Megatorque Motor System User's Manual EC-T
Contents
1. 8 1 8 3 Comfirmations of Use Conditios 8 2 Appendix 1 How to Check Motor Condition A 1 1 Introduction e This is the supplementary of the instruction manual EDC Driver Unit System Document Number C20158 This supplement describes the Megatorque Motor System composed of the EDC Driver Unit and the PN series Megatorque Motor Please refer to the above mentioned instruction manual Document No C20158 for items not described in this document 1 1 Precautions for Use AN Warning Be sure not to activate the dynamic brake in the following conditions Otherwise the dynamic brake circuit may break and the Motor will enter in a free run state leading to possible injuries Do not activate the dynamic brake in normal operations Stop the Motor by a control command not by the dynamic brake The dynamic brake is an auxiliary function to stop the Motor immediately in an emergency In the middle of operation an alarm a warning or the Emergency stop input activates the dynamic brake e Warnings that initiate Servo off state are A3 Software thermal CO Position command Feedback error C5 Field bass error F5 Program error and F8 Automatic tuning error The load inertia to a Motor must be 70 times or less than the Motor inertia 100 times for the PS1 PS3 and PN2 type Motors In case of an i2. 3 Insulation resistance check of Motor winding I Caution Disconnect the Motor from the Driver Unit when checking insulation resistance of the Motor AN Caution Checking voltage must be 500 VDC or less PN3 or PN4 Fig A 6 Check with the Cable SASFRGRS SISFSSNS Tester PN3 or PN4 Tester Table A 4 Checking point Motor connector Result 1 o 9 1 o 4 U PE U PE T 02 o 9 2 o 4 dd e V PE V PE 7 3 o 9 3 o 4 bi dai lea W PE W PE Table A 5 Specification of insulation resistance Common to all type of Motor U PE Specification 1 MQ or over 2 MQ or over With cable Motor only 4 Visual check of the Motor and the Cables e Check the Motor for any damage e Check the cable for any damage on the cable insulation A 3 Blank Page A 4 MEGATORQUE MOTOR SYSTEM PN Motor Series EDC Driver Unit User s Manual Document Number C20169 03 Nov 1 2007 1st Edition Sep 30 2009 2nd Edition Mar 1 2012 3rd Edition NSK Ltd Worldwide Sales Offices NSK LTD HEADQUARTERS TOKYO JAPAN www nsk com INDUSTRIAL MACHINERY BUSINESS DIVISION HEADQUARTERS tel 03 3779 7227 GLOBAL AFTERMARKET DEPARTMENT tel 03 3779 7253 PRECISION MACHINERY DEPARTMENT tel 03 3779 7163 MECHATRONICS BUSINESS DEPARTMENT tel 0466 21 3027 AUTOMOTIVE BUSINESS DIVISION HEADQU
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4. convey any license under its present patent nor the rights of others Patents issued and patents pending MEGATORQUF is a registered trademark of NSK Ltd in Japan and that of NSK Corp in the United States of America Contents Te Introduction 202550 see eco a omeneasca 1 1 1 1 Precaustions for Use 1 1 2 Reference Number and Coding 2 1 2 1 PN Series Megatorque Motor 2 1 2 2 EDC Driver Unit for PN Series Megatorque Motor 2 1 pf Da i a SOl a mia a ee aa aa Gein ce ar ae 2 3 2 4 Handy Terminal 2 3 3 Name of Each Part nenea 3 1 4 Combination of Motor and Driver Unit 4 1 5 Motor Specifications 2n nn nno nono 5 1 6 Externel Dimensions 2202 202 6 1 6 1 PN Series Megatorque Motor 6 1 6 2 Driver Unit ssrt e ie ee e eien eean a ai ei en eiai 6 2 7 Driver Unit Specifications 7 1 8 nstalatigi ss erisia iea 8 1 8 1 Environmental Conditions of Motor 8 1 8 2 Coupling Load to the Motor
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7. N3045KN001 cable M EDC PN3045ABC02 gt x 2 2 Fr POS e ABEIO 0010290 Il asec Gaia length in meters e CC Link M EDC PN3045C BC02 gt 100 to 115 01 1 m 02 2 m 03 3 m Pulse train M EDC PN4135AB502 gt x 04 4 m input M PN4135KN001 05 5 m 06 6 m M EDC PN4135ABCO2 x 07 7 m CC Link 9280 200 to 230 08 8 m 09 9 m e Pulse train M EDC PN4180AB502 10 10 m at M PN4180KN001 15 15 m 20 20 m l M EDC PN4180ABCO2 x 30 30 m CC Link 5 Motor Specifications Table 5 1 PN series Megatorque Motor Environmental conditions M PN2O12KN201 MPN3O45KNOOL IM PNAI35KNOOL IM PNAL8OKNOOL Motor outside diameter mm 5176 9210 9280 Maximum output torque Nem 12 45 135 180 Rated output torque Nem 2 15 45 60 Motor height mm 35 85 95 112 Motor hollow diameter mm 36 56 50 50 Maximum velocity s 2 3 Rated velocit s 1 1 Resolution of position Counvrev 2 621 440 sensor Absolute position larcsec 90 1 3 accurac Repeatability arcsec 2 Allowable axial load N 1 000 4500 9500 Allowable radial load N 20 80 160 200 Rotor inertia 0 0024 0 011 0 057 0 065 pace musa 9e kg m2 0 02t00 24 0 11 to 0 77 0 57 to 3 99 0 65 to 4 55 moment load Mass 3 7 13 26 31 International protection code IP30 equivalent Ambient temperature 0 to 40 C Humidity 20 to 80 In door use only Free from condensation dust a
8. NSK Megatorque Motor System User s Manual Supplement to the EDC Driver Unit System NSK Ltd Document Number C20169 03 Limited Warranty NSK Ltd warrants its products to be free from defects in material and or workmanship which NSK Ltd is notified of in writing within which comes first one 1 year of shipment or 2400 total operation hours NSK Ltd at its option and with transportation charges prepaid by the claimant will repair or replace any product which has been proved to the satisfaction of NSK Ltd to have a defect in material and or workmanship This warranty is the sole and exclusive remedy available and under no circumstances shall NSK Ltd be liable for any consequential damages loss of profits and or personal injury as a result of claim arising under this limited warranty NSK Ltd makes no other warranty express or implied and disclaims any warranties for fitness for a particular purpose or merchantability Copyright 2009 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
9. _88 0 4 4 2 06H7 depths ding 2CI8 32 in Area of 0155h8 2 N R105 9210 9155h8 0 03 J o126H9 81 125H7 302 sje Rotor Rotating part i 110 950 Material Aluminium Surface treatment Nonej Base Mount ing Holes 4 610 Drill Thru 47 0 p i 02012 d Resolver Connector Fixed Part 2 o epth8 MGB Conhactor Material Cast iron p Surface treatment Regards to inserting pin into rotor pinhole 2 06H7 depth8 Low temperature chrome plating Set the tolerance of pin to fit the clearance of pinhole Do not apply large moment and shock when inserting pins Use the pinhole as positioning purpose only Do not use the pinhole to hold the load on rotor Note For the dimensions marked i an extra 3m margin is required for your workspace due to their variations 6 1 Fig 6 3 PN4135 type Motor 8 8 x1 25 depth12 40 015 PCDIBOCEO equal pitch 2 08H7 1 08 depths 0 030 Namep late i X 255 210 9 2 Min 4 5 of 0205h8 4 0 072 40 1 o 0 04 Q o 235 0274 9161 H9 9205 h8 150 H7 Rotor Rotating part Material Aluminium Surface treatmen
10. ble moment of inertia for Motor Motor t Moment of inertia of the rotor Allowable moment of inertia ee kg m kg m PN2012 0 24 PN3045 0 77 PN4135 3 99 PN4180 0 065 4 55 AN Caution Be sure to confirm the allowable moment load and axial load to the Motor under the use conditions e Please refer to 5 Motor Specifications for the allowable moment load and axial load for each Motor ES n 8 Appendix 1 How to Check Motor Condition E Examine the resistance and the insulation resistance of the Motor winding to check if the Motor is in normal condition It can be regarded as it is normal if all check results are within the specifications E First check the winding resistance including the Motor cable If the result is not satisfactory check the Motor only 1 Resistance check of Motor winding Fig A 1 Check with the cable set PN3 or PN4 PN3 or PN4 Tester e Do not turn the rotor while checking the Motor winding Table A 1 Checking points Cable connector Motor connector Result DOE DOE lil U V U V 296 2 G eal V W V W 3 o 1 3 o 1 ie W U W U Table A 2 Resistance specification of Motor winding Motor type Winding resistance 0 Specification na nz 1 30 of the value in the left 2 Variation between each phase UV VW and WU PN4136 2 6 is less than 15 PN4180 32 e Please ask NSK for a Motor with special winding specification
11. cifications are subject to change without notice and without any obligation on the part of the manufacturer Every care has been taken to ensure the accuracy of the data contained in this brochure but no liability can be accepted for any loss or damage suffered through errors or omissions We will gratefully acknowledge any additions or corrections For more information about NSK products please contact
12. et proximity B Zone A BeC Travel limit Normal Position error under over Velocity error under over Torque command under over Thermal loading under over Home return complete Home position defined Excess error Program error Automatic tuning error Position command Feedback error Field bus warning Software thermal error Home position undefined Main AC line under voltage Travel limit over RAM error Alarm ROM error System error Interface error ADC error Emergency stop CPU error Fieldbus error Position sensor error Absolute position error Motor cable disconnected Excess velocity Resolver excitation amplifier alarm Commutation error Overheat Main AC line over voltage Excess current Control AC line under voltage Power module error Monitors Analog monitor x2 Free range and offset setting RS 232C monitor Communication RS 232C serial communication Asynchronous 9 600 bps Data backup EEPROM Overwriting and deleting of parameters are limited to 100 000 times e Automatic tuning Function setting to Input Output port Others e Temporal parameter setting by a program operation Individual setting of acceleration and deceleration e Acceleration profiling Modified sine Modified trapezoid Cycloid and Half sine Fieldbus CC Link Ver 1 10 compatible Optional EDC Driver Unit compatible to CC Link is required uen Storage ae ap e Ambient temperature 0 to 50 C Storage temperature 20 to 70 C ment eae e 90
13. inal Handy Terminal serial number 2 2 3 Name of Each Part Fig 3 1 PN 2012 type Motor Hollow Cover Rotating part Stationary part Resolver connector Motor connector Fig 3 2 PN3045 4135 and 4180 type Motor Hollow Cover Stationary part Stationary part Motor connector Resolver connector Mounting surface 4 Combination of Motor and Driver Unit Table4 1 Combination of PN2012 type Motor and Driver Unit Motor Driver Unit diameter Motor reference number Power voltage Cable Remarks mm reference number Code for specification VAC reference number of bundled items M COx SCP03 M EDC PN2012AB502 200to 230 FiXediype cable M C0 SCP13 e Pulse train Flexible type input cable M EDC PN2012CB502 x x 100 to 115 x Cable length 0176 M PN2012KN201 UE 01 1 m M EDC PN2012ABC02 x x 200 to 230 02 2 m 03 3 m 04 4 m CC Link 05 5 m 06 6 m M EDC PN2012CBC02 x 100 to 115 07 7 m 08 8 m Table4 2 Combination of PN3045 PN4135 PN4180 type Motor and Driver Unit Motor Driver Unit Sameer Motor reference number Power voltage Cable Remarks mm reference number Code for specification VAC reference number of bundled items M EDC PN3045AB502 200to230 M C0 SCP03 Fixed type cable Pulse train input M EDC PN3045CB502 100to115 MC0 SCP13 Flexible type 210 M P
14. ion 256 channels Pulse train input RS 232C serial communication command Jog Home Return Photo coupler input Maximum pulse frequency 1 MHz Pulse train command Input format CW CCW Pulse and direction DA B Electronic gear A B multiple available 1 000 to 5 242 880 count rev scr Photo coupler input Common available 1 7 input ports 24 V input voltage Control input Emergency stop Alarm clear Over travel limit Servo ON Program operation start Stop zu P Internal program FY channel switching 0 to 7 Jog Jog direction Hold Velocity override Integration OFF Home return start and Home position limit Signal format DA B Z line drive Free resolution setting to DA B available Resolution of BA B Shipping set 20 480 count rev Quadrupled 81 920 count rev Position feedback signal e Maximum 1 310 720 count rev Quadrupled 5 242 880 Count rev The maximum signal frequency is limited to 781 kHz and thus the setting of resolution limits the maximum revolution speed Maximum speed s 1 781 kHz Resolution of PA or B Output Resolution of Z 80 count rev signal Photo coupler output Common available 7 output ports Maximum switching capacity 24 VDC 50 mA Driver unit ready Warning Over travel limit detection direction Servo state Busy In position Target Control output proximity Ss oe ae Targ
15. nd corrosive gas e SI Unit System 1N 0 102 kgf 1Nem 0 102 kgfem 1 This accuracy is guaranteed at the temperature of 25 5 C 2 The use condition must clear the recommended moment load and the maximum radial load of 300 N 3 The cable length of PN2012 becomes it up to 8 m I Caution Axial load Fa and Moment load M shall be less than the limits specified in the above table Fig 5 1 Loads applied to a Motor gy To l i ul ST i Wt 1 When F is an external force Axial load Fa F Fo Moment load M 0 2 When F is an external force e Axial load Fa F Fo e Moment load M F x L 3 When F is an external vertical load e Radial force F F Fo e Moment load M Fx L A Fox I A Table 5 2 Dimension A distance between the bearing and the rotor Motor reference number M PN2012KN201 M PN3045KNO01 M PN4135KNO01 M PN4180KNO01 A mm 16 7 33 8 54 2 54 2 6 External Dimensions 6 1 PN Series Megatorque Motors A Caution Bending radius of the outgoing lines of Motor cable 27 and resolver cable 27 shall be R30 mm or less A Caution Do not use outgoing lines of Motor cable and Resolver cable as a part of the flexible cable ix Caution Do not apply any stress tension or vibration to the connecting position of the
16. ndexing operation a position command shall be 360 degrees or less while the maximum speed for continual rotation must be 0 5 sec or less However there may be a possibility to exceed the above limits in some cases Please consult NSK when you require a close investigation on the limits 0 For the PN4180 Motor be sure to stop the Motor for 20 minutes or longer when you stop it by the dynamic brake AN Caution When the Motor is continually accelerating a high inertial load with high acceleration the system constantly outouts a high torque exceeding the rated torque and thus likely to activate the warning A3 Software thermal In such a case take a remedy to decrease the load inertia or to lower the speed 2 Reference Number and Coding 2 1 PN Series Megatorque Motor Fig 2 1 PN Motor M PN 2 012 K N 201 Megatorque Motor PN Series Design number Motor size code KN Standard Motor Notor maximum troque N m 2 2 EDC Driver Unit for PN Series Megatorque Motor Fig 2 3 EDC Driver Unit for PN2012 type Motor M EDC PN2012 A B 5 02 01 Default Not bundled with connectors fixing brackets and a manual EDC Driver Unit 01 Bundled with connectors fixing Motor model brackets and a Japanese manual 02 Bundled with connectors fixing brackets and an English manual Power voltage A 200 to 230 VAC single phase C 100 to 115 VAC single phase Position sensor B Absolute position
17. or less No condensation Vibration resistance 4 9 m s a Regeneration Optional dump resistor available when the regeneration current is beyond the capacity of built in resistor Built in M E014DCKR1 100 M E014DCKR1 101 Connect to R R SE and SE Never short circuit them function Dynamic brake Functions at the state of Power off Servo off and Warning The command KB terminates the dynamic brake y function Refer to 9 2 Glossary of Command and parameter Compatible UL UL508C safety LVD EN50178 regulation CE Marking MEMC EMI ENSSO11EMS EN61000 6 2 RS 232C CN1 D sub 9 pins Standard half pitch connector 50 pins Control CZ CC Link compatible Half pitch 10 pins Position CN3 Half pitch connector 14 pins sensor Pullers Motor Optional i i dump resistor CN4 Plastic connector UL and CE qualified Coan CN5 Plastic connector UL and CE qualified power CC Link CN6 Plastic connector 5 pins CC Link compatible 1 3 CC Link compatible 2 0 1 These functions become effective by changing some functional allocation of control Input Output ay oe 8 Installation 8 1 Environmental Conditions of Motor e Use the Motor in the indoor conditions free from dust and corrosive gas e The operating ambient temperature of the Motor shall be 0 to 40 C e The PN type Megatorque Motors are neither dust proof nor waterproof Do not expose the Motor to water or oil from any source It is essential to securely fix the Mot
18. or to a mounting base of which rigidity is sufficient enough Otherwise mechanical resonance may occur Warning When fixing the Motor use bolt holes on its bottom e The flatness of the mounting surface for the Motor shall be 0 02 mm or less The Motor can be mounted vertically or horizontally PA Caution Do not connect the outgoing lines of the Motor cable and resolver cable of the PN2012 type Motor to a moving part The bending radius of the outgoing lines shall be 30 mm or less 8 2 Coupling a Load to the Motor AN Warning Fix the load using the bolt holes on the rotor surface Be sure to fasten the bolts firmly The table bellow shows the tightening torque of bolt and thread depth for each Motor type Motor type PN2012 PN3045 PN4135 PN4180 Tightening torque N m 5 3 to 6 5 20 or less 20 or less Thread depth mm 10to11 5 10to 11 5 AN Caution When using the pinhole on the rotor please follow the notes below Set the tolerance of pin diameter to a lose fit Do not apply excessive load or shock to the Motor when inserting the pin to the pinhole The pinhole is simply for positioning of a load to the Motor Do not use the pinhole to support the load 8 3 Confirmation of Use Conditions e n case of the Megatorque Motor system the moment of inertia of load is extremely higher than that of the rotor The table bellow shows the allowable moment of inertia for each Motor type Table 8 1 Allowa
19. outgoing lines and a connector If not it may result in a disconnection or a loose connection Fig 6 1 PN2012 type Motor 6 MS depth PCB120 60 equal pitch Tightening torque 5 3 6 5 N m Note Screw insertion depth 5 6 5 mm Motor cable Resolver cable 145 Z 0 050 A b Motor connector AMP 1 179553 4 ae et pow y Resalver connector AMP 178803 5 Nameplate was i 47 Rotating part 250 from B Max 180 130h8 as Nameplate gt Oy AL Base Mounting Holes 4 97 Drill Thru ai Rotor Rotating part f j Material Stainless steel Al 0 050 i Fixed Part Surface treatment None id Material Cast iron Resolver cable 17 Surface treatment 26317 4 deptha 5 T Low temperature chrome plating Note Regards to inserting pin into rotor pinhole 2 4 3H depth 4 5 For the dimensions marked on extra mm margin is required for your Nameplate Set the tolerance of pin to fit the clearance of pinhole workspace due to their variations Da not apply large moment and shack when inserting pins Use the pinhole as positioning purpose only Da not use the pinhole to hold the load on rator 6 6 x1 0 depthB PCDT45 60 epual pitch homer late 0 030
20. s or a Cable longer than 4 m A 1 2 Resistance check of the resolver winding Fig A 3 Check with the Cable set Tester PN3 or PN4 PN3 or PN4 Table A 3 Checking points of the resolver with an absolute position sensor and winding resistance Cable connector Motor connector Result INC A d o AU o A4 INC A INC COM INC A INC COM INC B 2D o 9 AQ O A INC B INC COM INC B INC COM INC C 3 o 0 AG o A INC C INC COM INC C INC COM ABS A 5 o 8 BO o B 4 ABS A ABS COM ABS A ABS COM ABS B 6 o 8 BQ o B 4 ABS B ABS COM ABS B ABS COM ABS C D e 8 BG o B 4 ABS C ABS COM ABS C ABS COM Specification 1 Resistance e PN2012 7 7 1 Q PN3 and PN4 9 8 1 Q 2 Variation between each phase A B and C shall be 1 0 Qor less 1 Resistance e PSI type 8 3 1 Q e PS3 type 9 8 1 Q 2 Variation between each phase A B and C shall be 1 0 9 or less Please ask NSK for the specifications of the Motor with special winding and the Cable longer than 4 m Fig A 5 Connection of the Motor with the absolute Driver unit connector position sensor Reference onl Motor connecter Incremental PC INC common common resolver ABS A ABS B PA ABS C LOL B PC ABS common common Absolute resolver FG shielded wire A 2
21. sensor Design serial number 02 standard Function code 5 Standard specification C CC Link Optioanl Fig 2 4 EDC Driver Unit for PN3045 types Motor M EDC PN3045 AB 5 02 01 01 Bundled with connectors fixing brackets and a Japanese EDC Driver Unit 02 Bundled with connectors fixing Motor type brackets and an English manual Power voltage A 200 to 230 VAC single phase Design serial number 02 standard C 100 to 115 VAC single phase Function code 5 Standard specification Position sensor B Absolute position sensor C CC Link Optioanl Fig 2 5 EDC Driver Unit for PN4135 and PN4180 types Motor M EDC PN4135 A B 5 02 01 01 Bundled with connectors fixing brackets and a Japanese EDC Driver Unit 02 Bundled with connectors fixing Motor type brackets and an English manual Power voltage A 200 to 230 VAC single phase Design serial number 02 standard Function code 5 Standard specification Position sensor B Absolute position sensor C CC Link Optioanl 2 3 Cable Set Fig 2 6 Reference number coding of Cable Set M C 004 SCP 03 Cable Set for Design number Megaorque Motor 03 Fixed uset ype Example 002 13 Flexible type 004 0157 Cable set for EDC Driver Unit XThe combination with PN2012 becomes it up to 8 m incable length 2 4 Handy Terminal Fig 2 7 Reference number coding of Handy terminal M FHT 21 Handy Term
22. shock when inserting pins Use the pinhole as positioning purpose only Do not use the pinhole to hald the load on rotor 1 Note For the dimensions marked an extra 3m margin is required for your workspace due to their variations 6 2 Driver Unit Fig 6 5 EDC Driver Unit for PN2012 type Motor co tienal Part CN3 position sen i IANA 148 back mounting pitek 160 6 3 Fig 6 7 EDC Driver Unit for PN3045 PN4135 and PN4180 Meqgatorque Motors 60 tional Part 5 30 i E YF CN3 position sensor Mk seur o il IANA 148 back mounting pitch 180 front moning pitch 6 4 7 Driver Unit Specifications Table 7 1 EDC Driver Unit PN2012 PN3045 PN4135 PN4180 Output Rated output Arms 1 2 4 5 4 5 4 5 current Maximum output Arms 6 5 14 9 14 9 14 9 Rated capacity kVA 0 1 0 5 0 9 1 Power Max capacity kVA 2 1 4 4 5 0 5 1 input Control power source Single phase 100 t0 115 VAG Single phase 200 to 230 VAC Main power source Single ph se 200 to 200 VAC Fluctuation of power voltage 10 Fluctuation of voltage 10 or less Position sensor resolution count rev Maximum velocity s 2 621 440 2 3 Positioning operation mode Program operat
23. t None Namep Resolver Connector 40 015 Fixed Part a 2 depth8 Motor Connector hiatertalsCast ian Namep late Regards to inserting pin into rotor pinhole 2 48H7 depth amp Surface treatment Set the tolerance of pin to fit the clearance of pinhole Low temperature chrome plating Do not apply large moment and shock when inserting pins Use the pinhole as positioning purpose only Da not use the pinhole to hold the load on rotor Note For the dimensions marked an extra 3m margin is required for your workspace due to their variations Fig 6 4 PN4180 type Motor 6 M8x1 25 depth12 2 08 H7 10 99 depths FED 180760 equal pitch m 0 030 Namep late 7 w353 Min4 5 Area of 0205h8 7 4 E XR 140 a 0 072 0 04 X 235 0274 2205 he 0161 H9 150 H7 Rotor Rotating part Material Aluminium Surface treatment Nong 70 050 Nomep late Base Mounting Holes 4 012Dril1 thru 47 Resolver Connector Fixed Part 2 08H7 9 99 depths Motor Connector Material Cast iron TOU 5 Surface treatment Namep late Regards to inserting pin into rotor pinhole 2 48H7 depth8 Low temperature chrome plating Set the tolerance of pin to fit the clearance of pinhole Do not apply large moment and
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