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MEGATORQUE MOTOR™

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1. Motor Outer Reference Number EDC Driver Unit Reference Number Diameter Coding of Motor indicates accessories specification Power Voltage VAC M EDC PS1006AB502 k k 200 to 230 M PS1006KNO002 M EDC PS1006CB502 k k 100 to 115 M EDC PS1012AB502 k k 200 to 230 100 M PS1012KNO002 M EDC PS1012CB502 k k 100 to 115 M EDC PS1018AB502 k k 200 to 230 M PS1018KNO002 M EDC PS1018CB502 k k 100 to 115 M EDC PS3015AB502 k k 200 to 230 M PS3015KNO002 M EDC PS3015CB502 k gt k 100 to 115 M EDC PS3030AB502 k k 200 to 230 M PS3030KNO002 M EDC PS3030CB502 k gt k 100 to 115 150 M EDC PS3060AB502 200 to 230 M PS3060KN002 M EDC PS3060CB502 k k 100 to 115 M EDC PS3090AB502 k k 200 to 230 M PS3090KNO02 M EDC PS3090CB502 k k 100 to 115 M EDC PS1006ABC02 k k 200 to 230 M PS1006KNO002 M EDC PS1006CBC02 k k 100 to 115 M EDC PS1012ABC02 k k 200 to 230 100 M PS1012KNO002 M EDC PS1012CBC02 k k 100 to 115 M EDC PS1018ABC02 k k 200 to 230 M PS1018KNO002 M EDC PS1018CBC02 k k 100 to 115 M EDC PS3015ABC02 k gt k 200 to 230 M PS3015KNO002 M EDC PS3015CBC02 k gt k 100 to 115 M EDC PS3030ABC02 k gt k 200 to 230 M PS3030KNO002 M EDC PS3030CBC02 k k 100 to 115 150 M EDC PS3060ABC02 k gt k 200 to 230 M PS3060KNO002 M EDC PS3060CBC02 k k 100 to 115 M EDC PS3090ABC02 k gt k 200 to 230 M PS3090KNO002 M EDC PS3090CBC02 k k 100 to 115 9 2 PN Series and EDC Driver Unit Combinations Cable
2. iS ao xo 3 3 3 O O O a a ai 0 0 0 0 0 0 5 1 0 15 2 0 2 5 3 0 0 00 0 05 0 10 0 15 0 20 0 25 0 0 0 1 0 2 0 3 04 05 0 6 0 7 08 0 9 Load moment of inertia kg m Load moment of inertia kg m7 Load moment of inertia kg m7 PN4135 Index angle PN4180 Index angle PNZ3040 meowengle 0 8 0 8 0 7 T T T oO oO 0 E Q 2 2 3 3 3 fe 0 fe a a o 0 0 0 0 0 05 1 0 1 5 20 25 30 3 5 40 4 5 0 0 0 5 1 0 1 5 2 00 2 5 3 0 3 5 4 0 4 5 5 0 0 01 02 03 04 05 06 0 7 08 0 9 Load moment of inertia kg m Load moment of inertia kg m7 Load moment of inertia kg m PNZ4130 Index angle PN2Z4175 Index angle 0 8 3 0 8 o o o oO E ao xo 3 3 O O a a 0 0 0 0 05 10 1 5 20 25 30 3 5 40 4 5 0 0 05 1 0 1 5 2 0 2 5 3 0 3 5 4 0 4 5 5 0 Load moment of inertia kg m7 Load moment of inertia kg m7 NSK 34 _ 8 Installation 8 1 Installation of Motor e Install and secure the Motor on a rigid base otherwise mechanical vibrations may occur e Mount the motor using the tapped or through holes e The mounting surface flatness should be less than 0 02 mm e The Motor can be attached either horizontally or vertically For Z Series with High Environmental Resistance do not install in the upside down position e Take care not to push up the underside cover when attaching the motor PS Series e Please see below figure for counterbore depth from base top PS Series e The bend radius of the motor
3. Beijing tel 010 6590 8161 Tian Jin tel 022 8319 5030 Changchun tel 0431 8898 8682 Shenyang tel 024 2334 2868 Dalian tel 0411 8800 8168 Nanjing tel 025 8472 6671 Fuzhou tel 0591 8380 1030 Wuhan tel 027 8556 9630 Qingdao tel 0532 5568 3877 Guangzhou tel 020 3817 7800 Changsha tel 0731 8571 3100 Luoyang tel 0379 6069 6188 Xi an tel 029 8765 1896 Chongqing tel 023 6806 5310 Chengdu tel 028 8528 3680 NSK CHINA SALES CO LTD Jiangsu tel 0512 5796 3000 India RANE NSK STEERING SYSTEMS LTD Chennai tel 044 474 06017 NSK INDIA SALES CO PVT LTD Chennai tel 044 2847 9600 Gurgaon tel 0124 4104 530 Kolkata tel 033 4001 2062 Mumbai tel 022 2838 7787 NSK ABC BEARINGS LTD Chennai tel 044 2714 3000 Indonesia PT NSK INDONESIA Jakarta tel 021 252 3458 Korea NSK KOREA CO LTD Seoul tel 02 3287 0300 Changwon tel 055 287 6001 Malaysia NSK BEARINGS MALAYSIA SDN BHD Shah Alam tel 03 7803 8859 New Zealand NSK NEW ZEALAND LTD Auckland tel 09 276 4992 Philippines NSK REPRESENTATIVE OFFICE Manila tel 02 893 9543 Singapore NSK INTERNATIONAL SINGAPORE PTE LTD Singapore tel 6496 8000 NSK SINGAPORE PRIVATE LTD Singapore tel 6496 8000 Taiwan TAIWAN NSK PRECISION CO LTD Taipei tel 02 2509 3305 TAIWAN NSK TECHNOLOGY CO LTD Taipei tel 02 2509 3305 Thailand NSK BEARINGS THAILAND CO LTD Bangkok tel 02320 2555 SIAM NSK STEERING SYSTEMS CO LTD Chachoengsao tel 038 52
4. Cable set for Z Series with High Environmental Resistance Refer to 9 Motor and EDC Driver Unit Combinations for correct length 4 2 Dimension of Cable Set Cable Set Dimensions for PS PN Series and PN Series with Brake Motor cable CN4 Motor side Resolver cable Driver Unit side Cable Set Dimensions for Z Series with High Environmental Resistance M CXXXWCP14 M CXXXWCP13 Protective cap 14 3 Motor side 14 3 Driver Unit side Straight connector Resolver cable EMR Protective cap Watertight bushing Cable bend radius for both motor cable and resolver cable Bend radius at fixed side Bend radius at moving side Stationary cable R43 or more Flexible cable R40 or more R80 or more 25 NSK 5 Option 5 1 EDC Driver Unit with CC Link Function 5 1 1 System Configuration Main power paced logic sea PLC EDC Driver Unit CC Link Function oe Single phase 200 to 230 VAC Single phase 100 to 115 VAC Jm IB IB Control I O signals External power supply for I O signals Pulse train input unavailable CC Link ojo 0M 0 olo ig omen Handy Terminal FHT21 cicio ells m SHOUNwH ALEA Ea a eaa offs ea Cable set e The EDC Driver Unit provides the field bus CC Link compatibility e Th
5. kg 2 4 35 4 5 E Environmental conditions E E m en E eaten i E CEE e mrs A Please consult with NSK in case of a simultaneous application of axial load radial load and moment load to a Motor ra lar ey as eee Matera St e a 1 Under no radial load 2 Under no axial load For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Note 1 Absolute positioning accuracy of high precision products made to order is 30 arc sec Interchangeable type at ambient temperature of 25 5 C Cable length is up to 8 m Conditions outside the allowable range of inertia may be applicable depending on operating conditions Contact NSK for details 2 1 3 Rotational Speed and Output Torque Characteristics Low temperature chrome plating M PS1018KNO002 6 M4x0 7depth 7 PS1 006 PS1 01 2 PCD92 60 equal pitch Z 0 050 6 M4x0 7 depth 6 PCD45 60 equal pitch Z 0 050 Rotating part __t I Resolver connector 6 12 o 5 10 AMP 178964 5 5 4 gt 8 7 S 3 S 6 g T Rated Z Rated E E 5 2 5 4 lt a amp Motor connector O O a olg D AMP 1 179552 4 o S gt s 3 BE 53 3 lt 0 0 0 2 4 6 8 10 0 2 4 6 8 10 F SS Rotational speed s Rotational speed s se Min6 Rotor Rotating part a PS
6. 0 2 Min4 5 PCD180 60 equal pitch Area of 205h8 K 4 o A oO t Ni fo N Te N S T S Fixed part W Material Cast iron Rotor Rotating part Material Aluminium Surface treatment None Base mounting holes 4 612Drill Thru L it 2 68 H7 205 depth8 Surface treatment Low temperature chrome plating Resolver connector Motor connector Min5 5 C 1 235 2 7 0 030 34 6 M8x1 25 depth12 210 0 2 Min4 5 PCD180 60 equal pitch Area of 205h8 4 o ally Opa t N g N S N Rotor Rotating part Base mounting holes V i 4 612Drill Thru Material Aluminium Surface treatment None 2 8 H7 25 depth8 Fixed part Material Cast iron Surface treatment Low temperature chrome plating Resolver connector 1 For the dimensions marked 1 extra 3 mm margin is required due to their variations 2 2 0 010 for highly accurate upper surface runout type design serial number 701 3 The bend radius of the motor cable lead 7 and the resolver cable lead 7 should be R30 mm or more 4 Do not use the leads of the motor cable and the resolver cable with flexing motion 5 Do not add the stress tension vibration etc
7. 1 ms In position signal Following error Following error i Following error Maximum 40 pulses 0 006 Following error Maximum 20 500 pulses 2 85 Settling time 45 ms gt 1 ms Following error 20 500 pulses gt 40 pulses Positioning time 330 ms gt 147 5 ms 19 NSK aC Oscilloscope Handy Terminal Programmable logic controller PLC FHT21 Pulse train controller 24 VDC power supply EDC Driver Unit BESG08 OO El Eae AE et Wa Bie a RS 232C communication Control I O signals External power supply for I O signals Main power and Control power EDC Megaterm software can be downloaded for free from the NSK Web site Single phase 200 to 230 VAC Single phase 100 to 115 VAC Air purge line Only for Z Series with High Environmental Resistance Cable set Resolver cable 0O Motor cable NSK Product System Configuration of PN Series with Brake Handy Terminal ZO FHT21 i Oscilloscope EDC Driver Unit Z 24 VDC power supply z moe mi RS 232C communication RQUE MOTOR MEGATO External power Main power and supply for I O Control power signals ae Me P Single phase 200 to 230 VAC can be downloaded for free 4g from the NSK Web site leles
8. 1 0 1 8 Materia Aliminium _ 10 Area of 652h8 Surface treatment None Fixed part a 135 0 4 300 20 Material Steel 1 8 Surface treatment Z 1 6 Low temperature chrome plating 3 12 S 10 O gt 8 Rated i Pa 1 The bend radius of the motor cable lead 7 and the resolver cable lead 7 should be R30 mm or more a 6 2 Do not use the leads of the motor cable and the resolver cable with flexing motion p 4 T 3 Do not add the stress tension vibration etc to the joint of the leads and the connector It causes the disconnection and the loose connection 2 6 2 4 6 8 10 Rotational speed s7 9 NSK NSK 10 O mt f 2 Motor Specifications 2 1 5 Reference Number Coding of Motor 2 1 8 Motor Dimensions M PS3015KNO002 Example of Reference Number Rotating part 6 M6x 1 0 depth9 6 M6x 1 0 depth9 2 P6H7 902 depthd PCD139 60 equal pitch Z 0 050 J PCD69 60 equal pitch CO 5 Design serial number _ _ ai beac
9. 15 arc sec Dwell time 0 06 s Jm load moment of inertia 0 05 kg m J rotor moment of inertia 0 019 kg m for PS3060 e Since the rotational acceleration is 25 s77 calculate the approximate required torque using the following equation Equations T Torque at accelerating N m a Rotational acceleration s 25 s Jm Load moment of inertia kg m 0 05 kg m n Safety coefficient 1 4 J Rotor moment of inertia kg m 0 019 kg m Required torque at accelerating decelerating T Jm J x 0 05 0 019 x2z x25 10 8 N m Therefore the candidate selection is a motor with a maximum output torque of 15 2 N m obtained by multiplying required torque by a safety factor of 1 4 or larger The PS1 Model excluding PS1006 and PS1012 PS3 Model PN3 Model or PN4 Model can be selected Note Since the moment of inertia of the rotor of the motor varies depending on the motor the required torque needs to be recalculated for each motor e The effective torque required for the actual operational pattern in use see following diagram needs to be examined Also determine whether the PS3060 meets the operational conditions At accelerating decelerating time 0 1 s t settling time 0 04 s tz dwell time 0 06 s t4 cycle time 2 x At t t3 0 3 s T xAtx 2 Required effective torque 8 8 N m 4 Rotational energy 1 2 x Jm Jr x 27 N 1 2 x 0 05 0 019 x 2
10. 738 5000 NSK STEERING SYSTEMS AMERICA INC Bennington tel 802 442 5448 NSK LATIN AMERICA INC Miami tel 305 477 0605 tel 11 4704 5100 tel 011 3269 4786 lt As of June 2012 gt For the latest information please refer to the NSK website www nsk com NSK Ltd has a basic policy not to export any products or technology designated as controlled items by export related laws When exporting the products in this brochure the laws of the exporting country must be observed Specifications are subject to change without notice and without 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 Eco awareness and reliability in motion NSK used environmentally friendly paper and printing methods for this publication CAT No E3511b 2013 C 2 Printed in Japan NSkK Ltd First edition published in SEP 2009
11. Design serial number C 100 115 VAC single phase 02 Standard Mass 1 1 kg Excluding PN4 Model and PNZ4 Model 03 High precision products Mounting bracket PS Series only made to order Position sensor code Function 5 Standard B Absolute position sensor C CC Link optional Position sensor EDC Driver Unit for Z Series with High Environmental Resistance is the same unit used with the PN Series Refer to 9 Motor and EDC Driver Unit Combinations for details of l CNS applicable models Control main CN1 power RS 232C Name plate Label CN4 Motor optional regeneration resistor Accessories vary depending on the function Control 1 0 Standard accessories 180 Front mounting pitch Ground terminal 148 Back mounting pitch 1 CN2 connector user side Connector 54306 5019 Molex or equivalent Connector shell 54331 0501 Molex or equivalent 2 CN5 connector user side Connector 231 305 026 000 WAGO or equivalent Wiring lever 231 131 WAGO or equivalent 3 Mounting bracket 4 User s Manual English version Accessories for EDC Driver Unit CC Link Function 1 CN2 connector user side 2 M3 Tap depth 5 Same tap on opposite side Connector DHF PDA10 3 A01 FA DDK or equivalent 2 CN5 connector user side Used for Connector 231 305 026 000 WAGO or equivalent Wiring lever 231 13
12. Driver Unit must be fixed so that fins are in the vertical position for natural air cooling e Ambient temperatures should be in a range from 0 to 50 C The Driver Unit cannot be used in excess of 50 C A sufficient space of at least 100 mm should be provided both above and below the Driver Unit in a control cabinet Operate the Driver Unit in an environment in which internally generated heat can be dissipated If heat is trapped above the Driver Unit open the space above it to allow for the heat to dissipate in this case also take steps to prevent the entry of dust or provide a forced air cooling system e Use the Driver Unit in a control cabinet with IP54 or higher Protect the Driver Unit from exposure to oil mist cutting water cutting dust coating gas etc to prevent their entry into the Driver Unit through ventilation openings which may cause circuit failure e When installing two or more Driver Units for multi axis combinations provide a 10 mm or more space between adjacent Driver Units e The Driver Unit can be attached to a panel using front mounting brackets optional e The maximum power loss of the EDC Driver Unit is 55 W At least 100 mm E At least i 100 mm Top of Driver Unit Heat sink fin Vent 9 Motor and EDC Driver Unit Combinations 9 1 PS Series and EDC Driver Unit Combinations 9 3 PN Series with Brake and EDC Driver Unit Combinations
13. IP30 Oil water and chemical L Chips and dust L Clean Operating temperature MO0 C to 40 C Below 0 C Above 40 C _ Other C Contact NSK for details hours days Environmental conditions CI Stationary cable M Flexible cable Length 4 m Select Movable when cable is repeatedly bent anywhere along the wiring route OCable specification and length Other request items Please reply by January 12 2010 example NSK 42 Worldwide Sales Offices NSK LTD HEADQUARTERS TOKYO JAPAN 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 AFRICA PTY LTD Johannesburg tel 011 458 3600 Asia and Oceania Australia NSK AUSTRALIA PTY LTD Melbourne tel 038 9765 4400 China NSK HONG KONG LTD Hong Kong tel 02739 9933 Shenzhen tel 0755 25904886 KUNSHAN NSK CO LTD Kunshan tel 0512 5771 5654 CHANGSHU NSK NEEDLE BEARING CO LTD Jiangsu tel 0512 5230 1111 NSK STEERING SYSTEMS DONGGUAN CO LTD Dongguan tel 0769 2262 0960 NSK CHINA RESEARCH amp DEVELOPMENT CO LTD Jiangsu tel 0512 5796 3000 NSK SHANGHAI TRADING CO LTD Jiangsu tel 0512 5796 3000 NSK CHINA INVESTMENT CO LTD Jiangsu tel 0512 5796 3000
14. SVST Servo state Reports states of servo BUSY In operation Reports state of positioning operation IPOS In dsl Reports the condition of positioning error and the positioning operation A NEARA Reports that the Motor is approaching the destination CHA Positioning feedback signal A CHA Positioning feedback signal A CHB Positioning feedback signal 6B CHB 39 CHZ 40 Positioning feedback signal Z CHZ Positioning feedback signal 6Z Do not connect SGND Signal ground 44 to 50 A pulse signal that reports the number of rotations of Motors Output format is line driver Positioning feedback signal B Ground for the position feedback signal Do not connect Carefully follow these instructions for wiring to CN2 e When wiring to CN2 use shielded wires and a twisted pair for a pulse train input and position feedback output These wires should be as short as possible up to 2 m Selection and optional setting of control Input Output signal functions e You may set signal functions of control Input Output to any port by the parameters 1 Input signal e Select up to 16 input signals out of the 22 input signals listed above and then set them to Pin No 4 to 9 and 11 to 20 In addition to the Input signals listed above you may select any of the following signals Hold Velocity override Integration OFF Home return start and Home position limit e Pin No 3 is fixed to th
15. Series PS Series Automatic part assembly Turn table and alignment for flat panels Manufacturing line for electric parts Sri High speed and high accuracy Compact Compact Maintenance free High speed Compact Maintenance free Advanced functions unequal partitioned Advanced functions fine positioning positioning and short cut positioning High torque Application 7 PN Series with Brake Application 8 PN Series with Brake Application 9 Z Series with High Transverse installation Installation with external load applied Environmental Resistance Installation for manufacturing automotive f ee TE Prevents unwanted rotation Holds the position Environmental resistance environmental protection against water oil particulates etc NSK 4 1 Selection Guide PS Series Outer Rotor Type Series Model PS Series Series Model PN2 Motor PN3 Motor PN Series Maximum output torque N m 100 N m Ss n a lt ET 18 i PS1 Motor PS3 Motor Maximum output torque N m 200 N m 18 135 Motor height 4 100 N m mm 50 N m 30 N m 10 N m PN4 Motor 135 95 280 135 a 50 Nm 170 Motor height mm 136 30 N m 10 N m 6 N m Motor outer diameter mm p100 p150 Motor hollow diameter mm p35 p56 Maximum rotational speed s 10 10 8 5 Motor outer diam
16. Series Model PN3 Motor PN4 Motor Model PNZ3 Motor PNZ4 Motor Maximum Maximum output torque output torque 200 N m N m 200 N m N m 100 N m 18 18 135 135 lt 175 Motor height Motor height 50 IN m 130 137 mm 7 100 N m 135 mm bu 120 111 30 N m 100 N SOA 10 N m Motor outer diameter mm flange not included ga pad Motor hollow diameter mm p44 037 Maximum rotational speed s 3 3 30 N m 45 N F esolution of position sensor 97 count revolution a cal aal Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C EDC Driver Unit 10 N m Driver unit model Dimensions W x D x H mm Motor outer diameter mm 210 280 Motor hollow diameter mm p32 p32 90 x 140 x 190 Maximum rotational speed s 3 3 Reference page Motor 17 18 Driver unit 19 24 See SUA CTT a 2 621 440 Shortened positioning time Compact driver unit TER Flat with high rigidity Certified with IP rating for dust and water ingress Absolute positioning ON ea E ture of 25 5 C Features protection accuracy arc sec Interchangeable type at ambient temperature of 25 5 C Interchangeable highly accurate absolute position sensor EDC Driver Unit Ingress Protection IP Classification Test under IEC Standards Nozzle 12 5mm 1002 min 3min Driver unit model Dimensions W x D x H mm Megatorque Motor Z Series with High Environmental Resist
17. can be charged by the internal capacitors is 28 J 3 Calculate energy consumed by optional regeneration resistor Energy consumed by optional regeneration resistor J Rotational energy J 28 J capacitor absorption energy When the difference is zero or less no optional regeneration resistor is necessary When the difference is greater than zero use the following procedure to obtain the required capacity for an optional regeneration resistor 4 Calculate required capacity for optional regeneration resistor Required capacity for an optional regeneration resistor W Energy consumed by optional regeneration resistor J Operation cycle s x 0 25 0 25 Load ratio of optional regeneration resistor use When the quotient is 7 or less use optional regeneration resistor M E014DCKR1 100 optional When the quotient is 120 or less use optional regeneration resistor M EO014DCKR1 101 optional Please contact NSK when the quotient exceeds 120 31 NSK 6 6 Effective Torque Calculations Example 1 When selecting a Megatorque Motor it is necessary to consider the maximum required torque and the effective torque required for the actual operation Determine whether 90 can be positioned in 0 24 s assuming the load moment of inertia is 0 05 kg m Also calculate the effective torque when an operation cycle is 0 3 s Conditions Maximum rotational speed 2 5 s71 Rotational acceleration 25 s Repeatability
18. equivalent Dimension A mm 30 2 32 9 16 7 33 8 54 2 45 8 70 2 48 8 79 2 3 Holding torque required during halts When the arm is halted at the position shown at right the torque equal to F x L is applied on the Motor as a load torque Therefore limit load i torque to equal or below rated torque When holding brakes limit load torque to equal or below brake torque RS 232C terminal CN1 Contact NSK for positioning accuracy for holding brakes PORE T E E E 6 2 Runout Accuracy 2 RXD m 3 RXD The measurement method for runout accuracy is shown at right l y RTS I 7 RTS o Output rotor Upper surface runout 8 CTS a cre 6 3 Positioning Accuracy T DSR i on 3 Bei The positioning accuracy of the Megatorque Motor System is 4 DTR 5 DTR od o considered by two respects as follows ae S E 1 Absolute positioning accuracy 90 arc sec interchangeable z 2 Repeatability 2 arc sec 29 NSK NSK 30 6 Selection of Megat Example 1 We examine the compatibility of the PS Series Motors assuming a required repeatability of 0 02 mm at 300 mm distance from the center From tan 0 02 300 0 tan 0 02 300 o o x 10 14 arc sec Therefore 14 gt 2 Both PS1 and PS3 Models can be used in terms of positioning accuracy 6 4 Positioning Time Index Time When a Megatorque Motor is used
19. of 78h8 Material Steel Surf treat t c 6H7 3 depths i E chrome plating Cos 136 0 4 ale 300 20 d 2 1 7 Rotational Speed and Output Torque Characteristics M PS3090KN002 PS3030 a 77 TH Rotating part PS3015 6 M6x 1 0 depth9 2 b6H7 92 depth9 PCD69 60 equal pitch CO 5 _ PCD139 60 equal pitch Z 0 050 30 n pa Resolver connector Z 15 Z 2 g AMP 178964 5 9 T y fas N Rated 40 Rated Slels S 33 6 17 8 5 o A wo Q Q S5 2 Motor connector s5 g e AMP 1 179552 4 s A 0 0 S 0 2 4 6 8 10 0 2 4 6 8 10 N a 7 Rotational speed s 1 Rotational speed s Rotor Rotating par e 36 LJ 12 7 Material Aluminium Surface treatment None Min6 Fixed part Material Steel Surface treatment Low temperature chrome plating Area of 678h8 PS3060 PS3090 2 6H7 2 depths CO 5 170 0 4 300 20 60 90 eb 5 5 ae S 60 Rated Rated a 20 a 30 ce E P 1 0 010 for highly accurate upper surface runout type design serial number 701 Regards to inserting pin into rotor pinhole 6 6 2 The bend radius of the motor cable lead 7 and the resolver cable lead 7 should be R30 mm or more 5 Set tolerance of the inserting pin for clearance fit O O 3 Do not use the leads of the motor cable and
20. over Torque command under over Thermal loading under over Home return complete Home position defined RAM error ROM error System error Interface error ADC error Emergency stop CPU error Position sensor error Absolute position error Motor cable disconnect Excessive velocity Resolver excitation amplifier alarm Commutation error Overheat Main AC Line over voltage Excess current Control AC line under voltage Power module alarm Excess position error Program error Automatic tuning error Position command feedback error Software thermal error Main AC Line under voltage Travel limit over Field bus warning Home position undefined Field bus error Analog monitor x 2 universal range and offset setting RS 232C monitor RS 232C serial communication asynchronous 9 600 bps 3 8 Signal Specifications of CN2 Control I O Coe bef 2 nee 27 COM COM Dc24 Input Signal i 29 Dy Output Code Pin No Signal Name Function 31 DC24 ly 2 24 VDC external power supply External power supply for input signal fla foe SVON ceed SVST i itioni i RUN BUSY EMST 3 EEE eee Terminates positioning operation and the Motor a inel stops by the dynamic brake Mi a F35 12 PRGO 37 CHA ACLR 4 Alarm clear Clears warning pens is acha EGI ce j i i 15 40 OTP 5 Over travel limit direction i an goes INe the Motor servo is locked in the pence ar ckz CW direction PROS CHZ ee be T ERE If OTM goes activ
21. power consumption W 26 40 Rotor inertia kg m 0 018 0 080 Allowable range of inertia kg m 0 11 to 0 77 0 57 to 3 99 Mass kg 18 34 Senet eon ons E E E IRSOOT eauIvaInE Please consult with NSK in case of a simultaneous application of axial load radial load and moment load to a Motor 1 Under no radial load 2 Under no axial load 3 Positioning accuracy with brake released For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Conditions outside the allowable range of inertia about 400 times the rotor inertia may be applicable depending on operating conditions Contact NSK for details User s manual and technical data are available for brake holding accuracy operating time and frequency of use Contact NSK as necessary Note on compliance with UL Standards and CE Mark PN Series with Brake PN Series with brake does not comply with UL Standards or CE Mark EDC Driver Unit EDC Driver Units comply with UL Standards and CE Mark when used with a Standard PN Series Megatorque Motor without brake However they do not comply with UL Standards or CE Mark when used with a PN Series Megatorque Motor with a brake 2 3 3 Rotational Speed and Output Torque Characteristics PN3045 PN4135 E z Z aS SAS S o 290 amp 30 2 os Rated 2 45 Rated 45 0 Rotational speed s 71 Rotational speed s7 15 NSK 2 3 4 Motor Dimensions M PN3045KG001 6 M6x
22. the bottom Fixed from the top High rotational speed High rigidity Maximum iu oe 30 N m Small footprint Low motor height Motor height 102 mm Maximum output torque 45 N m Maximum output torque 40 N m Motor height 85 mm Motor height 100 mm models with brake are available Compact clean high accuracy hollow structure minimum maintenance Maximum output torque 15 N m l Motor height 85 mm Maximum output torque 18 N m a E i a i 1 1 Motor height 135 mm eee ees T PN Z Maximum output torque 12 N m I aJ j a lb a i Maximum output torque 12 N m O f i Ch Motor height 110 mm Motor height 35 mm Inner rotor type For high speed positioning of medium light loads For positioning of heavy loads Amr 1 Outer rotor 1 Inner rotor 2 Small diameter 3 Fixed from the bottom 2 Low profile 3 Fixed from the top Maximum output torque 6 N m Motor height 85 mm diameter NSK 2 A direct drive motor with advanced features only available from NSK With advanced features including high torque high resolution maximum rotational speed of 10 s71 PS Series high rigidity and compactness the Megatorque Motor complies with CE mark PS PN Series UL standards PS PN Series and the EU RoHS directive These innovative direct drive motors are extremely accurate light weight and boost the productivity of various dev
23. torque using the following equations Equations T Torque at accelerating N m Allowable Internal Jm Load moment of inertia 0 05 kg m torque N m N m y Safety coefficient 1 4 J Rotor moment of inertia 0 12 kg m HSIN ONO Us ue M PNZ4130KNO01 45 15 Required torque at accelerating decelerating T Jm J x 0 05 0 12 x 27 x 25 26 7 N m M PNZ4175KN001 60 15 Therefore the candidate selection is a motor with a maximum output torque of 37 4 N m obtained by multiplying required torque by a safety factor of 1 4 or larger The PNZ3 Model or PNZ4 Model can be selected Note Since the moment of inertia of the rotor of the motor varies depending on the motor the required torque needs to be recalculated for each motor e The effective torque required for the actual operational pattern in use see following diagram needs to be examined Also determine whether the PNZ4130 meets the operational conditions At accelerating decelerating time 0 1 s t settling time 0 04 s ta dwell time 0 06 s t constant speed time 0 s t4 cycle time 2 x At t t3 ts 0 3 s T T x At T T x At T x ts t4 Effective torque 25 0 N m Rotational energy 1 2 x Jm Jr x 27N 1 2 x 0 05 0 12 x 27 x 2 5 21 0 J An effective torque of 32 5 N m is determined by multiplying the equation above by a temperature coefficient of 1 3 which is l
24. 0 equal pitch Rotor Rotating part Material Cast iron amp Surface treatment Electroless nickel plating Rotating part 286 320h8 5 088 198 2 Motor connector H Protective cap Resolver connector_ 9 r Protective cap Fixed part Material Cast iron Surface treatment Low temperature chrome plating y M5 Tap for purging air plug included with shipment Air purge pressure 0 01t00 02 MPa M PNZ4175KN001 6 9 Drill Thru 6 M8x1 25 depth13 PCD300 60 equal pitch PCD152 60 equal pitch Rotating part Rotating part fa AS a Q p 286 Rotor Rotating part Material Cast iron Surface treatment Electroless nickel plating 198 Resolver connector Sm Motor connector Fixed part i a Protective cap Material Cast iron l Eioteetive cap j j 66 5 Surface treatment M5 Tap for purging air Low temperature chrome plating plug included with shipment 38 5 Air purge pressure 0 01t00 02 MPa 1 Do not install in the upside down position as liquid will drop to the bottom of the rotating part 2 Maintain the required space about 30 mm around the connector part of the motor resolver for fitting Be sure to install the protective cap supplied with Motor when the cable set is not connected such as during maint
25. 0 9 500 Allowable radial load N 300 4 500 9 500 Allowable moment load N m 20 80 160 200 Rotor inertia kg m 0 0024 0 011 0 057 0 065 Allowable range of inertia kg m 0 02 to 0 24 0 11 to 0 77 0 57 to 3 99 0 65 to 4 55 Mass kg on 13 26 31 EAUonmentalrcoaditions Ambient temperature 0 to 40 C humidity 20 to 80 use indoors free from dust condensation and corrosive gas IP30 or equivalent Please consult with NSK in case of a simultaneous application of axial load radial load and moment load to a Motor 1 Under no radial load 2 Under no axial load For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Note 1 Cable length for PN2012 is up to 8 m Conditions outside the allowable range of inertia about 700 times the rotor s inertia may be applicable depending on operating conditions Contact NSK for details 2 2 3 Rotational Speed and Output Torque Characteristics PN2012 PN3045 T E as 2 aie T orp 2 a Rated 2 10 di Eo 5 M d 1 2 3 25 1 2 3 Rotational speed s Rotational speed s7 PN4135 PN4180 T T Z 135 2 3 3 S 75 le 5 Rated 5 60 ii E z O 0 0 Rotational speed s Rotational speed s 13 NSK 2 2 4 Motor Dimensions M PN2012KN201 2 3H7 0 depth4 5 CO 5 6 M5x0 8 depth7 1 145 PCD120 60 equal pitch 35 0 4 Mot
26. 01 M EDC PN4135AB502 2 k 200 to 230 M C WCP14 Pulse train input Flexible cable 286 angle connector Photocoupler M PNZ4175KN001 M EDC PN4180AB502 200 to 230 g resi xx indicates M EDC PN3045ABC02 X 200 to 230 cable length 220 M PNZ3040KNO01 M EDC PN3045CBC02 3k 100 to 115 a m m 006 6 w CC Link function 286 M PNZ4130KN001 M EDC PN4135ABC02 x 200 to 230 008 8 m 256 program 010 10 m channels 015 15 m 286 M PNZ4175KN001 M EDC PN4180ABC02 x 200 to 230 020 20 m 030 30 m 9 5 Options Item Reference number Contents M E014DCFS1 001 CN2 connector user side for standard function M E014DCFS1 006 CN2 connector user side for CC Link function Connector Mounting bracket M E014DCFS1 002 CN5 connector user side M E014DCFS1 003 M E050DCKA1 001 CN6 connector user side Driver Unit mounting brackets Manual M EO099DC0C2 155 User s Manual Japanese version M E099DC0C2 158 User s Manual English version M EO099DC0C2 156 CC Link option instruction manual Japanese version M EO99DC0C2 157 CC Link option instruction manual English version Optional regeneration resistor Accessory set M E014DCKR1 100 Optional regeneration resistor 7 W M E014DCKR1 101 M E014DCFS1 004 Optional regeneration resistor 120 W Set of M EO14DCFS1 001 M E014DCFS1 002 and M EOQ50DCKA1 001 RS 232C Communication Cabl
27. 1 WAGO or equivalent PS3060 Motor PS3090 Motor 3 CN6 connector user side PN3045 Motor PN4135 Motor PN4180 Motor Connector MSTB 5 5 STF 5 O8AU Phoenix contact or equivalent PNZ3040 Motor PNZ4130 Motor PNZ4175 Motor 4 Mounting bracket 5 User s Manual English version Mass 1 8 kg 6 User s Manual for CC Link English version 140 Mounting bracket CN3 Position sensor CN5 Control main CNI Ta power RS 232C 2 2 S Name plate Lapal amp Cc BER D e CN4 CN2 8 Motor optional Control I O ae O regeneration S 5S resistor a D Ground terminal i M4 21 NSK NSK 22 3 EDC Driver Units 3 General Specifications of EDC Driver Unit Item Input power Motor model Rated capacity VA Maximum capacity VA Control power source Main power PS1006 PS1012 PS1018 PS3015 PS3030 PS3060 PS3090 PN2012 PN3045 PN4135 PN4180 300 400 500 500 800 400 600 100 500 900 1100 1 000 1500 2000 2300 2900 5000 5500 2100 4400 5000 5100 Single phase 100 to 115 VAC single phase 200 to 230 VAC 50 60 Hz Single phase 200 to 230 VAC 50 60 Hz Voltage fluctuation 10 or less Voltage fluctuation 10 or less Resolution of position sensor count revolution 2 621 440 Positioning operation mode Program operation up to 256 Program channels Position comman
28. 1 0 depth8 PCD145 60 equal pitch 97 0 4 Max51 Z 0 050 Rotating part 1 182 2 6H7 3 depth8 12 Area of 6155h8 CO 5 160 0 2 Brake surfaces 3 5 I inact T 8 2 al a YS s A co o T 3 te ee A S 6 ie N L Rotor Rotating part y Material Steel Surface treatment 4 10 Drill Thru Z 0 050 Low temperature chrome plating l Pre y 1 55 47 Fixed part 14 Material Cast iron Surface treatment Resolver connector Low temperature chrome plating Motor connector Lead Lead AWG18 Outer dia 1 9 AWG18 Outer dia 1 9 Black or green blue Red or green red 6 M8x 1 25 depth12 PCD180 60 equal pitch 111 0 4 Maxs8 1 235 Z Loosa 268H7 3 depths 16 Area of 205h8 32 CO 5 Atao Brake surfaces 3 5 K i oc ST G _ o8 32 N E es SS Se ee i Nl S y as A 8 On P n 3 Rotor Rotating part S y Material Steel 9 Surface treatment tat rt Low temperature chrome plating H 7 Rotating pa Fixed part Rotat rt aos Material Cast iron 47 18 Surface treatment Low temperature chrome plating Resolver connector Lead
29. 2 343 NSK ASIA PACIFIC TECHNOLOGY CENTER THAILAND CO LTD Chonburi tel 038 454 631 Vietnam NSK VIETNAM CO LTD Hanoi tel 04 3955 0159 NSK REPRESENTATIVE OFFICE Ho Chi Minh City Europe NSK EUROPE LTD EUROPEAN HEADQUARTERS Maidenhead tel 01628 509 800 France NSK FRANCE S A S Paris Germany NSK DEUTSCHLAND GMBH D sseldorf tel 08 3822 7907 tel 01 30 57 39 39 tel 02102 4810 Italy NSK ITALIA S P A Milano tel 0299 5191 Poland NSK EUROPE LTD WARSAW LIAISON OFFICE Warsaw tel 022 645 1525 NSK STEERING SYSTEMS EUROPE POLSKA SP Z O O Walbrzych tel 074 664 4101 NSK NEEDLE BEARING POLAND SP Z O O Kielce tel 041 345 2469 NSK POLSKA SP Z O O Kielce tel 041 347 5110 Spain NSK SPAIN S A Barcelona tel 093 433 5775 Turkey NSK RULMANLARI ORTA DOGU TIC LTD STI Istanbul tel 0216 355 0398 United Kingdom NSK EUROPEAN TECHNOLOGY CENTRE Newark tel 01636 605 123 NSK UK Ltd Newark tel 01636 605 123 North and South America NSK AMERICAS INC AMERICAN HEADQUARTERS Ann Arbor tel 734 913 7500 Argentina NSK ARGENTINA SRL Buenos Aires Brazil NSK BRASIL LTDA San Paulo Canada NSK CANADA INC Toronto tel 905 890 0740 Mexico NSK RODAMIENTOS MEXICANA S A DE C V Mexico City tel 55 3682 2900 United States of America NSK CORPORATION Ann Arbor tel 734 913 7500 NSK AMERICAN TECHNOLOGY CENTER Ann Arbor tel 734 913 7500 NSK PRECISION AMERICA INC Franklin tel 317
30. AWG18 Outer dia 1 9 Lead AWG18 Outer dia 61 9 Motor connector 1 For the dimensions marked 1 extra 3 mm margin is required due to their variations 2 2 indicates the minimum lead bend distance When bending the lead maintain a greater distance than specified regardless of bend direction The bend radius of leads should be at least R15 mm 3 Be sure to keep iron powders or oil away from brake surfaces 4 Iron materials near a brake may interrupt operation therefore allow for at least 15 mm clearance around the brake during installation NSK 16 2 Motor Specificatio 2 4 Z Series with High Environmental Resistance 2 4 1 Reference Number Coding of Motor Example of Reference Number Megatorque Motor PNZ Series Design serial number 001 Standard Motor size code Maximum output torque N m KN Standard 2 4 2 Specifications Seren Reference number M PNZ3040KN001 M PNZ4130KNO01 M PNZ4175KNO01 Motor outer diameter mm without flange 220 286 Maximum output torque N m 40 130 175 Rated output torque N m 5 30 45 Motor height mm 100 120 137 Motor hollow diameter mm p44 037 p37 Maximum rotational speed s71 3 Rated rotational speed s7 1 Resolution of position sensor count revolution 2 621 440 Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C Repea
31. MOTION amp CONTROL MEGATORQUE MOTOR PS Series Complies with UL Standards and CE Mark PN Series Complies with UL Standards and CE Mark PN Series with Brake Z Series with High Environmental Resistance Dust tight Watertight Diverse selection of high performance motors with full consideration for safety and the environment ESE The Megatorq upon NSK s combine naths w in manufacturing bearings sensors and n notors PN4 Motor PNZ4 Motor SONOS Outer rotor type Maximum output torque 180 N m Maximum output torque 175 N m Motor height 112 mm Motor height 137 mm i The NSK Megatorque Motor s reliability effectively demonstrates NSK s full manufacturing and design capabilities Complete aftercare support is available through our many offices worldwide The Megatorque Motor boosts productivity and achieves high performance compliance with the latest safety standards PN4 Motor PNZ4 Motor PS3 Motor Le A 100 N m Maximum output torque 90 N m d Motor height 170 mm Maximum output torque 135 N m Maximum output torque 130 N m Motor height 95 mm Motor height 120 mm models with brake are available Comparison of major features Maximum output torque 60 N m PS Series PN Z Series a J Motor height 136 mm 50 N m Outer rotor Inner rotor Small diameter Low profile PN3 Motor PNZ3 Motor Fixed from
32. Megatorque Motor PS Series 002 Standard 003 High precision products made to order N 3 Motor size code 701 Highly accurate upper surface runout made to order g A F 17 8 z Motor connector iB AMP 1 179552 4 Maximum output torque N m KN Standard all a E Rotor Rotating part 9 RA LJ 12 7 M ial Alumini iL e T 2 1 6 Specifications as 1 SoH AEROS T Min4 Fixed part 10 l Area of 678h8 Material Steel R f b 2 66H7 212 depths ale ictal R r ererence number o ow temperature chrome plating M PS3015KN002 M PS3030KN002 M PS3060KN002 M PS3090KN002 ee 8520 4 300 20 Functional item L Motor outer diameter mm 150 M PS38030KNO002 Rotating part _ 0 050 Maximum output torque N m 15 30 60 90 6 M6x 1 0 depth9 A J 6 M6x 1 0 depth9 2 b6H7 992 depth9 PCD139 60 equal pitch 05 PCD69 60 equal pitch C0 5 Rated output torque N m 5 10 20 30 er Ta Raver connector Motor height mm 85 102 136 170 T a ee Motor hollow diameter mm p56 _ 3 Maximum rotational speed s71 10 8 5 of gle a re az 2 gt 2 F M Rated rotational speed s7 5 1 aA S AMP 1 179550 4 aci Resolution of position sensor count revolution 2 621 440 lt 3 s Nea Absolute positioning accuracy arc sec N te 1 90 Interchangeable type at ambient temperature of 25 5 C pee eee S E E ang Material Aluminium yo f k Repeatability arc sec 2 Surface treatment None Min5 Fixed part 10 Area of 78
33. Reference Number M C SCP03 Stationary cable M C xxx SCP13 Flexible cable xxx indicates cable length 001 1 m 002 2 m 003 3 m 004 4 m 005 5 m 006 6 m 008 8 m 010 10 m 015 15 m 020 20 m 030 30 m Main Specifications 256 program channels Pulse train input Photocoupler CC Link function 256 program channels Motor Outer Reference Number EDC Driver Unit Reference Number Cable Reference Pere Diameter Coding of Motor k indicates accessories specification Power Voltage VAC Number Main Specifications M EDC PN3045AB502 k gt 200 to 230 256 program M EDC PN3045CB502 k k 100 to 115 oat Pulse train input 280 M PN4135KGO001 M EDC PN4135AB502 200 to 230 Photocoupler Refer to 9 1 M EDC PN3045ABC02 x 200 to 230 210 M PN3045KG001 M EDC PN3045ABC02 k CC Link function M EDC PN3045CBC02 k 100 to 115 256 program 220 M PN4135KG001 M EDC PN4135ABC02 k3k 200 to 230 channels 9 4 Z Series with High Environmental Resistance and EDC Driver Unit Combinations Motor Outer Reference Number EDC Driver Unit Reference Number Cable Reference Sees aa Diameter Coding of Motor indicates accessories specification Bont Helles MG Number Main Specifications M EDC PN3045AB502 k k 200 to 230 M C re WCP13 220 M PNZ3040KN001 Flexible cable 256 program M EDC PN3045CB502 k gt 100 to 115 straight connector channels M PNZ4130KNO
34. Stud bolt Megatorque a ate ALZZZ2 is TT EPIL LI Motor is not Ken ope Motor is not a Ken ope on the base a on the base TILES LI L VLLLLLLLL L IILMALDIA Base Base 35 NSK 8 2 Dummy Inertia For the full use of the benefits of the direct drive motor system it is essential to maximize the resonance frequency of the whole mechanism by increasing the rigidity of the load as well as securely fastening the Motor to a highly rigid mechanical system Therefore adding some dummy load to the rotor directly may help in the following cases A A key is used to fix the load to the rotor because the load cannot be directly attached to the rotor B The load is directly fixed to the rotor However vibration occurs due to torsional deflection on the rotary axis of the load C Inertia of the whole mechanism is very low when a thin shaft such as a ball screw shaft is attached D There exists play because a sprocket chain or a gear train is used E Vibration occurs because the rigidity of the structure is low such as when the Motor is being used for driving a belt e Inertia of a dummy load shall be approximately 20 of the load inertia When a speed reducer mechanism is used it shall be GD2 r2 x GD2 lt 5 Mounting dummy inertia Dummy inertia Where GD inertia of indirectly connected load GD inertia of directly attached load and r reduction ratio 8 3 Installation of Driver Unit e The EDC
35. a J When the Megatorque Motor System is used the size of the moment of inertia of the load mounted to the Motor rotor will significantly affect the acceleration deceleration characteristics Thus calculation of the moment of inertia of the load J is required 2 Axial load radial load and moment load Calculate the load on the Motor The relationship between external force and load is represented in the following three patterns Ensure the axial load radial load and the moment load are set within the allowable axial radial and moment loads e LCD screen 20 letters x 4 lines no external power Refer to 2 Motor Specifications in this catalog for allowable loads source required cable length 3 m Position of Motor bearings Conventional model M FHT11 is also supported by the igi EDC Driver Unit E E 5 4 RS 232C Communication Cable Communication cable between EDC Driver Unit and PC A M C003RS03 optional When F is an external force 2 When F is an external force 3 When F is an external force 3 000 Axial load F F total weight of jigs and works Axial load F F total weight of jigs and works Radial load F F total weight of jigs and works Moment load M 0 Moment load M F x L Moment load M F total weight of jigs and works x L A Motor model PNZ4 Shell DE C1 J6 JAE equivalent Shell DE C1 J6 JAE equivalent 38 Connector DE 9SF N JAE equivalent Connector DE 9PF N JAE
36. agram for the relevant positioning angle An appropriate calculation is required No calculation however is effective for very small angles Settling time of 0 001 s has been included Add more settling time when higher repeatability is required Example Motor PN4180 Required repeatability arc sec Settling time s Moment of inertia 3 0 kg m i 2 to 10 0 1 Index angle 45 _ ee 10 to 100 0 04 Minimum positioning time of 0 3 s is determined according to the line in the following diagram 100 and above 0 001 PS1006 Index angle PS1012 Index angle PS1018 Index angle 1 0 8 0 7 0 9 bad m 0 8 0 7 06 2 0 5 2 2 0 4 E E 0 3 2 2 3 0 2 8 3 a 0 1 s o 0 0 0 0 00 0 05 0 10 0 15 0 20 0 25 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 0 00 0 05 0 10 0 15 0 20 0 25 0 30 0 35 0 40 0 45 Load moment of inertia kg m Load moment of inertia kg m Load moment of inertia kg m7 PS3015 Index angle PS3030 Index angle PS3060 Index angle 1 4 1 0 0 8 180 z a 0 9 z 0 7 0 7 ae 90 06 SOLS 2 0 5 2 0 4 45 5 6 0 4 5 0 3 30 z oe p 02 15 fo o 0 2 Os a a 01 a 0 1 Ez 0 0 0 0 0 0 2 0 4 0 6 0 8 1 0 i2 0 0 02 04 06 08 10 1 2 1 4 1 6 0 0 0 2 0 4 0 6 0 8 1 0 1 2 1 4 1 6 1 8 2 0 Load moment of inertia kg m Load moment of inertia kg m Load moment of inertia kg m PS3090 Index angle PN2012 Index angle PN3045 Index angle 0 8 0 7 0 6 o o o o oO oO D D D amp amp amp
37. ance complies with IP66M under IEC standards certified by TUV Rheinland Japan Ltd one ga a aa 90 x 140 x 190 IP6X Dust tight test IPX6M Powerful jet test Reference page Motor 15 16 Driver unit 19 24 The Z Series was certified with an IP rating after compliance testing under the following two standards e IEC 60529 Degrees of protection provided by enclosures for electrical equipment IP code Shortened positioning time Compact driver unit e IEC 60034 5 Rotating electrical machines Part 5 f a Ai 3 i F The first characteristic numeral of the IP code stands for the degree of protection against ingress of solid foreign objects such as dust with 6 IP6X indicating completely a Flat with high rigidity Negative actuation type holding brake without dust tight Interchangeable highly accurate absolute backlash The second characteristic numeral of the IP code represents the degree of protection against ingress of water waterproofness with 6 IPX6 indicating protection from high position sensor pressure 1002 min water from any angle A final M indicates the watertight test was conducted with a motor rotating 7 NSK NSK 8 2 Motor Specifications CE 2 1 PS Series 2 1 1 Reference Number Coding of Motor 2 1 4 Motor Dimensions M PS1006KN002 Example of Reference Number i 6 M4x0 7depth 7 Megatorque Motor PS Series Design serial num
38. ber PCD92 60 equal pitch Z 0 050 6 M4x0 7 depth 6 PCD45 60 pitch 002 Standard Posies 60 equal pitch Motor size code 003 High precision products made to order N D O C A Resolver connector I AMP 178964 5 Maximum output torque N m KN Standard 2 8 g tans Strasse 2 1 2 Specifications E ae E S M PS1006KN002 M PS1012KN002 M PS1018KN002 ls Motor outer diameter mm 100 Mater luminm area of 6528 ee Maximum output torque N m 6 12 18 30020 E a Rated output torque N m 2 4 6 Motor height mm 85 110 135 Motor hollow diameter mm p35 Maximum rotational speed s71 10 M PS1012KN002 Rated rotational speed s71 5 Resolution of position sensor count revolution 2 621 440 Absolute positioning accuracy arc sec 1 90 Interchangeable type at ambient temperature of 25 5 C seein a E Repeatability arc sec 2 Er A PCD45 60 equal pitch Allowable axial load N 1 000 a eee Allowable radial load N 2 820 Aur ieee Allowable moment load N m 28 2 Rotor inertia kg m 0 0024 0 0031 0 0038 3 S E d Allowable range of inertia kg m 0 015 to 0 24 0 03 to 0 31 0 03 to 0 38 A Mass
39. cable lead and the resolver cable lead should be R30 mm or more Do not use the leads of the motor cable and the resolver cable with flexing motion PN Series PS Series PN Series with Brake Z Series with High Environmental Resistance Table fixing bolt Table fixing bolt Table Table Counterbore depth from the base top mm Motor fixing bolt PS1006 PS1012 Max 5 0 PS1018 Max 6 0 PS3015 Max 4 0 Flatness of Megatorque Flatness of mounting surface Motor mounting surface 0 02 mm or less 0 02 mm or less PS3030 Max 5 0 N PS3060 Max 5 0 L L L DG LL ALLLL LLL Tete PS3090 Max 6 0 Base Motor fixing bolt Base Lead through hole of PS Series Example When inserting the PS Series connector through the bottom Motor fixing hole 2 of the base making a larger hole than is shown in this figure is recommended Megatorque Motor Note If the motor is installed as indicated in the figure below mechanical vibrations will be generated and the velocity loop proportional gain VG cannot be increased It will occur overshoot and the motor can not operate smoothly e Attach the load directly to the motor rotor e Mount the motor directly to the base PN Series PS Series PN Series with Brake Z Series with High Environmental Resistance Load Load is not E clas mounted on E clas Motor rotor Load Load is not directly mounted Doo on the Motor rotor Oi Megatorque Motor
40. ds and parameter settings are programmable Pulse train command RS 232C serial communication command Jogging Home Return Input signal Pulse train command Control input Photocoupler input Maximum frequency 1 MHz Input format CW CCW Pulse and direction or A B Resolution changer for universal multiplication is available 1 000 to 5 242 880 count revolution Opto coupler input common 17 input ports Input voltage 24 VDC Emergency stop Alarm clear Over travel limit direction Over travel limit direction Servo on Program operation start Stop Internal program channel switching 0 7 bit Jog Jog direction Hold Velocity integration OFF Home Return start and Home position limit Output signal Alarms Monitors Position feedback signal Control output Communication Signal format 6A PB Z line driver Universal resolution setting to A B is available Resolution of A B Shipping set 20 480 count revolution Quadrupled 81 920 Maximum 1 310 720 count revolution Quadrupled 5 242 880 As the maximum frequency is 781 KHz the resolution setting limits the maximum velocity Photocoupler output common 8 outputs Max switching capacity 24 VDC 50 mA Driver Unit ready Warning Over travel limit detection direction Servo state Busy In position Target proximity A Target proximity B Zone A B C Travel limit Normal Position error under over Velocity under
41. e Emergency stop signal The signal polarity is variable 2 Output signal e Select up to 7 output signals out of the 23 output signals listed above and then assign them to Pin No 29 to 35 In addition to the Output signals listed above you may select any of the following signals Target proximity B Zone A B C Over travel limit direction Normal Position error under over Velocity under over Torque command under over Thermal loading under over Home return completed and Home position defined e The output Driver Unit ready set to Pin No 28 can only be replaced with the output signal Normal Signal polarity cannot be changed NSK 24 4 Cable Set _ 4 1 Cable Set Reference Number Cable Set Reference Number for PS PN Series and PN Series with Brake Example of Reference Number 03 Stationary cable Cable set for Megatorque Motor 13 Flexible cable Cable length Example 004 4m SCP PS PN Series and PN Series with brake Refer to 9 Motor and EDC Driver Unit Combinations for correct length Cable length has to be less than 8 m for combinations with PN2012 and high precision products in PS series Cable Set Reference Number for Z Series with High Environmental Resistance Example of Reference Number 13 Flexible cable straight connector Cable set for Megatorque Motor 14 Flexible cable angle connector Cable length Example 004 4m WCP
42. e M CO03RS03 Communication cable between PC and EDC driver unit Cable length 3 m Motor Outer Reference Number EDC Driver Unit Reference Number Cable Reference Pe gen Diameter Coding of Motor indicates accessories specification BE IO IYAC Number Main Specifications M EDC PN2012AB502 k 200 to 230 170 M PN2012KN201 M EDC PN2012CB502 k 100 to 115 PS OAN M EDC PN3045AB502 k k 200 to 230 channels D210 M PN3045KNO01 M EDC PN3045CB502 k gt k 100 to 115 Pulse train input M PN4135KN001 M EDC PN4135AB502 ksk 200 to 230 a Photocoupler 280 efer to 9 1 M PN4180KN001 M EDC PN4180AB502 gt k 200 to 230 Maximum cable M EDC PN2012ABC02 2k gt k 200 to 230 length for PN2012 2170 M PN2012KN201 is 8 m M EDC PN2012CBC02 2k gt k 100 to 115 CC Link M EDC PN3045ABC02 kk 200 to 230 function 6210 M PN3045KNO01 M EDC PN3045CBC02 2k gt k 100 to 115 256 program M PN4135KN001 M EDC PN4135ABC02 k k 200 to 230 channels 280 M PN4180KN001 M EDC PN4180ABC02 3 200 to 230 Cable with CN2 connector Handy Terminal M E011DCCN1 001 M FHT21 Cable with CN2 connector for CC Link function Cable length 3 m RS 232C interface terminal for inputting parameter program into EDC driver unit Cable length 3 m 37 NSK NSK 38 tt 10 EDC Megaterm Application Software Once installed on your computer this software enables the editing preparation and control of EDC Driver Unit p
43. e the Motor servo is locked in the Be OTM 6 Over travel limit direction 20 JOG l CCW direction n a E SVON 7 SEGN If SVON goes active the servo turns on and the w system waits for a command to be entered CCWP Pin out RUN 8 Start program Pape operation specified by the PRG STP Stop Stops positioning operation and execution of the program Do not connect Te PRGO Internal program channel selection 0 signa PRG1 Internal program channel selection 1 PRG2 Internal program channel selection 2 PRG3 Internal program channel selection 3 For a program positioning operation A combination of ON and OFF of PRGO to PRG4 Internal program channel selection 4 PRG7 inputs specifies channel 0 to 255 to be executed PRG5 Internal program channel selection 5 PRG6 Internal program channel selection 6 PRG7 Internal program channel selection 7 If JOG goes active the Motor rotates If it goes inactive the Motor decelerates JOG Jogging F and stops DIR Jogging direction Specifies the direction of jogging Do not connect CWP CW pulse train l l nas Pulse train command rotates the Motor in the CW direction CWP CW pulse train CCWP CCW pulse train Pulse train command rotates the Motor in the CCW direction Automatic tuning Function set to Input output ports available Others Temporal parameter setting by program is available Individual acceleration deceleratio
44. e station numbers and the baud rate can be set by switches on the Driver Unit s front panel e Monitoring communication status by LED and terminating resistor can be switched on off e The EDC Driver Units are fully compatible with CC Link Ver 1 10 5 1 2 I O Signal Specifications of CN2 CC Link Function Master station MEGATO ate E MOTOR NSK Product Input Signal Pin Output Code No Cable Color Signal Name Function DC24 1 Orange with red dots 24 VDC external power supply External power supply for input signal 1 6 2 Do not connect OTM EMST Seay IEE SCENE EE Terminates positioning operation and the Motor stops by the Input dynamic brake signal ACLR 4 Grey with black dots Clear warning FARD OTP 5 White with red dots Over travel limit direction If OTP goes active the Motor servo is locked in the CW direction orp EN OTM 6 White with black dots Over travel limit direction If OTM goes active the Motor servo is locked in the CCW direction 7 Do not connect Pin out Bra amp aoei cts aver a Reports that the Motor is ready to rotate pins are open when the Motor is not ready or when an alarm occurs Output signal 9 Do not connect COM 10 Pink with black dots Output signal common Common for output signal Specifications of Driver Units except CN2 are the same as standard products refer to page 24 Cable with CN2 co
45. ection OLoad conditions Schematic drawing an attached illustration showing outside dimensions is acceptable 1 Geometry dimensions thickness e Please provide information on outside dimensions dimensions from the center material etc material or mass of table 2 Dimensions mass quantity of loads D300 Jigs 3 PCD distance between the jigs 2250 9 loads example of description Z Omm Example a A Material Aluminum e Jig Mass of 5 kg x 4 PCD 250 mm e External force None Attachment Yes No _ None L Always MAt settling _ During rotating _ Some impact _ Rotational direction _ Sliding friction 4 External force pressure impact load sliding friction etc Force is applied downward to a single point at 125 mm in radius from the center Specify position direction etc in the schematic drawing Motor size requested M PS3060 Positioning command system M Internal program system Pulse train input operation C RS 232C operation C CC Link Olndex angle Number of points Settle at 90 Number of points 4 ORepeatability 20 6 seconds 0 01 mm at 100 mm from the motor center Rotational speed s 1 OCycle pattern desired positioning time Specify settling time Operating time Index time Settling time i seconds Olnput power voltage 1100 to 115 VAC M200 to 230 VAC Others VAC Operating environment M General environment equivalent to
46. enance or inspection 3 Carefully place and secure the cable set so that bending stress does not occur on the watertight bushing of the cable set to be fitted 4 The air used for air purging should be dry and at a specified pressure which can be controlled by connecting a regulator filter etc NSK 18 a 3 EDC Driver Unit 3 1 Features of EDC Driver Unit e Adopts new servo algorithm achieves settling time of 1 ms The EDC Driver Unit adopts an original disturbance observer and preview based feed forward control which significantly reduces the positioning time especially the settling time approaching time e Positioning controller function Positioning operation can be controlled without complicated communication or upper controller e Compact Driver Unit Combined with special electric components and advanced integration technology the Driver Unit body is 65 smaller than conventional NSK units e Variety of control I Os Control input output required for positioning is available including an encoder output servo control and program control no additional sensor is required to monitor the status 3 2 Components and functions of EDC Driver Unit Rear mounting hole Optional mounting bracket available for A Lele LNG front mounting Driver Unit status can be recognized at a glance Analog monitor output terminal Independent inputs of main power and control power Speed positioning error torque motor current e
47. ent Please take measures protecting from rust on your own as needed basis NSK implemented neutral salt spray test for our surface treatment Please contact NSK for details Sealing parts such as oil seals O rings and gaskets for connector parts are made of nitrile rubber NBR Compatibility with the specific liquid to be used must be confirmed in advance The operating temperature of the liquid should be 0 to 40 C Consult with NSK in advance to use the product in environments that it may be exposed to liquid dust or particulates The outer layer sheath of the cable set uses heat resistant PVC which is not resistant to all types of liquid or oil Consult with NSK in advance if you are concerned about a specific operating environment or liquids Oil seals O rings gaskets and cables are consumable parts Periodic inspection of sealing performance is strongly recommended to prevent motor failure or outage due to ingress of water NSK replaces components issues an overhaul evaluation report and conducts performance inspections excluding operations checking Charges apply Purge the air out of the oil seal section to ensure protection from ingress of water Though rust may occur on the motor outer surface it does not affect the motor performance Note on compliance with UL Standards and CE Mark Megatorque Motor Z Series with High Environmental Resistance Megatorque Motor Z Series with High Environmental Resistance does not c
48. eso 190 io TTS Cable set Resolver cable Brake power supply O ILI a ael Motor cable Programmable logic G controller PLC g Pulse train controller Control input signal Brake switching circuit NSK Product 3 4 Example of Brake Sequence Start of positioning ON RS 232C communication command or RUN input OFF N I 24 VDC power supply Brake power on Brake power off for brake OFF ON m FW IPOS output FW gt 0 OFF Unclamping timer Clamping timer Brake operation KIR i Xo Brake released A p i Brake applied l I Release l l l IOFF input ON i integralcontrolenabled imegral control disabled Integral control enabled integral control off OFF g Integral control disabled In position settling confirmation timer Motor operation eee ee ee Figure Brake sequence operation timing while motor is rotating For brake sequence details refer to the User s Manual NSK 20 S 3 EDC Driver Units 3 5 EDC Driver Unit Reference Number Example of Reference Number Used for No code Connectors fixing brackets and PS1006 Motor PS1012 Motor PS1018 Motor manual are not included PS3015 Motor PS3030 Motor EDC Driver Unit PS Series PN2 only PN2012 Motor 01 Connectors fixing brackets and Japanese manual are included 02 Connectors fixing brackets and English manual are included Motor model Power voltage A 200 230 VAC single phase
49. ess than the PNZ4130 s allowable effective torque of 45 N m Therefore the PNZ4130 sufficiently meets the operational conditions and no optional regeneration resistor is necessary e In case results do not meet allowable effective torque effective torque recalculation with revised conditions is required Rotational speed s71 At ty aaa At t At b ts Rotational speed waver 0 0 4 0 102 0 24 0 54 06 t t2 t3 A ts H level completed L level rotating Time s 33 NSK Positioning Time Diagrams The positioning time for Megatorque Motors is calculated in accordance with 6 3 Positioning time When dwell time is relatively longer than accelerating decelerating time dwell time gt accelerating decelerating time x 10 rough positioning time can be determined using the following positioning time diagrams These diagrams only apply under the following conditions 1 The motor is directly connected to the load without gear reducer belt or couplings and the rigidity of the load is sufficiently high natural frequency More than 100 Hz 2 No load torque is applied to the motor The following conditions require additional considerations a When the load s moment of inertia exceeds the allowable moment load and is off the diagram Operation is possible although much more time may be required than shown in the diagram since rotational speed and acceleration are limited b When there is no di
50. eter mm o170 210 Motor hollow diameter mm p36 o56 p50 Maximum rotational speed s71 2 3 3 Resolution of position sensor count revolution 2 621 440 Resolution of position sensor count revolution 2 621 440 Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C Driver unit model Dimensions W x D x H mm EDC Driver Unit 70 x 140 x 190 90 x 140 x 190 Driver unit model Dimensions W x D x H mm EDC Driver Unit 70 x 140 x 190 90 x 140 x 190 Reference page Motor 9 12 Driver unit 19 24 Reference page Motor 138 14 Driver unit 19 24 Features Shortened positioning time Compact motor Interchangeable highly accurate absolute position sensor Compact driver unit Complies with UL Standards and CE Mark Features Shortened positioning time Low profile and high rigidity motor Interchangeable highly accurate absolute position sensor Compact driver unit Complies with UL Standards and CE Mark 5 NSK NSK 6 1 Selection Guide PN Series with Brake Z Series with High Environmental Inner Rotor Type Resistance Inner Rotor Type Series PN Series with Brake Series Z
51. f use Intelligent Positioning controller function The EDC Driver Unii itioni troller function i ided i e river Unit s positioning controller function is provided as a is a standard feature standard feature In addition an electronic gear function is built in for setting the pulse train position command The EDC Megaterm software is used to collect edit and monitor data Full consideration for people and Compliant with UL Standards the environment CE mark EU RoHS Directive Compliance with international safety standards UL Standards CE mark UL C 4 RoHS assures worldwide applicability PS PN Series The Megatorque Motor is compliant environment friendly and complies with the EU RoHS Directive 3 NSK Resolutioniof built in jabsolute positionisensor million count revolution PS Series Maximum rotational speed SF ao roo roan Megatorque Motors in a variety of applications and installations Application 1 PS Series Application 2 PS Series Application 3 PS Series Inspection equipment for electronic parts Transport for DVD CD Inspection conveyor for medical devices e E A eC High speed and high accuracy Compact High speed and high accuracy Compact Clean Maintenance free Clean Hollow structure convenient for wiring tubing yz Clean Maintenance free Hollow structure convenient for wiring tubing Application 4 PN Series Application 5 PN Series Application 6 PN
52. h8 Material Steel Allowable axial load N 2 000 2 9987 2 depths Bulacan rere can 7 102 0 4 300 20 Allowable radial load N 1 700 ae Allowable moment load N m 42 M PS3S060KNO002 a x Z 0 050 Rotor inertia kg m 0 011 0 014 0 019 0 024 6 M6x 1 0 depth9 6 M6x 1 0 depth9 2 P6H7 3 depth9 PCD139 60 equal pitch Z 0 050 PCD69 60 equal pitch CO 5 Allowable range of inertia kg m Oto 1 1 Oto 1 4 0 12 to 1 9 0 12 to 2 4 eee y Resolver connector i AMP 178964 5 Mass kg 5 5 6 9 11 0 13 8 p Ambient temperature 0 to 40 C humidity 20 t indoor 8 Environmental conditions bient temperature 0 z OPC hu d y 20 to 80 ae doors free from dust condensation and corrosive gas IP30 or equivalent aba o Ta Please consult with NSK in case of a simultaneous application of axial load radial load and moment load to a Motor S 5 3 ae pubes A 1 Under no radial load 2 Under no axial load For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Note 1 Absolute positioning accuracy of high precision products made to order is 30 arc sec Interchangeable type at ambient temperature of 25 5 C x Cable length is up to 8 m Rotor Rotating part 4 esa Me 12 7 Conditions outside the allowable range of inertia may be applicable depending on operating conditions Contact NSK for details Ried ae RU ay a tes Fixed part 10 Area
53. hermal sensor leads lo UL1015 AWG16 Connect with 24 VDC input for cooling fan M E014DCKR1 101 Optional regeneration resistor Cooling fan Signal output for Fan condition m fan condition EDC pa g monitoring Driver Unit Optional regeneration resistor leads R 100 Q R Thermal SE sensor SES Thermal sensor leads NSK 28 5 Option Selection of Megatorq aei To select appropriate Megatorque Motors examine the following data 5 3 Handy Terminal ai a j 6 1 Loads on the Motor 1 Load moment of inertia 2 Axial load radial load and moment load 3 Holding torque required during halts 6 2 Runout Accuracy Example of Reference Number 6 3 Positioning Accuracy 6 4 Positioning Time Index Time 6 5 Selection of Optional Regeneration Resistor Handy Terminal Design number 6 6 Effective Torque Calculations Example 1 6 7 Effective Torque Calculations Example 2 for Z Series with High Environmental Resistance 6 1 Loads on the Motor 1 Load moment of inertia 2 Axial load radial load and moment load 3 Holding torque required during halts Handy Terminal FHT21 is an easy to handle RS 232C communication terminal for inputting parameters and programs to the EDC Driver Unit The device can also read and save upload driver unit parameters and channel programs and transmit download them to other driver units 1 Load moment of inerti
54. ices High resolution Resolution of position sensor The Megatorque Motor s absolute position sensor is capable of a high resolution of 2 621 440 count revolution and repeatability of 2 arc sec It requires no homing operations and facilitates the development of highly accurate devices count eon A Shortened positioning time Settling time A new servo algorithm shortens settling time to less than one fifth Less than of conventional NSK motors Shortened positioning time boosts the productivity of various devices Hi g h to rque Force density z The optimal magnetic field design gives it more than twice as much force More as density as conventional NSK motors A maximum of 50 increase in motor than W i C much torque increases productivity during high acceleration deceleration drives Compact motor Outer diameter NSK s advanced design technology has produced two unique motor 1 00 series the low profile PN Series height of PN2 35 mm and the light and mm compact PS Series outer diameter of PS1 6100 mm PS1 Extensive lineup The product lineup includes the PN Series with brake and the Z Series ele M with High Environmental Resistance dust tight watertight complian t High accuracy and interchangeability Absolute positioning accuracy Interchangeable Motors and Driver Units can be randomly matched Increased positioning accuracy of 90 arc sec and interchangeability 90 E improve ease o
55. le models which have been certified by TUV When Megatorque Motor PS PN Series is incorporated into machinery real world installation and or wiring conditions may differ from those of established models Therefore it is necessary to check for EMC command compliance especially radiation and conduction noise in the machinery incorporating the PS PN Series Motors Compliance with UL Standards PS PN Series only e Motor UL Recognized Component Compliant with UL1004 1 File No E216970 e Driver Unit Compliant with UL508C File No E216221 e Cable set UL compliant cables are used Warranty Period e The warranty period is either one year from delivery or 2 400 hours of operation whichever comes first Limited Warranty e The warranty is limited to the products supplied by NSK Ltd e The defective products will be repaired free of charge within the applicable warranty period e Repairs after the expiration of the applicable warranty period will be subject to payment Immunities e The product is not warranted in one of the following cases even within the warranty period e Failure of the unit due to installation and operation not in accordance with the instruction manual specified by the supplier e Failure of the unit due to improper handling and use modification and careless handling by the user e Failure of the unit due to the causes other than those attributable to the supplier e Failure of the unit due to modification or repai
56. n setting Acceleration profiling Option Field bus CC Link Environmental Operating Storing temperatures 0 to 50 C for operating 20 to 70 C for storing Operating Storing humidity 90 or less no condensation conditions Vibration resistance 4 9 m s7 or less Internal Regenerative energy absorption Optional regeneration resistor functions Dynamic brake Functions at power off servo off and in the occurrence of an alarm UL UL508C Compatible safety LVD EN50178 regulation CE EMC _ EMI EN55011 EMS EN61000 6 2 RS 232C CN1 D sub 9 pins Standard Half pitch connector 50 pins cenre ie oe CC Link Half pitch connector 10 pins Position sensor CN3 Half pitch connector 14 pins Connector Motor CN4 Plastic connector UL and CE compatible Optional regeneration resistor Main control power source CN5 Plastic connector UL and CE compatible CC Link option CN6 Connector MSTB2 5 5 STF 5 08 AU Phoenix contact 23 NSK CCWP CCW pulse train COM Output signal common Common for output signal PAD a e bpon ane Gee ete a or an alarm occurs WRN 29 Warning Warns of abnormality in the System OTPA 30 Over travel limit direction detected Reports the output of over travel limit Software and hardware in the plus direction OTMA Over travel limit direction detected Reports the output of over travel limit software and hardware in the minus direction
57. nnector optional Reference number M E011DCCN1 001 L 3 000 100 mm DHF PDA10 3 A01 FA DDK or equivalent UL20276 5P x 28AWG or equivalent Driver Unit side NSK 26 5 Option 5 1 3 Dimensions of EDC Driver Unit CC Link Function Used for PS1006 Motor PS1012 Motor PS1018 Motor PS3015 Motor PS3030 Motor 190 180 Front mounting pitch PS3060 Motor PS3090 Motor PN3045 PNZ3040 Motor PNZ4030 Motor PNZ4175 Motor 9 PN2012 Motor 85 Mounting bracket Z CN3 Position sensor CN5 Control main power CN1 Label o CN4 Control I O Motor optional SW4 regeneration resistor Terminating resistor switch Grounding terminal CN6 M4 CC Link SW3 Transmission rate setting switch 4 Sw2 l Station number setting switch f Swi i Station number setting switch 30 2 M3 Tap depth 5 Arrangement is the same on back Used for 35 Motor PN4135 Motor PN4180 Motor Mounting bracket 140 CN3 CN5 Position sensor Control main power CN1 RS 232C 190 180 Front mounting pitch Label Label CN2 CN4 Control I O Motor optional SW4 regeneration resistor Terminating resistor switch all 27 NSK G
58. omply with UL Standards or CE Mark EDC Driver Unit EDC Driver Units comply with UL Standards and CE Mark when used with a standard PN Series Megatorque Motor However they do not comply with UL Standards or CE Mark when used with a Megatorque Motor Z Series with High Environmental Resistance 17 NSK PNZ3040 PNZ4130 PNZ4175 45 200 2460 _ 175 35 E z a z 150 A 125 S 20 Allowable Allowable g 100 F Allowable effective torque effective torque 75 effective torque a 15 2 5 40 5 50 O O 5 Rated 25 0 0 0 1 2 3 0 05 1 15 2 25 3 35 Rotational speed s Rotational speed s71 Rotational speed s Please refer to 6 7 Effective Torque Calculations to calculate allowable effective torque during positioning operation 2 4 4 Dimensions M PNZ3040KNO01 6 7 Drill Thru PCD234 60 equal pitch 100 0 4 6 M6x1 0 depth9 fA PCD120 60 equal pitch Rotating part Rotating part 220 1357 5 04 250h8 5 072 sz 165 Rotor Rotating part l Material Cast iron Surface treatment Electroless nickel plating J ry Fixed part Material Cast iron Surface treatment Low temperature chrome plating a Resolver connector Protective cap plug included with shipment Air purge pressure 0 01to0 02 MPa M PNZ4130KN001 6 9 Drill Thru 6 M8x1 25 depth13 i PCD300 60 equal pitch PCD152 6
59. or cable Resolver cable Tightening torque 5 3 6 5 Nem Z 0 050 A A Note Screw insertion depth 5 6 5 mm 18 Min1 5 a Motor connector Resolver connector AMP 1 179553 4 AMP 178803 5 Rotating part a 7 a 2 38 n al a 2 21 gt 3 Base mounting holes 6 A 4 7 Drill Thru a J n 1 Rotor Rotating part Material Stainless steel Surface treatment None 7 0 050 z T Z OO K O1 A Z O O ok 7 0 030 Fixed part y S Di Seal Surface treatment z I Material Cast iron Low temperature chrome plating _ 47 47 16 3 28 1 182 ET Min6 2 p6 H7 2 2 depth8 M60 x 1 0 dep Area of 6155h8 C0 5 UES PCD145 60 epual pithch Minat Cua 2 oO 3 a a H q e2 X 2 T B amp A 6 s K Base mounting holes v Fixed part 4 10 Drill Thru Material Cast iron are Girne part i 0 050 Surface treatment aterial Aluminium a Low temperature chrome platin Surface treatment None 2 6H7 50 depths 47 2 2 2 1 50 Resolver connector 2 68 H7 995 depth8 1 235 2 _7 0 030 32 7 Me 9 dep 6 M8x 1 25 depth12 210
60. r that is conducted by a person s or party ies other than the supplier e Other types of failures due to natural disasters and accidents causes not attributable to the responsibility of the supplier e Damages induced by a failure of the supplied unit are not covered Services Fee e Prices of goods do not include any applicable service charges such as the dispatching of engineers e Startup or maintenance services that require the dispatching of engineers are subject to payment even during the applicable warranty period e Service charges will be invoiced in accordance with the supplier s standard service charge list Discontinuation of Production and Maintenance Service Period e Any discontinuation of production will be announced one year in advance The maintenance service period is five 5 years after discontinuation of production Announcement will be released by the supplier or published on the NSK Web site Special purpose Applications e This product is intended for general industrial applications and is not designed or manufactured for use under dangerous conditions e Contact NSK before using this product for any special purpose applications including nuclear power equipment and systems or aerospace medical and safety devices e While this product is manufactured under strict quality controls NSK recommends that an appropriate safety device be installed when used with equipment that could cause serious accidents or damage in
61. rograms and parameters It also facilitates the allocation and monitoring of control input output And its oscilloscope function allows for easy confirmation of Motor operation EDC Megaterm can be downloaded for free from the NSK Web site http www nsk com RS 232C RS 232C communication cable is available option EDC Megaterm EDC Driver Unit Type M C003RS03 cable length 3 m Windows 2000 XP Vista Personal computer e A USB port can be used on a PC without a COM port In this case use a commercial RS 232C USB conversion adaptor for communication We have confirmed the compatibility of the SRCO6 USB USB serial cable made by Arvel e The RS 232C communication connector for the EDC Driver Unit has a different pin configuration than that for a PC Functions 1 Oscilloscope function 5 Others 2 Allocation and monitoring Upload download parameter of control input output and channel data 3 Parameter editing e Terminal 4 Channel editing Main Functions 3 Parameter edits e Parameter edits take effect in real time off line editing is also supported e Parameter by parameter reset to default e Help function for parameters Report of parameter l setting list Biain 1 Oscilloscope function e 4 channel oscilloscope 10 k sampling s maximum e Anything that can be monitored using the handy terminal can be displayed on the oscilloscope e Monitor scales are adjustable e Measured waveforms are outp
62. rounding terminal CN6 M4 CC Link SW3 Transmission rate setting switch ae sw2 Station number setting switch f sw i Station number setting switch 06 148 Back mounting pitch 148 Back mounting pitch 5 2 Optional Regeneration Resistor M E014DCKR1 100 101 5 2 1 Dimensions and Schematics M E014DCKR1 100 Mounting bracket 300 9 Thermal sensor leads Steel plate 60 2 Optional regeneration resistor leads UL1330 AWG18 M E014DCKR1 101 L 200 Terminal screw M4 x8 5 2 2 Connection to EDC Driver Unit M E014DCKR1 100 Optional regeneration resistor leads Optional regeneration resistor 100 Thermal sensor Thermal sensor leads EDC Driver Unit SE SE Specifications Rated wattage 7 W Resistance 100 Q Thermal sensor temperature 135 C Specifications Rated wattage 120 W Resistor Resistance 100 Q Thermal sensor temperature 100 C Rated voltage 24 VDC Rated current 0 2 A Lock sensor equipped Output circuit open collector Maximum collector voltage 27 6 V Maximum collector current 5 mA 150 24 VDC input for cooling fan Signal output for fan condition monitoring noae 215 180 Optional regeneration resistor leads a T
63. schematic drawing Motor size requested S seconds mm at mm from the motor center Rotational speed s A OCycle pattern desired positioning time Specify settling time Operating time Index time Settling time Time s seconds hours days Olnput power voltage L_1100 to 115 VAC 1200 to 230 VAC _ Others VAC Environmental conditions Operating environment General environment equivalent to IP30 _ Oil water and chemical L Chips and dust L Clean Operating temperature 10 C to 40 C Below 0 C Above 40 C Other C Contact NSK for details OCable specification and length _ Stationary cable Flexible cable Length m Select Movable when cable is repeatedly bent anywhere along the wiring route Other request items 41 NSK Example of completed form To Mr XXX XXX in charge of Precision Machinery amp Parts NSK Date DD MM YYYY 12 01 2010 OCompany Name YYY Corporation OSection Engineering Dept Engineering Section 1 OContact OName YYY YYY TEL 03 1234 5678 FAX 03 1234 5678 OApplication and equipment used specify with as much detail as possible Semiconductor inspection machine Motor installation position M Upright position _ Horizontal position Upside down position _ Others check in DO Output shaft in a Output shaft in a Output shaft in a vertical direction horizontal direction downward dir
64. tability arc sec 2 Allowable axial load N 4 500 9 500 Allowable radial load N 4 500 9 500 Allowable moment load N m 80 160 200 Rotor inertia kg m 0 028 0 12 0 13 Allowable range of inertia kg m 0 11 to 0 77 0 57 to 3 99 0 65 to 4 55 Mass kg 21 42 48 Environmental conditions Ambient temperature 0 to 40 C use indoors free from corrosive gas Degree of Protection IP66M IEC EN 60529 IEC EN 60034 5 Please consult with NSK in case of a simultaneous application of axial load radial load and moment load to a Motor 1 Under no radial load 2 Under no axial load For an oscillating operation less than 45 turn the Motor 90 or more at least once a day Please refer to 6 7 Effective Torque Calculations to calculate rated output torque during positioning operation Conditions outside of the allowable range of inertia may be applicable depending on operating conditions Contact NSK for details Dust and water resistance testing do not constitute a guarantee against malfunction or accident or a guarantee of the product life IP classifications specified by the IEC constitute indexes for protective performance under fixed conditions and do not constitute a guarantee of ingress protection in all conditions and for all liquids and solids Surface treatment for antirust is applied on the motor outer surface However it does not mean that NSK guarantees antirust performance in any type of condition environm
65. tc can be monitored by analog voltage Effectively used for set up tuning or for Separate power lines assure system safety monitoring operating status RS 232C communication connector Connect the handy terminal to set parameters Use the EDC Megaterm software to communicate with a PC Motor cable connector Clamping type connector shortens work time and prevents mis wiring Control I O connector A variety of signals are available including servo on in position emergency stop area signal override various alarm outputs PA B Z etc 3 3 Control Technology and System Configuration of EDC Driver Unit Control Technology and High speed Positioning Example e Control block diagram Disturbance friction etc l Preview Torque Adopts new servo algorithm position based feed Feedback command O Nas gt ii command forward controller f Settling time Less than 1 ms controller Position output Observer controller Controls to minimize following errors gt Short settling time Controls to negate disturbances gt High servo rigidity e Comparison of 180 positioning Conventional NSK motor JS2014 PS1012 Motor Positioning time Command time Settling time 3 2 s7 7 0 s7 Rotational speed Rotational speed Command per Eee ems En ew etc eE 1 Command time 285 ms 145 ms Positioning time 330 ms In position 50 ms lt _ _ gt Command Settling time
66. the event of product failure NSK 40 12 Form for Requesting Megatorque Motor Selection NSK will assist in selecting the optimal Megatorque Motor 1 oy eee Please fill in the necessary items on the below form and send it by fax to the local NSK office Items marked with represent the important information required for selection Please provide as much detail as possible To Date DD MM YYYY OCompany Name OSection OContact OName TEL FAX OApplication and equipment used specify with as much detail as possible a L Upright position L Horizontal position L Upside down position L Others Motor installation position ibaa p p p _ a i Output shaft ina Output shaft in a Output shaft in a vertical direction horizontal direction downward direction OLoad conditions Schematic drawing an attached illustration showing outside dimensions is acceptable 1 Geometry dimensions thickness e Please provide information on outside dimensions dimensions from the center material etc material or mass of table 2 Dimensions mass quantity of loads jigs 3 PCD distance between the jigs loads example of description Example Attachment Yes No _ None _ Always At settling J During rotating Some impact _ Rotational direction _ Sliding friction 4 External force pressure impact load sliding friction etc Specify position direction etc in the
67. the resolver cable with flexing motion 6 Do not apply excessive load and or impact to the motor when inserting the pin O 2 4 6 8 1 0 0 2 4 6 8 1 0 4 Do not add the stress tension vibration etc to the joint of the leads and the connector It causes the disconnection 7 Use the pinhole as positioning purpose only and the loose connection Do not use the pinhole to hold the load on rotor Rotational speed s Rotational speed s7 11 NSK NSK 12 2 Motor Specifications 2 2 PN Series 2 2 1 Reference Number Coding of Motor Example of Reference Number Design serial number 201 Standard PN2 001 Standard PN3 PN4 701 Highly accurate upper surface runout PN3 PN4 made to order Megatorque Motor PN Series Motor size code KN Standard Maximum output torque N m 2 2 2 Specifications Deeper B M PN2012KN201 M PN3045KN001 M PN4135KN001 M PN4180KN001 Motor outer diameter mm 170 210 280 Maximum output torque N m 12 45 135 180 Rated output torque N m 2 15 45 60 Motor height mm 35 85 95 112 Motor hollow diameter mm 036 p56 50 Maximum rotational speed s71 2 3 Rated rotational speed s71 1 Resolution of position sensor count revolution 2 621 440 Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C Repeatability arc sec 2 Allowable axial load N 1 000 4 50
68. to index an angle index times can be roughly calculated as follows Jm Load moment of inertia kg m Rotational speed s J Rotor moment of inertia kg m N Rotational speed of the Motor s71 T Output torque at the rotational speed N N m Tm Load torque N m t Travel time s to Settling time s tz Positioning time s Time s At Accelerating decelerating time s At 0 Rotational angle to n Safety coefficient normally 1 4 1 5 In accordance with the list above Um Jr X 270N Please refer to the following table for the settling time Since At _ X the settling time will also be affected by factors such as the T Tm magnitude of the moment of inertia of the load and rigidity of a the whole structure the settling time is not absolute t4 __ 4 360 x N Required repeatability arc sec Settling time t S tz t t 2 to 10 0 1 10 to 100 0 04 Where T Tm gt 0 and 2 x At lt t 100 and above 0 001 6 5 Selection of Optional Regeneration Resistor 1 Obtain rotational energy of Megatorque Motor during deceleration Calculate the rotational energy using the following equation Rotational energy 1 2 x J x w J J Rotor inertia kg m 1 2 x J x 27N J Jm Moment of inertia of the load kg m Jad tada N Rotational speed s71 2 Regenerative energy capacity by internal capacitors The regeneration energy that
69. to the joint of the leads and the connector It causes the disconnection and the loose connection Motor connector Regards to inserting pin into rotor pinhole 6 Set tolerance of the inserting pin for clearance fit 7 Do not apply excessive load and or impact to the motor when inserting the pin 8 Use the pinhole as positioning purpose only Do not use the pinhole to hold the load on rotor NSK 14 2 Motor Specificatio 2 3 PN Series with Brake 2 3 1 Reference Number Coding of Motor Example of Reference Number Megatorque Motor PN Series Design serial number Motor size code KG With brake Maximum output torque N m 2 3 2 Specifications Eaters uE ese M PN3045KG001 M PN4135KG001 Motor outer diameter mm 210 280 Maximum output torque N m 45 135 Rated output torque N m 15 45 Motor hollow diameter mm 32 p32 Maximum rotational speed s71 3 Rated rotational speed s7 1 Resolution of position sensor count revolution 2 621 440 Absolute positioning accuracy arc sec 90 Interchangeable type at ambient temperature of 25 5 C Repeatability arc sec 2 3 Allowable axial load N 4 500 9 500 Allowable radial load N 4 500 9 500 Allowable moment load N m 80 160 Brake type Negative actuation type holding brake without backlash Braking torque N m 36 72 Brake power supply VDC 24 Brake
70. ut as bitmaps or CSV format Adjustment and reset Parameter classification e N eee f S o ee ee ee Bi BS See m H E GM Re a nn _ ee ee ee eS ee OT Oe ER E TS Time axis Vertical axis 4 Channel edits e Drag and drop edits from command window e Direct input capability also supported automatic insertion of comments e Report of program list 2 Allocation and monitoring of control input output e Allocation of control input output by drag and drop editing e Monitoring of input output signals e Report of allocation list Report of allocation output input list ml Report output Command window T e e International Safety Standarc Warranty Information CE Marking PS PN Series only e Low voltage command applicable standard EN501 78 The Megatorque Motor PS PN Series is incorporated into machinery as components NSK set low voltage standards to ensure the Megatorque Motor PS Series fully complies with the EC Directive The standards have been certified by TUV a third party testing and certification organization e EMC command applicable standards EMI EN55011 and EMS EN61000 6 2 NSK defined installation models conditions for the Megatorque Motor PS PN Series including installation space and wiring between Driver Units and Motors and set EMC command standards based on 4 m cab
71. z x 2 5 8 5 J An effective torque of 11 4 N m is determined by multiplying the equation above by a temperature coefficient of 1 3 which is less than the PS3060 s rated output torque of 20 N m Therefore the PS3060 sufficiently meets the operational conditions and no optional regeneration resistor is necessary e In case results do not meet rated torque gt effective torque recalculation with revised conditions is required Rotational speed s71 At ty 25 At At to t3 Rotational speed waveform 0 0 1 0 2 0 24 0 30 0 54 0 6 ty to t3 In position signal H level completed L level rotating Time s NSK 32 6 Selection of Mega 6 7 Effective Torque Calculations Example 2 for Z Series with High Environmental Resistance When selecting a Megatorque Motor it is necessary to consider the maximum required torque and the allowable effective torque required for the actual operation Determine whether 90 can be positioned in 0 24 s assuming the load moment of inertia is 0 05 kg m Also calculate the effective torque when an operation cycle is 0 3 s Conditions Maximum rotational speed 2 5 s71 Rotational acceleration 25 s Repeatability 15 arc sec Dwell time 0 06 s Jm load moment of inertia 0 05 kg m J moment of inertia of the rotor 0 12 kg m for PNZ4130 T Internal load torque 15 N m e Since the rotational acceleration is 25 s77 calculate the approximate required

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