M-E099SB0C2-132
Contents
1. 7 1 8 Alarms Related to CC Link 8 1 8 1 CC Link Error 8 1 8 2 CC Link Setting Switch Error 8 2 1 Specifications 1 1 Specifications of CC Link Station O ESB Driver Unit is compatible with CC Link Ver 1 10 O ESB Driver Unit that is compatible with CC Link is an exclusive remote device that connects to the CC Link and can be controlled by a master unit such as a sequencer Figure 1 1 L 1 Link Table 1 1 Station category Remote device station Number of exclusive station 1 1 2 Driver Unit Dimensions Figure 1 2 1 1 1 3 Signal Specifications of Control Input and Output Table 1 2 Input Signal e In case of CC Link operation mode Emergency stop Home limit switch Over travel limit switch CW CCW e In case of maintenance operation mode Emergency stop Servo on Home Return start Clear Integrator OFF Lower gain Clamp Cancel Home limit switch Over travel limit switch CW CCW CC Link e In case of CC Link operation mode Emergency stop Servo on Programmable Indexer start Home Return start Clear Integrator OFF Lower gain Clamp Cancel Jog Direction select Internal program channel select Velocity override Stop Emergency stop is logical sum of CN2 and CNS When opera2. 4 1 4 1 Input Signal Master Unit to Remote Station 4 1 4 1 1 Emergency Stop Input EMST 4 1 4 1 2 servo ON Input SVON 4 1 4 1 3 Programmable Indexer Start Input RUN 4 1 4 1 4 Home Return Start Input HOS 4 1 4 1 5 Clear Input for Position Error Counter and Alarm CLR 4 2 4 1 6 Input for Integrator OFF Lower Gain IOFF 4 2 4 1 7 Clamp Cancel Input CLCN 4 2 4 1 8 Jog Input JOG 4 3 4 1 9 Direction Select Input DIR 4 3 4 1 10 Input for Internal Program Channel Select PRGx x 0 to 5 4 3 4 1 11 Velocity Override Input ORD 4 4 4 1 12 Stop Input STP 4 4 4 2 Output Signal Remote Station to Master Unit 4 5 4 2 1 Output for Driver Unit Ready DRDY Warning OVER 4 5 4 2 2 In position Output IPOS 4 6 4 2 3 Output for Processing Internal Pulse BUSY 4 6
3. 2 1 2 1 CN2 Connector 2 1 2 1 1 CN2 Pin Out 2 1 2 1 2 CN2 Signal Name and Function 2 2 2 2 Specifications for CC Link 2 3 2 2 1 CN5 CC Link Cponnector 2 3 2 2 2 CN5 CC Link Pin Out 2 3 2 2 3 CN5 Signal Name and Function 2 3 2 2 4 Setting of SW1 and SW2 Set Station Number 2 4 2 2 5 Setting of SW3 Setting of Baud Rate 2 4 2 2 6 Setting of SW4 Terminating Resister 2 4 2 2 7 Indication of LED 2 5 2 2 8 Example of External Wiring 2 6 2 2 9 Cable Length and Specification of Communication 2 7 3 Layout of Remote Input Output 3 1 3 1 Remote I O 3 1 3 2 Remote Registor 3 2 4 Description of Remote Input Output
4. C5 2 Changes on SW setting SW setting has changed Reset to the same setting right of baud rate from the initial setting after the initialization DE y ee World wide Manufacturing and Marketing Organization NSK Ltd Headquarters Tokyo Japan Americas amp Europe Department Phone 03 3779 7120 Asian Marketing amp Sales Department Phone 03 3779 7121 NSK Corporation U S A Ann Arbor Phone 734 761 9500 NSK Precision America Inc U S A Chicago Phone 630 924 8000 Los Angeles Phone 562 926 3578 Ann Arbor Phone 761 761 9500 NSK Canada Inc CANADA Toronto Phone 905 890 0740 Montreal Phone 514 633 1240 Vancouver Phone 800 663 5445 NSK Rodamientos Mexicana S A de C V MEXICO Mexico City Phone 5 301 2741 5 301 3115 NSK Brasil Ltda BRASIL S o Paulo Phone 001 3269 4700 NSK UK LTD ENGLAND Ruddington Phone 0115 936 6600 NSK Deutschland G m b H GERMANY D sseldorf Phone 02102 4810 Stuttgart Phone 0711 79082 0 Leipzig Phone 0341 5631241 NSK France S A FRANCE Paris Phone 1 30 57 39 39 Lyon Phone 72 15 29 00 NSK Italia S P A ITALIA Milano Phone 02 995191 NSK Spain S A SPAIN Barcelona Phone 93 575 1662 NSK Australia Pty Ltd AUSTRALIA Melbourne Phone 03 9764 8302 Sydney Phone 02 9893 8322 NSK New Zealand Ltd NEW ZEALAND Auckland NSK Korea Co Ltd Phone 09 276 4992 KOREA Seoul Phone 02 3287 6001 NSK Singapore Pte Lt
5. 4 2 4 Home Position Defined HCMP 4 6 4 2 5 Brake Output BRK 4 6 4 2 6 Brake Control Output BRKC 4 6 4 2 7 Output of Target Proximity In target NEARA and NEARB 4 7 4 2 8 Output of Selected Channel Number ACK_PRGx x 0 to 5 4 8 4 2 9 Velocity Monitor Output SPD 4 10 4 2 10 Output of Home Return Completed Home Position Detected HOME 4 10 5 Turning on Power 5 1 5 1 Operation Mode 5 2 5 1 1 CC Link Mode 5 2 5 1 2 Maintenance Mode 5 3 5 1 3 Switching Operation Mode 5 3 5 1 3 1 Switch to Maintenance Mode from CC Link mode 5 3 5 1 3 2 Switch to CC Link Mode from Maintenance Mode 5 3 6 Additional Functions 6 1 6 1 Velocity Override 6 1 7 Additional Commands for RS 232C Communication 7 1 7 1 List of Additional Functions
6. CRC error occurs occasionally even in normal communication Baud rate and station number setting have changed from those settings at the moment of power on Blinking cycle of ERR is 0 4s ESB Driver Unit cannot respond because the receiving data becomes CRC error The data does not reach to the Driver Unit Responding to polling however receiving refresh is CRC error On CRC error occurs on the data to the Diver Unit The link is not started On There is no data to the Driver Unit or it is not ready for receiving the data Impossible to receive the data The power is turned off or resetting the hardware On Off Incorrect setting of Baud rate or station number Blinking cycle of SD is so fast that the LED may seem to be ON Z325 2 2 8 Example of External Wiring Figure 2 6 Master Remote station Local station station ESB Driver Unit AAA A AAA A x A Terminating DA i l DA i i resistance DB H DB Terminating E E E e If ESB Driver Unit DG y j DS is the end unit of the network SW4 CC Link cable FG FG functions as the terminating resistance resistance i O Use the cables unique to CC Link for connecting cables O Order of the station number does not need to match the order of installation to the network O Connect the termin
7. a prompt NSK MEGATORQUE MS1A5 0 xxxx X XXXXXXXXX Indicates the operation mode is CC Link 5 1 2 Maintenance Mode The Driver Units operates the system following the instructions of the Handy Terminal RS 232C communication O The screen of Handy Terminal indicates the prompt O The maintenance mode is to control the Driver Unit temporarily through the Handy Terminal when the CC Link is not available for some reason O In the maintenance mode some of input signals of CN2 connector will become effective Meanwhile all inputs and a part of outputs of the CC Link will be invalidated O Refer to 1 3 Setup of I O by Operation Mode for further details NSK MEGATORQUE MS1A5 0 xxxx X XXXXXXXXX Indicates the mode is maintenance mode Ev ee 5 1 3 Switching Operation Mode O Communication device that the Driver Unit can control is always only one Input switching operation mode command CP through the Handy Terminal to change the operation mode When the Motor is in motion by the internal pulse train command at this moment it decelerates and stops automatically 5 1 3 1 Switch to Maintenance Mode from CC link Mode 1 Be sure to check the prompt ft for CC Link mode is on the screen 2 Input the password NSK ON 3 Execute command CPO O If the Motor is running under the internal pulse train command it will decelerate and stops 4 The prompt changes to for maintenan
8. following operation Operation by positioning command Programmed operation Home Return 9 Jog O BUSY signal outputs I when operating command DC is other than 0 in velocity control mode and torque control mode This output signal does not change in overshooting and undershooting Table 4 11 BUSY Function 0 No internal pulse generation 1 Processing internal pulse 4 2 4 Home Position Defined HCMP e This output reports the current status for defining Home position Table 4 12 Function Home position is not defined Home position defined 4 2 5 Brake Output BRK When brake sequence function is invalid O BRK output is 0 in the following state SVON input is OFF Under an alarm state that creates Servo OFF state Under an initialization of system right after the power is turned on EMST input is ON 4 2 6 Brake Control Output BRKC When brake sequence function is valid O Brake control signal to control brake clamp un clamp by the driver unit If BRKC output is 0 brake will clam IF BRKC output is 1 brake will un clamp 4 6 4 2 7 Output of Target Proximity In Target NEARA and NEARB e This output reports that the Motor is approaching the target position or gets in the target zone O The following parameters select the reporting mode O Refer to 7 1 14 Target Proximity In Target on the User s Manual for ESB Driver Unit System for more details Figure 4 1 Pa
9. m1 2 m1 2 RX m 1 3 gt Reserved fRY m 1 3 gt Reserved RX m 1 4 Specify the area of each machine RX m1 5 RYM 1 5 RX m 1 6 m1 6 Kim PE RY mt 7 RX m 1 8 Flag for completion of initial processing RX m 1 9 Flag to request initial setting RX m 1 A Flag to request error reset RX m 1 B Reserved RX m 1 C Reserved RX m 1 D Reserved RX m 1 E Reserved RX m 1 F Reserved m It indicates a register number led by the first station number Not used 2 Ready is outputted after the power is turned on 3 When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output a see 3 2 Remote Register Table3 2 Address RWwm 0 RWwm 1 RWwm 2 RWwm 3 Table 3 3 Address RWrm 0 RWrm 1 RWrm 2 RWrm 3 Master gt Remote Description Reserved For future extension Reserved For future extension Reserved For future extension Reserved For future extension Remote gt Master Description Reserved For future extension Reserved For future extension Reserved For future extension Reserved For future extension y 4 Description of Remote Input Output 4 1 Input Signal Master Unit to Remote Station 4 1 1 Emergency Stop Input EMST The Driver Unit detects the signal level of the input O When EMST input is set to 1 th
10. the parameter OV exceeds it O The Motor does not rotate when you set the velocity change rate to 0 and you activate the input ORD Figure 6 1 Example of positioning activated by RUN input signal lt When ORD is OFF gt ORD input RUN input Eo oy Motor velocity lt When ORD is ON gt ORD input When rising edge of RUN signal is detected the system decides validity of function of velocity override 7 by the signal level of ORD ON RUN input When ORD is OFF OFF Example OV 50 AAA Motor velocity 6 1 Blank page a y 7 Additional Commands for RS 232C Communication This section describes new commands and functions that are added to the RS 232C communication O You should input the password NSK ON for a command that is marked with gt CP Switching Mode CC Link Maintenance Format CP data Data data 0 Maintenance mode data 1 CC Link mode Default 0 e This command is to select operation mode of the Driver Unit from CC Link and Maintenance mode This command is for maintenance and the contents set for the maintenance mode won t be backed up O CP command reports the current setting O The operation mode at starting of the system is depending on the state of initialization of CC Link communication that is to be conducted after the power is turned on CC Link Link mode When initialization of CC Link LSI was successful at the mom
11. using motor with brake combined with brake sequence function BF1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output er E ES OV Override Format OV data Data 0 to 200 Shipping set 100 Default 0 This is to set the rate of velocity override when the ORD input of CC Link is ON The unit of data is 1 O When the ORD input is ON and if the data is set to 0 the Motor does not rotate for any motion command O When the changed velocity exceeds the maximum velocity of the Motor it will be clipped at the Motor maximum velocity O Refer to Velocity Override for more details O TS or OV command will report the current setting 7 1 List of Additional Parameter e This section is provided to record the current setting of the additional parameter for backup when replacing the Driver Unit or unexpected shut down of the System 0 to 200 Table 7 1 Parameter 8 Alarms Related to CC Link 8 1 CC Link Error O This alarm denotes that an error is detected in the CC Link interface The error cannot be identified by the CC Link communication O 7 segments LED and the RS 232C communication report occurrence of the error Table 8 1 DRDY output Open Alarm Motor condition Servo off 7 segments LED C4 Readout by TA command C4 gt Field bus Error To clear Turn on the power again O When this alarm aris
12. N and HOS which are put in parentheses are not valid in CC Link mode 1 When using motor with brake combined with brake sequence function BF1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output 2 4 2 1 2 CN2 Signal Name and Function Table 2 1 Pin No QO N 9 O1 gt TO N T Signal name 1 0 Function Output COMMON Driver Unit ready gt BRK BRKC O Brake Brake control signal normally close z o Position feedback signal gZ Digital position data MSB cHB o Position feedback signal gB CHA LO Position feedback signal gA po 1 Do not connect Do not connect direction over travel limit switch CW direction CLR Clear input Home limit switch EMST Emergency stop DC 24V external power supply IPOS In position DRDY LO Driver Unit ready SGND Signal ground CHZ Feedback position signal Z Digital position signal MSB CHB Position feedback signal B CHA Position feedback signal A Do not connect Do not connect T direction over travel limit switch CCW direction HOS Home Return start Integrator OFF Clamp cansel SVON Servo on lt 1 FZ parameter RS 232C communication is used to set the function either position feedback signal Z or digital position signal MSB 2 Signals SVON CLR IOFF and HOS which are put in the parentheses are not valid in CC Link mo
13. NSK MEGATORQUE MOTOR SYSTEM User s Manual ESB Driver Unit System Compatible With CC Link M E0995B0C2 132 NSK Ltd Document Number C20132 02 Limited Warranty NSK Ltd warrants its products to be free from defects in material and or workmanship which NSK Ltd is notified of in writing within which comes first one 1 year of shipment or 2400 total operation hours NSK Ltd at its option and with transportation charges prepaid by the claimant will repair or replace any product which has been proved to the satisfaction of NSK Ltd to have a defect in material and or workmanship This warranty is the sole and exclusive remedy available and under no circumstances shall NSK Ltd be liable for any consequential damages loss of profits and or personal injury as a result of claim arising under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2003 by NSK Ltd Tokyo Japan All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from NSK Ltd NSK Ltd reserves the right to make changes to any products herein to improve reliability function or design without prior notice and without any obligation NSK Ltd does not assume any liability arising out of the application or use of any product described herein neither does it convey any
14. and call off the alarm O Alarms for software thermal program error RS 232C communication error and auto tuning error will be cleared by inputting of the CLR signal as well 4 1 6 Input for Integrator OFF Lower Gain IOFF When brake sequence function is invalid The Driver Unit detects the signal level of the input Integration control VI is invalidated when IOFF input is set to 1 Proportional gain of velocity loop VG is lowered to a value multiplied by the parameter LG lowering ratio of velocity loop proportional gain O When IOFF input is set to 1 parameter IM selecting IOFF function sets the input to function only for disabling integration OFF function or only for lowering velocity loop proportional gain This input is to control torque generation when the Motor equipped with brake is in holding position state Table 4 3 IOFF Function 0 Integration ON Lower gain not valid IMO Integration OFF and Lower gain shipping set 1 IM1 Integration OFF IM2 Lower gain 4 1 7 Clamp cancel Input CLCN When brake sequence function is valid Select brake clamp function valid or invalid O If CLCN input is 1 brake will be released and no further brake clamp will be performed However if an alarm which will make motor condition servo off occurs brake will clamp O If CLCN input is 0 brake will clamp unclamp depending on the motor motion command Table 4 4 Function Brake clamp function valid C
15. ating resistance to DA DB units on the both ends of the network The terminating resister can be set by SW4 of the ESB Driver Unit O There is not FG terminal for CNS connector of ESB Driver Unit Be sure to ground FGND terminal of the Terminal TB 2 6 2 2 9 Cable Length and Specification of Communication Table 2 9 Specification of cable unique use of CC Link Characteristic inpedance110 0 CC Link Ver 1 10 Version Sable lenig Sala Maximum overall length of cable Baud rate 1 2 3 156 Kbps 1200 m 625 Kbps 900 m 2 5 Mbps 0 2 m or over 400 m 5 Mbps 160 m 10 Mbps 100m Terminating resistance 110 Q between DA DB Remarks May be mixed with the cable compatible with CC Link Ver 1 10 Figure2 7 System only consists of remote l O station and remote device station Max overall cable length Terminating resistance Terminating Master station 1 2 N 2 1 resistance V V V V Remote Remote device Remote device Remote station station 1 0 station 1 0 station Remote device Remote device station station 1 Cable length between the stations of remote l O stations or remote device stations 2 Cable length between the master station and a station Figure 2 8 System includes local stations or intelligent device station Max cable overall length Master station Terminating resistance Termi
16. ble 4 20 Home position detecting mode HOME HW 0 Function Home position not detected Home position detected 4 10 5 Turning on Power O After the power is turned on the Driver Unit gets in the mode to be able to accept the instructions of CC Link as soon as it completes initialization of internal network modules O Check the following before you start to communicate via the CC Link 7 segments LED It does not report alarm of C4 E0 E7 or E8 Handy Terminal when it is in use Prompt is on the screen of the Handy Terminal NSK MEGATORQUE MS1A5 0 xxxx X XXXXXXXXX Indicates the operation mode is CC Link O If the Driver Unit could not complete the initialization of the internal network modules for some reason the 7 segments LED and the Handy Terminal indicate the error as shown below 7 segments LED It indicates one of C4 E0 E7 or E8 alarm Handy Terminal when it is connected A prompt appears on the screen NSK MEGATORQUE MS1A5 0 xxxx X XXXXXXXXX Indicates the mode is maintenance mode 5 1 5 1 Operation Mode O The Driver Unit provides two operation modes as follows CC Link mode Maintenance mode O The default operation mode after the power is turned on is the CC Link mode 5 1 1 CC Link Mode O The Driver Unit operates the system following the instructions of the CC Link O The screen of the Handy Terminal when it is connected indicates
17. ce mode from NSK ON HCPO 5 1 3 2 Switch to CC Link from Maintenance Mode 1 Check that the prompt maintenance mode is on the screen 2 Input the password NSK ON 3 Input command CPI O If the Motor is in motion by the internal pulse train command it will decelerate and stop 4 The prompt changes to CC Link mode from NSK ON CP1 5 3 Blank page 6 Additional Functions 6 1 Velocity Override O When control input signal ORD through the CC Link is ON this function changes rotational speed of the Motor according to a rate that is set beforehand by a parameter OV O The Driver Unit detects input of ORD by its signal level O When the input ORD is ON the Motor will rotate with a velocity that is obtained by application of the velocity change rate of the parameter OV to velocity parameters MV HV CV and JV which are set to the positioning operations of RS 232C communication Home Return Programmable Indexer and JOG respectively O If the input ORD is OFF the system is in normal state Respective positioning operations shall be operated by the velocity parameter MV HV CV or JV The velocity change rate can be set to 0 to 200 by the parameter OV Input signal ORD is invalid when the Motor is in motion of a positioning operation O Actual velocity will be clipped to the maximum rotational speed of the Motor when the velocity obtained by
18. d SINGAPORE Singapore Phone 65 2781 711 NSK Bearing Thailand Co Ltd THAILAND Bangkok Phone 02 6412150 60 Taiwan NSK Precision Co Ltd TAIWAN Taipei Phone 02 591 0656 MEGATORQUE MOTOR SYSTEM User s Manual ESB Driver Unit System Compatible With CC Link Document Number C20132 02 June 20 2003 November 20 2003 1st Edition 2nd Edition 1st Printing 1st Printing NSK Ltd NSK 2nd Edition 1st Printing November 20 2003 Document Number C20132 02
19. de 3 When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output 222 2 2 2 Specifications for CC Link Figure 2 2 CC Link connector Sets station number Position of 10s Sets station number Position of 1s Sets baud rate Sets terminating resistance Indicates status RUN ERR RD SD 2 2 1 CN5 CC Link Connector Table 2 2 Driver Unit Connector MSTBA2 5 4 G 5 08AU Phoenix Mating connector type Contact MSTB2 5 4 ST 5 08AU User device side i These connectors will be provided with the Driver Unit 2 2 2 CN5 CC Link Pin Out Figure 2 3 REA 1 DA gt 2 DB 3 DG gt 4 SLD I 2 2 3 CN5 Signal Name and Function Table 2 3 Be xn 2 2 4 Setting of SW1 and SW2 Set Station Number O Station number Setting of SW1 position of 10s Setting of SW2 position of 1s Do not set station number to 0 or 65 and over Table 2 4 SW1 setting SW2 setting 1 Station number 01 2 2 5 Setting of SW3 Setting Baud Rate Table 2 5 SW3 setting tU AJo ND O 5 9 Baud rate 156Kbps 625Kbps 2 5Mbps 5Mbps 10Mbps Do not set 2 2 6 Setting of SW4 Termi
20. e Driver Unit terminates the function of position loop control and the system stops in servo lock state in the position loop control amp EMST input of CN2 connector is valid in the CC Link mode Table 4 1 EMST Function 0 Clears EMST input 1 Emergency stop is on 4 1 2 Servo ON Input SVON This input is to put the Motor in Servo on state The Driver Unit detects the signal level of the input O After the power is turned on and DRDY output changes to 1 the Motor gets in servo ON state when the SVON input is set to 1 Table 4 2 Function Servo OFF Servo ON 4 1 3 Programmable Indexer Start Input RUN O This input starts positioning of internal program of the channel specified by PRGO PRG5 inputs The Driver Unit detects the rising edge 0 1 of the input 4 1 4 Home Return Start Input HOS This input starts Home Return operation The Driver Unit detects the rising edge 0 1 of the input EER ee 4 1 5 Clear Input for Position Error Counter and Alarm CLR O The Driver Unit detects the rising edge 0 1 of the input O Setting CLR input to 1 clears the position error counter However the system does not clear the position error counter in the middle of following operations Operation by the positioning command Programmed operation Home Return gt Jog O When an alarm for excessive position error occurs setting the CLR signal to 1 will clear the position error counter
21. ent of starting the Driver Unit Prompt is indicated on the screen Maintenance mode When initialization of CC Link LST is not successful at the moment of starting Driver Unit Prompt appears on the screen Error at the initialization involves SW setting error of station number out of range setting of baud rate and faulty setting for initialization Indication of normal state NSK MEGATORQUE MS1A50 xxxx x System reference number XXXXXXXXX Reference number of torque ROM Prompt Denotes CC Link mode Indication of abnormal state NSK MEGATORQUE MS1A50 xxxx x Reference number of system XXXXXXXXX Reference number of torque ROM Prompt 7 segments LED reports C alarm AN Caution The Motor may start suddenly depending on a command of master controller because control input output signals CN2 and CN5 are also changed when the mode is switched When switching operation mode be sure to confirm a command of the master controller and take a great care for the operation ek eee IO Input Output Monitor Format IO data opt Data data default O data 1 data 2 data 3 data 4 data 5 data 6 Optional code opt default opt RP Monitors General I O Monitors general I O Reverse video for a normally closed contact B contact Monitors I O related to programmed operation Monitors I O related all positioning Monitors I O status related to CC Link Monitors I O related to p
22. es confirm alarm sub code by issuing TA HI command through RS 232C communication O The table below shows cause and remedy of the alarms Table 8 2 Remed Replace the Driver Unit Setting error of SWI or SW2 sets a station Turn off the power set SW1 or 2 for station number number that is out of 1 to station number within the range of 1 64 and then turn on power again Turn off the power set SW3 for baud rate setting to 0 to 4 and then turn on 64 range Setting error of SW3 for the baud rate baud rata setting is set to a number other than 0 to 4 power again g 8 2 CC Link Setting Switch Error It indicates that an error is detected on setting switch of CC Link interface This error cannot be identified through the CC Link communication O Occurrence of error will be reported through 7 segments LED and RS 232C Table 8 3 DRDY output Close Warning Motor condition Normal 7 segments LED C5 Readout by TA command C5 gt Field bus SW Alarm To clear The warning will be lifted by resetting of switch on CC Lin IF station number and baud rate to the original setting at the moment of tuning on the power O When this alarm arises confirm an alarm sub code issuing TA HI command through RS 232C communication O The table below shows cause and remedy of the alarms Table 8 4 history C5 1 SW setting has changed Reset to the same setting right of station number from the initial setting after the initialization
23. itial setting right after the power of the Driver Unit is turned on 1 2 1 4 Setup of I O by Operation Mode Switching the operation mode changes the validity of I O signals of CC Link and CN2 connector Switching command of operation mode CP switches the operation mode 1 4 1 I O Setup for CC Link or Maintenance Mode Table 1 3 Input CC Link mode Maintenance mode Output IMalname ak CN2 CC Link CN2 Input EMST Valid SVON Valid Valid Valid Invalid Valid Valid Valid Invalid Valid Valid Invalid Valid Valid Valid Valid Valid E Valid Valid Valid Valid Valid Valid Valid Valid Valid Valid STP Valid Invalid Valid Valid Output DRDY Valid i Valid Valid Invalid Valid IPOS Valid Valid Valid Valid Valid Valid Valid NEARA Valid NEARB Valid Valid 2 Valid Valid Valid 3 Valid ACK PRG5 SPD Invalid Valid HOME Valid 1 When using motor with brake combined with brake sequence function BF1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output 2428 Blank page 2 Specifications of External Interface 2 1 CN2 Connector 2 1 1 CN2 Pin Out Figure 2 1 3 SVON IOFF CLCN HOS CHA CHB CHZ BRK BRKC DRDY COM 599 P9099S 94080388 25 24 23 22 2 20 D 45 O Signals SVON CLR IOFF CLC
24. lamp cancel 4 2 4 1 8 Jog Input JOG O This signal starts and stops the jog operation O The Driver Unit detects the rising edge of the input Table 4 5 JOG Function 1 0 gt 1 Starts JOG Starts acceleration 1 0 Stops JOG Decelerates and stops 4 1 9 Direction Select Input DIR e This input controls the direction of operation O When the input is changed in the middle of jog operation the Motor decelerates and stops Table 4 6 Function Direction in CW Direction in CCW 4 1 10 Input for Internal Program Channel Select PRGx x 0 to 5 This input specifies a channel number of internal program whose operation starts by the RUN input O The 6 bit binary codes of PRGO to PRGS specify a channel number Table 4 7 Ran 4 1 11 Velocity Override Input ORD The Driver Unit detects the signal level of the input O The Motor operates at the velocity that is obtained by the application of velocity change rate OV to the velocity setting MV HV CV and JV when the ORD input is set to 1 Velocity is normal when the ORD input is 0 Each positioning operates under velocity setting of MV HV CV and JV respectively O Input of ORD in the middle of positioning operation is invalid Table 4 8 ORD Function 0 Velocity override OFF 1 Velocity override ON 4 1 12 Stop Input STP The Driver Unit detects the signal level of the input O When the STP input is set to 1 the Motor stops o
25. license under its present patent nor the rights of others Patents issued and patents pending MEGATORQUE is a registered trademark of NSK Ltd in Japan and that of NSK Corp in the United States of America Introduction O About This Manual O This manual describes the interface of CC Link For the other part of the Megatorque Motor System please refer to the user s manual of Megatorque Motor System ESB Driver Unit System Document Number C20118 01 O Notice for Your Safety O Please read this manual thoroughly and take necessary precaution for your safety O Restriction on Function of the Driver Unit O The following functions are not available for the Driver Unit compatible with the CC Link Velocity control mode and torque control mode Pulse train positioning command Positioning with acceleration profiling Blank Page Contents 1 Specifications 1 1 1 1 Specificaitons of CC Link Station 1 1 1 2 Driver Unit Dimensions 1 1 1 3 Signal specifications for Control Input and Output 1 2 1 4 Setup of I O by Operation Mode 1 3 1 4 1 1 O Setup for CC Link or Maintenance Mode 1 3 2 Specifications of External Interface
26. nating resistance 2 A 4 Local statoin Local station Remote Remote Remote Remote device station device station device station device station 1 Cable length between remote l O stations or remote device stations 2 Cable length between a station and the master station 3 Cable length between local stations or intelligent device station Blank page 2 8 3 Layout of Remote I O and Remote Register 3 1 Remote I O Table 3 1 Master gt Remote Signal Name EMST Input Emergency stop SVON Input Servo on Remote Master DRDY Driver Unit ready IPOS In position Device No RXm2 BUSY Processing internal pulse RYm2 RUN Programmable Indexer start RXm3 HOS Start Home Return RXm4 CLR Input Clear BRK BRKC IOFF CLCN RAMS Brake Brake control signal Integrator OFF Lower gain Clamp cancel RXm6 JOG Qog RXm7 DIR Qog direction select RXm8 PRGO Internal program channel select RXm9 PRGI Internal program channel select RXmA ACK PRG2 Selected channel number RYMA PRG2 Internal program channel select RXmB PRG3 Internal program channel select RXmC PRG4 Internal program channel select RXmD PRGS Internal program channel select RXmE ORD Velocity override RXMF HOME Home Return completed Home STP Stop position detected RX m 1 0 System area Rema n n RY e RX
27. nating Resistance Figure 2 4 Table 2 6 SW4 setting Center Bottom Top Sets to 1100 No terminating resistance Sets to 1300 Upside of the Driver Unit Function of terminating resistance Sets to 1100 Sets no terminating resistance Sets to 1309 2525 2 2 2 7 Indication of LED Figure 2 5 Upside of the Driver Unit Table 2 7 Name of LED RUN ERR SD RD Table 2 8 RUN On og On i On og off On off Off Off Off Off off Status ON Receiving refresh and polling normally after joining the network or normal OFF ON OFF communication of refresh 1 Before joining the network 2 NG on detecting the carrier on the channel 1 and 2 3 Time over 4 Resetting hardware 1 CRC error 2 Abnormal SW setting of station number 3 Abnormal SW setting of baud rate 1 Communication is normal 2 Resetting hardware Blinking Settings of SW1 and SW2 have changed after the power was turned on ON Transmitting data OFF ON OFF SD og Off 1 In a state other than transmitting data 2 Resetting hardware Detecting a carrier of channel 1 or channel 2 1 Detection of carrier of both channel land channel 2 are not successful 2 In the middle of resetting hardware Status Normal communication
28. peration and does not accept any start command Parameter MD Deceleration rate for STP input sets the deceleration for the STP input Table 4 9 STP Function 0 Start command valid 1 Stop operation Start command invalid 4 2 Output Signal Remote Station to Master Unit 4 2 1 Output for Driver Unit Ready DRDY Warning OVER O The DRDY output turns to 1 when the Motor is ready for operation O The table below shows the output of DRDY OVER when an alarm occurs Table 4 10 Alarm Memory error EEPROM error System error Interface error Brake on position error Excess position error Software over travel limit over Hardware over travel limit over Emergency stop Program error Automatic tuning error RS 232C error CPU error CC Link error CC Link SW error Resolver circuit error Absolute position error Software thermal sensor Velocity abnormal serious Velocity abnormal minor Home position undefined Brake error Heat sink overheat Abnormal main AC line voltage Over current Abnormal AC line under voltage Setting Motor state Readout by TA command DRDY OVER LED output output output EO Servo OFF Servo OFF Servo OFF Servo OFF E0 gt Memory Error m E2 gt EEPROM Error E7 gt System Error E8 gt I F Error 7 o Servo lock FO gt Clamp Position Error m m S m jm N oO U U O TI m P1 EP2 EP3 TI Servo lock F1 gt Excess Po
29. rameters related to NEAR outputs NMA 0 Target proximity mode Sets distance to output Target proximity 2 NMA 0 Sets holding time to paramter NMA In target mode Sets output point to parameter ZAS Sets end of output point to parameter ZAE NMB 0 Target proximity mode Sets distance to output Target proximity sighat NEARB BR output NMB 0 Sets holding time to paramter NMB In target mode Sets output point to parameter ZBS Sets end of output point to parameter ZBE Table 4 13 NEARx Target proximity NMx 0 Function In target zone 4 7 4 2 8 Output of Selected Channel Number ACK PRGx x 0 to 5 e This output reports input status of channel number for programmable move channel switching O However the system keeps outputting the number for the input of Programmable Indexer start It removes holding state when positioning completes and outputs the status of selected channel switching of internal program amp Channel numbers are outputted by the 6 bit binary codes of ACK_PRGO to PRGS Table 4 15 4 8 Figure 4 2 Timing of programmed operation The following example shows a case to execute a program in Channel 5 Channel selection PRGO input PRG1 input PRG2 input PRG3 input RUN input Motor rotation CW CCW velocity BUSY output lt Positioning Channel select ACK PRG 0 outpu
30. rogrammed operation of CC Link Monitors I O data of CC Link Area to be defined by the user Monitors only once Monitors repeatedly O Zeros 0 and ones 1 indicate status of control Input and Output of CN2 and CNS connectors ON OFF or open close 1 Input ON Output Closed 0 Input OFF Output Open Press the key to terminate repeated monitoring of IO RP Figure 7 1 In case of 104 BRK BRKC 1 IOFF CLCN 1 When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output PG Figure 7 2 In case of 105 Signal NEARB BUSY IPOS PRG_ACKO PRG ACK1 PRG ACK2 PRG ACK3 PRG ACK4 PRG ACK5 Zz m gt RUN PRGO PRG1 PRG2 PRG3 PRG4 PRG5 Figure 7 3 In case of 106 F E D C BA 9 8 7 6 5 4 3 2 1 0 lr le b le Ip la lo Ig 17 kb Ip la k l li lo Or Oe Op Oc Og Oa Og Og O7 Os Os O4 Oz Oz O1 Op lo emst Oo orRDY l2 RUN O2 BUSY l3 HOS O ls 1OFFICLCN Os BRK BRKC ls os Os ours oR O our2 kl PRGO 0 ACK PRGO _l Os ls ACK PRG1 ls PRG3 Os ACK PRG3 lc ACK_PRG4 Ip PRG5 Op ACK PRG5 le orp ______ Oz SPD HOME 1 When
31. sition Error 2 F N a Servo lock F2 gt Software Over Travel O N I o T T T I n n wo Servo lock F3 gt Hardware Over Travel I N Servo lock F4 gt Emergency Stop PEO F al a Servo lock F5 gt Program Error gt m 0 2 Normal state F8 gt AT Error gt m m Normal state Servo lock C2 gt RS232C Error e E Normal state Servo OFF Servo OFF O wo Cannot identify O C4 gt Field bus Error O a Normal state Servo OFF Servo OFF Servo OFF Servo OFF Servo lock C5 gt CC Link SW Error A0 gt Resolver Circuit Error z Al gt Absolute Position Error gt A3 gt Overload A4 A4 gt Velocity Abnormal O U U o gt al Normal state A5 gt Origin Undefined O N gt Qo Servo lock Servo OFF Servo OFF Servo OFF Servo OFF A8 gt Brake Error PO gt Over Heat Pl gt Main AC Line Trouble N P2 gt Over Current TU wo P3 gt Control AC Line Under Voltage A5 4 2 2 In position Output IPOS Conditions for completing positioning In position are determined by the following parameter settings FW Outputting time for IPOS Output mode IN Set value for In position signal detection IS In position stability timer 4 2 3 Output for Processing Internal Pulse BUSY This signal outputs to notify that the system is processing the internal pulse train command BUSY output is set to 1 in the middle of the
32. t e he Output of selected channel Outputs PRGO input status ACK_PRG1 output ACK_PRG2 output ACK_PRG3 output Effect of external force Residual pulses of IN setting position error counter IPOS output Closed IPOS format FW 0 ep IPOS output Closed Ay ual Open ee lt setting Example FW1 100 ms IPOS output Closed n FIN format Open FW gt 0 AO 4 2 9 Velocity Monitor Output SPD e This output is for reporting velocity O The following parameters set the reporting mode and the velocity status Table 4 16 Parameters related to SPD output Parameter Function SO Selects velocity monitor mode SB Sets to report velocity value ST Sets velocity stability timer Table 4 17 Reports zero speed SPD SOO Function Over the velocity threshold 4 2 10 Output of Home Return Completed Home Position Detected HOME This is to report completion of Home Return or the Motor is on the Home position O The following set the reporting mode Figure 4 3 Parameters related to HOME output HW 0 Home Return Completed mode HOME Home posiiton Sets outputting time to parameter HW detected mode e Sets the zone of Home postion to parameter HI Table 4 19 Home Return Completed Mode HOME HW 0 Function Home Return not completed or the Motor moves from the Home position after completion of Home Return Home Return has completed and the Home position is secured Ta
33. tion is in the maintenance mode all inputs of CC Link are invalid Position feed back Refer to Specification of Motor resolver resolution in ESB Megatorque signal Motor System Specification Sheet Control CN2 Driver Unit ready In position Brake Brake control e In case of CC Link operation mode Driver Unit ready In position Processing internal pulses Home position defined Warning Brake Brake control Target proximity In target A Target proximity In target B Selected channel number Monitor velocity Home Return completed Home position detected e In case of maintenance operation mode Driver Unit ready In position Processing internal pulses Home position defined Warning Brake Brake control Target proximity In target A Target proximity In target B Monitor velocity Home Return completed Home position detected 1 When using motor with brake combined with brake sequence function BF 1 signals Integrator off Low gain will be used as Clamp cancel input Brake output will be used as Brake control output Output signal O You may switch the operation mode by a mode switch command CP through the Handy Terminal Refer to the description of CP command for more details e CC Link mode is to operate the Drive Unit by control input signal through CC Link O Maintenance mode is to operate the Driver Unit temporarily when CC Link is not available for some reason e CC Link mode is set as the in
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