports the state of servo 33 PO5 TVU Positive Velocity under 34 PO6 TVO Positive Velocity over Reports condition of velocity against the threshold value 35 Do not connect 36 CHA Position feedback signal øA 37 CHA Position feedback signal ø A 38 CHB Position feedback signal øB 39 CHB Position feedback signal ø B 4...

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Page 15: ...e such as high speed and high precision which are expected by using standard type EDC Driver Unit or CC Link Type EDC Driver Unit may not exhibited by external controller 3 1 Interfacing 3 1 1 Analog Command Input Applied input AIN AIN Table 3 1 Specifications of analog command input Item Specification Max input voltage 10 VDC Input impedance 20 kΩ Maxi input current 0 5 mA ADC resolution 12 bits ...

Page 16: ... CCW direction 3 2 1 Velocity Control with RS 232C Command Motor velocity may be controlled directly through the RS 232C command in the velocity control mode Parameter AC AC0 sets validity of DC command Inputting C D ENT data will have the Motor controlled with the velocity that is proportional to the data Relation between the data of DC command and the velocity is shown in Figure 3 2 Figure 3 2 D...

Page 17: ... between the command voltage and the velocity may be selected with parameter AG See Figure 3 3 Table 3 2 Rotating direction relater to DI AC and the polarity of Command voltage DI setting AC setting Command voltage Rotating 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 Figure 3 3 Command voltage and velocity DI 0 10 V 10 V Porality for CW direction AC1 Porality for CCW dire...

Page 18: ...automatically to compensate current analog input which is caused by the drift to 0 zero 1 Connect the master controller and the Driver Unit and then input analog velocity command 0 zero 2 Input the password The acknowledgement will be returned NSK ON NSK ON _ K N S SP N ENT O 3 Input as AF ST_ S F A T 4 Pressing the ENT key sets the offset value automatically The set value of AF will be on the scr...

Page 19: ...mand due to the drifting will be shown in the screen repeatedly Indication of 2 as shown in the screen below denotes that the offset to the command voltage shall be 0 6 mV 0 3 mV 2 RA RP 2_ ENT 5 Confirm the result and press the BS key Otherwise the next command won t be accepted RA RP 2 _ BS 6 Input the password The acknowledgement will be returned NSK ON NSK ON _ K N S SP N ENT O 7 Execute the f...

Page 20: ...otation AC 1 Analog command valid When analog torque command is CCW rotation 3 3 1 Torque Control with RS 232C Command You may control directly the motor output torque with RS 232C command in the torque control mode Set the parameter AC AC0 to make the DC command valid Input as C D ENT data to control the motor with torque proportional to the parameter data Relation between the data of DC command ...

Page 21: ...Relation between the command voltage and the output torque of the Motor may be changed with parameter AG Refer to Figure 3 6 Table 3 3 Rotating direction relater to DI AC and the polarity of Command voltage DI setting AC setting Command voltage 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 Figure 3 6 Command voltage and output torque DI 0 10 V 10 V Porality for C...

Page 22: ...a in the range of AF 6552 to AF 6552 Figure 3 7 Example AF 10 AC1 10 V 3 mV 10 V CCW Max torque CW Max torque Input voltage 1 Automatic offset setting Set the offset value automatically to compensate current analog input which is caused by the drift to 0 zero Refer to 1 Automatic offset setting in 3 2 2 1 Offsetting Analog Velocity Command 2 Manual offset setting Adjust offsetting manually with th...

Page 23: ...Offset Format1 AF ST Automatic setting Format2 AF data Manual setting Data range 6552 to 6552 Shipping set 0 Sets the offset value on input voltage of analog command For more details about the parameter AF refer to 3 2 2 1 Offsetting Analog Velocity Command in case of the analog velocity control mode or 3 3 2 1 Offsetting Analog Torque Command in case of the analog torque control mode TS0 or AF re...

Page 24: ...nd Velocity control mode 32 767 to 32 767 CW in positive command Shipping set 0 This command is to input directly the operation command through the RS 232C communication interface in velocity or torque control mode However the use of this command shall be limited to an ordinal operation or a testing operation of the Motor due to sluggish response If DC command is inputted when an analog command AC...

Page 25: ... RP to RA command will report the reading repeatedly while RA input alone reports in one shot To quit from the repetitive readings press the BS key The report is a decimal number in 32 767 to 32 767 SL Set Control Mode Format SL data Data 1 2 Shipping set 2 Sets the control mode SL1 Torque control mode SL2 Velocity control mode TS0 or SL command reports the current setting 4 3 ...

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Page 27: ...h the related regulations of the EMC Directive However your actual use conditions for wiring and installations won t be the same as our tested model Thus you have to check your machine especially on the radiated noise and conducted noise for the conformity with the EMC Directive as a complete machine after installation of the Megatorque Motor System Table 5 1 List of relevant standards for EMC Dir...

Page 28: ... of Pollution Degree1 or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water oil or dust IP54 Power source The EDC Driver Unit shall be used in the environmental condition of Over voltage category III as specified by IEC60664 1 Circuit breaker Install a circuit breaker that conforms to IEC standard and UL ...

Page 29: ...r Unit UL508C E216221 Conditions to Meet UL Standards Be sure to meet the following as they are the supplementary conditions for the qualification Environmental conditions The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water...

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Page 31: ...MEGATORQUETM MOTOR SYSTEM User s Manual EDC Driver Unit System Analog Driver Unit with Analog Interface Document Number C20171 01 Jun 20 2008 1st Edition 1st Printing NSK Ltd ...

Page 32: ...1st Edition 1st Printing Jun 20 2008 Document Number C20171 01 ...

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