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MEGATORQUE

MOTOR SYSTEM

User’s Manual

(

EDC Driver Unit CC-Link Option

)

Document Number: C20157-02

M-E099DC0C2-157

Содержание MEGATORQUE MOTOR SYSTEM

Страница 1: ...MEGATORQUE MOTOR SYSTEM User s Manual EDC Driver Unit CC Link Option Document Number C20157 02 M E099DC0C2 157 ...

Страница 2: ...sing 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 2011 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 produc...

Страница 3: ...0 2 3 2 Remote Register 2 12 3 Operation 3 1 3 1 Operation Mode and Input Output 3 1 3 2 Change of Operation Mode 3 2 3 3 Servo on in the Maintenance Mode 3 2 3 4 Monitoring Control Input Output 3 4 3 4 1 Monitoring the State of Remote Inputs Outputs Monitor IO4 3 5 3 4 2 Monitoring State of the CC Link Interface Monitor BS 3 6 3 5 Function Assignment of Control Inputs Outputs 3 7 3 5 1 Function o...

Страница 4: ... ii Blank Page ...

Страница 5: ... please be sure to read the user s manual thoroughly before operating the Megatorque Motor System 1 1 Notes for Users 1 1 1 Notes for Safety For your safety you should read this manual thoroughly and understand the contents before operating the Megatorque Motor System The following notices are added to give particular emphasis on the safety precautions in this manual Danger A matter that might cau...

Страница 6: ...1 Introduction 1 2 Blank Page ...

Страница 7: ...essable remote input ports 17 16 ports are available for any function assignment Number of addressable remote output ports 8 7 ports are available for any function assignment Remote register output 2 words Enables to configure the contents of output 2 2 Specifications of Hardware Interface 2 2 1 External Dimensions Fig 2 1 EDC Driver Unit compatible with CC Link Network Motor type PS1006 PS1012 PS...

Страница 8: ...2 Specification 2 2 Fig 2 2 EDC Driver Unit compatible with CC Link Network Motor type PS3060 and PS3090 ...

Страница 9: ...Use a shielded cable for wiring of the CN2 connector 2 These cables should be laid separately from the main power line 3 Connect the one end of the shielded cable to the frame ground Caution Check for a wiring mistake in the polarity of external power supply and a shorting between connector pins Caution Never connect the idle pins that are insntructed as Do not connect Do not make them idle at the...

Страница 10: ...tions in brackets is the shipping set The pins with hyphones are prophibited connection EMST Emargency stop Input dedicated to the safety functions DRDY Driver Unit ready NRM Normal Output dedicated to the safety functions EMST Emergency stop ACLR Alarm clear OTP Travel limit direction OTM Travel limit direction SVON Servo ON RUN Positioning start STP Stop PRG0 7 Internal program chanel selection ...

Страница 11: ...osed Travel limit direction If OTM input goes active the Motor servo is locked in the CCW only 7 Do not connect 8 PO0 DRDY Positive Driver Unit ready Reports that the Motor is ready to rotate Those pins open when Motor is not ready or an alarm occurs 9 Do not connect 10 COM Output signal COMMON Common for output signal Caution Be sure to follow the operation manual when your Megatorque Motor Syste...

Страница 12: ...nnectors Table 2 5 Reference data of the mating connector Item Specification Cable to be used single connection 0 2 to 2 5 mm2 twisted AWG24 to 12 Cable to be used double connection 0 2 to 1 5 mm2 twisted Removed coat length 7 mm Machine screws to be used M3 Tightning torque 0 5 to 0 6 N m 2 2 3 1 CN6 Pin Out Table 2 6 CN6 pin out Pin No Signal code Function Description 1 FG Frame ground Connect t...

Страница 13: ...hipping set 5 0 1 2 3 4 6 7 8 9 Driver Unit s upper side 5 9 Never set 2 2 6 SW4 Terminal Resistor Switch Set the terminal resistor when connecting the Driver Unit to the end of the network Select the resistor value in accordance with the characteristic impedance of the cable Be sure to turn off the power of the Driver Unit when setting the terminal resistor Table 2 9 Terminal resistor setting swi...

Страница 14: ... Resetting hardware Blinking The switch setting SW1 2 and 3 is altered Table 2 11 Monitoring pattern SD RD RUN ERR Status Communicating normally Communicating normaly with occasional CRC error Baud rate and or station number setting are alterd at the time of power on LED flickers at intervals of every 0 4 s Transferred data become CRC Error and thus unable to responsd No data transmission to the D...

Страница 15: ... Unit is the terminating unit the SW4 switch may be used for the function of terminating resistor When the grounding terminal of the Driver Unit Heat sink is grounded grounding of the FG terminal of the CN6 connector is not necessary Connect the shielded wire of the CC Link dedicated cable to the SLD terminal of CN6 connector The SLD terminal is connected to the housing of the Driver Unit through ...

Страница 16: ...t Output signal logic and the function that can be assigned to each Input Output port Replaces an assigned function with an extended function A previously assigned function may be set to other port Masks a unused port The same port name of the CN2 control I O connector is assigned to the corresponding port of the remote I O connector and the I O function of each port is also corresponding each oth...

Страница 17: ... selects a channel to be executed Channel 0 255 RXmF Reserved RYmF PI15 JOG Starts and stops a jog operation RX m 1 0 Reserved RY m 1 0 PI16 DIR Specifies the direction of a jog operation RX m 1 1 to RX m 2 F Reserved RY m 1 1 to RY m 2 F Reserved RX m 3 0 to RX m 3 7 Reserved RY m 3 0 to RY m 3 7 Reserved RX m 3 8 Flag for processsing an initial data Not used RY m 3 8 Flag for completion of initi...

Страница 18: ... register number derived from the top station number Output Function Input Function RWrm 0 RWwm 0 RWrm 1 Monitor data set by the POD parameter LSW to MSW RWwm 1 RWrm 2 RWwm 2 RWrm 3 RWwm 3 RWrm 4 RWwm 4 RWrm 5 RWwm 5 RWrm 6 RWwm 6 RWrm 7 Reserved RWwm 7 Reserved The output is set by the parameter POD Polling data The parameter POD must accompany the name of monitor that is outputting data Table 2 ...

Страница 19: ...is rotating to the minus direction at the velocity of 5 S 1 Fig 2 5 Description of Monitor TV Megatorque Motor System User s Manual EDC Driver Unit System 3 The decimal point is abbreviated when outputting to the CC Link When the Motor is rotating at 5 000 5000 FFFF EC78h in hexadecimal number will be outputted Table 2 15 below shows an example of the relation between the register address and the ...

Страница 20: ...2 Specification 2 14 Blank Page ...

Страница 21: ...code Signal code Remote Input Output CN2 Pin No Remote Input Output CN2 Pin No PI0 EMST RYm0 3 RYm0 3 PI1 ACLR RYm1 4 RYm1 4 PI2 OTP RYm2 5 RYm2 5 PI3 OTM RYm3 6 RYm3 6 PI4 SVON RYm4 RYm4 PI5 RUN RYm5 RYm5 PI6 STP RYm6 RYm6 PI7 PRG0 RYm7 RYm7 PI8 PRG1 RYm8 RYm8 PI9 PRG2 RYm9 RYm9 PI10 PRG3 RYmA RYmA PI11 PRG4 RYmB RYmB PI12 PRG5 RYmC RYmC PI13 PRG6 RYmD RYmD PI14 PRG7 RYmE RYmE PI15 JOG RYmF RYmF ...

Страница 22: ... CP0 Maintenance mode Field bus mode 3 3 Servo on in the Maintenance Mode It needs to activate the Input SVON Servo on to make the Motor servo on This means the Input SVON of the CN6 Interface connector must be set to 1 The CC Link network would not be ready yet while the total system is in the middle of starting up In such a case the Motor can be in the Servo on state immediately by switching to ...

Страница 23: ...input of the SP key the parameters AB Input polarity and the NW Anti chattering timer are displayed 4 Input the parameter AB1 to change the input port to a nomally closed port AB0 NW0 2 AB1 _ B A ENT 1 5 While the prompt is input for the confirmation of the change of port polarity FNSVON AB1 NW0 2 ENT SP SP Every one input of the SP key reads out the parameters FN AB and NW in seaquence Confirm th...

Страница 24: ... Control I O Function Fig 3 2 Monitor of the control I O functions and their state Command PI Editing Input port PI0 is fixed to EMST Input Emergency stop FN Input function AB Input polarity NW Anti chattering timer Input function AB Input polarity 0 A Normally open 1 B Normally closed NW Anti chattering timer 0 0 to 1 000 0 ms CN2 Input FN Input function EMST ACLR etc Input function Monitor IO0 M...

Страница 25: ...derived from the top station number Guide G F E D C B A 9 8 7 6 5 4 3 2 1 0 Name of remote I O RY m 1 0 RY m15 RY m14 RY m13 RY m12 RY m11 RY m10 RY m9 RY m8 RY m7 RY m6 RY m5 RY m4 RY m3 RY m2 RY m1 RY m0 Port 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 Reserved PI02 Reserved PI01 ACLR PI00 EM...

Страница 26: ...out of the Monitor BS Guide F E D C B A 9 8 7 6 5 4 3 2 1 0 Monitoring Item Error in change of setting station number Error in change of Baud rate switicing error Error in checking of error occurrence Baud rate SW error Error on interface cheking Error in CPU CPU STOP error Error in number of RY data Error in time over setting Error in time over Error in maker code Error in setting of machine code...

Страница 27: ...e are following restrictions respectively You cannot change the function setting of Input EMST Emaergency stop of the Port PI0 RYm0 The Output NRM Normal is the only function that can replace the setting of the Output DRDY Driver Unit ready of the Port PO0 RXm0 The input signals can be gotton from either one of the CN6 or the CN2 connector in accordance with the operation mode Fieldbus mode or Mai...

Страница 28: ...Ym4 PI4 SVON Servo ON Activates the Motor servo 0 Servo OFF 1 Servo ON RYm5 PI5 RUN Program start Startst the program specified by the PRG input 0 1 Starts program RYm6 PI6 STP Stop Stops an operation and exits out the program 0 Operation permitted 1 Starts slowing down Operation prohibited RYm7 PI7 PRG0 Internal program channel selection 0 RYm8 PI8 PRG1 Internal program channel selection 1 RYm9 P...

Страница 29: ...ingly to the setting of ORD 0 Normal 1 Over ride IOFF Integration OFF Integration OFF 0 Normal 1 Integration OFF HOS Home Return start Starts the Home Return 0 1 Start the Home Return HLS Home position limit The motor is in the proximity of the home position HLS The port assigned to the HLS function becomes the dedicated input signal from the CN2 control Input Output connector and thus the input f...

Страница 30: ...occurs 0 Alarm 1 Normal RXm1 PO1 WRN Warning Reports abnormality in the system 0 Normal 1 Warning RXm2 PO2 OTPA Over travel limit direction detected Reports detection of over travel software and hardware in the plus direction 0 Normal 1 Over travel limit detected direction RXm3 PO3 OTMA Over travel limit directoin detected Reports detection of over travel software and hardware in the minus directi...

Страница 31: ...command is equal or under the threshold TTO Torque command over Reports the state of torque output command 0 Out of the limit 1 The command is equal or over the threshold TJU Thermal loading under 0 Out of the limit 1 The thermal loading is equal or under the threshold TJO Thermal loading over Reports the state of thermal loading 0 Out of the limit 1 The thermal loading is equal or over the thresh...

Страница 32: ...put EMST Emergency stop to the port You may set the pameter AB or NW to the port However the function is only effective for the CN2 connector The Monitor IO Input Output monitor monitors the input state of each function Refer to 3 4 Monitoring of Control Input Output for details Table 3 8 Editing command for control input port Category Edit code Function Default Data range Unit PI Edits control in...

Страница 33: ...ned to the Input port PI14 as the shipping set PI14 FNPRG7 AB0 NW0 2 I P ENT 4 1 SP SP Input the SP key to read out the parameters AB and NW 3 Change the function to the Input HLD AB0 NW0 2 FNHLD _ N F L H ENT D Set parameters AB and NW in a similar manner above 4 For the confirmation of the setting input in the state of prompt FNHLD AB0 NW0 2 ENT SP SP Input the SP key to read out the parameters ...

Страница 34: ...ion 7 Fig 3 5 Selection and setting of control input MO PI14 SFNPRG7 SAB0 SNW0 2 FN AJ SSTEPSSSSSSSSSSACLR_ SFNSSSSSSSSSSSSPRG7_ SFNSSSSSSSSSSSSHLD_ Turn the servo off Start to edit the port 14 Indicates the current function setting Press the SP key to indicate the parameters set to the channel 7 Set the screen for selection of function Use the or the key to select the Input HLD Press the ENT key ...

Страница 35: ...itor IO Input Output monitor reports the input condition of each funcction Refer to 3 4 Monitoring Control Iinput Output for details The command OP Forcible output forcibly changes the settign of control output ports Refer to 3 5 3 4 Forcible Change in Setting Output Port Function Table 3 9 Editing command of control ouput port Category Edit code Function Default Data range Unit PO Edit control ou...

Страница 36: ...ion of NEARA is specified to the output port as the shipping set PO7 FNNEARA GC0 ST0 0 O P ENT 7 SP SP Input the SP key to scroll down to the parameters GC and ST 2 Change the function to the output ZONEA GC0 ST0 0 FNZONEA _ N F O Z E N A ENT Set the parameters GC and ST as the same manner above 3 Input while the prompt is to confirm the settings FNZONEA GC0 ST0 0 ENT SP SP Input the SP key to scr...

Страница 37: ... Fig 3 6 Selection and setting of output function PO7 SFNNEARA SGC0 SST0 0 FN AJ SSTEPSSSSSSSSSSWRN_ SFNSSSSSSSSSSSNEARA_ SFNSSSSSSSSSSSZONEA_ Start to edit the port 7 The screen displays the current setting to the port 7 Press the SP key to indicate the parameters set to the port Start the screen for selection of function Select the Output ZONEA using the or the key Press the ENT key when the Out...

Страница 38: ... parameter FN Input function PI6 FNSTP AB0 NW0 2_ I P ENT 7 SP SP Input the SP key to scroll down to the parameter NW Anti cahttering timer 3 Input as below to change the function to NONE No function Msasked AB0 NW0 2 FNNONE _ N F O N E N ENT 4 For the confirmation input while the promptb is FNNONE AB0 NW0 2_ ENT SP SP Input the SP key to scroll down to the parameter NW through the palameters FN a...

Страница 39: ...nnector CN2 The function of the PO0 is Output DRDY Driver Unit ready and if its output is 0 zero this output port is open to report occurrence of an alarm This feature can be used for checking if the master controller could detect the abnormal 1 According to Table 3 6 Remote output ports and assigned function the port name of the remote output RXm0 is PO0 2 Input the password as NSK ON NSK ON NSK ...

Страница 40: ...3 Operation 3 20 Blank Page ...

Страница 41: ... History Clear C4 C4 Fieldbus Error Fieldbus error Servo off 0 The table below shows the history of alarm occurence read out by the command TA HI Tell alarm history and their remedy Table 4 2 Cause and remedy of fieldbus error Alarm history Cause Remedy C4 0 Two slave stations are not connected C4 1 Error in verifying the manufacturer code C4 2 Error in verifying machine code and or software versi...

Страница 42: ...ry Cause Remedy C5 0 Station number setting error May be caused an error in station number setting or a defective station number setting switch Set the station number 1 to 64 collectry and remake the power If the above remedy does not work the Driver Unit is defective Follow the Appendix 4 Procedure Manual to replace the EDC Driver Unit C5 1 C5 2 May be caused by Baud rate setting error Setting er...

Страница 43: ...MEGATORQUE MOTOR SYSTEM User s Manual EDC Driver Unit CC Link Option Document Number C20157 02 Apr 28 2006 1st Edition 1st Printing Nov 15 2011 2nd Edition 1st Printing NSK Ltd ...

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