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— 9-29 —

9.2.4. Feed Forward Compensation: FF

l

Function of feed forward is to generate a velocity command by differentiating the position
command and then add it to the velocity loop in the forward direction. Parameter FF sets the feed
forward compensation gain. It requires the password for entry.

l

The shipping set of the parameter FF is FF0.

l

It improves following error during acceleration / deceleration.

l

Setting the FF parameter to a higher value improves the following error. However, overshoot
becomes more likely to occur. It is recommended that the parameter is set to 0.5 or below.

Figure 9-29: 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 MEGATORQUE M-ESA-J0002V25

Страница 1: ...s 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: ...EGATORQUE MOTOR SYSTEM User s Manual ESA25 Driver Unit System Document Number C20062 06 EC T M E099SA0C2 062 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...m 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 1997 2001 by NSK...

Страница 4: ...harmful gas or liquid l Store the Driver Unit in a place at where it is not exposed to direct sun light Keep ambient temperature and humid as specified 2 Matters to be attended to use the Motor of the...

Страница 5: ...in the range of specification described in the User s manual 3 The Motor does not function l Is rotation of the Motor smooth when it is turned manually with power off Any stickiness in motion Does the...

Страница 6: ...and the Driver Unit shall conform to the specification l Be sure to write down the setting of parameters l Never modify the cable set l Lock the connectors securely and check for lose fixing screw s l...

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

Страница 8: ...MEGATORQUE MOTOR SYSTEM User s Manual NSK Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 9: ...Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 10: ...ective 89 392 as amended 94 368 and 93 44 EC Low Voltage Directive 73 23 as amended 93 68 l The users have to take appropriate measures to their machines to conform to Electoromagnetic Compatibility D...

Страница 11: ...ontrol loop P control or PI control available Programmable Indexer Driver Unit s built in indexing ability pulse train a series of pulses used as a position command quadrature output two pulse train o...

Страница 12: ...rial Communication Connector 5 1 5 1 1 CN1 Pin Out 5 1 5 1 2 CN1 Signal List 5 1 5 1 3 Sample Wiring Diagram 5 2 5 2 CN2 CN5 Control I O Signal Connectors 5 3 5 2 1 Pin Out CN2 CN5 5 3 5 2 2 Signal Na...

Страница 13: ...avel Limit Switch 9 5 9 1 6 Alarm Output 9 6 9 1 7 Brake Signal Output 9 7 9 1 8 In Position Output 9 8 9 1 8 1 Output Signal Format 9 9 9 1 8 2 Parameter IN 9 10 9 1 8 3 Parameter IS 9 10 9 1 8 4 IPO...

Страница 14: ...nnel Acceleration 12 10 CC Clear Channel 12 10 CH Channel Select 12 10 CL Clear Alarm 12 10 CM Communication Mode 12 11 CO Position Error Counter Over Limit 12 11 CR Circular Resolution 12 11 CV Chann...

Страница 15: ...and 14 2 14 1 3 Alarm Code List 14 3 14 2 Description of Alarm 14 4 14 2 1 Normal State 14 4 14 2 2 Alarms Related to Power Amplifier 14 4 14 2 2 1 Heat Sink Overheat or Regeneration Resistor Overheat...

Страница 16: ...rque velocity 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 H...

Страница 17: ...exible couplings for example introduce mechanical irregularities such as windup backlash and mechanical inaccuracy The same functions can be accomplished with just two components using the Megatorque...

Страница 18: ...ombined effect of these points of focused magnetic field around both the stators and the rotor act like electronic gear reduction multiplying the torque hundreds of times while reducing the speed by t...

Страница 19: ...s 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 digi...

Страница 20: ...ight cause malfunction of the system 2 1 Operational Remarks l Pay special attention to the following precautions when installing adjusting checking and troubleshooting Megatorque Motor System Caution...

Страница 21: ...or is decelerating rotational energy is dissipated by internal dump resistor Excessive rotational energy causes very high regeneration of the Motor the dump resistor is overheated then the alarms goes...

Страница 22: ...Driver Unit is not interchangeable for a combination specially arranged In such a case refer to the respective specifications sheet l Be sure to have the same serial number of the Motor and Driver Un...

Страница 23: ...2 4 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 24: ...S X W V Z Y CTRL ESC SHIFT ENT SP BS NSK HANDY TERMINAL Figure 3 2 System configuration with brake Single phase 200VAC Handy Terminal FHT11 Brake power source M FZ063 Cable Set RS 232C 3 phase AC200V...

Страница 25: ...in power supply V AC100V T AC200V 5 Denotes ESA25 standard 25 M ESA 1 M ESA T 4 T 020 3 006 Y2 2 J2 25 5 25 3 2 3 Cable Set Figure 3 5 1 Megatorque Motor Cable Set 2 Cable length Unit m Refer to 3 3 S...

Страница 26: ...M ESA Y3008V25 AC100V M YS3008GN001 M ESA Y3008T25 AC200V M ESA Y3040V25 AC100V M YS3040GG001 M YS3040GN501 M ESA Y3040T25 AC200V M ESA Y4080V25 AC100V M YS4080GG001 M YS4080GN001 M ESA Y4080T25 AC20...

Страница 27: ...200V M ESA J1003V25 AC100V M JS1003GN510 M ESA J1003T25 AC200V M ESA J2006V25 AC100V M JS2006GN510 M ESA J2006T25 AC200V M ESA J2014V25 AC100V M JS2014GN510 M ESA J2014T25 AC200V 3 3 2 2 Cable Set Tab...

Страница 28: ...4 1 4 Specifications 4 1 Motor Specifications 4 1 1 YS Series Motor 4 1 1 1 Name of Parts Figure 4 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 29: ...t rigidity Note 1 rad N m 3 5 10 6 2 5 10 6 1 5 10 6 3 0 10 7 3 0 10 7 Maximum stall torque N m 15 35 70 105 198 Rotor moment of inertia kg m2 0 007 0 020 0 065 0 212 0 255 Mass kg 10 16 29 55 95 IP30...

Страница 30: ...torque N m 20 40 80 120 Mass kg 12 20 36 66 IP30 Note 3 IP30 IP30 IP30 Operating condition Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed...

Страница 31: ...ng condition Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed S 1 rps 3 2 3 Note 4 Resolver resolution pulse r 614 400 Positioning accuracy s...

Страница 32: ...n external force then Axial load Fa F weight of payload Moment load M 0 F If F is an external force then Axial load Fa F weight of payload Moment load M F L F If F is an external force then Axial load...

Страница 33: ...e 4 3 M YS2020GN001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Gu...

Страница 34: ...N501 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 35: ...N001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 36: ...N001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 37: ...N001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 38: ...M YS2020GG001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guarant...

Страница 39: ...G001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 88...

Страница 40: ...GG001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 41: ...GG001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 42: ...M YS2005GN001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guarant...

Страница 43: ...GN001 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm Artisan Technology Group Quality Instrumentation Guaranteed 888 8...

Страница 44: ...of inertia kg m2 0 002 0 004 0 005 0 010 Mass kg 2 4 3 2 4 8 5 5 IP40 Note 3 IP40 IP40 IP40 Operating conditions Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosiv...

Страница 45: ...is an external force then Axial load Fa F weight of payload Moment load M 0 If F is an external force then Axial load Fa F weight of payload Moment load M F L If F is an external force then Axial loa...

Страница 46: ...4 19 4 1 2 3 Dimensions Figure 4 16 M JS0002GN510 Dimensions for M JS0002GN510 130 0 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 47: ...4 20 Figure 4 17 M JS1003GN510 Dimensions for M JS1003GN510 110 0 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 48: ...4 21 Figure 4 18 M JS2006GN510 Dimensions for M JS2006GN510 110 0 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 49: ...4 22 Figure 4 19 M JS2014GN510 Dimensions for M JS2014GN510 135 0 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 50: ...s Analog velocity monitor pins CN5 37 pins Motor control Input Output connector I O2 Monitor pins VR1 Offset adjusting pod of analog input 1 2 11 3 10 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 10 11 12 13 12 13 M...

Страница 51: ...ge current M ESA Y2005T25 0 5 kVA M ESA Y2020T25 1 0 kVA M ESA Y3008T25 0 6 kVA M ESA Y3040T25 1 2 kVA M ESA Y4080T25 1 4 kVA M ESA Y5120T25 1 5 kVA M ESA Y5240T25 2 kVA M ESA J0002T25 0 7 kVA M ESA J...

Страница 52: ...ity of RS and SS series motors refer to their specification document Table 4 8 Surge and leakage current Control power Main power Surge current 7A 80A 40Hz 1kHz 3 mA rms Leakage current 1MHz 20 mA rms...

Страница 53: ...ration l Home Return operation u Velocity control mode l RS 232C serial communication l Analog 10V u Torque control mode l RS 232C serial communication l Analog 10V u Position detector resolution Reso...

Страница 54: ...ition limit Run move Programmable indexer channel switching max 64 channels Jog and Overtravel limit l Output signals Driver Unit ready In position and Brake 1 1 The brake output signal is for control...

Страница 55: ...Unit Follow the procedure in Appendix 4 How to Replace ESA25 Driver Unit l Figure 4 14 indicates the Jumper location Figure 4 21 Driver Unit front panel OC LD LED JP1 CN3 CN2 CN1 Table 4 13 Jumper set...

Страница 56: ...3 SENSOR VEL GND CN2 I O MAIN AC200 220V CONT AC100 220V CN4 MOTOR CN1 RS 232C FUSE1 250V 10A POWER DISP VR1 MON GND CN5 I O2 R S T No NSK NSK FUSE2 250V 10A FGND T T 50 9 6 215 180 85 17 5 17 5 17 5...

Страница 57: ...ector Shell JAE DA C1 J10 Connector JAE DA 15P N Resolver Cable Motor Cable 6 11 24 15 10 5 14 9 4 13 8 3 12 7 2 11 6 1 S2 S1 Sensor Connector JST ELP 15V 4 3 2 Cable Set for YS Motor with Brake Figur...

Страница 58: ...s Code keys small characters 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 used...

Страница 59: ...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 60: ...nics Industry Ltd to be prepared by the user DE C2 J6 These connectors are not necessary if NSK Handy Terminal FHT11 is used 5 1 1 CN1 Pin Out Figure 5 1 CN1 Pin out FG 5V RTS SG DTR DSR RXD CTS TXD 5...

Страница 61: ...2C Terminal ESA Driver Unit CN1 u RTS Control CTS Monitoring Inactive Important When wired as shown below always confirm the echo back from the Driver Unit or send the data slowly With this wiring the...

Страница 62: ...e train input and position feed back signals 3 These cables should be laid sepalately from the power line Wiring length shall beshort as possible 4 Connect one end of shield to the frame ground Refer...

Страница 63: ...nput Emergency stop 13 DC24 Input 24 VDC external supply 14 IPOS Output In position 15 DRDY Output Driver Unit ready 16 SGND Signal ground 17 CHZ Output Position feedback Z digital position data MSB 1...

Страница 64: ...6 PRG5 Input Internal program channel selection bit 5 17 RUN Input Start internally programmed operation 18 Do not connect 19 DC24 Input DC 24V external power supply 20 Do not connect 21 Do not connec...

Страница 65: ...n l The polarity can be changed by the parameter AB l The password input is necessary before inputting AB parameter l Table 5 6 shows the data and port Refer to Setting Example below and the explanati...

Страница 66: ..._ ENT B A 3 Input the password The password acknowledgment message appears on the display ABX0X0XX00 NSK ON NSK ON _ S N SP K ENT N O 4 The second bit following AB represents EMST Set this bit to 1 a...

Страница 67: ...ent 10 mA per input Figure 5 5 3 3k 680 Driver Unit side DC24 input The polarity of DC24V external supply may be reversed 5 2 4 2 Pulse Train Input Applied Inputs CWP CWP CCWP CCWP Table 5 8 Item Spec...

Страница 68: ...age 2 V or less Figure 5 7 Driver Unit side output COM 5 2 4 4 Alarm Output Applied Outputs DRDY DRDY Table 5 10 Item Specification Maximum load capacity 24 VDC 100 mA Maximum saturated voltage 2 V or...

Страница 69: ...ALS193 or AM26LS32 equivalent Maximum collector current 100mA Maximum collector voltage 24V Saturated voltage 1V or less For open collector Figure 5 9 SGND CHA CHB CHA CHB Driver Unit side SGND CHZ JP...

Страница 70: ...puts MON MON Table 5 13 Item Specification Output format Ope amp Max input voltage 10V 10 Saturated voltage 4mA or less Figure 5 11 MON MON 1000PF 10k 10k Artisan Technology Group Quality Instrumentat...

Страница 71: ...k signal Z DC5V Driver Unit ready In position Brake control signal CW pulse train CCW pulse train DC24V Polarity of DC24V external power may be reversed and used as minus common Signal ground DC24V 13...

Страница 72: ...ck signal Z Digital position signal MSB Driver Unit ready In position Brake control signal DC24V Signal ground DC24V CN2 13 DC24 25 SVON 12 EMST 9 OTP 22 OTM 10 CLR 24 IOFF 15 DRDY 2 DRDY 14 IPOS 3 BR...

Страница 73: ...Hz Overexcitation DC180V 4A Full wave rectification Output voltage current Hold DC90V 2A Half wave rectification Overexcitation time 0 35 sec Ambient temperature 0 40 C Figure 5 14 Terminal block wiri...

Страница 74: ...Clamping time ON OFF Servo state of Motor RUN input Motor rotation IPOS output FW 0 IPOS output FW 0 User side brake signal Brake state IOFF input Brake state User side brake signal IOFF input Table...

Страница 75: ...22 OTM 24 IOFF 10 CLR 8 CWP 21 CWP 7 CCWP 20 CCWP CN2 19 DC24 17 RUN 16 PRG5 15 PRG4 14 PRG3 13 PRG2 12 PRG1 11 PRG0 30 JOG DRDY 15 31 DIR DRDY 2 8 AIN BRK 3 7 AIN IPOS 14 27 MON CN2 COM 1 26 MON CN5...

Страница 76: ...ened by shock Never connect disconnect the CN3 connector when the Driver Unit power is on Table 5 17 Driver Unit connector Japan Aviation Electronics Industry Limited DALC J15SAF 13L9 Mating connector...

Страница 77: ...connector with 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 19 Driver Unit connector AMP...

Страница 78: ...AC100V Main power Single phase AC100V Main power 3 phase AC200V Single phase AC200V Caution Do not connect this terminal FGND MAIN AC200 220V CONT AC100 220V Noise filter TB R S T Noise filter Cautio...

Страница 79: ...5 20 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 80: ...y for damage which might have occurred in transit The Driver Unit is particularly fragile and should be inspected for warped or bent sheet metal broken standoffs and loose or damage electric component...

Страница 81: ...interchangeable combination check reference number in same manner as Standard combination If the combination is not interchangeable serial numbers of Motor and Driver Unit must be same l A nameplate i...

Страница 82: ...ll the mounting holes mounting tap holes of the Motor Fasten a work to the attachment using all of the tapped holes of the rotor Eliminate play between the load and the rotor Eliminate play in the mec...

Страница 83: ...Distance between Rotor Surface and Bearing Center mm 26 0 46 5 25 5 52 5 54 0 58 5 Use these values when calculating the moment load Refer to 4 1 Motor Specification for the details Caution When vibra...

Страница 84: ...y inertia to the rotor directly u Example 1 Load is connected using keyway Figure 6 3 Using Keyway Dummy u Example 2 Load is directly attached but the shaft diameter is too small Torsional vibration m...

Страница 85: ...tia of indirectly attached load Ji is 0 5 kg m2 the inertia of directry attached load Jd shall be Jd 0 5 0 2 0 1 kg m2 2 When driving a speed reduction Ji r2 Jd 5 where Jd inertia of directly attached...

Страница 86: ...the performance and stability of direct drive motors In the case of large changes in the load inertia it may be necessary to change the servo loop gain To minimize the effect of load inertia fluctuati...

Страница 87: ...keep the internal temperature of the enclosure within 0 to 50 C If the heat sink overheat alarm arises frequently provide an air cooling measures such as a fan See 14 Alarm For some environmental cond...

Страница 88: ...ant amounts of torque at elevated speed more than 20 of the maximum rated speed l Use 2 0 mm2 14AWG or larger wire with heat proof vinyl for power line l The electrical noise from outside sources and...

Страница 89: ...rcuit Breaker Contact Capacity 15A Sensitivity 15mA Magnetic Switch Contact Capacity 30A Table 6 6 Inrush Current Inrush Current TYP Item AC100V AC200V Control Power 7A 14A Main Power 80A 140A l Insta...

Страница 90: ...xample Noise filter Magnet switch Driver Unit AC power Ground earth Class 3 or better Noise filter Noise filter Circuit breaker FG Ground the Motor base using bolts Control power Main power CN4 CN3 20...

Страница 91: ...r supply when the sensor is activated Refer to Figure 6 8 Wiring Example to install the protection circuit that uses 2 lead wires S1 and S2 l Thermal sensor specifications Contact Normally close Ratin...

Страница 92: ...Cable set is available in length of 2 4 8 15 and 30 meters Do not place the power lines AC power supply and Motor cable and the signal lines CN2 and Resolver cable in close proximity Do not tie wrap t...

Страница 93: ...he system is ready for operation 1 Normal state l Figure 6 11 shows the LED indicator in normal condition Figure 6 11 2 Abnormal Figure 6 12 Green LED Turns on when the power is turned on 7 segment LE...

Страница 94: ...30 milliseconds for 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 comm...

Страница 95: ...6 16 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 96: ...automatically 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 turne...

Страница 97: ...r Unit make sure that a colon is displayed If not an alarm Memory error might be detected when you turn on the power next time 7 2 1 Password l Among the communication commands used for this System so...

Страница 98: ...If 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 pas...

Страница 99: ...meter and numeric values is not necessary 7 2 5 Parameter That Requires Entry of Password 1 When entering the command make sure that a colon is displayed on the screen If the colon is not displayed pr...

Страница 100: ...y once _ ENT 2 Refer to 12 Command and Parameter JV command is in the group of TS7 input TS7 MV1 00 ENT S 7 T The setting value of MV Move Velocity is displayed first 3 Press the space key to scroll d...

Страница 101: ...of this example input JV after JV JV0 10 _ ENT J V 3 The colon is displayed to indicate the system is waiting for next command Caution When reading out set value using TS command is recommended When u...

Страница 102: ...Automatic Tuning End Trial Running 8 2 4 Trial Running Power ON Preparation 8 2 2 Initialize Servo Parameters Caution Make sure that the LED of the Driver Unit is indicating normal Turn control power...

Страница 103: ...ST Emergency stop CN2 connector Connection of the Driver Unit and the Motor Use the optional cable set from NSK Connection of the Handy Terminal to the Driver Unit 8 2 1 Precautions Danger Wire EMST E...

Страница 104: ...base Work Load inertia AC power Handy terminal FHT11 Driver Unit DC24V External power supply Noise Filter Cable Set Motor 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...

Страница 105: ...ins It takes 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 appea...

Страница 106: ..._ T ENT A If a message is different from the display shown right confirm procedures 1 and 2 again 4 Confirm the message AT ready OK then input OK AT AT ready OK OK K ENT O The Motor rotates 10 20 back...

Страница 107: ...TM are OFF 4 After the automatic tuning the rotational speed MV has been initialized to 1 s 1 Change MV to 0 1 s 1 for trial running MV0 1 _ V 0 M 1 ENT Note After the adjustment change MV to the actu...

Страница 108: ...y its menu screen Press ENT key after to get out the demonstration program Example for rotational angle 30 degree ID3000 IN10 IS0 5 FW1 0 ID3000 OK _ D 3 I 0 0 ENT 0 9 When the trial running is comple...

Страница 109: ...ress plus or minus key to change SG value The display shown above is an example Those values shall be set to the conditions for actual use l Explanation of the messages 1 Key function and SHIFT Pressi...

Страница 110: ...Motor stops hunting and starts moving ENT 253 145 STEP1 _SG16 5 Set SG value to 80 of displayed SG when the Motor stopped hunting The Motor oprates stable in any position ENT 263 156 STEP1 _SG13 6 Typ...

Страница 111: ...VG1 G V J ENT A 1 5 2 3 4 The display shows the message as shown on the left l Explanation of the messages 1 Key function and SHIFT Pressing key one time increases 1 resolution of VG Pressing key one...

Страница 112: ...he 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 stopped 4 0 8 3 2 6 Press the space key to change the resolution of VG sett...

Страница 113: ...cates VI value changed by pressing plus or minus key 4 Response index number The lower number denotes better response 5 Positioning index number The rower number denotes quicker positioning Note Chang...

Страница 114: ...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 115: ...ENT A 1 5 2 3 4 The message is displayed as shown above Press plus or minus key to change FP value The display shown above is an example Those values shall be set to the conditions for actual use l E...

Страница 116: ...ilter When setting notch filter you can connect the ocsilloscope to monitor pins on Driver Unit front panel to know the resonance frequency Example i Check the resonance frequency as shown in Figure 8...

Страница 117: ...8 16 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 118: ...V or MS 5ms max u Precaution when turning ON OFF the main power supply and the control power supply separately l When turning on the main power supply with the control power supply turned on Turn on t...

Страница 119: ...be established for 4 seconds after EMST input is ON even SVON input is OFF Servo lock state won t be established if SVON input is OFF at the moment of EMST input is ON Figure 9 3 4 sec ON OFF ON OFF...

Страница 120: ...N OFF CLR input Position error counter Excess position error alarm 0 3ms max 10ms min l Alarms for software thermal velocity abnormal program error RS 232C abnormal and automatic tuning error may be c...

Страница 121: ...limit function in the Driver Unit Refer to 9 1 5 2 Software Over travel Limit Switch When over travel error occurs the DRDY output will be open and LED on the front panel indicates the following alar...

Страница 122: ...ion becomes valid after the Home position is determined by Home Return or AZ command l Use the OTP and OTM commands to set the over travel limit values Operation Setting by teaching 1 Turn off the Mot...

Страница 123: ...on scale Is OTP OTM In the Linear position scale Is OTP a positive value OTM a negative value Setting by position scale data l When the over travel limit values are already known user can directly set...

Страница 124: ...ST input ON Figure 9 8 Invalid Occurrence of alarm causing servo lock Close Open ON OFF ON OFF Power supply DRDY output SVON input EMST input BRK output ON OFF Occurrence of alarm causing servo off Cl...

Страница 125: ...ility timer IS0 Figure 9 9 FW value Example FW1 100 ms Close Open IPOS output IPOS mode FW 0 Close Open Determined by the IS set value Example IS1 0 1 sec Position error counter residual pulse IPOS ou...

Страница 126: ...if there is a difference between position command and current position l Basically IPOS output will be closed only when residual pulses in the position error counter is within the range set by IN para...

Страница 127: ...esolver resolution IN set value 360 repeatability degree 614 400 100 360 3 600 47 pulses 9 1 8 3 Parameter IS l IS is to confirm the stability of the positioning In case of in position output signal i...

Страница 128: ...d IPOS output will be opened for the moment set by IS value to check positioning stability 3 FIN mode Even no pulse is generated internally IPOS output signal shall always be returned for positioning...

Страница 129: ...n it is set to FR1 A B will not be output u Output timing Figure 9 10 CHZ output MSB CHZ output MSB CHZ output Z CHZ output Z CHB output B CHB output B CHA output A CHA output A CCW rotation CW rotati...

Страница 130: ...For the details refer to 12 Commands and Parameter Current position TP Monitors the current position in the absolute position scale For the details refer to 12 Commands and Parameter Parameter value T...

Страница 131: ...t 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 Figure 9 12 CCW Maxi...

Страница 132: ...Without RP One shot monitoring With RP Real time monitoring Repeats monitoring Display format Bit map representing Input Output in 1 line See Figure 9 13 to 9 15 l The status is displayed on the Hand...

Страница 133: ...ved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always...

Страница 134: ...000 000 ENT RUN 5 Press the back space key to discontinue read out If it is not pressed read out will be repeated and the next command can not be accepted ABCDEFGHIJKLMN 0000001000 000 BS RUN l Above...

Страница 135: ...P P 2 T ENT P R 2 Press the BS key to end the display TP2 RP _ BS 2 Reading current position via the position scale in the unit of 1 100 degree 1 Reading current position via the position scale in the...

Страница 136: ...the Driver Unit Position command position command given to the Motor from the Driver Unit Position error counter error between position command and actual position l MN command select one of the cond...

Страница 137: ...Maximum current 5V CCW maximum velocity CW maximum velocity 5V Figure 9 23 Position error MN6 Figure 9 24 Position error MN7 10V 10V CCW 127 pulses CW 127 pulses 10V 10V CCW 16383 pulses CW 16383 puls...

Страница 138: ...Caution For your safety the direction of the hardware over travel limit switches are fixed to the Motor as follow regardless the DI setting OTP CW direction OTM CCW direction l The direction of positi...

Страница 139: ...483 647 pulses the value returns to 2 147 483 648 pulses Falling below 2 147 483 648 pulses the value returns to 2 147 483 647 pulses Figure 9 25 Linear position scale Home position origin or AZ comma...

Страница 140: ...Figure 9 26 Single rotation position scale 307 200 pulses 460 800 pulses 90 180 270 0 CW direction 153 600 pulses Home position origin or AZ command executing point Motor series YS JS1 JS2 RS 245 760...

Страница 141: ...ommand P 409 600 PS value 360 PS value Motor series YS JS1 JS2 RS P 614 400 PS value 360 PS value Value returns to 0 after making the number of revolutions set by the PS command Motor series SS Motor...

Страница 142: ...cale as the plus direction 1 Input the password The password acknowledgment message appears on the display NSK ON NSK ON _ N S SP K N ENT O 2 Input the DI command to determine the position scale direc...

Страница 143: ...e password acknowledgment message appears on the display NSK ON NSK ON _ N S SP K N ENT O 2 Input the AZ command to reset the position scale value NSK ON NSK ON AZ _ Z ENT A Artisan Technology Group Q...

Страница 144: ...view of the Motor output axis side Direction of counting position scale shall be set by DI data DI command Table 9 11 below shows relations between DI data and direction of counting Table 9 11 DI dat...

Страница 145: ...ue to mechanical resonances Table 9 12 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...

Страница 146: ...is FF0 l It improves following error during acceleration deceleration l Setting the FF parameter to a higher value improves the following error However overshoot becomes more likely to occur It is re...

Страница 147: ...ied 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 about the...

Страница 148: ...e value of DBP setting l The dead band is centered at 0 to position error and the position deviation under the value of dead band is disregarded Thus it makes position command to 0 l Unit of DBP is th...

Страница 149: ...TS CTS Control Yes 9 3 2 Communication Procedure 9 3 2 1 When Power is Turned on l If a terminal such as NSK Handy Terminal FHT11 is connected to CN1 and the Driver Unit power is turned on the message...

Страница 150: ...e 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 inp...

Страница 151: ...nd O as shown below If the Driver Unit accepts it it returns an NSK ON message l A command requiring password entry may only be executed immediately after the password is entered Figure 9 36 Password...

Страница 152: ...ollowing VG0 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 9 37 Canceling example BM1 VG0 _ VG0 5_ Input BS Key 08H Input To Driver Unit 08H 5 0 G V...

Страница 153: ...turned since this character string is not a command Input To Driver Unit 0DH E D C B A Echo back From Driver Unit 0AH 0DH b a b 0AH 0DH E D C B A E D C B A a 4 If the input condition is not met when e...

Страница 154: ...et value Figure 9 41 TS command example TS2 FP0 FS0 NP0 _ Input To Driver Unit 0DH 2 S T Readout From Driver Unit a d 0AH 0DH 2 S T 0AH 0DH 0 P F b 0AH 0DH 0 S F c 0AH 0DH 0 P N b a c d Entered comman...

Страница 155: ...portional gain Waiting for a command to be entered 3 TP command for reading current position data Figure 9 43 TP command example 0AH 0DH TP5 10000 _ Input To Driver Unit 0DH 5 P T Readout From Driver...

Страница 156: ...e the name of connection and set an icon then press OK button 3 Dialog of Telephone number is displayed Select Direct to Com in the way of connection N then press OK button 4 Dialog box of Property of...

Страница 157: ...line u Delete unnecessary character strings such as TS and TC AL u Delete all spaces of the head of the lines u Change TC to CH u Add a line to each end of a channel program and the end of setting KP1...

Страница 158: ...Cable 9 3 4 1 Procedure to Set Daisy Chain Communication Figure 9 45 Setting procedure for daisy chain communication NG OK AS command executed automatically AN parameter CM parameter Order of connecti...

Страница 159: ...mode selection CM data 0 1 0 CM0 standard single driver communication CM1 daisy chain communication 9 3 4 3 Interfacing 1 Connecting data communication lines l Connect data communication lines sequen...

Страница 160: ...t 2 RTS CTS Driver Unit 15 Actual connection example l When NSK s Handy Terminal is in use connect the lines as shown in Figure 9 48 l Refer to 5 1 CN1 RS 232C Serial Communication Connector for the s...

Страница 161: ...les show a 3 axis configuration Figure 9 49 NSK MEGATORQUE MS1A50_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 162: ...Acknowledgment message l An axis selected for communication may be checked by issuing a AX command The axis is displayed in the same manner as it is selected Figure 9 52 AX ACC AX2 _ Current axis for...

Страница 163: ...9 46 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 164: ...green and the 7 segments LED on the front panel of the Driver Unit are indicating normal state Confirm the Handy Terminal display is showing completion of the Driver Unit initialzation 1 Turn Power O...

Страница 165: ...t all times except when user s controller is governing control The Home position Zero position cannot be determined unless Home Return is performed l The position coordinates and positions of software...

Страница 166: ...hen reverses its rotational direction 3 The Motor goes out HLS range once then reverses again and enters HLS area at the Home position search velocity 4 It moves to the first point where the resolver...

Страница 167: ...ive CCW direction overtravel area HLS input active home limit switch area CW direction CCW direction CCW direction velocity CW direction velocity The DRDY output is open during this operation Z The DR...

Страница 168: ...ulse 0 405 504 0 Home Return Direction HD 0 CW 1 CCW 1 Home Return Near Zero Velocity HZ s 1 0 0001 0 30 0 0100 10 2 1 2 Adjusting Home Position Switch and Home Offset Value l The position of the Home...

Страница 169: ...rom the closest Z rising edge of the Motor s present position Check that this value is in the range of 1000 to 3000 If the TR value is not in this range loosen the HLS sensor and move it CW or CCW dir...

Страница 170: ...ress the ENT key to execute the command When the _ colon appears on the display Home offset HO value is automatically calculated and set NSK ON HO ST HO1234 _ ENT 9 Input the SV command servo on comma...

Страница 171: ...234 SV HS_ S H 12 Press the ENT key to execute the command and thereby start Home Return operation HO1234 SV HS _ ENT Check that the Motor stops at the desired Home position Artisan Technology Group Q...

Страница 172: ...the display 2 Enter the Home return start command CH0 HS _ S ENT H 3 When the prompt appears again press the ENT key CH0 HS _ ENT This completes the programming in CH0 2 Home return trial operation l...

Страница 173: ...l Input the command SP to execute the Programmable Indexer Same function as inputting RUN command ON Type P m S ENT to execute the channel m program m channel number Figure 10 4 Programmable indexer...

Страница 174: ...connector CN5 Table 10 5 Channel input PRG 5 PRG 4 PRG 3 PRG 2 PRG 1 PRG 0 Channel 0 OFF OFF OFF OFF OFF OFF Channel 1 OFF OFF OFF OFF OFF ON Channel 2 OFF OFF OFF OFF ON OFF Channel 61 ON ON ON ON O...

Страница 175: ...the PC parameter setting Table 10 6 Signal format PC Parameter CWP input CCWP input Function PC0 shipping set Input CW pulse Input CCW pulse CW CCW format PC1 Input the direction ON CCW OFF CW Input...

Страница 176: ...e Motor one turn CR Parameter Resolver resolution CW CCW format Step Direction format A B format 1 614 400 2 307 200 12 bit or automatic resolution switching 614 400 4 153 600 1 153 600 2 76 800 CR 1...

Страница 177: ...122 880 12 bit or automatic resolution switching 245 760 4 61 440 1 61 440 2 30 720 CR 2 10bit 61 440 4 15 360 1 122 880 2 61 440 12 bit or automatic resolution switching 122 880 4 30 720 1 30 720 2...

Страница 178: ...25 600 CR 2 10bit 51 200 4 12 800 1 102 400 2 51 200 12 bit or automatic resolution switching 102 400 4 25 600 1 25 600 2 12 800 CR 4 10bit 25 600 4 6 400 1 360 000 2 180 000 CR360 000 12 bit 10 bit a...

Страница 179: ...input CW pulses CCWP input CCW pulses ON OFF ON OFF Min 600ns Min 1 s CCW Rotation CW Rotation 2 When PC is set to 1 PC1 Figure 10 8 Min 500ns Min 500ns CWP input Direction CCWP input Step ON OFF ON...

Страница 180: ...set value HD parameter Specifies Home Return direction MA parameter Sets the acceleration for indexing MV parameter Sets the velocity for indexing The table below lists the number of pulses per rotati...

Страница 181: ...is on it turns to CCW l Jog operation parameter JA Jog acceleration JV Jog velocity Figure 10 11 Jog operation timing Jog input DIR input IPOS output FW 0 IPOS output FW 0 Motor rotation Close Open Cl...

Страница 182: ...n the analog command input or RS 232C command input l The mode is switched by the parameter AC AC0 Analog command input invalid DC command becomes valid AC1 Analog command input valid When input volta...

Страница 183: ...2 1365 4095 4095 4095 4095 1365 When the resolver resolution is 12 bit CCW maximum velocity CW maximum velocity When the resolver resolution is 10 bit or automatic switching CCW maximum velocity CW ma...

Страница 184: ...10 13 DI data AC data Command voltage Rotational direction 0 1 CCW 0 1 CW 0 1 CW 0 1 CCW 1 1 CW 1 1 CCW 1 1 CCW 1 1 CW Figure 10 13 Command voltage and velocity 10V 10V Resolver resolution 12 bit Reso...

Страница 185: ...or analog command input One unit of data sets 4 9mV dead band Figure 10 14 Example DBA100 AC1 10V 490mV 490mV 10V CCW maximum velocity CW maximum velocity Artisan Technology Group Quality Instrumentat...

Страница 186: ...log command input valid When input voltage polarity is negative CW direction 10 4 1 RS 232C Communication Command l In the torque control mode the operation of the Motor can be executed through RS 232...

Страница 187: ...ltage AC1 Analog voltage CCW AC 1 Analog voltage CW The parameter AGT changes the relation between analog voltage and torque Table 10 15 DI data AC data Command voltage Rotational direction 0 1 CCW 0...

Страница 188: ...for analog command input One unit of data sets 4 9mV dead band Figure 10 17 Example of DBA100 AC1 490mV 490mV 10V 10V CCW maximum torque CW maximum torque Artisan Technology Group Quality Instrumentat...

Страница 189: ...10 26 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 190: ...of an indexing motion profile can be done via RS 232C communication Handy Terminal FHT11 or a personal computer The programming can be input only when the Motor is not indexing l The program area is...

Страница 191: ...d3 seq Absolute indexing in the unit of degree The Motor turns to reach the d1 0 01 position of position scale AR d1 d3 seq Absolute indexing in the unit of pulse The Motor turns to reach the d1 puls...

Страница 192: ...ure 11 2 ID9000 2 ID9000 2 45 CH0 RUN input Program operation 45 CH0 u Jump Command JP Condition setting None l Unconditional jump command l Control jumps to the specified channel and its program will...

Страница 193: ...after indexing then waits for RUN command Program example CH0 IR500 CH1 IR1000 Figure 11 4 IR500 IR1000 CH0 PRG0 3 RUN input Program Operation IPOS output FW 0 CH1 0 u Changing Sequence Code Conditio...

Страница 194: ...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 195: ...9 CA2 IR9000 10_ 0 R 9 I 0 0 1 0 4 Enter a command Press the enter key to set the command CV0 9 CA2 IR9000 10 _ ENT 5 Set conditions according to the command CV0 9 CA2 IR9000 10 CV0 5_ V 0 C 5 6 Press...

Страница 196: ...to be read and press the enter key TC10_ 0 C 1 T 2 The display shows the program of the selected channel TC10 IR9000 10 CV0 5 _ ENT u Deleting the program 1 Declare the channel whose data is to be de...

Страница 197: ...en _ 2 CH5_ H 5 C 3 After pressing the ENT key the data presently programmed in Channel 5 will be shown on the display AD27000 CV1 00 CA20 00 _ ENT 4 AD27000 CV1 00 CA20 00 ID 3000_ D I 0 0 0 3 5 Pres...

Страница 198: ...00 ID 3000 CA5 CV0 5_ 5 0 V C 9 Press the ENT key to input value and the prompt appears again ID 3000 CA5 CV0 5 _ ENT 10 Press the ENT key again to escape programming This completes programming CA5 C...

Страница 199: ...11 10 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 200: ...to actual condition from the shipping set l Parameters parenthesized are properly set at the factory If changing is necessary contact your local NSK representative Current Setting Set unique value to...

Страница 201: ...FR Feedback signal resolution 0 0 1 PS Position scale 1 0 1 2 99 DI Direction inversion 0 0 1 OTP Over travel limit switch position 0 99 999 999 99 999 999 OTM Over travel limit switch position 0 99...

Страница 202: ...ack signal resolution 0 0 1 PS Position scale 1 0 1 2 99 DI Direction inversion 0 0 1 OTP Over travel limit switch position 0 99 999 999 99 999 999 OTM Over travel limit switch position 0 99 999 999 9...

Страница 203: ...Feedback signal resolution 0 0 1 PS Position scale 1 0 1 2 99 DI Direction inversion 0 0 1 OTP Over travel limit switch position 0 99 999 999 99 999 999 OTM Over travel limit switch position 0 99 999...

Страница 204: ...t Normally open nn 1 B contact Normally close nn X At the time of input The port set to X cannot change polarity At the time of readout For the port which is shown as X the polarity cannot be change F...

Страница 205: ...9 999 999 99 999 999 PSn 0 36 000 n 1 n n 1 99 Shipping set n 1 l data2 indicates the rotational direction When the parameter PS is set to 0 PS0 data2 setting is invalid 1 PL CW direction When the par...

Страница 206: ...Actual gain value is in proportion to the velocity or torque command Example When AGV0 5 Actual velocity command Velocity command input 0 5 l TS or AG command reports the current setting AN Axis Numb...

Страница 207: ...MI CCW direction When the parameter DI1 is set the direction is CW 3 If the data 2 is omitted the Motor rotates to the shortest direction to the destination If the current position is the same as the...

Страница 208: ...y chain is not active an error message will be given Caution Do not select any Driver Unit that is not connected Otherwise operation may hang up To return to the normal state press the BS key first th...

Страница 209: ...n specified with an MA command is valid l TC command reports the current setting If 0 zero is set no response is displayed CC Clear Channel Format CC data1 Data1 0 15 Data1 default 0 l CC deletes the...

Страница 210: ...position error counter value at which the excess position error alarm is to be detected l When the position error exceeds the set value the Driver Unit outputs the excess position error alarm and ope...

Страница 211: ...nd input If it is input under normal standby state the prompt is an alarm will arise l TC command reports the current setting If 0 zero is set no response is displayed DB Dead Band Format DBA data DBP...

Страница 212: ...ol mode selection 5 Analog command is valid Caution When the position scale direction is reversed by the parameter DI the sign of data of DC command is also reversed DI Direction Inversion Format DI d...

Страница 213: ...FF command reports the current setting FO Low pass Filter OFF Velocity Format FO data Data Motor series YS JS1 JS2 RS 0 0 01 3 00 s 1 SS 0 0 01 3 75 s 1 AS BS JS0 0 0 01 4 50 s 1 Shipping set 0 Defaul...

Страница 214: ...ils refer to 4 2 3 Functional Specification l Set FR0 when the resolver resolution is set to 10 bit or automatic resolution switching by the RR parameter If FR1 is set A and B will not be output l Bot...

Страница 215: ...t 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 selects the output format of the positi...

Страница 216: ...n limit switch input HLS CN2 is OFF Refer to 7 2 Home Return l TS or HO command reports the current setting HS Home Return Start Format HS opt opt default Normal Home Return opt LS Adjust limit positi...

Страница 217: ...direction ILV Integration Limit Format ILV data Data 0 0 100 0 Shipping set 100 l Provides the velocity loop integrator with a limit l For more details refer to 9 2 5 Integrator Limit ILV l TS or ILV...

Страница 218: ...Default 0 l Executes the incremental positioning command in the unit of pulse in the RS 232C communication operation l The data sign specifies the direction of rotation movement data 0 plus direction...

Страница 219: ...pecified by data unconditionally l The JP command may be input 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 com...

Страница 220: ...d when the load inertia is known prior to perform automatic tuning The automatic tuning sets actual load inertia LO automatically l TS command or LO reports the current setting l Data of PG VG VI and...

Страница 221: ...ulti line Mode Format MM data Data 0 1 Shipping set 1 Default 0 l Sets the display format of commands or parameters to be read out by TA TC and TS commands l MM0 reports all contents continuously l Wh...

Страница 222: ...in the servo on state inputting the MO command turns the Motor servo off l To activate the Motor servo again input the SV command or the MS command l When the MS command is input the Motor gets in the...

Страница 223: ...the RS 232C communication positioning command l TS or MV command reports the current setting l MV AJ command sets to adjusting mode NP Notch Filter Primary primary notch filter frequency Format NP da...

Страница 224: ...s l TS or NW command reports the current setting OE Sequence Option Edit Format OE data Data or Default Not available l OE changes the sequence code of a program already specified in a channel l When...

Страница 225: ...m HLS ON range OS4 Completes Home Return at where the Motor advances for HO value after entering HLS ON range OS5 Completes Home Return at where HLS input goes ON l Refer to 10 2 1 Home Return for OS4...

Страница 226: ...input PC0 CW CCW format PC1 Pulse direction format PC2 A B input single format PC3 A B input duplex format PC4 A B input quadrature format l TS or PC command reports the current setting PG Position Ga...

Страница 227: ...e internal position scale system of the Megatorque Motor system PS0 Linear position scale PS1 Single rotation position scale PS2 to 99 Multi rotation position scale l For more details refer to 9 2 1 P...

Страница 228: ...rent setting RR Resolver Resolution Format RR data Data 0 1 1 Shipping set 1 Default 0 l Sets the resolution of the resolver RR0 10 bit setting RR1 12 bit setting RR 1 Automatic resolution switching l...

Страница 229: ...tely after inputting the password and when the Motor is servo off l The followings shows the parameters which are initialized by execution of command SI SI Initializes servo related parameters PG VG V...

Страница 230: ...properly set at the factory Do not change the setting SP Start Program Format SP data Data range 0 63 or AJ Adjust mode Default 0 l Executes the program of a channel specified by data l SP AJ command...

Страница 231: ...Hardware Over Travel Limit F3 F3 Hardware Over Travel Emergency Stop F4 F4 Emergency Stop Program error F5 F5 Program Error Automatic Turing error F8 F8 AT Error RS232C error C2 C2 RS 232C Error CPU...

Страница 232: ...lus side l When only TE is entered the display shows the current reading once l If an RP option is added to a TE command reading is repeated automatically l In automatic reading a value consisting of...

Страница 233: ...s the BS key l TP2 RP in the units of pulse YS JS1 JS2 RS 614 400 pulses revolution SS 491 250 pulses revolution AS BS JS0 409 600 pulses revolution l TP5 RP in the units of 0 01 36 000 revolution TR...

Страница 234: ...C LR TS10 AB SM NW TS11 MM BM CM AN WM SE TS12 LO SG MT RI ZP ZV TS13 SL AC AGV AGT l Report format may be selected by MM VG Velocity Gain Format VG data Data 0 1 255 0 or AJ Adjusting mode Shipping s...

Страница 235: ...ntrol as shown below VM0 Velocity loop P control VM1 Velocity loop PI control VO Velocity Error Over Limit Format VO data Data 1 4 095 Shipping set 1 365 Default Not omissible l This is to set the err...

Страница 236: ...data Data 0 or 1 Shipping set 0 Default 0 l 500 000 times of resetting deleting parameters to EEPROM are possible as data back up However frequent resetting deleting of parameters may exceed the expec...

Страница 237: ...e the setting TS or ZP command reports the current setting ZV Factory Use Only Shipping set 1 4 Caution The parameter is for automatic tuning function and to be set at the factory Do not change the se...

Страница 238: ...each other It may be replaced simply by inputting same parameter settings of old Driver Unit Following shows reference number of standard ESA25 Driver Unit M ESA T25 M ESA V25 represents Motor number...

Страница 239: ...Wipe off dust slag Blow off slag Insulation Once year Resistance test Motor coil and ground earth Disconnect Driver Unit Resistance 10M Full check According to Motor condition Overhaul NSK 13 2 2 Dri...

Страница 240: ...power voltage 10 years Replace PCB Replace whole unit PCB Printed circuit boad l Life of electrolytic condenser relies on the operating conditions The 10 years of life is rough estimation under conti...

Страница 241: ...and 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 i...

Страница 242: ...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 alarms are detected thei...

Страница 243: ..._ F1 Excess position error P0 Heat Sink Over heat or Regeneration Resistor Over Heat Example 1 Identify alarms as the warning lamp of ALARM is on 1 Confirm that the display of Handy Terminal shows th...

Страница 244: ...F5 F5 Program Error Automatic Turing error F8 F8 AT Error RS232C error C2 C2 RS 232C Error CPU error C3 C3 CPU Error Resolver Circuit error A0 A0 Resolver Circuit Error Software Thermal Sensor A3 A3 O...

Страница 245: ...ive 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 Heat sink temperature exceeds...

Страница 246: ...load and acceleration deceleration 6 Defective PCB When the alarm is on after the Motor stops even power source and fuse are normal Replace Driver Unit Standard ESA Driver Appendix 4 Note 1 When the...

Страница 247: ...ol power voltage 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 a...

Страница 248: ...check a insulation and continuity of the cable periodically 4 When an excessive current applied to the resolver whichis induced by internal contact or collision of Motor rotor and stator the fuse pro...

Страница 249: ...Clear the alarm 2 Velocity of Motor has reached to the limit due to overshooting Reduce setting of acceleration rate Reduce rotational speed 3 Motor tends to vibrate due to poor servo tuning Tune Moto...

Страница 250: ...memory After initializing some parameters are reset to shipping set Resetting parameters to actual use condition are necessary 14 2 4 2 EEPROM Error Output DRDY Open TA E2 EEPROM Error LED E2 Motor Co...

Страница 251: ...er controls are disabled because CPU is not functioning 2 Contact NSK if the alarm occurred 14 2 4 5 Interface Error Output DRDY Open TA E8 I F Error LED E8 Motor Condition Servo OFF Table 14 14 Cause...

Страница 252: ...Motor and Driver Unit Check reference number of Motor and Driver Unit 6 Improper PA setting Set PA to 700 7 Faulty PCB When the alarm is on even RUN command is not executed Replace Driver Unit Standa...

Страница 253: ...ng 14 2 4 10 Emergency Stop Output DRDY Closed TA F4 Emergency Stop LED F4 Motor Condition Servo Lock Table 14 19 Cause and Remedy Emergency stop Cause Remedy 1 Mistaken setting of input port polarity...

Страница 254: ...Error u When parameter is SE 0 Output DRDY Close TA C2 RS232C Error LED C2 Motor condition Normal u When parameter is SE 1 output DRDY Open TA C2 RS232C Error LED C2 Motor condition Servo lock Table 1...

Страница 255: ...se and remedy CPU error Cause Remedy 1 A wrong program is called due to noise Apply the remedy for noise 2 Memory is defective 3 CPU is defective Change Driver Unit Replace Driver Unit Standard ESA Dr...

Страница 256: ...tion History of alarm may not be stored properly when the power is shut off right after the alarm is reported 14 2 5 1 Indication of History of Alarm 1 Input TA command Press SP key to scroll next lin...

Страница 257: ...14 16 Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 258: ...tion of the nameplates of the Motor and the Driver Unit Refer to 6 2 Combination of Motor and Driver Unit for details 2 Power supply voltage Voltage variation of power source is in specification 3 Tro...

Страница 259: ...in a stable manner Motor vibrates or runs away Command 15 2 3 l Home Return command causes no motion l Motor does not stop in Home Return Motor reaches near zero velocity immediately l Home Return co...

Страница 260: ...f the front panel of Driver Unit for main power and control power with a tester etc Turn on power Connect Handy Terminal Communication enable Replace Driver Unit Both control power and main power supp...

Страница 261: ...ombination of Motor and Driver Unit is proper Alarm is on after the power is turned on Refer to 14 2 Details of Alarm Is SVON signal is input Does the display show 1 on the lefthand side Turn on SVON...

Страница 262: ...of control Decrease VG value Make sure the combination of Motor and Driver Unit is proper Motor installed properly Load connected securely No backlash allowed Install properly Servo parameters alread...

Страница 263: ...Return starts with HOS input HOS input can be switched ON from OFF Can HS command start Home Return HS command is set to the program in a channel to start Home Return Contact NSK representative in yo...

Страница 264: ...h and its wiring Verify IO state with IO command Refer to 9 1 10 2 Monitoring the I O state Note 1 Note 1 3 Home Return command fails to stop Motor in position Figure 15 7 Command trouble 3 Home Retur...

Страница 265: ...otor trouble 2 EMST OTP or OTM input is active Deactivate EMST OTP or OTM input Inputs of channel selection PRG0 PRG5 inputs and control RUN input are properly executed Refer to Appendix 2 How to Chec...

Страница 266: ...Refer to 14 2 Details of Alarm Motor servo is activated Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM input is active Deactivate EMST OTP or OTM input Refer to Appendix 2 How to Check Motor Co...

Страница 267: ...e displayed Check CN1 connector wiring Check Driver Unit control power Baud rate setting of Driver Unit and terminal are different Shipping set of the baud rate for the Driver Unit and the Handy Termi...

Страница 268: ...tion IO3 RP Indication of I O related to Jog operation No RP Indicates only once With RP Indicates in real time basis Figure A 1 Indication format IO0 RP Indication of I O signal status A B C D E F G...

Страница 269: ...nd IO1 report same state as shown in Table A 1 at the timing 1 and 2 in Figure A 2 Table A 1 Timing IO command Report IO0 ABCDEFGHIJK 0 1 IO1 ABCDEFGHIJK 0 IO0 ABCDEFGHIJK 1 2 IO1 ABCDEFGHIJK 1 Exp 2...

Страница 270: ...PRG2 CN5_14 PRG3 CN5_15 PRG4 CN5_16 PRG5 Figure A 4 Indication format IO3 RP Indication of I O related to Jog operation A B C D E F G H I J K L M N 0 0 0 0 0 0 0 0 0 0 0 Pin number Signal name Reserve...

Страница 271: ...command IO2 RP 0000001000 000 _ BS Discription l Above example shows that the readout of RUN input is 1 which indicates RUN input is on In case of the above example the status of Input Output signal...

Страница 272: ...Set Tester Connector Lock Resolver Cable Motor Cable 1 2 3 4 5 6 7 l Refer to Table A 3 for pin numbers to be checked Figure A 6 Motor only 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Tester Connector Lock l...

Страница 273: ...ce of resolver windings Figure A 7 With cable set 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 Tester Resolver Cable Motor Cable l Refer to Table A 5 for pin numbers to be checked Figure A 8 Resolver only 1 2...

Страница 274: ...8 1 Allowance 30 2 Variations between each phase 1 0 or less A B C l For special Motor windings or long cable over 4m contact NSK for specification Figure A 9 Resolver wiring For your reference REA R...

Страница 275: ...8 9 10 11 12 13 14 15 Connector Lock Table A 7 Pins to be checked Cable connector Motor connector Phase A FG 1 7 A FG 5 13 A FG Phase B FG 3 7 B FG 10 13 B FG Phase C FG 5 7 C FG 15 13 C FG Phase A B...

Страница 276: ...and 1 Note down parameter settings and channel programs 3 Input the parameters and programs again Explanations 1 Read out parameter settings and channel programs and note down them Especially PA and R...

Страница 277: ...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 Driver Unit echoes bac...

Страница 278: ...ensation ROM of the old Driver Unit must be transferred to the new Driver Unit When transferring the ROM the Driver Unit must be disassembled To disassemble Driver Unit follow the procedures described...

Страница 279: ...A 12 Dissemble ESA25 Driver Unit 1 Remove side panel Figure A 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 280: ...A 13 Figure A 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 281: ...l Be careful of the orientation of the ROM Make sure the ROM is securely set to the socket Caution When the version of two Driver Units are different take a special care as the orientation of IC diff...

Страница 282: ...A 15 4 Assemble the extend board removed from old Driver Unit to the new Driver Unit Figure A 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 283: ...A 16 Figure A 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 284: ...tor is not disconnected the parameters cannot 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 285: ...Unit will dissipate overflown energy l However when the regeneration occurs frequently the dump register will be overheated due to its limited capacity Eventually over heat alarm will be on and Motor...

Страница 286: ...10 through the plate spring 4 in the field 1 incorporating the excitation coil l The armature assembly is supported with the plate spring and is separated from the field by a narrow gap Loaded with th...

Страница 287: ...A 20 Figure A 24 RNB2K Figure A 25 RNB4K Figure A 26 RNB8K Figure A 27 RNB12K Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 288: ...oil to enter it 2 The electromagnetic brake uses many mild materials Use care not to hit or drop the brake or apply excessive force to it otherwise indented or deformed brake could malfunction or have...

Страница 289: ...uggish operation of the brake 1 Is sufficient voltage being supplied 2 Is the friction plate worn out too much gap 3 Is brake temperature too high over 100 C u The brake does not operate entirely 1 Br...

Страница 290: ...0 PS 1 CM 0 FP 0 DI 0 AN 0 FS 0 OTP 0 WM 0 NP 0 OTM 0 SE 0 NS 0 MV 1 LO 0 DBP 0 MA 1 SG 0 DBA 0 JV 0 1 MT ILV 100 JA 1 RI FF 0 HV 0 2 ZP 1 00 FC 0 HA 1 ZV 1 4 CO 50 000 HZ 0 0100 SL 3 IN 100 OS 4 AC...

Страница 291: ...and CV 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 Com...

Страница 292: ...roducts Business Unit U S A Chicago Phone 630 924 8000 Los Angeles Phone 562 926 3578 Ann Arbor Phone 761 761 9500 NSK CANADA INC CANADA Toront Phone 905 890 0740 Montreal Phone 514 633 1240 Vancouver...

Страница 293: ...6th Edition 1st Printing April 27 2001 Document Number C20062 06 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 294: ...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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