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1. 5 19 5 5 2 Wiring Diagram TB 5 19 6 Installation 6 1 6 1 Unpacking and Inspection 6 1 6 2 Combination of Motor and Driver Unit 6 2 6 3 Motor Mounting 6 3 6 3 1 Bearing Load 6 4 6 3 1 1 Attaching the Load 6 4 6 3 1 2 Bearing Load 6 4 6 3 2 Using a Dummy Load 6 5 6 3 3 Load Inertia 6 7 6 3 4 Fluctuating Load Inertia 6 7 6 3 5 Motor Operating Condition 6 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 4 Driver Unit Mounting 6 8 6 4 1 Connecting Power 6 9 6 4 2 Ground Connection and Wiring 6 11 6 4 3 Motor Thermal Protection 6 12 6 5 Connecting Motor and Driver Unit 6 13 6 6 Power on and Servo on 6 14 6 6 1 Precautions 6 14 6 6 2 Turning Power OnN 6 14 6 6 3 Turning Servo on 6 15 7 Handy Terminal Communicati
2. 4 1 4 1 1 1 Name of Parts 4 1 4 1 1 2 Specifications 4 2 4 1 1 3 Dimensions 4 6 4 1 2 JS Series Motor 4 17 4 1 2 1 Name of Parts 4 17 4 1 2 2 Specifications 4 17 4 1 2 3 Dimensions 4 19 4 2 Driver Unit 4 23 4 2 1 Name of Parts 4 23 4 2 2 General Specifications 4 24 4 2 3 Functional Specifications 4 26 4 2 4 Jumper 4 28 4 2 5 Dimensions 4 29 4 3 Cable Set asosan 4 30 4 3 1 Cable Set for YS Motor and JS Motor 4 30 4 3 2 Cable Set for YS Motor with Brake 4 30 4 4 Handy Terminal 4 31 4 4 1 Name of Parts and Dimensions 4 31 4 4 2 Specification 4 32 5 Connector Specifications 5 1 5 1 CN1 RS 232C Serial Communication Connector 5 1 5 1 1 CN1 Pin Out 5 1 5 1 2 CN1 Signal List 5 1 5 1 3 Sample Wiring Diagram 5 2 5 2 CN2 CN5 Control I O
3. ao OS RAP ER ML M PNE D val tight gh M high 0 a 4 a 4 N N 8 4 Bog 4 E oe He at B Z 5 E B a 1 3 a 5 Boa a s a a om e A S N S a oe a a g 2 ae me H A 12 Figure A 15 A 13 2 Remove the compensation ROM U101 from CB board of old Driver Unit Use a ROM remover Figure A 16 Figure A 17 U102 VA Socket CB board 3 Insert the ROM to new Driver Unit commutation board 6 Be careful of the orientation of the ROM Make sure the ROM is securely set to the socket When the version of two Driver Units are different take a special care as the orientation of IC differs in Version 11 and 21 Figure A 18 ROM P Be careful not nn 7 to break pins Figure A 19 Right position P Wrong Socket a SAt Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com nit U Unit to the new Driver a Assemble the extend board removed from old Driver Figure A 20 A 15 Figure A 21 A 16 5 After replacing the compensation ROM initialize new Driver Unit 1 Connect Handy Terminal FHT11 to CN1 connector 2 Turn on the control power only Control power input ports are indicated as CONT on the terminal block If the main and control power cannot be turned on and off separately disconnect CN2 connector
4. 14 9 TA Tell Alarm Status 12 32 14 2 4 1 Memory Error 14 9 TC Tell Channel Program 12 33 14 2 4 2 EEPROM Error 14 9 TE Tell Position Error Counter 12 33 14 2 4 3 System Error 14 9 TL Torque Limit Rate 12 33 14 2 4 4 CPU Error 14 10 TP Tel Position ee eal 14 2 4 5 Interface Error 14 10 TR Tell BD Position Data 12 34 14 2 4 6 Analog Command Error 14 10 Cee ee 14 2 4 7 Excess Position Eir ae j 14 2 4 8 Software Over Travel Limit 14 11 a E n 14 2 4 9 Hardware Over Travel Limit 14 12 VM Velocity Integrator Mode 12 36 14 2 4 10 Emergency Stop 14 12 VO Velocity Error Over Limit 12 36 14 2 4 11 Program Error 14 12 VW Velocity Error Over Limit Width 12 37 14 2 4 12 Automatic Tuning Error 14 13 WD Write Data to EEPROM 12 37 14 2 4 13 RS 232C Error 14 13 WM Write Mode to EEPROM 12 37 14 2 4 14 CPU Error 14 14 ZP Factory Use Only 12 38 14 2 5 History of Alarm 14 15 ZV 2 Factory Use Only 12 38 14 2 5 1 Indication of H
5. 9 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 1 4 Position Scale Reset The position scale value is not decided immediately after the power is turned on Be sure to reset the position scale before positioning e The position scale value is reset to 0 by the following operations Q Home Return completion AZ command input 9 2 1 5 Example of Position Scale Setting 1 Set the CCW direction of the position scale as the plus direction 1 Input the password The password acknowledgment message appears on the display MOSK e mo Co ON Ge ad ola 2 Input the DI command to determine the position scale direction OOO ee TES NSK ON DI1 2 Setting the linear position scale 1 Input the password The password acknowledgment message appears on the display NSK ON NSK ON Loj y ca 2 Input the PS command to determine the type of position scale POOS Gs PSO 9 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 Resetting the position scale value 1 Input the password The password acknowledgment message appears on the display WSK oN o N enn gt ON 2 Input the AZ command to reset the position scale value NSK ON AZ 9 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC
6. Position error counter error between position command and actual position MN command select one of the conditions to be monitored as shown in Table 9 7 Table 9 7 Monitoring condition MN command Velocity MNO Velocity command MN 1 Velocity error MN 2 Torque command MN 3 Phase C current command MN 4 Position command MN 5 Position error MN6 Position error MN 7 6 The monitor output scale are shown hereunder Figure 9 17 Velocity MNO Figure 9 18 Velocity command MN1 CW maximum velocity CW maximum velocity CCW maximum velocity CCW maximum velocity 9 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 9 19 Velocity error MN2 Figure 9 20 Torque command MN3 CW maximum CW maximum velocity 8 torque CCW maximum i CCW velocity 8 maximum Figure 9 21 Phase C current command MN4 Figure 9 22 Position command MN5 Maximum L CW maximum L current velocity _ CCW maximum velocity Figure 9 23 Position error MN6 Figure 9 24 Position error MN7 CW CW 127 pulses 16383 pulses ccw CCW 127 pulses 16383 pulses The maximum velocity shown in above figures is for the cases when the selection of resolver resolution is automatic or 10 bit setting 9 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 For More Advanced
7. is displayed and the system waits for a command to be entered The colon is called a prompt If the colon is not displayed press key Figure 7 1 Power On Message NSK MEGATORQUE Slightly differs with system configurations MS1A50_xxxx EXXXXXXXXXX Indicates that internal initialization is completed i and a command may be accepted j Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 2 Command Entry Refer to 4 4 Handy Terminal for the function of the keys Communication command shall consist of a command character string data if necessary ENT If the velocity gain is to be set to 0 5 for example VG0 5 should be entered by adding data of 0 5 to a VG command Every time a character is input the Driver Unit echoes the character back to the terminal The Driver Unit returns the same character it receives When code is input the Driver Unit decodes a character string which it has received VG0 5 in the example above and executes it Therefore a command is not executed unless it ends with ENT When turn off power of the Driver Unit make sure that a colon is displayed If not an alarm Memory error might be detected when you turn on the power next time 7 2 1 Password Among the communication commands used for this System some special commands such as AB PA SI etc require passwor
8. Disconnect the Motor from the Driver Unit when checking insulation resistance of Motor winding Do not apply more than 500 DCV Figure A 10 With Cable Set Connector Lock Motor Cable Resolver Cable Megohmmeter Table A 7 Pins to be checked Phase AFG ay EG ey 0 Phase B FG 2 E ie E Phase CF Z Ge ee Phase A B 9 S e 2 ee yn fy a Phase C A e O e C A C A Table A 8 Specification For all Motor series Specification With cable IMQ minimum Motor only 2MQ minimum a Motor and cables appearance check 6 Check for Motor damage Check for cable insulation A 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 3 Initializing Driver Unit When troubleshooting or replacing a Motor or a Driver Unit you may need to initialize the Driver Unit In such a case follow the procedures described hereunder Initialization of the Driver Unit requires three steps as shown in Figure A 12 Use Handy Terminal FHT11 for inputting command Figure A 12 1 Note down parameter settings and channel programs 2 Initialize the Driver Unit with SI command 3 Input the parameters and programs again Explanations 1 Read out parameter settings and channel programs and note down them Especially PA and RO data are important for ESA Driver Unit for absolute position resolver
9. If a message is different from the display shown right confirm procedures 1 and 2 again 4 Confirm the message AT ready OK then input OK LO k fe AT ready OK 0K The Motor rotates 10 20 back and forth to estimate the load inertia When executing estimation a dot keeps appearing in the display till the Motor stops 5 After the estimation of load inertia the display indicates the inertia value LO Way of displaying and the value of LO differ with the condition of load inertia estimation When executing the automatic tuning if an error message is ON refer to 14 Alarm and take a proper remedy Driver Unit s LED indicates F8 for AT error in an example display shown right 0K AT Errorl 8 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 4 Trial Running Tuning Level 1 Confirm that the work or Motor does not hit any obstacle when the Motor makes a full turn Always stay in safe position 6 For this adjustment the demonstration program of ESA25 Driver Unit is used as an example The program is originally set before it is shipped 1 Turn SVON CN2 signal ON and inputting SV command makes the Motor in servo on states 2 Confirm that Driver Unit s LED is indicating for normal condition 3 Confirm an emergency stop EMST and over trave
10. 12 18 In position 12 18 Input Output Monitor 12 19 Incremental Positioning Resolver 12 19 In position Stability Timer 12 19 Jog Acceleration 12 20 JUMP 12 20 Jog Velocity 12 20 Lower Velocity Gain 12 21 Load Inertia 12 21 Low Torque Ripple 12 21 Move Acceleration 12 22 Read Motor ID 12 22 Multi line Mode 12 22 Monitor 12 23 Motor Off 12 23 Motor Stop 12 23 Factory Use Only 12 24 Move Velocity 12 24 Notch Filter Primary primary notch filter frequency 12 24 Notch Filter Secondary secondary notch filter frequency 12 25 Neglect Width 12 25 Sequence Option Edit 12 25 Origin Set 12 26 Overload Limit 12 26 Origin Setting Mode 12 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com OTP Overtrav
11. 5 Pulse train input does not run Motor Figure 15 9 Command trouble 5 Pulse train input does not run Motor Make sure combination of Motor and Driver Unit is proper power is turnedion Refer to 14 2 Details of Alarm Motor servo is activated Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM Deactivate EMST OTP or OTM input input is active NO Check CN2 connector wiring Check windings of Motor and 7 Resolver Refer to Appendix 2 How to Check Motor Condition Is Motor normal Replace Motor YES Contact NSK representative in your area 15 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 2 4 Terminal Trouble Communication is disabled Figure 15 10 Terminal trouble Communication is disabled Improper characters are displayed Check CN1 connector wiring Check Driver Unit control power Check frame ground Baud rate setting of Driver Unit and terminal are different Shipping set of the baud rate for the Driver Unit and the Handy Terminal FHT11 is 9600 b p s 15 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 1 Verify Input Output Signal IO Status of Input Output Signal IO command monitors status of CN2 and CNS Input Output signal 6 This command may be used for checking the wiring Input format IO
12. HS Check that the Motor stops at the desired Home position 10 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 1 3 Programming Home Return Operation example 1 Programming Home return command in channel 0 CHO Program the Home return command in a Programmable Indexer channel Then start the operation by activating the channel i e RUN input ON 1 Input the CHO channel select command The prompt appears to wait for data input If data is already programmed in CHO the registered data appears on the display 2 Enter the Home return start command 3 When the prompt appears again press the key ENT This completes the programming in CHO 2 Home return trial operation Set Home return acceleration HA Home return velocity HV and Home return offset HO 6 Then take the following steps to perform the trial operation 1 Make the Motor servo on 2 Following the prompt input the execution command of internal programmable indexer channel s JP o ess 5 The Motor starts Home return operation 10 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 2 Programmable Indexer 6 Positioning command can be stored to the channel of the Driver Unit Programmable Indexer is to execute the stored positioning program by selecting the chan
13. command is valid TC command reports the current setting If 0 zero is set no response is displayed CC Clear Channel Format CC data1 Data 0 15 Data1 default 0 6 CC deletes the program data of a channel specified in data CH Channel Select Format CH data Data1 0 15 Data1 default 0 6 This command is to select the channel to input program The input program can be read with TC command Input program when the system is servo off state CL Clear Alarm Format CL 55 66 CL command clears excess error software thermal and program error alarms Other alarms cannot be cleared with CL command 12 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CM Communication Mode Format CM data Data Oor1 Shipping set 0 Default 0 CM selects the RS 232C communication mode CMO Standard CM1 Daisy chain communication The CM parameter set at the time of power on is valid To change the communication mode change the CM parameter turn off the power then turn it on again TS or CM command reports the current setting CO Position Error Counter Over Limit Format CO data Data 1 99 999 999 pulse Shipping set 50 000 Default Not available CO sets the position error counter value at which the excess position error alarm is to
14. or SG reports the current setting If PG VG or VI is changed SG setting is cleared to 0 SI Set Initial Parameters Format Sl data Data range None AL SY YS Default None Resets parameters to the shipping set value The SI command can be input only immediately after inputting the password and when the Motor is servo off The followings shows the parameters which are initialized by execution of command SI SI Initializes servo related parameters PG VG VI DBP ILV FF FP FS NP NS LG TL SG FO FC SVAL Initializes all parameters SI SY This parameter initializes all parameters excluding PA for ESA25 type Driver Unit SI YS Initializes all parameters PA will be set to 700 Executing SI AL entails resolver phase adjustment Be careful that the Motor is not locked by an external force Do not perform initializing only to the Driver Unit It requires approximately 30 seconds to initialize the system Do not turn off the power while initializing Otherwise the memory error will arise Tf the memory is faulty SI AL will be executed when SI and SI SY are input 12 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com SL Set Servo Loop Format SL data Data 1 2 3 Shipping set fe Default Not available Sets the control mode SL1 Torque control mode SL2 Velocity control mode SL3 Positi
15. 5 seconds ON Control power OFF ON Main power OFF E 5 minutes or more t Remove cover Use of the optional regenerative dump resistor shall be considered for heavy duty operation When the Motor is decelerating rotational energy is dissipated by internal dump resistor Excessive rotational energy causes very high regeneration of the Motor the dump resistor is overheated then the alarms goes off and the Motor stops Gentler deceleration rate or decreasing duty cycle prevents overheating of the dump resistor If heavy duty operation is still needed installation of optional Regenerative Dump Resistor is recommended Refer to Appendix 6 for the details Never apply any water or oil to the Driver Unit Take appropriate measures to protect the Driver Unit from water oil slag dust and corrosive gas Do not conduct an Isolation test or Megger test on the Driver Unit It may damage the internal circuit Be sure to adjust the servo parameters according to conditions of actual use In most cases the Direct Drive Motor System cannot exhibit its full performance unless the shipping set of these parameters are not altered Refer to 8 Tuning and Trial Running for the details of parameter setting 9 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 2 Interchangeability of Motor and Driver Unit Intercha
16. A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED SER Ds Contact us 888 88 SOURCE sales artisantg com www artisantg com MEGATORQUE MOTOR SYSTEM User s Manual ESA25 Driver Unit System M EO99SA0C2 062 NSK Ltd Document Number C20062 06 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
17. HLS input gt No Check for the Home position limit switch properly activated and its wiring Verify HO value Verify IO state with IO command Refer to 9 1 10 2 Monitoring the I O state 3 Home Return command fails to stop Motor in position Figure 15 7 Command trouble 3 Home Return command fails to stop Motor in position Refer to 10 2 1 2 Adjusting Home Limit Switch and Home Offset value 15 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com a Run input does not start Motor Figure 15 8 Command trouble 4 Run input does not start Motor Make sure combination of Motor and Driver Unit is proper Alarm is on after the Refer to 14 2 Details of Alarm power is turned on Motor servo is activated Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM Deactivate EMST OTP or OTM input input is active NO Make sure RUN command is set to channel program Inputs of channel selection PRGO PRG5 inputs and control Check CN2 connector wiring RUN input are properly executed Can SP command start Motor Check windings of Motor Refer to Appendix 2 How to Check Motor Condition and Resolver Is Motor normal Replace Motor Contact NSK representative in your area 15 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
18. HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com information on price quotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED SER Ds Contact us 888 88 SOURCE sales artisantg com www artisantg com
19. _ __ Close DRDY output Open SVON input EMST input BRK output ON OFF Invalid ON OFF Close Open This signal can be used to control negative normally on brake which activates the external brake when the Motor servo goes off or the EMST is input 9 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 In Position Output 6 In Position output condition is determined by the following parameters Table 9 1 Parameter Function Name Shipping set FW IPOS outputting time range Output mode FW1 IN In Position limit value IN100 IS In Position stability timer ISO Figure 9 9 RS 232C communication C command or RUN input BI Determined by the IS set value Example IS1 0 1 sec Position error asad aap TT IN value IPOS output Close IPOS mode FW 0 Open FW value Example FW1 100 ma IPOS output Close FIN mode FW 0 Open Pulse command l l l vravan erat Yr e Tera Rg ra Yer HOG prar H Oan ng reter n zerre Position error counter residual pulse N IN set value IPOS output Close IPOS mode FW 0 Open 9 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 1 Output Signal Format The output signal format either IPOS format or FIN format can be selected by setting the FW parameter FW data FIN format is selected when data
20. 0 0100 Is Default Not available Sets Home Return near zero velocity TS or HZ command reports the current setting ID Incremental Positioning Degree Format ID data Data 99 999 999 99 999 999 0 019 Default 0 Executes the incremental positioning command in unit of degrees in the RS 232C communication operation Data is in the unit of 0 01 The data sign specifies the direction of rotation data gt 0 plus direction CW data lt 0 minus direction CCW Example ID 10000 The Motor turns 100 in the minus direction ILV Integration Limit Format ILV data Data 0 0 100 0 Shipping set 100 Provides the velocity loop integrator with a limit 6 For more details refer to 9 2 5 Integrator Limit ILV TS or ILV command reports the current setting IN In position Format IN data Data 0 99 999 999 pulse Shipping set 100 Default 0 Specify an in position width criteria to detect completion of positioning If the position error counter reaches a value below the IN set value the IPOS signal is output TS or IN command reports the current setting When the resolver is set to 10 bit resolution the resolution becomes one fourth of the 12 bit setting Therefore only a multiple of 4 can be set valid as IN data 12 18 Artisan Technology Group Quality Instrumentation Guaranteed 888
21. 9 19 9 2 For More Advanced Operation 9 21 9 2 1 Position Scale 9 21 9 2 1 1 Resolution 9 21 9 2 1 2 Direction of Position Scale 9 21 9 2 1 3 Types of Position Scale 9 22 9 2 1 4 Position Scale Reset 9 25 9 2 1 5 Example of Position Scale Setting 9 25 9 2 2 Direction of Position Scale 9 27 9 2 3 Digital Filter 9 28 9 2 4 Feed Forward Compensation FF 9 29 9 2 5 Integrator Limit ILV 9 30 9 2 6 Dead Band Setting DBP 9 31 9 3 RS 232C Communication 9 32 9 3 1 Specification of Communication 9 32 9 3 2 Communication Procedure 9 32 9 3 2 1 When Power is Turned on 9 32 9 3 2 2 Command Entry 9 33 9 3 2 3 Password 9 34 9 3 2 4 Canceling Command 9 35 9 3 2 5 ErrOr 9 36 9 3 2 6 Readout Command 9 37 9 3 3 Communication with Personal Computer 9 39 9 3 3 1 Set up of HyperTerminal 9 39 9 3 3 2 Store Parameters of ESA Driver Unit 9 40 9 3 3 3 T
22. AX1 YES Set axis 1 parameter Example IR100 move by 100 pulses Select axis 3 lt AX3 command N ST E Acknowledgment message message T ACC AX3 YES Set axis 3 parameter Example IR300 move by 300 pulses Select axis 2 lt AX2 command 9 45 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 9 46 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 Operation 10 1 Preparation 10 1 1 Wiring Check After completion of all wiring of ESA25 Driver Unit check followings before operation Table 10 1 Confirmation e All wiring is properly arranged and completed s Terminal block screws are securely fastened e All connectors are connected and locked properly Cable Set Motor and Resolver cables is connected and locked 2 Cable Set properly 2 Handy Terminal s Handy Terminal FHT11 is connected and locked to CN1 connector Connection of Main power and Input Output cables 10 1 2 Procedure for Positioning Operation Figure 10 1 Turn Power ON L e 2 Check power voltage Main and Control power e After the power is turned on make sure that the LED green and the 7 segments LED on the front panel of the Driver Unit are indicating normal state e Confirm the Handy Terminal display is showing completion of the Driver Unit initialzation e
23. Also if TS or AX command is input when daisy chain is not active an error message will be given Do not select any Driver Unit that is not connected Otherwise operation may hang up To return to the normal state press the key first then the number of a connected Driver Unit AZ Absolute Zero Position Set Format AZ When the Motor is stopping at any position AZ command makes the current position to the origin of the coordinate BM Backspace Mode Format BM data Data Oor1 Shipping set Default 0 BM changes the function of the key BM0 A press of the key cancels an entered character string on a line BM1 A press of the key deletes a character TS or BM command reports the current setting 12 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CA Channel Acceleration Format CA data Data Motor series YS JS1 JS2 RS 0 0 01 80 00 s SS 0 0 01 100 00 s AS BS JSO 0 0 01 120 00 s 7 Default 0 This command is used to specify the rotational acceleration of a given channel of the internal program of the designated channel The CA command is only valid when the CH command designates a channel to be programmed and the Driver Unit outputs __ for command input If no setting is made in a channel or 0 is specified the rotational acceleration specified with an MA
24. EC Declaration of Incorporation The Megatorque Motor System must not be operated until it is incorporated into the machine The Megatorque Motor System conforms to the following EC Directives as a machine component EC Machinery Directive 89 392 as amended 94 368 and 93 44 EC Low Voltage Directive 73 23 as amended 93 68 The users have to take appropriate measures to their machines to conform to Electoromagnetic Compatibility Directive The Megatorque Motor System must not be put into service until the machinery into which is to be incorporated has been declared in conformity with the provisions of the EC Directives 6 Our declaration becomes invalid if technical or operational modifications are introduced to the products without the consent of NSK Ltd O Remaining Hazards Following notes should be observed for your safety The Driver Unit must be used in the environmental condition of the Installation Category I and Pollution Degree 2 The Motor and the Driver Unit must be ground respectively An isolation transformer must be used to prevent electrical shock The isolation transformer shall have enough capacity for power consumption of the Megatorque Motor System Install a noise filter in the primary AC power line as a measure against external noise A thermal protection circuit for the Motor must be provided by the user to prevent the Motor from overheating A circuit breaker must be installed into the primary
25. ESA25 Driver Unit and Cable set Make sure to select right combination of each parts when ordering 3 3 1 YS Series Motor 3 3 1 1 Motor and Driver Unit Table 3 1 Motor Reference No Power Supply Voltage yeaa ACIOOV AC200V M YS2020GG001 AC100V M YS2020GNO001 AC200V AC100V G AC200V M YS3040GG001 AC100V M YS3040GN501 AC200V M YS4080GG001 AC100V M YS4080GNO01 AC200V M YS5120GG001 AC100V M YS5120GNO001 AC200V M YS5240GNO01 AC200V 3 3 1 2 Cable Set Table 3 2 Standard Reference No Length M C002SS29 2m M C004SS29 4m M C008SS29 8m M C015SS29 15m M C030SS29 30m Table 3 3 Motor with brake Reference No Length M C002SS28 2m M C004SS28 4m M C008SS28 8m M C015SS28 15m M C030SS28 30m L Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 3 2 JS Series Motor 3 3 2 1 Motor and Driver Unit Table 3 4 Motor Reference No ESA25 Driver Unit Reference No Power Supply Voltage ACIOOV Eia AC200V ACIOOV i AC200V ACIOOV Raa AC200V ACI00V ieee AC200V 3 3 2 2 Cable Set Table 3 5 Reference No Length M C002SS29 2m M C004SS29 4m M C008SS29 8m M C015SS29 15m M C030SS29 30m 3 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Specifications 4 1 Motor Specifications 4 1 1 YS Series Motor 4 1 1 1 Name of Parts Figure 4 1 A4 Artisan Technology Group
26. FGND Use the R S terminals when connecting single phase 200 VAC Surge current becomes larger when the R T terminals are in use Control power Main power Single phase AC100V Single phase AC100V Noise filter Noise filter CONT AC100 110V MAIN AC100 110V NC FGND pT a Do not connect this terminal 519 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 5 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 Installation 6 1 Unpacking and Inspection Make sure that you have received the following units 1 Megatorque Motor 2 Driver Unit CN2 and CNS mating connectors and 2 fuse holders are included 3 Cable Set Motor and Resolver cable set Inspect shipping containers for damage as an indication that they might have been mishandled in transit When unpacking the System save all packing materials for reuse in the event that the System needs to be shipped or require service 7 Inspect the Motor and the Driver Unit very closely for damage which might have occurred in transit The Driver Unit is particularly fragile and should be inspected for warped or bent sheet metal broken standoffs and loose or damage electric components 6 Rotate Motor s rotor by hand without turning on power The rotation should be smooth If you suspect damage do not
27. Home Return can be also executed with the following ways Select the channel where HS command is set and input RUN command Execute HS command through RS 232C communication 10 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Home Return motion differs as shown in Figure 10 3 according to the starting point of Home Return Figure 10 3 Home return starting point Origin OTM input active HLS input active OTP input active CCW direction overtravel area home limit switch area CW direction overtravel area A ae fe direction velocity xl direction CW direction velocity eM The DRDY output is open The DRDY output remains during this operation closed during this operation The DRDY output is open during this operation When Home Return direction is reversed by the HD parameter CW and CCW as well as OTP and OTM are reversed as follows CW CCW OTP gt OTM 10 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 1 1 Home Return Parameter List Table 10 2 Motor series YS JS1 JS2 and RS RS 232C es Parameter function Data input range Shipping set Home Return Acceleration HA s 001 8000 1 00 Home Return Velocity avs 3 00 0 2 Home Position Offset 0 Home Return Direction uD cw TOW 1 Home Return Near Zero Velocity 0
28. How to Replace ESA25 Driver Unit Make sure the power is turned off when replacing ESA25 Driver Unit In the reference number of ESA25 Driver Unit second digit from the last denotes whether it is interchangeable or not Figure A 13 M ESA Y3040T 2 5 1 Not interchangeable 2 Interchangeable Standard F Special For interchangeable standard Driver Unit replace with the Driver Unit which has the same reference number Set the same parameters to new Driver Unit When replacing Driver Unit which is not interchangeable the compensation ROM of the old Driver Unit must be transferred to the new Driver Unit When transferring the ROM the Driver Unit must be disassembled To disassemble Driver Unit follow the procedures described hereafter For a special Driver Unit contact your local NSK representative Before replacing the Driver Unit record all parameters and channel programs The record list is provided in the last page of this manual Especially following items shall be recorded e PA VG VI PG CO MA MV and HO e Programs and other settings in channels When replacing Driver Unit following tools and Handy Terminal FHT11 are necessary 1 A screwdriver cross recessed 4mm 2 A ROM remover Adi Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com nit U Dissemble ESA25 Driver Figure A 14 c Y AN af AS e R Y LT L
29. Hs He He HeH Input of 20H requires for every echo back when the parameter of MM is 1 9 37 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 If set value reading function is used Figure 9 42 function example lt Entered command Returned velocity loop proportional gain lt _ Waiting for a command to be entered Input To Driver Unit Le Kr He Fe Readout From Driver Unit 2 HY He HoHo Sie E 3 TP command for reading current position data Figure 9 43 TP command example lt Entered command lt _ Returned current position coordinate lt _ Waiting for a command to be entered Input To Driver Unit He Hs Hoem Readout From Driver Unit T He H heo aiaeeiiee 9 38 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 Communication with Personal Computer This section describes how to store the parameters of Driver Unit using HyperTerminal of communication software which is provided with Windows 95 as standard The user shall provide the communication cable Pin out of the D sub 9pins connector of ESA Driver Unit is different from DOS V machine Refer to 5 1 CN1 RS 232C Serial Communication Connector and the manual of the personal computer 9 3 3 1 Set up of HyperTerminal 1 Start HyperTerminal Start menu Pro
30. If CN2 connector is not disconnected the parameters cannot be input properly and the Motor may run away Make sure that CN2 connector is disconnected 3 When control power is turned on Handy Terminal displays NSK MEGATORQUE 66 99 After the display shows a colon input CR TUES CIES LN Lan and s JL JL Cs Y len Initialization will take about 30 seconds 4 After the display shows a colon log in all parameters and channel program referring the recorded data and settings S L Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 5 Regeneration Dump Resistor Megatorque Motor will function as a generator in the following conditions This phenomenon is called regeneration When decelerating under heavy inertia When the Motor axis is horizontal weight of an unbalanced load attached to the rotor gives torque load to the Motor Energy generated by the motor will be charged to the main power circuit condenser If energy is more than the capacity of the condenser a dump resistor of the Driver Unit will dissipate overflown energy However when the regeneration occurs frequently the dump register will be overheated due to its limited capacity Eventually over heat alarm will be on and Motor will stop Dump resistor capacity is about 2 5W When an over heat alarm is detected following remedies should be taken Redu
31. It is necessary to check a insulation and continuity of the cable periodically 4 When an excessive current applied to the resolver whichis induced by internal contact or collision of Motor rotor and stator the fuse protecting the exciting circuit of resolver may blow out Replace of Motor and Driver Unit is required in such a case 14 2 3 2 Software Thermal Sensor Output DRDY Open TA A3 gt Overload LED A3 Motor Condition Servo OFF Table 14 8 Cause and Remedy Overload Cause Remedy 1 Excessive Motor duty cycle s Reduce duty cycle and the load Re adjust acceleration deceleration e The Motor is overheated and air cooling is necessary after the Motor stops Then turn on power After stopping operation keep control power on 2 Mechanical restraint to the Motor such as le Remove mechanical restraint brake or an obstacle 3 Improper gain setting e Readjust gain Refer to 8 Tuning and Trial Running 4 Unmatched combination of Motor and Driver ls Check the combination Unit Reference number of Motor and Driver Unit Note Do not change a parameter OL setting It is properly set before shipment 4 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 3 3 Velocity Error Over Output DRDY Open TA A4 gt Run away LED A4 Motor Condition Servo OFF Table 14 9 Cause and remedy Run away Cause 1 Velocit
32. JS1 JS2 and RS Coordinate values range from 0 to 614 400 x PS data 1 Motor Series SS Coordinate values range from 0 to 491 520 x PS data 1 Motor Series AS BS and JSO Coordinates values range from 0 to 409 600 x PS data 1 Figure 9 27 Multi rotation position scale Motor series YS JS1 JS2 RS Home position origin or AZ command execution point CCW direction lt J CW direction P 460 800 P 153600 153600 460800 270 90 90 270 P 614 400 P 307 200 0 307 200 614 400 360 180 0 180 360 Value returns to 0 after making the number of revolutions set by the PS command P 614 400 x PS value 0 360 x PS value Motor series SS Home position origin or AZ command execution point CCW direction lt J CW direction P 368 640 P 122880 122 880 368 640 270 90 90 270 P 491 520 P 245 760 0 245 760 491 520 360 180 0 180 360 Value returns to 0 after making the number of revolutions set by the PS command P 491 520 x PS value 0 360 x PS value Motor series AS BS JSO Home position origin or AZ command execution point CCW direction lt J CW direction P 307 200 P 102400 102 400 307 200 270 90 90 270 P 409 600 P 204 800 204 800 409 600 360 180 180 360 Value returns to 0 after making the number of revolutions set by the PS command P 409 600 x PS value 0 360 x PS value
33. SPACING k 60 CONNECTOR JST CORP ELR 15 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 4 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 7 M YS5240GNO001 OUTPUT ROTOR MOUNTING HOLES d D L mox 2151 K L CONNECTOR JST CORP ELA 15 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 440 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Motor with brake Figure 4 8 M YS2020GG001 OUTPUT ROTOR MOUNTING HOLES MANUAL BRAKE 6 M5x0 6 DEPTH 7 RELEASE HOLES PCD120 60 SPACING 3 M5 PCD106 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm a Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 9 M YS3040GG001 OUTPUT ROTOR MOUNTING HOLES MANUAL BRAKE 6 M6x1 0 DEPTHS PCO145 60 SPACING RELEASE HOLES 3 5 PCD112 BASE MOUNTING HOLES 4 810 DRILL THRU N CONNECTOR JST CORP ELR 15V For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to cast
34. The user can monitor the velocity of the Motor by measuring the voltage between VELOCITY and GND check pins on the front panel When the resolver is set to 12 bit resolution Note 10 V is only a typical value actual values vary slightly The voltage is not a precise representation of the velocity Figure 9 11 CW Maximum velocity 10V 10V CCW Maximum L N velocity When the resolver is set to 10 bit resolution or automatic resolution switching Note 7 5 V is only a typical value actual values vary slightly The voltage is not a precise representation of the velocity Figure 9 12 CW Maximum velocity CCW Maximum L velocity Table 9 5 Maximum velocity Unit s Resolver resolution 12 bit settin Automatic resolution Motor series 9 switching or 10 bit setting YS JS1 JS2 RS Automatic resolution switching 12 bit setting and 10 bit setting are selected by the RR parameter 9 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 10 2 Monitoring I O State IO 6 The Input Output signal status of CN2 and CNS connectors can be monitored using JO command 6 This is useful to check the wiring Input format IOO RP Monitor I O state 1O2 RP Monitor the I O related to programmable indexer 103 RP Monitor the I O related to Jog operation Note RP is to set the frequency of the monitoring Without RP One sho
35. appears to wait for next command TS or MM reports the current setting 12 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MN Monitor Format MN data Data 0 7 Shipping set 0 Default 0 Selects and sets the condition of the analog monitor The setting is not backed up in the memory MN command must be entered when monitoring is required Setting can be read by MN command 6 The condition of monitor is shown in the table below MN data Monitor output MNO Velocity MNT Velocity command MN2 Velocity error MN3 Torque command MN4 Phase C current command MN5 Position command MN6 Position error 127 pulses 10V MN7 Position error 16 383 pulses 10V MO Motor Off Format MO When the SVON input CN2 is ON and the Motor is in the servo on state inputting the MO command turns the Motor servo off 6 To activate the Motor servo again input the SV command or the MS command When the MS command is input the Motor gets in the servo on state This also clears the inputted operation command previously MS Motor Stop Format MS When the MS command is input during the execution of an operation the Motor abandons the programs and stops At this time the Motor is in the servo on state The programs specified before the Motor stop are cleared If the MO command
36. estimation under continuous operation in normal room environment 13 4 Storing Store the Motor and Driver Unit in clean and dry indoor condition A Driver Unit has a lot of ventilation holes and should be covered properly to protect from dust Table 13 4 Storing condition Remarks Temperature 20 C 70 C Humidity 20 80 No condensation 13 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 5 Warranty Period and Covering Range 13 5 1 Warranty Period The warranty period is one year from the date of delivery of the product or 2400 working hours whichever comes first 13 5 2 Range of Warranty D 2 3 13 5 3 Immunities The items to be warranted shall be the supplied products by NSK Ltd The supplier will repair the supplied products free of charge within the warranty period The supplied products will be repaired with cost and fees paid by the customer after the warranty period The product is not warranted in one of the following cases even within the warranty period D 2 3 4 5 6 Failure of the unit due to installation and operation not in accordance with the instruction manual specified by the supplier Failure of the unit due to improper handling and use modification and careless handling by the user Failure of the unit due to the causes other than those attributable to the supplier Failure of the un
37. the MO command turns servo off The SV or MS command will cancel this MO command effect Figure 9 1 ON OFF Power supply CPU initialise 2 sec approx Close Open ON SVON input OFF S L 30ms max 5ms max Invalid ON Motor servo OFE RS 232C command Sv or mS gt Sv or mS gt DRDY output Precaution when turning ON OFF the main power supply and the control power supply separately When turning on the main power supply with the control power supply turned on Turn on the main power supply first then the SVON input When turning off the main power supply with the control power supply turned on Turn off the SVON input first then the main power supply When the main power supply is turned off in the servo on state the Driver Unit outputs the AC Line under voltage alarm Once this alarm occurs it will not recover unless the power is turned on again Figure 9 2 Control power supply 1sec or more Main power supply SVON input 9 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 2 Emergency Stop 6 Turning on the EMST input stops the position loop control function and stops the Motor in the servo lock state under velocity loop control No motion commands will be accepted while EMST input is on In the EMST state the LED on the front panel indicates F The DRDY output r
38. 0 shipping set FW1 FWO IPOS format 1 When data of parameter FW is not 0 Zero FIN mode IPOS output indicates that the positioning has completed IPOS will be output for every positioning start command such as and Out put state IPOS output is always open and it closes only for the moment set by FW when the positioning completes The unit of closing time in FW is 100m sec Shipping set FW1 100m sec Recommendation We recommend to use FIN mode when you use the programmable indexer in the Driver Unit IPOS will not be output for pulse train operation and jog operation When the positioning is disturbed in the middle of operation by the emergency stop or over travel limit switch IPOS will not be output 2 When data of parameter FW is 0 Zero IPOS mode The format is to indicate if there is a difference between position command and current position Basically IPOS output will be closed only when residual pulses in the position error counter is within the range set by IN parameter In other state it is open However even residual pulses in the position error counter is within the IN value output is forced to open during pulses are generated internally when executing programmable indexer Home Return jog and operations via the RS 232C communication Recommendation Select IPOS mode for pulse train command operatio
39. 0001 0 20 Table 10 3 Motor series SS Parameter function EEE Unit Data input range Parameter Home Return Acceleration 0 01 100 00 Home Return Velocit 0 0001 3 7500 Home Position Offset 0 487 424 Home Return Direction HD so cw 1 CCW Home Return Near Zero Velocity 0 0001 0 25 Table 10 4 Motor series AS BS and JSO Parameter function eae Unit Data input range Parameter Home Return Acceleration 0 01 120 00 Home Return Velocity HV s 0 0001 4 5000 Home Position Offset HO pulse 0 405 504 Home Return Direction HD CWwiccw Home Return Near Zero Velocity HZ s 0 0001 0 30 10 2 1 2 Adjusting Home Position Switch and Home Offset Value The position of the Home position sensor a dog or a sensor must be adjusted properly to perform Home Return accurately The Home position is determined at the point where the resolver value becomes zero after detection of HLS input rising edge when motor is running under Home Return near zero velocity The home position is set to the point that is off set by HO if the Parameter HO value is not set to 0 zero The resolver has many teeth for detecting its position and the rising edge of HLS is to identify a tooth out of these teeth To make precise detection of Z the Home limit switch position must be adjusted so that the HLS input goes high when the switch is at the middle center of the tooth width Design the Home limit switch so
40. 1 A wrong program is called due to noise s Apply the remedy for noise 2 Memory is defective e Change Driver Unit e Replace Driver Unit 3 CPU is defective Standard ESA Driver Appendix 4 14 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 5 History of Alarm Store the occurrence of alarms to EEPROM It keeps the record of alarms up to 32nd before It does not overwrite more than 32nd alarm Clear the alarm history to keep the record for new alarms 6 This history records the alarm which makes the DRDY output open Contents of record are as follow i Alarm code that is shown on LED ii Details of alarm for failure analysis of the manufacturer iti The number of times the power is turned on History of alarm may not be stored properly when the power is shut off right after the alarm is reported 14 2 5 1 Indication of History of Alarm 1 Input TA command Press key to scroll next line Bis 9 GD E H The current number of times for turning on power The number of times for turning on power when the alarm is reported Details of alarm Alarm code Number of alarm 14 2 5 2 Clear History of Alarm 1 Input password ON E na 2 Input TA command Wi TA CL 14 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w
41. 30 meters e Do not place the power lines AC power supply and Motor cable and the signal lines CN2 and Resolver cable in close proximity Do not tie wrap them and not put in the same duct e Connect the Cable Set to Motor connector and Driver Unit connectors CN3 and CN4 as shown in Figure 6 9 and 6 10 Figure 6 9 YS Motor Figure 6 10 JS Motor 613 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 6 Power on and Servo on 6 6 1 Precautions Before turning on the main power check the following 1 Wiring of connectors 2 Connecting Cable of Motor and Driver unit 3 Safety Always stay in a safe place Confirm that the Motor is securely fixed to the mounting base and the load is fixed to the Motor Fully fasten all the mounting bolts The working area of the Motor must be protected from the operator 6 6 2 Turning Power on 1 Turn on the power 2 Make sure that the LED of the Driver Unit and the Handy Terminal display are indicating that the system is ready for operation 1 Normal state Figure 6 11 shows the LED indicator in normal condition Figure 6 11 iy 2 Abnormal Figure 6 12 Green LED Turns on when the power is turned on we Normal Green O Abnormal Orange 7 segment LED display Indicate the type of alarm s The alarm is normally indicated by a 2 digit code Two L characters are di
42. 88 SOURCE www artisantg com IO Input Output Monitor Format IO data opt Data data default or O Indicates CN2 input output status data 1 Indicates CN2 input output status B contact input indication is reversed data 2 Indicates input output status in programmed operation data 3 Indicates input output status in Jog operation Option code opt default Indicates current status in one shot opt RP Reading is repeated automatically Indicates the status of control input output signal ON OFF open close by 1 or 0 1 Input ON output closed 0 Input OFF output opened To terminate IO RP repeated automatic reading press key 6 For more details refer to 9 1 10 2 Monitoring I O State IO IR _ _ Incremental Positioning Resolver Format IR data Data 99 999 999 99 999 999 pulse Default 0 Executes the incremental positioning command in the unit of pulse in the RS 232C communication operation The data sign specifies the direction of rotation movement data gt 0 plus direction CW direction data lt 0 minus direction CCW direction IS In position Stability Timer Format IS data Data O or 0 3 100 0 0 1 sec Default 0 Specifies the output condition of the positioning completion signal IPOS ISO The IPOS output closes in positioning if the value of the pos
43. AC power line of the Megatorque Motor System The cables that connect the Motor and Driver Unit should be used only for internal wiring Proper protection of the cables is obligated depending on the usage Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Terminology It will be necessary to be familiar with some terms used in this document b p s CCW closed CW Driver Unit Home Return kpps Motor OFF all capital ON all capital open P control PI control position gain position integrator frequency position loop control mode Programmable Indexer pulse train quadrature output rated stall torque rated torque s s servo lock servo off servo on shipping set stall torque System velocity gain velocity integrator frequency velocity loop control mode bit per second the unit of communication speed Motor rotating direction counterclockwise seen from the outside of rotor logic output state output current will flow Motor rotating direction clockwise seen from the outside of rotor means Megatorque Motor System s driver unit when capitalized a built in sequence program for setting the home position kilo pulse per second the unit of pulse frequency means Megatorque Motor System s motor when capitalized logic input state input will see an open circuit logic input state there will be a current path to the common DC
44. AN command reports the current setting Refer to 9 3 4 Daisy Chain Communication 127 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AR _ Absolute Positioning Resolver Format AR data1 data2 Data Differs with the parameter PS setting and Motor type Default data1 0 Data2 PL MI Default data2 Direction in which the move distance is shorter data1 indicates the position of the destination The position which may be read out by TP2 command complies with a coordinates in the unit of pulses Refer to 9 2 1 Position Scale for details 6 Format of data1 range differs with the parameter PS setting and the Motor series Data range data1 YS JS1 JS2 RS AS BS JSO PSO 99 999 999 99 999 999 99 999 999 99 999 999 99 999 999 99 999 999 0 614 400 x n 1 0 491 520 x n 1 0 409 600 x n 1 n 1 99 Shipping set n 1 data 2 indicates the rotational direction When PS parameter is set to 0 zero the data 2 is invalid 1 PL CW direction When the parameter DII is set the direction is CCW 2 MI CCW direction When the parameter DII is set the direction is CW 3 If the data 2 is omitted the Motor rotates to the shortest direction to the destination If the current position is the same as the destination the Motor does not rotate Thi
45. Adjusting mode 1 0 Not available 6 Sets velocity loop proportional gain VG AJ command starts the fine adjusting program TS or VG reports the current setting When LO and SG data are changed the gain will be automatically adjusted When VG data is changed LG and SG data will be cleared to 0 12 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VI Velocity Integrator Frequency Format VI data Data 0 10 63 00 HZ or AJ Adjusting mode Shipping set 1 00 Default Not available Sets the integration frequency of velocity loop VI AJ starts the fine adjusting mode TS or VI reports the current setting VI will be automatically adjusted when LO and SG data are chnaged When VI data is changed LO and SG data is cleared to 0 VM _ Velocity Integrator Mode Format VM data Data 0 1 Shipping set 1 Default 0 Changes the velocity loop integrator control as shown below VMU Velocity loop P control VMI Velocity loop PI control VO Velocity Error Over Limit Format VO data Data 1 4095 Shipping set 1365 Default Not omissible 6 This is to set the error limit to detect velocity error over alarm Velocity error over alarm will be given when the deviation of velocity exceeds the setting Correspondence between velocity error and data depends on Motor
46. C 3 Is excessive load applied to the machine Sluggish operation of the brake 1 ls sufficient voltage being supplied 2 Is the friction plate worn out too much gap 3 Is brake temperature too high over 100 C The brake does not operate entirely 1 Breakage of coil and or lead wire 2 Electrical circuit failure 3 Too much gap of the friction plate because of wear 4 ls sufficient voltage being supplied A 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 7 Parameter Program Setting List ESA25 standard Driver Unit Reference No S N e Blank settings are factory set Parameter PG VG VI VM LG TL FO FP FS NP NS DBP DBA ILV FF FC CO IN IS FW vo VW Parameter Data Setting set setting set setting setting Poor Y o x Y rR gt i0 Pe o R o Poo R a aB xoxo Oor 0 f m o T7 wm O so z o mw m i IW mR o B m i Ooo Y ms f i T o o o o o0 w 0o o o w 0o C o om o0 s o Co T J w ai T O o Ooo f m s o Poo f wv o m gt EE a a E a E E Oo w oo 7 io O oo f m f i T y m Cso az owo s l IW f os o o a T o oae f r O O o b i a i Oor 0 C o T o T a
47. FP to lower noise level by typing minus key several times e ENT 333 222 STEP10 _FP500 3 If the Motor starts to rotate unstably increase FP value by typing plus key several times ENT p 233 123 STEP10 _FP120 4 Type the enter key to complete the adjustment ENT 233 123 STEP10 _FP120 Note To deactivate the filter input the filter command with 0 data For example type as Le JCP Co ess Note Setting Notch Filter When setting notch filter you can connect the ocsilloscope to monitor pins on Driver Unit front panel to know the resonance frequency s Example i Check the resonance frequency as shown in Figure 8 3 ii If the resonance frequency is 200Hz input MEENA E to set notch filter frequency Figure 8 3 Displa pe Handy Terminal 200Hz 5ms 8 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 816 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 Operational Function 9 1 General Operation and Function 9 1 1 Servo ON After the power to Driver Unit is turned on and its DRDY output circuit is closed making SVON input ON should make the Motor servo on The position error counter will be cleared when SVON input is OFF When SVON input is ON
48. FS Low pass filter secondary H o T TS P G T H T H Ooo ooo NS___ Noteh filter secondary H T H oos DBP DBA LV FF Fo 0 IN 5 Co 0 2047 FW FIN width Ca T o o Ca ow SS Cao E a o VO Velocity error over limit 0 4 0 1 0 1 1 vw CR PC RR FD Ca FZ FR PS DI 0 OTP Over travel limit switch position lt o E 999 999 9999 999 OTM J Over travel limit switch position __ __0__ 99 999 999 99 999 999 MV Move velocity J mooo ooo O MA Move acceleration 10o oomoo N Jog velocity T ooo 0 0007 4 5000 JA Jog acceleration H o oo _0 01 120 00 O HV Home return velocity H oo oooorasoo HA Home return acceleration 1o oomoo HZ Home return near zero velocity oomo ooorozo0 o o oS XOXOXXOO OS HD HO PA 01 RC LR AB NW MM BM OM AN WM SE LO SG MT Ce po S R Ce o o ZP Coo e X E H ES SL AG AGV Sra command gain velocity control 0 10 2 00 AGT Analog command gain torque control mode 0 10 2 00 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 12 2 Glossary This section provides description and specifications of commands and parameters Shipping set denotes a value which is set at the factory before shipment Default denotes a value which is adopted when entering a command and parameter with no data For example if you
49. Functions The Motor operation can be monitored by using the analog velocity monitor pins which are provided in the front panel of Driver Unit and RS 232C communication Table 9 4 RS 232C Item communication Monitor output Description command VELOCITY check pin s Monitors the Motor velocity in forms of analog Velocity on the front panel voltage output Position e Monitors value of the position error counter TE e For the details refer to 12 Commands and error S Parameter e Monitors the input output status on off of CN2 Input output e For the details refer to 12 Commands and Parameter s Monitors the current position in the absolute Current TP position scale position CNI1 via RS 232C le For the details refer to 12 Commands and terminal Parameter Parameter e Monitors the set values of parameters TS e For the details refer to 12 Commands and value Parameter e Monitors the alarm status Alarm TA s For the details refer to 14 1 2 Using TA Command Channel e Monitors the program stored in the channels TC e For the details refer to 12 Commands and program s Parameter Analog Front panel MON N Motor velocity and residual pulses of the MN E position error counter may be monitored in monitor GND terminal analog data 9 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 10 1 Velocity Monitor
50. Ha EEE X x x x x NT eRe RIN e BK Note s In the gA B format one cycle of either A or B is defined as one pulse Figure 10 6 OA B 1 pulse The resolver resolution is set by the RR parameter via RS 232C 10 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 102 400 51 200 25 600 204 800 102 400 51 200 51 200 25 600 12 800 02 400 51 200 25 600 25 600 12 800 6 400 360 000 180 000 90 000 36 000 18 000 9 000 3 600 1 a k 10 2 3 3 Input Timing The following specifies the conditions of pulse acceptance timing Besides these conditions the Motor operation is restricted by the maximum velocity Do not input pulses which exceed the Motor s maximum velocity 1 When PC is set to 0 PCO Figure 10 7 CW Rotation CCW Rotation Min 600ns f ON CWP input CW pulses OFF Min 600ns Min 1us CCWP input CCW pulses S 2 When PC is set to 1 PC1 Figure 10 8 CW Rotation CCW Rotation CWP input Direction G l in 500ns Min 600ns Min 500ns Min 500ns CCWP input Step atin 600ns 3 When PC is set to 2 4 PC2 PC4 Figure 10 9 CW Rotation CCW Rotation CWP input A Min 2us Min 2us Min 5us CCWP input B 10 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 4 RS 232C Posi
51. Hardware Over Travel Limit Emergency Stop Program error Automatic Turing error RS232C error CPU error Resolver Circuit error Software Thermal Sensor Velocity error over Heat Sink Overheat or Regeneration Resistor Overheat Abnormal Main AC Line Voltage Over Current Control AC Line Under Voltage 7 segments Terminal Display EO gt Memory Error E2 gt EEPROM Error E7 gt System Error E8 gt 1 F Error E9 gt ADC Error F 1 gt E xcess Position Error F 2 gt Software Over Travel F 3 gt Hardware Over Travel F 4 gt mergency Stop F5 gt Program Error F8 gt AT Error C2 gt RS 232C Error C3 gt CPU Error AO gt Resolver Circuit Error A3 gt Overload A4 gt RUN away PO gt Over Heat P1 gt Main AC Line Trouble P2 gt Over Current P3 gt Control AC Line Under Voltage When multiple alarms are reported a pause between the alarms will start a new line Switching display format by MM is effective Example of display Hardware travel limit and emergency stop are displayed by MM1 format TA F3 gt Hardware Over Travel F4 gt Emergency Stop 12 32 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TC Tell Channel Program Format TC data Data 0 63 or AL Default 0 6 Reports the program contents of a channel specified by data 6 No data is displayed if program is not set to the channel TC AL command is to scroll all channe
52. He He fede v eee eo E 4 Ifthe input condition is not met when entering a command In this case the entered character string with INHIBITED is returned For Example Figure 9 40 Input error example 2 IR10 If an IR command Incremental Positioning IR INHIBITED Rresolver is entered when the Motor is rotating an error message is returned since the input condition is not met Input To Driver Unit L HeH He Hejm Echo back From Driver Unit Cono HeHoY HHH ORAS fo oo 9 36 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 6 Readout Command If a command for reading the internal state i e parameter set values current position etc of the Driver Unit among the communication commands of this system is entered the Driver Unit returns data etc 6 Returned data consists of space code 20H read out value data carriage return ODH line feed code 0A HT For example 1 TS command for reading set value Figure 9 41 TS command example lt Entered command lt Returned set frequency of the primary low pass filter lt Returned set frequency of the secondary low pass filter lt Returned set frequency of the 1st stage notch filter lt Waiting for a command to be entered Input To Driver Unit HeH pee Readout From Driver Unit THH peony HEH He HoHo HEH She pom
53. Megatorque Motor RS AS BS JS SS and YS Series The Motor is not made for dust proof or waterproof You cannot use the Motor in humid or oily atmosphere IP20 IP30 or IP40 equivalent Simple waterproof Motor RW series The Motor is not treated for complete waterproofing Confirm what part is not waterproof with the catalog then take appropriate measures to these parts against water if necessary To use the Motor for a long time check its failure in insulation through the puncture test which shall be conducted approximately once in every half of a year Do not use the Motor without taking measures against water and oil Waterproof Motor RZ series IP65 equivalent Use this Motor type when splash water or oil on it When you use the Motor in IP 66 or equivalent condition provide air purge The user shall provide measures against dust Check the Motor for its deterioration by the insulation test which shall be conducted approximately once in every half a year for long term use Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Use condition The allowable moment load and axial load differ with Motor size Reconfirm that the using conditions are in the specified limits of the Motor An excessive offset load will cause permanent deflection of the rotor and the bearing abnormality Never apply shocks to the Motor when installing it Be sure not to give excessive shocks to t
54. Operation 9 2 1 Position Scale The ESA25 Driver Unit has a position scale to control positioning and over travel limit 9 2 1 1 Resolution 6 The Motor resolver has teeth for detecting its position and each tooth is digitally divided into 4096 In other words the resolution of Motor is 4096 x number of teeth 6 Table 9 8 lists Motor series and the resolution Table 9 8 pulse r Motor series Number of teeth Resolution YS JS1 JS2 RS 614 400 SS 491 520 AS BS JSO 409 600 9 2 1 2 Direction of Position Scale For your safety the direction of the hardware over travel limit switches are fixed to the Motor as follow regardless the DI setting 0 OTP CW direction 0 OTM CCW direction The direction of position scale counting can be switched by the DI command Table 9 9 DI setting CCW direction Plus direction Minus direction Plus direction Shipping set When the position scale direction is set the directions of operations performed by the following functions are also determined Pulse train operation Positioning via communication IR ID AR AD HS Programmable indexer Q Home Return Jog Software over travel limit switch 9 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 1 3 Types of Position Scale Three types of position scale are available for the user to select the appropriate type for each purpose Po
55. Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 2 3 Command Trouble 1 Home Return command causes no motion Figure 15 5 Command trouble 1 Home Return command causes no motion Verify IO state with IO command Refer to 9 1 10 2 Monitoring the I O state Make sure the combination of Motor and Driver Unit is proper Alarm is activated after the Refer to 14 2 Details of Alarm power is turned on Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM Deactivate EMST OTM or OTP input input is active Home Return starts with HOS input HS command is set to the program in a channel to start HOS input can be Home Return Confirm if HS command is switched ON from programmed in the channel Inputs of channel selection PRGO PRG5 inputs Can HS command and control RUN input are tart Home Return properly executed Home Return starts with HS command Can HS command start Home Return Check CN2 connector wiring not be executed Check winding of Motor and Resolver Refer to Appendix 1 How to Check Motor Condition Is Motor normal Replace Motor YES Contact NSK representative in your area 15 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Motor does not stop in Home Return Figure 15 6 Command trouble 2 Motor does not stop in Home Return a O lt Is
56. Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 1 1 2 Specifications There are three types of Motor in YS series Standard Motor with brake 3 Low profile type YS Series Motor can be run on either 100V 110V or 200V 220V AC The unit used in the specification tables is in SI unit system IN 0 102 kgf 0 225 b 1N m 0 102 kgf m 0 738 ft lb 1 Standard Table 4 1 Standard Item Unit oan eee E K eoo Maximum torque Am m Maximum current phase A Allowable axial load u oo p a y oa 19 600 Allowable moment load G LIN 400 Axial rigidity 1 0 x 10 Moment rigidity 3 0 x 107 Maximum stall torque a ae a e 198 Rotor moment of inertia 0 007 0 020 0 212 0 255 i a Mass i o wo s 95 Ia m m3 mo IPU Operating condition Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed a l a 3 Resolver resolution 614 400 Positioning accuracy 150 Note Repeatabilit a AC 200V M ESA M ESA ra e M ESA M ESA l i Y2020T25 Y3040T25 Y4080T25 Y5120T25 Y5240T25 Compatible Driver Unit AC 100V M ESA M ESA M ESA M ESA Y2020V25 Y3040V25 Y4080V25 Y5120V25 Note 1 These value assume that the Motor is mounted on a rigid base 2 When used with an ESA25 Driver Unit interchangeable 3 Internal Protection Level 4 2 Artisan Technology Group Quality Instrumentation Guar
57. SINGAPORE Singapore Phone 2781711 NSK BEARINGS THAILAND CO LTD THAILAND Bangkok Phone 2 6412150 60 Chiang mai Phone 053 246993 4 TAIWAN NSK PRECISION CO LTD TAIWAN Taipei Phone 02 591 0656 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 MEGATORQUE MOTOR SYSTEM User s Manual ESA25 Driver Unit System Document Number C20062 06 October 20 1997 1st Edition August 24 1999 2nd Edition September 28 1999 3rd Edition December 2 1999 4th Edition January 31 2000 5th Edition April 27 2001 6th Edition 1st Printing NSK Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6th Edition 1st Printing April 27 2001 Document Number C20062 06 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment 7 EQUIPMENT DEMOS
58. Signal Connectors 5 3 5 2 1 Pin Out CN2 CN5 5 3 5 2 2 Signal Name and Function CN2 CN5 5 4 5 2 3 Setting the Polarity A or B contact of the Input Ports 5 6 5 2 4 Signal Specifications CN2 CN5 5 8 5 2 4 1 General Input 5 8 5 2 4 2 Pulse Train Input 5 8 5 2 4 3 General Output 5 9 5 2 4 4 Alarm Output 5 9 5 2 4 5 Position Feedback 5 10 5 2 4 6 Analog Command Input 5 10 5 2 4 7 Analog Monitor Output 5 11 5 2 5 Wiring Example CN2 CN5 5 12 5 2 5 1 Position Control Mode Wiring Example 5 12 5 2 5 2 Wiring Example of Velocity Control Torque Control Mode 5 13 5 2 5 3 Wiring Example for YS Series Motor Equipped with Brake 5 14 5 3 CN3 Resolver Cable Connector 5 17 5 3 1 CN3 Pin out 5 17 5 3 2 CN3 Signal List 5 17 5 4 CN4 Motor Cable Connector 5 18 5 4 1 CN4 Pin out 5 18 5 4 2 CN4 Signal List 5 18 5 5 TB Terminal Block for Power Supply 5 19 5 5 1 Terminal List
59. Speed The Driver Unit features higher speeds than ever before with less torque drop off at the intermediate speeds As a result smaller Motors may be used for high speed indexing applications when the torque requirement is primarily for acceleration Ease of Use The digital control makes the System easy to use for more than one reason The circuit parameters can be changed by an RS 232C command rather than by attempting to adjust a multi turn pot or changing capacitor values The parameter changes are not only a breeze to make but they are measurable and repeatable so that every System behaves the same way every time The versatile design means that significant changes in the Driver Unit function can be made with little or no hardware changes Numerous options are available at little or no extra cost Stand alone capability means that the Megatorque Motor System can be operated in position control mode without the need for a separate CNC or position controller Built in software for flexible motion control means that the complexity of the electronic system can be cut in half This reduction of the controls circuitry to one component saves time and money i Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Universal Interface Because of the extreme versatility of the Driver Unit design a wide variety of interface methods are possible The Megatorque Motor System
60. Supply SS ESA25 Driver Unit GGG GG Qo0000 Q00000 Q00000 o00000 Beecee RS 232C D 3 phase AC200V Magnetic switch Brake power source M FZ063 Single phase p relay AC200V or AC100V YS motor with brake SD Single phase 200VAC J D D Cable Set 3 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 2 Reference Number Configuration 3 2 1 Motor Figure 3 3 a ja ial 1 Megatorque Motor series 2 Motor size 3 Maximum torque Unit N m 4 GN Standard GG With brake 5 Design number 3 2 2 Driver Unit Figure 3 4 Jozo Y 25 TEORICO Brake is only available for YS series 1 ESA Driver Unit 2 Motor series and size 3 Maximum torque Unit N m 4 Main power supply V AC100V T AC200V 5 Denotes ESA25 standard 25 3 2 3 Cable Set Figure 3 5 MC 004 SS OM oo 3 2 4 Handy Terminal Figure 3 6 1 Megatorque Motor Cable Set 2 Cable length Unit m Refer to 3 3 Standard Combination for standard length 3 Cable Set for ESA25 Driver Unit 4 Cable design number YS motor 29 Standard 28 With brake JS motor 29 Standard 1 Handy Terminal 2 Design number 39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 3 Standard Combination This section describes Standard Combination of the Motor
61. a wire 3 5mm AWG 10 or larger All the ground lines must be connected at one point and the grounding resistance must be under or equal to 100 Connect the shield of the signal shielded cable CN2 to the FG terminals or SG terminals of the master controller If runaways are caused by noise connect the shield to the FG terminal of the Driver Unit Make sure to earth the Motor base when it is isolated from the machine base Figure 6 8 shows the wiring example This is provided as an example not the instruction Figure 6 8 Wiring Example Driver Unit aana j i Thermal sensor Noise Q l iaei cossa Nese D man power tel Magnet Magnet Resolver switch switch Noise C Tp TTT 8 conoi power Z Ground the Motor 200V 100V base using bolts User controller e Position controller Pulse train output Sequencer ONG Ground earth Class 3 or better Connect at one point 7 We recommend to use the noise filter listed below as the measures for EMC Directive Single phase 200V Equivalent to FN2070 10 Shaffner EMC Ltd Single phase 100V Equivalent to FN2070 16 Shaffner EMC Ltd 3 phase 200V Equivalent to FN358 16 Shaffner EMC Ltd s The isolation transformer and the circuit breaker shall conform to the relevant European safety regulations 6 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg
62. also indicated alternately at certain intervals Figure 14 2 Abnormal example LI iz i Example Excess position error F1 Heat Sink Over Temperature PO Figure 14 3 The LED is indicating normal state e Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 1 2 Using TA Command TA command is to display the alarm code on the Handy Terminal screen In this case the code is not displayed at different time as the LED display Example Excess position error and heat sink overheat alarms will be displayed as shown in Figure 14 4 Figure 14 4 Alarm display TA F1l gt Excess Position Error PO gt Over Heat F1 Excess position error PO Heat Sink Over heat or Regeneration Resistor Over Heat Example 1 Identify alarms as the warning lamp of ALARM is on 1 Confirm that the display of Handy Terminal shows the colon If the colon is not shown in the display press the ENTER key once gt 2 Input TA command A a 3 Press key to exeute and the display identifies the alarm TA ENT gt F1l gt Excess Position Error 6 Thus the alarm is identified as Excess position error j Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 1 3 Alarm Code List 6 Reports alarm status 6 No display is shown when any alarm is not issued When
63. artisantg com 4 1 1 3 Dimensions 1 Standard Figure 4 3 M YS2020GNO001 T ROTOR NTING HOLE 6 M5x0 8 DEPTH 7 PCO120 69 SPACING 145 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 46 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 4 M YS3040GN501 I Hi amp M6X1 0 DEPTHS PCD145 60 SPACING N BASE NTING HOLE 4 010 DRILL THRU CONNECTOR JST CORF ELR 15 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm A Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 5 M Y S4080GNO001 OUTPUT ROTOR MOUNTING HOLES 6 M6x1 0 DEPTH A PCD190 LEG SPA N a235 210 0 2 ae ZN S ae 21020 2 lex a cy Sy 4 V BASE MOUNTING HOLES TO 4 912 OR LL THA 60 CONNECTOR JST CORF E LR 1 5Y For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 4 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 6 M YS5120GNO001 OUTPUT HOTOR MOUNTING HOLES 6 MaxX1 25 DEPTH 10 PCD260 60
64. can be interfaced to virtually any control system It is very easy to control the Megatorque Motor System with a CNC a servo motor controller a robot controller or an indexing controller You can operate the Megatorque Motor System with a stepper motor controller or with a personal computer or dumb terminal Versatile position control can even be implemented with a single switch High Repeatability With zero backlash direct drive and a 614 400count rev resolver the Megatorque Motor System offers repeatability as high as approximately 2 1 or approximately 0 00058 With no mechanical contact or moving parts other than the bearing this repeatability will never degrade Easy to Maintain With all adjustments indicators and test points accessible by the front panel service or maintenance is easy LED light emitting diode and logic diagnostic outputs identify the nature of any error condition quickly and accurately Together the Motor and the Driver Unit provide the ultimate in simplicity for precise and reliable motion control Single Component Servo System A conventional brushless servo system requires at least several separate components which must be selected and packaged together often at great expense Furthermore many of these components introduce problems of their own to degrade the entire system s performance Gears and flexible couplings for example introduce mechanical irregularities such as windup backlas
65. channel will be changed to the data of this command CH command specifies a channel to be programmed The Driver Unit outputs indicating that it is ready for a command data indicates the sequence code Adding the sequence code enables to execute the positioning of next channel without selecting it externally After the positioning is over IPOS signal is output and execute the next channel s program amp After the positioning is over outputs IPOS signal and stops Then executes the next channel s program when RUN command is input 12 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com OG Origin Set Format OG This OG command is for factory use only Do not change the setting OL Overload Limit Format OL data Data 0 100 Shipping set Unique value for each System Default 0 6 Do not change the OL setting OL is properly set for each System If it needs to be changed contact NSK If 0 is specified the Driver Unit displays THERMAL OFF to indicate it is deactivated TS or OL command reports the current setting OS Origin Setting Mode Format OS data Data 1 3 4 5 Shipping set 14 Default Not available Sets the Home Return mode OS1 Completes Home Return at where HLS input goes OFF after entering HLS ON range OS3 Completes Hom
66. for the changes The prompt is in state e The last input program or data always becomes valid D e Typing displays the program in desired Change program settings C channel m desired channel number T e When checking the program in all channels type DAWU e s Type key to scroll to next channel Deleting program ES e Typing deletes the program in the desired channel m desired channel number Display program H C CC 11 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 3 Inputting a Program Programming 1 Select a channel to be programmed OHM a 2 Press the enter key to execute a command ENT AR18000 Cvo 9 CA2 The motion profile presently programmed in the channel appears on the display The prompt appears to wait for an input 3 Program a command Lt LR xa IR9000 10_ 4 Enter a command Press the enter key to set the command ENT IR9000 10 T 5 Set conditions according to the command JV S T IR9000 10 CV0 5_ 6 Press the enter to get the prompt for next command When incorrect data is input reenter the correct data When the same command with different data is input twice the last input becomes valid ENT CA2 IR9000 10 CV0 5 11 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE ww
67. for the power amplifier ls Turn off power check the power supply and power falls below 70V due to faulty power supply cable then turn on power again 3 Faulty PCB s Replace Driver Unit When the alarm is on after control power is Standard ESA Driver Appendix 4 turned on 14 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 3 Alarms Related to Motor 14 2 3 1 Resolver Circuit Error Output DRDY Open TA AO gt Resolver Circuit Error LED AO Motor Condition Servo OFF Table 14 7 Cause and Remedy Resolver circuit error Cause Remedy 1 Resolver cable disconnected s Turn off power check the resolver cable and Refer to Appendix 2 How to Check Motor connector Condition 2 Breakage of resolver cable s Replace resolver cable Refer to Appendix 2 How to Check Motor Condition 3 Faulty resolver s Replace Motor Refer to Appendix 2 How to Check Motor Condition 4 Faulty PCB e Replace Driver Unit When the alarm is on even the resolver and Standard ESA Driver Appendix 4 the cable are normal and the connector is properly secured Note 1 Check the resolver cable for disconnection and short of wires 2 Check the connector for contact failure 3 When the resolver Cable is forced to bend repeatedly the bending radius and frequency will affect on the life of the cable
68. input DC only it will be recognized and executed as DCO because the default set of the DC command data is 0 If the command does not have a default set then you cannot execute the command without data The password must be entered before inputting a command marked with Refer to 7 2 1 Password for more details AB I O polarity Format AB n1 n2 n3 n4 n5 n6 n7 n8 Data nn 0 A contact Normally open nn 1 B contact Normally close nn X_ 0 At the time of input The port set to X cannot change polarity At the time of readout For the port which is shown as X the polarity cannot be change Fixed to A contact Shipping set XOX0XX00 all A contacts Default Not available Input all 8 digits Sets the polarity of input command port The ports of which polarity can be changed are EMST HLS OTP and OTM The other ports are fixed to A contact Set X for the port of which polarity cannot be changed If 0 or 1 is input the display shows indicating a faulty input Polarity setting can be read by TS or AB command 6 The table below shows the data and port OTM Data digit CN2 pin No Signal name 12 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AC Analog Command Mode Format AC data Data range 1 0 1 Shipping set oa Default 0 Set
69. is input to turn off the Motor servo inputting the MS command sets the Motor to servo on again This also clears the programs being executed before the input of the MO command 12 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MT Factory Use Only Shipping set Already set properly for every system Do not change the setting since the parameter is properly set at the plant This parameter is set at the factory befor shipping TS or MT command reports the current setting MV_ Move Velocity Format MV data Data Motor series YS JS1 JS2 RS 0 0001 3 0000 Is or AJ Adjust mode SS 0 0001 3 7500 Is or AJ Adjust mode AS BS JSO 0 0001 4 5000 Is or AJ Adjust mode Shipping set 1 0000 s Default Not available Sets the rotational velocity of the Motor in the RS 232C communication positioning command TS or MV command reports the current setting MV AJ command sets to adjusting mode NP Notch Filter Primary primary notch filter frequency Format NP data Data 0 or 10 500 Hz or AJ Adjusting mode Shipping set 0 Default 0 NP is used to specify the frequency of the primary notch filter of the velocity loop If 0 is specified the primary notch filter of the velocity loop is deactivated In such a case PRI NF OFF is displayed If a value other tha
70. of the cable e Do not use other connector between the Resolver cable and CN3 e Never connect pins not listed below e Insert the connector being careful of its orientation Tighten the screws for fastening the connector so that it will not be loosened by shock e Never connect disconnect the CN3 connector when the Driver Unit power is on Table 5 17 Driver Unit connector Mating connector type Mating connector shell type Japan Aviation Electronics Industry Limited DALC J15SAF 13L9 Japan Aviation Electronics Industry Limited DA 15P N apan Aviation Electronics Industry Limited DA C1 J10 Provided with the cable 5 3 1 CN3 Pin out Figure 5 17 CN3 Pin out ESA standard COMMON 5 3 2 CN3 Signal List Table 5 18 CN3 Signal List Pin Function 8 Resolver signal phase A 7 E Resolver signal phase B 15 REC Resolver signal phase C 4 Common 10 Frame ground 5 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 4 CN4 Motor Cable Connector Since the Motor cable supplied with the Megatorque Motor System should always be used you need only plug the Motor cable connector into CN4 Knowledge of the pin assignment or signal name is not necessary This section is offered for reference e Do not change the cable length e Do not use other connector between the Motor cable and CN4 e Be careful for orientation o
71. offset adjustment may be performed with VR1 pod on the front panel of a Driver Unit Setting the parameter AC reverses the polarity of analog command voltage AC1 Analog voltage CCW AC 1 Analog voltage CW The parameter AGT changes the relation between analog voltage and torque Table 10 15 DI data AC data Command Rotational voltage direction S H T 1 AC1 CCW when polarity is AC 1 CCW when polarity is positive negative CW maximum torque CCW maximum torque 10 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The parameter DBA sets the dead band for analog command input One unit of data sets 4 9mV dead band Figure 10 17 Example of DBA100 AC1 CW maximum torque a 490mV 10V 10V 490mV CCW maximum a torque 10 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 10 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 Programming The Driver Unit can store indexing profiles in its memory To index along the stored indexing motion profile external input CN5 connector signal is used This function is called Programmable Indexer The program of an indexing motion profile can be done via RS 232C communication Handy Terminal FHT11 or a
72. parameter A B input PC2 x 1 CR x 1 PC3 x 2 CRx2 PC4 x 4 CRx4 CR360 000 CWP amp CCWP input CR36 000 Pulse amp direction input CR3 600 1 YS JS1 JS2 and RS Motor series Table 10 7 Pulse train resolution YS JS1 JS2 and RS Motor series Resolution pulses 360 number of pulses necessary for Resolver resolution giving the Motor one turn CW amp CCW format Step amp Direction format A oB format 12 bit or automati 614 400 Raro 614 400 307 200 Che i 7 153 600 CR Parameter Shipping set oe LObit 153 600 76 800 38 400 oat ous Lx 1 1 307200 bit or automatic 307 200 153 600 resolution switching 76 800 Rx2 CR x 76 800 LObit 76 800 38 400 19 200 ae R Lx 1 1 153 600 bit or automatic 153 600 76 800 resolution switching 38 400 CR x 4 x 38 400 LObit 38 400 19 200 9 600 360 000 maan 2 wen oom lt z woos 90 000 36 000 CR36 000 12 bit 10 bit automatic 36 000 18 000 resolution switching 9 000 x 3 600 CR3 600 12 bit 10 bit automatic 3 600 1 L resolution switching 10 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 SS Motor series Table 10 8 Pulse train resolution SS Motor series Resolution pulses 360 number of pulses necessary for Pea Resolver resolution giving the Motor one turn CW amp CCW format Step amp Direction format A eB format 49
73. properly the following message is displayed the following examples show a 3 axis configuration Figure 9 49 NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX If connection is improper the following message may be displayed The following message example shows a case where axis No 1 and axis No 2 are swiched in connection Figure 9 50 NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX BM1 AS 0 OK AXO 1 ERR AX2 2 ERR AX1 If the proper message is not displayed check for connection order initial settings AN parameter CM parameter and cable connection 9 44 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 4 5 Operation Selection of Driver Unit to be communicated In daisy chain mode the RS 232C terminal is capable of communication through one Driver Unit Use an AX command to select one of the Driver Units connected for daisy chain communication Do not select any unit that is not connected Otherwise operation may hang up To return to the normal state press the key then select the number of a connected Driver Unit Figure 9 51 An axis selected for communication may be checked by issuing a AX command The axis is displayed in the same manner as it is selected Figure 9 52 Example of Daisy chain communication Figure 9 53 Example of Daisy chain communication Select axis 1 lt AX1 command Acknowledgment message ACC
74. reports the current setting RI Factory Use Only Shipping set Set properly to each Motor Do not change setting It is properly set for each Motor at the factory TS or RI reports the current setting RR Resolver Resolution Format RR data Data 0 1 1 Shipping set 1 Default 0 6 Sets the resolution of the resolver RRO 10 bit setting RR1 12 bit setting RR 1 Automatic resolution switching 6 For details of resolution refer to 4 2 3 Functional Specification TS or RR command reports the current setting SE Serial Error Format SE data Data range 0 1 Shipping set 0 Default 0 Set DRDY output format when RS 232C serial communication is abnormal SEO DRDY output close Motor state normal SE1 DRDY output open Motor state servo lock 12 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com SG Servo Gain Adjust Minor Format SG data Data 0 30 HZ or AJ Adjust mode Shipping set 0 Default Not available Sets position loop gain in the automatic tuning minor adjustment When SG value is changed the parameter PG position loop proportional gain VG velocity loop proportional gain and VI velocity loop integration frequency parameter settings will be automatically renewed SG AJ command starts the fine adjusting program TS
75. return acceleration ro oossoo HZ Home return near zero velocity oomo o0001 0 2000 OS HD HO Home position offset 7 o commemo PA OL RC LR Low torque ripple O 7 Cd HTH AB NW MM BM OM Communicaionmode H o o oro oo o AN lae nanper oo g oo o oo WM Write mode io EEPROM 7 o 01 SE GT H H o ooo oS S LO E TET H o H owo Oo MI ___ Factory use only J a e y o R Factory we only Od S oo ZA Fatoryuseony 7 l o S ZV Factory useonly SSS 7 ooa S SSS SL AG 1 0 1 mode AGT __ Analog command gain torque control mode 12 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 12 2 SS Motor standard setting PG___ Positongain SSS iY oo H SR TS VG__ Velocity gain J o oo o oo ooo osoo Vi Velocity integrator frequency o owas O VM LG Lower velocity gain H o H ooo TL FO Low pass filter off velocity o oos EP Low pass filter primary o o o oossoo o FS Low pass filter secondary f o oms P Notch filter primary J o T oo ooo ooo NS Noch fiter secondary 0 ows DBP DBA LV FF Fo 0 IN 5 Co 0 2047 FW FIN width Ca T o o Ca ow SS Cao E a o VO Velocity error over limit 0 4 0 1 0 1 1 vw CR PC RR FD Ca FZ FR PS DI 0 OTP Over travel limit switch position lt o E 999 999 9999 999 OTM Over travel li
76. returned as an error message For example Figure 7 4 Input Error Example 1 If ABCDE is entered an error message is returned since this character string is not a command Input To Driver Unit aJl lo Co JLE ex s 735 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 2 4 Entering Parameter 1 When entering parameter make sure that a colon is displayed on the screen If the colon is not displayed press the enter key once ENT gt 2 As an example set the parameter Move Velocity MV revolution speed to 0 5 r p s Enter the parameter as shown below The colon appears to confirm the entry As shown above inputting the parameter command numeric value key completes the parameter entry Entering the space key between the parameter and numeric values is not necessary 7 2 5 Parameter That Requires Entry of Password 1 When entering the command make sure that a colon is displayed on the screen If the colon is not displayed press the enter key once gt 2 Enter the password referring to 7 2 1 Password N E gt The message confirming the entry of password is displayed and the colon appears on the screen 3 Enter the parameter as described in 7 2 4 Entering Parameter above The parameters which requires entry of the password may only be executed immediately after the
77. that it can be adjusted 1 2 or more in relation to the tooth width 6 Take the following steps to adjust the position of the Home limit switch 10 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com lt Operation gt Adjusting the Home limit switch position 1 Loosely mount the HLS sensor Home limit switch slightly preceding a point to be the Home position 2 Check the wiring of the HLS sensor Execute the IO command and check if the ESA25 Driver Unit is reading the HLS input correctly 3 Adjust the position of the Home position sensor First make the Motor servo on then execute the HS LS command At this time be careful that the Motor starts Home Return operation and thereby rotates By using Handy Terminal take the following steps a No 2 Press the key to start Motor rotation ENT gt The Motor stops as soon as the HLS sensor goes ON The Handy Terminal displays the TR value i e number of pulses from the closest Z rising edge of the Motor s present position Check that this value is in the range of 1000 to 3000 If the TR value is not in this range loosen the HLS sensor and move it CW or CCW direction Repeat steps 1 and 2 until the TR value is within the above range When installing the HLS sensor be sure to adjust its position as mentioned above Otherwise positioning may not be performed correctly Above procedures com
78. the position error counter value is within the in position limit set by IN parameter after indexing the IPOS output should be closed 10 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 5 Jog Operation Set system to servo on SVON input ON 6 Turning on the Jog input makes the Motor to accelerate and rotate The Motor keeps rotating while the Jog input remains on When the Jog input is off the Motor starts decelerating then stops When the DIR input is off the Motor turns to CW When the DIR input is on it turns to CCW Jog operation parameter JA Jog acceleration JV Jog velocity Figure 10 11 Jog operation timing Jog input DIR input OFF Close IPOS output FW 0 pen IPOS output Close FW 0 Open CW direction velocity Motor rotation y COW direction velocity When the DIR input is switched during Motor rotation as shown in the above chart the Motor decelerates then reverses the direction of rotation 10 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 3 Velocity Control Mode Operation Velocity control mode can be set with the SL parameter SLI Torque control mode SL2 Velocity control mode SL3 Position control mode 6 Velocity control mode is available in the analog command input or RS 232C command input The mode is switched by
79. the validity valid invalid and sign of the analog command input ACO Analog command input invalid DC command is valid ACI Analog command input valid Voltage CCW direction AC 1 Analog command input valid Voltage CW direction When the parameter DI is set to reverse the sign of coordinate above sign is reversed again Setting of AC command can be read by TS or AC command AD Absolute Positioning Degree Format AD datai data2 Data Differs with parameter PS 0 01 Default data1 0 Data2 PL MI Default data2 Direction in which the move distance is shorter data1 indicates a coordinate of the destination This position which can be read out by TPS command complies with the coordinate in the unit of the angle Refer to 9 2 1 Position Scale for details datal range differs with PS setting Data range data1 99 999 999 99 999 999 0 36 000 x n 1 n n 1 99 Shipping set n 1 data indicates the rotational direction When the parameter PS is set to 0 PSO data2 setting is invalid 1 PL CW direction When the parameter DP is set to 1 DI1 the direction is reversed CCW 2 MI CCW direction When the parameter DI is set to 1 DI the direction is reversed CW 3 Default e Motor moves to the direction to where the shortest distance to the destination e If posit
80. travel area Check that the Driver Unit outputs the F2 alarm Check the alarm indicated on the LED or input the TA command If the F2 alarm is not output this time check the following Is the home position between OTP and OTM In the single rotation position scale Is OTP lt OTM In the Linear position scale Is OTP a positive value OTM a negative value Setting by position scale data When the over travel limit values are already known user can directly set these values to the OTP and OTM command parameters 9 1 6 Alarm Output After the power is on and CPU is initialized DRDY output is closed when alarms are not reported The DRDY output opens when the alarm is detected Alarm signal shall be connected to alarm input of the master controller Figure 9 7 ON Power supply OFF CPU initialize k Alarm ON 2 sec approx DRDY output Close Open 9 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 7 Brake Signal Output 6 The BRK output opens in the following states D 2 3 4 Figure 9 8 Power supply SVON input OFF Occurrence of an alarm which makes the Motor servo to turn off example memory error etc During system initialization after the power is turned on EMST input ON ON OFF Occurrence of alarm Occurrence of alarm causing servo lock causing servo off
81. 0 YS4080 YS5120 YS5240 Jssooo2 GH JS1003 JS2006 JS2014 6 For special Motor windings or long cable over 4m contact NSK for specification 2 Resistance of resolver windings Figure A 7 With cable set Motor Cable 15 14131211109 pe 87654321 Resolver Cable 6 Refer to Table A 5 for pin numbers to be checked Figure A 8 Resolver only Refer to Table A 5 for pin numbers to be checked Table A 5 Pin number to be checked for incremental resolver Cable connector Motor connector Result a e T REA COM REA COM G Q 6 REB COM REB COM G o Q o REC COM REC COM A 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table A 6 Specifications of resolver resistance Motor number Motor winding resistance Q Specification YS2005 3 8 1 Allowance YS2020 2 Variations between each phase YS3008 A B C YS3040 YS4080 YS5120 YS5240 JS0002 JS1003 JS2006 JS2014 30 1 0Q or less 6 For special Motor windings or long cable over 4m contact NSK for specification Figure A 9 Resolver wiring For your reference D Sub Connector Motor Connector REA Red REB White REC Black Common Green FG Shielded A 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 Insulation resistance of Motor winding
82. 00 204 800 409 600 360 180 180 360 9 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Single rotation position scale Scale starts from the Home position origin and extends only in the plus direction The coordinate value returns to 0 after a 360 turn Motor Series YS JS1 JS2 and RS Coordinate values from 0 614 399 pulses Motor Series SS Coordinate values from 0 491 519 pulses Motor Series AS BS and JSO Coordinate values from 0 409 599 pulses Figure 9 26 Single rotation position scale Motor series YS JS1 JS2 RS Artisan Technology Group 270 460 800 pulses 180 307 200 pulses Motor series SS 270 368 640 pulses 180 245 760 pulses Motor series AS BS JSO 270 307 200 pulses 180 204 800 pulses 0 Home position origin or AZ command executing point 90 153 600 pulses 0 Home position origin or AZ command executing point 90 122 880 pulses 0 Home position origin or AZ command executing point 90 102 400 pulses 9 23 Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 Multi rotation position scale Scale starts from the Home position origin and extends only in the plus direction The value returns to 0 after making the number of revolutions set by PS command Motor Series YS
83. 0010 IPOS close HOME open Press to terminate the monitoring 916 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example Verify the Programmable Indexer start command RUN is ON 1 Confirm that the display of Handy Terminal shows the colon If the colon does not appear on the display press key once gt 2 Input the command to read out state of Inputs Outputs I02_ Wol pe 3 Add RP for repetitious readout I102 RP_ onn 4 Press the enter key to execute Readout starts immediately after the input ENT ABCDEFGHIJKLMN 0000001000 000 RUN 5 Press the back space key to discontinue read out If it is not pressed read out will be repeated and the next command can not be accepted ABCDEFGHIJKLMN b 0 0000010007000 RUN Above example shows that readout of RUN input is 1 which indicates RUN input is ON Reference Readout follows the changes of signal status while repeating reading out Signals ON and OFF are followed by 1 and 0 in the display Tf the option code RP is not entered the read out at the moment will be displayed for only once 9 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 10 3 Reading Current Position 1 Reading current position via the position scale in the unit of pulses 1 Cu
84. 1 OUTPUT ROTOR MOUNTING HOLES 6 M6X1_0 DEPTH 6 PCO145 60 SPACING For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 4 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 1 2 JS Series Motor 4 1 2 1 Name of Parts Figure 4 14 4 1 2 2 Specifications JS series Motor can be run on either 100V 110V or 200V 220V AC Table 4 4 Specification fetta Motor reference No M JS0002GN510 M JS1003GN510 M JS2006GN510 M JS2014GN510 130 Motor outside diameter Maximum torque Nm fe 8 S 6 O 14 Maximum current phase 3 Allowable axial load 3700 Allowable momentload _ N m 1 4 60 Axial rigidity 74 x 10 Moment rigidity 4 8 x 10 Maximum stall torque 9 8 Rotor moment of inertia 0 010 Mass 5 5 IP40 Operating conditions Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed 3 Resolution 614400 sge H Note Positioning accuracy is Repeatability 42 1 Barre MESA TDOIATOS MESA J2006V25 M ESA J2014V25 Note 1 These value assume that the Motor is mounted on a rigid base 2 When used with an ESA25 Driver Unit interchangeable 3 Internal Protection Level SI unit system IN 0 102 kgf 0 2251b IN m 0 102 kgf m 0 738 ft lb E Artisan Technology Group Qu
85. 1 Connect the Handy Terminal FHT11 to CN1 connector of Driver Unit and turn on the power J 2 Monitor the parameters with TSO command Internal program may be monitored by TC data command J 3 After monitoring turn the power off A 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Initialize Driver Unit 1 Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit J 2 Turn on the control power only J 66 99 3 Input the password When the colon is displayed r DOSE 0 8 amp dl 4 Driver Unit echoes back NSK ON L 5 Input SI SY command Press BETB L 6 Driver Unit echoes back INITIALIZE A colon will be displayed to indicate completion of initializing 3 Input the noted parameter settings and channel programs 1 Firstly set PA parameter Input the password res N S JU eLo Le Driver Unit echoes back NSK ON J Press LEILA JL lla must be the same data as noted J 3 Set other parameters and programs accordingly J 4 Make sure that all parameters and programs are set properly J Monitor the settings with TSO and TC data commands J 5 Turn off the power A 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 4
86. 1 10 of present resolution Pressing twice makes 1 100 Back space key Changes the step to 10 times of present resolution Pressing twice makes 100 times 8 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 3 4 5 6 7 8 Observing the Motor operation press the plus key several times E E gt Me 322 STEP1 _VG3 As the responce index decreases the movement of the Motor is getting crisply Keep pressing the plus key eventually the Motor starts hunting and stops CORR STEP1 _VG5 Keep pressing the minus key until the Motor stops hunting and starts moving aura te STEPO 1 _VG4 Set the VG value to 80 of displayed VG when a hunting is stopped 4x 0 8 3 2 Press the space key to change the resolution of VG setting value from 1 0 to 0 1 1 ENT 263 156 STEPO 1 _VG4 Press the minus key till VG value reaches to 3 2 soll T ENT Sec 263 136 STEPO 1 _VG3 2 Press the enter key to store the VG value ENT 263 156 STEPO 1 VG3 2 A colon will appear to confirm the input 8 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 3 3 Adjustment of Velocity Integrator Frequency VI The adjustment of velocity integrator frequency VI shall be conduc
87. 1 520 E ma EOR CR 1 x4 122880 Shipping set 122 880 10bit 122 880 61 440 30 720 Lx 1 245 760 12 bit or automatic 245 760 122 880 resolution switching P 4161440 15 360 122 880 12 bit or automatic 122 880 61 440 resolution switching 30720 kal 30 720 10bit 30 720 15 360 x4 7 680 12 bit 10 bit automati CR360 000 ee 360 000 180 000 resolution switching 90 000 12 bit 10 bit automati CR36 000 ee 36 000 18 000 resolution switching 9 000 12 bit 10 bit automati CR3 600 K 3 600 x2 1800 resolution switching lt 4 900 10 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 AS BS and JSO Motor series Table 10 9 Pulse train resolution AS BS and JSO CR Resolver resolution giving the Motor one turn Parameter Resolution pulses 360 number of pulses necessary for CW amp CCW format Step amp Direction format A eB format 12 bit automati 409 600 gne 409 600 204 800 oe S 102 400 Shipping set 10bit 102 400 12 bit or automatic 204 800 resolution switching CRx2 10bit 51 200 12 bit or automatic 102 400 resolution switching CRx4 10bit 25 600 caaan La 360 000 resolution switching CR36 000 12 bit 10 bit automatic 36 000 resolution switching CR3 600 12 bit 10 bit automatic 3 600 resolution switching x x x xX X 1X X x 1x x NTR RIN EIA A xX X 1X X X x xX x NJ EIA l EIA
88. 14 2 4 10 Emergency Stop Output DRDY Closed TA F4 gt Emergency Stop LED F4 Motor Condition Servo Lock Table 14 19 Cause and Remedy Emergency stop Cause Remed 1 Mistaken setting of input port polarity e Confirm the parameter AB 2 EMST is input A contact e Clear EMST input after the Motor stops 3 EMST is OFF B contact s Input EMST ON after the Motor stops 4 Faulty wiring Check wiring 14 2 4 11 Program Error Output DRDY Closed TA F5 gt Program Error LED FS Motor Condition Servo Lock Table 14 20 Cause and Remedy Program error Cause 1 A non programmed channel is started Check the program e Check wiring of PRGO PRGS input e Confirm sequence S C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 12 Automatic Tuning Error Output DRDY Closed TA F8 gt AT Error LED F8 Motor Condition Normal Servo State Table 14 21 Cause and Remedy Automatic tuning error Cause Terminal display 1 System is in Servo OFF when executing Check input signal and execute AT Error 1 automatic tuning automatic tuning again 2 EMST or Over Travel Limit is input when executing automatic tuning 3 Automatic tuning cannot be executed due to AT Error 2 unbalanced load e Set parameters manually 4 Automatic tuning cannot be executed due to ls Check the load or the mounting AT Error 3 excessive
89. 3 STEP1 _viI5 8 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 5 6 7 8 Keep pressing the minus key until the Motor stops hunting and starts moving e TT a STEPO 1 _VI4 Set the VT value to 80 of displayed VI when a hunting is stopped 4 x 0 8 3 2 Input the space key to change the resolution of VI setting value from 1 0 to 0 1 Press the minus key till VI value reaches to 3 2 ENT 263 156 STEP0 1 _VI4 Input the enter key to store the VI value P A colon will appear to confirm the input ENT 263 156 STEPO 1 _VI3 2 8 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 4 Setting Filters Tuning Level 2 The Motor may resonate mechanically and generate a noise of certain frequency when positioning The noise may be reduced using a software of low pass filters parameter FP and FS provided with the Megatorque Motor System The unit of FP and FS is cycle second HZ If low frequency less than 100 HZ is set to parameters FP and FS hunting or unstable positioning may occur 6 Before using filters make sure that all adjustments of gain VG and integrator frequency VD are completed Use the same demonstration program SA AJ for adjusting filters
90. 7 terminals to turn on off the brake e Never open close No 6 and No 7 terminals in AC power side Table 5 15 Motor size Inductive load current A YS2020 0 36 YS3040 0 50 YS4080 0 66 YS5120 0 72 5 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 The brake signal must be controlled through the user s sequence Figure 5 15 Recommended sequence diagram A case to increase holding rigidity Servo state of Servo on Motor Servo off ON RUN input OFF Motor rotation IPOS output Close FW 0 Open IPOS output Close FW 0 Open User side ON brake signal OFF Brake state Clamp Release ON IOFF OFF input OFF Releasing time amp Clamping time amp A case for safrty brake Close BRK output Open User side ON brake signal OFF Brake state Clamp Release ON IOFF input OFF Releasing as O Sam time amp Clamping time amp Table 5 16 Motor Brake Static friction torque ae rigidity Brake poets time Brake fen time Capacity type model N m sec N m msec msec W YS2020 RNB2K r a 17 5 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 5 16 Wiring example with brake 3 phase AC200V R or Single phase AC200V S AC100V T Noise filter Master controller Servo on Emergency stop Home Return start Home position limit s
91. A25 Driver Units are interchangeable with each other It may be replaced simply by inputting same parameter settings of old Driver Unit Following shows reference number of standard ESA25 Driver Unit e M ESA T25 e M ESA V25 represents Motor number The Driver Unit to be replaced must have same number If your Driver Unit is not standard refer to the specification documents for interchangeability When replacing the Driver Unit refer to Appendix 4 How to Replace ESA25 Driver Unit ESA25 Driver Unit has EEP ROM and does not need a battery for memory back up Life of EEP ROM approximately 500 000 times of writing on and off 13 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 2 Maintenance Check 13 2 1 Motor Since a Megatorque Motor does not have any parts which will wear out a daily maintenance check should be enough The table below shows the maintenance check and intervals The checking interval shown in the table is reference only It should be decided accordingly to the actual use conditions Do not disassemble the Motor and resolver If disassembling Motor is necessary contact your local NSK representative Table 13 1 Motor maintenance check Item a interval How to check Remarks Vibration Noise Daily O e Touching and le Touching and hearing e Watch daily changes e Wipe off dust slag e Resistance test I
92. B O C T Sensor Fsh O Connector AMP 172495 1 Available cable length L are 2 4 8 15 and 30 m 4 3 2 Cable Set for YS Motor with Brake Figure 4 24 Connector Connector Shell AE DA 15P N JAE DA C1 J10 JAE IN Connector JST ELP 15V Resolver Cable Motor Cable Connector AMP 172495 1 sik l R Z Sensor Available cable length L are 2 4 8 15 and 30 m 4 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 4 Handy Terminal FHT11 Handy Terminal is an easy to use hand held terminal with an RS 232C communication interface for Megatorque Motor System Driver Unit FHT11 terminal connects directly to the CN1 connector on the ESA25 Driver Unit 4 4 1 Name of Parts and Dimensions Figure 4 25 Main frame Liquid Crystal Display INSK HANDY TERMINAL Numeric keys CEOICISCIC Code keys small characters GEANE HAHAA MwA Alphabetic keys MEMU Special code keys SHIFT Shift key oe ESC Escape key not used CTRL Control key not used BS Back space key SP Space key Wo ENT Enter key Connector socket Connector JAE DE C1 J6 JAE DE 9P N To ESA25 Driver Unit Connector Unit mm Cable length 3000 Note 1 SHIFT Press the code key while holding key Small characters 2 BS When correcting logged in mistakes press key 3 SP Press key to put a s
93. BM1 Shipping set For example when the backspace code is input following VGO 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 9 37 Canceling example BM1 gt Input Key gt 08H Input To Driver Unit Le re He HH Hle Echo back From Driver Unit hS HH Hosea fe 2 Parameter BM0 For example when the backspace code is input following VGO 5 a message VG0 5 and a colon are displayed and thereby deletes VGO 5 Figure 9 38 Cancelling example BM0 gt Input Key gt VGO 5 Input To Driver Unit Ly He Fe H HSR Echo back From Driver Unit S ED 9 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 5 Error 6 Note that an error occurs in any of the following cases 1 Ifa nonexistent command i e character string is entered If an entered character string cannot be decoded 2 If data or subscript out of the allowable range is entered 3 If acommand requiring the password is entered without the password In any of these cases the entered character string with a mark is returned as an error message For example Figure 9 39 Input error example 1 If ABCDE is entered an error message is returned since this character string is not a command Input To Driver Unit e Hehel Echo back From Driver Unit te He
94. DI the sign of data of DC command is also reversed DI Direction Inversion Format DI data Data Oor 1 Shipping set 0 Default 0 Switches the position scale coordinate counting direction For the details refer to 9 2 1 Position Scale FC _ Friction Compensation Format FC data Data 0 2047 Shipping set 0 Default 0 FC is used to specify a compensation value to cancel rotational static friction of the Motor If 0 is specified in data the function is deactivated Parameter FC can be obtained with the formula shown below Static friction torque FC data 2047 x Motor maximum torque The setting can be read with TS or FC command 12 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FD Feed Back Direction Mode Format FD data Data 0 1 Shipping set 0 Default 0 Reverses the output timing between A and B of the position feedback signal FDO Standard A is leading phase in CW direction FD1 Reverse B is leading phase in CW direction TS or FD command reports the current setting FF Feed Forward Gain Format FF data Data 0 0000 1 0000 Shipping set 0 Default 0 FF sets the feed forward compensation gain Setting 0 cancels the feed forward compensation function TS or FF command reports the current setting FO Lo
95. E www artisantg com 9 2 2 Direction of Position Scale e When DI data is changed turn off the power then the user origin must be reset e Directions of hardware over travel limit and the phase of position feedback signal output will not be reversed even though the direction of the position scale is reversed 6 Counting direction of position scale may be reversed not to hinder the operation when the Motor mounting position is reversed CW CCW direction are determined from the view of the Motor output axis side Direction of counting position scale shall be set by DI data DI command Table 9 11 below shows relations between DI data and direction of counting Table 9 11 DI data CCW direction Shipping set Standard Plus direction Plus direction 6 Direction of the following function operation will be reversed when the direction of the position scale is reverse Direction of all operations Setting of software over travel limit Readout of absolute position Direction of positon off set 9 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 3 Digital Filter Inserting multiple filters may cause phase inversion of velocity loop in some systems resulting in unstable operation e Do not insert more than two filters Setting a filter frequency too low may cause hunting etc set the frequency to 100 Hz or above Parameters for dig
96. Follow the procedures 1 7 in 8 2 4 Trial Running Tuning Level 1 When the system is used under the Torque or Velocity control mode input the command from the external controller 1 Start FP adjusting program FH VIAWed s 3 4 The message is displayed as shown above Press plus or minus key to change FP value The display shown above is an example Those values shall be set to the conditions for actual use Explanation of the messages 1 Key function HIFT and Pressing key one time increases 10 resolution of FP H I Pressing key one time decreases 10 resolution of FP Store FP valuein the memory and completes the ENT adjustment 2 Indicates present FP value 3 Indicates FP value changed by pressing plus or minus key 4 Response index number The lower number denotes better response 5 Positioning index number The lower number denotes quicker positioning Changing FP step 3 If you want to change the resolution of step press space key or back space key Space key Changes the step to 1 10 of present resolution Pressing twice makes 1 100 Back space key Changes the step to 10 times of present resolution Pressing twice makes 100 times 8 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Decrease low pass filter frequency
97. Indication format IO2 RP Indication of I O relate4d to programmed operation ABCDEFGH x ky ky Pin number Signal name Reserved Reserved Reserved Reserved CN2 14 IPOS output Reserved Reserved Reserved Reserved Reserved RUN PRGO PRG1 CN5 13 PRG2 PRG3 PRG4 CN5_16 PRG5 Indication of I O related to Jog operation Figure A 4 Indication format IO3 R ABCDEFGH K L MN 0 0000 0 000 0 oc Pin number Signal name Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved CN5_31 JOG A 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example Verify the start command of channel program RUN is on 1 Confirm that the display of Handy Terminal indicates the colon If the display does not show the colon press key once gt 2 I02_ Lote pe 3 IO2 RP_ Le gt 4 Press key for execution Indication starts immediately after the input ENT I02 RP 0000001000 000 RUN 5 Press key to discontinue the readout Otherwise you cannot enter next command 02 RP 0000001000 000 Discription Above example shows that the readout of RUN input is 1 which indicates RUN input is on In case of the above example the status of Input Output signal are monitored and
98. O RP Indication of I O signal status 102 RP_ Indication of I O related to programmed operation 103 RP_ Indication of I O related to Jog operation No RP _ Indicates only once With RP Indicates in real time basis Figure A 1 Indication format lOO RP Indication of I O signal status ABCDEFGHIJKLM 2 2 2 2 2 2 Signal name CNB 21 1 HOME output CN2 14 IPOS output CN2 3 BRK output CN2 15 2 DRDY output O OTM CLR HLS IOFF EMST SVON A 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com IOO command reports the state of circuit in regard to input signal IO1 command reports the state of execution of the function in regard to input signal Figure A 2 Activated Inactivated Input signal EMST Close Exp 1 Normal Open Open Parameter AB Open Exp 2 Normal Close close Exp 1 EMST input setting Normal open ABXOXXXXXxX 100 and IO1 report same state as shown in Table A 1 at the timing 1 and 2 in Figure A 2 Table A 1 Timing Report ee e Ee a n a E aa score serene ea Exp 2 EMST input setting Normal close ABX1XXXXXX IO and IO1 report opposite state as shown in Table A 2 at the timing 1 and 2 in Figure A 2 Table A 2 Timing Report SEO aine scar PA F A 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure A 3
99. Refer to 3 3 Standard Combination for the details Parameters of Driver Unit are set to Motor size and maximum torque before shipped If the numbers are different the system does not operate properly Do not make Cable Set shorter or longer Changing the length may worsen Motor and Driver Unit performance Do not disassemble the Motor since it is precisely adjusted and assembled If disassembled it may cause abnormalities such as deterioration in accuracy and rigidity as well as noise Be sure to connect the Emergency stop signal circuit to the EMST port of the control I O connector BH Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Do not touch Driver Unit Touching the Driver Unit just after the power is turned off may cause electric shock Driver Unit has high capacity conductors in its internal circuits and there is high residual voltage for few minutes after the power is turned off Do not detach a cover of Driver Unit unless it is necessary When a cover has to be removed follow procedures described bellow 1 Turn off the control and main power If only main power has been turned on turn the control power on for more than 5 seconds then turn off both powers Neglecting this procedure is very dangerous The procedure is to reduce residual voltage of capacitors 2 Wait for 5 minutes or more then remove the cover Figure 2 1
100. Refer to 8 Tuning and Trial Running and tune the Megatorque Motor system Position control mode operation Refer to 10 2 Position Control Mode Operation Home Return Refer to 10 2 1 Home Return Refer to 10 2 2 Programmable Indexer Pulse Train Command Operation Refer to 10 2 3 Pulse Train Command Operation RS 232C position command Refer to 10 2 4 RS 232C Position Commands Refer to 10 2 5 Jog Analog velocity control mode operation Refer to 10 3 Velocity Control Mode Operation Analog torque control mode operation Refer to 10 4 Torque Control Mode Operation 10 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 Position Control Mode Operation Select a position control mode with the parameter SL SLI Analog torque control mode SL2 Analog velocity control mode SL3 Position control mode Following operations are available in the position control mode Home Return operation Programmable indexer Pulse train command operation RS 232C position command Jog 10 2 1 Home Return Be sure to perform Home Return at all times except when user s controller is governing control The Home position Zero position cannot be determined unless Home Return is performed The position coordinates and positions of software overtravel limit switch are set to the position sc
101. Unit detects the rising edge of the CLR input signal and clears the position error counter to zero Then the counter continues its operation regardless of the state of the CLR input even it remains on Figure 9 4 CLR input Position error counter over Position error limit value CO counter Excess position Alarm error alarm Normal Alarms for software thermal velocity abnormal program error RS 232C abnormal and automatic tuning error may be cleared by CLR input Other alarms cannot be cleared by CLR input 9 1 4 Integration off IOFF Parameter VI Velocity Integrator Frequency will be invalidated when IOFF input is activated Simultaneously VG Velocity Gain will be lowered according to LG Gain lowering coefficient setting VG x LG VI is validated when IOFF input is turned off Figure 9 5 IOFF input 10 ms max 10 ms max VI Setting ig tpg el Velocity Gain VG YS pe VOIA pug __VG____ 9 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 5 Over travel Limit Switch 9 1 5 1 Hardware Over travel Limit Switch Use the OTP and OTM inputs to restrict the range of Motor rotation If the OTP input is activated the Motor will stop immediately and remain in servo on The Motor can rotate in counter clockwise only If the OTM input is activated the Motor will stop immediately and remain in servo on The Mo
102. ails 6 HDO Home Return in the CW direction HD1 Home Return in the CCW direction HO Home Offset Format HO data or ST Data Motor series YS JS1 JS2 RS 610 304 610 304 pulse SS 487 424 487 424 pulse AS BS JSO 405 504 405 504 pulse Shipping set 0 Default 0 In Home return this command sets the pulse counts to stop the Motor after the resolver hits its reference point Z ON for the first time after Home position limit switch input HLS CN2 is OFF Refer to 7 2 Home Return TS or HO command reports the current setting HS Home Return Start Format HS opt opt default Normal Home Return opt LS Adjust limit position Starts Home Return Input HS LS to adjust position of the home position proximaty sensor For more details refer to 10 2 1 2 Adjusting Home Position Switch and Home Offset Value HV Home Return Velocity Format HV data Data Motor series YS JS1 JS2 RS 0 0001 3 0000 Is SS 0 0001 3 7500 s AS BS JSO 0 0001 4 5000 s Shipping set 0 2000 Default Not available Sets Home Return velocity TS or HV command reports the current setting 12 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com HZ Home Return Near Zero Velocity Format HZ data Data 0 0100 0 2000 Is Shipping set
103. al ready sG l Digital signal ground Ready to send 5V Output Never connect PGT Frame ground shield O C NI OD or R O Po 5 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 1 3 Sample Wiring Diagram 6 Connect the ESA25 Driver Unit with the controller e g personal computer in accordance with its RS 232C control signal specification RTS Control CTS Monitoring Active standard wiring Figure 5 2 RTS Control CTS Monitoring Inactive Important When wired as shown below always confirm the echo back from the Driver Unit or send the data slowly With this wiring the Driver Unit may not accept the whole data when they are sent at high speed and in large amount Figure 5 3 ESA Driver Unit 52 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 CN2 CN5 Control I O Signal Connectors Table 5 3 shows connector types of CN2 and CNS Table 5 3 s arr ae DBLC J25SAF 13L9 Driver Unit side connector J Aviation Elect Industry Ltd apan viaton ectronics Indus ry DCLC I37SAF 13L9 Mating connector user device side N DB 25PF N Japan Aviation Electronics Industry Ltd S DC 37PF N e Mating comer snelltype Japan Aviation Electronics Industry Ltd nee G user device side DC C8 J13 F4 1 1 Provided with Driver Unit Wiring precautions for CN2 a
104. al running is completed type PS to stop the Motor If the Motor is operating satisfactly complete the trial running When the Motor operation is not stable try further adjustment in chapter 8 2 5 and 8 3 If you want to get out from the demonstration program press the enter key after 8 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 5 Servo Gain Minor Adjustment Tuning Level 2 Confirm that the work or Motor does not hit any obstacle when the Motor makes a full turn Always stay in safe position Perform minor adjustment of servo gain when the Automatic Tuning is not successful Servo gain can be adjusted by the parameter SG Setting higher SG value improves response to the programmed motion profile However if SG is too high the Motor tends to vibrate The same demonstration program in chapter 8 2 4 is used as the example for adjusting SG value Follow the same procedures 1 7 in chapter 8 2 4 and keep operating the Motor 1 Sart SG adjusting program 3 4 The message is displayed as shown below Press plus or minus key to change SG value The display shown above is an example Those values shall be set to the conditions for actual use Explanation of the messages 1 Key function SHIFT and Pressing key one time increases 1 resolution of SG P
105. ale determined by Home Return The Home position Zero position of the position scale is set to the point at where Home Return completes Position data disappears after the power is turned off so perform Home Return each time you turn on the Driver Unit power 10 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 10 2 Home Return sequence 30ms min SVON input CR stands for the carriage RS 232C return code 0Dx communication command 10ms min HOS input or RUN input to start HS command in a channel HLS input Motor rotation oZ IPOS output FW 0 IPOS output FW 0 Make the Motor Servo on SVON input on 6 Turning the HOS input ON will start Home Return Q The Motor turns in CCW When it enters HLS Home position proximity area it decelerates and stops momentarily then reverses its rotational direction The Motor goes out HLS range once then reverses again and enters HLS area at the Home position search velocity It moves to the first point where the resolver value becomes 0 rising edge of the Z and completes Home Return The direction of rotation can be changed with the parameter HD Home Return direction HDO CW HD1 CCW Shipping set If the Home offset value HO is set the Motor moves farther past the resolver 0 point by the offset value then completes Home Return operation
106. ality Instrumentation Guaranteed 888 88 SOURCE www artisantg com How to calculate axial and moment load e Do not apply excessive load to the Motor An excessive load more than specified in Table 4 2 may result in premature Motor failure e Followings show how to calculate the loads Figure 4 15 If F is an external force then If F is an external force then If F is an external force then e Axial load Fa F weight of payload Axial load Fa F weight of payload Axial load Fa weight of payload S Moment load M 0 S Moment load M F xL S Moment load M F gt LA Motor reference number JS0002FN510 JS1003FN510 JS2006FN510 YS2014FN510 Dimension A mm 30 4 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 1 2 3 Dimensions Figure 4 16 M JSOO02GN510 4 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 17 M JS1003GN510 p B M4x0 7 DEPTH amp PCD42 60 SPACING CONNECTOR JST CORP ELR 15 4 00 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 18 M JS2006GN510 6 M5 0 8 DEPTH 8 6 M5xX0 B DEPTHS P2D115 60 SPACING CONNECTOR JST CORP ELR 15 T Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w
107. ameter IN value is smaller roughly less than IN10 IPOS output will be instable in a moment of positioning settling even all the servo gains are adjusted properly IS parameter should be set to eliminate above instability When IPOS output is in FIN mode IS parameter prevents to output IPOS signal before the Motor completes the positioning 9 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 4 IPOS Output in Special Occasion 1 When 0 Zero movement operation is executed Example When ADO or ARO is executed even the Motor is in the Home position movement of the Motor is 0 Zero Followings show IPOS output states in such a case 1 IPOS mode IS 0 There is no internal pulse output and IPOS output remains close if residual pulse of position error counter are within IN value 2 IPOS mode IS 0 Even no pulse is internally generated IPOS output will be opened for the moment set by TS value to check positioning stability 3 FIN mode Even no pulse is generated internally IPOS output signal shall always be returned for positioning start command 2 Sequential operation for Programmable Indexer 1 IPOS mode After the positioning is completed execute next channel program while IPOS output remains open 2 FIN mod
108. an alarm is detected the display identifies an alarm as shown in the table below Table 14 1 Alarm code list Alarm Memory error EEPROM error System error Interface error Analog command error Excess Position error Software Over Travel Limit Hardware Over Travel Limit Emergency Stop Program error Automatic Turing error RS232C error CPU error Resolver Circuit error Software Thermal Sensor Velocity error over Heat Sink Overheat or Regeneration Resistor Overheat 7 segments Terminal Display E0 gt Memory Error E2 gt EEPROM Error E7 gt System Error E8 gt 1 F Error E9 gt ADC Error F 1 gt E xcess Position Error F 2 gt Software Over Travel F 3 gt Hardware Over Travel F 4 gt E mergency Stop F5 gt Program Error F8 gt AT Error C2 gt RS 232C Error C3 gt CPU Error AO gt Resolver Circuit Error A3 gt Overload A4 gt RUN away PO gt Over Heat Abnormal Main AC Line Voltage P1 gt Main AC Line Trouble Over Current Control AC Line Under Voltage P2 gt Over Current P3 gt Control AC Line Under Voltage When two or more alarms are detected each alarm is displayed on a separate line 6 Display mode set by MM parameter is valid Display example Emergency stop and hardware over travel limit alarm are detected in MM1 setting TA F3 gt Hardware Over Travel F4 gt Emergency Stop 14 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artis
109. anteed 888 88 SOURCE www artisantg com 2 Motor with brake Table 4 2 Motor with brake He Motor reference No 14 veoq20qqo01 M YS3040GG001 M YS4080GG001 M YS 5120GG001 Maximum torque Nm Maximum current phase Allowable axial load 19600 Allowable moment load N ae pf tt 400 Axial rigidity 1 0 x 10 Moment rigidity 3 0 x 10 Maximum stall torque Sn oe o a 105 Rotor moment of inertia 0 240 Brake torque a E E 120 Mass kg rr b 8H 66 o moo mo mo IP30 Operating condition Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed s rps 3 Resolver resolution 614 400 Positioning accurac se Be poe Repeatability Compatible Driver Unit m M ESA Y2020T25 M ESA RERA a ESA Y4080T25 M ESA Y5120T25 P AC 100V M ESA Y2020V25 M ESA Y3040V25 M ESA Y4080V25 M ESA Y5120V25 Note 1 These value assume that the Motor is mounted on a rigid base 2 When used with an ESA25 Driver Unit interchangeable 3 Internal Protection Level T Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 Low profile type Table 4 3 YS low profile type M YS2005GNO01 Item Unit Maximum torque Nm 8 Maximum current phase Allowable axial load 4500 Allowable moment load C 80 Axial rigidity C 2 6x 10 Moment rigidity 1 5 x 10 Maximum stall to
110. antg com 14 2 Description of Alarm The DRDY output is normally closed It opens on abnormal condition 14 2 1 Normal State When the Motor does not operate even in normal state following causes are suspected Table 14 2 Status Remedy Power off open Turn on power CPU Initializing Wait for the CPU to be initialized SVON Input OFF Activate the SVON input 14 2 2 Alarms Related to Power Amplifier 14 2 2 1 Heat Sink Overheat or Regeneration Resistor Overheat Output DRDY Open TA PO gt Over Heat LED Po Motor Condition Servo OFF Table 14 3 Cause and Remedy Overheat of heat sink and regeneration resistor Cause Remedy 1 Duty cycles of the Motor is too high Reduce the load and or operation duty Readjust 2 Excessive load is applied acceleration deceleration Stop operation air cool the Driver Unit 3 Ambient temperature is above 50 C e Check surrounding condition of the Driver Unit 4 Heat sink temperature exceeds 90 C due to ls Stop the operation and air cool the Motor and Driver continued heavy torque demand Unit Then check followings Whether the duty cycle is too high Whether excessive load is applied If the ambient temperature of the Driver Unit is too high s If no troubles are found in the above check and this alarm occurs frequently contact NSK 5 Defective PCB s Replace Driver Unit As soon as the control power is turned on Standard ESA Driver Appe
111. apply power to the System since this can cause immediate catastrophic damage to the Driver Unit Furthermore a damaged system could be a potential electric shock hazard Notify the carrier immediately and call your NSK representative Make sure that the combination of Motor and Driver Unit conforms to your requirement 6 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 2 Combination of Motor and Driver Unit Make sure that the combination of Motor and Driver Unit conforms to your requirement Check and record the Motor and Driver Unit reference number and serial number 6 Standard Combination The Motor series size and maximum torque numbers in both Motor and Driver Unit reference number must be the same Special order Combination Refer to the respective specification document Even when the Motor and Driver Unit are in an interchangeable combination check reference number in same manner as Standard combination If the combination is not interchangeable serial numbers of Motor and Driver Unit must be same A nameplate is attached to individual Motor and Driver Unit Configuration of each plates are shown in Figure 6 1 Refer to 3 2 Reference Number Configuration for the more details Figure 6 1 REF NO SERIAL NO M YS 2 020 GNOO1 2 12010 Motor series No Max torque Serial No Motor size No Type ESA Y 2 020 T25 21 Motor
112. aranteed 888 88 SOURCE www artisantg com Figure A 25 RNB4K Figure A 24 RNB2K eee i ee ee eee Figure A 27 RNB12K Figure A 26 RNB8K A 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table A 10 Parts list RNB 12K 1 Coilsprins CE 9o S o es s8 L 1 1 1 1 3 1 6 1 6 3 Handling precautions 1 This brake is dry type Its torque will decrease when the friction surface is soiled with oil Use care never to allow oil to enter it 2 The electromagnetic brake uses many mild materials Use care not to hit or drop the brake or apply excessive force to it otherwise indented or deformed brake could malfunction or have insufficient torque 4 Manual Release of Brake Insert manual brake releasing bolts to 3 tap holes of the side plate then screw them alternatively to press the armature assembly to the field side to release the brake Use a care to screw the bolts alternatively to push the armature assembly evenly Table A 11 Type RNB2K RNB4K TNB8K RNB12K Manual release bolt M6 Aat Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 Troubleshooting When the brake does not perform as intended check followings Brake is slipping 1 ls the friction plate soiled with oil 2 Is temperature of the brake too high over 100
113. artisantg com Table 12 1 YS JS1 JS2 and RS Motor standard setting PG EH H dP ooon S GE H H wo HE1 S VI Velocity integrator frequency o ETS VM_ Velocity integrator mode LG Lower velocity gain o HET TL FO Low pass filter off velocity o H H TES FP Low pass filter primary poe fh H Onoso 1 FS Low pass filter secondary o TE 7 S NP Notch filter primary H id oms NS Notch filter secondary H o TTS DBP Dead band Position loop a H H TRET DBA Dead band Analog command inp lt o TTS LV FF FO Friction compensation lt 7 o oo CO Position error counter over timit 30000 E TET N n position CE Oo ooo f 099999999 U O B imposition stability mer o oom wo FINwidth O o a EG E VO VW CR PC Pulse command TTT AR FD Feedback direction mode 7 o HTS EZ Feedback phase Z configuration v o o oro o FR Feedback signal resolution lt 7 o n o PS DI__ Direction inversion 7 o o ornoo oo o OTP Over travel limit switch positon lt 0 99 999 999 99 999 999 OTM lover travel limit switch position lt v O0 99 999 999 99999999 MV Move velocity SSCS SSS H T 7 T YP ooo O MA Move acceleration S S S SCS ST Sd ro oossoo N log velocity J ooo 0 0007 3 0000 O JA Jog acceleration ro oossoo HV Home return vetocny H ozo oooorsoooo HA Home
114. be detected When the position error exceeds the set value the Driver Unit outputs the excess position error alarm and opens the DRDY output circuit TS or CO command reports the current setting CR Circular Resolution Format CR data Data X1 X2 X4 360 000 36 000 3 600 Shipping set X1 Default Not available Use to specify the pulse train input resolution 6 For the details refer to 10 2 3 Pulse Train Command Operation The resolution changes immediately after CR data is specified TS or CR command reports the current setting 12 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CV Channel Velocity Format CV data Data Motor series YS JS1 JS2 RS 0 0 0001 3 0000 Is SS 0 0 0001 3 7500 Is AS BS JSO 0 0 0001 4 5000 Is Default 0 This command is used to specify the rotational velocity of each channel of the Programmable Indexer If no setting is made in a channel or 0 is specified the rotational velocity specified with an MV command is valid The CV command is only valid when the CH command designates a channel to be programmed and the Driver Unit outputs __ for command input 66 99 Tf it is input under normal standby state the prompt is an alarm will arise TC command reports the current setting If 0 zero is se
115. 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 1997 2001 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 any licence under its present patent nor the rights of others Patents issued and patents pending Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com In order to use the Megatorque Motor System properly observe the following notes 1 Matters to be attended to use the Driver Unit of the Megatorque Motor System 1 Temperature Keep the ambient temperature of the Driver Unit within 0 to 50 C You cannot put the Driver Unit in an atmosphere ov
116. blem fall under Power gt 15 2 1 Power is not turned on Motor gt 15 2 2 Motor servo is not turned on Motor does not run in a stable manner Motor vibrates or runs away Command gt 15 2 3 Home Return command causes no motion Motor does not stop in Home Return Motor reaches near zero velocity immediately Home Return command fails to stop Motor in position RUN input does not start Motor Pulse train input does not run Motor Terminal gt 15 2 4 Communication is disabled Check the condition then contact our sales agent YES Refer to corresponding sections in this chapter gt xxx indicates what chapter to be referred 15 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 2 1 Power Trouble Power is not turned on Figure 15 2 Power trouble Power is not turned on Check the terminal block of the front panel of Driver Unit for main power and control power with a tester etc Both control power and main power supplied Connect Handy Terminal Replace Driver Unit Communication enable 15 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 2 2 Motor Trouble 1 Motor servo is not turned on Figure 15 3 Motor trouble 1 Motor servo is not turned on Make sure the combination of Motor and Driver Unit is pr
117. ce duty cycle Decrease acceleration deceleration Lower operation speed If above measures are not feasible an optional high capacity regenerative dump register is available from NSK It will dissipate regeneration energy without loosing speed of Megatorque Motor A 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 6 Brake Built in YS Series Motor 1 Specifications Table A 9 Motor type Coil resistance 2 YS2020 477 YS3040 352 YS4080 270 YS5120 245 Rated voltage DC90V Insulation class B grade Overexertion DC180V 0 35 sec Friction material None asbestos The RNB brake comprises 12 parts as shown in Figures A 32 A 35 The armature assembly is fixed with bolts and through the plate spring in the field Q incorporating the excitation coil The armature assembly is supported with the plate spring and is separated from the field by a narrow gap Loaded with the coil spring built in the field the assembly presses the disk to apply brake When the coil is turned on the field attracts the assembly against the coil spring pressure thereby removing the pressure on the disk and releasing the brake When the power supply is turned off the coil spring force presses the armature assembly against the disk quickly applying the brake A 19 Artisan Technology Group Quality Instrumentation Gu
118. com 6 4 Driver Unit Mounting The ESA25 Driver Unit may be mounted by the holes in brackets For proper air circulation clearance is required above and below of the unit see Figure 6 7 6 Be careful not to contaminate the Driver Unit with cutting chips and or other contamination when wiring and installing the Driver Unit Use the Driver Unit in the environmental condition of Installation Category I and Pollution Degree 2 The covers of the Driver Unit do not work as an enclosure against flame or electric shock Install the Driver Unit into an enclosure and keep the internal temperature of the enclosure within 0 to 50 C If the heat sink overheat alarm arises frequently provide an air cooling measures such as a fan See 14 Alarm For some environmental condition it might be necessary to prepare the enclosure of which protection degree is IP 54 or better When installing two or more Driver Units for multi axis combinations give a space of about 100 mm more between adjacent Driver Units ESA25 Driver Unit has brackets for easy fixing to the control box or enclosure Figure 6 7 100mm or more The area where the Driver Unit is mounted must be free of water corrosive gas dirt dust and any other contamination 6 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 4 1 Connecting Power The main power AC line input supplies the power t
119. com 6 4 3 Motor Thermal Protection The thermal protection circuit must be installed to prevent the Motor from overheating YS and JS Motors have a built in thermal sensor The lead wires of the sensor are connected to the Motor connector A Cable Set has the outlet lead wires for the protection circuit Refer to 3 2 3 Cable Set for sensor lead wires The protection circuit must be set to turn off the main AC power supply when the sensor is activated Refer to Figure 6 8 Wiring Example to install the protection circuit that uses 2 lead wires S1 and S2 Thermal sensor specifications Contact Normally close Rating Maximum 250VAC 3 5A Rating Minimum 6V 0 15A Type TLOORIUIN Matsushita Electric Temperature set 100 C Conforms to VDE The sensor is self resetting type When temperature drops 15 C from the set value it returns to normal state Wait for 30 minutes or more after the protection circuit is activated and then turn on the power again 6 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 5 Connecting Motor and Driver Unit User must specify the Cable Set length when ordering Select from 2 4 8 15 and 30m e Do not make the Cable set length longer or shorter Changing cable length may worsen the performance of the Motor and the Driver Unit Optional Cable set is available in length of 2 4 8 15 and
120. current setting JV Jog Velocity Format JV data Data Motor series YS JS1 JS2 RS 0 0001 3 0000 Is SS 0 0001 3 7500 s AS BS JSO 0 0001 4 5000 Is Shipping set 0 1 Default 0 Sets the velocity for Jog operation TS or JV command reports the current setting 12 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com LG Lower Velocity Gain Format LG data Data 0 100 Shipping set 0 Default Not available Sets velocity loop proportional gain VG lowering ratio when IOFF input is activated However LG is invalidated when an excessive position error alarm is issued The Motor does not generate torque if LG remains LGO when IOFF turns ON LO _ Load Inertia Format LO data Data range 0 000 50 000 kgm Shipping set 0 Default 0 This is to set the actual load inertia The data may be entered when the load inertia is known prior to perform automatic tuning The automatic tuning sets actual load inertia LO automatically TS command or LO reports the current setting Data of PG VG VI and MA will be automatically adjusted when LO data is changed 6 Data of LO is cleared to 0 when one of the data of PG VG or VI is changed LR Low Torque Ripple Format LR data Data range 0 1 Shipping set 0 Default 0 Selects the characteristics of the Motor torque output 0 Sta
121. current to the Motor phases and how much The amount of current applied to each Motor phase is determined by a mathematical function that takes into account the torque command level the Motor position and the Motor velocity These factors are taken into account to compensate for the Motor non linearity and to produce a smooth output torque Power Amplifier Subsystem 6 The Motor windings are driven by a current regulated unipolar switching power amplifier that delivers the current designated by the commutation logic circuits to each of the Motor phases The power amplifier monitors its internal voltages to protect itself from damage If the AC line is too high or too low the power amplifier will disable itself and activate alarm indicators If the amplifier s internal DC bus voltage is too high as a result of Motor regeneration the monitor circuits will switch on a power resistor to dissipate some of that excess energy If the power amplifier temperature is too high it will activate an alarm signal For any of the alarm conditions the type of the alarm is communicated back to the digital microprocessor which activates the alarm condition indicators to identify the specific nature of the alarm condition Resolver Interface Subsystem 6 Position and velocity feedback signals are provided by the resolver interface circuit This circuit provides the excitation signal to the resolver and receives the three phase resolver analog signals These sig
122. d 14 CV CV CV CA CA CA Command comand Command Command 15 CV CV CV CA CA CA A 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com World wide Manufacturing and Marketing Organization NSK Lid INTERNATIONAL DIVISION NSK FRANCE S A JAPAN Tokyo Phone 03 3779 7120 FRANCE Paris Phone 1 30 57 39 39 NSK CORPORATION Lyon Phone 72 15 29 00 U S A Ann Arbor Phone 313 761 9500 NSK NETHERLANDS B V me k S NETHERLAND Amsterdam Phone 020 6470711 Precision Products Business Unit U S A Chicago Phone 630 924 8000 NSK ITALIA S p A Los Angeles Phone 562 926 3578 ITALIA Milano Phone 02 995191 Ann Arbor Phone 761 761 9500 NSK IBERICA S A NSK CANADA INC SPAIN Barcelona Phone 93 575 1662 CANADA Toront Phone 905 890 0740 Montreal phone 514 633 1240 G G PTY pee S V Ph 544 Melbourne one E S SEE HEE Sydney Phone 02 9893 8322 NSK RODAMIENTOS MEXICANA S A DE C V Brisbane Phone 07 3393 1388 MEXICO Mexico City Phone 5 301 2741 5 301 3115 Adelaide Phone 08 8373 481 1 z 434 1311 NSK DO BRASIL INDUSTRIA E COMERCIO DE fab S ROLAMENTOS LTDA NSK BEARINGS NEW ZEALAND LTD BRASIL S o Paulo Phone 001 269 4700 NEW ZEALAND Auckland Phone 09 276 4992 Porto Alegre Phone 051 222 1324 NSK KOREA CO LTD Belo Horizonte Phone 031 224 2508 KOREA Seoul Phone 02 3287 6001 NSK UK LTD NSK SINGAPORE PRIVATE LTD
123. d are the performance standards against which other robot systems are compared 1 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 2 Functional Principle 1 2 1 Motor By virtue of its unique design the Megatorque Motor System is capable of producing extremely high torque at low speeds suitable for direct drive applications Furthermore it can produce these torque levels without using an undue amount of power so it can sustain these torque levels indefinitely under most conditions without overheating Motor Construction This Motor is of dual stator construction with rotor between them Each stator is constructed of laminated iron sheets with eighteen poles stamped into the laminations Each pole has one set of copper windings around it which provide the magnetic field The windings are wired in series so that there are three sets of windings seen by the power amplifier each winding consisting of six four for 0408 type Motor pole pieces The face of each pole piece has many teeth resembling a stepping motor in appearance not in function The teeth serve to focus the magnetic energy into a series of discrete points along the pole face In total there are hundreds of these points around the full turn of the Motor The number depends upon the Motor size The rotor is a thin cylindrical ring constructed of the same iron laminations and with the same tooth structure b
124. d entry for preventing erroneous entries These commands cannot be entered in the same manner as other commands The password is NSK ON a space between K and O as shown below If the Driver Unit accepts it it returns an NSK ON message Refer to 12 Command and Parameter for details A command that requires the password may only be executed immediately after it is entered Figure 7 2 Password Input NSK ON Entered passward NSK ON Returned message E Waiting for a command to be entered Input To Driver Unit COO sJO l lo fe o Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 2 2 Canceling Command To cancel a command which has been entered halfway enter a backspace code For example when the backspace code is input following VGO 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 7 3 Canceling Example Input BS Key gt Input To Driver Unit le 3l ICI ls 7 2 3 Error 6 Note that an error occurs in any of the following cases 1 Ifa nonexistent command i e character string is entered If an entered character string cannot be decoded 2 Tf data or subscript out of the allowable range is entered 3 If acommand requiring the password is entered without the password In any of these cases the entered character string with a mark is
125. dy EEPROM error Cause Remedy 1 Faulty EEPROM of control circuit e Turn the power on again s Replace Driver Unit Standard ESA Driver Appendix 4 14 2 4 3 System Error Output DRDY Open TA E7 gt System Error LED E7 Motor Condition Servo OFF Table 14 12 Cause and Remedy System Error Cause Remedy 1 Faulty ROM on PCB 2 Faulty EEPROM on PVB e Replace Driver Unit Standard ESA Driver Appendix 4 14 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 4 CPU Error Output DRDY Open TA Disabled LED Unstable Motor Condition Servo OFF Table 14 13 Cause and Remedy CPU error Cause 1 CPU is out of control due to noise Remedy e Turn power on again s The alarm is deactivated when the power is turned on again If the alarm occurs frequently contact NSK e Replace Driver Unit Standard ESA Driver Appendix 4 2 Faulty PCB When the alarm is not deactivated after the power is turned on Note 1 RS 232C communication and other controls are disabled because CPU is not functioning 2 Contact NSK if the alarm occurred 14 2 4 5 Interface Error Output DRDY Open TA E8 gt I F Error LED E8 Motor Condition Servo OFF Table 14 14 Cause and Remedy Interface error Cause Remedy 1 Defective I O Board in Driver Unit s Re
126. e After the positioning is completed IPOS output closes for the moment which is set by the parameter FW then execute the next channel s program after IPOS output is opened again 9 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 9 Position Feedback Signal Resolution Set the gA B resolution using the FR parameter via RS 232C Table 9 3 Unit pulses rotation eedback signal Motor series FRO YS JS1 JS2 RS AS BS JSO When the resolver resolution is set to the automatic resolution switching or 10 bit setting set the FR parameter to FRO When it is set to FR1 A B will not be output Output timing Figure 9 10 CW rotation CCW rotation CHA output A TF ik bad I CHA output A CHB output B alae ly CHB output B T CHZ output Z CHZ output Z open CHZ close CHZ output MSB C e l CHZ output MSB LL _ __J_ The phase can be reversed by the FD parameter set via RS 232C FDO Standard at CW rotation leading phase A FD1 Reverse at CW rotation leading phase B The output specification of the CHZ signal whether to output Z or MSB is selected by the FZ parameter set via RS 232C FZO Z FZ1 MSB 9 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 10 Monitor
127. e He HH s Hom Echo back From Driver Unit LYS HOLS HoHoH i 9 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 3 Password Among the communication commands used for this System some special commands such as AB PA SI etc require password entry for preventing erroneous entries These commands cannot be entered in the same manner as other commands The password is NSK ON a space between K and O as shown below If the Driver Unit accepts it it returns an NSK ON message A command requiring password entry may only be executed immediately after the password is entered Figure 9 36 Password Example NSK ON Entered passward NSK ON lt Returned message Waiting for a command to be entered Input To Driver Unit RN ELS HA HeH Ho Echo back From Driver Unit SCE a ocr cs b e Dore 9 34 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 4 Canceling Command A command which has been entered halfway entering a backspace code 08H can cancel a character or an entered full character string Parameter backspace mode BM sets the cancelling method BMU a backspace code cancels an entered character string BMI a backspace code cancels a character When the Handy Terminal FHT 11 is used press the backspace BS key 1 Parameter
128. e Return at where the Motor advances HO value after going out from HLS ON range OS4 Completes Home Return at where the Motor advances for HO value after entering HLS ON range OS5 Completes Home Return at where HLS input goes ON Refer to 10 2 1 Home Return for OS4 sequential chart The Home Return setting can be checked with TS or OS command OTP Overtravel Limit Switch Position OTM Format OTP data OTM data Data 99 999 999 99 999 999 pulse Shipping set 0 OTP OTM Default 0 Sets the software overtravel limit values in the position scale OTP Sets the overtravel limit value in the plus direction in the units of pulse OTM Sets the overtravel limit value in the minus direction in the units of pulse OTP ST and OTM ST command enables to set the position by teaching For more details refer to 9 1 5 2 Software Over travel Limit Switch TS or OTP O0TM command reports the current setting 12 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com PA Phase Adjust Format PA data Data 24 1 048 Shipping set 700 However for non interchangeable Motor data varies with individual Motor Default Not available Sets the compensation value of the resolver installation position The resolver is set to the optimum in
129. e the setting as described hereunder to be able to transfer it to ESA Driver Unit Add KP1 to the top line Delete unnecessary character strings such as TS and TC AL Delete all spaces of the head of the lines Change gt TC to CH Add a line to each end of a channel program and the end of setting KP1 PGO 100 VG2 0 VI5 00 Omitted partially P1 00 V1 4 U NN Add a line 9 3 3 3 Transmit Stored Parameters to ESA Driver Unit E Transmit the stored file to ESA Driver Unit 1 Start HyperTerminal 2 Transmit the file by selecting Transfer Transmit text file 3 Execute TS or TC AL command to confirm that the transmission of data is successful 9 40 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 4 Daisy Chain Communication Daisy chain communication allows multiple Driver Units up to 16 units to be connected with a single RS 232C terminal Figure 9 44 Daisy chain communication overview Terminal RS 232C Cable Driver Unit Driver Unit Driver Unit Driver Unit 0 1 2 15 9 3 4 1 Procedure to Set Daisy Chain Communication Figure 9 45 Setting procedure for daisy chain communication Operation procedure Initial setting lt AN parameter CM parameter Daisy chain connection sg RE ae eit K ale NeCKy x Order of ogres executed automatically e I
130. el Limit Switch Position 12 26 4 Aapa andare ade 14 1 OTM Overtravel Limit Switch Position 12 26 AA Identiying Aldrin ee 14 1 PA e ASE AOUS reenter Van 14 1 1 LED Alarm Indicator 14 1 po SEUSS Homman reer Lee 14 1 2 Using TA Command 14 2 PG Position Gain 12 27 14 1 3 Alarm Code LiSt 14 3 PH Programmed Home Return 12 28 14 2 Description of Alarm 14 4 PS Position Scale 12 28 14 2 1 Normal State 14 4 RA Read Analog Command L 14 2 2 Alarms Related to Power Amplifier 14 4 RC Rated Current Software Thermal 12 29 14 29 1 Heat Sink Overheat or RI Factory Use Only ee ee ee eas Regeneration Resistor Overheat 14 4 S Estee OE a 14 2 2 2 Abnormal Main AC Line Voltage 14 5 SG Servo Gain Adjust Minor 12 30 HEES in E 14 2 2 4 Control AC Line Under Voltage 14 6 SI Set Initial Parameters 12a 14 2 3 Alarms Related to Motor 14 7 SL i Set Servo LOOP wa 14 2 3 1 Resolver Circuit Error 14 7 ST 14 2 3 2 Software Thermal Sensor 14 7 14 2 3 3 Velocity Error Over 14 8 SM EDENO ON E nr a 14 2 4 Alarms Related to Control
131. elocity Integrator Frequency V1 8 12 8 4 Setting Filters Tuning Level 2 8 14 9 Operational Function 9 1 9 1 General Operation and Function 9 1 9 1 1 Servo ON 9 1 9 1 2 Emergency Stop 9 2 9 1 3 Clearing Position Error Counter 9 3 9 1 4 Integration off IOFF 9 3 9 1 5 Over travel Limit Switch 9 4 9 1 5 1 Hardware Over travel Limit Switch 9 4 9 1 5 2 Software Over travel Limit Switch 9 5 9 1 6 Alarm Output 9 6 9 1 7 Brake Signal Output 9 7 9 1 8 In Position Output 9 8 9 1 8 1 Output Signal Format 9 9 9 1 8 2 Parameter IN 9 10 9 1 8 3 Parameter IS 9 10 9 1 8 4 IPOS Output in Special OCCASION 00 22nnnn non 9 11 9 1 9 Position Feedback Signal 9 12 9 1 10 Monitor Functions 9 13 9 1 10 1 Velocity Monitor 9 14 9 1 10 2 Monitoring I O State IO 9 15 9 1 10 3 Reading Current Position 9 18 9 1 10 4 Analog Monitor
132. emains unchanged closed The polarity of the EMST signal input port is set to A contact before shipment but it can be changed to B contact refer to the AB parameter Provide a mechanical brake when an external force is applied to the Motor as the position loop control is not performed in this state SERVO OFF cannot be established for 4 seconds after EMST input is ON even SVON input is OFF Servo lock state won t be established if SVON input is OFF at the moment of EMST input is ON Figure 9 3 Activated Pognon Deactivated control loop s ON SVON input OFF S ervo OFF EMST input The Driver Unit may not accept EMST input unless it stays on for 10 ms or longer The Motor gets in Servo lock state in velocity loop control for 4 seconds after EMST input is on even though SVON input is OFF If the EMST input is ON while the main power is ON the Motor gets in servo lock state for 4 seconds However if the main power is OFF simultaneous with or after the input of EMST time for Servo lock state will be less than 4 seconds 9 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 3 Clearing Position Error Counter CLR clear input clears the internal position error counter of position loop When the excess position error alarm arises turning on the CLR input clears the position error counter and recovers from the alarm state The Driver
133. ensors as the Home position limit switch direction overtravel limit and direction overtravel limit switch connect sensor output directly with the input port of the Driver Unit not via the master controller 5 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 5 2 Wiring Example of Velocity Control Torque Control Mode Figure 5 13 User s sequencer ESA25 Driver Unit Polarity of DC24V external power supply may be reversed and used as minus common DC24V Servo on Emergency stop direction overtravel limit switch direction overtravel limit switch Clear Integrator off used only in velocity control mode INO INO iO I NO On NO LE i i i i i i i i i i i i Driver Unit ready DC24V In position a Brake control signal T i l Position feed back signal A Position feed back signal B Position feed back signal Z Digital position signal MSB La L SIN Jo 1 ko Signal ground Velocity Torque control Analog command input DC 10V EL O e When using an inductive switch e g relay be sure to install a serge killer circuit e When the user installs sensors for the direction overtravel limit switch and direction overtravel limit switch connect sensor output directly with the input port of the Driver Unit not via the master controller 5 13 Artisan Technology Group Quality Instrumen
134. er 50 C Keep a clearance of 100 mm in upper and lower side of the Driver Unit when it is installed in the enclosure If heat is build up on upper side of the Driver Unit provide the ventilation openings on the top of it or equip an air cool unit to take the heat out of the Driver Unit Measures against contamination are required for the ventilation openings 2 Protection against contamination and water Put the Driver Unit in an enclosure of which protection code is IP54 or better Protect the Driver Unit from oil mist cutting oil metal chips and paint fume etc Otherwise it may result in failure of electric circuits of the Driver Unit IP code is in IEC standard This is to specify the protection level of enclosures from solid contamination and water 3 Wiring Ground 6 Refer to User s Manual for proper wiring Take appropriate measures not to contaminate the Driver Unit when wiring or installing it a Storing Store the Driver Unit in a place at where it is not exposed to rain water and harmful gas or liquid Store the Driver Unit in a place at where it is not exposed to direct sun light Keep ambient temperature and humid as specified 2 Matters to be attended to use the Motor of the Megatorque Motor System 1 Dustproof and Waterproof of the Motor Make sure that how your Motor is graded for dust proof and or waterproof You cannot use the Megatorque Motor when chemicak or paint fumes exists Standard
135. eration is performed The setting makes HS command unnecessary and can save one channel program area TC AL or PH command reports the current setting PS Position Scale Format PS data Data 0 1 2 90 Shipping set sA Default 0 Specifies the internal position scale system of the Megatorque Motor system PSO Linear position scale PS1 Single rotation position scale PS2 to 99 Multi rotation position scale For more details refer to 9 2 1 Position Scale TS or PS command reports the current setting RA Read Analog Command Format RA RA RP Reads the analog command value when an analog command is valid RA input reports reading only once RA RP reports the reading continuously To quit from the continuous reading press key RA INHIBITED message will be returned when an analog command is invalid The report is a decimal number in 2 048 2 047 The report includes the result of dead band setting when DBA dead band is set to an analog command 12 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com RC Rated Current Software Thermal Format RC data Data 0 100 Shipping set Unique value for each Motor Default 0 Do not change the RC setting RC is properly set for each Motor If it needs to be changed contact NSK TS or RC command
136. es 6 Connect data transmission request lines sequentially First connect the input of the terminal with the output of axis 0 then connect the input of axis 0 with the output of axis and then one after the other See Figure 9 47 6 Connect the input of the final axis with the output of the terminal Figure 9 47 Request to send Line Connection Terminal CTS RTS RTS CTS RTS CTS RTS CTS RTS CTS Driver Unit Driver Unit Driver Unit Driver Unit 0 1 2 15 Actual connection example When NSK s Handy Terminal is in use connect the lines as shown in Figure 9 48 Refer to 5 1 CN1 RS 232C Serial Communication Connector for the specification of CN1 Figure 9 48 Handy Terminal Connection Example Connector pin No 2 The communication signal name on the Handy Terminal is opposite to that on the Driver Unit e g RXD TXD 9 43 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 4 4 Power on s Ifthe Handy Terminal is not used turn on power in the order of the RS 232C terminal and Driver Units e Turn on the power for all Driver Units simultaneously If all axes cannot be turned on at once be sure to design the system so that the power of the Driver Unit axis No 0 turns on at the end When the Driver Unit of axis No 0 is turned on an AS command is executed to check for connection If all the terminal and units are connected
137. executed the display shows the current position once To terminate automatic reading press the key TP2 RP in the units of pulse YS JS1 JS2 RS 614 400 pulses revolution SS 491 250 pulses revolution AS BS JSO 409 600 pulses revolution TP5 RP in the units of 0 01 36 000 revolution TR Tell RDC Position Data Format TR RP 6 TR reads data of RDC position data Data is between 0 and 4 095 If TR command is executed with RP option reading is repeated automatically TR command reads out the status at the moment 6 To terminate automatic reading press the key 12 34 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TS _ Tell Settings Format Data Default TS data 0 13 0 This is to read out parameter settings The parameter to be read out varries with the data 1 Standard ESA 25 TSO TS1 TS2 TS3 TS4 TSS TS6 TS7 TS8 TS9 TS10 TSI TS12 TS13 Reads out all parameters listed below PG VG VI VM LG TL FO FP FS NP NS DBP DBA ILV FF FC CO IN IS FW VO VW CR PC RR FD FZ FR PS DI OTP OTM MV MA JV JA HV HA HZ OS HD HO PA OL RC LR AB SM NW MM BM CM AN WM SE LO SG MT RI ZP ZV SL AC AGV AGT Report format may be selected by MM VG_ Velocity Gain Format Data Shipping set Default VG data 0 1 255 0 or AJ
138. f the connector when inserting it The connector is a Self lock type Insert the connector to its bottom otherwise it will not lock e Never insert remove the CN4 connector with the Driver Unit power turned on e A high voltage is applied to this connector after the power is turned on Be very careful not to cause short circuit Table 5 19 Driver Unit connector Mating connector type user device side Mating connector shell user device side AMP 172039 1 AMP 172495 1 type AMP 172774 1 Provided with the cable 5 4 1 CN4 Pin out Figure 5 18 CN4 Pin out 5 4 2 CN4 Signal List Table 5 20 Signal Name and Function Signal Name 7 S S E Function Motor winding phase A Motor winding phase A Motor winding phase B Motor winding phase B Motor winding phase C Motor winding phase C Motor grounding wire 5 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 5 TB Terminal Block for Power Supply 5 5 1 Terminal List Table 5 21 Terminal Labels and Functions Terminal Label Function CONT Control power input MAIN Main power input FGND Frame ground 5 5 2 Wiring Diagram TB Figure 5 19 Wiring diagram TB Control power Main power ECE phase AC 100V 3 phase AC200V Single phase AC200V Single phase AC200V Noise filter Noise filter CONT AC100 220V MAIN AG200 220V
139. gnal A and B FRO 10 bit resolution specification FR1 12 bit resolution specification 6 For more details refer to 4 2 3 Functional Specification Set FRO when the resolver resolution is set to 10 bit or automatic resolution switching by the RR parameter If FR1 is set A and B will not be output Both FRO and FRI can be selected when the resolver resolution is set to 12 bit specification by the RR parameter TS or FR command reports the current setting FS _ Low pass Filter Secondary Format FS data Data 0 10 500 Hz or AJ Adjusting mode Shipping set 0 Default 0 Sets the frequency of the secondary low pass filter of the velocity loop When 0 is input the velocity loop secondary low pass filter is set to off At this time SEC LPF OFF appears on the display When data other than 0 i e 10 500 is input the frequency specified by the data is set The set value can be read by the TS command and FS Inputting FS AJ can set to fine adjusting mode 12 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FW_ FIN Width Format FW data Data 0 or 0 3 100 0 1 second Shipping set 1 Default 0 Sets the time length of IPOS output Unit is 0 1 sec If it is set to FW1 the time length of the IPOS output will be 0 1 sec If it is set to FWO IPOS output is in sta
140. gram Accessory HyperTerminal 2 Dialog of Setting of connection is displayed Declare the name of connection and set an icon then press OK button 3 Dialog of Telephone number is displayed Select Direct to Com in the way of connection N then press OK button 4 Dialog box of Property of Com is displayed Follow the table bellow for input then press OK button Table 9 14 5 6 Bit sec Data bit D Parity P Flow control F Hardware Select the menu File F gt Property P Dialog of Property of xxxx is shown in the display xxxx is the name of connection declared in the procedure 1 End of HyperTerminal The dialog box stating Do you store the session xxxx is displayed Press Yes Y button and store the session Use the session to communicate with ESA Driver Unit afterwards 9 39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 2 Store Parameters of ESA Driver Unit 1 Start HyperTerminal 2 Set MM data to MMO for continuous report mode 3 Execute TS command and TC AL to indicate the setting MMO tIS PGO 100 VG2 0 VI5 00 Omitted partially RIO 020 ZP1 00 ZV1 4 TC AL PHO gt TCO ADO CV2 0000 CA5 00 Omitted partially gt TC15 4 Copy the setting shown above to Memopad then store it as a text file Edit and stor
141. h and mechanical inaccuracy The same functions can be accomplished with just two components using the Megatorque Motor System all of the circuits needed to implement a position or velocity control servo loop digital motion controller servo compensation brushless commutation logic power amplifier are included in the Driver Unit and all of the mechanical components that were required motor couplings gears bearings tachometer and encoder are either replaced or made unnecessary by the Motor Gearless Advantage There are many advantages to the gearless servo system One advantage is to eliminate backlash the angular play due to looseness of fit between two mating gears The direct drive inherently eliminates backlash so that repeatability is limited only by the resolution of the position sensor The direct drive permits direct coupling of the Motor and the load so that troublesome flexible couplings are not required This permits tighter more direct control of the load The Megatorque Motor System has a very high torque to inertia ratio so that very high acceleration rates can be achieved When the load inertia is low the Motor can accelerate a load as much as 10 times faster than comparable high performance servo systems using gears The performance advantages of the Megatorque Motor System are demonstrated by many of the new class of the direct drive robots which have established repeatability and speed records in the robot industry an
142. haft Example 3 Driving ball screw Inertia of the whole mechanism is very small Figure 6 5 Driving Ball Screw 6 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example 4 Load is connected using sprocket chain or gear mechanism There may be backlash Figure 6 6 Using Sprocket Chain Or Gear Mechanism 1 For smooth drive the inertia of directly attached load should be Jd Ji x 0 2 where Jd inertia of directly attached load Ji inertia of indirectly attached load Example 6 When the inertia of indirectly attached load J i is 0 5 kg mz the inertia of directry attached load J d shall be Jd 0 5 x 0 2 0 1kg m2 2 When driving a speed reduction Ji Px where Jd inertia of directly attached load Ji inertia of indirectly attached load T speed reduction ratio Example 6 When inertia of indirectly attached load J i 20 kg m2 speed reduction ration r E the inertia of directry attached load J d shall be i J dz r2x5 20 32 x5 0 444 kg n 6 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 3 3 Load Inertia Generally the load inertia is much bigger than the rotor inertia of the Motor The following table shows the approximate inertia capacity Inertia is shown as J in kgn Table 6 3 Inertia Capacity Unit kgm La
143. hannel 63 ON 10 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 3 Pulse Train Command Operation 10 2 3 1 Pulse Train Signal Format Input a pulse train from CWP and CCWP of CN2 control I O signal connector Set the pulse train input signal format with the PC parameter via the RS 232C communication The password must be input prior to the PC parameter setting Table 10 6 Signal format cee CWP input CCWP input Function PCO shipping set e Input CW pulse s Input CCW pulse CW amp CCW format e Input the direction PC1 ON CCW s Input pulse train Pulse amp direction format OFF CW A B format x 1 GA L daz oB T H IS Internal i pulse resolution A B format x 2 A L PC3 s Input B s Input A B Eige igs Internal pulse resolution A B format x 4 oA L Pet e T LL Internal aR ee i pulse resolution 10 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 3 2 Pulse Train Resolution Set the resolution of the pulse train with the CR parameter via RS 232C In the case of gA gB input the pulse train resolution is multiplied by the PC parameter value then by the CR parameter value 6 Refer to Table 10 7 for the concrete data of resolution Figure 10 5 Pulse train resolution setting PC parameter CR
144. he Motor caused by external interference when operating it Flatness of the Motor mounting surface shall be 0 02 mm or less 3 Periodical check Puncture of the Motor and cable shorting or snapping may occur depending on using condition and environment If the Motor is left in such conditions it cannot exhibit its capability 100 and will lead to the trouble of the Driver Unit We recommend to conduct the periodical check in order to detect the problem 3 Before concluding that the system is faulty check the matters again 1 Alarm arises Did you take proper action to the alarm Check the action described in the manual again 2 Power does not turn on Indication lamp does not turn on 6 Check voltage of main and control power by a tester if the voltage is in the range of specification described in the User s manual 3 The Motor does not function Js rotation of the Motor smooth when it is turned manually with power off Any stickiness in motion Does the rotation axis have any axial play Never disassemble the Motor Is the control Input Output functioning properly Monitor status of SVON RUN and IPOS signals by 1 O command through handy terminal Check if the voltage of input signal and 24 V power source are stable using an oscilloscope etc 4 Uncontrollable Driver Unit Compare the current setting of parameters with the original setting at the installation Does the PA data unique to indi
145. his alarm occurs it will not recover unless the power is turned on again Figure 6 14 and 15 show timing of power ON and SVON 6 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 6 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 Handy Terminal Communication Setting of various parameters trial running and adjustment are possible by inputting commands to the Driver Units through NSK Handy Terminal FHT11 i e communication through the RS 232C interface The Driver Unit has CN1 as the Input Output ports for RS 232C communication FHT11 Terminal can be a daisy chain communication terminal Refer to 9 3 4 Daisy Chain Communication for details Always turn off the Driver Unit when plugging on off the CNT connector Turn off the Driver Unit if it has been turned on Connect FHT11 and the Driver Unit at connector CNT The communication will automatically begin when you turn on the control power of the Driver Unit 7 1 When Power is Turned on If the terminal NSK Handy Terminal FHT11 is connected to CN1 and the Driver Unit power is turned on the message shown below is displayed The contents and the number of characters of this message may differ with Driver Unit setting and system versions When the Driver Units are initialized a colon
146. his section is to introduce the Megatorque Motor System in general Some parts of explanations are not applicable to all Driver Units and or Motors Refer to respective specifications when ordering 1 1 Overview The Megatorque Motor System is a unique actuator with special capabilities The System consists of almost all elements that are needed for a complete closed loop servo motor system With conventional technology these parts must be purchased and installed separately but the Megatorque Motor System incorporates them all into two units the Motor and the Driver Unit Motor The Motor consists of a high torque brushless actuator a high resolution brushless resolver and a heavy duty precision NSK bearing The high torque actuator eliminates the need for gear reduction while the built in resolver usually makes feedback components such as encoders or tachometers unnecessary Finally the heavy duty bearing eliminates the need for separate mechanical support since the Motor case can very often support the load directly in most applications Driver Unit The Driver Unit consists of a power amplifier resolver interface and digital motor control circuits The Driver Unit provides everything that is needed to control the Motor s torque velocity or position for interface to any standard motor position controller or to act as a stand alone digital motion control system with its built in zero backlash position control capability High
147. ike motors which use permanent magnets the Megatorque Motors do not weaken with age 1 2 2 Driver Unit All of the circuits that are needed to operate the Megatorque Motor System in position velocity or torque control modes are contained in the Driver Unit These circuit functions are Digital microprocessor Power amplifier Resolver interface The resolver interface and the digital microprocessor are on the control board a single printed circuit board which is accessible to you on the right side of the Driver Unit a ee Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Digital Microprocessor Subsystem The digital microprocessor subsystem is a part of the control board All analog signals are converted to digital form and the 16 bit microprocessor on the control board handles all Motor control functions in the digital domain Since analog circuits are eliminated there are no pots to adjust no operational amplifier circuits to tweak and no soldering or component changes are required The digital microprocessor receives commands from the outside world in either analog or digital form depending upon the selected interface option The command parameter can be position velocity or torque The digital microprocessor compares the commanded variable with the actual measured value of the controlled variable and makes small corrections continuously so that the Motor always obe
148. indicated until key is pressed On and Off of the Input Output signals will be followed during the readout by changing in 1 to O or the other way However if inputting RP is omitted in procedure 3 in the above example I O status will be indicated only once just after key is pressed A 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 2 How to Check Motor Condition Examine resistance and isolation of Motor windings to find out its condition Firstly conduct the checks with the Cable Set If the result does not meet the specification check the Motor only 1 Resistance of Motor windings Figure A 5 With Cable Set Connector Lock Motor Cable Resolver Cable Refer to Table A 3 for pin numbers to be checked Figure A 6 Motor only Tester Refer to Table A 3 for pin numbers to be checked Table A 3 Pin number to be checked Cable connector Motor connector Result diala At A At A Q lt oo Q Se B R B R Phase C gt Go WY C C C C A 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table A 4 Specification of Motor resistance Motor number Motor winding resistance Q Specification YS2005 35 0 1 Allowance 430 YS2020 2 Variations between each phase LOQ or less YS3008 A B C YS304
149. ing for next command When reading out set value using TS command is recommended When using command make sure to input command before parameter characters If not and pressing key after the characters may change the set value 74 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com B Tuning and Trial Running Gain adjustment is necessary for the position control mode and the velocity control mode In the torque control mode the noise filter adjustment may be required 8 1 Tuning Procedure Figure 8 1 Tuning Procedure 6 install the Motor and wire the Driver Unit Make sure that the LED of the Driver Unit is indicating g normal e Turn control power ON and confirm that the Handy Terminal display shows the message as shown below NSK MEGATORQUE MS1A50_ EX k k k k k k k k 8 2 2 Initialize Servo Parameters Initialize servo parameters l Execution of automatic tuning PG VG VI and MA 8 2 3 Execution of Automatic Tuning Automatic estimation of load inertia and automatic servo parameters setting will be executed in this stage Tuning 8 2 4 Trial Running i Level 1 Operating OK Trial running Confirm the parameter set values obtained from automatic tuning You may refer to the setting for Level 2 and Level 3 adjustment Basic function of Automatic tuning The adjustment is comp
150. ing surface Unit mm 419 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 10 M YS4080GG001 OUTPUT ROTOR MOUNTING HOLES 6 M6x1 0 DEPTHS PCD190 60 SPACING N MANUAL BRAKE RELEASE HOLES 3 M6 PCD158 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 4413 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 11 M YS5120GG001 PUT ROTOR TING HOLE S M x1 25 DEPTH 10 PCD260 60 SPACING 13020 4 S3 M6_PCD175 Y i BASE MOUNTING HOLES TA 14 DRILL THR K 60 ECT AP _ELR 15 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 4414 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 Low profile type Figure 4 12 M YS2005GN001 OUTPUT ROTOR MOUNTING HOLES 6 MW5x0 8 DEPTH PCG120 60 SPACING N CONNECTOR JST CORP ELR 15 For the dimensions in parenthesis an extra 2 to 3 mm allowance shall be made for their variations due to casting surface Unit mm 445 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 4 13 M YS3008GNO0
151. ion data of current position and destination is the same moving distance is 0 zero s If off limit area is set by software over travel limit the Motor rotates in the direction to avoid the off limit area regardless moving distance This command has two functions depending on the usage 1 Tfitis entered in the normal standby condition the prompt is it serves as a positioning command 2 If itis entered right after inputting CH command channel selection and the system is in command receiving state the prompt is it is regarded as a program data to the specified channel 12 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AG Analog Command Gain Format AGV data AGT data Data range 0 10 2 00 Shipping set 1 both AGV and AGT Default Not available This command sets the analog command gain in the velocity and torque control mode AGV Analog command gain in velocity control mode AGT Analog command gain in torque control mode Actual gain value is in proportion to the velocity or torque command Example When AGVO 5 Actual velocity command Velocity command input x0 5 TS or AG command reports the current setting AN Axis Number Format AN data Data range 0 15 Shipping set 0 Default 0 Sets the axis number in the daisy chain communication mode TS command or
152. isantg com 5 2 4 3 General Output Applied Outputs BRK IPOS Table 5 9 Specification Maximum load capacity 24 VDC 100 mA Maximum saturated voltage 2 V or less Figure 5 7 Driver Unit side 5 2 4 4 Alarm Output Applied Outputs DRDY DRDY Table 5 10 Specification Maximum load capacit 24 VDC 100 mA Maximum saturated voltage 2 Vor less Figure 5 8 Driver Unit side 5 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 4 5 Position Feedback Applied Outputs CHA CHB CHZ CHA CHB CHZ Table 5 11 Item Specification Line driver CHA CHB CHA CHB Output format Line driver or open collector CHZ CHZ Can be selected by Jumper 1 Refer to 4 2 4 Jumper Line driver Texas Instruments SN75ALS192 Recommended Line receiver Texas Instruments SN75ALS193 or AM26LS32 equivalent Maximum collector current Maximum collector voltage 24V For open collector Saturated voltage Figure 5 9 CHA CHB CHA CHB SGND SGND I Driver Unit side Driver Unit side 5 2 4 6 Analog Command Input Applied Inputs AIN AIN Table 5 12 Specification Max input voltage Input impedance Max input current Figure 5 10 Driver Unit side 5 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 4 7 Analog Monitor Output Applied Outpu
153. istory of Alarm 14 15 E TN PTE PEE nee ee 13 1 14 2 5 2 Clear History of Alarm 14 15 cia griis 137 15 Troubleshooting 15 1 13 2 Maintenance Check 13 2 15 1 Identifying Problem 15 1 13 2 1 Motor aa Oe neg ee 13 2 15 2 Troubleshooting 15 2 13 2 2 Driver Unit and Cable Set 13 2 i524 Power Trouble essa aaaea aea 15 3 13 3 Periodical Replacement of Parts 13 3 15 22 Motor Trouble kere et 15 4 13 3 1 Molor nae gn Wenn ee a 193 15 2 3 Command Trouble 15 6 13 3 2 Driver Uni 13 3 15 2 4 Terminal Trouble 15 10 13 4 Storing 13 3 13 5 Warranty Period and Covering Range 13 4 Appendix G Elei Bo TT ne Appendix 1 Verify Input Output Signal A 1 aT HHT ad Appendix 2 How to Check Motor Condition AS ie sya ea eens ened Da RETS OE Uni eae A 9 Appendix 4 How to Replace ESA25 Driver Unit A 11 Appendix 5 Regeneration Dump Resistor A 18 Appendix 6 Brake Built in YS Series Motor A 19 Appendix 7 Parameter Program Setting List A 23 iv Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 Introduction T
154. it due to modification or repair which is conducted by a person s or party ies other than the supplier Other types of failures due to natural disasters and accidents causes not attributable to the responsibility of the supplier Designated consumables fuses for ESA25 Driver Unit Damages induced by a failure of the supplied unit are not covererd 13 5 4 Service Fee NSK Ltd reserves the right to charge to a user for the service such as dispatch of engineer s Startup maintenance and adjusting of the unit under the supervision of our engineer s is a paid service even if it is to be provided during the warranty period Service fees shall be billed to the customer according to the rules on paid services 13 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 Alarm 14 1 Identifying Alarm The DRDY output opens when error occurs in ESA25 Driver Unit 7 segemnt LED is provided on the front panel of the Driver Unit to identify the alarm TA command can be used to identify alarms 14 1 1 LED Alarm Indicator Figure 14 1 Green LED Turns on when the power is turned on a Normal Green O Abnormal Orange l 7 segment LED display Indicate the type of alarm H s The alarm is normally indicated by a 2 digit code Two characters are displayed alternately at certain intervals gt When two or more alarms are detected their codes are
155. ital filter setting Parameters FP FS NP NS Sets filter frequency in the velocity loop 6 The filters are useful for eliminating audible noise and vibration due to mechanical resonances Table 9 12 Parameter function Parameter Shipping set FP FPO FS Sets the secondary low pass filter frequency FSO NP Sets the primary notch filter frequency NPO NS Sets the secondary notch filter frequency NSO 6 Refer to 12 Command and Parameter for more details Figure 9 28 Digital filter block diagram Primary Secondary Primary Secondary Velocity Velocity loop low pass low pass notch notch Velocity loop gain integrator filter filter filter filter command Y VG VI FP FS NP NS Velocity data 9 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 4 Feed Forward Compensation FF 6 Function of feed forward is to generate a velocity command by differentiating the position command and then add it to the velocity loop in the forward direction Parameter FF sets the feed forward compensation gain It requires the password for entry The shipping set of the parameter FF is FFO It improves following error during acceleration deceleration Setting the FF parameter to a higher value improves the following error However overshoot becomes more likely to occur It is recommended that the parameter is set to 0 5 or below Figure 9 29 Feed Forward Compe
156. ition error counter is within the IN set range IS data data 0 The IPOS output closes in positioning if the value of the position error counter is stable within the IN set range for the time specified in IS The timer value is specified in data in units of 0 1 second It may be 0 03 to 10 seconds if data is specified as 0 3 to 100 TS or IS command reports the current setting 12 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com JA Jog Acceleration Format JA data Data Motor series YS JS1 JS2 RS 0 01 80 00 s SS 0 01 100 00 s AS BS JSO 0 01 120 00 s Shipping set i Default Not available Sets the acceleration for Jog operation TS or JA command reports the current setting JP Jump Format JP data Data 0 63 Default 0 JP is used to specify the destination channel of unconditional jump in an internal program If a channel with a JP command is executed processing program jumps to channel specified by data unconditionally The JP command may be input under the condition where a channel to be programmed is selected with a CH command the Driver Unit outputs and the system waits for a command If it is entered in the normal standby state an error occurs normal standby state A colon is displayed TC command reports
157. iver Unit 0 Standard ESA Driver Appendix 4 Note 1 When the regeneration dump resistor cannot process regenerative current the voltage of direct current to main circuit will be too high and the alarm will be on 2 Decrease acceleration deceleration 14 2 2 3 Over Current Output DRDY Open TA P2 gt Over Current LED P2 Motor Condition Servo OFF Table 14 5 Cause and Remedy Over current Cause 1 Poor insulation of the Motor Refer to Appendix 2 How to Check Motor Condition 2 Defective Motor Cable Refer to Appendix 2 How to Check Motor Condition 3 Defective FET of Power Amplifier When the alarm is on even the Motor and Motor cable are normal Remedy Replace Motor s Replace Cable s Replace Driver Unit Standard ESA Driver Appendix 4 Note The alarm may be accompanied with abnormal main AC line voltage blown fuse alarm due to excessive current flow 14 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 2 4 Control AC Line Under Voltage Output DRDY Open TA P3 gt Control AC Line Under Voltage LED P3 Motor Condition Servo OFF Table 14 6 Cause and Remedy Control AC line under voltage Cause Remedy 1 Low voltage of control power input s Check control power voltage Low voltage due to over current or output shorting 2 Control circuit voltage
158. l limits OTP OTM are OFF 4 After the automatic tuning the rotational speed MV has been initialized to 1 s Change MV to 0 1 s for trial running TETEE Note After the adjustment change MV to the actual use 5 Display the demonstration program gonoTnmENEA IN100 IS0 0 FW1 0 ID9000 0K The message indicates the conditions of positioning and rotation angle IN In position IS In position stability timer FW FIN Width ID Incremental Positioning Degree Refer to 12 Command and Parameter 6 To make the adjustment simple set IN 10 pulse and IS 50 ms U1 lee 7 ips00 oK LL L a Check the display for confirmation 8 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 When rotational angle ID 9000 90 degrees is feasible input OK Lo K ent IN10 1IS0 5 FW1 0 ID9000 0K 0K The motor starts the cycles as soon as OK is logged in Firstly the Motor rotates clockwise CW For changing rotational angle ID while F prompt is displayed input desired ID without inputting OK 8 To terminate the demonstration program input the command to display its menu screen Press key after to get out the demonstration program Example for rotational angle 30 degree BR BIST NIN e IN10 1IS0 5 FW1 0 ID3000 0K ENT A 9 When the tri
159. leted if trial running is satisfactory Execute additional adjustment to the Level 1 when trial running is not satisfactory Tuning Execute final adjustment manually Level 3 when Level 1 and 2 are not successful Tuning Tuning O Level 1 Level 2 i Level 2 Operating OK N Ossi 8 3 Manual Tuning Level 3 i Operating i O K YES Tuning 8 4 Setting Filters Tuning End Trial Running 8 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 Automatic Tuning Automatic tuning cannot be performed if the following conditions are not met The load inertia must be under the limit of the Motor Refer to 4 1 Motor Specification The Motor axis must be vertical The load conditions to the Motor must not be affected by the gravity Mechanical rigidity of the Motor mounting base and attached load is sufficient enough There must be no backlash or play caused by gears and couplings Frictional load to the Motor shall be minimal Preparation Following preparation is required to execute the automatic tuning Installation of the Motor Attachment the load to the rotor of Motor Installation of the Driver Unit Wiring AC power line Wiring the SVON Servo on and the EMST Emergency stop CN2 connector Connection of the Driver Unit and the Motor Use the optional cable set from NSK Connection of the Hand
160. load base Increase rigidity 5 Resonant vibration occurs due to low rigidity ls Set parameters manually of the load or the mounting base AT Error 4 14 2 4 13 RS 232C Error When parameter is SE 0 Output DRDY Close TA C2 gt RS232C Error LED C2 Motor condition Normal When parameter is SE 1 output DRDY Open TA C2 gt RS232C Error LED C2 Motor condition Servo lock Table 14 22 Cause and remedy RS 232C error Cause Remedy 1 Connect or disconnect the communication Connect or disconnect the communication cable cable with power on when the power is off 2 Attempted to transmit large volume of data le Wire CTS and RTS signal and apply the flow control without the flow control by CTS or RTS command 3 Wrong Baud rate is set to the terminal s Set Baud rate to 9 600 bps 4 Defective RS 232C communication s Replace Driver Unit Standard ESA Driver Appendix 4 Note 1 Parameter SE can set DRDY output and condition of Motor servo when RS 232C communication is abnormal Refer to 12 Command and Parameter 2 RS 232C error may be cleared by input of CLR or CL command 14 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 14 CPU Error Output DRDY Open TA C3 gt CPU Error LED C3 Motor condition Servo OFF Table 14 23 Cause and remedy CPU error Cause Remedy
161. ls by pressing the space key TE Tell Position Error Counter Format TE RP Reads out the value of position error counter The reading shall be between 2 147 483 648 and 2 147 483 647 When it exceeds or falls below the upper or lower limit the reading will change to backward counting in minus or plus side When only TE is entered the display shows the current reading once If an RP option is added to a TE command reading is repeated automatically In automatic reading a value consisting of up to six figures is read out If a value consists of more than six figures is displayed 6 To terminate automatic reading press the key TL Torque Limit Rate Format TL data Data 0 100 Shipping set 100 Default 0 Sets the torque limit The Motor torque will be reduced to a percentage of the value immediately after TL is input and the Motor torque is controlled not to exceed the limit thereafter TS or TL reads the current setting 12 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TP Tell Position Format TP data RP Data 29 Shipping set None Default Not available TP command reads the current position of the Motor in the position scale set by PS parameter If RP is executed with an RP option reading is repeated automatically If only TP data is
162. mentation Guaranteed 888 88 SOURCE www artisantg com 10 4 Torque Control Mode Operation Torque control mode can be set with the SL parameter SL1 Torque control mode SL2 Velocity control mode SL3 Position control mode Torque control mode is available in the analog command input or RS 232C command input The mode is switched by the parameter AC ACO Analog command input invalid DC command becomes valid ACI Analog command input valid When input voltage polarity is positive CCW direction AC I Analog command input valid When input voltage polarity is negative CW direction 10 4 1 RS 232C Communication Command In the torque control mode the operation of the Motor can be executed through RS 232C communication command Setting the parameter AC ACO makes the DC command valid Then input Lp Ihc JE wam J to control the Motor under the proportional speed to the command data value The relation between the command DC data and torque is shown in Figure 10 15 Figure 10 15 CW maximum torque 4095 4095 __ CCW maximum torque 6 Torque output varies with the Motor type 10 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 4 2 Analog Torque Command In the torque control mode operation the Motor may be controlled directly by inputting analog command Voltage range of analog command is 10V The
163. mit switch position 7 _0_ 99 999 999 99 999 999 MV Move velocity TT TOS MA Move acceleration _ 1 00 ___0 01 100 00 IV Jog velocity O ooo 0 000 3 7500 JA Jog acceleration H o HH _0 01 100 00 OS HV Home return velocity 0 2000_ ___0 0001 3 7500___ HA Home return acceleration 1 00 ___0 01 100 00 HZ Home return near zero velocity ooo oooorozo0 Oa ooo mas O ES S a ce E TE S E SS gt XOKOXXOO OS HD HO PA 01 RC LR I AB O polarity S 4 n directi 1 i 7 XOXOXXO0 NW MM BM CM Communicaionmos 7 CdS o AN Axismumber OOOO oo S o a oo WM Write mede o EEPROM 7 f o OoOo o o oo SE Semer O f 7 o oo o oS S LO SG Servo gain adjust minor H o HT CS MI __ Factory useonly 7 e S R Factory useonly SSCS 7 Od S ZP ___ Factory use only OOOO O 3S H o S ZV Factory we only Sd a S SSS SL AG AGV Analog command gain velocity control 0 10 2 00 mode AGT Analog command gain torque control mode 0 10 2 00 12 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 12 3 AS BS and JSO Motor standard setting PG___ Positongain SSS 0 000 SR TS VG___ Velocity gain J o oo ooo Ct H25S Vi Velocity integrator frequency o _0 10 63 00_ VM LG Lower velocity gain o H TO S TL FO Low pass filter off velocity o H TES FP Low pass filter primary HT oo oossoo
164. n 0 i e 10 500 is entered the value is adopted as the frequency TS or NP command reports the current setting NP AJ command sets to adjusting mode 1204 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com NS _ Notch Filter Secondary secondary notch filter frequency Format NS data Data 0 10 500 HZ or AJ adjust mode Shipping set 0 Default 0 NS data sets frequency of secondary notch filter If 0 is specified the 2nd stage notch filter will be set to OFF In such a case the display shows SEC NF OFF If the data other than 0 i e 10 500 is specified the frequency sets to data 6 Command TS or NS reports the current setting NS AJ starts adjusting program NW Neglect Width Format NW data Data 0 4 Shipping set 2 Default 0 RUN and HOS are rising edge triggered inputs To protect against chattering due to physical contact the NW parameter sets a timer length to confirm the input as the current level detection Timer data x 2 8 ms TS or NW command reports the current setting OE Sequence Option Edit Format OE data Data or amp Default Not available OE changes the sequence code of a program already specified in a channel When this command is entered under the following conditions the sequence code that is set previously to the specified
165. n Set 12 9 BM Backspace Mode 12 9 CA Channel Acceleration 12 10 CC Clear Channel 12 10 CH Channel Select 12 10 NS NW OE OG OL OS Clear Alarm 12 10 Communication Mode 12 11 Position Error Counter Over Limit 12 11 Circular Resolution 12 11 Channel Velocity 12 12 Dead Band 12 12 Digital RS 232C Command 12 13 Direction Inversion 12 13 Friction Compensation 12 13 Feed Back Direction Mode 12 14 Feed Forward Gain 12 14 Low pass Filter OFF Velocity 12 14 Low pass Filter Primary 12 15 Feed back Signal Resolution 12 15 Low pass Filter Secondary 12 15 FIN Width 12 16 Feedback Phase Z Configuration 12 16 Home Return Acceleration 12 16 Home Return Direction 12 17 Home Offset 12 17 Home Return Start 12 17 Home Return Velocity 12 17 Home Return Near Zero Velocity 12 18 Incremental Positioning Degree 12 18 Integration Limit
166. n or a positioning via the RS 232C communication When the positioning is disturbed in the middle of the operation by emergency stop or over travel limit signal IPOS output will stay closed if residual pulses of position error counter are within the IN value When executing pulse train command operation even pulses are being input IPOS output is closed if residual pulses in the position error counter are within IN value This state tends to occur when executing low speed operation or feed forward compensation is applied FF parameter 9 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 2 Parameter IN Parameter IN is to decide positioning accuracy IPOS output will be closed when residual pulses of position error counter are within the range of IN parameter The unit of parameter IN value is the maximum resolution pulses of the motion detector resolver Table 9 2 Unit pulse r Motor series Resolution YS JS1 JS2 RS 614 400 SS 491 520 AS BS JSO 409 600 Example YS series Desired positioning accuracy repeatability 100 sec IN set value eee esouton x repeatability degree _ 614400 100 360 3600 47 pulses 9 1 8 3 Parameter IS IS is to confirm the stability of the positioning In case of in position output signal is IPOS format if the par
167. nals are decoded by the resolver to digital converter RDC to produce digital cyclic absolute position and velocity feedback signals The cyclic absolute position data is used by the commutation circuits and is used internally to maintain absolute position data 1 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Notes to Users This manual describes the interface function and operation of the Megatorque Motor System with the ESA25 Driver Unit 6 Before operating the Megatorque Motor System for the first time this manual should be read thoroughly Motors Driver Units and Cable sets described in this manual are interchangeable 6 For motors this manual describes the standard Motor of YS and JS series only If your motor is not one of these please refer to the respective specification document to which the priority is given Following notice is added to the clause of safety precautions to get your attention Might cause serious injuries Might result in injuries Might damage the equipment machine and or the load attached to the motor work or end effector or might cause malfunction of the system 2 1 Operational Remarks Pay special attention to the following precautions when installing adjusting checking and troubleshooting Megatorque Motor System Make sure that Motor size maximum torque number of Motor and Driver Unit are the same
168. nd CNS connectors are described below D 2 3 4 Use shielded cable for CN2 and CNS wiring Twisted cables must be used for the pulse train input and position feed back signals These cables should be laid sepalately from the power line Wiring length shall be short as possible Connect one end of shield to the frame ground Refer to 6 4 2 Ground Connection and Wiring Check for wiring mistake of external power supply polarity and shorting between connector pins 5 2 1 Pin Out CN2 CNS Figure 5 4 S a Ge E R G Z OOOAOOAONQOOOGOOQG 2 SD D B D E E EIS 25 G G I D BEE SE Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 2 Signal Name and Function CN2 CN5 Table 5 4 CN2 Pin CON IOn lO R O Function Output COMMON Driver Unit ready Brake control signal normally close Position feedback Z digital position data MSB Position feedback B Position feedback gA Counter clockwise pulse Clockwise pulse direction overtravel limit switch CW direction Clear HLS Input Home limit switch Emergency stop 24 VDC extemal supply In position Driver Unit ready SGND Signal ground Position feedback Z digital position data MSB Output Position feedback gB Position feedback gA Counter clockwise pulse Clockwise pulse OTM direction overtravel limit switch CCW direction I
169. ndard 1 Low torque ripple the maximum Motor torque will be lowered TS or LR command reports the current setting 12 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MA Move Acceleration Format MA data Data Motor series YS JS1 JS2 RS 0 01 80 00 s or AJ Adjust mode SS 0 01 100 00 s or AJ Adjust mode AS BS JSO 0 01 120 00 s or AJ Adjust mode Shipping set 1 00 s Default Not available Sets the rotational acceleration of the RS 232C communication positioning TS or MA command reports the current setting MA AJ command gets into fine adjusting mode MI Read Motor ID Format MI MI indicates reference number of the system ROM and the torque ROM MM Multi line Mode Format MM data Data 0 1 Shipping set 1 Default 0 Sets the display format of commands or parameters to be read out by TA TC and TS commands MMO reports all contents continuously When MM is input the display reports the setting pausing at each item At this time the 66 99 semicolon appears the end of command or parameter Example MA0 01 Only the space key and backspace key are valid when the Motor is pausing Press the space key to man step to the next parameter and press the backspace key to quit from the report The colon
170. ndard state and always closed when the position error counter value is less than the IN setting When it is set to FW0 3 FW100 IPOS output is closed for the moment as set when the position error counter value is less than the IN value Refer to 9 1 8 In Position Output for the output timing TS or FW command reports the current setting Set FWO when the system is performing the pulse train command operation FZ Feedback Phase Z Configuration Format FZ data Data Oor1 Shipping set 0 Default 0 FZ selects the output format of the position feedback signal CHZ CN2 output FZO Outputs the Z signal from CHZ FZ1 Outputs MSB of the digital position signal from CHZ Refer to 9 1 9 Position Feedback Signal for the output timing of the Z signal or MSB TS or FZ command reports the current setting HA Home Return Acceleration Format HA data Data Motor series YS JS1 JS2 RS 0 0 01 80 s SS 0 0 01 100 s AS BS JSO 0 0 01 120 s Shipping set 1 00 s Default Not available Sets Home Return acceleration TS or HA command reports the current setting 12 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com HD Home Return Direction Format HD data Data Oor1 Shipping set 1 Default 0 6 Refer to 10 2 1 Home Return for det
171. ndix 4 the alarm is activated Note 1 Stop operation immediately 2 Even the alarm is deactivated it will be activated again when the thermal sensor is still on e Take enough time to air cool the Motor and the Driver Unit 44 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 2 2 Abnormal Main AC Line Voltage Output DRDY Open TA P1 gt Main AC Line Trouble LED P1 Motor Condition Servo OFF Table 14 4 Cause and Remedy Abnormal main AC line voltage Over Under Cause 1 Abnormal power supply voltage 2 0 Main circuit voltage is excessive due to high acceleration deceleration under heavy load Defective power source gives over AC250V to the main power supply for power amplifier main circuit 3 Defective power source gives under AC70V to power amplifier main circuit 4 Blown fuse Motor over temperature abnormal power supply wiring Driver Unit abnormal 5 Excessive regeneration voltage 6 Defective PCB When the alarm is on after the Motor stops even power source and fuse are normal Remedy e Check main power supply Excessive voltage low voltage and power source capacity Check fuse power source and the cable then turn power on again e Check blown fuse e Check the fuse power supply and cables then turn on power again e Readjust operation duty the load and acceleration deceleration e Replace Dr
172. nel via PRGO PRGS input and RUN command Set the system to servo on SVON input ON Select the channel Input PRGO PRGS CNS signal By inputting RUN command ON the Motor executes stored positioning program while IPOS output is closed When FW 0 While the Motor is performing the positioning operation the RUN input is ignored Input the command SP to execute the Programmable Indexer Same function as inputting RUN command ON Type s P m to execute the channel m program m channel number Figure 10 4 Programmable indexer command timing Servo on Channel select 10ms min 10ms min RUN input CW or CCW detecting the rising edge of the direction speed RUN input Motor rotation MA or CA 5N MW ar GV The Motor starts indexing upon invalid IPOS output FW 0 FW valug k RUN input is invalid FW 0 RUN input is invalid When an empty channel is selected the program error alarm will be ON Refer to 14 Alarm 10 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 2 1 Programmable Indexer Channel Switching The channel to be executed is selected by combining the on and off of the PRGO to PRGS input of I O connector CNS Table 10 5 Channel input PRG 5 PRG 4 PRG3 PRG2 PRG1 PRGO Channel 0 OFF Channel 1 ON Channel 2 OFF Channel 61 ON Channel 62 OFF C
173. ng Load 6 The Motor uses a heavy duty bearing that can support most loads directly Table 6 1 Maximum Bearing Load YS Series YS5240 Axial Load Capacity N Moment Load Capacity N m Distance between Rotor Surface and Bearing Center mm 400 58 5 Use these values when calculating the moment load Refer to 4 1 Motor Specification for the details When vibratory axial load is applied the equivalent allowable load of the Motor shall be less than 2 3 times of the vibratory load Table 6 2 Maximum Bearing Load JS Series Axial Load Capacity N Moment Load Capacit Distance between Rotor Surface and Bearing Center mm Use these values when calculating the moment load Refer to 4 1 Motor Specification for the details 6 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 3 2 Using a Dummy Load When you have to drive the Motor with a low stiffness load you may not be able to avail of the merits of the Megatorque Motor System In some cases a little rearrangement of mechanical design may help Try to add some load dummy inertia to the rotor directly Example 1 Load is connected using keyway Figure 6 3 Using Keyway Example 2 Load is directly attached but the shaft diameter is too small Torsional vibration may occur Figure 6 4 Using Small Diameter S
174. ngeable combination Standard ESA 25 Driver Unit has the interchangeability to the Motor You may use any Driver Unit for a Motor regardless of serial number However refer to 3 3 Standard Combination for combination of Motor Driver Unit and Cable set Non interchangeable combination 6 Motor and Driver Unit is not interchangeable for a combination specially arranged In such a case refer to the respective specifications sheet Be sure to have the same serial number of the Motor and Driver Unit for a combination Use a specially made cable set as well When Motor and Driver Unit do not have the same serial number in a combination or the cable length is changed by user be fully aware that the Megatorque Motor system may not conform to the specifications 93 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 2 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 System Outline 3 1 System Configuration Figure 3 1 System configuration without brake Handy Terminal FHT11 e Controller Pulse Output e Sequencer 24VDC Power Supply ZO ESA25 Driver Unit D 3 phase AC200V Single phase AC200V or AC100V Resolver Cable Cable Set Figure 3 2 System configuration with brake Handy Terminal FHT11 Controller Pulse Output 24VDC e Sequencer NSK coro Power
175. nit When the alarm is on even RUN command Standard ESA Driver Appendix 4 is not executed 14 2 4 8 Software Over Travel Limit Output DRDY Open TA F2 gt Software Over Travel LED F2 Motor Condition Servo Lock in one direction The Motor will only rotate in a direction opposite to that of the rotation limit Table 14 17 Cause and Remedy Software over travel Cause Remedy 1 The Motor enters the off limit area set by OTP ls Put back Motor position in software over travel limit and OTM Get out of off limit area Note If the Motor cannot make a full turn due to obstacle or off limits area OTM and OTP must be set to the point where the Motor can stop before entering off limit area 14 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 9 Hardware Over Travel Limit Output DRDY Open TA F3 gt Hardware Over Travel LED F3 Motor Condition Servo Lock in one direction The Motor will only rotate in the direction opposite to that of the rotation limit Table 14 18 Cause and Remedy Software over travel Cause Remedy 1 Motor activated travel limit switch e Put back Motor position out of the range of hardware over travel limit 2 Mistaken setting of input port polarity e Confirm the parameter AB 3 Faulty travel limit switch or wiring e Check the limit switch and wiring
176. nitial setting e Cable state Daisy chain communication start 9 41 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 4 2 Initial Setting The password is necessary for inputting initial setting parameters 6 The initial setting values become valid when the power is turned on next time 6 Perform initial setting before making daisy chain connection Table 9 15 Initial setting Item RS2 32C Data Shipping Function parameter range set Day onam l The set data becomes the axis number of communication axis AN data 0 15 l des E daisy chain communication number setting Daisy chain CMO standard single driver communication mode CM data 0 1 communication selection CM1 daisy chain communication 9 3 4 3 Interfacing 1 Connecting data communication lines 6 Connect data communication lines sequentially First connect the output of the terminal with the input of axis 0 then connect the output of axis 0 with the input of axis 1 and then one after the other See Figure 9 46 6 Connect the output of the final axis with the input of the terminal Figure 9 46 Data line connection Terminal TXD RXD RXD TXD RXD TXD RXD TXD RXD TXD Driver Unit Driver Unit Driver Unit Driver Unit 0 1 2 15 9 42 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Connecting data transmission request lin
177. nput Home return start Integration off Input 1 Servo on The parameter FZ RS 232C communication interface is used to select the position feedback signal Z or the digital position signal gt MSB b Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 5 5 CN5 Pin Function Output COMMON ooo o o ol Do not connect E a ee Do not connect C a ie ae Do not connect O0 Do not connect eee a l Do not connect Analog command Analog command 9 Danat connect 10 Oo o gt e Do not connect 11 PRGO Input Internal program channel selection bit 0 12 Internal program channel selection bit 1 13 Internal program channel selection bit 2 14 Internal program channel selection bit 3 15 Internal program channel selection bit 4 16 Internal program channel selection bit 5 17 Start internally programmed operation 18 a ee ee Do not connect 19 DC 24V external power suppl 20 ee eee Do not connect 21 rae l Do not connect 22 oo oa o l Do not connect 23 a e ee Do not connect 24 an ae Do not connect 25 an Ra Do not connect 26 Analog monitor output 27 Output Analog monitor output 28 ra ee Do not connect 29 aes ae Do not connect 30 Jogging 31 DIR Input Jog direction 32 Ean Do not connect 33 Donor connect 34 ae ee Do not connect 35 ee ee Do not connect 36 T Do not connect 37 ae ee Do not connect For the In
178. nsation Block Diagram o Feed forward Differentiation compensation gain Position loop gain Position Velocity command command E Position data Velocity data 9 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 5 Integrator Limit ILV Parameter ILV sets the upper limit of the velocity gain Shipping set is ILV100 The password is necessary for setting ILV Integrator limiter reduces overshoot caused by the integrator during high acceleration deceleration The integrator is indispensable for highly precise positioning However when a high speed acceleration deceleration is specified errors are likely to accumulate so that integration often results in an overshoot To prevent this an integrator limiter is provided to restrict an excessive integration For more details about the parameter refer to 12 Commands and Parameters Figure 9 30 Integrator limiter block diagram Position Velocity loop gain loop gain Velocity loop integrator Position A m moa OD Sak i Integrator Integrator Position data Velocity data frequency limiter Figure 9 31 Integration gain 9 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 6 Dead Band Setting DBP 6 Dead band is set in position deviation of position loop The system disregards the position devia
179. nsulation Once year Motor coil and ground earth Resistance gt 10MQ Disconnect Driver Unit Full check e Overhaul NSK 2 13 2 2 Driver Unit and Cable Set As a Driver Unit does not have any contact point and highly reliable semiconductors are used the daily check is not necessary Checkings as shown in Table 13 2 are necessary at least once a year Table 13 2 Item Check point Remarks s Terminal block screw Retighten screws Once year c e Connector fixing screw Cleaning ndei ar e Remove dust or contaminants B y inside of Driver Unit e When the cable is forced to bend or twist checking frequency should be increased e Check for damages and cracks of cables Cable check Once year 13 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 3 Periodical Replacement of Parts 13 3 1 Motor There is no parts which is required to be replaced periodically Refer to 13 2 Maintenance Check 13 3 2 Driver Unit 6 Electrolytic condenser The gradual chemical change of electrolytic condensers will deteriorate system function and it may result in the system failure Table 13 3 Equalize power voltage PCB Printed circuit boad How to replace e Replace PCB Replace whole unit Electrolytic condenser 6 Life of electrolytic condenser relies on the operating conditions The 10 years of life is rough
180. nteed 888 88 SOURCE www artisantg com 9 3 2 2 Command Entry A communication command shall consist of a command character string data if necessary carriage return code ODH If the velocity gain is to be set to 0 5 for example WG0 5 should be entered by adding data of 0 5 to a VG command The characters of this command with data are transmitted to the Driver Unit as shown below Figure 9 34 Example Of VG0 5 V code G code 0 code code 5 code 35H Carriage return code 0DH Press the key if the handy terminal FHT11 is used Every time a character is input the Driver Unit echoes the character back to the terminal The Driver Unit returns the same character that it receives However the Driver Unit converts carriage return code to carriage return code ODH line feed code OAH then returns it to the terminal When a carriage return code is input the Driver Unit decodes a character string which it has received VGO 5 in the example above and executes it Therefore a command is not executed unless it ends with a carriage return code If the Driver Unit can decode an entered command it returns close behind the line feed code If it receives an internal data readout command etc it returns the data before Figure 9 35 Successful input example Entered command Waiting for another command to be entered Input To Driver Unit Ww H
181. ntg com 8 3 Manual Tuning Confirm that the work or the Motor does not hit any obstacle when the Motor makes a full turn Always stay in safe position Manual tuning is needed when the automatic tuning did not work 8 3 1 Precautions 1 Initialize the servo parameters Follow procedures in 8 2 2 Initialize Servo Parameters 2 Execute the demonstration program referring to 8 2 4 Trial Running Tuning Level 1 It is not abnormal though the Motor operation is unstable at the beginning due to insufficient tuning 3 Input the command from the master controller when the control mode is the velocity control mode 8 3 2 Adjustment of the Velocity Gain VG 1 Sart VG adjusting program VEO The display shows the message as shown on the left Explanation of the messages 1 Key function D and Pressing key one time increases 1 resolution of VG Pressing key one time decreases 1 resolution of VG f Store VG value in the memory and completes the ENT adjustment 2 Indicates present VG value 3 Indicates VG value changed by pressing plus or minus key 4 Response index number The lower number denotes better response 5 Positioning index number The lower number denotes quicker positioning Changing VG step 2 If you want to change the resolution of step press space key or back space key Space key Changes the step to
182. o JIS C0911 Line noise resistance 1500V lus by noise simulator Mass 3kg Temperature 0 50 C Humidity 20 90 no condensation Environmental S F condition In storage Temperature 20 70 C Use indoors free from dust condensation and corrosive gases 4 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 3 Functional Specifications Control mode can be selected by the parameter SL SLI Torque control mode SL2 Velocity control mode SL3 Position control mode Position control mode RS 232C serial communication command 6 Programmable control internal programmable indexer 64 channels 6 Pulse train input operation CW CCW or Pulses direction or Phase A Phase B Jog operation Home Return operation Velocity control mode RS 232C serial communication Analog 10V Torque control mode RS 232C serial communication Analog 10V Position detector resolution Resolver Table 4 10 Motor type YS JS1 JS2 RS SS AS BS JSO Automatic resolution switching or 12 bit setting 409 600 pulse r 10 bit setting pulse r 122 880 pulse r 102 400 pulse r 12 bit or 10 bit setting can be selected by RR parameter 4 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Maximum velocity Table 4 11 Re
183. o o O P35 Pm op OT w J q lt J a _ T Differs with size of Motor Differs with each Motor in case of non interchangeable models Notice for resetting or copying parameters You do not need to set LO and SG parameters as they are for adjusting PG VG VI and MA automatically A 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Reference No S N Channel Program e A blank part is not programmed Data CH Program Command Sing a Command 0 CV 32 48 CV CA CA Command comand comand Command 1 CV 33 49 CV CA CA Command comand comand Command 2 CV 34 50 CV CA CA Command comand comand Command 3 CV 51 CV CA CA Command comand comand Command 4 CV 52 CV CA CA Command comand comand Command 5 CV 53 CV CA CA Command comand comand Command 6 CV 54 1CV CA CA Command conan comand Command 7 CV 55 CV CA CA Command comand comand Command 8 CV 56 CV CA CA Command comand comand Command 9 CV CV CA CA Command comand comand Command 10 CV CV CA CA Command comand comand Command 11 CV 43 CV CA ve CA Command comand Command Command 12 CV 44 CV CV CA CA CA Command comand Command Command 13 CV CV CV CA CA CA Command comand Command Comman
184. o the high voltage supply for driving the Motor The voltage supplied to the Motor may be three phase or single phase If the application involves low speeds less than 0 5 s then single phase power will be adequate If the application requires high torque and speeds greater than 0 5 s then the best Motor torque speed performance is obtained by supplying three phase power at a higher voltage The control power AC line input supplies power to the internal low voltage switching power supply for the logic and signal circuits The internal switching power supply will operate from any single phase AC voltage from 90 up to 240 volts The AC power for the control power input may be obtained from the same supply that is connected to the main power AC line input The AC line power consumption varies with the Motor size the Driver Unit type and the load The Megatorque Motor System requires very little power when it is moving at zero or low speed even at maximum torque output The power consumption is highest when the Motor is producing significant amounts of torque at elevated speed more than 20 of the maximum rated speed 6 Use 2 0 mm 14AWG or larger wire with heat proof vinyl for power line The electrical noise from outside sources and the System itself may interfere with proper operation The protection from electrical noise must be designed into the installation Use a line noise filter on the AC supply A suitable noise filter ma
185. on 7 1 7 1 When Power is Turned on 7 1 7 2 Command Entry 7 2 7 2 1 Password 7 2 7 2 2 Canceling Command 7 3 7 2 3 ErTOr nnn nnn nnn nnn nnn nnn nnn 7 3 7 2 4 Entering Parameter 7 4 7 2 5 Parameter That Requires Entry of Password 7 4 7 3 Readout Command 7 5 7 3 1 TS Command for Reading Set Value 7 5 7 3 2 2 Reading Function Command for Set Value 22 nn cn nnnnnnccnnnnne 7 6 8 Tuning and Trial Running 8 1 8 1 Tuning Procedure 8 1 8 2 Automatic Tuning 8 2 8 2 1 Precautions 8 2 8 2 2 Initialize Servo Parameters 8 4 8 2 3 Execution of Automatic Tuning Tuning Level 1 8 5 8 2 4 Trial Running Tuning Level 1 8 6 8 2 5 Servo Gain Minor Adjustment Tuning Level 2 8 8 8 3 Manual Tuning 8 10 8 3 1 Precautions 8 10 8 3 2 Adjustment of the Velocity Gain VG 8 10 8 3 3 Adjustment of V
186. on ieiqqoa_ gt Lipznooa_ Lpioo0g gt 11 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sequence Code Command HS AD AR ID IR Condition setting E Add a sequence code to the command to execute the next channel continuously In this case you do not have to select a channel externally Table 11 2 Sequence code IPOS output Execution of the next channel asterisk ram continuously after positioning amp ampersand Stops after indexing then waits for RUN command Program example CHO 1R500 CH1 IR1000 amp Figure 11 4 BBH 5 lt lt _ m RUN input CHO CH1 Program Operation iR500 _ gt Ligtoooa 7 IPOS output M M FW 0 Changing Sequence Code Condition setting OE OEseq changes the sequence code presently set Program example C 11 Declare the channel whose sequence code is to be changed AR9000 amp Cvo 5 oem O00 Ha Check the new data programmed in this channel AR9000 The sequence code has changed from amp to Cvo 5 11 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 2 Program Editing Command Table 11 3 Program editing command Editing Function s Typing declares the channel to be changed m desired channel number e The display shows the present program and waits
187. on control mode 6 Position control mode is valid immediately after inputting this command TS or SL command reports the current setting SM Factory use only Shipping set zi SM is properly set at the factory Do not change the setting SP Start Program Format SP data Data range 0 63 or AJ Adjust mode Default 0 Executes the program of a channel specified by data SP AJ command executes the demonstration program back and forth operation SV Servo on Format SV When the Motor servo is turned off by MO command executing the SV command will turn the Motor servo on To turn the Motor servo on by the SV command the SVON input of CN2 must be ON 12 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TA Tell Alarm Status Format TA Data None HI CL Default None eTA Reports alarms currently arisen TA HI Displays history of alarms Refer to 14 2 5 History of Alarms TA CL Clears history of alarms Password is required to execute the command 6 There will be no indication when no alarm is reported 6 Indication below is displayed when the alarm is reported When an alarm is reported it is identified as shown below Alarm Memory error EEPROM error System error Interface error Analog command error Excess Position error Software Over Travel Limit
188. oper Alarm is on after the Refer to 14 2 Details of Alarm power is turned on NO Input servo on command Connect Handy Terminal and 1 o execute 100 command Is SVON signal is input Does the display show 1 on the lefthand side Turn on SVON input I00 ABCEFGHIJKLM 10000000 1110 Servo parameters Adjust parameters j EE Refer to 8 Tuning and Trial Running YES Check Motor and resolver wirings Refer to Appendix 1 How to Check Motor Condition Is Motor normal NO Replace Motor YES Contact NSK representative in your area 15 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Motor does not run stably Motor vibrates or goes out of control Figure 15 4 Motor trouble 2 Motor does not run stably Motor vibrates or goes out of control Make sure the combination of Motor and Driver Unit is proper Motor installed properly Load connected securely Install properly No backlash allowed Servo parameters already Adjust parameters adjusted l Refer to 8 Tuning and Trial Running YES Decrease VG value Filter used Refer to 9 Operational functions Check Motor and resolver windings Refer to Appendix 1 How to Check Motor Condition Motor runs stably NO Contact NSK representative in your area YES End 15 5 Artisan Technology Group
189. ough the off limits area e Set the over travel limits with ample margin giving consideration to the overshoot of the mechanism controlled by the Motor e When off limits area is specified by the software over travel limit the Motor rotates to the direction to avoid off limit area regardless of moving distance Commands AD and AR is disregarded even it is set This function becomes valid after the Home position is determined by Home Return or AZ command 6 Use the OTP and OTM commands to set the over travel limit values lt Operation gt Setting by teaching 1 Turn off the Motor servo M 0 Jew gt 2 Move the Motor s rotor manually to a point to be the over travel limit on the plus side 3 Input the password a Lo JUN Jew Register the present position as the over travel limit on the plus side The registered 4 over travel limit value appears on the display Cleats tS II OTP123456 TM ENT l 5 Move the Motor s rotor manually to a point to be the over travel limit on the minus side 6 Input the password mp 1 Bas on NSK ON LO JLN Jew 9 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 Register the present position as the over travel limit on the minus side The registered over travel limit value appears on the display LOIS p ass OTM456789 ENT s 8 Move the Motor s rotor into the over
190. pace between characters 4 ENT Press key at the end of the command or the parameter setting 4 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 4 2 Specification Table 4 14 Item Specification Power source valtage DC 5V 5 Power consumption 200 mW Environment e Storage 10 65 C 35 85 Non condensing ASCII code 9600 b p s RS 232C Interface Ai Stop bit 2 bit Start bit 1 bit Parity check None Mass 250g exclude cable 4 32 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 Connector Specifications 5 1 CN1 RS 232C Serial Communication Connector NSK s Handy Terminal FHT11 sold separately can be used as an RS 232C terminal Table 5 1 Driver Unit connector Japan Aviation Electronics Industry Ltd DELC J9OSAF 13L9 Mating connector type Japan Aviation Electronics Industry Ltd c DE 9PF N user device side to be prepared by the user Mating connector shell type Japan Aviation Electronics Industry Ltd E DE C2 J6 user device side to be prepared by the user These connectors are not necessary if NSK Handy Terminal FHT 11 is used 5 1 1 CN1 Pin Out Figure 5 1 CNT Pin out 5 1 2 CN1 Signal List Table 5 2 CNT Signal List Pin Function TXD Output Transmit data Clear to send RXD O f Input Receive data Data set ready DTR Data termin
191. password is inputted i Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 3 Readout Command If a command for reading out initial setting or current state is entered the Driver Unit returns data The following is an example for checking Jog Velocity JV set value 7 3 1 TS Command for Reading Set Value 1 When entering the command make sure that a colon is displayed on the screen If the colon is not displayed press the enter key once gt 2 Refer to 12 Command and Parameter JV command is in the group of TS7 input The setting value of MV Move Velocity is displayed first 3 Press the space key to scroll display to find out JV value 4 To finish the readout keep pressing the space key until display stops scrolling or press the back space key 5 The colon is displayed to indicate the system is waiting for next command 7 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 3 2 Reading Function Command for Set Value 1 When entering the command make sure that a colon is displayed on the screen If the colon is not displayed press the enter key once gt 2 Enter before inputting the command In case of this example input JV after 3 The colon is displayed to indicate the system is wait
192. pe 3000 CA5 CV0 5_ 8 9 Press the key to input value and the prompt appears again 11 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 11 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 12 Command and Parameter 6 Connect Handy Terminal FHT11 to CN1 connector of the Driver Unit then turn the power on The system is in normal state if NSK MEGA message is returned Refer to 7 Handy Terminal Communication for details 12 1 List of Command and Parameter Tables 12 1 12 2 and 12 3 are the lists of commands and parameters Some parameters shown in the tables must be changed to unique values according to actual condition from the shipping set Parameters parenthesized are properly set at the factory If changing is necessary contact your local NSK representative Current Setting Set unique value to your application We recommend to write down the set value for your future reference You may need to refer to them when changing the operating conditions or readjusting the system For your convenience a parameter and program setting list is provided in Appendix 8 and 9 of this manual Setting differs with the Motor type and size 12 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www
193. personal computer The programming can be input only when the Motor is not indexing The program area is shown in Figure 11 1 There are 64 channels ranging from channel 0 to 63 Figure 11 1 Program area Channel 0 Channel 1 Channel 63 CH63 a Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 1 Commands and Parameters Home Return Command HS Condition setting None Program Home Return operation 6 Command format HS seq seq sequence code amp Refer to Sequence Code in the next page The Motor rotates according to the values set by Home Return velocity HV Home Return acceleration HA Home Return near zero velocity HZ and to the direction set by Home Return direction HD Direction of Home Return may be reversed using HD parameter HDO CW direction HD1 CCW detection Shipping set Program example CHO HS Positioning Command AD AR ID IR Condition setting CV CA Can be omitted 6 Program the Indexing motion profile Table 11 1 Command format Option e Absolute indexing in the unit of degree AD d1 d3 seq s The Motor turns to reach the d1 x 0 01 position of position scale e Absolute indexing in the unit of pulse AR d1 d3 seq s The Motor turns to reach the d1 pulse Option code d3 PL CW direction MI CCW direction e When d3 is omitted the Motor turns in the shortest distance direc
194. place Driver Unit Standard ESA Driver Appendix 4 14 2 4 6 Analog Command Error Output DRDY Open TA E9 gt ADC Error Motor Condition Servo OFF Table 14 15 Cause and Remedy Analog command error Cause Remedy 1 Defective circuit of analog command input s Replace Driver Unit Standard ESA Driver Appendix 4 14 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 7 Excess Position Error Output DRDY Open TA F1 gt Excess Position Error LED F1 Motor Condition Servo Lock Table 14 16 Cause and Remedy Excess position error Cause Remedy 1 Position error counter value is over CO s Remove mechanical restraint setting due to mechanical restraint such as brake 2 Improper gain setting e Readjust gain Refer to 8 Tuning and Trial Running 3 Excessive acceleration deceleration e Decrease acceleration deceleration 4 CO setting is too low s Increase CO setting e Activate the CLR input to cancel alarm then position error counter is cleared to 0 Zero e Adjust servo parameters VG VI PG e Adjust acceleration deceleration MA e Check the applied load 5 Unmatched combination of Motor and Driver ls Check reference number of Motor and Driver Unit Unit 6 Improper PA setting e Set PA to 700 7 Faulty PCB s Replace Driver U
195. plete adjustment of Home limit sensor Follow the procedures hereunder to adjust offset value of Home position 3 Input the MO command servo off command DHS 5 4 Press the key to execute the command and thereby turn off the Motor servo TR2003 OK gt MO At this time the Motor can be turned easily by hand Turn the Motor to the desired position Do not give the Motor more than one turn 10 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 Input the password Nez L9 LN Moe OM ENT MO entered only on this line 7 The rotational position sensor calculates and writes the offset value of Home Return HO automatically when HO ST command is executed WUL 6 8 Press the key to execute the command When the _ colon appears on the display Home offset HO value is automatically calculated and set ENT gt 9 Input the SV command servo on command on 5 10 Press the key to execute the command and thereby turn on the Motor servo ENT The _ colon appears when the Driver Unit is ready to accept another input 10 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 Input the HS command Home Return start command 12 Press the key to execute the command and thereby start Home Return operation ENT HO1234 SV
196. ply capacity 1 AC200v 220v 10 Table 4 5 Power supply capacity Surge current Leakage current Driver Unit Reference No M ESA Y2005T25 M ESA Y 2020T25 M ESA Y3008T25 M ESA Y3040T25 M ESA Y4080T25 M ESA Y5120T25 M ESA Y5240T25 M ESA J0002T25 M ESA J1003T25 M ESA J2006T25 M ESA J2014T25 Main power Max exclude surge current O5kVA 10kVA 0 6kVA 1 2 YA 14kVA 15kVA 50 VA 2kVA 0 7 KVA 0 7 KVA 0 9 kVA 1 0 kVA Control power Max exclude surge current For the power supply capacity of RS and SS series motors refer to their specification document 40 1 ae 1M3 Table 4 6 Surge and leakage current Control power Main power 140A 35 mA rms 4 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 AC100V 110V 10 Table 4 7 Power supply capacity Driver Unit Reference No KEH Powar Max exclude surge current exclude surge current M ESA Y2005V25 M ESA Y2020V25 M ESA Y3008V25 M ESA Y3040V25 M ESA Y4080V25 IvA M ESA Y5120V25 M ESA J0002V25 M ESA J1003V25 M ESA J2006V25 M ESA J2014V25 For the power supply capacity of RS and SS series motors refer to their specification document Table 4 8 Surge and leakage current Control power Surge current 80A 40 k 1 Leakage current 1a 20 mA rms Environmental specifications Table 4 9 Vibration resistance 0 5G Conform t
197. proximately 30 seconds for storing all data e Do not turn the power off while executing the command e If the power is turned off memory error alarm may be given When SI is executed all initialized parameters are stored to EEPROM even WM command is set to invalid TS or WM reports the current setting 12 37 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ZP Factory Use Only Shipping set 1 00 The parameter is for the automatic tuning function and is set at the factory e Do not change the setting e TS or ZP command reports the current setting ZV Factory Use Only Shipping set 1 4 e The parameter is for automatic tuning function and to be set at the factory e Do not change the setting e TS or ZP command reports the current setting 12 38 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 Maintenance 13 1 Precautions Back up Motor and Driver Unit We recommend to have a back up Motor and Driver Unit for unexpected shut down of the system Parameter and program back up For an unexpected shut down of the Driver Unit all parameters and programs should be recorded For your convenience the list of parameter and program is provided in the last page of this manual How to replace the Driver Unit Standard ES
198. put Output signals of special order Driver Unit refer to its special document CO N OD lO amp O Po 5 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 3 Setting the Polarity A or B contact of the Input Ports The shipping set of polarity for all CN2 input signal ports is A contact The polarity of some input signal ports can be changed to B contact in an ESA25 Driver Unit 6 The ports of which the polarity can be changed are only four signals below The other ports are fixed to A contact EMST Emergency stop HLS Home limit switch OTP direction overtravel limit switch CW direction OTM direction overtravel limit switch CCW direction 6 The polarity can be changed by the parameter AB The password input is necessary before inputting AB parameter Table 5 6 shows the data and port Refer to Setting Example below and the explanation of AB parameter Table 5 6 Data digit CN2 Pin No Signal name OTM Meaning of data 0 A contact normally open 1 B contact normally close X Cannot be changed just after read out the setting of polarity When setting polarity inputting X means no change of polarity of the port OTP See 12 Command and Parameter for more details 5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Set
199. ransmit Stored Parameters to ESA Driver Unit 9 40 9 3 4 Daisy Chain Communication 9 41 9 3 4 1 Procedure to Set Daisy Chain Communication 9 41 9 3 4 2 Initial Setting 9 42 9 3 4 3 Interfacing 9 42 9 3 4 4 Power ON 9 44 9 3 4 5 Operation 9 45 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 Operation 10 1 10 1 Preparation 10 1 10 1 1 Wiring Check 10 1 10 1 2 Procedure for Positioning Operation 10 1 10 2 Position Control Mode Operation 10 2 10 2 1 Home Return 10 2 10 2 1 1 Home Return Parameter List 10 5 10 2 1 2 Adjusting Home Position Switch and Home Offset Value 10 5 10 2 1 3 Programming Home Return Operation example 10 9 10 2 2 Programmable Indexer 10 10 10 2 2 1 Programmable Indexer Channel Switching 10 11 10 2 3 Pulse Train Command Operation 10 12 10 2 3 1 Pulse Train Signal Format 10 12 10 2 3 2 Pulse Train Resolution 10 13 10 2 3 3 Inpu
200. ressing key one time decreases 1 resolution of SG Store SG value to the memory 2 Indicates present SG value 3 Indicates SG value changed by pressing plus or minus key 4 Response index number The lower numbers denotes better response 5 Positioning index number The lower number denotes quicker response Do not use space key or back space key When it is used the SG changing resolution 2 may be altered 2 Observing the Motor operation press the plus key several times Sec gt g T s STEP1 _SG13 As the responce index decreases the movement of the Motor is getting crisply 8 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 4 5 6 Keep pressing the plus key eventually the Motor starts hunting and stops Pressing SHIFT ee ENT Pressing buri JL 1 01 18 STEP1 _SG18 Keep pressing the minus key until the Motor stops hunting and starts moving T ie Scie Set SG value to 80 of displayed SG when the Motor stopped hunting The Motor oprates stable in any position L L ENT 263 156 STEP1 _SG13 Type the enter key to complete the adjustment ENT 263 156 STEP1 SG13 8 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisa
201. rge inertia Highspeed positioning Low Speed positioning YS2005 YS2020 YS3008 YS3040 YS4080 z YS5120 12 30 YS5240 24 125 JS0002 JS1003 JS2006 JS2014 Refer to 4 1 Motor Specification for allowable axial load and moment load to confirm the Motor capacity for actual use conditions 6 3 4 Fluctuating Load Inertia Changes in the inertia load directly influence the performance and stability of direct drive motors In the case of large changes in the load inertia it may be necessary to change the servo loop gain To minimize the effect of load inertia fluctuations the ratio of inertia fluctuation should be kept as small as possible preferably less than 1 Jmax Jmin Jrotor Jmin Where Ri ratio of inertia fluctuation Jmax load inertia at maximum Jmin load inertia at minimum Jrotor rotor inertia 6 3 5 Motor Operating Condition Ambient Temperature 0 40 C Relative Humidity 20 80 Non condensing Indoor use only The area where the Motor is mounted must be free of corrosive gas dirt dust and any other contamination YS and JS Motor series are not water tight If the Motor is to be used where smaller particles and or water may be present it must be protected by another cover or enclosure 6 Do not apply any machining such as drilling or cutting 6 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg
202. rmation 4 Log in SI Set Initial Parameters command U F INITIALIZE INITIALIZE is displayed as the confirmation and the initializing parameter begins It takes few seconds and a colon is displayed for next command When SVON signal CN2 is ON and SI command is input Driver Unit rejects to execute the command SI INHIBITED message will appear on the display Table 8 1 Servo Parameter List TS1 Reading TS2 Reading Parameter Set Value PG omo va 100 CC P o vo g w f H e d o A ME E ie HE 7 S T LG J DBR HE woo f wv w These parameters are not necessary to adjust in Level 1 and 2 tuning 8 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 3 Execution of Automatic Tuning Tuning Level 1 Make sure the work or Motor does not hit any obstacle when the Motor makes a full turn Always stay in safe position The Motor needs to rotate at least 20 when executing the automatic tuning If the application restricts the Motor rotation keep room for 20 Motor rotation The overtravel limits OTP OTM must be used to restrict the Motor rotation range 1 Turn SVON CN2 signal ON and inputting SV command makes the Motor in servo on state 2 Confirm that Driver Unit s LED is indicating for normal condition 3 Input Automatic Tuning command AT ready OK
203. rque a m ee es 5 Rotor moment of inertia 0 006 Mass CEE G 6 IP20 Operating condition Temperature 0 40 C Humidity 20 80 Use indoors free from dust condensation and corrosive gases Maximum speed S7 rps 3 2 5 e Resolver resolution pulse r 614 400 Positioning accuracy 150 Repeatabilit 2 1 Panpa YSS M ESA Y3008V25 M YS3008GNO001 Note 1 These value assume that the Motor is mounted on a rigid base 2 When used with an ESA25 Driver Unit interchangeable 3 Internal Protection Level 4 Differs with main power voltage 2 ACLOOV 3 2ACOOV 4 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com How to calculate axial and moment load e Do not apply excessive load to the Motor An excessive load more than specified in Table 4 2 may result in premature Motor failure e Followings show how to calculate the loads Figure 4 2 How to calculate loads If F is an external force then If F is an external force then If Fis an external force then e Axial load Fa F weight of payload Axial load Fa F weight of payload Axial load Fa weight of payload e Moment load M 0 e Moment load M F xL s Moment load M F gt LA Motor reference number f M YS2005 M YS2020 M YS3008 M YS3040 M YS4080 M YS5120 M YS5240 Dimension A mm 45 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www
204. rrent position is displayed in real time in the units of pulse Readout indicated on the display changes immediately following motion of the rotor ere EE TP2 RP ENT kkkkkkkk 2 Press the key to end the display TP2 RP kkkkkkkk 2 Reading current position via the position scale in the unit of 1 100 degree 1 Reading current position via the position scale in the unit of 1 100 degree Readout indicated on the display changes immediately following motion of the rotor EI ITER HT gt TP5 RP ENT kkkkkkkk 2 Press the key to end the display TP5 RP kkkkkkkk 9 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 10 4 Analog Monitor The voltage between analog output pin MON and analog ground pin GND on the front panel of the Driver Unit monitors one of the following Motor and Driver Unit conditions Velocity actual velocity of the Motor Velocity command velocity command given to the Motor from the Driver Unit Velocity error error between velocity command and actual velocity per one sampling interval Torque command torque command given to the Motor from the Driver Unit Phase C current command current command given to the Motor phase C from the Driver Unit Position command position command given to the Motor from the Driver Unit
205. s command has two functions depending on the usage 1 Tfitis entered in the normal standby condition it serves as a positioning command when the prompt is __ 2 Ifitis entered just after the CH command it can be used as a program data of designated channel when the prompt is _ AS _ Ask Daisy Chain Status Format AS In daisy chain communication AS reads out the state of axis numbers for respective Driver Units The AS command is executed automatically when power is turned on in the daisy chain communication mode After the AS command is executed the Driver Unit of axis 0 is always selected AT Automatic Tuning Format AT 6 Executes automatic tuning to set proper servo parameters and acceleration 12 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com AX Axis Select Format AX data Data 0 15 Shipping set 0 Default 0 When communicating in daisy chain AX selects the one of the Driver Units Selected Driver Unit sends a confirmation signal back to the RS 232C terminal Confirmation message is ACC AXn n selected Driver Unit number The Driver Unit of axis 0 is always selected when power is turned on Report command TS or AX is valid when daisy chain communication is active If AX is input when daisy chain is not active an error message will be given back
206. series No Version No Serial No Motor size No Max torque 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 3 Motor Mounting The high acceleration deceleration characteristic of a direct drive mechanism requires the system to have high mechanical rigidity Therefore it is essential to maximize rigidity of the Motor and the load system The Motor will work best if all of the elements have a natural frequency between them of at least 100 Hz and preferably more than 200 Hz 75 Fully fasten all the mounting holes mounting tap holes of the Motor e Fasten a work to the attachment using all of the tapped holes of the rotor e Eliminate play between the load and the rotor e Eliminate play in the mechanism as much as possible The flatness of the surface where the Motor is mounted affects Motor operation Approximately 0 02 mm flatness is needed for smooth operation When mounting minimize the looseness between Motor and the mounting surface Figure 6 2 Motor Mounting y Load Mounting 6 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 3 1 Bearing Load 6 3 1 1 Attaching the Load The load must be attached to the rotor flange using the threaded mounting holes in the rotor All of the bolts should be used and they should be tightened to prevent slippage 6 3 1 2 Beari
207. sition scale type can be switched by setting the PS command Table 9 10 PS setting Application PSO Ball screw driving limit motion range PS1 General indexer etc PS2 99 Chain driving etc Shipping set 1 Linear position scale 6 This position scale extends linearly from the origin in both plus and minus directions Scale values range from 2 147 483 648 pulses to 2 147 483 647 pulses with the Home position at 0 The coordinate value increases in the plus direction When it exceeds 2 147 483 647 pulses the value returns to 2 147 483 648 pulses Falling below 2 147 483 648 pulses the value returns to 2 147 483 647 pulses Figure 9 25 Linear position scale Motor series YS JS1 JS2 RS Home position origin or AZ command execution point CCW direction lt L CW direction 460 800 153 600 153 600 460 800 2 147 483 648 C P an 0 2 147 483 647 614 400 307 200 0 307 200 614 400 360 180 0 180 360 Motor series SS Home position origin or AZ command execution point CCW direction lt L CW direction 368 640 122 880 122 880 368 640 2 147 483 647 2 147 483 648 270 90 90 270 491 520 245 760 245 760 491 520 360 180 180 360 Motor series AS BS JSO Home position origin or AZ command execution point CCW direction lt L CW direction 307 200 102 400 102 400 307 200 2 147 483 648 270 90 90 270 2 147 483 647 409 600 204 8
208. solver resolution Motor type Se 12 bit setting YS JS1 JS2 RS SS l AS BS JS0 Automatic resolution switching or 10 bit setting 3s 3758 Encoder output signal A B and Z MSB Signal output format 0 A B _ Line driver Z MSB Line driver Open collector selectable It can be switched by a jumper pin 1 Table 4 12 Resolution Resolver resolution Motor type YS JS1 JS2 RS 150 pulse r 120 pulse r 100 pulse r AS BS JSO Control I O signal Input signals Emergency stop Servo on Home position limit Run move Programmable indexer channel switching max 64 channels Jog and Overtravel limit 6 Output signals Driver Unit ready In position and Brake The brake output signal is for controlling the brake It cannot be used to supply power to an electromagnetic brake Alarms Excess position error Software thermal limit Overtravel limit Control circuit error Resolver circuit error Over current Heat sink overheat Main AC line under or over voltage and Control power under voltage Monitor output Analog monitor Analog velocity and RS 232C communication monitor Current position Alarm state Servo parameters etc Communication Asynchronous RS 232C communication Baud rate 9600 b p s Data back up Backed up by EEPROM 500 000 times for resetting deleting parameters 407 Artisan Technology Group Quali
209. splayed alternately at certain intervals gt When two or more alarms are detected their codes are also indicated alternately at certain intervals 6 Refer to 14 Alarms for more details 3 Handy Terminal display If a message NSK MEGA is displayed on the Handy Terminal the system is ready for operation A colon indicates that a command can be entered 6 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 6 13 Handy Terminal display In normal state NSK MEGATORQUE MS1A50 Differs with the system configuration 6 6 3 Turning Servo on Figure 6 14 Power ON sequence Driver Unit side Master controller User devise Initialization Check for conditio Check for DRDY open DRDY close DRDY Action for alarm lt Operating Input a Figure 6 15 Power ON SVON timing Action for alarm Control power Main power supply DRDY output See note See note SVON input 30ms min Sat lt Home Return ei gt command Home Return etc It will take 30 milliseconds for the Driver Unit to receive the operation command after SVON is inputted Turn on the main power supply first then the SVON input When turn off the main power supply turn off SVON first If the main power supply is turned off in the servo on state the Driver Unit outputs the AC Line under voltage alarm Once t
210. stallation position before shipment Do not input PA in normal use TS or PA command reports the current setting PC Pulse Command Format PC data Data 0 4 Shipping set 0 Default 0 Sets the format of the pulse train input PCO CW amp CCW format PC1 Pulse amp direction format PC2 A B input single format PC3 A B input duplex format PC4 A B input quadrature format TS or PC command reports the current setting PG Position Gain Format PG data Data 0 010 1 000 or AJ adjusting mode Shipping set 0 100 Default Not available Sets proportional gain of the position loop TS or PG command reports the current setting PG AJ command sets to the fine adjusting mode PG AJ starts adjust mode It is automatically adjusted when LO data or SG data is changed LO data and SG data are cleared to 0 when PG data is changed 12 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com PH Programmed Home Return Format PH data Data 0 Automatic Home Return invalid 1 Execute Home Return only once when the power is turned on and the Home position is not certain 2 Execute Home Return every time before execution of the programmed operation Shipping set 0 Default 20 6 This is to execute Home Return operation automatically before the programmed op
211. supply logic output state no output current proportional only control the servo algorithm proportional and integral control the servo algorithm shorter name for position loop proportional gain shorter name for position loop integrator cutoff frequency a control mode within the position control loop P control or PI control available Driver Unit s built in indexing ability a series of pulses used as a position command two pulse train outputs with 900 phase difference the rated torque available at zero speed the torque not to exceed the maximum Motor winding temperature revolution per second the unit of velocity s per second the unit of acceleration one typical state of servo on the Motor provides torque and remains in position the state where the Driver Unit provides no current to the Motor and the Motor provides no torque The Motor rotor can be rotated easily the state that the Driver Unit is ready to control the Motor or is controlling the Motor a parameter setting or a Driver Unit function setting at shipping the torque available at zero speed means Megatorque Motor System when capitalized shorter name for velocity loop proportional gain shorter name for velocity loop integrator cutoff frequency a control mode within the velocity control loop P control or PI control available Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Contents 1 In
212. t no response is displayed DB Dead Band Format E DBA data DBP Data Data DBA 0 1 2047 Data DBP 0 1 4095 Shipping set 0 for both DBA and DBP Default 0 Sets a dead band for the position loop and analog command input DBP Position loop dead band DBA Analog command input dead band TS or DB command reports current setting 6 For the details refer to 9 2 6 Dead Band Setting DBP 6 For the details of DBA refer to 10 3 2 Analog Velocity Command or 10 4 2 Analog Torque Command 12 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com DC Digital RS 232C Command Format DC data Data 4 095 4 095 data polarity in value CW direction Default 70 This command is to input directly the operation command through RS 232C communication interface in velocity or torque control mode However the use of this command shall be limited to an ordinal operation or a testing operation of the Motor due to sluggish response If DC command is input when an analog command AC command is valid DC INHIBITED message will be given and the command will be invalidated The data of this command is cleared to 0 in following state 1 Servo off 2 Emergency stop 3 Overtravel limit 4 Control mode selection 5 Analog command is valid When the position scale direction is reversed by the parameter
213. t Timing 10 16 10 2 4 RS 232C Position Commands 10 17 10 2 5 Jog Operation 10 18 10 3 Velocity Control Mode Operation 10 19 10 3 1 RS 232C Communication Command 10 20 10 3 2 Analog Velocity Command 10 21 10 4 Torque Control Mode Operation 10 23 10 4 1 RS 232C Communication Command 10 23 10 4 2 Analog Torque Command 10 24 11 Programming 11 1 11 1 Commands and Parameters 11 2 11 2 Program Editing Command 11 5 11 3 Inputting a Program 11 6 11 4 Sample Program 11 8 12 Command and Parameter 12 1 12 1 List of Command and Parameter 12 1 12 2 Glossary 12 5 AB _ 1 O polarity 12 5 AC Analog Command Mode 12 6 AD Absolute Positioning Degree 12 6 AG Analog Command Gain 12 7 AN _ Axis Number 12 7 AR _ Absolute Positioning Resolver 12 8 AS _ Ask Daisy Chain Status 12 8 AT Automatic Tuning 12 8 AX _ Axis Select 12 9 AZ Absolute Zero Positio
214. t monitoring With RP Real time monitoring Repeats monitoring Display format Bit map representing Input Output in 1 line See Figure 9 13 to 9 15 6 The status is displayed on the Handy Terminal screen Figure 9 13 IO0 RP Monitor I O state ABCDEFGH k k k k 4 U Pin No Signal name 1 HOME output IPOS output BRK output DRDY output QO Z On CN2_14 CN2_3 cn2 22 ON SESE SF Bp 2 lH 9 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 9 14 IO2 RP Monitor I O related to programmable indexer ABCDEFGHIJKLMN xo ee ee O00 00 Reserved always 0 Reserved always 0 Reserved CN2 14 IPOS output Reserved always 0 Reserved always 0 Reserved always 0 Reserved RUN PRGO PRG1 CN5_16 Figure 9 15 1 O3 RP Monitor the I O related to Jogging operation ABCDEFGHIJKLMN x 00000 000000 Reserved always 0 Reserved always 0 Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved always 0 Reserved Reserved Reserved Reserved CN5 31 CN5 30 Table 9 6 Meaning of display data Display 1 Figure 9 16 Example of monitoring Display 0 Input port Output port I00 RP EMST OTP and OTM are input from CN2 connector ABCDEFGHIJKLM Outputs DRDY open BRK open 01000011
215. tation Guaranteed 888 88 SOURCE www artisantg com 5 2 5 3 Wiring Example for YS Series Motor Equipped with Brake The brake built in the YS series Motor is an electromagnetic brake that is released when the coil is exited negative action type The brake is non backlash type when it engages 6 The brake may be used for safety in case of unexpected power shutdown or to provide extra holding torque when the Motor is on hold Use an optional brake power supply because the brake is to be operated by the overexertion switching full wave or half wave rectification full wave rectification for overexertion while half wave rectification for holding Reference number of optional power supply M FZ063 1 Table 5 14 Main specification Power voltage Output voltage current Hold Overexcitation time Ambient temperature 50 60 Hz Full wave rectification Half wave rectification AC200V 10 DC180V 4A DC90V 2A 0 35 sec Figure 5 14 Terminal block wiring AC200V Ground Brake Brake open close contact The brake output of the ESA type Driver Unit cannot be used to switch the brake directly ON or OFF For this purpose be sure to use the brake switch contacts externally e For brake on off use contacts with a capacity of more than 10 times of the inductive load current at 180 VDC e Do not short circuit No 4 and No 5 terminals with power on e Be sure to use No 6 and No
216. ted after the velocity gain VG is adjusted 1 Start VI adjusting program The messages are shown on the left Inputting the plus or minus key changes VI value The VI value varries with an actual load inertia and revolution speed Explanation of the messages 1 Key function SHIFT and Pressing key onetime increases 1 resolution of VI Pressing key one time decreases 1 resol ution of VI I Store VI value in the memory and completes the ENT adjustment 2 Indicates present VT value 3 Indicates VP value changed by pressing plus or minus key 4 Response index number The lower number denotes better response 5 Positioning index number The rower number denotes quicker positioning Note Changing VI step 3 If you want to change the resolution of step press space key or back space key Space key Changes the step to 1 10 of present resolution Pressing twice makes 1 100 Back space key Changes the step to 10 times of present resolution Pressing twice makes 100 times 2 Observing the Motor operation press the plus key several times Pressing SHIFT vee LENT 333 222 STEP1 _VI3 As the responce index decreases the movement of the Motor is getting crisply 3 Keep pressing the plus key till the Motor starts hunting and stops Pressing eee ENT 233 12
217. the parameter AC ACO Analog command input invalid DC command becomes valid ACI Analog command input valid When input voltage polarity is positive CCW direction AC I Analog command input valid When input voltage polarity is negative CW direction 10 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 3 1 RS 232C Communication Command In the velocity control mode the operation of the Motor can be executed through RS 232C communication command Setting the parameter AC ACO makes the DC command valid Then input o Jle J testa Jan to control the Motor under the proportional speed to the command data value 6 The relation between the command DC data and velocity is shown in Figure 10 12 Figure 10 12 When the resolver resolution is When the resolver resolution is 12 bit 10 bit or automatic switching CW maximum L velocity CW maximum velocity 4095 1365 4095 4095 1365 4095 CCW maximum velocity CCW maximum velocity When the polarity of the position scale is reversed by setting DI parameter the polarity of DC command is also reversed Table 10 12 s Maximum velocity Motor series AN l Resolver resolution 10 bit Resolver resolution 12 bit O or automatic switching YS JS1 JS2 RS 3 SS 3 75 AS BS JSO 45 10 20 Artisan Technology Group Quality Instrumentation G
218. ting Example 1 Press the code key while holding down the SHIFT key Input the command to read the setting of the AB parameter Check the current polarity 2 setting in this example all the input ports are set to A contact AB ABX0X0XX00 3 Input the password The password acknowledgment message appears on the display ABX0X0XX00 o JEN fent di ON The second bit following AB represents EMST Set this bit to 1 and the other bits to 4 X no change NSK ON NSK ON SP sexs G00 Thus the polarity of EMST input signal port has been changed to B contact 5 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 4 Signal Specifications CN2 CN5 5 2 4 1 General Input Applied Inputs SVON EMST PRGO 5 RUN HOS HLS JOG DIR OTP OTM CLR lOFF Table 5 7 Specification 24 VDC 10 3 3 kQ 10 mA per input Input voltage Input impedance Maximum current Figure 5 5 Driver Unit side The polarity of DC24V external supply may be reversed 5 2 4 2 Pulse Train Input Applied Inputs CWP CWP CCWP CCWP Table 5 8 Item Input voltage Input impedance Maximum current Specification 5 VDC 10 240 Q 25 mA Figure 5 6 a a input Driver Unit side 5 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www art
219. tion when it is under the set value of DBP It requires the password for setting The shipping set is DBPO In some application micro vibration at the end of positioning is observed due to small position deviation The dead band is to reduce the micro vibrations The dead band improves in occurrence of the micro vibrations however it worsens positioning repeatability for the value of DBP setting The dead band is centered at 0 to position error and the position deviation under the value of dead band is disregarded Thus it makes position command to 0 6 Unit of DBP is the pulse equivalent to the resolver resolution in 12 bit specification If the rsolver resolution is 10 bit specification set the DBP value in multiples of 4 Refer to 4 2 3 Functional Specifications for resolution of the resolver Figure 9 32 Dead Band Setting Block Diagram Position loop Position Velocity Velocity loop dead band loop gain loop gain integrator Position command t 9 F Position data Velocity data 931 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 RS 232C Communication 9 3 1 Specification of Communication 6 Setting of various parameters trial running and adjustment are enabled by issuing commands to the Driver Units through serial communication i e communication through the RS 232C interface The Driver Unit has CN1 as the input o
220. tion Commands You can execute indexing using RS 232C commands The commands parameters are shown below Refer to 12 Commands and Parameter for more details Table 10 10 Command parameter ID command Sets the target and executes rotation incremental in the units of degree IR command Sets the target and executes rotation incremental in the units of pulse AD command Sets the target and executes rotation absolute in the units of degree AR command Sets the target and executes rotation absolute in the units of pulse HS command Starts Home Return HV parameter Sets Home Return velocity HA parameter Sets Home Return acceleration HO parameter Sets the home offset value HD parameter Specifies Home Return direction MA parameter Sets the acceleration for indexing MV parameter Sets the velocity for indexing Function The table below lists the number of pulses per rotation of the IR command Table 10 11 Motor type and resolution Motor series Resolution YS JS1 JS2 RS 614 400 SS 491 520 AS BS JSO 409 600 Indexing Timing Figure 10 10 Indexing timing RS 232C input lt XX X __ W J Positioning command IPOS output Close FW 0 pan Motor rotation CR stands for the carriage return code OD 4 6 Under SVON state as soon as the command is input the Motor starts indexing The acceleration and velocity follow the settings of parameters MA and MV If
221. tion to reach the d1 position position of position scale e Incremental indexing in the unit of degree Option code d2 ID d1 d2 seq s The Motor makes a d1 x 0 01 turn from ln n lt 99 the present position e When d2 is specified the d1 value is equally divided by s Incremental indexing in the unit of pulse n Single RUN input will make motor rotate by the IR d1 d2 seq s The Motor makes a d1 pulse turn from the divided amount present position e When d2 is omitted the d1 value will not be divided 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 seq stands for the sequence code amp which sets the execution condition of the next channel in the sequence 6 Velocity CV and acceleration CA can be set in the same channel When CV and CA are omitted the Motor operates according to the values set by MV and MA respectively Program example CHO 1D9000 2 CV1 5 CA5 Figure 11 2 RUN input l CHO CHO Program operation Lipsaaq2 lipas X 45 45 Jump Command JP Condition setting None 6 Unconditional jump command 6 Control jumps to the specified channel and its program will be executed continuously 6 Command format JPm m Channel number to jump default 0 Program example CHO IR1000 amp CH1 IR2000 amp CH2 JPO Figure 11 3 PRG 3 lt o gt RUN input l l CHO CH1 CHO Program operati
222. tive load connected to the main power supply circuit When inserting contacts into the power supply circuit the specification of the contact should be greater or equal to ones in the following table Table 6 5 Contact Requirements For ESA Type Current Rating 15A Contact Capacity 15A Sensitivity 15mA Contact Capacity 30A Contacts No Fuse Breaker Short Circuit Breaker Magnetic Switch Table 6 6 Inrush Current Inrush Current TYP AC100V AC200V Control Power Main Power Install a surge killer circuit for magnet switches relays and solenoids When replacing the fuse F1 or F2 of the Driver Unit use the fuse provided with the Driver Unit e Use the R S terminals when connecting single phase 200 VAC for the main power supply Surge current becomes larger when the R T terminals are in use e During wiring be careful not to loose terminal block screws etc Install the plastic protection on TB Terminal Block after wiring The terminals on TB will be at high voltage when power is turned on Removing the protection and touching terminals may cause extreme electrical shock Note Refer to 5 Connector Specification for the connector wiring 6 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 4 2 Ground Connection and Wiring For grounding Driver Unit use heavy gage cable as possible such as a flat braided copper cable or
223. tor can rotate in clockwise only The polarity of the OTP and OTM input ports is set to A contact before shipment It can be changed to B contact Refer to the section of the AB parameter Besides the OTP and OTM inputs the Motor rotation can also be limited by software software over travel limit function in the Driver Unit Refer to 9 1 5 2 Software Over travel Limit Switch When over travel error occurs the DRDY output will be open and LED on the front panel indicates the following alarms OTP or OTM limit F3 Software over travel limit F2 Figure 9 6 OTP input ON d OTM input OFF i 10ms max Close DRDY output P Open When the OTP or OTM input works in the middle of Home Return operation the Motor completes the Home Return operation after performing the following 1 When the Motor is turning to CCW The OTP input is invalid the Motor continues rotation e Turning on the OTM input stops the Motor immediately 2 When the Motor is turning to CW Turning on the OTP input stops the Motor immediately e The OTM input is invalid the Motor continues rotation T Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 5 2 Software Over travel Limit Switch Notes to be taken in over travel limit setting The over travel area should be 1000 pulses or wider When the over travel area is too narrow the Motor may turn thr
224. troduction 1 1 1 1 Overview 1 1 1 2 Functional Principle 1 3 1 2 1 MOtOL a 1 3 1 2 2 Driver Unit 1 3 2 Notes to Users 2 1 2 1 Operational Remarks 2 1 2 2 Interchangeability of Motor and Driver Unit 2 3 3 System Outline 3 1 3 1 System Configuration 3 1 3 2 Reference Number Configuration 3 2 3 2 1 MOtOF 3 2 3 2 2 Driver Unit 3 2 3 2 3 Cable Sglein 3 2 3 2 4 Handy Terminal 3 2 3 3 Standard Combination 3 3 3 3 1 YS Series Motor 3 3 3 3 1 1 Motor and Driver Unit 3 3 3 3 1 2 Cable Set 3 3 3 3 2 JS Series Motor 3 4 3 3 2 1 Motor and Driver Unit 3 4 3 3 2 2 Cable Set 3 4 4 Specifications 4 1 4 1 Motor Specifications 4 1 4 1 1 YS Series Motor
225. ts MON MON Table 5 13 Specification Output format Max input voltage 10V 10 Saturated voltage 4mA or less Figure 5 11 5 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 5 Wiring Example CN2 CNS 5 2 5 1 Position Control Mode Wiring Example Figure 5 12 User s controller Polarity of DC24V external power may be reversed and used as minus common DC24V Servo on Emergency stop Home limit switch Integration off direction overtravel limit direction overtravel limit Clear Home Return start CW pulse train CCW pulse train gt e en CX Driver Unit ready a S In position Brake control signal Position feedback signal A Position feedback signal B Position feedback signal Z Polarity of DC24V external power may be reversed and used as minus common DO 24y ogrammed operation start Internal program selection bit 5 Internal program selection bit 4 Internal program selection bit 3 Internal program selection bit 2 Internal program selection bit 1 Internal program selection bit 0 Jog operation Jog direction select Oal k iro a a pele lt am lt V Signal ground ESA25 Driver Unit 15 DRDY _ DC24 fiz RUN P30 yOG 31 DR_ e When using an inductive switch e g relay be sure to insert a serge killer circuit e When the user installs s
226. ty Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 4 Jumper Jumper JP1 is for selecting output format of Z position feedback signal Jumper is inside of the Driver Unit When setting Jumper remove the side cover of the Driver Unit Follow the procedure in Appendix 4 How to Replace ESA25 Driver Unit Figure 4 14 indicates the Jumper location Figure 4 21 o d oO Qa O E k o 2 QO Table 4 13 Jumper setting Setting Z output format LD Out short Line driver Shipping set OC Out short l Open collector 4 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 5 Dimensions Figure 4 22 l Bracket can be 1 attached here Heat sink VV ki dari Oe MADE IN JAPAN ARAR i NSK Ltd os Bracket can be attached here l te 4 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 3 Cable Set This section shows Cable Set for YS and JS series Motor Refer to respective specification for SS AS and RS series Motor For reference number and cable length see 3 3 Standard Combination 4 3 1 Cable Set for YS Motor and JS Motor Figure 4 23 Connector Connector Shell AE DA 15P N JAE DA C1 J10 VRE STA Connector JST ELP 15V Resolver Cable Motor Cable als ito 8 S
227. type Motor type Number al path Set data lamination YS JS1 JS2 RS data Velocity error limit s x 4 095 3 SS data Velocity error limit s x 4 095 3 75 AS BS JSO data Velocity error limit s x 4 095 4 5 12 36 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VW Velocity Error Over Limit Width Format VW data Data 0 1000 Shipping set 100 Default 0 6 This is to set the time length to detect velocity error over limit When velocity error limit is over for VW time length velocity over limit alarm is given WD Write Data to EEPROM Format WD Writes all current settings of programs and parameters to EEPROM 6 Use this command when WM1 data back up invalid is set e Approximately 30 seconds are required to execute this command e Do not turn the power off while executing the command e Otherwise memory error alarm may be given WM Write Mode to EEPROM Format WM data Data Oor 1 Shipping set 0 Default 0 500 000 times of resetting deleting parameters to EEPROM are possible as data back up However frequent resetting deleting of parameters may exceed the expected life of EEPROM WM is to select data back up mode to reduce frequency of parameter resetting deleting WM60 Data back up valid WMI Data back up invalid e When the setting is changed from WM1 to WMO it takes ap
228. uaranteed 888 88 SOURCE www artisantg com 10 3 2 Analog Velocity Command In the velocity control mode operation the Motor may be controlled directly by inputting analog command Voltage range of analog command is 10V The offset adjustment may be performed with VR1 pod on the front panel of a Driver Unit Setting the parameter AC reverses the polarity of analog command voltage AC1 Analog voltage CCW AC 1 Analog voltage CW The parameter AGV changes the relation between analog voltage and velocity Table 10 13 DI data AC data Command Rotational voltage direction Resolver resolution 10bit or Resolver resolution 12 bit automatic switching CW Maximum l CW Maximum velocity i velocity 12 bit maximum velocity 10V 10V 12 bit maximum velocity CCW Maximum U CCW Maximum L X velocity velocity Table 10 14 s Maximum velocity Motor series a Resolver resolution 10 bit Resolver resolution 12 bit Sites or automatic switching YS JS1 JS2 RS 1 3 75 AS BS JSO 45 10 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The parameter DBA sets the dead band for analog command input One unit of data sets 4 9mV dead band Figure 10 14 Example DBA100 AC 1 CW maximum velocity a 490mV 10V 10V 490mV CCW maximum velocity 10 22 Artisan Technology Group Quality Instru
229. ut without windings or pole pieces The rotor serves to conduct the magnetic field from the inner stator across the rotor to the adjacent pole piece on the outer stator and back again The rotor teeth also serve to focus the magnetic field into discrete points around the circumference of the rotor and the combined effect of these points of focused magnetic field around both the stators and the rotor act like electronic gear reduction multiplying the torque hundreds of times while reducing the speed by the same amount Brushless Microprocessor Commutation For each full electrical cycle of commutation the Motor rotates through one magnetic cycle which is the angular distance between adjacent teeth In most Motor sizes there are 150 electrical cycles per Motor revolution some smaller sizes such as 0408 type have 100 cycles per revolution The commutation of the Motor phases is performed without brushes by direct control of a high speed microprocessor in the Driver Unit and it is the phase relationship of the three Motor phases not current polarity that determine the direction of rotation Why No Magnets No magnets are used in the Motor since the Motor uses the teeth to focus the magnetic field This contributes to the robustness of the Motor and to the high torque levels which are produced Since demagnetization is not a worry it is possible to develop high magnetic flux densities within the Motor which would weaken permanent magnets Unl
230. utput ports for RS 232C communication When the Handy Terminal FHT11 is not in use set the MM parameter to 0 MMI Standard setting for the Handy Terminal MMO For connection with a personal computer Table 9 13 RS 232C communication specification Item Specification Transmission Asynchronous full duplex Communication speed 9600 b p s Word length 8 bit Stop bit 2 bit Parity No Character code ASCII code e X On Off Protocol No Communication procedure e RTS CTS Control Yes 9 3 2 Communication Procedure 9 3 2 1 When Power is Turned on If a terminal such as NSK Handy Terminal FHT11 is connected to CN1 and the Driver Unit power is turned on the message shown below is displayed 6 The contents and the number of characters of this message may differ with the Driver Unit setting and system versions When the Driver Units are initialized a colon is displayed and the system waits for a command to be entered The colon is called a prompt Figure 9 33 Power on message NSK MEGATORQUE Slightly differs with system configurations MS1A50_xxxx EXXXXXXXXXX l E Indicates that internal initialization is completed and a command may be accepted Connect and disconnect the communication cable CN1 when the power to Driver Unit is off Otherwise it may lead to an alarm of communication error and system breakdown 9 32 Artisan Technology Group Quality Instrumentation Guara
231. vidual Motor change 5 The Motor vibrates Positioning is inaccurate Alarm of software thermal arises frequently Are servo parameters VG VI PG FP and NP adjusted Do you fasten the fixing bolts of load and the Motor mounting securely Check and fasten them tightly if necessary 6 Connect FG terminal of the Driver Unit to one point grounding Ground the Motor and the Driver Unit respectively Refer to User s Manual for wiring Js any external interference with rotation in Servo lock state It leads to the Motor overheat if external force is applied to it in servo lock state Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 Breaker trip occurs frequently When the system recovers by replacing fuses or remaking the power take the following action We recommend to install a delay type breaker for a measure against breaker trip 4 Others 6 Combination of the Motor and the Driver Unit shall conform to the specification 6 Be sure to write down the setting of parameters Never modify the cable set Lock the connectors securely and check for lose fixing screw s Please keep expendable parts and backup parts the Motor the Driver Unit and Cable set for replace 6 Use alcohol for cleaning Do not apply the thinner Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page Artisan Technolog
232. w artisantg com 7 Input 0 to cancel the condition gt 8 Press the key only The prompt returns to thereby completes the programming ENT Reading channel program 1 Declare the channel to be read and press the enter key TOC vaz 2 The display shows the program of the selected channel TC10 ENT IR9000 10 m cvo 5 Deleting the program 1 Declare the channel whose data is to be dekted Giga ooo gt 2 Pressing the enter key deletes the data programmed in the channel ENT E Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 4 Sample Program Write the following motion profile in Channel 5 Travel angle 30 00 degrees in the CCW direction Acceleration CA 5 s 0 Velocity CV 0 5 s 1 Check that the prompt is displayed on the screen gt 2 OMe Nga 3 After pressing the key the data presently programmed in Channel 5 will be shown on the display ENT AD27000 amp Cv1 00 CA20 00 Pa 4 DEENA r Cv1 00 CA20 00 0 ID 3000_ Nn Press the key to input value and the prompt appears again ENT Cv1 00 CA20 00 ID 3000 6 11 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 Press the key to input value and the prompt appears again ENT CA20 00 ID 3000 CA5 amp ri
233. w pass Filter OFF Velocity Format FO data Data Motor series YS JS1 JS2 RS 0 0 01 3 00 s SS 0 0 01 3 75 s AS BS JSO 0 0 01 4 50 Is Shipping set 0 Default 0 Sets the low pass filters parameter FP and FS depending upon velocity FO data sets the velocity threshold which turns ON and OFF the low pass filters Velocity Filter ON A FO data Filter OFF When this function is set it is possible to lower the resonance noise level without affecting on the settling time When FO is set to 0 the function is invalid The low pass filters are always active 1244 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EP Low pass Filter Primary Format FP data Data 0 10 500 Hz or AJ Adjusting mode Shipping set 0 Default 0 FP sets the frequency of the primary low pass filter of the velocity loop When 0 is input the velocity loop primary low pass filter is set to off At this time PRI LPF OFF appears on the display When data other than 0 i e 10 500 is input the frequency specified by the data is set The set value can be read by the TS command and FP Inputting FP AJ can set to fine adjusting mode FR _ Feedback Signal Resolution Format FR data Data Oor1 Shipping set 0 Default 0 Sets the resolution specification of the position feedback si
234. witch direction overtravel limit direction overtravel limit Integration off Clear CW pulse train CCW pulse train DC24V Programmed operation start Internal program selection bit 5 Internal program selection bit 4 Internal program selection bit 3 Internal program selection bit 2 Internal program selection bit 1 Internal program selection bit 0 Jog operation Jog direction select Analog command Analog monitor Artisan Technology Group Quality Instrumentation Isolation transformer Circuit breaker Magnetic switch CCWP CCWP poate IG NIN lM lR k lM lA lR lA oO LZ EZ LG lG lI 1 lG LL en asac aal Jom __ one ssf prea Om SE ees iloa AIN eo a AIN CNB CZE iE S Ga com 5 16 Megatorque Motor Handy Terminal FHT11 Connect CN2 and CN5 wiring as required gt Do not use the brake output signal as direct power supply to the magnetic brake Signal phase AC200V Master controller Driver Unit ready Brake output in position Home return complete Guaranteed 888 88 SOURCE www artisantg com 5 3 CN3 Resolver Cable Connector Since the resolver cable supplied with the Megatorque Motor System should always be used you need only plug the resolver cable connector into CN3 Knowledge of the pin assignment or signal names is not necessary This section is offered for reference e Do not change the length
235. ww artisantg com Blank Page 14 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 Troubleshooting 15 1 Identifying Problem If problems do occur check the items shown in Table 15 1 When reporting problems to the manufacturer explanation of the items in Table 15 1 will help to identify the problem Table 15 1 Items Point to be checked e Check if the Motor series code Motor size number and the Maximum torque conform to the indication of 1 Combination of Motor and Driver Unit the nameplates of the Motor and the Driver Unit Refer to 6 2 Combination of Motor and Driver Unit for details Power supply voltage e Voltage variation of power source is in specification Trouble recurrence e Frequency N ZU wo e When a particular command is executed e A particular equipment is in operation e Same position direction e Accelerating decelerating s Check alarm code by TA command Refer to 14 1 2 Using TA Command A Occurrence in special occasion Occurrence under a particular operation 6 Alarm Code 15 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 15 2 Troubleshooting When troubleshooting refer to the flow chart shown below Figure 15 1 Troubleshooting flow YES Refer to 14 Alarm Which of the following areas does the pro
236. ww artisantg com Figure 4 19 M JS2014GN510 M5x0 8 DEPTH PCD115 60 SPACING S Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 Driver Unit 4 2 1 Name of Parts Figure 4 20 T ra Bracket can be attached here Bracket il Heat sink No 0008000000000800000 9 o 9 o 9 9 9 o 9 o 9 9 9 o 9 Bracket can be attached here O7 segments LED TB Terminal Block power supply cnt 9 pins RS 232C serial communication Fuse 1 and 2 Fuse holder connector CN4 Motor cable connector Connector for Handy Terminal Monitor pins Analog velocity monitor pins FHT11 O i CNB 37 pins M E G CN2 25 pins Motor control signal Input Output rpms coe s CN3 15 pins Resolver cable connector Q Monitor pins No Serial number plate Q VR1 Offset adjusting pod of analog input Type Reference number plate Use a time delay type and capacity of 250V 110A fuse for Fuse1 and Fuse2 on the front panel Be sure to turn off the main power when replacing the fuse 4 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 2 General Specifications Control mode 6 Closed loop P I position control Operation mode 6 Pulse train position command RS 232C serial communication command 6 Programmable control 6 Return Home operation Jog Power sup
237. y Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MEGATORQUE MOTOR SYSTEM NSK Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com About This Manual 6 Before operating the Megatorque Motor System this manual should be read thoroughly The Megatorque Motor System is a unique device so common sense based upon experience with servo motor may not apply here Careful consideration of the mechanical design as described in Chapter 6 is especially important This manual describes the interface function and operation of the Megatorque Motor System This manual provides information on the ESA25 Driver Unit If your model is not ESA25 contact NSK for respective information Technical Information 6 For technical assistance and sales information please contact your local NSK office A list of NSK offices is provided in the back cover Megatorque Motor System Conformity to EC Directives CE Marking NSK Ltd declares that Megatorque Motor System conforms to EC Directive CE Marking However please note that the following conditions are added for conformity to the EC Directives O EC Declaration of Incorporation Megatorque Motor System is a machine component that is to be incorporated into the machine
238. y Terminal to the Driver Unit 8 2 1 Precautions e Wire EMST Emergency Stop CN2 signal to stop the Motor immediately when an accident is foreseen e If the Motor rotation range is restricted set overtravel limits OTP OTM The Motor rotates 20 degree when executing automatic tuning Always stay in safe position If mechanical rigidity of the load work is not sufficient enough the Motor may vibrate Turn SVON signal off or turn off the power when the Motor starts to vibrate Execute manual tuning in chapter 8 3 or increase the rigidity of the load The automatic tuning is valid in the position control mode and the velocity control mode It is not necessary for the torque control mode 8 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 8 2 Example Wiring Diagram for Preparation of Automatic Tuning Handy terminal FHT11 Driver Unit Work Load inertia Noi l Main Noise MII l power T e AC power Mounting base Cable Set DC24V External power supply i Over Travel Limit Sensor 8 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 2 Initialize Servo Parameters 1 Turn off the servo on SVON CN2 signal to check the parameter settings Note down all data 2 Enter 3 Log in the password N ew na Display indicates the confi
239. y be obtained from NSK If you supply your own it should meet the requirements in Table 6 4 Table 6 4 Noise Filter Requirement Driver Unit AC Line Noise Filter Voltage Rating Current Rating 220VAC 30 220VAC 16 250V AC DC 15A AC DC 110VAC 19 Control Power 250V AC DC 5A AC DC Do not tie wrap the input and output sides of the AC line filter together or place them in close proximity Do not tie wrap the ground wires with signal wires The noise filter must be installed on control power AC line separately from the main power line An isolation transformer must also be used to prevent electrical shock Contact NSK if you need information about isolation transformers If you supply your own the transformer must have enough capacity for the Motor power consumption Refer to 4 2 2 General Specification for the required power of the Motor 6 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 Do not place the main power AC line input supplies and signal wires in close proximity Do not tie wrap them and not put in the same duct The Driver Unit and the noise filters must be close to each other and wiring must be of minimal length Do not insert contacts like a magnetic switch or a relay between them Install a circuit breaker on the main power AC line When the power is turned ON an inrush current to the circuit will occur because of the capaci
240. y of Motor has reached to the limit due to external disturbance 2 Velocity of Motor has reached to the limit due to overshooting 3 Motor tends to vibrate due to poor servo tuning 4 Motor runs away out of control 14 8 Remedy Clear the alarm e Reduce setting of acceleration rate e Reduce rotational speed Tune Motor properly e Confirm the PA data for abnormality e Replace Driver Unit Standard ESA Driver Appendix 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 Alarms Related to Control 14 2 4 1 Memory Error Output DRDY Open TA E0 gt Memory Error LED EU Motion Condition Servo OFF Table 14 10 Cause and Remedy Memory error Cause Remedy 1 Parameters stored in the memory have been e Initialize the memory then reenter the parameters rewritten by noise or other cause Refer to 12 Command and Parameter 2 Faulty PCB s Replace Driver Unit When the memory is not functioning after Standard ESA Driver Appendix 4 initialized Command SI RS 232C communication initializes the memory After initializing some parameters are reset to shipping set Resetting parameters to actual use condition are necessary 14 2 4 2 EEPROM Error Output DRDY Open TA E2 gt EEPROM Error LED E2 Motor Condition Servo OFF Table 14 11 Cause and Reme
241. ys the command The digital microprocessor receives its feedback information from the Motor s built in resolver via the resolver interface circuit subsystem Digital filters may be applied which alter Motor behavior to improve the repeatability or to eliminate mechanical resonances A digital integrating function may be selected which improves the repeatability of the Motor by making it respond to very small command signals With the integrator the Motor can provide zero position error even under full load torque A digital notch filter may be employed to cut out certain frequencies from the Motor response so that mechanical resonances will not cause the Motor to oscillate If the Motor is attached to a load which has a strong natural frequency of oscillation the Motor can be made insensitive to it merely by setting the notch frequency to the same frequency A 100Hz resonance can be eliminated for instance simply by initializing the Driver Unit with the RS 232C command NP100 A digital low pass filter may be employed to modify Motor frequency response and make the Motor smooth and quiet Again the low pass filter is implemented digitally and setting up the filter frequency is as simple as asking for it There are two independent low pass filters available Brushless Microprocessor Commutation The digital microprocessor uses the digitized position information obtained from the resolver interface to determine when to apply

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