M-E099SB0C2-125
Contents
1. l LOI TI 3 180 215 e Ly la TRL FL ictor A HATH RL ica 23w H Hepek Type u MK Ltd P MHE H IANI N N l Unit mm 1 1 1 3 Specifications of Control Input and Output Signals Table 1 2 Input Control CN2 e When the operation mode is set to DeveiceNet signal Input Emergency stop Home position limit sensor and Over travel limit switch CW and CCW e When the operation mode is set to the maintenance mode Emergency stop Servo on Clear Velocity loop integration OFF Lower velocity gain Clamp cancel Home return start Home position sensor and Over travel limit switch CW and CCW e When the operation mode is set to DeviceNet Emergency stop Servo on Programmable Indexer start Stop Clear Velocity loop integration OFF Lower velocity gain Clamp cancel Home Return start Override Programmable Indexer channel select Jog Direction Select Emergency stop is the logical sum with Emergency Stop signal of CN2 All input signals are invalid in the maintenance mode Output Position oe Refer to Resolution of Resolver described in the Megatorque Motor signal oe System User s Manual which is provided with the Driver Unit Control Driver Unit ready2. 2 1 2 1 1 CN2 Pin Out 2 1 2 1 2 Signal Code and Function 2 2 2 2 DeviceNet Interface 2 3 2 2 1 CN5 DeviceNet Pin Out 2 3 2 2 2 SW1 Configuration Switch Baud rate Mac 1D 2 4 2 2 3 Indication of STATUS LED 2 4 Setting 3 1 3 1 Setting of Baud Rate Mac ID 3 1 3 2 Setting of Termination Resistor 3 1 3 3 Configuration by EDS File 3 1 Input and Output Specifications 4 1 4 1 Data Packets 4 1 4 2 1 0 and Signal Format 4 1 4 3 Input Signal 4 2 4 3 1 Emergency Stop EMST 4 2 4 3 2 Servo ON SVON 4 2 4 3 3 Start Programmable Indexer RUN 4 2 4 3 4 Stop STP 4 3 4 3 5 Clear Position Error Counter Alarm CLR 4 3 4 3 6 Integration OFF Lower Velocity Gain IOFF 4 3 4 3 7 Clamp cancel CLON 4 3 4 3 8 Home Return Start
3. Table 5 5 Parameter List Continued 2 arameter aed Function ininal Data range Unit Bene pondence setting place 200 WM_ Write mode to EEPROM i ee a 0 1 No backup 201 219 Reserved 220 LO Load inertia 0 0 000 50 000 kgm 3 221 SG Servo gain 0 0 30 Hz 0 222 239 Reserved 1 Torque control 240 SL Control mode 3 2 Velocity control 0 3 Position control ree 0 Function disabled 241 AL Acceleration limiter 0 0 01 1 280 00 e 2 242 259 Reserved 260 HW Home signal holding time 0 0 0 0 3 100 0 100 ms 1 261 HI Home In position 0 0 102 400 pulse 0 262 SO SPD output mode 0 dido 0 1 Over speed mode 263 la 0 00 0 00 3 00 s 2 output 264 ST Speed stability timer 0 0 0 0 3 100 0 100 ms 1 Near A Near position A 0 0 Proximity mode ae NMA output mode of 0 3 100 0 Area mode 100 ms l Near B Near position B 0 0 Proximity mode 288 o output mode oo 0 3 100 0 Area mode 100 ms i 267 NA Near position A 100 1 99 999 999 pulse 0 268 NB Near position B 100 1 99 999 999 pulse 0 269 ZAS Start point of zone A 0 99 999 999 pulse 0 270 ZAE Endpoint of zone A 0 0 99 999 999 pulse 0 271 ZBS Start point of zone B 0 0 99 999 999 pulse 0 272 ZBE Endpoint of zone B 0 0 99 999 999 pulse 0 273 279 Reserved 0 DRDY OVER 280 OU Origin Undefined 0 No
4. A signed integer will specify a change of parameter data A5 4 4 Output Signal 4 4 1 Driver Unit Ready DRDY Warning OVER O DRDY output is 1 one if the Driver Unit is ready to operate the Motor O State of DRDY OVER outputs are shown in Table 4 11 when an alarm is reported Table 4 12 Alarm Memory error EEPROM error System error Interface error Brake on position error Excess position error Software over travel limit Hardware over travel limit Emergency stop Program error Automatic tuning error RS 232C error CPU error Field bus error Resolver circuit error Absolute position error Software thermal sensor Velocity error over serious BRK Output Motor state ing LED Output Output E0 E ZET E8 SEs td o Servo off m N Servo off les N Servo off m Co Servo off rj Servo lock H Servo lock rj Servo lock um Servo lock ry amp Servo lock wn as le D les selos o N 5 H Nn Servo lock ry m pay Ee les rj oo alz les wD Normal Normal Servo lock Normal Servo off a QIQ AJU Servo off gt Servo off E Servo off gt Ga Servo off Servo off Velocity error over minor Home position undefined Brake error Heat sink overheat Abnormal main AC line voltage Over current Control AC line under voltage Servo lock As
5. 6 1 1 DeviceNet Mode 6 2 6 1 2 Maintenance Mode 6 2 6 1 3 Switching Operation Mode 6 3 6 1 3 1 switch DeviceNet Mode to Maintenace Mode 6 3 6 1 3 2 Switch Maintenance Mode to DeviceNet Mode 6 3 7 Additional Function Command and Alarm e Poe lee to eee 7 1 7 1 Additional Function 7 1 7 1 1 Override Function 7 1 7 2 Additional RS 232C Command 7 2 CP Switch DeviceNet Maintenance Mode 7 2 10 Input Output Monitor 7 3 OV Override 7 4 7 2 1 Additional Parameter List 7 5 7 3 Additional alarm 7 6 7 3 1 Fieldbus Error 7 6 1 Specifications 1 1 DeviceNet Specifications Table 1 1 Communication format In conformity to DeviceNet Remote I O message Communication media Special five wires cable 2 signal wires 2 power wires and a shield wire Baud rate 125 250 500 kpps 100 m 500 kpps Communicating distance 200 m 250 kpps 500 m 125 kpps Power source Network size Data packets Device profile 1 2 Dimensions of Driver Unit Figure 1 1 170
6. AR AR ID IR HS JP and TI Home Return gt Jog O This output does not change by overshooting of undershooting Table 4 13 Function No generation of internal pulses Processing internally generated pulse 4 4 4 Brake Control BRK When brake sequence function is invalid e This specifies the timing to activate optional brake when the servo is off or EMST signal is inputted Table 4 14 Function Clamp Unclamp 4 4 5 Brake Control Output BRKC When brake sequence function is valid O Brake control signal to control brake clamp un clamp by the driver unit If BRKC output is 0 brake will clam IF BRKC output is 1 brake will un clamp 4 7 4 4 6 Home Position Defined HCMP O This is to notify that the Home position is set When the power is on HCMP output will be 1 simultaneously with DRDY output HCMP output will be 0 when Home Return is interrupted in the middle of operation or parameter DI Direction inversion setting is changed even though the Home position has been set Table 4 15 HCMP l Function 0 Home position not set 1 Home position is set 4 4 7 Home Return Completed Home Position Detected HOME O This is to report completion of Home Return or the Motor is on the Home position O The following parameters set the way of report Figure 4 1 Parameters related to HOME output Home Return mode HOME output Set a holding time of output to paramemter Home pos
7. HOS 4 4 4 3 9 Override ORD 4 4 4 3 10 Internal Program Channel select PRGx x 0 to 5 4 4 4 3 11 Jog JOG 4 4 4 3 12 Direction DIR 4 5 4 3 13 Write Read Parameter Process Type PRM_REQ4PRM_OPE 4 5 4 3 14 Parameter Nunber PRM_SET_NO 4 5 4 3 15 Writing Data Type PRM_SET_DATA 4 5 4 4 Output Signal 4 6 4 4 1 Driver Unit Ready DRDY Warning OVER 4 6 4 4 2 In Position IPOS 4 7 4 4 3 Processing Pulse Generation BUSY 4 7 4 4 4 Brake BRK 4 7 4 4 5 Brake Control BRKC 4 7 4 4 6 Home Position Defined HCMP 4 8 4 4 7 Home Return Completed Home position HOME 4 8 4 4 8 Velocity Report SPD 4 9 4 4 9 Move Cahmel Acknowledgement ACK_PRG x 4 9 4 4 10 Emergency Stop State EMSTA 4 11 4 4 11 State of Over travel Limit OtxA 4 11 4 4 12 State of Home Position Limit Sensor HLSA 4 11 4 4 13 Target Proxim
8. In position and Brake Brake control Output DeviceNet e When the operation mode is set to DeveicNet CNS Driver Unit ready Warning In position Processing pulse generation Brake Brake control Home position defined Home Return completed Home position detected Velocity report Operation program respond Emergency stop state Over travel limit CW and CCW Home position sensor Target proximity In Target A Target proximity In Target B e When the operation mode is in the maintenance Driver Unit ready Warning In position Processing pulse generation Brake Brake control Home position defined Home Return complete Detect Home position Velocity report Emergency stop state Over travel limit CW CCW Home position sensor Target proximity In Target A Target proximity In Target B 1 When using motor with brake combined with brake sequence function BF1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output O The switching command CP from the Handy Terminal specifies DeviceNet mode or the maintenance mode Refer to operational description of CP command for more details 0 DeviceNet mode is to operate the Driver Unit in accordance with the control input signals from DeviceNet O The maintenance mode is to operate tentatively the Driver Unit when DeviceNet is not functioning for some reason 0 DeviceNet mode is set to the initial setting afte
9. Input RUN Input Motor motion Velocity in CW CCW ON BUSY Output lt In motion OFF Channel acknowledge N ACK_PRGO Output opf lt Outputs specified channel Outputs state of PGO input ON Outputs state of PRGO inpu ACK_PRG1 Output input OFF ACK_PRG2 Output ON OFF ACK_PRG3 Output ON OFF Affedted by external force y residual pulses IPOS mode FW 0 IPOS Output closed CFIN mode open FW gt 0 open FW setting IPOS Output closed Exa FW1 100ms FIN mode open FW gt 0 4 10 4 4 10 Emergency Stop State EMSTA O This is to inform the state of Emergency stop O This output is a logic sum of EMST of CN2 control input and DeviceNet control input Table 4 22 EMSTA Function 0 Clear emergency stop 1 Emergency stop 4 4 11 State of Over travel Limit OtxA e This output reports the state of over travel limits e This output is a logic sum of OTx of CN2 control input and software over travel limit Table 4 23 OTxA Function 0 Travel limit is not detected 1 l Travel limit is detected 4 4 12 State of Home Position Limit Sensor HLSA O This output reports state of Home position limit sensor HLS of CN2 control input Table 4 24 HLSA Function 0 Home position sensor is not detected 1 Home position sensor is detected 4 11 4 4 13 Target Proximity In Target NEARA NEARB e This output reports that the Moto
10. November 20 2003 1st Printing 1st Printing 1st Printing NSK Ltd NSK 3rd Edition 1st Printing November 20 2003 Document Number C20125 03
11. change 0 2 OVER output closed 1 DRDY output open Excessive position error 2 OVER output closed en tee Alarm type 2 3 DRDY Open 7 OVER Closed Software travel limit over 1 DRD open 282 JIO Alarm type z 2 OVER closed 7 0 0 DRDY OVER Hardware travel limit over No change ae maT Alarm type A 1 DRDY Open g e 2 OVER Closed 0 DRDY OVER 284 PE Program error Alarm type 2 No change 0 2 OVER Closed A f 0 DRDY OVER 285 AE eae ee 2 No change 0 2 OVER Closed 286 299 Reserved 5 8 5 4 2 Managing Command 5 9 Table 5 6 Command Coles Function Data range Unit pPacimal pondence place 300 AZ Absolute zero position set 301 AT Automatic tuning 302 OG Origin set Resolver phase adjust 303 319 Reserved 0 Servo parameters 1 All parameters 320 SI System initialization 2 All parameters excluding 0 PA and RO 3 All parameters PA700 321 WD Write data to EEPROM 322 329 Reserved 330 KB Kill Brake 1 0 0 331 339 Reserved 5 4 3 Operation Command Table 5 7 Command clica Function Data range Unit Decimal pondence place 400 AD Absolute positioning Degree Short cut 0 35 999 0 01 0 401 AD PL Absolute positioning Degree CW 0 35 999 0 01 0 402 AD
12. detects the input by the rising edge of signal current O The error counter is cleared when CLR input is set to 1 However the error counter won t be cleared when the Motor is in the middle of operation caused by the following command Operation by positioning commands AD AR ID IR and HS Operation of Programmable Indexer AD AR ID IR HS JP and TI Home Return o Jog O When the alarm of Excessive position error F1 is reported setting CLR input to 1 clears the error counter and the alarm O Alarms of Software thermal A3 Velocity error over A4 Program error A5 RS 232C error C2 and Automatic tuning error F8 will be cleared when CLR input is set to 1 4 3 6 Integration OFF Lower Velocity Gain IOFF When brake sequence function is invalid O The Driver Unit detects the current level of input signal O When IOFF input is set to 1 the integration control is disabled and the parameter VG for velocity loop proportional gain is lowered with the ratio set by the parameter LG for lowering velocity gain O Parameter IM When IOFF input is set to 1 parameter IM sets only one function to JOFF input such as Integration OFF or Lowering velocity loop proportional gain O Lowering velocity gain is mainly used to control torque output when the Motor is holding its position by a brake Table 4 5 IOFF Function 0 Integration ON Lowering gain not available IMO Inte
13. gt Normal gt oo Servo lock Servo off Servo off Servo off Servo off GG NIS Readout with TA command E0 gt Memory Error E2 gt EEPROM Error E7 gt System Error E8 gt I F Error FO gt Clamp Position Error F1 gt Excess Position Error F2 gt Software Over Travel F3 gt Hardware Over Travel F4 gt Emergency Stop F5 gt Program Error F8 gt AT Error C2 gt RS232C Error Cannot read out by TA C4 gt Field bus Error AO gt Resolver Circuit Error Al gt Absolute Position Error A3 gt Overload A4 gt Velocity Abnormal A5 gt Origin Undefined A8 gt Brake Error PO gt Over Heat Pl gt Main AC Line Trouble P2 gt Over Current P3 gt Control AC Line Uncer Voltage 1 When this alarm is reported at the time of power on it won t be reported through DeviceNet 2 This alarm won t be reported through DeviceNet 4 6 4 4 2 In Position IPOS O The following parameters are the conditions to output In position signal FW Fin Width Sets the time length to keep outputting IPOS signal IN Criterion to detect completion of positioning IS In position stability timer Sets time length for position error stability 4 4 3 Processing Pulse Generation BUSY e This output notifies that the System is processing internal pulse train The signal outputs 1 when executing following motion commands Operation by a positioning command AD AR ID IR and HS Programmable Indexer AD
14. network module for some reason the System indicates the following 7 segments LED Reports any one of C4 EO E7 or E8 alarm Handy Terminal Right after it is connected to the Driver Unit 66 99 It indicates the prompt NSK MEGATORQUE MS1A5 O_xxxx x XXXXXXXXX Indicates that the System is in the maintenance mode 6 1 6 1 Operation Mode O The Driver Unit has two operation modes as shown below DeviceNet mode Maintenance mode O Default is DeviceNet mode after turning on the power 6 1 1 DeviceNet Mode O The Driver Unit functions in accordance with instructions of DeviceNe O The Handy Terminal indicates the prompt when it is connected to the Driver Unit NSK MEGATORQUE MS1A5 O_xxxx x XXXXXXXXX Indicates the System is in DeviceNet mode 6 1 2 Maintenance Mode O The Driver unit functions in accordance with instructions from the Handy Terminal RS 232C communication O The Handy Terminal indicates the prompt O The maintenance mode is to tentatively control the Driver Unit when DeviceNet is disabled for some reason O Some input signals of CN2 connector will be available in the maintenance mode On the other hand the all inputs and some outputs of DeviceNet will be disabled O Refer to 1 4 Validity of Inputs and Outputs by Operation Mode for details NSK MEGATORQUE MS1A5 O_xxxx x XXXXXXXXX Indicates the System is in the maintenance mode S
15. 2 Signal Code and Function CHA O Position feedback signal gA fo not connect Do not connect EA Over travel lima direction CW E EEE 10 CIR Clear input 11 HLS I Home position limit switch 12 Emergency stop 13 External power supply 24 VDC 14 ros O In position 15 DRDY O Driver Unit ready 16 SGND Signal ground 17 CHZ o Position feedback signal 9Z Digital position signal MSB 18 CcHB_ O Position feedback signal B 19 cHa O Position feedback signal A 20 Saas Ss Do not connect 21 Do not connect 22 OTM Over travel limit direction CCW 23 Home Return start 24 Integrator OFF Clamp cansel 25 Servo ON 1 Parameter FZ RS 232C communication sets function of Position feedback signal 9Z and Digital position signal MSB 2 Signals parenthesized in the above figure SVON CLR IOFF and HOS are not valid in DeviceNet mode Table 2 1 Pin Signal code 1 0 Function No 1 2 3 BRK BRKC O Brake Brake control signal normally closed 4 CHZ o Position feedback signal 9Z Digital position signal MSB 5 CHB O Position feedback signal B 6 7 8 o 3 When using motor with brake combined with brake sequence function BF1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output 929 2 2 DeviceNet Interface Figure 2 2 DeviceNet Inte
16. 4 3 11 JOG O Starts and stops Jog operation O The Driver Unit detects rising edge of the input signal current Table 4 9 Function JOG start Starts and accelerates JOG stop decelerates and stops tT 0 gt 1 4 3 12 Direction DIR e This input specifies the direction of Jog operation O When the input is changed in the middle of Jogging the Motor decelerates and then reverses the rotational direction Table 4 10 Function 4 3 13 Write Read Parameter Process Type PRM_REQ PRM_OPE O This input is to process write or read out parameters as specified by PRM_OPE input O The Driver Unit detects the rising edge of PRM_ REQ input signal current Table 4 11 PRM REQ PRM_OPE Function 0 No request 0 No request 0 gt 1 Rising edge Read out parameter settings detection 0 gt 1 Rising edge Copy parameter settings detection 4 3 14 Parameter Number PRM_SET_NO Specifies the parameter number that is an object of writing or reading out O Set the lower byte of parameter number to byte 4 and the higher one to byte 5 O The parameter number shall be specified by a signed integer 4 3 15 Writing Data Type PRM_SET_DATA e This input specifies the type of parameter data when requesting writing parameters O This input can be used as a parameter for an execution of command or a start command of operation O Set the lowest byte of parameter data change to byte 6 and the highest one to byte 9
17. G3 PRG2 PRG1 PRGO RUN ACK PRG5 ACK PRG4 ACK PRG3 ACK PRG2 ACK PRG1 ACK_PRGO IPOS BUSY NEARA NEARB Indicates control Inputs Outputs of DeviceNet 846 Tell position error counter 0 99 999 999 847 Tell position 0 819 199 848 Tell position 0 35 999 849 Tell RDC position data 0 16 383 850 Tell torque and thermal 0 0 1 00 0 851 859 Reserved 5 14 IlI o SoooSo 5 4 7 Processing Decimal Place O In the communication of DeviceNet all data are processed in integers even monitored data or parameters are decimal numbers O The decimal place is preset to each parameter Refer to Decimal place in the above tables Use them when decoding or encoding the integer numbers by the master controller in accordance with a need Setting example of Velocity loop proportional gain VG O The following shows an example to set the velocity loop proportional gain VG to VGS Decimal place 1 0 0 1 255 0 1 Table 5 14 Parameter List Refer to VG on the list pondence SOMO VG Velocity loop peaportional gain Parameter O The actual parameter data shall be 450 0000 01C2h because the decimal pace of VG is one according to the table above Thus the actual control input of VG45 0 Figure 5 5 Example Control input of DeviceNet for VG45 0 Bite Value PRM_SET_NO _lower PRM_SET_NO _higher P
18. GA 6 1 3 Switching Operation Mode O The Driver Unit can control only one communication device at a time When switching the operation mode input the command CP to change operation mode through the Handy Terminal If the Motor is operating under the internal pulse train when switching the mode it will automatically decelerate and stop 6 1 3 1 Switch DeviceNet Mode to Maintenance Mode 1 Confirm that the prompt is DeviceNet mode 2 Input the password NSK ON 3 Execute command CPO O If the Motor is operating under the internal pulse train it will decelerate and stop 4 The prompt changes to maintenance mode from amp NSK ON CPO 6 1 3 2 Switch Maintenance Mode to DeviceNet Mode 1 Confirm that the prompt is Maintenance mode 2 Input the password NSK ON 3 Execute command CP1 O If the Motor is operating under the internal pulse train it will decelerate and stop 66 99 4 The prompt will change to ff DeviceNet mode from NSK ON CP1 Bi Blank Page 7 Additional Function Command and Alarm 7 1 Additional Function 7 1 1 Override Function e This function is to change the positioning velocity of Motor in accordance with the change ratio preset by parameter OV when a control input signal ORD from DeviceNet is ON O The Driver Unit detects the current level of ORD input signal O When ORD input is ON the change r
19. Input Output Monitor Format Data Optional code 10 data opt data 1 data 2 data 3 data 4 data 5 data default or 0 General readout of Inputs Outputs General readout of Inputs Outputs Reversed video for normally closed contacts Readout of Inputs Outputs related to Programmable Indexer Readout of Inputs Outputs of all operation Readout of Inputs Outputs related to DeviceNet Readout of Inputs Outputs Programmable Indexer with DeviceNet opt default One shot readout opt RP Readout is repeated automatically 0 Reports the status ON OFF open closed of the control Inputs Outputs of CN2 CNS by zeros and ones 1 Input ON output closed 0 Input OFF output open O Press the key to terminate repeated readouts by IO RP Figure 7 2 In case of 104 OVER DRDY IOFF CLCN 1 x When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output fea E AE Figure 7 3 In case of 105 On OV Override Format OV data Data 0200 Shipping set 100 Default 20 O This is to set the velocity change ration when ORD input of DeviceNet is ON O Unit of data is 1
20. MI Absolute positioning Degree CCW 0 35 999 0 01 0 403 AD EX Absolute positioning Degree DIR input 0 35 999 0 01 0 404 AR Absolute positioning Resolver short cut 0 819 199 pulse 0 405 AR PL Absolute positioning Resolver CW 0 819 199 pulse 0 406 AR MI Absolute positioning Resolver CCW 0 819 199 pulse 0 407 AR EX Absolute positioning Resolver DIR input 0 819 199 pulse 0 ah es 0 408 ID Incremental positioning Degree 9 999 999 pulse 0 O 0 409 ID EX Incremental positioning Degree DIR input 9 999 999 pulse 0 E 0 410 IR Incremental positioning Resolver 99 999 999 pulse 0 411 IR EX Incremental positioning Resolver DIR input 0 a 9 999 999 pulse 0 412 SP Start program 0 63 0 413 419 Reserved 420 HS Home Return start 0 421 439 Reserved Velocity control OTET 440 DC Digital RS 232C command oe eae 0 Torque control 2095 0 4095 441 459 Reserved 5 4 4 Editing Program Table 5 8 pondence place 500 CH Channel select 0 63 0 501 TC Tell channel program 0 63 0 502 7 End of reading out or editing channel 7 7 7 program 503 CC Clear channel 0 63 0 504 519 E Reserved z 5 4 5 Program Command Table 5 9 Command Cortes Function Data range Unit Decimal pondence place 600 AD Absolute positioning Degree Short cut 0 35 999 0 012 0 601 AD PL Absolute pos
21. NSK MEGATORQUE MOTOR SYSTEM User s Manual ESB Driver Unit System Instructions for DeviceNet M E0995B0C2 125 NSK Ltd Document Number C20125 03 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 2003 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 convey an
22. O If the data setting is zero 0 and ORD input is ON the Motor does not rotate even for instructions of motion command O If the OV setting exceeds the allowable Motor velocity the rotational speed is limited to the allowable velocity of the Motor O Refer to 7 1 1 Override Function for details O TS or OV command reports the current setting 7 2 1 Additional Parameter List Table 7 1 Current Parameter Function Password Shipping set Data range setting User OV Override velocity 0 200 7 5 7 3 Additional Alarm 7 3 1 Fieldbus Error The alarm reports that an error is detected in the interface of DeviceNe O The DeviceNet communication will disabled because the interface error of DeviceNet e This report will be outputted to 7 segments LED on the Driver Unit and RS 232C communication terminal Table 7 2 DRDY output Open alarm Motor state Servo off 7 segments LED TA readout C4 gt Fieldbus Error Clear alarm Turn on the power again O If this alarm is reported input TA HI command through an RS232C terminal and confirm the alarm sub code O Cause and remedy are shown in the table below Table 7 3 Remedy Defective interface board Replace the Driver Unit 27 6 World wide Manufacturing and Marketing Organization NSK Ltd Headquarters Tokyo Japan Americas amp Europe Department Phone 03 3779 7120 Asian Marketing amp Sales Department Phone 03 3779 7121 NSK Corpora
23. RM_SET_DATA lowest PRM_SET_DATA _lower PRM_SET_DATA _higher PRM_SET_DATA highest Example for reading out of position loop proportional gain PG O The following shows an example that the control output by a reading out command for position loop proportional gain Figure 5 6 Example Control output of DeviceNet by a reading out command for PG Bite Value PRM_GET_NO higher PRM_GET_DATA lowest PRM_GET_DATA _lower PRM_GET_DATA _higher PRM_GET_DATA highest O The result of readout of PG is 190h 400 The table below shows that the decimal place of PG is three and thus PG400 is actually set to PG Table 5 15 Parameter Refer to PG on the list Corres Initial Unit Decimal Function Data range o setting Dace Position loop proportional gain 0 100 0 010 1 000 Parameter 5 15 Blank Page 5 16 6 Power on O When initialization of internal network module completes after the power is on the Driver Unit gets in the mode where it can receive instructions from DeviceNet O Confirm the following before communicating with DeviceNet 7 segments LED If it reports any one of C4 E0 E7 or E8 alarm Handy Terminal Right after it is connected to the Driver Unit It indicates the prompt NSK MEGATORQUE MS1A5 O_xxxx x XXXXXXXXX Indicates the System is in DeviceNet mode O If the Driver Unit fails to initialize the internal
24. atio set by the parameter OV will be applied to the operation velocity in positioning operation through RS 232C command MV Home Return HV operation in Programmable Indexer CV and Jog JV O The normal state is input ORD OFF Each positioning operation follows the set velocity with MV HV CV and JV respectively O The override ratio may be set in the range of 0 200 with the parameter OV O Input of ORD will be invalid in the middle of positioning operation O When the maximum velocity set by the override function exceeds the allowable velocity of the Motor the available maximum speed will be limited to the allowable velocity of the Motor O If the parameter OV is set to 0 the Motor won t rotate by the input of ORD signal Figure 7 1 Operation example Input signal RUN lt If ORD is OFF gt ON ORD input OFF ON RUN input OFF E Motor rotation lt If ORD is ON gt ORD input At the moment of RUN input edge triggered input signal level of ORD input decides validity of override function RUN input When ORD OFF Example OV 50 Motor rotation ey E eee 7 2 Additional RS 232C Command O The following shows the additional functions and commands with expanded function O The command marked with A requires an entry of the password NSK ON CP Switch DeviceNet Maintenance Mode Format CP data Data data 0 Maintenance mode da
25. cify the request for writing to PRM_OPE Request for processing parameters g Set 1 to PRM_REQ to request for parmeter processing Wait for Data Processed Result Wait untill data processing completes Confirm reulst of parameter processing Get the processed result If the writing parameters fails take an action for error according to need Complete of processing paramete a Set to 0 to PRM_REQ to complete processing parameters Wait until the Driver Unit becomes idle Wait until PRM_ACK changes to idle When it is idle the Driver Unit is ready for the next command 5 2 2 Procedures for Reading out Parameters Monitoring Operating Conditions Figure 5 2 Handshake example Parameter read out and monitoring Procedure to read out PRM_SET_NO Parameter Nunber PRM_OPE 0 PRM_REQ 1 Get PRM_GET_DATA correct error PRM_ACK 0 5 3 gt gt gt j Set parameter number Set parameter number to PRM_SET_NO Specify the request of reading out to PRM_OPE Request to process parameters Set 1 to PRM_REQ to execute parameter processing Wait for Data Processed Result Wait until the data processing completes Confirm result of data processing Get the processed result If reading out fials take an action for error according to need If it is successful get the esult by PRM_GET_DATA End of parameter procssing After the confirmation of result set 0 t
26. ed program command in accordance with the procedures for writing parameter End of editing internal program Execute command number 502 in accodnace with the procedures for writing parameter Execution of the command number 502 terminates the mode to edit internal program of the specified cahnnel O The table below shows the combinations of available program commands and optional codes Table 5 2 Combination of program commands and optional codes 660 661 662 663 Command OEn CVn CAn 600 AD 601 AD PL 602 AD MI 603 AD EX wa E Y Y 604 AR 605 AR PL 606 AR MI 607 AR EX aT E Z 7 608 ID 609 ID EX p Y Y Y 610 IR 611 IR EX 7 7 Y Z 620 HS N A Y N A N A 640 JP N A N A N A N A 641 TI N A N A N A N A 5 3 2 Procedure for Reading out Internal Program Figure 5 4 Example of handshake Reading out internal parameter Read out a program Execute command number 501 Starting of reading out internal program Execute command number 820 Read out internal progrma PRM_GET_NO 1 Get command optional code PRM_GET_DATA Interrupt reading out Execute command number 502 End of editing read out internal program Start reading out of internal program Execute command number 501 in accordance with the procedures for writing parameter The System gets in the mode to read out an internal program of the specified cahnnel by the execution of command numbe
27. ed to pulse train input operation Related to position feedback signal Related to position scale Related to velocity Related to Home Return Characteristic of Motor Related to I O Related to processing parameter Related to automatic tuning Special functions Related to outputs for expanded function Related to warning Command Adjusting Write Processing parameter Operation Positioning Write 420 439 Home Return Program editing Editing internal program Write Positioning Home Return Control command Optional code Monitor Alarm Read out Read out internal program 840 859 Various monitors 5 1 5 2 Parameter Interface O The following procedures make possible to read or write parameters to execute a command to start an operation and to monitor current status 5 2 1 Procedures for Writing Parameter Executing Command and Starting Operation Figure 5 1 Handshake example Writing parameter executing command and starting Writing procedure PRM_SET_NO Parameter number PRM_SET_DATA Setting data PRM_OPE 1 PRM_REQ 1 No No en gt lt r gt operation Correct error Yes Yes PRM_REQ 0 PRM_ACK 0 Setting of parameter number write data Set parameter number to PRM_SET_NO and set its data to PRM_SET_DATA For commands and starting commands set their paramters to PRM_SET_DATA Whether to use or to disuse PRM_SET_DATA it differs in some commands and starting commands Spe
28. gration OFF and Lowering gain Shipping set 1 IM1 Integration OFF IM2 Lower velocity gain 4 3 7 Clamp cancel Input CLCN When brake sequence function is valid O Select brake clamp function valid or invalid O If CLCN input is 1 brake will be released and no further brake clamp will be performed However if an alarm which will make motor condition servo off occurs brake will clamp O If CLCN input is 0 brake will clamp unclamp depending on the motor motion command Table 4 6 Function Brake clamp function valid Clamp cancel AE E eee 4 3 8 Home Return Start HOS O The input starts Home Return O The Driver Unit detects the rising edge 0 gt 1 of signal current 4 3 9 Override ORD O The Driver Unit detects the current level of input signal O When ORD input is set to 1 the Motor operates under the velocity which is obtained by application of parameter CV to the velocity set by parameters MV HV CV or JV 0 Normally ORD is set to 0 Positioning velocity will follow the parameters MV HV CV and JV respectively 0 Input of OVD in the middle of positioning will be invalidated Table 4 7 Function Override OFF Override ON 4 3 10 Internal Program Channel Select PRGx x 0 to 5 O This is to specify a number of internal program channels to be executed by RUN input O The channel number is specified by the binary codes of PRGO to PRGS Table 4 8 CH No 0 1 2 3 61 62 63
29. ing data as instructed 0 Oo 0 Idle or processing data as instructed 1 E gt A 1 Processing completed Failed Processing completed Successful 4 4 15 Parameter Number PRM_GET_NO O This is to report the parameter number that is the objective for reading out or writing data O The lower byte of the parameter number shall be set to byte 4 and the higher one to byte 5 A signed integer will report a parameter number 4 4 16 Parameter Contents PRM_GET_DATA O When reading out parameters is requested this signal outputs the contents of read out parameter O When reading out of parameter is requested this signal outputs copies of PRM_SET_DATA O Set byte 6 to the lowest byte of the parameter contents and byte 9 to the highest byte A signed integer will report the contents of parameter 4 Blank Page 4 14 5 Command Interface 5 1 Outline of Command O We classify all commands by attribute of Read Write and function as shown in Table 5 1 O Refer to 5 2 Parameter Interface for parameter command and way of using monitor O Program commands are the same attribute as the parameters but they differ from the parameters in way of use Refer to 5 3 Program Interface Table 5 1 Command Command Classification attribute number S Parameter 001 019 Servo parameters 1 Read Write 020 039 Servo parameters 2 040 059 Related to servo state output 060 079 Relat
30. ion setting Data range Unit place 1 PG Position gain 0 100 0 010 1 000 5 3 2 VG Velocity gain 1 0 0 1 255 0 1 3 VGL Velocity gain lower 1 0 0 1 255 0 1 4 VI Velocity integrator frequency 1 00 0 10 63 00 Hz 2 5 VIL a integrator gaim 1 00 0 10 63 00 Hz 2 ower food 0 No integration 6 VM Velocity integrator mode 1 i Integration available 0 7 LG Lower gain 50 0 100 0 8 TL Torque limit rate 100 0 100 0 9 GP Gain switching point 0 Or nee ne pulse 0 10 GT Switching gain timer 5 0 1 000 ms 0 11 19 Reserved 0 Switching off 1 20 FO Low pass filter off velocity 0 00 0 01 3 00 s 2 0 Filter OFF 21 FP Low pass filter primary 0 10 500 Hz 0 0 Filter OFF 22 FS Low pass filter secondary 0 10 500 Hz 0 0 Filter OFF 23 NP Notch filter primary 0 10 500 Hz 0 0 Filter OFF 24 NS Notch filter secondary 0 10 500 Hz 0 25 NQ Notch filter Q parameter 0 25 0 10 5 00 Hz 2 26 DBP Dead band 0 0 4095 pulse 0 27 ILV Integration limit 100 0 0 0 100 0 1 28 FF Feed forward gain 0 0000 0 0000 1 0000 4 29 FC Friction 0 0 2047 0 30 39 Reserved 40 E ee en 1250000 1 99 999 999 pulse 0 41 IN In position 100 0 99 999 999 pulse 42 IS In position stability counter 0 0 0 0 3 100 0 100 ms 1 0 0 COIN mode 43 FW In position FIN width 1 0 0 3 100 0 FIN mode 100 ms 1 0 3 100 0 CFIN mode 100 ms 44 VO Velocity error o
31. itioning Degree CW 0 35 999 0 01 0 602 AD MI Absolute positioning Degree CCW 0 35 999 0 01 0 603 AD EX Absolute positioning Degree DIR input 0 35 999 0 01 0 604 AR Absolute positioning Resolver Short cut 0 819 199 pulse 0 605 AR PL Absolute positioning Resolver CW 0 819 199 pulse 0 606 AR MI Absolute positioning Resolver CCW 0 819 199 pulse 0 607 AR EX Absolute positioning Resolver DIR input 0 819 199 pulse 0 608 ID Incremental positioning Degree 0 9 999 999 pulse 0 609 ID EX Incremental positioning Degree DIR input 0 9 999 999 pulse 0 610 IR Incremental positioning Resolver 99999999 pulse 0 Incremental positioning Resolver 611 IR EX P 5 DIR input 0 99999999 pulse 0 612 619 Reserved 620 HS Home Return start 0 621 639 Reserved 640 JP Jump 0 63 0 641 TI Timer 0 3 100 0 A 1 ms 642 659 Reserved Beit 0 Delete 660 Division of indexing points 2 99 0 0 Delete 1 Execute next 661 OE Sequence option edit command 0 2 amp Wait fort for RU input 0 Delete 662 CV Channel velocity 0 0001 3 0000 s 4 0 Delete 663 CA Channel acceleration 0 01 3 0000 y 2 664 679 Reserved 5 10 5 4 6 Monitor Table 5 10 Corres Command pondence 800 TA Function Alarm Data range Each bit indicate alarm Byte number 3 2 1 0 Alarm P7 PO A7 A0 C7 C0 F7 FO U
32. itoin mode HW Set Home position range to parameter HI Table 4 16 Home Return mode HW 0 Function Home Return is not completed or the Motor has moved from the Home position after completion of Home Return Home position is detected 4 8 4 4 8 Velocity Report SPD This is to report the Motor velocity O The following parameters set the way of report and threshold to output signal Table 4 18 Parameters related to SPD output Parameter Function SO Sets velocity detecting mode SB Threshold to output SPD signal ST Sets stability timer to output SPD signal Table 4 19 SPD Zero speed mode SOO SPD Function 0 Over the set speed 1 Under the set speed Table 4 20 SPD Over peed mode SO1 Function Under the set speed Over or equal to the set speed 4 4 9 Move Channel Acknowledge ACK_PRG x O Outputs the state of input for switching internal program channel before input of RUN command O Outputs specified channel number while generating internal pulses after input of RUN command O Incase of sequence this signal outputs the specified channel number after input of RUN command O A binary number of ACK_PRGO to ACK_PRGS 6 bits specifies the channel numbers Table 4 20 4 9 Figure 4 2 Signal timing of program operation An example shown below is to start the channel number 5 Channel select PRGO Input PRG1 Input PRG2 Input PRG3
33. ity In Target NEARA NEARB 4 12 4 4 14 Processing Confirmed Data Processed Result PRM_ACK PRM_STS 4 13 4 4 15 Parameter Number PRM_GET_NO 4 13 4 4 16 Parameter Contents PRM_GET_DATA 4 13 5 Command Interface 5 1 5 1 Outline of Command 5 1 5 2 Parameter Interface 5 2 5 2 1 Procedures for Writing Parameter Executing Command and Starting Operation 5 2 5 2 2 Procedures for Reading out Parameters Monitoring Opetating Conditions 5 3 5 3 Program Interfface 5 4 5 3 1 Procedures for Editing Intenal Program 5 4 5 3 2 Procedure for Reading out Internal Program 5 5 5 4 Command List 5 6 5 4 1 Paraemter 5 6 5 4 2 Managing Command 5 9 5 4 3 Operating Command 5 9 5 4 4 Editing Program 5 10 5 4 5 Program Command 5 10 5 4 6 Monitor 5 11 5 4 7 Processing Secimal Place 5 15 6 POWer On 6 1 6 1 Operation Mode 6 2
34. lowing to operate the Drive Unit on your network Baud rate Mac ID Termination resistor Configuration by EDS file 3 1 Setting of Baud Rate Mac ID O SW is a dipswitch and is to set the baud rate and Mac ID in the binary numbers The baud rate may be set to 125k 250k or 500k bps while Mac ID may be set to 0 to 63 3 2 Setting of Termination Resistor O Provide a termination resistor when you set the Driver Unit to the head or the end of DeviceNet 3 3 Configuration by EDS File AEDS file can be downloaded from web page of NSK ai see Blank Page E y 4 Input and Output Specifications 4 1 Data Packets Input Output 10 bytes 10 bytes 4 2 I O and Signal Format Table 4 7 Input Output Master controller gt Driver Unit Driver Unit Master controller Byte Function 0 EMST Emergency stop DRDY Driver Unit ready SVON Servo ON OVER Warning RUN Start Programmable Indexer STP Decelerates to stop CLR Clear IOFF CLCN Integration OFF Clamp cansel HOS Home Return start ORD Override PRGO Program channel 0 PRG1 Program channel 1 PRG3 Program channel 3 PRG4 Program channel 4 PRG2 Program channel 2 PRG5 Program channel 5 Reserved Reserved JOG Jog start DIR Jog direction Reserved Reserved Reserved Reserved Reserved Reser
35. n BF1 signals Integrator off Low 4 1 gain will be used as Clamp cancel input Brake output will be used as Brake control output 4 3 Input Signal 4 3 1 Emergency Stop EMST O The Driver Unit detects the input by its signal current level O The System disables the function of position loop control when the input of EMST is set to 1 and then the Motor stops in the state of servo lock in the velocity loop control EMST input of CN2 connector is valid in DeviceNet mode Table 4 2 Function Clear Emergency stop Emergency stop 4 3 2 Servo ON SVON O The input puts the Motor in Servo ON state O The Driver Unit detects current level of the input O The Motor gets in Servo ON state when DRDY output is set to 1 after the power is on then SVON input is set to 1 Table 4 3 SVON l Function 0 Servo OFF 1 Servo ON 4 3 3 Start Programmable Indexer RUN O This is to start a programmed operation of the specified channel in PRGO PRGS O The Driver Unit detects the rising edge of input signal current 4 3 4 Stop STP O The Driver Unit detects the input by its current level O The Driver Unit stops the Motor when STP input is set to 1 and then disables the starting commands You may set parameter MD for deceleration rate for stopping the Motor Table 4 4 Function Starting command valid Disables the starting command 4 2 4 3 5 Clear Position Error Counter Alarm CLR O The Driver Unit
36. nit Places of decimal 801 819 Reserved 820 Internal program 821 839 Reserved 840 100 Input Output state Indicates Input Output of CN2 connector Bit 11 10 OrRNWHBNADA gt CO Function SVON EMST IOFF HLS HOS CLR OTM OTP DRDY BRK IPOS HOME ss Table 5 11 Monitor Continued 1 841 842 101 102 Input Output state 2 Input Output state 3 Parameter AB is set to the inputs of CN2 and then the result that are merged with DeviceNet control inputs will be shown Bit 11 10 OrFNWABANDA 1 OO Function SVON EMST IOFF HLS HOS CLR OTM OTP DRDY BRK IPOS HOME Indicates control Inputs Outputs of DeviceNet Bit OrRFNWHBRYADA gt CO Function PRG5 PRG4 PRG3 PRG2 PRGI PRGO RUN STP 0 0 IPOS NEARA NEARB 5 12 Table 5 12 Monitor Continued 2 Indicates control Inputs Outputs of DeviceNet Bit 12 11 10 O NOUO Euo 100 843 103 ae state Function JOG DIR RUN HOS STP 0 ORD DRDY OVER IPOS SPD HOME HCMP Indicates control Input Output of DeviceNet Bit 16 15 14 13 12 11 10 OrPNWABNDA 1OO 844 104 iue state Function EMST SVON RUN STP CLR IOFF HOS ORD JOG DRDY OVER IPOS BUSY BRK HCMP HOME SPD 5 13 Table 5 13 Monitor Continued 3 845 105 Input Output state 6 Bit OPT nNou u o CO Function PRGS5 PRG4 PR
37. o PRM_REQ for the completion Wait until the Driver Unit becomes idle Wait until PRM_ACK changes to idle When it is indicating that the Driver Unit is idle you may input the next command 5 3 Program Interface O Use of the program interface enables to edit and read out the internal programs The program interface consists of a number of command interfaces 5 3 1 Procedure for Editing Internal Program Figure 5 3 Handshake example Editing internal program Edit internal program Execute command number 500 Start to edit intarnal program Execute any one of command numbers 600 to 611 620 640 and 641 Program command Execute any one of command numbers 660 to 663 Set optional code Execute command number 502 End of editing and reading out internal program gt gt Start of editing internal porogram Execute command number 500 in accordance with the procedures for writing parameter The System gets in the internal program editing mode when the command 500 is executed The System only accepts programming command and optional codes until an entry of termination command for edting and reading out program command number 502 Set progam command Execute any one of the program command numders 600 to 611 620 640 or 641 in accordance with the procedures for writing parameter Setting of opetional code If it is necessary set any one of optional codes 660 to 663 for the specifi
38. ocity 0 2000 0 0001 3 0000 s 4 125 HA Home return acceleration 1 00 0 01 1 280 00 s 2 126 HZ Home return near zero speed 0 0100 0 0001 0 2000 s7 4 0 Stop immediately 127 MD Move deceleration 0 0 01 1 280 00 y 2 128 130 Reserved 131 OV Velocity change ration 100 0 200 0 132 139 Reserved 1 3 4 5 Standard homing 140 OS Origin setting mode 4 6 Home position by 0 teaching 0 Automatic homing invalid 141 PH P 1 Each programmed rogram Home Return 0 Z 0 operation when Home position is not set 2 Each RUN input 142 HD Home Return direction pe Edoon z 0 1 direction 143 HO Home offset 0 802 816 pulse 0 144 159 Reserved 160 PA Phase adjust 700 24 1048 0 161 OL Overload limit 0 100 0 162 XRC Rated current 0 100 0 163 XLR Low torque ripple 0 5 A opte 0 ia RRO e one 2048 0 4095 a 0 position offset 165 179 Reserved 180 AB_ I O polarity 00h 0000 0000b 0101 0011b 0 181 XNW Chattering preventive timer 0 0 4 2 8 ms 0 0 Integration OFF and lower gain 182 IM IOFF mode 0 1 Integration OFF 0 2 Lower gain 183 189 Reserved 190 BF Brake sequence function 0 0 1 0 191 WC Brake on timer 1 1 30 0 100 ms 0 192 WU Brake off timer 1 1 30 0 100 ms 0 193 199 Reserved o de 1 Initial setting differs with Motor size 5 67 E
39. r 501 The System only accepts the command to read out internal program until the execution command to terminate editing and reading out internal program command number 502 Read out internal program Execute program command nember 820 in accodance with the procedures for reading put parameter Getting command optional code When acquired PRM_GET_NO is other than 1 it indicates command optional code PRM_GET_DATA is a data set to the acquired command optional code When acquired PRM_GET_NO is 1 it indicated that all contents in the specifeid channel are read out Execute the command for termination of editing and reading out of internal program Execute command number 502 in accordance with the procedures for writing parameter Execution of command number 502 will cancel the mode to read out an internal program of the specified cahnnel 5 4 Command List O The parameters marked with of the column of Correspondence in the lists below require to lift the protection by inputting NSK ON when setting via RS 232C It does not require lifting the protection for setting through DeviceNet O Refer to 5 4 7 Processing Decimal Place for the decimal place in the command lists 5 4 1 Parameter Table 5 3 Parameter List Corres Initial i Decimal Parameter pondenc Funct
40. r is nearing the target position or the Motor is in a specified target zone O The following parameters set the type of report O Refer to 7 1 14 Target Proximity In Target of ESB User s Manual Figure 4 3 Related parameters to NEAR output rarest Sets distance from the target to parameter NA pa Hor outputting Target proximity signal NEARA proximity mode a a NMA 0 Sets signal holding time to parameter NMA In target mode _ Sets outputting pointion to parameter ZAS Sets position to end outputting to parameter NMB 0 EAR a Target Sets distance to output Target proximity NEARB proximity mode Lsiganl to parameter NB NMB 0 Sets signal holding time to parameter NMB In target mode Sets outputting pointion to parameter ZAS Sets position to end outputting to parameter ZAE Table 4 25 NEARx Target proximity NMx 0 NEARx Function 0 Not nearing target position 1 Nearing target position Table 4 26 NEARx In Target NMx x 0 Function Not in target zone In target zone 7 4 4 14 Processing Confirmed Data Processed Result PRM_ACK PRM_STS This output reports end of processing and processed result as the response to the commands of Write Read parameters PRM_ACK reports completion or incompletion of parameter processing while PRM_STS reports the result of the processing success fail Table 4 27 PRM_ACK PRM_STS ERRE Idle or process
41. r the Driver Unit is turned on 1 2 1 4 Validity of Inputs and Outputs by Operation Mode Validity of Input and Output of Devicenet and CN2 connector changes in accordance with the operation modes Mode selection command CP switches the operation mode 1 4 1 Combination of Inputs and Outputs in DeviceNet Maintenance Mode Table 1 3 DeviceNet mode Maintenance mode Signal code Valid Y Invalid x Valid Y Invalid x CN2 DeviceNet Y i EMST N n HIG ojm 2 2 el ln i CL IOFF CLCN PRG4 PRG5 JOG DIR HLS OTP OTM Output DRDY OVER IPOS BUSY BRK BRKC HCMP HOME Nn mel Z m z 3 ACK_PRGO ACK PRGI ACK PRG2 ACK PRG3 ACK PRG4 ACK_PRGS EMSTA OTPA OTPM HLSA NEARB 1 When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output 4g Blank Page 2 Interface Specifications 2 1 CN2 Connector 2 1 1 CN2 Pin Out Figure 2 1 a SVON IOFF CLCN HOS CHA CHB CHZ BRK BRKC DRDY COM VOOGQ QV e EE8 25 24 23 22 21 20 D 45 la e Signals SVON CLR IOFF CLCN and HOS which are put in parentheses are not valid in DeviceNet mode 1 Signals parenthesized in the above figure SVON CLR IOFF CLCN and HOS are not valid in DeviceNet mode 2 1 2 1
42. rface gt CN5 Configuration switches gt e Baud rate Sw1 e Mac ID O O 6 2 2 1 CN5 DeviceNet Pin Out Table 2 2 Pin Function 1 AMECA IEEE GND DeviceNet 2 Signal 3 DRAIN Shield 4 Signal so vw _ e EAV ODeviceNen E e JONSIIAEq 2 2 2 SW1 Configuration Switch Baud rate Mac ID O SW is dipswitches and sets the baud rate and Mac ID in binary numbers The baud rate may be set to 125k 250k or 500k bps while Mac ID may be set to 0 to 63 0 SW setting for the baud rate and Mac ID are shown in Figure 2 3 Figure 2 3 ON 1 OFF 0 ES Baud rate Baud rate J 2 a bps o E 125k 250k gt LE 500k al MacID A Reserved o E HH of These settings are the shipping set 2 2 3 Indication of STATUS LED Figure 2 4 Upper side of Driver Unit Reserved Ae 7 Reserved Module status ee oo Network status Module status This indicates the status of internal network module of the Driver Unit Network status This shows the status of communication link Table 2 3 Name Description Power is off Device operational Module status Minor fault oo E Unrecoverable fault Off Power is off or Device is off line state It is on line state but connection is not secured Network status On line state and connection is secured Connection time out Critical link failure pA 3 Setting O You need to set the fol
43. ta 1 DeviceNet mode Default 0 O This command is to select DeviceNet mode or the maintenance mode of the Drover Unit O This command is used in case of a maintenance and its setting won t be backed up by the memory O Input of CP reports the current setting O The operation mode at the starting depends on the result of initialization of DeviceNet communication right after the power is turned on DeviceNet mode Initialization of LSI of DeviceNet communication right after the power is turned on was successful The prompt is indicated on the screen Maintenance mode Initialization of LSI DeviceNet communication right after the power is turned on has failed The prompt is indicated on the screen Display format In normal start NSK MEGATORQUE MS1A50_xxxx x System reference number XXXXXXXXX Torque ROM reference number Prompt For DeveiceNet mode Display format In abnormal start NSK MEGATORQUE MS1A50_xxxx x System reference number Torque ROM reference number Prompt C4 alarm is reported on 7seg LED XXXXXXXXX AN Caution When the operation mode is switched the control input and output signals CN2 and CN5 are switched as well thus the Motor may start suddenly depending on the command of the master controller When switching the operation mode be sure to confirm the command of the master controller and take an appropriate action for the safety 7 2 10
44. tion U S A Ann Arbor Phone 734 761 9500 NSK Precision America Inc U S A Chicago Phone 630 620 8500 Los Angeles Phone 562 926 3578 Ann Arbor Phone 761 761 9500 NSK Canada Inc CANADA Toronto Phone 905 890 0740 Montreal Phone 514 633 1240 Vancouver Phone 800 663 5445 NSK Rodamientos Mexicana S A de C V MEXICO Mexico City Phone 5 301 2741 5 301 3115 NSK Brasil Ltda BRASIL S o Paulo Phone 001 3269 4700 NSK UK LTD ENGLAND Ruddington Phone 0115 936 6600 NSK Deutschland G m b H GERMANY D sseldorf Phone 02102 4810 Stuttgart Phone 0711 79082 0 Leipzig Phone 0341 5631241 NSK France S A FRANCE Paris Phone 1 30 57 39 39 Lyon Phone 72 15 29 00 NSK Italia S P A ITALIA Milano Phone 02 995191 NSK Spain S A SPAIN Barcelona Phone 93 575 1662 NSK Australia Pty Ltd AUSTRALIA Melbourne Phone 03 9764 8302 Sydney Phone 02 9893 8322 NSK New Zealand Ltd NEW ZEALAND Auckland NSK Korea Co Ltd Phone 09 276 4992 KOREA Seoul Phone 02 3287 6001 NSK Singapore Pte Ltd SINGAPORE Singapore Phone 65 2781 711 NSK Bearing Thailand Co Ltd THAILAND Bangkok Phone 02 6412150 60 Taiwan NSK Precision Co Ltd TAIWAN Taipei Phone 02 591 0656 MEGATORQUE MOTOR SYSTEM User s Manual ESB Driver Unit Sytem Instructions for DeviceNet Document Number C20125 03 1st Edition 2nd Edition 3rd Edition July 2 2002 March 4 2003
45. ved Reserved Reserved Reserved Reserved Reserved Reserved PRM_REQ Write read parameters PRM_OPE Write read selection PRM_SET_DATA Data MSB LSB 3 IPOS In position BUSY Processing generated pulses BRK BRKC Brake Brake control signal HCMP Home position defined HOME Home Return completed SPD Velocity threshold ACK_PRGO Move Program channel 0 ACK_PRG1 Move Program channel 1 ACK_PRG4 Move Program channel 4 ACK_PRG2 Move Program channel 2 ACK_PRG3 Move Program channel 3 ACK_PRG5 Move Program channel 5 Reserved Reserved EMSTA Emergency stop state OTPA Over travel limit state OTMA Over travel limit state HLSA Home position limit state NEARA Target proximity InTarget A NEARB Target proximity InTarget B Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved PRM_ACK Processing confirmed do a eje ojo o sa jo 0 Jo jas oy 0 0 A ojN 0 PRM SET DATA in PRM_SET_DATA MSB PRM_STS Data processed result PRM_GET_NO Para NO _ LSB PRM_GET_NO MSB PRM_GET DATA Data LSB PRM_GET_DATA MSB When using motor with brake combined with brake sequence functio
46. ver limit 2730 1 5461 a 0 45 XVW Velocity error over limit width 100 0 1 000 ms 0 46 OR Criterion overrun alarm 409 600 204 800 819 200 pulse 0 47 49 Reserved 50 CE Brake on position error 1000 1 99 999 999 pulse 0 51 61 2s Reserved 5 62 RR Resolver resolution 3 ES High lowswatching 0 1 Fixed to low resolution 63 79 Reserved 5 6 Table 5 4 Parameter list Continued 1 Parameter ee aes de Function ea Data range Unit pa 80 FD Position feedback signal 0 0 Leading phase A in CW o 0 phase 1 Leading phase B in CW Position feedback signal 0 9Z output en FZ ZMSB 1 MSB output 7 y Resolution y r 82 FR Position decdbadkeaitual 1 1 12bit resolution 0 83 99 Reserved 100 PS Position scale select 1 1 rev 0 ae 0 CW is 101 DI Direction inversion 0 1 CCW is gt 0 102 XOTP Over travel limit position 0 0 99 999 999 pulse 0 103 OTM Over travel limit position 0 99 999 999 pulse 0 104 AO Absolute position scale 0 0 819 199 pulse 0 offset 105 119 Reserved 120 MV Move velocity 1 0000 0 0001 3 0000 s 4 121 MA Move acceleration 1 00 0 01 1 280 00 s 2 122 JV JOG velocity 0 1000 0 0001 3 0000 s7 4 123 JA JOG acceleration 1 00 0 01 1 280 00 s 2 124 HV Home return vel
47. y 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 Precision America Inc in the United States of America Introduction About This Manual O This manual describes the interface with DeviceNet Other matters related to the Megatorque Motor System refer to the User s Manual for ESB Driver Unit O Please read thoroughly this manual for safety use of the Megatorque Motor System O Limited Function for ESB Driver Unit Compatible With DeviceNet O The following functions are not available for the ESB Driver Unit compatible with DeviceNet communication Velocity control and torque control mode operation Operation by pulse train position command Acceleration profiling function Blank Page Contents 1 Specifications 1 1 1 1 DeviceNet Specifications 1 1 1 2 Dimensions of Driver Unit 1 1 1 3 Specifications of Control Input andOutput Signals 1 2 1 4 Validity of Inputs and Outputs by Operation Mode 1 3 1 4 1 Combination of Inputs and Outputs in DeviceNet Mode and Maintenance Mode manne nnn nnn nn nnn nn nnn nn nnn nnn 1 3 Interface Specifications 2 1 2 1 CN2 Connector
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