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— 9-19 —

9.2.3. Feed Forward Compensation

l

Parameter “FF” sets feed forward compensation gain. The password is necessary when setting.

l

Shipping set of “FF” is FF0.

l

The feed forward compensation function generates a velocity command by differentiating the
position command, then adds it to the velocity loop in the forward direction.

l

Feed forward compensation improves follow-up delay during acceleration/deceleration.

l

Setting the FF parameter to a higher value improves follow-up delay, but overshoot becomes
more likely to occur. It is generally recommended that the parameter be set to 0.5 or below.

Figure 9-17: Feed Forward Compensation Block Diagram

+

+

Position

command

Velocity

c

–

+

–

Position data

Differentiation

Position

loop gain

Feed forward

compensation

gain

Velocity data

FF

PG

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Содержание MEGATHRUST ESA-LYB2T15-21

Страница 1: ...ss underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing Rentals Demos...

Страница 2: ...MEGATHRUST MOTOR SYSTEM User s Manual ESA13 Driver Unit Document Number T20011 03 M E099SA0T2 011 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...K Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 1997 2002 by NSK Ltd Tokyo Japan All rights reserved No...

Страница 4: ...the Driver Unit in a place at where it is not exposed to direct sun light Keep ambient temperature and humidity as specified 2 Matters to be attended to use the Motor of the Megathrust Motor System 1...

Страница 5: ...he Handy Terminal Check if the voltage of input signal and 24 V power source are stable using an oscilloscope etc 4 Uncontrollable Driver Unit l Compare the current setting of parameters with the orig...

Страница 6: ...MEGAT MEGATHRUST HRUST HRUST HRUST MOTOR MOTOR MOTOR MOTOR SYSTEM SYSTEM SYSTEM SYSTEM NSK Ltd NSK Ltd NSK Ltd NSK Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www ar...

Страница 7: ...Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 8: ...d in Chapter 6 is especially important l This manual describes the interface function and operation of the Megathrust Motor System with YS Motor and ESA13 Driver Unit If your model is not one of these...

Страница 9: ...position loop control mode a control mode within the position control loop P control or PI control available Programmable Indexer Driver Unit s built in indexing ability pulse train a series of pulses...

Страница 10: ...2 CN2 Control I O Connector 5 4 5 2 1 Setting of I O type 5 5 5 2 2 CN2 Pin Out 5 7 5 2 3 CN2 Signal List 5 8 5 2 4 Setting Polarity A or B contact of Input Ports 5 11 5 2 5 Changing I O Type and Con...

Страница 11: ...4 9 2 To Have More Advanced Operation 9 15 9 2 1 Position Scale 9 15 9 2 1 1 Resolution 9 15 9 2 1 2 Direction of Position Scale 9 15 9 2 1 3 Position Scale Coordinate 9 16 9 2 1 4 Position Scale Rese...

Страница 12: ...JA Jog Acceleration 12 16 JP Jump 12 16 JV Jog Velocity 12 16 LG Lower Gain 12 17 LO Load Inertia 12 17 LR Low Torque Ripple 12 17 MA Move Acceleration 12 17 MI Read Motor ID 12 18 MM Multi line Mode...

Страница 13: ...14 2 3 3 Velocity Error Over 14 8 14 2 4 Alarms Related to Control 14 9 14 2 4 1 Memory Error 14 9 14 2 4 2 EEPROM Error 14 9 14 2 4 3 System Error 14 9 14 2 4 4 CPU Error 14 10 14 2 4 5 Excess Positi...

Страница 14: ...locity or position for interface to any standard motor position controller or to act as a stand alone digital motion control system with its built in zero backlash position control capability High Spe...

Страница 15: ...more many of these components introduce problems of their own to degrade the entire system s performance Ball Screw type actuators for example introduce mechanical irregularities such as windup backla...

Страница 16: ...base and the combined effect of these points of focused magnetic field around both the stator and the rotor act like electronic gear reduction multiplying the force hundreds of times while reducing th...

Страница 17: ...filter is implemented digitally and setting up the filter frequency is as simple as asking for it There are two independent low pass filters available Brushless Microprocessor Commutation l The digit...

Страница 18: ...river Unit are the same Refer to 3 2 Reference Number Configuration for the details If the numbers are different the system does not operate properly Caution Do not make Cable Set shorter or longer Ch...

Страница 19: ...e details Danger Never apply any water or oil to Driver Unit Take appropriate measures to protect Driver Unit from water oil slag dust and corrosive gas Warning Do not conduct an Isolation test or Meg...

Страница 20: ...dy Terminal FHT11 3 2 1 5 4 8 7 6 0 9 C B A F E D I H G L K J O N M R Q P U T S X W V Z Y CTRL ESC SHIFT ENT SP BS NSK HANDY TERMINAL Components Supplied by NSK l NSK can supply the ESA13 Driver Unit...

Страница 21: ...3 084 4 001 5 A2 2 A 6 A 7 13 8 3 2 2 Motor Figure 3 3 1 Megathrust Motor Y series 2 Motor size 3 Number of sliders 4 Rack Base length Unit cm 5 Design number ML Y 1 1 3 084 4 001 5 A2 2 3 2 3 Driver...

Страница 22: ...it m 3 Cable Set for ESA Driver Unit 4 Cable design number 5 Compatible to CE Marking ML C 1 004 2 MS 3 5 4 3 2 5 Handy Terminal Figure 3 6 1 Handy Terminal 2 Design number M FHT 1 11 2 Artisan Techno...

Страница 23: ...3 4 Blank page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 24: ...30 925 820 1560 1390 1390 1285 1390 1285 1180 Rack base length vs stroke 2040 1870 1765 1870 1765 1660 Connection system 1 Transpotable moment Rolling N m 16 40 75 95 140 200 Pitching N m 13 55 125 12...

Страница 25: ...1200 1560 6 5 7 5 9 5 13 16 L Unit mm L st Figure 4 3 YA1 type Slider Slider mounting holes 4 M6 1 0 12 Urethane rubber Stopper 64 140 86 27 27 106 17 120 60 60 17 5 10 5 10 4 4 120P N 120N L L st str...

Страница 26: ...0 1200 1560 2040 12 14 20 25 5 31 39 L Unit mm L st Figure 4 5 YB1 type Slider Slider mounting holes 6 M8 1 25 16 120 60 32 120 184 31 47 50 206 11 5 10 4 60 120P N 120N L 5 L 20 linear guide length 1...

Страница 27: ...200 1560 2040 24 27 5 34 5 45 55 5 69 5 L Unit mm L st Figure 4 7 YB3 type Slider Slider mounting holes 9 M8 1 25 16 120 60 45 130 130 45 350 5 10 4 60 120P N 120N L L st stroke length 5 L 20 linear g...

Страница 28: ...LED 7 seg 2 CN1 9 pins RS 232C serial communication connector for Handy Terminal FHT11 3 CN2 25 pins Motor control signal Input Output 4 Monitor pins Analog velocity monitor pins 5 CN3 Resolver cable...

Страница 29: ...5mA rms Leakage current 1MHz 35mA rms 2 AC 100V 110V 10 Table 4 4 Power supply capacity Motor type Max Capacity Except surge current YZ1 0 2 kVA YA1 YA2 0 7 kVA YB1 YB2 YB3 1 0 kVA Table 4 5 Control p...

Страница 30: ...etting or set to 10 bit Y type Megathrust motor 600 1800 l Automatic resolution setting 12bit and 10 bit setting may be selected by a parameter u Position feed back signal A B Z MSB l Output signal fo...

Страница 31: ...error and Control power low voltage u Monitor output l Analog velocity and RS 232C serial communication Current position alarm status and servo parameters u Communication l Asychronous RS 232C communi...

Страница 32: ...NSOR VEL GND CN2 I O MAIN AC200 220V CONT AC90 220V CN4 MOTOR CN1 RS 232C FUSE1 250V 10A POWER DISP R S T No ESA NSK NSK FUSE2 250V 10A FGND 50 9 6 215 180 Brackets can be attached to here 197 85 17 5...

Страница 33: ...c keys Code keys small letters Connector socket JAE DE C1 J6 Connector JAE DE 9P N 180 26 98 68 Alphabetic keys Special code keys SHIFT Shift key Note 1 ESC Escape key not used CTRL Control key not us...

Страница 34: ...perating 0 50 C Storage 10 65 C Environment Humidity 35 85 Non condensing Data code ASCII code Communication speed 9600 b p s Data bit 8 bit Stop bit 2 bit Start bit 1 bit RS 232C Interface Parity che...

Страница 35: ...4 12 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 36: ...or shell type user device side Japan Aviation Electronics Industry Limited DE C1 J6 to be prepared by the user These connectors are not necessary when NSK Handy Terminal FHT11 is used 5 1 1 CN1 Pin Ou...

Страница 37: ...X On Off Protocol No RTS CTS Control Yes 5 1 4 Sample Wiring Diagram l Connect the ESA13 Driver Unit with the controller e g personal computer in accordance with its RS 232C control signal specificat...

Страница 38: ...data slowly With this wiring Driver Unit may not accept the whole data when data is sent at high speed and large amount Figure 5 3 TXD RXD RTS CTS DSR DTR SG FG 1 TXD 3 RXD 7 RTS 2 CTS 4 DSR 5 DTR 6 S...

Страница 39: ...iation Electronics Industry Limited DB C2 J9 supplied with the Driver Unit u Wiring Precautions l Use the shielded cable for CN2 and a twisted pair cables for the pulse train input and position feedba...

Страница 40: ...ertravel limit Jog l When TY is inputted the polarity of all input ports is set to A contact When TY is the same as the current setting the polarity is not changed but maintained l Contact type of som...

Страница 41: ...NSK ON NSK ON TY2 TY2 TY2 TY2 ABX0X0XXXX ABX0X0XXXX ABX0X0XXXX ABX0X0XXXX _ _ _ _ ENT Y 2 T Refer to 5 2 4 Setting Polarity A or B contact of Input Ports for more details Table 5 6 I O and Parameter T...

Страница 42: ...JOG Pulse train input 4 cahnnels Overtravel limit Type 3 TY3 SVON RUN HOS OTM CWP CCWP CHA CHB GHZ SGND DRDY IPOS DC24 EMST HLS CLR OTP CWP CCWP CHA CHB CHZ DRDY COM Type 4 TY4 Pulse train input Home...

Страница 43: ...1 23 PRG3 Input Programmable move bit 3 24 RUN Input Run move 25 SVON Input Servo on Table 5 8 Type 2 Pin Signal Name I O Function 1 COM Output Output COMMON 2 DRDY Output Driver Unit ready 3 4 CHZ O...

Страница 44: ...rammable move bit 3 24 RUN Input Run move 25 SVON Input Servo on Table 5 10 Type 4 Pin Signal Name I O Function 1 COM Output Output COMMON 2 DRDY Output Driver Unit ready 3 4 CHZ Output Position feedb...

Страница 45: ...tput Driver Unit ready 16 SGND Signal ground 17 CHZ Output Position feedback Z digital position data MSB 18 CHB Output Position feedback B 19 CHA Output Position feedback A 20 MNSP Input Minus directi...

Страница 46: ...sword The password acknowledgment message appears on the display ABX0X0XXXX NSK ON NSK ON _ K N S SP N ENT O iv The second bit following AB represents EMST Set this bit to 1 and the other bits to X no...

Страница 47: ...TP TY7 SVON EMST RUN 4 DIR JOG OTM OTP l Meaning of data 0 A Contact setting normally open 1 B Contact setting normally close X During input Indicates no change On display data read command Indicates...

Страница 48: ...the input IF TY1 ABX0X0XXXX _ F ENT I iii Set the I O type to type 3 TY 3 The message indicates that the polarity of all the input ports is set to A contact ABX0X0XXXX ABX0X0XXXX ABX0X0XXXX ABX0X0XXX...

Страница 49: ...ent 10 mA per input Figure 5 4 3 3k9 6809 Driver Unit side DC24 input The polarity of DC24V external supply may be reversed 5 2 6 2 Pulse Train Input Applied Inputs PLSP PLSP MNSP MNSP Table 5 14 Item...

Страница 50: ...d voltage 2 V Figure 5 6 Driver Unit side output COM 5 2 6 4 Control Output Signal Applied Outputs DRDY DRDY Table 5 16 Item Specification Maximum load capacity 24 VDC 100 mA Maximum saturated voltage...

Страница 51: ...t page for the setting Output device Texas instruments SN75ALS192 Recommended receiving devise Texas instruments SN75ALS193 or AM26L32 equivalent Maximum collector current 100mA Maximum open collector...

Страница 52: ...Driver Unit Follow the procedure in Appendix 4 How to replace ESA13 Driver Unit l Figure 5 9 indicates the Jumper location Figure 5 9 LD JP1 CN3 CN2 CN1 LED Driver Unit front panel CD Table 5 18 Jumpe...

Страница 53: ...in CH0 Immediately after turning on the power select CH0 and turn on the RUN input to execute the home return operation 2 Pulse train operation Add the connections of the PLSP and MNSP signals if you...

Страница 54: ...ly after turning on the power select CH0 and turn on the RUN input to execute the home return operation 2 Pulse train operation Add the connections of the PLSP and MNSP signals if you want to use the...

Страница 55: ...Note 1 Home Return For example program the HS command in CH0 Immediately after turning on the power select CH0 and turn on the RUN input to execute the home return operation 2 Pulse train operation Ad...

Страница 56: ...ng feedback A DC5V PLS pulse train MNS pulse train DC24V Signal ground 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 OTP 22 OTM 10 CLR 23 HOS 8 PLSP 21 PLSP 7 MNSP 20 MNSP 15 DRDY 2 DRDY 14 IPOS 1 COM 6 CHA...

Страница 57: ...V Signal ground 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 OTP 22 OTM 10 JOG 23 DIR 8 PLSP 21 PLSP 7 MNSP 20 MNSP 15 DRDY 2 DRDY 14 IPOS 1 COM 6 CHA 19 CHA 5 CHB 18 CHB 4 CHZ 17 CHZ 16 SGND CN2 F G Note...

Страница 58: ...will not be loosened by shock Never connect disconnect the CN3 connector with the Driver Unit power turned on Table 5 19 Driver Unit connector Japan Aviation Electronics Industry Limited DALC J15SAF 1...

Страница 59: ...ith the Driver Unit power turned on A high voltage is applied to this connector after the power is turned on Be very careful not to cause short circuit Table 5 21 Driver Unit connector AMP 172039 1 Ma...

Страница 60: ...on the 100 VAC system Main power Single phase 100 VAC Main power 3 phase 200 VAC Single phase 200 VAC Caution Do not connect this terminal FGND MAIN 200V 220VAC CONT 90V 240V Noise filter TB R S T Noi...

Страница 61: ...e thick l Wire the power supply cables separately from the signal cables Never bind them together or route them in the same duct l To prevent external noise insert an isolation transformer and a noise...

Страница 62: ...nspect the Motor and the Driver Unit very closely for damage which might have occurred in shipment The Driver Unit is particularly fragile and should be inspected for warped or bent sheet metal broken...

Страница 63: ...size and serial numbers in both Motor and Driver Unit reference number must be same l A nameplate is attached to individual Motor and Driver Unit Configuration of each plates are shown in Figure 6 1 R...

Страница 64: ...ation characteristic of a direct drive mechanism requires the system to have high mechanical rigidity Therefore it is essential to maximize rigidity of the Motor and the load system l The Motor will w...

Страница 65: ...rises frequently cool the heat sink using a fan etc Caution When installing two or more Driver Units for multi axis combinations give a space of about 10 cm between adjacent Driver Units l ESA13 Drive...

Страница 66: ...filter on the AC supply A suitable noise filter may be obtained from NSK If you supply your own it should meet these requirements in Table 6 3 Table 6 2 Noise Filter Requirement Driver Unit AC Line No...

Страница 67: ...with the Driver Unit when it is shipped Caution Use the R S terminals when connecting single phase 200 VAC for the main power supply Surge current becomes larger when the R T terminals are in use Dur...

Страница 68: ...t the shield of the signal shielded cable CN2 to the FG terminals or SG terminals of the user s controller If runaways are caused by noise connect the shield to the FG terminal of the Driver Unit Eart...

Страница 69: ...resolver and resolver repeatability When ordering check carefully required cable length Do not place the power lines AC power supply and Motor cable and the signal lines CN2 and Resolver cable in clos...

Страница 70: ...the system is ready for operation i Normal state Figure 6 5 shows the LED indicator in normal condition Figure 6 4 ii Abnormal Figure 6 5 Green LED Illuminates when the power is turned on Normal Gree...

Страница 71: ...the servo on state the Driver Unit outputs the AC Line under voltage alarm Once this alarm occurs it will not recover unless the power is turned on again Figure 6 7 and 8 show timing of power ON and S...

Страница 72: ...the Driver Unit to receive the operation command after SVON is inputted See note ON OFF 30ms min ON OFF ON OFF Control power Main power supply DRDY output SVON input Operation command Home Return etc...

Страница 73: ...6 12 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 74: ...utomatically begin when you turn on the control power of the Driver Unit 7 1 When Power is Turned ON l If the terminal NSK Handy Terminal FHT11 is connected to CN1 and the Driver Unit power is turned...

Страница 75: ...played If not an alarm Memory error might be detected when you turn on the power next time 7 3 Password l Among the communication commands used for this System some special commands such as AB PA SI e...

Страница 76: ...f a nonexistent command i e character string is entered If an entered character string cannot be decoded 2 If data or subscript out of the allowable range is entered 3 If a command requiring the passw...

Страница 77: ...JV100 SP SP 4 When finishing the readout i Keep pressing SP key until display stops scrolling or ii Press BS key 5 The colon is displayed to indicate the system is waiting for next command 2 If the se...

Страница 78: ...eters Caution Make sure that the LED of the Driver Unit is indicating normal Turn control power ON and confirm that Handy Terminal display shows the message as shown below NSK MEGATHRUST MS1A00_ E _ 8...

Страница 79: ...o the slider Mounting of the Driver Unit Wiring between the Motor and the Driver Unit by specified Cable set Connecting Handy terminal to CN1 connector on the Driver Unit Power supplying line wiring W...

Страница 80: ...Mounting base Work Load AC power Handy terminal FHT11 Driver Unit DC24V External power supply Noise Filter Cable Set Over Travel Limit Sensor 3 2 1 5 4 8 7 6 0 9 C B A F E D I H G L K J O N M R Q P U...

Страница 81: ...s few seconds and a colon is displayed for next command Caution When SVON signal CN2 is ON and SI command is input Driver Unit rejects to execute the command SI INHIBITED message will appear in the di...

Страница 82: ...fe position The Motor needs to move at least 20 mm when executing the automatic tuning If the application restricts the Motor movement keep room for 20 mm Motor movement The overtravel limits OTP OTM...

Страница 83: ...inertia estimation Caution When executing the automatic tuning if an error message is ON refer to 14 Alarms and take a proper remedy Driver Unit s LED indicates F8 for AT error OK AT Error1 _ Error n...

Страница 84: ...has been initialized to 500 mm s Change MV to 50 rps for trial running MV50 _ V 5 M ENT 0 Note After the adjustment change MV to the actual use 5 Display the demonstration program SP AJ SP AJ SP AJ SP...

Страница 85: ...IN10 IS0 5 FW1 0 IN10 IS0 5 FW1 0 IN10 IS0 5 FW1 0 IN10 IS0 5 FW1 0 IR100000 OK IR100000 OK IR100000 OK IR100000 OK _ _ _ _ R 1 I 0 0 0 0 0 ENT 8 When the trial running is completed type MS _ S ENT M...

Страница 86: ...t SG adjusting program ENT 444 333 STEP1 _SG10 G S J ENT A i v ii iii iv The message is displayed as shown below Press plus or minus key to change SG value The display shown below is an example Those...

Страница 87: ...ng and stops ENT ENT ENT ENT 233 233 233 233 123 123 123 123 STEP1 STEP1 STEP1 STEP1 _SG18 _SG18 _SG18 _SG18 Pressing SHIFT 4 Keep pressing the minus key until the Motor stops hunting and starts movin...

Страница 88: ...e display shows the message as shown on the left l Explanation of the messages i Key function and SHIFT Pressing key one time increases 1 resolution of VG Pressing key one time decreases 1 resolution...

Страница 89: ...G5 _VG5 _VG5 _VG5 Pressing SHIFT 4 Keep pressing the minus key until the Motor stops hunting and starts moving ENT 253 145 STEP0 1 _VG4 5 Set the VG value to 80 of displayed VG when a hunting is stopp...

Страница 90: ...ates present VI value iii Indicates VI value changed by pressing plus or minus key iv Response index number The lower number denotes better response v Positioning index number The rower number denotes...

Страница 91: ...t the space key to change the resolution of VI setting value from 1 0 to 0 1 6 Press the minus key till VI value reaches to 3 2 ENT 263 156 STEP0 1 _VI4 SP 7 Input the enter key to store the VI value...

Страница 92: ...plus or minus key to change FP value The display shown below is an example Those values shall be set to the conditions for actual use l Explanation of the messages i Key function and SHIFT Pressing k...

Страница 93: ...ting Notch Filter When setting notch filter you can connect the ocsilloscope to monitor pins on Driver Unit front panel to know the resonance frequency Example 1 Check the resonance frequency as shown...

Страница 94: ...S 5ms max l Take the following precaution when turning ON OFF the main power supply and the control power supply separately When turning on the main power supply with the control power supply turned o...

Страница 95: ...parameter Position loop control is not performed this time If the possibility exists of an external force being applied to the Motor in this state use a mechanical brake When the SVON input is OFF af...

Страница 96: ...ars the position error counter to zero Then the counter continues its operation regardless of the state of the CLR input even when it remains on Figure 9 4 3ms max Position error counter over limit va...

Страница 97: ...software overtravel limit function in the Driver Unit Refer to 9 1 4 2 Software Overtravel Limit When the overtravel error occurs the DRDY output will be open and displays the following on the front p...

Страница 98: ...ands to set the overtravel limit values Operation Setting by teaching 1 Turn off the Motor servo MO _ O ENT M 2 Move the Motor s slider manually to a point to be the overtravel limit on the plus side...

Страница 99: ...ion scale home position located between OTP and OTM Is OTP a positive value and OTM a negative value Setting by position scale data l When the overtravel limit values are already known users can direc...

Страница 100: ...ition stability timer ISO Figure 9 7 FW value Example FW1 100 ms Close Open IPOS output IPOS format FW 0 Close Open Determined by the IS set value Example IS1 0 1 sec Position error IPOS output IPOS f...

Страница 101: ...rror between position command and present position l Basically IPOS output will be closed only when residual pulses in the position error counter is within the range set by IN parameter In other state...

Страница 102: ...r Special Occasion 1 When 0 Zero moment operation is executed u Example When AR0 is executed even the Motor is in the home position movement of the Motor is 0 Zero Followings show IPOS output states i...

Страница 103: ...CHZ output MSB CHZ output MSB CHZ output Z CHZ output Z CHB output B CHB output B CHA output A CHA output A Minus rotation Plus rotation The phase can be reversed by the FD parameter set via RS 232C...

Страница 104: ...nd Parameters Input output IO Monitors the input output status on off of CN2 For the details refer to 11 Commands and Parameters Present position TP Monitors the present position in the position scale...

Страница 105: ...the resolver is set to 10 bit resolution or automatic resolution switching Note 7 5 V is only a typical value actual values vary slightly The voltage is not a precise representation of the velocity Fi...

Страница 106: ...ed 15 2 DRDY output TY1 TY2 TY3 TY4 TY7 9 PRG0 JOG OTP OTP OTP 22 PRG1 DIR OTM OTM OTM 10 PRG2 PRG2 PRG2 CLR JOG 23 PRG3 PRG3 PRG3 HOS DIR 11 HLS HLS HLS HLS HLS 24 RUN RUN RUN RUN RUN 12 EMST EMST EM...

Страница 107: ...lse i The position scale value is displayed continuously in the units of pulse Moving the Motor s slider changes the value on the display TP2 RP P 2 T ENT P R ii Press the BS key to end the display TP...

Страница 108: ...tion For your safety the direction of the hardware overtravel limits are fixed to the following regardless the DI setting OTP PLS direction OTM MNS direction l The direction of position scale counting...

Страница 109: ...ulses then decreases minus direction Falling below 2 147 483 648 pulses the coordinate returns to 2 147 483 647 pulses Figure 9 15 Coordinate Minus direction origin Plus direction 2 147 483 648 2 147...

Страница 110: ...O ii Input the DI command to determine the position scale direction NSK ON NSK ON DI1 _ ENT I 1 D 2 Resetting the position scale value i Input the password The password acknowledgment message appears...

Страница 111: ...al resonances Table 9 7 Parameter function Parameter Function Shipping set FP Sets the primary low pass filter frequency FP0 FS Sets the secondary low pass filter frequency FS0 NP Sets the primary not...

Страница 112: ...ard compensation improves follow up delay during acceleration deceleration l Setting the FF parameter to a higher value improves follow up delay but overshoot becomes more likely to occur It is genera...

Страница 113: ...specified errors are likely to accumulate so that integration often results in an overshoot To prevent this an integrator limiter is provided to restrict an excessive integration For more details abou...

Страница 114: ...micro vibrations but lowers repeatability by the set value l The dead band is set in the units of pulse equivalent to the resolver resolution with 12 bit specification refer to 4 2 2 2 Function Specif...

Страница 115: ...cation l When the Handy Terminal FHT11 is not in use set the MM parameter to 0 MM1 Standard setting for the Handy Terminal MM0 For connection with a personal computer Table 9 8 RS 232C communication s...

Страница 116: ...ialized a colon is displayed and the system waits for a command to be entered The colon is called a prompt Figure 9 21 Power on message NSK MEGATHRUST MS1A00_xxxx Exxxxxxxxxx _ Slightly differs with s...

Страница 117: ...character that it receives l However the Driver Unit converts carriage return code to carriage return code 0DH line feed code 0AH then returns it to the terminal l When a carriage return code is inpu...

Страница 118: ...Driver Unit accepts it it returns an NSK ON message Applicable commands DB FC FF IL OG OL PA RC SI and ZA l A command requiring password entry may only be executed immediately after the password is en...

Страница 119: ...g VG0 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 9 25 Canceling example BM1 VG0 _ VG0 5_ Input BS Key 08H Input To Driver Unit 08H 5 0 G V Echo ba...

Страница 120: ...tered character string with a mark is returned as an error message u Example 1 Figure 9 27 Input error example 1 ABCDE ABCDE _ If ABCDE is entered an error message is returned since this character str...

Страница 121: ...ommand Incremental Positioning Rresolver is entered when the Motor is rotating an error message is returned since the input condition is not met Input To Driver Unit 0DH 0 1 R I Echo back From Driver...

Страница 122: ...FP0 FP0 FP0 FS0 FS0 FS0 FS0 NP0 NP0 NP0 NP0 NS0 NS0 NS0 NS0 _ _ _ _ Input To Driver Unit 0DH 2 S T Echo back From Driver Unit 1 20H 0AH 0DH 2 S T 0AH 0DH 0 P F 2 20H 0AH 0DH 0 S F 3 20H 0AH 0DH 0 P N...

Страница 123: ...ortional gain Waiting for a command to be entered 3 TP command for reading current position data Figure 9 31 TP command example 0AH 0DH TP2 TP2 TP2 TP2 10000 10000 10000 10000 _ _ _ _ Input To Driver...

Страница 124: ...Cable 9 3 3 1 Procedure to Set Daisy chain Communication Figure 9 33 Daisy chain communication setting procedure NG OK AS command executed automatically AN parameter CM parameter Order of connection...

Страница 125: ...cation mode selection CM data 0 1 0 CM0 standard single driver communication CM1 daisy chain communication 9 3 3 3 Interfacing 1 Connecting data communication lines l Connect data communication lines...

Страница 126: ...CTS Driver Unit 15 Actual Connection Example l When NSK s Handy Terminal is in use connect the lines as shown in Figure 9 35 l Refer to 5 1 CN1 RS 232C Serial Communication Connector for the specifica...

Страница 127: ...es shows a 3 axis configuration Figure 9 37 NSK MEGATHRUST MS1A00_XXXX EXXXXXXXXXX BM1 AS 0 OK AX0 1 OK AX1 2 OK AX2 _ Displays the connection state Waiting for a command to be entered l If connection...

Страница 128: ...ted Otherwise operation may hang up To return to the normal state press the BS key then select the number of a connected driver unit Figure 9 39 AX2 ACC AX2 _ Select a new axis for communication axis...

Страница 129: ...move by 300 pulses Acknowledgment message ACC AX3 NO Check acknowledgment message YES Select axis 3 AX3 command Example IR100 move by 100 pulses Set axis 1 parameter YES Acknowledgment message ACC AX...

Страница 130: ...CN1 connector 10 1 2 Procedure Figure 10 1 Check power voltage Main and Control power After the power is turned on check the LED green and the 7 segments LED on the front panel of the Driver Unit are...

Страница 131: ...se Open ON OFF ON OFF H S CR HA CR stands for the carriage return code 0DH 10ms min HO HZ When HO 0 HV FW value RS 232C communication command l Make the Motor Servo on SVON input on l Turning the HOS...

Страница 132: ...urn starting point Origin OTP input active PLS direction overtravel area OTM input active MNS direction overtravel area HLS input active home limit switch area PLS direction MNS direction MNS directio...

Страница 133: ...he switch is at the middle center of the tooth width Design the home limit switch position so that it can be adjusted 2 048 mm Take the following steps to adjust the position of the home limit switch...

Страница 134: ...ection Repeat steps i and ii until the TR value is within the above range iii Input the MO command servo off command HS LS TR2003 OK MO_ O M iv Press the ENT key to execute the command and thereby tur...

Страница 135: ...the command and there by turn on the Motor servo HO ST HO1234 SV _ ENT The _ prompt appears when the Driver Unit is ready to accept another input xi Input the HS command home return start command HO S...

Страница 136: ...y programmed in CH0 the registered data appears on the display ii Enter the home return start command CH0 HS _ S ENT H iii When the prompt appears again press the ENT key CH0 HS _ ENT This completes t...

Страница 137: ...Off set HO Home return motion Origin OTP OTM 1 Off limit area Area to make Origin limit switch HLS input ON Mechanical limit stopper PLS MNS Mechanical limit stopper Off limit area Software overtrave...

Страница 138: ...ut the command SP to execute the Programmed operation Same function as inputting RUN command ON Type P m S ENT to execute the channel m program m channel number Figure 10 5 Programmable indexer comman...

Страница 139: ...CH14 on on on on CH15 2 I O type TY2 and TY3 l The channel to be executed is selected by combining the on and off states of the PRG2 and PRG3 Table 10 4 4 Channel selection PRG3 input PRG2 input PRG1...

Страница 140: ...input Function PC0 shipping set Input PLS pulse Input MNS pulse PLS MNS format PC1 Input the direction ON MNS OFF PLS Input pulse train Pulse direction format PC2 A B format 1 A B Internal pulse reso...

Страница 141: ...B format 1 1 m pulse 2 2 m pulse 12 bit or 12 bit 10 bit automatic resolution switching 1 m pulse 4 4 m pulse 1 4 m pulse 2 8 m pulse CR 1 Shipping set 10bit 4 m pulse 4 16 m pulse 1 2 m pulse 2 2 m...

Страница 142: ...LSP input PLS pulses MNSP input MNS pulses ON OFF ON OFF Min 600ns Min 1 s MNS Motor PLS Motor 2 When PC is set to 1 PC1 Figure 10 9 Min 500ns Min 500ns PLSP input Direction MNSP input Step ON OFF ON...

Страница 143: ...m 600 mm s 200 kpps 200 kpps 120 kpps 200 mm s 400 mm s 600 mm s 1 2 5 10bit 4um 1800 mm s 200 kpps 200 kpps 200 kpps 200 mm s 400 mm s 1000 mm s A B format 1 1 2 5 Automatic resolution switching 1um...

Страница 144: ...he home offset value HD parameter Specifies the home return direction MA parameter Sets the acceleration for indexing MV parameter Sets the velocity for indexing l Indexing Timing Figure 10 11 Indexin...

Страница 145: ...es to PLS direction When the DIR input is on it moves to MNS direction l Jog operation parameter JA Jog acceleration JV Jog velocity Figure 10 12 Jog operation timing Jog input DIR input IPOS output F...

Страница 146: ...Commands and Parameters u Home return Command HS Condition setting None l This is to program Home return operation l Command format HS seq seq sequence code l The motor executes Home return under the...

Страница 147: ...code d2 n n 99 This makes one operation unit by dividing d1 into n Default is not to divide d1 l seq stands for the sequence code which sets next operating instruction conditions of the next channel i...

Страница 148: ...el and continues operation l Command format Jp m m Channel number to jump default 0 Program example CH0 IR1000 CH1 IR2000 CH2 JP0 Figure 11 3 IR1000 IR2000 IR1000 CH0 PRG0 5 RUN input Program operatio...

Страница 149: ...nd Yes Stops after positioning then waits for RUN command Program example CH0 IR5000 CH1 IR1000 Figure 11 4 IR500 IR1000 CH0 PRG0 5 RUN input Programmed Operation IPOS output FW 0 CH1 0 u Sequence cod...

Страница 150: ...prompt is in state The last input program or data always becomes valid Display program TC Typing ENT C m T displays the program in desired channel m desired channel number When checking the program i...

Страница 151: ...10 _ ENT 0 R 9 I 0 0 1 0 iii Set conditions according to the command CA0 1 IR9000 10 CV30 _ 0 V 3 C ENT iv Enter 0 to cancel the input condition When incorrect data is input re enter the correct data...

Страница 152: ...of the channel are displayed TC10 IR9000 10 CV30 _ ENT 0 C 1 T u Delete data i Declare the channel whose data is to be deleted Press ENT key to delete the data CC10 _ ENT 0 C 1 C Artisan Technology Gr...

Страница 153: ...reen _ ii CH5_ H 5 C iii After pressing the ENT key the data presently programmed in Channel 5 will be shown on the display AR27000 CV500 CA0 5 _ ENT iv AR27000 CV500 CA0 5 IR 30000_ 0 R I 0 0 0 3 v P...

Страница 154: ...IR 30000 CA0 1 CV100_ 0 0 1 V C ix Press the ENT key to input value and the prompt appears again IR 30000 CA0 1 CV100 _ ENT x Press the ENT key again to escape programming This completes programming...

Страница 155: ...11 10 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 156: ...e factory before shipment and are normally fixed If the setting is to be changed contact NSK Current Setting We recommend writing down the current settings for your future reference You may need to re...

Страница 157: ...ion Yes 0 0 1 FR Feedback signal resolution Yes 0 0 1 PS Position scale Yes 0 0 DI Direction inversion Yes 0 0 1 OTP Overtravel limit switch position Yes 0 99 999 999 99 999 999 OTM Overtravel limit s...

Страница 158: ...omissible input all 8 digits l Set the polarity of input command port l The ports of which the polarity can be changed are EMST HLS OTP and OTM The other ports are fixed to A contact l Set X for the...

Страница 159: ...ered under the condition where a channel to be programmed is selected with a CH command the Driver Unit outputs and the system waits for a command to be entered it specifies the rotational amount of t...

Страница 160: ...chain is not active an error message will be given Caution Do not select any unit that is not connected Otherwise operation may hang up To return to the normal state press the BS key first then the n...

Страница 161: ...hannel or 0 is specified the acceleration specified with an MA command is valid CC Clear Channel Format CC data Data 0 15 Default 0 l CC deletes the program data of a channel specified in data CH Chan...

Страница 162: ...position error alarm is to be detected l When the position error counter exceeds the set value the Driver Unit outputs the excess position error alarm and opens the DRDY output circuit l If 0 is spec...

Страница 163: ...is displayed while waiting for input l If no setting is made in a channel or 0 is specified the velocity specified with an MV command is valid DBP Dead Band Format DBP data Data 0 or 1 4095 Shipping s...

Страница 164: ...ming between A and B of the position feedback signal FD0 Standard A signal is ahead of B signal when Motor moves toward PLS direction FD1 Reverse B signal is ahead of A signal when Motor moves toward...

Страница 165: ...is invalid The low pass filters are always active FP Low pass Filter Primary Format FP data Data 0 10 500 Hz or AJ Adjusting mode Shipping set 0 Default 0 l FP sets the frequency of the primary low p...

Страница 166: ...n the resolver resolution is set to 12 bit specification by the RR parameter l TS or FR command reports the current setting FS Low pass Filter Secondary Format FS data Data 0 10 500 Hz or AJ Adjusting...

Страница 167: ...mand reports the current setting l Set FW0 when the system is performing the pulse train command operation FZ Feedback Phase Z Configuration Format FZ data Data 0 or 1 Shipping set 0 Default 0 l FZ se...

Страница 168: ...input HLS on CN2 goes inactive to the point where the Motor stops l TS or HO command reports the current setting l Refer to 10 2 Home Return for more details HS Home Return Start Format HS l Starts th...

Страница 169: ...ILV command reports the current setting IN In position Format IN data Data 0 99 999 999 pulse Shipping set 100 Default 0 l Specify an in position width criterion of detecting completion of positioning...

Страница 170: ...2 O3 O4 For each I1 I2 I3 I4 I5 I6 I7 I8 O1 O2 O3 O4 1 s or 0 s will be indicated O2 and O4 are always 0 Input signal Output signal I1 I2 I3 I4 I5 I6 I7 I8 O1 O2 O3 O4 TY1 SVON EMST RUN HLS PRG3 PRG2...

Страница 171: ...Data 0 01 2 50 G Shipping set 0 05 Default Not omissible l Sets the acceleration for Jog operation l TS or JA command reports the current setting JP Jump Format JP data Data 0 15 Default 0 l JP is us...

Страница 172: ...LO is changed l Change of PG and VI data will clear LO data LR Low Torque Ripple Format LR data Data range 0 1 Shipping set 0 Default 0 l Sets force specification 0 Standard 1 Low force ripple the ma...

Страница 173: ...tents continuously l When MM1 is input the display reports the setting pausing at each item At this time the colon appears the end of command or parameter Example MA0 01 To step to the next report pre...

Страница 174: ...etting MV Move Velocity Format MV data Data 1 1800 mm s Shipping set 500 Default Not omissible l Sets the moving velocity of the Motor in the RS 232C communication positioning command l TS or MV comma...

Страница 175: ...Timer data 2 8 ms l TS or NW command reports the current setting OE Sequence Option Edit Format OE data Data or Default Not omissible l OE changes the sequence code of a program already specified in a...

Страница 176: ...gin Setting Mode Format OS data Data 1 3 4 5 Shipping set 4 Default Not omissible l Sets the Home return mode OS1 Completes Home return at where HLS input goes OFF after entering HLS ON range OS3 Comp...

Страница 177: ...mmand reports the current setting PA Phase Adjust Format PA data Data 24 1048 Shipping set Unique value for each System Default 0 l Sets the compensation value of the resolver installation position l...

Страница 178: ...when the programmable indexer positioning is performed l HS command saves one channel program area l TC AL or PH reports the current setting RC Rated Current Software Thermal Format RC data Data 0 100...

Страница 179: ...rmal SE0 DRDY output close Motor state normal SE1 DRDY output open Motor state servo lock l TS or SE reads out the setting l Bs sure to use SE1 for RS 232C communication command operation SG Servo Gai...

Страница 180: ...ialization takes about 30 seconds Do not turn off the power while initialization is being performed otherwise the memory will become faulty When the memory is faulty SI AL will be executed even if SI...

Страница 181: ...mergency Stop Program error F5 F5 Program Error Automatic Turing error F8 F8 AT Error RS 232C error C2 C2 RS 232C Error CPU error C3 C3 CPU Error Resolver Circuit error A0 A0 Resolver Circuit Error So...

Страница 182: ...ersed sign l If an RP option is added to a TE command reading is repeated automatically l In automatic reading a value consisting of up to six figures is read out If a value consists of more than six...

Страница 183: ...If TR command is executed with RP option reading is repeated automatically l To terminate automatic reading press the BS key l TR command reads out the status at the moment TS Tell Settings Format TS...

Страница 184: ...HOS CLR OTM OTP TY7 SVON EMST RUN HLS DIR JOG OTM OTP DRDY IPOS l For more details refer to 5 2 1 Setting I O Type VG Velocity Gain Format VG data Data 0 1 255 0 or AJ Adjust mode Shipping set 1 0 De...

Страница 185: ...data depends on Motor type VW Velocity Error Over Limit Width Format VW data Data 1 4 095 Shipping set 100 Default Not omissible l This is to set the time length to detect velocity error over limit l...

Страница 186: ...ower off while executing the command If the power is turned off memory error alarm may be issued l When SI is executed all initialized parameters are stored to EEPROM even WM command is set to invalid...

Страница 187: ...12 32 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 188: ...should be recorded For your convenience the list of parameter and program is provided in the last page of this manual l How to replace the driver Unit When replacing the Driver Unit refer to Appendix...

Страница 189: ...Every 6 months Check dirt and contamination Supply grease via the grease nipples on both ends of the slider every 6 months approximate In case of HZ type Motor grease directly onto the rail grooves Gr...

Страница 190: ...power voltage 10 years Replace PCB Replace whole unit PCB Printed circuit boad Note Life of electrolytic condenser relies on the operating conditions The 10 years of life is rough estimation under con...

Страница 191: ...use modification and careless handling by the user 3 Failure of the unit due to the causes other than those attributable to the supplier 4 Failure of the unit due to modification or repair which is c...

Страница 192: ...reen Abnormal Orange 7 segment LED display Indicate the type of alarm The alarm is normally indicated by a 2 digit code Two characters are displayed alternately at certain intervals When two or more a...

Страница 193: ...rms will be displayed as shown in Figure 14 4 Figure 14 4 Alarm display TA F1 Excess Position Error P0 Over Heat _ F1 Excess position error P0 Heat sink over temperature Example 1 Identify a detected...

Страница 194: ...olver Circuit error A0 A0 Resolver Circuit Error Software Thermal Sensor A3 A3 Overload Velocity error over A4 A4 RUN away Heat Sink Overheat P0 P0 Over Heat Abnormal Main AC Line Voltage P1 P1 Main A...

Страница 195: ...Motor is too high 2 Excessive load is applied Reduce the load and or operation duty Readjust acceleration deceleration Stop operation air cool the Driver Unit 3 Ambient temperature is above 50 C 4 Hea...

Страница 196: ...eceleration 6 Defective PCB When the alarm is on after the Motor stops even power source and fuse are normal Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit Note 1 When the re...

Страница 197: ...ltage Low voltage due to over current or output shorting 2 Control circuit voltage for the power amplifier falls below 70V due to faulty power supply Turn off power check the power supply and power ca...

Страница 198: ...nd the cable are normal and the connector is properly secured Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit Note 1 Check the resolver cable for disconnection and shorted of...

Страница 199: ...Check the combination Reference number of Motor and Driver Unit Note Do not change a parameter CL setting It is properly set before shipment 14 2 3 3 Velocity Error Over Output DRDY Open TA A4 Run aw...

Страница 200: ...shipping set Resetting parameters are necessary When the memory error occurs read out of a parameter with TA command will be all 0 Zero 14 2 4 2 EEPROM Error Output DRDY Open TA E2 EEPROM Error LED E2...

Страница 201: ...tion error Cause Remedy 1 Position error counter value is over CO setting due to mechanical restraint such as brake Remove mechanical restraint 2 Improper gain setting Readjust gain Refer to Chapter 8...

Страница 202: ...The Motor will only move in the direction opposite to that of the rotation limit Table 14 16 Cause and Remedy Hardware over travel Cause Remedy 1 Motor activated travel limit switch Get out of the res...

Страница 203: ...ic tuning error Cause Remedy Terminal display 1 System is in Servo OFF when executing automatic tuning 2 EMST or Over Travel Limit is input when executing automatic tuning Check input signal and execu...

Страница 204: ...ate is set to the terminal Set Baud rate to 9 600 bps 4 Fault Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit Note 1 Parameter SE can set DRDY output and condition of Motor se...

Страница 205: ...reported 14 2 5 1 Indication of History of Alarm 1 Input TA command Press SP key to scroll next line TA TA TA TA now time 8 now time 8 now time 8 now time 8 0 F1 0 1 0 F1 0 1 0 F1 0 1 0 F1 0 1 1 F1 0...

Страница 206: ...Driver Unit combination is proper or not 2 Power supply voltage Voltage variation of power source is in specification 3 Trouble recurrence Frequency 4 Occurrence in special occasion When a particular...

Страница 207: ...15 2 Troubleshooting l When troubleshooting refer to the flow chart shown below Figure 15 1 Troubleshooting flow Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant...

Страница 208: ...15 3 15 2 1 Power Trouble Power is not turned on Figure 15 2 Power trouble Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 209: ...15 4 15 2 2 Motor Trouble 1 Motor servo is not turned on Figure 15 3 Motor trouble 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 210: ...15 5 2 Motor does not run smoothly Motor vibrates or runs away Figure 15 4 Motor trouble 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 211: ...15 6 15 2 3 Command Trouble 1 Home Return command causes no motion Figure 15 5 Command trouble 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 212: ...top in Home Return Figure 15 6 Command trouble 2 3 Home Return command fails to stop Motor in position Figure 15 7 Command trouble 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 213: ...15 8 4 Run input does not start Motor Figure 15 8 Command trouble 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 214: ...15 9 5 Pulse train input does not run Motor Figure 15 9 Command trouble 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 215: ...15 10 15 2 4 Terminal Trouble Communication is Disabled Figure 15 10 terminal trouble Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 216: ...get out the automatic reading l Read Out format is shown in Table A 1 Table A 1 Input Output signal table Input signal Output signal Input signal is ON when 1 is displayed Output signal circuit is clo...

Страница 217: ...epeated and the next command can not be accepted IO RP 0010000000 000 _ BS l Above example shows that read out of RUN input is 1 which indicates RUN input is ON Reference Read out follows the changes...

Страница 218: ...Lock Table A 2 Pin number to be checked Cable connector Motor connector Result Phase A 1 pin 2 pin A A 5 pin 4 pin A A Phase B 3 pin 4 pin B B 10 pin 9 pin B B Phase C 5 pin 6 pin C C 15 pin 14 pin C...

Страница 219: ...M 1 pin 2 pin REA COM Phase B 7 pin 4 pin REB COM 6 pin 2 pin REB COM Phase C 15 pin 4 pin REC COM 11 pin 2 pin REC COM Table A 5 Specification Motor number Motor winding resistance W Tolerance YZ1 1...

Страница 220: ...5 pin 13 pin A FG Phase B FG 3 pin 7 pin B FG 10 pin 13 pin B FG Phase C FG 5 pin 7 pin C FG 15 pin 13 pin C FG Phase A Phase B 1 pin 3 pin A B 5 pin 10 pin A B Phase B Phase C 3 pin 5 pin B C 10 pin...

Страница 221: ...iver Unit with SI command 1 Note down parameter settings and channel programs 3 Input the parameters and programms again Explanations 1 Read out parameter settings and channel programs and note down t...

Страница 222: ...be displayed to indicate completion of initializing 3 Input the noted parameter settings and channel programs 1 Firstly set PA parameter l Input the password Press K N S SP N ENT O The Driver Unit ec...

Страница 223: ...the ROM ESA13 Driver Unit must be disassembled To disassemble the Driver Unit follow the procedures described hereafter For a special Driver Unit contact your local NSK representative Before replacing...

Страница 224: ...A 9 Dissemble ESA13 Driver Unit 1 Remove side panel Figure A 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 225: ...A 10 Figure A 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 226: ...2 U21 Commutation board Socket 3 Insert the ROM to new Driver Unit commutation board l Be careful of the orientation of the ROM Make sure the ROM is securely set to the socket Figure A 13 ROM Be caref...

Страница 227: ...A 12 4 Assemble the side panel Figure A 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 228: ...A 13 Figure A 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 229: ...or is not disconnected the parameters can not be input properly and the Motor may run away Make sure that CN2 connector is disconnected 3 When control power is turned on Handy Terminal displays NSK ME...

Страница 230: ...1 0 RR 1 LR 0 VM 1 FD 0 TY 4 LG 50 FZ 0 AB X0X0XX00 TL 100 FR 0 SM 1 FO 0 PS 0 NW 2 FP 0 DI 0 MM 1 FS 0 OTP 0 BM 1 NP 0 OTM 0 CM 0 NS 0 MV 500 AN 0 DBP 0 MA 0 05 WM 0 ILV 100 JV 50 SE 0 FF 0 JA 0 05 L...

Страница 231: ...V CA 38 Command CV CA 54 Command CV CA 7 Command CV CA 23 Command CV CA 39 Command CV CA 55 Command CV CA 8 Command CV CA 24 Command CV CA 40 Command CV CA 56 Command CV CA 9 Command CV CA 25 Command...

Страница 232: ...n U S A Ann Arbor Phone 734 761 9500 NSK Precision America Inc U S A Chicago Phone 630 924 8000 Los Angeles Phone 562 926 3578 Ann Arbor Phone 761 761 9500 NSK Canada Inc CANADA Toronto Phone 905 890...

Страница 233: ...3rd Edition 1st Printing April 17 2002 Document Number T20011 03 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 234: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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