Megatorque Motor System
Contents
1. RYmD PI13 RYmE PI14 PRG6 Internal program channel selection 6 PRG7 Internal program channel selection 7 a E 0 Start deceleration JOG Jogging Start and stop of jogging ie Stace ilein HN CA gs 0 direction Jogging direction Specifies jogging diretion E gt direction The shipping set assigns the function codes of OTP and OTM to the port numbers of PI2 and PI3 respectively They are the dedicated input signals from the CN2 control I O connector and thus the input from the CC Link to the port assigned to the OTP or OTM function is invalid RYmF PI15 RY m 1 F PI16 E Caution Please follow the instruction manual for custum made products with special Input Output signals e The table above shows the shipping set 3 8 3 Operation Table 3 5 Extended input function Por ignal T Input ort Signa Signal name Function Logic in the CN6 code code N HLD Hold Holds an operation and program 0 Normal execution 1 Hold Changes the operation velocity 0 Normal om Velocity override accordingly to the setting of ORD 1 Over ride 0 Normal a IOFF Integration OFF Integration OFF 1 Integration OFF HEN HOS Starts the Home Return 0 lI Start the Home Return home position HLS The port assigned to the HLS function becomes the dedicated input signal from the CN2 control Input Output connector and thus the input from the CC Link to the HLS port is invalid 3 92. 3 4 Monitoring Control Input Output The Monitor IO Input Output monitor monitors the state of remote inputs and outputs of the CN6 interface connector Figure 3 2 Monitor of the control Input Output functions and their state below shows the relation between the function of control inputs and outputs of the Driver Unit and the Monitor IO You can monitor the state of each part using Monitor IOO to 104 accordingly This section describes the IO4 the monitor of Input Output of the CC Link and the BS the monitor of status of interface Refer to Appendix 1 Check of the Input Output Signal for other monitors Besides the above way of monitoring ON and OFF of each function can be monitored by inputting FH Control I O Function Fig 3 2 Monitor of the control I O functions and their state Command PI Editing Input port PIO is fixed to EMST Input Emergency stop FN Input function AB Input polarity Monitor IOO NW Anti chattering timer Monitor lO1 B Input polarity CN2 Input A Normally open B Normally closed NW Anti chattering timer 0 0 to 1 000 0 ms FN Input function EMST ACLR function CN6 Input Monitor lO2 Monitor F Function name CP Control priority input NNE nput function Command PO Editing Output port POO is set to the output DRDY Driver Unit ready or the output NRM Normal FN Output
3. Mask the function of an unused port This makes you to be able to assign a required fucntion with the desired arrangement 9 In addition to the function assignment the input signals from the CN2 connector can change the contacts of every port and can insert filters The PIO and POO are dedicated ports for the signals fundamental to the safety function There are following restrictions respectively You cannot change the function setting of Input EMST Emaergency stop of the Port PIO RYm0 The Output NRM Normal is the only function that can replace the setting of the Output DRDY Driver Unit ready of the Port POO RXm0 The input signals can be gotton from either one of the CN6 or the CN2 connector in accordance with the operation mode Fieldbus mode or Maintenance mode However there are following exceptions The port assigned to the Input EMST Emergency stop regards an input of both CN2 and CN6 connectors as Emergency stop This means that the system gets in the emergency stop state by either one of them The port assigned to Input OTP OTM Over travel limit switch position or Input HLS Home position limit switch function accepts only the input from the CN2 connector regardless the operation mode 3 7 3 Operation 3 5 1 Function of Conrol Inputs You may assign a function to each control input port This feature for example permits you to change a function preset
4. ye ec yess ra r o 6 q en N al o as cc cc cc a X n cc oc E o n gt a 2 m e lt o Oo Oo Oo o o Oo Oo f f f f f f 3 5 Fig 3 4 Readout example of Monitor BS Input the key to stop real time readout Monitor BS reports the current state of the CC Link Interface 9 Input as BS RP 3 4 2 Monitoring State of the CC Link Interface Monitor BS 3 Operation o 6umes 1equunu uonejs Ul J0413 Bu 1es ayes pneq ui 1043 uoneis SARIS JO Jequinu Ul 40443 Buneoiunuiuoo Asng Dunes UOISJBA epoo euiugoeuu JO Dumes ur 1043 opoo JayYeW ul 10113 0 OFF 1 ON State of the bus gt 1 A0 W ui 10117 Bunjes 1340 euin ui JOG Eana gep AY JO Jequunu ui 10113 10119 dOLS dO Add ul 1043 Bumeuo 898JJ9 UI uo J043 lt 10119 MS ates pneg C B e Coo dO N O MO tO t O OO r o O nO qo mo Oo bav RE O Eo BS RP BS eoueJnooo 10418 Jo DBur4oeuo ul 1043 JOE Huloiyms ayes pneg jo eBueuo ul 10413 Jequunu uomeis Bu nes Jo eBueuo ul 1043 Wd Buou Table 3 3 Readout of the Monitor BS L E Guide 3 6 3 Operation 3 5 Function Assignment to Control Inputs Outputs You may change the function assignment to the ports of CN6 Interface connector and CN2 Control I O connector Excludes certain port Counter change to an expanded function Transfer a previously assigned function to other port
5. NSK MEGATORQUE MOTOR SYSTEM User s Manual EDC Driver Unit CC Link Option M E099DCO0C2 157 NSK Ltd Document Number C20157 02 Limited Warranty NSK Ltd warrants its products to be free from defects in material and or workmanship which NSK Ltd is notified of in writing within which comes first one 1 year of shipment or 2400 total operation hours NSK Ltd at its option and with transportation charges prepaid by the claimant will repair or replace any product which has been proved to the satisfaction of NSK Ltd to have a defect in material and or workmanship This warranty is the sole and exclusive remedy available and under no circumstances shall NSK Ltd be liable for any consequential damages loss of profits and or personal injury as a result of claim arising under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2011 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd NSK Ltd reserves the right to make changes to any products herein to improve reliability function or design without prior notice and without any obligation NSK Ltd does not assume any liability arising out of the application or use of any product described herein neither does it
6. The each port of the CN2 connector is assigned to the same port name as the remote Input Output of the CN6 interface connector and the ports of both connectors are corresponsing each other N Caution A change of function assignment of a port of the CN2 connector forces the function change to the remote Output Input of the corresponding port Fig 2 3 CN2 pin out Input dedicated to the safety functions EMST Emargency stop General Input EMST Emergency stop ACLR Alarm clear OTP Travel limit direction OTM Travel limit direction SVON Servo ON 1 RUN Positioning start DRDY Driver Unit ready STP Stop NRM Normal PRGO 7 Internal program chanel selection 0 to 7 JOG Jogging DIR Jogging direction HLD Hold ORD Velocity override IOFF Integration OFF HOS Home Return start Note Functions in brackets is the shipping set HLS Home position limit The pins with hyphones are prophibited connection Output dedicated to the safety functions PIO and POO ports are dedicated to the safety function Input and Output They have following restrictions respectively You cannot change the function of the port PIO Pin number 3 Input EMST Emergency stop You may only set the input port and the stability timer to it You can only exchange the function of the POO Pin number 8 Output DRDY Drive Unit ready with the function Output NRM Norm
7. 2 Connector list DDK Ltd DHF RAA10 233NB FA or equivalent DDK Ltd DHF PDA10 3 A01 FA or equivalent An optional cable set M E011DCCNI 001 with the mating connector to the CN2 I O connector of the Driver Unit is available Sold separately Connector of Driver Unit Mating connector The followings are wiring precautions for the connector CN2 1 Use a shielded cable for wiring of the CN2 connector 2 These cables should be laid separately from the main power line 3 Connect the one end of the shielded cable to the frame ground A Caution Check for a wiring mistake in the polarity of external power supply and a shorting between connector pins N Caution Never connect the idle pins that are insntructed as Do not connect Do not make them idle at the master controller PLC etc side after you have connected all pins at the CN2 connector side e Connection of an idle pin that is instructed not to connect may make the Driver Unit easily affected by external noise and thus likely causing its malfunction or breakdown ay oe 2 Specification 2 2 2 1 CN2 Pin Out Figure 2 3 below shows the shipping set of the pin out arrangement of the CN2 connector e You may change the function assignment of each signal port Except some ports that are dedicated to a certain function Change to an extended capability port o Transfer an assigned function to other port Mask the function of unused port
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9. configure the contents of output 2 2 Specifications of Hardware Interface 2 2 1 External Dimensions Fig 2 1 EDC Driver Unit compatible with CC Link Network Motor type PS1006 PS1012 PS1018 PS3015 and PS3030 l P 1 de rf E lin Plate ibs H N be z E g CN4 gt el a notor regeneration resister l qu a Ground Terni ol rei Li m 2 i ic ee 1 laf e lollies To jo 60 15 aptior Port 30 i front munting brocket 8 j CN3 iL m poitin araor tantra 10 Fi temiml resister A CN cc L INK i E jis Lu ay Hie boud rate setting switch W4 148 bock munting pitch 150 sim naber witch TT SW stotion nurber wileh i i a5 L9 2 Specification 2 Specification Fig 2 2 EDC Driver Unit compatible with CC Link Network Motor type PS3060 and PS3090 amp N4 notor reneneration resister 180 189 front murting pitch 160 14B bach munting pitch 180 Brod Tarninol M4 EN ln stotien nuber svi ich 1 sy station niber sait A H p 2 Specification 2 2 2 CN2 Control Input Output Signal Connector The table below shows the connectors for CN2 Table 2
10. either one of the inputs Lg 3 Operation The ports assigned to the function of OTP OTM Over travel limit switch position and HLS Home position limit switch only take the input from the CN2 connector regardless the operation mode The output signals go to the both CN2 and CN6 connecotrs regardless the operation mode 3 2 Change of Operation Mode The system starts with the fieldbus mode right after the power is turned on When the system detects any abnormality related to the CC Link it starts up with the maintenance mode The command CP Control mode priority changes the operation mode Fig 3 1 Switching the operation mode NSK MEGATORQUE DC1A80 0009 0 XSYS1006 2 XOP1 Fieldbus mode right after the power is turned on Changes to the maintenance mode by the input of CPO Maintenance mode Changes to the field bus mode by CP1 Field bus mode 3 3 Servo on in the Maintenance Mode It needs to activate the Input SVON Servo on to make the Motor servo on This means the Input SVON of the CN6 Interface connector must be set to 1 The CC Link network would not be ready yet while the total system is in the middle of starting up In such a case the Motor can be in the Servo on state immediately by switching to the maintenance mode from the operation mode to set the polarity of the Input SVON to a normally closed conntact 9 The change to the maitenance mode makes the inp
11. for an example forcibly change the output port POO to 0 open in case of the connector CN2 The function of the POO is Output DRDY Driver Unit ready and if its output is 0 zero this output port is open to report occurrence of an alarm This feature can be used for checking if the master controller could detect the abnormal 1 According to Table 3 6 Remote output ports and assigned function the port name of the remote output RXm0 is POO 2 Input the password as NSK ON J N S JK se NSK ON NSK ON LO NET 3 Forcibly make the POO to 0 and if leaving others unchanged input as OPXXXXXXX0 LO PII X JL X JE X IL X NSK ON NSK ON 0 una ia The port POO is forced to change to 0 Input the key to cancel Forcible change 3 19 3 Operation Blank Page 3 20 4 Alarm and Warning 4 Alarm and Warning 4 1 Cause and Remedy of Alarm and Warning 4 1 1 C4 Fieldbus Error The Driver Unit gives the alarm if an error in the built in CC Link interface unit occurred and disabled continuous communication The alarm does not report an abnormality of the whole fieldbus Table 4 1 Status when an error in the fieldbus is detected 7 seg Command TA DRDY WRN LED Tell Alarm Status Warning Alarm Motor state History Clear The table below shows the history of alarm occurence read out by the comm
12. function GC Output logic Monitor IOO ST In position stability timer GC Output logic CN2 Output Positive logic Moni or lO3 Monitor 101 Moitor F is a function name ST In position stability Negative logic timer 0 0 to 1 000 0 ms CN6 Output Monitor lO4 3 4 FN Output function Output function DRDY WRN etc Output function 3 Operation 3 4 1 Monitoring the State of Remote Inputs Outputs Monitor lO4 The monitor reports the current state of remote Inputs and Outputs of the CN6 Interface connector Input as IO4 RP Input the key to stop real time readout Fig 3 3 Readout Example of Monitor lO4 I104 0 OFF Input state 1 ON Table 3 2 Readout format of Monitor lO4 m A register number derived from the top station number Gide G F EJ D C B o es Ces T5 C 2 o Name of RY RY remote m1 mo l O ne 29 Hj Oo x a mi am wm aw Oz ca fom J J Be J Be fi amp H og o N st m N a o o 00 d o n c a H H H H H H o o o o a H H H H H H H H H H H n n n f f f f Ay Ay f f Name of remote ba io m1 mO l O ux cmm oe om Kl SA A Dw go go go go O T pe go O E o gt E lt gt So 2 2 2 2 2 8 818 3 S ala s amp 5 9 S g g o9 9 lI 8 8 J 8 J E JI M lI 2 15 1515 Sa 18 8 8 8 8 2 8 S 23l9 zlz
13. the CN6 interface connector The control output port POO is dedicated to the safety function output For this reason the parameter FN Port function must be set to either one of the output port of Output DRDY Driver Unit ready or Output NOR Normal You cannot change the function of the port of parameters GC and ST The Monitor IO Input Output monitor reports the input condition of each funcction Refer to 3 4 Monitoring Control linput Output for details The command OP Forcible output forcibly changes the settign of control output ports Refer to 3 5 3 4 Forcible Change in Setting Output Port Function Table 3 9 Editing command of control ouput port Edit code Default Unit Reset a designated output port PONS Example PO1 RS Otot port PO CL Reset all control output ports Resets all control output ports to the shipping set Function sets the function E Anti chattring timer TPO Reads out an edited output port function TPO AL Reads out all output functions 0 0 to 1 000 0 ms Reads out all settings of control output port Requires to input a password 0 Normaly open Output port polarity 1 Normaly closed The default differs by the port number 2 The setting is only effective for the CN2 connector 3 15 3 Operation Function setting by direct input Refer to the following for an example how to change the function of the outp
14. to an input port to other function or to switch to one of expanded functions 9 In addition to assigning functions to the input signals of the CN2 connector you may change the port polarity or insert the filter to each control input port When the same function is assigned to different ports the logical sum of each input will be the input to the Driver Unit When the one of the ports becomes effective the function becomes effective If you require a function not included in the shipping set you may switch a preset fucntion to the required one If the program does not use 256 channels you may assign the fucntion to an idle input port of PRGO to 7 Table 3 4 Hemote Input ports and assigned function m A register number derived from the top station number Input Ror Signal Signal name Function Logic inthe CMe P code code 9 shipping set Terminates a positioning and 0 Normal RYmO EMST Emergency stop stops the Motor by the i 1 Emergency stop dynamic brake RYm4 Pl4 SVON Servo ON Activates the Motor servo Sef yo OFF 1 Servo ON RYm6 Stops an operation and exits 0 Operation permitted STP Stop p P 1 Starts slowing down Operation out the program us prohibited RYm7 PI7 PRGO Internal program channel selection 0 RYmA PI10 PRG3 Internal program channel selection 3 Select a channel to be executed 0 to 255 by a combination of ON RYmB PI11 PRG4 and OFF of the internal program channel selection 0 to 7
15. 3 Operation 3 5 2 Function of Control Outputs You can set the function of control outputs and the In position stability timer You may change the preset input port function to other function or to switch to one of expanded functions You may assign the same fucntion to multiple ports If you require a function other than the shipping set you may switch a preset function to a required one For example you may increase the number of idle ports by combining the Output DRDY and WRN into the Output NRM or the Output OTPA and OTMA into the Output OTXA to increase the number of idle ports Table 3 6 Remote output ports and assigned function m A register number derived from the top station number Output Fon Signal Signal name Function Logic in the CN6 code code Reports that the Motor is ready to Alarm Motor is not ready or an alarm Normal occurs Normal j e 0 PA Lesen WRN Warning O TROU ne du TS dade Reports detection of over travel Over travel limit 0 Normal RXm2 POZ OTPA direction detected software and hardware y Une plus 1 Over travel limit detected direction direction Over travel limit Reports detection of over travel RXm3 PO3 OTMA j software and hardware in the i directoin detected kir the 1 minus direction RXmO Normal Over travel limit detected direction RXm4 PO4 SVST Servo state Reports the state of servo ERU DLE 1 Servo ON RXm5 POS
16. 5 0 setting or a defective stationinmbersertib e If the above remedy does not work the Driver Unit is defective pea Follow the Appendix 4 Procedure Manual to replace the EDC Driver Unit May be caused by C5 1 Baud rate setting error e Reset the 0 to 4 collectly and turn the power on Setting error in transmission speed The Driver Unit may be defective if the alarm occurs again after the reboot or of the system Follow the Appendix 4 Procedure manual for replacing the C5 2 A defective transmission speed setting EDC Driver Unit Raplacing switch Time over errror C5 3 The communication between the master controller is disconnected e Please check if the connector is droped off or the communication cable is broken 1 Input of ACLR Alarm clear or Command CL Alarm clear clears the warning 4 2 MEGATORQUE MOTOR SYSTEM User s Manual EDC Driver Unit CC Link Option Document Number C20157 02 Apr 28 2006 1st Edition 1st Printing Nov 15 2011 2nd Edition 1st Printing NSK Ltd Worldwide Sales Offices NSK LTD HEADQUARTERS TOKYO JAPAN www nsk com INDUSTRIAL MACHINERY BUSINESS DIVISION HEADQUARTERS tel O3 3779 7227 GLOBAL AFTERMARKET DEPARTMENT tel 03 3779 7253 PRECISION MACHINERY DEPARTMENT tel 03 3779 7163 MECHATRONICS BUSINESS DEPARTMENT tel 0466 21 3027 AUTOMOTIVE BUSINESS DIVISION HEADQUARTERS tel 03 3779 7189 Africa South Africa NSK SOUTH AFRI
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18. BUSY In operation Reports the state of positioning 0 Idle operation 1 In operation 0 Imperfect positioning or Loss of the RXm6 me Reports the condition of positioning targetpositon IPOS In position NAE 5s error and the positioning opeation 1 In position and holding the target position Reports that the Motor is 0 Not ditected Eod POL NEARA Target proximity A approaching to the destination 1 Proximity to the target position N Caution Please follow the instruction manual for custum made products with special Inputs Outputs signals e The table above shows the shipping set 3 10 Table 3 7 Function of extended output Signal name Port Output code Signal code NEARB ZONEA ZONEB ZONEC 4 m c TEO TVU TVO TTU TTO TJU TJO OTXA HOME HCMP Target proximity B Position error under Position error over Velocity error under Velocity error over Torque command under Torque command over Thermal loading under Thermal loading over Travel limit switch direction Home Return completed Home position defined Function Reports that the Motor is approaching to the destination Reports the Motor has entered in a preset zone Reports the position error Reports the velocity error Reports the state of torque output command Reports the state of thermal loading Reports the detection of limit switch software and hardw
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20. TV to the parameter POD Polling data to output to the CC Link P JLo J DJL T Jf Vv J evr PODTV 2 Monitor TV reports the current velocity in units of a thousandth of s as described in the Megatorque Motor System User s Manual EDC Driver Unit System The current velocity is given in the units of a thusandth as 5 000 when the Motor is rotating to the minus direction at the velocity of 5 S7 Fig 2 5 Description of Monitor TV Megatorque Motor System User s Manual EDC Driver Unit System TV Tell Velocity Reads out the current velocity Refer to 7 3 RS 232C Monitor for details Command Monitor Format TV Data range 0 000 to 10 000 sl The data range is an approximate value 3 The decimal point is abbreviated when outputting to the CC Link When the Motor is rotating at 5 000 5000 FFFF EC78h in hexadecimal number will be outputted Table 2 15 below shows an example of the relation between the register address and the contents of an output Table 2 15 Output example of the remote register When outputting 5000 m A register number derived from the top station number RWrm 0 RWwm 0 RWrm 1 RWwm 1 RWrm 2 RWwm 2 Reserved Reserved 2 13 2 Specification Blank Page 2 14 3 Operation 3 Operation 3 1 Operation Mode and Input Output There are two ways to input signals to the Driver Unit CN2 co
21. al You cannot set the output logic and the stability timer to it 2 4 2 Specification 2 2 2 2 CN2 Signal List Pin No 1 2 wo a o e 10 Table 2 3 Signal name and function shipping set Port Signal Contact code code logic e jem closed Normaly open Normaly pre for xeze closed Normaly EEE ze popu 3 n COME e d Signal function 24 VDC external power supply Do not connect Emergency stop Alarm clear Travel limit direction Travel limit direction Do not connect Driver Unit ready Do not connect Output signal COMMON Function External power supply for input signal Interrupts the positioning and stops with the dynamic brake Clears warning If OTP input goes active the Motor servo is locked in the CW only If OTM input goes active the Motor servo is locked in the CCW only Reports that the Motor is ready to rotate Those pins open when Motor is not ready or an alarm occurs Common for output signal AN Caution Be sure to follow the operation manual when your Megatorque Motor System is a custom made version and the function of Input Output signals are specially arranged N Caution Never connect the pins indicated as Do not connect Be sure to connect these pins of the master controller PLC etc side after you have connected all pins of the CN2 connector Otherwise it may result in a malfunction or breakdown of the s
22. als fundamental to the safety function There are following restrictions respectively You cannot change the function EMST Emaergency stop assigned to the Port PIO RYm0 The Output DRDY Driver Unit Ready assigned to the Port POO RXm0 is only interchangeable with the function of NRM Normal Refer to 3 5 Function Assignment of Control Input Output for the logic of each function 2 11 2 Specification 2 3 2 Remote Register e Table 2 13 Remoto Register shows the functon of remote register of the CN6 interface connector Remote register outputs data monitoring such as a coordinate data using two words of remote register RWr The data consists of 32 bit integer with the sign Table 2 13 Remote Register m A register number derived from the top station number RWrm 0 Monitor data set by the POD parameter LSW RWrm 1 to RWwm 1 MSW RWrm 2 RWwm 2 Reserved The output is set by the parameter POD Polling data 9 The parameter POD must accompany the name of monitor that is outputting data Table 2 14 Parameter related to the remote register output Parameter Default Domain POD Polling data Set POD Monitor name 2 12 2 Specification e The following show an example to output the data of current velocity to the CC Link 1 Monitor TV Current velocity readout reports the current velocity of the Motor Set Monitor
23. ample 2 9 2 3 Software Interface Specification 2 10 2 3 1 Remote Input Output 2 10 2 3 2 Remote Register 2 12 3 Operation 3 1 3 1 Operation Mode and Input Output 3 1 3 2 Change of Operation Mode 3 2 3 3 Servo on in the Maintenance Mode 3 2 3 4 Monitoring Control Input Output 3 4 3 4 1 Monitoring the State of Remote Inputs Outputs Monitor IO4 3 5 3 4 2 Monitoring State of the CC Link Interface Monitor BS 3 6 3 5 Function Assignment of Control Inputs Outputs 3 7 3 5 1 Function of Conrol Inputs 3 8 3 5 2 Function of Control Outputs 3 10 3 5 3 Editing Coptrol Inputs Outputs 3 12 3 5 3 1 Editing Contorl Inputs 3 12 3 5 3 2 Editing Control Outputs 3 15 3 5 3 3 Masking the Function of Control Inputs Outputs 3 18 3 5 3 4 Forcible Change in Setting Control Output Port Function 3 19 Blank Page 1 Introduction 1 Introduction This manual describes an option of the Megatorque Motor System that consists of the EDC Driver Unit CC Link option Please refe
24. an edited input port function TPI AL Reads out all input functions 0 to 16 Port Monitor Reads out all settings of control input port AB Inputs port polarity Requires to input a password The default differs by the port number 2 The setting is only effective for the CN2 connector 3 12 3 Operation Setting function by direct input Refer to the following for an example how to change the function of the input port PI14 to the Input HLD Hold from the Input PRG7 Internal program channel selection 7 1 Turn the Motor servo off by the command MO Motor off MIO er LI mp 2 An inputof the port number by the command PI Port number PI14 reads out the parameter FN PRG7 is assigned to the Input port PI14 as the shipping set POMC Input the key to read out the parameters AB and NW 3 Change the function to the Input HLD LF JUN LH JLE JLb jest Set parameters AB and NW in a similar manner above 4 For the confirmation of the setting input in the state of prompt Input the key to read out the parameters FN AB and NW 5 Input the key to terminate editing while the prompt is on the screen ENT NWO 2 gt _ 6 Input the command SV Servo on to make the Motor ready for the input of SVON CS v ew fav 3 13 3 Operation Selection and setting
25. and TA HI Tell alarm history and their remedy Table 4 2 Cause and remedy of fieldbus error Alarm history C4 0 Two slave stations are not connected C4 1 Error in verifying the manufacturer code Remedy e The Driver Unit may be defective if the alarm occurs again after the reboot of the system Follow the Appendix 4 Procedure manual for replacing the EDC Driver Unit Raplacing of the instruction manual C4 2 Error in verifying machine code and or software version C4 3 Busy for writing the data C4 4 Time over agaisnt the setting 4 Alarm and Warning 4 1 2 C5 Fieldbus Warning This warning reports an error in the fieldbus that is recoverable The warning reports the error in setting of station number or the baud rate and the line breakage of the fieldbus board Table 4 3 Status when the fieldbus warning 7 seg Command TA DRDY WRN LED Tel Alarm Status Warning Alarm Motor state output output OTMA History Clear C5 gt Fieldb warning 1 If the motor is rotating when the warning is reported it stops after the executing cycle is completed The table below shows the history of alarm occurence read out by the command TA HI Tell alarm history and their remedy Table 4 4 Cause and remedy of fieldbus warning Alarm histo Remed Station number setting error May be caused an error in station number e Set the station number 1 to 64 collectry and remake the power C
26. any obligation on the part of the manufacturer Every care has been taken to ensure the accuracy of the data contained in this brochure but no liability can be accepted for any loss or damage suffered through errors or omissions We will gratefully acknowledge any additions or corrections For more information about NSK products please contact
27. are in or direction Reports the detection of alarm or warning Reports that the Motor has completed the Home Return and is on the Home position Reports that the Home position has been defined B 3 Operation Logic in the CN6 0 Not in the proximity The Motor is nearing to the target position 0 Not active 1 The limit is activated 0 Not active 1 The error is equal or under the threshold 0 Not active 1 The error is equal or under the thereshold 0 Out of the limit 1 The error is equal or under the threshold 0 Out of the limit 1 The error is equal or under the threshold 0 Out of the limit The command is equal or under the threshold 0 Out of the limit The command is equal or over the threshold 0 Out of the limit 1 The thermal loading is equal or under the threshold 0 Out of the limit 1 The thermal loading is equal or over the threshold em 0 Out of the limit 1 The limit activated 0 Alarm or warning 1 Normal 0 Home Return is not completed or the commanded position is not the Home position 1 Home Return is completed and the commanded position is the Home position 0 The home position is not defined 1 The Home position is defined 3 Operation 3 5 3 Editing Coptrol Inputs Outputs 3 5 3 1 Editing Control Inputs The command PI Edit input port edits the function setting to the control input ports When the editing mode of control inpu
28. cated to the CC Link The wiring order is not necessarily the same order of station numbers Fig 2 4 Wiring example Remote station Master station EDC Driver Unit Local station Terminating Terminating resistor When the EDC Driver Unit is the terminating unit the SW4 switch may be used for the function of terminating resistor When the grounding terminal of the Driver Unit Heat sink is grounded grounding of the FG terminal of the CN6 connector is not necessary Connect the shielded wire of the CC Link dedicated cable to the SLD terminal of CN6 connector The SLD terminal is connected to the housing of the Driver Unit through the FG terminal and thus the shielded wire is grounded through the gorunding terminal of the Driver Unit Heatsink Connect the terminating resistor between the DA and DB terminal of the both end units of the network The SW4 switch sets the terminating resistor for the EDC Driver Unit 2 Specification 2 3 Software Interface Specification 2 3 1 Remote Input Output e Table 2 12 Remote Input Output on the next page shows the function of Input Output of the CN6 interface connector Shipping set Excluding some ports you may change the function assignment to the remote Input Outpu ports Please refer to 3 5 Function Assignment of Control Input Output for the details of Input Output signal logic and the
29. convey any license under its present patent nor the rights of others Patents issued and patents pending MEGATORQUE is a registered trademark of NSK Ltd in Japan and that of NSK Corp in the United States of America Contents 1 Introduction 1 1 4 Alarm and Warning 4 1 1 1 Notes for Users 1 2 4 1 Cause and Rmedy of Alarm and Remedy 1 1 1 Notes for Safety 1 2 4 1 1 C4 Fieldbus Error 4 1 2 C5 Fieldbus Warning 2 Specifications 2 1 2 1 General Specifications 2 1 2 2 Specifications of Hardware Interface 2 1 2 2 1 External Dimensions 2 1 2 2 2 CN2 Control Input Output Signal Connector 2 2 2 1 CN2 Pin Out 2 4 2 2 2 2 CN2 Signal List 2 5 2 2 3 CN6 Interface Connector 2 6 2 2 3 1 C6 Pin Out 2 6 2 2 4 SW1 SW2 Station Number Switch 2 7 2 2 5 SW3 Baud Rate Setting Switch 2 7 2 2 6 SW4 Terminal Resistor Switch 2 7 2 2 7 LED Status Monitor SD RD RUN and ERR 2 8 2 2 8 Wiring Ex
30. de 2 2 6 SW4 Terminal Resistor Switch Station number Never set 1 Shipping set 64 Baud rate bps 156k 625k 2 5M 5M 10M Shipping set Never set Set the terminal resistor when connecting the Driver Unit to the end of the network Select the resistor value in accordance with the characteristic impedance of the cable Be sure to turn off the power of the Driver Unit when setting the terminal resistor Table 2 9 Terminal resistor setting switch Description e The terminal resistor is on When the characteristic impedance of the cable is 130 Q Terminating Driver Unit s upper side resistance il 1300 130 Q OFF Neutral None 1100 110 Q e The terminal resistor is off Shipping set e The terminal resistor is on When the characteristic impedance of the cable is 110 Q 2 7 2 Specification 2 2 7 LED Status Monitor SD RD RUN and ERR The monitor indicates the status of conection and communicatoin with the network When the communication status is nomal the indicators RUN RD and SD are on and that of ERR is off In some baud rate the RD and SD indicators seem like blinking Table 2 10 LED status monitor Indicator Color Description On In the middle of tarnsmitting data E Green On In the middle of receiving data On Executing the data link The unit is normal Off Not linked to the net
31. function that can be assigned to each Input Output port o Replaces an assigned function with an extended function A previously assigned function may be set to other port Masks a unused port The same port name of the CN2 control I O connector is assigned to the corresponding port of the remote I O connector and the I O function of each port is also corresponding each other N Caution Pay special attention when changing the function assignment of Remote Input Output port because that of the corresponding port of the CN2 signal connector changes its function also 2 10 2 Specification Table 2 12 Remote Input Output m A register number derived from the top station number Port Signal Port Signal Output onda code Function Input tia cada Function Interrupts the positioning RXmO POO REpor char tbe Mot a EMST and stops with the dynamic ready for the operation brake RXm1 PO1 Alerts warning ACLR Clears warning RXm2 PO2 Over travel limit Ga Soft and M Reserved hard ware limit switch RXm3 PO3 Over travel limit Soft and ee Reserved hard ware limit switch RXm4 PO4 Reports the state of the servo SVON Turns the servo on Starts the program operation RXm5 POS RUN m Reports the operation state specified by the PRG input Reports the conditions in yim RXm6 PO6 ad am STP Stops positioning operation position error and position
32. ing RXm7 PO7 Reports that the Motor is PRGO approaching the target position RXm8 Reserved PRG1 RXm9 ea Reserved RYm9 PRG2 A combination of 1 and 0 RXmA E Reserved RYmA PRG3 ON OFF of the Internal program channel selection RXmB Reserved RYmB PRG4 selects a channel to be executed Channel 0 255 RXmC Reserved RYmC PRG5 RXmD Reserved RYmD PRG6 RXmE Reserved RYmE PRG7 RXmF _ Reserved RYmE JOG Starts and stops a jog operation RX m 1 0 Reserved RY m 4 0 DIR Specifies the direction of a jog operation RX m 1 1 Reserved RY m 1 1 to to Reserved RX m 2 F RY m 2 F RX m 3 0 Reserved RY m 3 0 to to Reserved RX m 3 7 RY m 3 7 RX m 3 8 N Flag for processsing an initial data RY m 3 8 Flag for completion of initial data Not used processing Not used RXm43j Flag for End of initial data setting RY m 3 9 Flag for initial data setting Not used Not used RX m 3 A Flag for positioning state Not used RY m 3 A pea requesting error reset Not RX m 3 B The remote station is ready RY m 3 B Reserved RX m 3 C RY m 3 C to Reserved to Resrved RX m 3 F RY m 3 F 1 The shipping set of PI2 and PI3 ports is assigned to signals of OTP and OTM respectively These are the dedicated input signals from the CN2 control I O connector An input from the CC Link to these OTP and OTM function ports shall become invalid The PIO and POO are dedicated ports for the sign
33. mpletes editing the port cd 3 Operation 3 5 3 3 Masking the Function of Control Inputs Outputs Refer to the following for an example how to change the function of input port P16 from Input STP Stop to NONE No function Masked 1 2 3 4 5 wm 6 Input the command MO Motor off to put the Motor in the state of Servo off MO ENT gt Specify an input port number by the command PI Edit control input to read out the parameter FN Input function POE Input the key to scroll down to the parameter NW Anti cahttering timer Input as below to change the function to NONE No function Msasked LF JUN LN JLO JUN J E ENT Input the key to scroll down to the parameter NW through the palameters FN and AB Input the key to terminate the editing while the prompt is on the line ENT NWO 2 Input the command SV Servo ON to make the Motor ready for Servo on S v Jer fev 3 18 3 Operation 3 5 3 4 Forcible Change in Setting Control Output Port Function The command OP Compulsive output forcibly changes the state of the output ports POO to PO7 of the connector CN2 control Input Output connector and the remote outputs of the connector CN6 intrface connector This feature is useful for checking the interface with the master controller And now
34. ntrol Input Output connector and remote input by the CN6 interface connector There are two operation modes to receive those inputs exclusively Fieldbus mode The prompt of the Handy Terminal is Maintenance mode The prompt of the Handy Terminal is The operation mode and format of Inpt Output are shown in the Table 3 1 Operation mode and composition of Input Output The function assignment is the shipping set 9 The operative Inputs Outputs of each operation mode are shown in the bold line boxes below Table 3 1 Operation mode and composition of Inputs Outputs m A number derived from the top station number Input Outp Fieldbus mode Maintenance mode gom Remote Remote CN2 P Plo EMST a en acir et TETER RYm2 RYm3 SVON RYm4 RY ms RY m6 RYm7 RYm7 RYm8 7 RYm8 RYm9 7 RYm9 RYmA RYmA RYmB RYmC RYmD a IE A sr PI14 RYmE a r NN RXmO da N F mmo 7785 RR TETA Xm In case of the fieldbus mode take the input signals from the CN6 connector For the maintenance mode take them through the CN2 connector However there are following two exceptions RXm3 RXm4 RXm5 RXm6 RXm7 The port assigned to the Input EMST Emergency stop regards the Input of both CN2 and CN6 connectors as the Emergency stop signal This means that the system gets in the emergency stop state by
35. of function Select and set the control input function by VAJ option The procedure shown on Fig 3 5 Seletion and setting of control input changes the function of input port PI14 to the Input HLD Hold from the Input PRG7 Internal program chanel selection 7 Fig 3 5 Selection and setting of control input MO e Turn the servo off PI14 Start to edit the port 14 ENERGI Indicates the current function setting ABO Press the SP key to indicate the parameters set NWO 2 to the channel 7 FN AJ e Set the screen for selection of function STEP FN e Use the or the H key to select the Input HLD Press the ENT key when the Input HLD is selected A few keystrokes of the ENT key completes editing the port 3 14 3 Operation 3 5 3 2 Editing Control Output Category Editing Command Parameter in the port Monitor The command PO Edit output port edits the function setting to the control output ports When the editing mode of control output is established by the command PO the setting of the parameters FN Port function and ST Anti chattering timer become effective 9 The setting by the command PO will be immediately effective thus making the reboot of power unnecessory You may be set the parameter GC Output logic to a function However it is not effective to the remote Inputs and Outputs of
36. r to the user s manual of the Megatorque Motor System EDC Driver Unit System for other details Connection of the optional EDC Driver Unit to the CC Link network will make you utilize its control Input Output functions through the master station For your safety please be sure to read the user s manual thoroughly before operating the Megatorque Motor System 1 1 Notes for Users 1 1 1 Notes for Safety For your safety you should read this manual thoroughly and understand the contents before operating the Megatorque Motor System The following notices are added to give particular emphasis on the safety precautions in this manual N Danger A matter that might cause serious injuries Ix Warning A matter that might result in injuries Zi Caution A matter that might result in the breakdown of equipment into which the Motor is installed or the break down of the mechanism surrounding the Motor 1 Introduction Blank Page 1 2 2 Specifications 2 1 General Specifications Table 2 1 General specifications Protocol Description CC Link Ver 1 10 Number of slave stations Type of station Remote device stations Number of addressable remote input ports 16 ports are available for any function assignment Number of addressable remote output ports 7 ports are available for any function assignment Remote register output Enables to
37. t is established by the command PI the setting of the parameters FN Port function and NW Anti chattering timer become effective You must deactivate the Motor servo for these settings The settings by the command PI become immediately effective and thus the reboot of the power is not necessary You may set the parameter AB Input port polarity or NW Anti chattering timer to a port However they are only effective for the connector CN2 control I O connector but not for the remote inputs of the CN6 interface connector The control input port PIO is dedicated to the safety function input For this reason the parameter FN Port function fixes the Input EMST Emergency stop to the port You may set the pameter AB or NW to the port However the function is only effective for the CN connector The Monitor IO Input Output monitor monitors the input state of each function Refer to 3 4 Monitoring of Control Input Output for details Table 3 8 Editing command for control input port Category Edit code Default Unit Resets a designated input port PI RS Example PI1 RS 2 Eg E 0 to 16 Port uo O Resets all control input ports to the shipping set PI CL Resets all control input ports FN Functioni sets the function _ 0 Normaly open 1 Normaly closed FN Inputs a port function Parameter in the port 0 0 to 1 000 0 ms NW 2 Anti chattering timer TPI Reads out
38. ut port PO7 to Output ZONEA Zone A from Output NEARA Near position A 1 Specify the output port number by the command PO to read out the setting of parameter FN The function of NEARA is specified to the output port as the shipping set e Ce Cz Jen Input the key to scroll down to the parameters GC and ST 2 Change the function to the output ZONEA FNX Z OJ N CE eee FNZONEA 4 Set the parameters GC and ST as the same manner above 3 Input while the prompt is to confirm the settings Input the key to scroll down to the parameters FN GC and ST 4 Input the key to terminate the editing ENT ST0 0 3 16 3 Operation Selection and setting of output function Select and set the control input function by AJ option The procedure shown on Fig 3 6 Selection and setting of output function change the function of the port PI14 to Output ZONE A Zone A from Output NEARA Near position A Fig 3 6 Selection and setting of output function Start to edit the port 7 The screen displays the current setting to the port 7 Press the SP key to indicate the parameters set to the port e Start the screen for selection of function e Select the Output ZONEA using the or the H key Press the ENT key when the Output ZONEA is selected A few keystrokes of the EN key co
39. uts of the CN2 connector effective While no port is assigned to the Input SVON for the CN2 connector the SVON input is regarded always as OFF However the reverse of the port polarity forcibly turns ON the Input SVON The following describe how to make the Motor SVON effective by the forcible activation of the Input SVON N Danger Be sure to wire the Input EMST Emergency stop so that immediate deactivation of the servo is possible Ee ie R 3 Operation 1 Input the command MO Motor off to deactivate the Motor servo MO 2 mp 2 Set the parameter CP Control priority to the CPO Maintenace mode LC JLP J o J ex SED zx Hana 3 Specify the port number to which the Input SVON Servo on is assigned by the command PI Edit input port to readout the parameter FN Port function The SVON is assigned to the PI4 as the shipping set PJU J 4 gt Jie For every input of the key the parameters AB Input polarity and the NW Anti chattering timer are displayed 4 Input the parameter ABI to change the input port to a nomally closed port LA JL B J 1 ET 2 FNSVON AB1 NWO 2 Every one input of the key reads out the parameters FN AB and NW in seaquence Confirm that the paremeter AB is changed to ABI 6 Input the key to terminate the editing while the prompt is on the display LS J v av dg 3 Operation
40. work Caririer detection NG Time Over Resetting On CRC error SW land 2 Station number setting error or SW3 Baud rate setting error Off Communicating normally or Resetting hardware Blinking The switch setting SW1 2 and 3 is altered Red Table 2 11 Monitoring pattern SD RD RUN ERR Status elejo Communicating normally ejej Communicating normaly with occasional CRC error Baud rate and or station number setting are alterd at the time of power on LED flickers at intervals of every 0 4 s O pe fel Transferred data become CRC Error and thus unable to responsd O e e o No data transmission to the Driver Unit pe fo Though the polling is responding the refresh receiving has a CRC error O pe fol Cannnot respond as the data to the Driver Unit has a CRC error Fe o o The communication link is not active O e o o No data sent to the Driver Unit or impossible to receive the data O Impossible to receive the data Power shutdown or the hardware is in the middle of resetting O ezo o e Setting error on the baud rate or station number On Blinking O Off e The SD monitor is blinking quickly and thus it occasionally seemes like as if it is on depending on the communication state 2 8 2 Specification 2 2 8 Wiring Example Refer to Figure 2 4 Wiring example below for wiring the Drive Unit to the CC Link o Be sure to use a cable dedi
41. ystem 2 Specification 2 2 3 CN6 Interface Connector The CN6 connector interfaces with the CC Link network The followings are the reference for the connectors that are used for the CN6 connector Table 2 4 CN6 mating connectors Connector Driver Unit side Phoenix Contact Gmbh amp Co MSTB2 5 3 GF 3 08AU or equivalent Mating connector Phoenix Contact Gmbh amp Co MSTB2 5 9 5TF 3 08AU ka equivalent Table 2 5 below shows the reference data for the mating connectors Table 2 5 Reference data of the mating connector Item Cable to be used single connection Cable to be used double connection Specification 0 2 to 2 5 mm twisted AWG24 to 12 0 2 to 1 5 mm twisted Removed coat length 7 mm Machine screws to be used M3 Tightning torque 0 5 to 0 6 N m 2 2 3 1 CN6 Pin Out Table 2 6 CN6 pin out Top of the Driver Unit No code J 2 r3 Shield Connect the shielded cable Frame ground cable Connect the data ground cable O1 2 6 2 Specification 2 2 4 SW1 SW2 Station Number Switch These rotary switches set the station number from 1 to 64 The SW Isets the tens place of the number while the SW2 switch sets the ones place Table 2 7 Station number switch Driver Unit s upper side ai 2 2 5 SW3 Baud Rate Setting Switch The switch sets the baud rate Table 2 8 Baud rate setting switch Driver Unit s upper si
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