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1. Figure 4 6 YB2 type 10 L 20 linear guide length yp 10 73 5 L st stroke length Je 245 H3 Urethane rubber 155 e 45 155 45 Stopper 1354 L aa Pe Li y 5 i EE I y ie M m Q ji E H it al Y it e if 2 H yo o ol g amp 8 H amp 8 1 H 2 E ri e M oj s N ii BP g EA H 3 gt o i 7 al 2 t iz a 2 5 3 2 Slider mounting holes 6 M8 x 1 25 x 16 g 10 40 _ 23 Cable length Lst 2 500 mm Base mounting holes 010 i drill thru countersink 915 Slider il 8 6 deep ji 2 i s 1 Resolver Cable JJ Motor Cable T NSK linear guide nee ae j Be CT j Hh i Unit mm c H pum MI SE Motor Model No of base E Mess i DE Number N mounting holes st kg i 120 ML YB21048001 3 2x4 205 480 24 60 120P x N 120N 60 ML YB21060001 4 2x5 325 600 27 5 as ML YB21084001 6 2x7 565 840 34 5 4 L of MLYB21120001 9 2x1
2. Figure 4 4 YA2 type 10 L 20 linear guide length _ 10 64 i L st stroke length 245 AARNE i35 i25 33 179 J 33 Urethane rubber rs Stopper 105 4 Loi TEN Y H H Tt i H e e H e p H g x iH E x8 Qe a H T o if e A 5 A N Ez i da ouk Hu i i it 4o in 6 3 ii PA amp ht eS n x Ko D 2 B y 3 ad Slid ting holes 4 M6 x 1 0 x 12 40 ider mounting holes x x 12 14 Cable length Lst 2 500 mm Base mounting holes 96 5 drill thru countersink 910 5 i a 6 5 deep Slider VA iL Z I Resolver Cable H i Motor Cable 2 1 NSK linear guide Resolver Cable 26 4 i ji Motor Cable 26 K 120 Us 60 l 120P x N 120N 60 Unit mm 4 L 4 Motor Model No of base Mess Cable guide amp sensor mounting holes Number N mounting holes Lst L kg NMS O56 ML YA21048001 3 2x4 205 480 12 ML YA21060001 4 2x5 325 600 14 ML YA21084001 6 2x7 565 840 20 ML YA21120001 9 2x10 925 1200 25 5 ML YA21156001 12 2x18 1285 1560 31 ML YA21204001 16 2x17 1765 2040 39 Figure 4 5 YB1 type 10 L 20 linear guide length yp 10 73 5 L st stroke length 140 ja i m es E MIN Urethane rubber 195 4 gt lt gt lt Stopper 13 5 e SERI T em st D NN g 4 H FANE WD E H it H m a
3. 200Hz 5ms 8 16 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 Driver Unit power is turned on and its DRDY output circuit becomes closed making SVON input ON should make motor servo on The position error counter will be cleared when SVON input is OFF When SVON input is ON the MO command results in servo off The SV or MS command will cancel this MO command effect Figure 9 1 Power supply CPU initialize 2 sec approx DRDY output SVON input Motor servo 30ms max 5ms max Invalid RS 232C command Take the following precaution when turning ON OFF the main power supply and the control power supply separately o 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 o 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 ON supply 1sec or more ON Main power s
4. Figure A 6 motor only Connector Lock Tester Connector 2 02 CD C9 View from A Table A 6 Pins to be checked Result Table A 7 Specification of insulation resistance common to all motors Specification With cable 1MW or over Motor only 2MW or over 4 4 Appearance Motor and Cable set Check for damages on the motor Check damages on shield of the cable A 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 3 Initializing Driver Unit When troubleshooting or replacing Motor or Driver Unit initializing Driver Unit may be necessary When initializing Driver Unit follow procedures described hereafter Use Handy Terminal FHT11 for inputting command Procedures Figure A 7 1 Note down parameter settings and channel programs 2 Initialize the Driver Unit with SI command 3 Input the parameters and programms again Explanations 1 Read out parameter settings and channel programs and note down them Especially PA value is important 1 Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit and turn on the power Y 2 Monitor the parameters with TSO command Y 3 After monitoring turn the power
5. A 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 After replacing the compensation ROM initialize new Driver Unit 1 Q 3 4 Connect Handy Terminal FHT11 to CN1 connector Turn on the control power only Control power input ports are indicated as CONT on the terminal block 9 If the main and control power can not be turned on and off separately disconnect CN2 connector If CN2 connector is not disconnected the parameters can not be input properly and the Motor may run away Make sure that CN2 connector is disconnected When control power is turned on Handy Terminal displays NSK MEGATHRUST co 66 After the display shows a colon input EBD CI ES CI CPP Cu godoni Initialization will take about 30 seconds After the display shows a colon log in all parameters and channel program referring the recorded value and settings A 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Parameter Program Setting List Reference No S N Parameter List e A blank part remains the shipping set Date Setting Parameter Parameter Parameter Your setting PG D rae VG VI VM LG TL FO FP FS NP NS DBP ILV FF FC CO IN IS FW VO Setting deiffers with Motor size
6. 7 3 7 5 Error 7 3 7 6 Readout Command 7 4 Trial Running and Adjustment 8 1 8 1 Adjustment Sequence 8 1 8 2 Automatic Tuning Adjustment Level 1 8 2 8 2 1 Preparations 8 2 8 2 2 Initialize Servo Parameters 8 4 8 2 3 Execute Automatic Tuning Adjustment Level 1 8 5 8 2 3 1 When the load weight is known 8 5 8 2 3 2 When the load weight is not known 8 5 8 2 4 Trial Running Adjustment Level 1 8 7 8 2 5 Minor Servo Gain Adjustment Adjustment Level 2 8 9 8 3 Manual Adjustment 8 11 8 3 1 Precautions 8 11 8 3 2 Adjustment of the Velocity Gain VG 8 11 8 3 3 Adjustment of Velocity Integrator Frequency 8 13 8 4 Setting Filters Adjustment Level 2 8 15 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 Position Error Counter Clear Input 9 3 9 1 4 Overtravel
7. 5 24 5 4 2 CN4 Signal List 5 24 5 5 TB Terminal Block for Power Supply 5 25 5 5 1 Terminal List 5 25 5 5 2 Wiring Diagram TB 5 25 Installation 6 1 6 1 Unpacking and Inspection 6 1 6 2 Motor and Driver Unit Combination 6 2 6 3 Motor Mounting 6 3 6 3 1 Mounting Location 6 3 6 3 2 Mounting 6 3 6 4 Driver Unit Mounting 6 4 6 4 1 Connecting Power 6 5 6 4 2 Ground Connection and Wiring 6 7 6 5 Connecting Motor and Driver Unit 6 8 6 6 Power On and Servo On 6 9 6 6 1 Precautions 6 9 6 6 2 Turning Power On 6 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Handy Terminal Communication 7 1 7 1 When Power is Turned ON 7 1 7 2 Command Entry 7 2 7 3 Password 7 2 7 4 Cancelling Command
8. 12 4 AT Automatic Tuning 12 4 AX Axis Select 12 5 AZ Absolute Zero Position Set 12 5 BM Backspace Mode 12 5 CA Channel Acceleration 12 6 CC Clear Channel 12 6 CH Channel Select 12 6 CL Clear Alarm 12 6 CM Communication Mode 12 7 CO Position Error Counter Over Limit 12 7 CR Circular Resolution 12 7 CV Channel Velocity 12 8 DBP Dead Band 12 8 DI Direction Inversion 12 8 FC Friction Compensation 12 9 FD Feed Back Direction Mode 12 9 FF Feed Forward Gain 12 9 FO Low pass Filter OFF Velocity 12 10 FP Low pass Filter Primary 12 10 FR Feed Back Signal Resolution 12 11 FS Low pass Filter Secondary 12 11 FW FIN Width 12 12 FZ Feedback Phase Z Configuration 12 12 HA Home Return Acceleration 12 12 HD Home Return Direction 12
9. Table 9 5 Meaning of display data Display 1 Display 0 Input port Output port Close Figure 9 12 TY ENT B ma TY3 AB ENT ABXIXOXX11 The all input ports are set to A contact I01 RP ENT Input EMST OTP OTM 01000011 0010 Outputs DRDY open OTP closed IPOS closed Input to exit the display mode 9 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 3 Reading the Present Position Reading the position scale live value in the units of pulse i The position scale value is displayed continuously in the units of pulse Moving the Motor s slider changes the value on the display Lr CP 23 L1 RIL ENT gt TP2 RP kkkkkkkk ii Press the key to end the display TP2 RP kkkkkkkk 9 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 To Have More Advanced Operation 9 2 1 Position Scale The ESA13 Driver Unit has a position scale for positioning and overtravel limit 9 2 1 1 Resolution The Motor resolver has teeth for detecting its position and each tooth whose pitch is 4 096 mm is digitally divided into 4096 In other words the resolution of Motor position detection is 1 micrometer per pulse 9 2 1 2 Direction of Position Scale x Caution For your safety the direction of the ha
10. 15 4 13 3 Periodical Replacement of Parts 13 3 15 2 3 Command Trouble 15 6 13 3 1 Motor 13 3 15 2 4 Terminal Trouble 15 10 13 3 2 Driver Unit 13 3 i153 Sorina 13 3 Appendix 13 5 Warranty Period and Covering Range 13 4 Appendix 1 Verify Input Output Signal A 1 13 5 1 Warranty Period 13 4 Appendix 2 How to Check Motor Condition A 3 13 5 2 Range of Warranty 13 4 Appendix 3 Initializing Driver Unit A 6 13 5 3 IMMuUnNIt ES 13 4 Appendix 4 How to replace ESA13 Driver Unit A 8 13 5 4 Service Fee 13 4 Parameter Program Setting List A 15 14 Alarms 14 1 14 1 Identifying Alarms 14 1 14 1 1 Using LED 14 1 14 1 2 Using TA Command 14 2 14 1 3 Alarm List 14 3 14 2 Description of Alarm 14 4 14 2 1 Normal State 14 4 14 2 2 Alarms Related to Power Amplifier
11. 12 19 Notch Filter Primary primary notch filter frequency 12 19 Notch Filter Secondary secondary notch filter frequency 12 20 Neglect Width 12 20 Sequence Option Edit 12 20 Origin Set 12 21 Overload Limit 12 21 Origin Setting Mode 12 21 Overtravel Limit Switch Position 12 22 Overtravel Limit Switch Position 12 22 Phase Adjust 12 22 Pulse Command 12 22 Position Gain 12 23 Program Home Return 12 23 Rated Current Software Thermal 12 23 Factory Use Only 12 23 Resolver Resolution 12 24 Serial Error 12 24 Servo Gain 12 24 Set Initial Parameters 12 25 Servo On Mode 12 25 Start Program 12 25 Servo on 12 25 Tell Alarm Status 12 26 Tell Channel Program 12 27 Tell Position Error Counter 12 27 Torque L
12. 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 control power and main power on terminal block of Driver Unit front panel with tester Both control power and main power supplied Turn on power Connect Handy Terminal Communication enable Replace Driver Unit 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 proper Alarm is on after the power is turned on Refer to 14 2 Description of Alarm Input servo on command S v few Connect Handy Terminal and execute 101 command Lt JLo le Is SVON signal is input Does the display show 1 on the lefthand side Turn on SVON input Io1 1000000 Set TL100 TLIO lo 7 07 9 Adjust parameters Refer to 8 Trial and Adjustment Check Motor and resolver wirings Refer to Appendix 2 How to Check Motor Condition Is Motor normal Replace Motor Contact NSK representat
13. Confirm a changed channel AR9000 Sequence code is changed from amp to CV3000 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 Change program settings Display program gH H TC Deleting program C Function Typing C H m ENT declares the channel to be changed m desired channel number The display shows the present program and waits for the changes The prompt is in state The last input program or data always becomes valid e Typing T C m ENT displays the program in desired channel m desired channel number When checking the program in all channels type Mi UAW Ee e Type key to scroll to next channel e Typing C C m ENT deletes the program in the desired channel m desired channel number 11 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 3 Inputting a Program Program setting i Declare a channel to be programmed When a channel is selected the programmed contents is display Then prompt appears to wait for an instruction Le JL a a Jo en ARIG00 2 CV50 CA0 1 ii Program a command ENESEDICH CM CU as 1 0
14. 9 20 9 2 5 Dead Band Setting DBP 9 21 9 3 RS 232C Communication 9 22 9 3 1 Communication Specification 9 22 9 3 2 Communication Procedure 9 23 9 3 2 1 When Power is Turned ON 9 23 9 3 2 2 Command Entry 9 24 9 3 2 3 Password 9 25 9 3 2 4 Cancelling Command 9 26 9 3 2 5 Error 9 27 9 3 2 6 Readout Command 9 29 9 3 3 Daisy Chain Communication 9 31 9 3 3 1 Procedure to Set Daisy chain Communication 9 31 9 3 3 2 Initial Setting 9 32 9 3 3 3 Interfacing 9 32 9 3 3 4 Power On 9 34 9 3 3 5 Operation 9 35 10 Positioning 10 1 10 1 Preparation 10 1 10 1 1 Wiring Check 10 1 10 1 2 Procedure 10 1 10 2 Home Return 10 2 10 2 1 Home Return Parameter List 10 4 10 2 2 Adjusting the Home Limit Switch and Home Offset Value 10 4 10 2 3 Programming the Home Return Oper
15. Alphabetic keys C o O u F3 p Special code keys SHIFT Shift key e ESC Escape key not used CTRL Control key not used BS Back space key SP Space key ENT Enter key N Connector socket Connector JAE DE C1 J6 JAE DE 9P N g L4 3 NS E CM1 LO J To ESA Driver es Unit Connector 19 Unit mm Cable length 3000 Note 1 SHIFT Press the code key while holding SHIFT key Small characters 2 When correcting logged in mistakes press key 3 Press key to have space between characters 4 Press key at the end of the command or the parameter setting 4 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 3 2 Specifications Table 4 10 Specification Power source valtage DC 5V 5 Power consumption 200 mW Temperature e Operating 0 50 C Environment e Storage 10 65 C Humidity 35 85 Non condensing Data code ASCII code Communication speed 9600 b p s Data bit 8 bit RS 232C Interface Stop bit 2 bit Start bit 1 bit Parity check None Mass 250g exclude cable 4 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 4 12 Artisan Technology Group
16. Also if TS or AX command is input when daisy chain is not active an error message will be given N Caution Do not select any unit that is not connected Otherwise operation may hang up To return to the normal state press the BS key first then the number of a connected Driver Unit AZ Absolute Zero Position Set Format AZ If the AZ command is executed with the Motor stationary at any position the position is adopted as user absolute home position BM Backspace Mode Format BM data Data Oor1 Shipping set 1 Default 0 BM changes the function of the BS key BMO A press of the key cancels an entered character string BM1 A press of the key deletes a character TS or BM command reports the current setting 12 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CA Channel Acceleration Format CA data Data 0 05 2 50 G Default 0 This command is used to specify the acceleration of a given channel of the Programmable Indexer The CA 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 to be entered If it is entered in the normal stand by state an error occurs If no setting is made in a channel or 0 is specified the acceleration specified with an MA
17. Set the I O type to TY3 SVON EMST RUN HLS PRG3 PRG2 OTP OTM Set EMST OTP and OTM to B contact and the rest to A contact i Input the password The password acknowledgment message appears on the display OSCE neos Gio in ii Input the IF command to display the present I O type and the polarity of the input ports Then the data input prompt appears to wait for the input onna ABXOXOXXXX ii Set the I O type to type 3 TY 3 The message indicates that the polarity of all the input ports is set to A contact MEE Agora sp BXOXUXXZX iv Set EMST second bit following AB OTM seventh bit and OTP eighth bit to 1 and the remaining bits to X no change ABCC E3 NN ic XJ x 1 J 1 ev ABX1XXXX11 Explanation The IF command is the auxiliary command used to set the TY and AB parameters at once The password is necessary before inputting the IF command 5 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 6 CN2 Electrical Specifications 5 2 6 1 General Input Signal Applied Inputs SVON EMST PRG0 3 RUN HOS HLS JOG DIR OTP OTM CLR Table 5 13 Item Specification Input voltage 24 VDC 10 Input impedance 3 3 KQ Maximum current 10 mA per input Figure 5 4 Driver Unit side The polarity of DC24V external supply may be reve
18. 9 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 2 Digital Filter N Caution Inserting multiple filters may cause phase inversion in some systems resulting in unstable operation 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 digital filter setting Parameters FP FS NP NS Sets filter frequency in the velocity loop The filters are useful for eliminating audible noise and vibration due to mechanical resonances Table 9 7 Parameter function Parameter Shipping set EP 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 Refer to Chapter 12 Command and Parameter for more details Figure 9 16 Digital filter block diagram Primary Secondary Velocity loop Velocity loop low pass low pass Primary Secondary gain integrator filter filter notch filter notch filter Velocity command Velocity data 9 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 3 Feed Forward Compensation Parameter FF sets feed forward compensation gain The password is necessary when setting Shipping set of FF is FFO The feed forward compensat
19. Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com LG Lower Gain Format LG data Data range 0 100 96 Shipping set 50 Default Not omissible AN Caution Factory use only Do not change the setting LO Load Inertia Format LO data Data range 0 0 500 0 kg Shipping set 0 Default 0 LO sets actual load inertia automatically when AT command automatic tuning is executed TS or LO command reads out the current setting Data of PG VG VI and MA parameters will be automatically reset when LO is changed Change of PG and VI data will clear LO data LR Low Torque Ripple Format LR data Data range 0 1 Shipping set 0 Default 0 Sets force specification 0 Standard 1 Low force ripple the maximum Motor force will be lowered TS or LR command reports the current setting MA Move Acceleration Format MA data Data 0 01 2 50 G Shipping set 0 05 Default Not omissible Sets the rotational acceleration of the RS 232C communication positioning TS or MA command reports the current setting MA AJ command gets into adjusting mode 12 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MI Read Motor ID Format MI MI indicates reference number of the system ROM and th
20. Setting deiffers with each Motor A 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Channel Program e For channels not in use leave in blank Data CH Program Command E ees oa Command 0 CV 16 32 CV CA CA Command Command Command Command 1 CV 33 49 CV CA CA Command Command Command Command 2 CV 18 34 50 CV CA CA Command Command Command Command 3 CV 19 CV CA CA Command E Command re Command t Command 4 CV 36 CV CA CA Command Command Command Command 5 CV 53 CV CA CA Command Command Command Command 6 CV 38 CV CA CA Command Command Command Command 7 CV 39 CV CA CA Command Command Command Command 8 CV 40 56 CV CA CA Command Command Command Command 9 CV CV CA CA Command Command Command Command 10 CV 42 58 CV CA CA Command Command Command Command 11 CV 43 59 CV CA CA Command Command Command Command 12 OV 44 CV CA CA Command Command Command Command 13 CV 61 CV CA CA Command Command Command Command 14 CV 46 62 CV CA CA Command Command Command Command 15 CV ae 63 CV CA CA A 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com World wide Manufacturing and Marketing Organizat
21. OE changes the sequence code of a program already specified in a channel If this command is entered under the condition where a channel whose sequence code shall be changed is selected with a CH command the Driver Unit outputs and the system waits for a command to be entered the sequence code of the program already specified in the channel is changed into data If OE is entered in the normal stand by state an error occurs Data indicates the sequence code Adding the sequence code enables to execute the positioning of next channel without selecting channel externally After the positioning is over IPOS signal is output and execute next channel s program amp After the positioning is over output IPOS signal and stops Then execute the next channel s program when RUN command is input 12 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com OG Origin Set Format OG N Caution 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 Do not change the OL setting OL is properly set for each System If it needs to be changed contact NSK f 0 is specified THERMAL OFF is displayed and this function is deactivated TS or OL command reports the current setting
22. The motor starts the cycles as soon as OK is logged in Firstly the Motor moves to PLS direction For changing moving stroke while prompt is displayed input desired IR then input OK Example for moving stroke 100 mm EBLSE CU CH CUN C CPP 0 07 enr OE 8 When the trial running is completed type MJ Se gt to stop the Motor If the Motor is operating satisfactrily complete the trial running When the Motor operation is not stable try further adjustment in chapter 8 2 5 and 8 3 f you want to get out from the demonstration program press the enter key after 8 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 5 Minor Servo Gain Adjustment Adjustment Level 2 N Danger Confirm that the work or Motor does not hit any obstacle when the Motor makes a motion Always stay in safe position o This section describes minor servo gain adjustment as the next step when the Motor operation is not satisfactory with the automatic tuning o 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 starts to vibrate The same demonstration program in chapter 8 2 4 is used as the example for adjusting SG value Execute same procedure a j in chapter 8 2 4 and keep
23. This section is to introduce the Megathrust Motor System in general Some part of explanations are not applicable to all Driver Unit and or Motors Refer to respective specifications when ordering 1 1 Overview The Megathrust 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 Megathrust Motor System incorporates them all into two units the Motor and the Driver Unit Motor The Motor consists of a high thrust force brushless actuator a high resolution brushless resolver and heavy duty precision NSK Linear Guides The high thrust force actuator has a simple structure while the built in resolver usually makes feedback components such as encoders unnecessary Finally the heavy duty Linear Guides 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 force 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 Hig
24. Guaranteed 888 88 SOURCE www artisantg com 2 Resistance check of resolver winding Figure A 3 With the cable seet 1514131211109 Motor cable o eeeeeeec o 87654321 I E Tester Resolver cable Figure A 4 Motor only Connector Lock Tester Connector 2 02 CD C9 9 View from A Table A 4 Pin number to be checked Cable connector Motor connector Result 8 pin 4 pin 1 pin 2 pin Phase A REA COM REA COM 7 pin gt 4 pin 6 pin 2 pin Phase B REB COM REB COM 15 pin 4 pin 11 pin lt 2 pin Phase REC COM REC COM Table A 5 Specification Motor number Motor winding resistance Q Tolerance YZ1 1 Allowance 20 YA1 YA2 34 2 Variations between each phase 1Q or less YB1 YB2 YB3 f your motor is a specially ordered one or the cable is longer than 4m contact NSK for specification A 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 3 Insulation resistance of Motor winding N Caution Disconnect Driver Unit from the Motor when conducting megger test N Caution Do not apply more than DC 500 V Figure A 5 With cable set Connector lock 3 1 p oe Resolver cable Motor cable
25. MNS OTP gt OTM ds cs Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 1 Home Return Parameter List Table 10 2 Parameter list Parameter function Eo esee dnt Data input range Shipping c m KCN set Home Return Acceleration 0 01 5 00 HAO0 05 Home Return Velocit Lm sss tci HV100 0 Home Return Near Zero Velocity HZ5 0 Home Position Offset o 8995000 30 00099 HOO Home Return Direction HD pulse 0 PLS I MNS HDI Home Return Mode OS L345 OS Automatic Home Return PH Onvaid l valid PHO 10 2 2 Adjusting the Home Limit Switch and Home Offset Value To accurately perform the home return the home position sensor sensor and dog must be adjusted properly The resolver has teeth for detecting its position and the rising edge of HLS is to define a tooth To make precise detection of eZ 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 position so that it can be adjusted 42 048 mm Take the following steps to adjust the position of the home limit switch Procedure Adjusting the home limit switch position 1 Loosely mount the HLS sensor home limit switch slightly preceding a point to be the origin 2 Check the wiring of the HLS sensor Execute the IO command and check
26. OS Origin Setting Mode Format OS data Data 1 3 4 5 Shipping set 4 Default Not omissible 9 Sets the Home return mode OS1 Completes Home return at where HLS input goes OFF after entering HLS ON range OS3 Completes Home 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 Home Return for more details The home return setting can be checked with TS or OS command 12 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com id Overtravel Limit Switch Position OTM Format OTP data OTM data Data 99 999 999 99 999 999 pulse Shipping set OTPO OTMO 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 4 2 Software Overtravel Limit TS or OTP 0TM command reports the current setting PA Phase Adjust Format PA data Data
27. SM Servo On Mode Shipping set 1 JN Caution SM is properly set at the factory Do not change the setting SP Start Program Format SP data Data range 0 15 or AJ Adjust mode Default 0 Execute Programmable Indexer of a channel which number is specified in Y data 2 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 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TA Tell Alarm Status Format TA Data None HL CL Default None TA Reports alarms currently given TA HL 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 There will be no indication when no alarm is reported Indication below is displayed when the alarm is reported 7 segments LED Terminal Display Memory error EEPROM error E2 gt EEPROM Error System error E7 gt System Error Excess Position error Fl Excess Position Error Software Over Travel Limit F2 gt Software Over Travel Hardware Over Travel Limit F3 gt Hardware Over Travel Emergency Stop F4 gt Emerg
28. 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 4 3 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 force 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 obeys 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 repeat
29. is not entered the read out at the moment will be displayed for only once A 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 2 How to Check Motor Condition Check resistance and insulation resistance of Motor winding in order to confirm Motor condition Firstly examine the Motor with the cable set If something is wrong then examine the Motor itself 1 Resistance check of Motor winding Figure A 1 With the cable set Connector lock a Motor cable IF zi WT Am cable Figure A 2 Motor only Connector Lock Tester Connector QOQ Co View from A Table A 2 Pin number to be checked Cable connector Motor connector Result 1 pin 2 pin 5 pin 4 pin Phase A A7 A A A 3 pin 4 pin 10 pin 9 pin Phase B B B B B Phase C 5 pin gt 6 pin 15 pin e 14 pin C C C C Table A 3 Specification Motor number Tolerance YZ1 100VAC 1 Allowance 30 YZ1 200VAC 2 Variations between each phase IQ or less YA eA B oC YA2 YB1 YB2 YB3 f your motor is a specially ordered one or the cable is longer than 4m contact NSK for specification A 3 Artisan Technology Group Quality Instrumentation
30. value changed by pressing plus or minus key iv Response index number The lower number denotes better response v Positioning index number The lower number denotes quicker positioning Note Changing VG step iii 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 11 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 ore SHIFT EB en HL TENT STEP1 _VG83 As the response index decreases the movement of the Motor is getting crisply Keep pressing the plus key eventually the Motor starts hunting and stops Pressing Burr 7 sss EN E 1 _VG5 Keep pressing the minus key until the Motor stops hunting and starts moving ACH vus 1 ENT 253 145 STEPO 1 VG4 Set the VG value to 80 of displayed VG when a hunting is stopped 4 x 0 8 3 2 Press the space key to change the resolution of VG setting value from 1 0 to 0 1 sp 1 ENT 263 156 STEPO 1 _ve4 Press the minus key till VG value reaches to 3 2 CIC vus 1
31. 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 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 yop aed Contact us 888 88 SOURCE sales artisantg com www artisantg com NSK MEGATHRUST MOTOR SYSTEM User s Manual ESA13 Driver Unit M E099SA0T2 011 NSK Ltd Document Number T20011 03 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 transpo
32. Home limit switch OTP direction overtravel limit switch OTM direction overtravel limit switch o Refer to Chapter 5 2 4 for details Zi Caution Type 1 and 2 do not have over travel limit input Set software over travel limit for off limit area Refer to 9 1 4 2 Software Overtravel Limit 5 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Setting Example Set the I O signals of Connector CN2 to Type 2 i Input the password NSK ON The password acknowledgment message appears on the display WAKL ao LO J N E ii Inputthe command to set Type 2 TY2 The message indicates that the polarity of all the input ports has been set to A contact Y 29 fen ABXOXOXXXX Refer to 5 2 4 Setting Polarity A or B contact of Input Ports for more details Table 5 6 I O and Parameter TY CN2 No 09 TY1 PRGO TY2 JOG TY3 OTP TY4 OTP n SVON EMST OTP a I x 1 2 x I 1 93 x 0 5 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 2 CN2 Pin Out The input output signals of CN2 connector are the following 5 types and the user can select one of them by setting the TY parameter This parameter is set to Type 4 before shipment Figure 5 4 Type 1 TY1 Type 2 TY2 Type 3 TY3 SVON RUN PRG3 PRG1 CWP
33. 00 NI a A co ro SB O CO O NY amp o BY Co NO gt 5 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 5 11 Type 7 Signal Name Function Output COMMON DRDY Driver Unit ready Position feedback oZ digital position data MSB 1 2 3 4 5 CHB Output Position feedback B 6 7 8 9 Position feedback A Minus direction pulse Plus direction pulse OTP Input t direction overtravel limit switch PLS direction Home limit switch Emergency stop IPOS Plus direction pulse 22 direction overtravel limit switch MNS direction 23 Jog direction select Positioning start Servo on The FZ parameter RS232C communication is used to select between the position feedback signal eZ and the digital position signal MSB N Caution For the Input Output signals of a special order Driver Unit refer to its specification document 5 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 4 Setting Polarity A or B contact of Input Ports Setting Example Set the polarity of the EMST emergency stop input port to B contact i Press the code key while holding down the SHIFT key SHIFT ii Input the command to read the setting of the AB parameter Check the present polarity setting in this example all the input port
34. 3 phase 200 VAC Single phase ZOU NNG a 200 VAC AA AA Noise filter Noise filter CONT 90V 240V MAIN 200V 220VAC FGND Caution Use the R S terminals when connecting single phase 200 VAC Surge current becomes larger when the R T terminals are in use In the case of 100 VAC Control power Main power Single phase 100 VAC Single phase 100 VAC Noise filter Noise filter The following are labeled on the 100 VAC system CONT 100V 110VAC MAIN 100V 110VAC Q 5 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Refer to 6 4 1 Connecting Power for the wiring precautions For the power supply cable use a heat resistant vinyl cable of 2 mm or more thick Wire the power supply cables separately from the signal cables Never bind them together or route them in the same duct To prevent external noise insert an isolation transformer and a noise filter between the power supply and the Driver Unit 5 26 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 following units 1 Megathrust Motor 2 Driver Unit CN2 mating connector and 2 fuse holders are in
35. CL setting It is properly set before shipment 14 2 3 3 Velocity Error Over Output DRDY Open TA A4 Run away LED A4 Motor Condition Servo OFF Table 14 9 Cause and Remedy Run away Cause 1 Velocity 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 Remedy e Clear the alarm e Reduce setting of acceleration rate Reduce rotational speed e Tune Motor properly e Confirm PA data parameter for abnormality Replace Driver Unit Refer to Appendix 4 How to Replace ESA 13 Driver Unit 14 8 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 EO gt Memory Error LED EO Motion Condition Servo OFF Table 14 10 Cause and Remedy Memory error 1 Parameters stored in the memory have been rewritten by noise or other cause 2 Faulty PCB When the memory is not functioning after initialized Initialize the memory then reenter the parameters Refer to 12 Command and Parameter e Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit 9 Command ST initializes the memory After initializing some parameters are rese
36. Chapter 10 6 10 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 Home Return Be sure to perform the home return at all times except when user s controller is performing coordinate system control The origin cannot be determined unless the home return is performed The positioning and software overtravel limits are set in the position scale determined by the home return operation The origin of the position scale is set to the point at where the home return completes I Caution Position data disappears after the power is turned off so perform the home return each time you turn on the Driver Unit power Figure 10 2 Home Return sequence gt k 30ms min A ON SVON input OFF CR stands for the carriage return RS 232C code 0D communication command M 10ms min HOS input ON or RUN input for OFF channel with HS command programmed HLS input Motor movement Z IPOS output FW 0 IPOS output FW 0 Make the Motor Servo on SVON input on Turning the HOS input ON will start the home return 1 The Motor moves to MNS minus direction When it enters HLS Origin proximity area 2 it decelerates and stops momentarily then reveres its move direction 3 The Motor goes out HLS range once then reverses again and enters HLS area at the origin search velocity 4 It moves to the
37. Power supply voltage e Voltage variation of power source is in specification 3 e Frequency 4 e When a particular command is executed e A particular equipment is in operation 5 Occurrence under a particular operation e Same position direction e Accelerating decelerating 6 Alarm Code e Check alarm code by TA command Refer to 14 1 2 Using TA Command 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 problem fall under Power 5 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 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 15 2 4 Communication is disabled Improper characters are displayed Refer to corresponding sections in this chapter Check the condition 2 indicates what chapter to be referred then contact our sales agent
38. switch HLS input ON Off limit area ipe Maximum stroke range of the slider Off limit area 1 L lt Home return v motion Origin Off set HO Mechanical limit Mechanical limit stopper oM OTP stopper Software overtravel limit Set the Home position limit switch to MNS side so that there is no clearance between HLS input ON area and the mechanical limit stopper The slider may collide into the mechanical limit if the clearance exists Software overtracel limit must be set in both sides of Origin Refer to 9 1 4 2 Software Overtravel Limit for setting procedure The area 1 shown in Figure 10 4 requires for deceleration in Home return operation Be sure to give a substantial allowance for this area Check if the parameters related to Home return operation are OS4 and HD1 shipping set 10 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 3 Programmed Operation Positioning command can be stored to the channel of the Driver Unit Programmed operation is to execute the stored positioning program by selecting the channel via PRGO PRG3 input and RUN command Set the system to servo on SVON input ON Select the channel Input PRGO PRG3 CN2 signal By inputting RUN command ON the Motor execute stored positioning program while IPOS output is closed When FW 0 While the
39. 1 ii H la a 3 H 3E a N 1 n N ii e i M N Ju e i io _ 461 XM B i 4 a it _ Y 5 p E m 4 i i fs N us xm a Slider mounting holes 6 M8 x 1 25 x 16 Fy 3 EUR 3 I m d 2 10 L 40 23 J Cable length Lst 2 500 mm Base mounting holes 010 n drill thru countersink 915 Sl i der 1L 8 6 deep n t i Resolver Cable J Motor Cable I i j F Resolver Cable 6 T NSK linear guide Motor Cable 96 y Hh Unit mm kt it rhe ru nu Motor Model No ofbase 4 Mess wo nr Number N mounting holes ii L kg rs ______120__J ML YB11048001 3 2x4 310 480 21 60 120P x N 120N 60 ML YB11060001 4 2x5 430 600 24 5 ML YB11084001 6 2x7 670 840 31 5 ORI L JA MLYB11120001 9 2x10 1030 1200 42 Cable guide amp sensor mounting holes ML YB11156001 12 2x13 1390 1560 52 5 BENS 0528 ML YB11204001 16 2x17 1870 2040 66 5 Iw Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
40. 13 HO Home Offset 12 13 HS Home Return Start 12 13 HV Home Return Velocity 12 13 HZ Home Return Near Zero Velocity 12 14 ILV Integration Limit 12 14 IN In position 12 14 IO Input Output Monitor 12 15 IR Incremental Positioning Resolver 12 15 IS In position Stability Timer 12 16 JA Jog Acceleration 12 16 JP Jump 12 16 JV Jog Velocity 12 16 LG LO LR MA MI MM MO MS MT MV NP NS NW OE OG OL OS OTP OTM PA PC PG PH RC RI RR SE SG SI SM SP SV TA TC TE TL TP TR TS TY VG VI VM VO WD WM ZP ZV Lower Gain 12 17 Load Inertia 12 17 Low Torque Ripple 12 17 Move Acceleration 12 17 Read Motor ID 12 18 Multi line Mode 12 18 Motor Off 12 18 Motor Stop 12 19 Factory Use Only 12 19 Move Velocity
41. 24 1048 Shipping set Unique value for each System Default 0 Sets the compensation value of the resolver installation position The resolver is set to the optimum installation 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 PLS amp MNS format PC1 Pulse amp direction format PC2 eA eB input x 1 format PC3 eA eB input x 2 format PC4 eA eB input x 4 format TS or PC command reports the current setting 12 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com PG Position Gain Format PG data Data 0 001 1 000 or AJ Adjust mode Shipping set 0 1 Default Not omissible Specifies a position gain TS or PG command reports the current setting PH Program Home Return Format PH data Data 0 1 2 Shipping set 0 Default 0 Sets when the Home return shall be executed PHO Program Home return invalid PH1 Execute Home return only once when the power is turned on and the home position is not certain PH2 Execute Home return every time when the programmable indexer positioning is performed HS command saves one channel program area TC AL or PH reports the c
42. Adjustment 8 1 Adjustment Sequence Figure 8 1 Adjustment Sequence Preparation Install Motor and wire Driver Unit Y Zi Caution Make sure that the LED of the Driver Power ON Unit is indicating normal Turn control power ON and confirm that Handy Terminal display shows the message as shown below NSK MEGATHRUST MS1A00 E kkA amp k amp V E 8 2 2 Initialize Servo Parameters Initialize servo parameters Execution of automatic tuning o Automatic estimation of load enertia and automatic 8 2 3 Execute Automatic Tuning i V servo parameters setting will be executed in this stage Adjustment 82 4 Trial Running e Trial running Confirm the parameter set values obtained from automatic tuning You may refer to the setting for Level 2 and Level 3 adjustment OK Level 1 e Basic function of Automatic tuning Adjustment Adjustment Level 1 Level2 e The adjustment is completed if trial running is satisfactory Adjustment e Execute additional adjustment to the Level 1 Level 2 when trial running is not satisfactory Adjustment Execute final adjustment manually when Level 3 Level 1 and 2 are not successful 8 3 Manual Adjustment Adjustment Y Level3 Operating OK End Trial Running 8 1 Artisan Technology Group Qu
43. Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MS Motor Stop Format MS When the MS command is input during the execution of an operation the Motor abandons the instruction and stops At this time the Motor is in the servo on state The operation instruction specified before the Motor stop is cleared If the MO command is input to turn off the Motor servo inputting the MS command sets the Motor to servo on again This also clears the operation instruction executed preceding the input of the MO command MT Factory Use Only Shipping set Already set properly for every system AS Caution Do not change the setting since the parameter is properly set at the plant TS or MT command reports the current setting MV Move Velocity Format MV data Data 11 1800 mm s Shipping set 500 Default Not omissible Sets the moving 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 Shipping set 0 Default 0 NP is used to specify the frequency of the 1st stage notch filter of the velocity loop f 0 is specified the 1st stage notch filter ofthe velocity loop is deactivated In such
44. B format x x4 x2 x5 lum 12bit 1um 10bit 4um Automatic resolution switching lum 12bit 1um 10bit 4um Automatic resolution switching lum 12bit lum 10bit 4um Automatic resolution switching lum 12bit 1um 10bit 4um Automatic resolution switching lum 10 14 1800 mm s 1800 mm s 600 mm s 1800 mm s 600 mm s CR Resolver resolution Motor maximum Maximum pulse velocity freqnency 12bit lum 600 mm s 10bit 4um Automatic resolution switching 450 kpps 225 kpps 90 kpps 800 kpps 800 kpps 360 kpps 450 kpps 225 kpps 90 kpps 800 kpps 800 kpps 360 kpps 200 kpps 200 kpps 200 kpps 200 kpps 200 kpps 200 kpps 200 kpps 150 kpps 60 kpps 200 kpps 200 kpps 180 kpps 150 kpps 75 kpps 30 kpps 200 kpps 200 kpps 90 kpps Moving velocity 600 mm s 600 mm s 600 mm s 1800 mm s 1800 mm s 1800 mm s 800 mm s 1600 mm s 1800 mm s 600 mm s 600 mm s 600 mm s 1800 mm s 1800 mm s 1800 mm s 800 mm s 1600 mm s 1800 mm s 200 mm s 400 mm s 600 mm s 200 mm s 400 mm s 1000 mm s 200 mm s 400 mm s 1000 mm s 400 mm s 600 mm s 600 mm s 400 mm s 800 mm s 1800 mm s 400 mm s 800 mm s 1800 mm s 600 mm s 600 mm s 600 mm s 800 mm s 1600 mm s 1800 mm s 800 mm s 1600 mm s 1800 mm s Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 5 RS 232C Position Commands You
45. Brackets can be attached to here Heat Sink f 250V 10A CONT AC90 220V 5 y n oooo0o00000000 EX 0000000 00090000 Type O NSK Ltd WADEINJAPAN O LJ 7 6 No Serial number plate 1 7 segments LED 7 seg 6 7 Type Reference number plate 2 CN1 9 pins RS 232C serial communication 7 connector for Handy Terminal FHT11 8 TB Terminal block for power supply 3 CN2 25 pins Motor control signal Input Output 9 FUSE1 2 Fuse holder 4 Monitor pins Analog velocity monitor pins 10 CN4 Motor cable connector 5 CN3 Resolver cable connector 11 Bracket N Caution Be sure to turn off the power supply to replace the fuses 4 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 2 Specifications 4 2 2 1 General Specifications Control Mode Fully closed loop P EPI position control Position control mode Pulse train position command RS 232C serial communication command Internal program control Power supply 1 AC 200V 2
46. Default Not omissible Sets the home return near zero velocity TS or HZ command reports the current setting ILV Integration Limit Format ILV data Data 0 0 100 0 96 Shipping set 100 Provides the velocity loop integration with a limiter For the details refer to 9 2 4 Integrator Limiter 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 criterion of detecting completion of positioning If the position error counter reads a value below the IN set value the IPOS 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 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com IO Input Output Monitor Format IO data opt Data 00r 1 Opt option code RP Verifies on off closed open of the control input and output signals on CN2 The status of the inputs and outputs is indicated as 1 s or 0 s data 0 or omitted Input 0 off 1 on Output 0 open 1 close data 1 For the B contact input the meaning of 1 and 0 are reversed Option c
47. ENT 263 156 STEPO 1 VG4 Press the enter key to store the VG value ENT 263 156 STEPO 1 VG3 2 A colon will appear to comfirm the input 8 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 3 3 Adjustment of Velocity Integrator Frequency The adjustment of velocity integrator frequency VI shall be conducted after the velocity gain VG is adjusted 1 Start VI adjusting program YOO The messages are shown on the left Inputting the plus or minus key changes VI value The VI value varies with an actual load inertia and revolution speed Explanation of the messages i Key function SHIFT and Pressing key one time increases 1 resolution of VI Pressing key one time decreases 1 resolution of VI ENT Store VI value in the memory and completes the Nu ii Indicates present VI value iii Indicates VI value changed by pressing plus or minus key iv Response index number The lower number denotes better response v 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
48. Figure 3 6 1 Handy Terminal 2 Design number 3 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank page c4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Specifications 4 1 Motor Specifications 4 1 1 Y Series Motor 4 1 1 1 Name of Each Parts Figure 4 1 Slider c Motor rack Connector Linear Guides 4 1 1 2 Specifications Table 4 1 Y Motor Specifications Resolver feedback type Motor model YB3 Max Static holding force N 600 Transpotable load at 0 5G kg 10 20 40 40 80 120 Slider mass kg 2 4 6 7 10 15 S Rackbase length mm 480 310 310 205 310 205 100 p 600 430 430 325 430 325 220 2 2 840 670 460 S 1200 1030 820 o0 Sg 1180 gt 1660 Connection system Transpotable moment IP20 Internal Protection Level Operating conditions Temperature 0 50 C Humidity 20 9096 Use indoors in a dust free location Max Speed mm s 1800 Resolution um 1 Repeatability um 1 1 Models marked with v are available with a long stroke of up to 30 m by the connection Y Series Megathrust Motors can be run on either 100V 110V or 200V 220V AC SI unit System 1 N 0 102 kgf 0 225 rb 1 Nm 0 102 kgfm 0 738 ft rb 4 1 Artisan Technol
49. Limit 9 4 9 1 4 1 Hardware Overtravel Limit 9 4 9 1 4 2 Software Overtravel Limit 9 5 9 1 5 Alarm Output 9 6 9 1 6 In Position Output 9 7 9 1 6 1 Output Signal Format 9 8 9 1 6 2 Parameter IN 9 9 9 1 6 3 Parameter IS 9 9 9 1 6 4 IPOS Output for Special Occasion 9 9 9 1 7 Position Feedback Signal 9 10 9 1 8 Monitor Functions 9 11 9 1 8 1 Velocity Monitor 9 12 9 1 8 2 Monitoring the I O State 9 13 9 1 8 3 Reading the Present Position 9 14 9 2 To Have More Advanced Operation 9 15 9 2 1 Position Scale 9 15 9 2 1 1 Resolution 9 15 9 2 1 2 Direction of Position Scale 9 15 9 2 1 3 Position Scale Coordinate 9 16 9 2 1 4 Position Scale Reset 9 16 9 2 1 5 Position Readout 9 16 9 2 1 6 Position Scale Setting Example 9 17 9 2 2 Digital Filter 9 18 9 2 3 Feed Forward Compensation 9 19 9 2 4 Integrator Limiter ILV
50. Motor is performing the positioning operation the RUN input is ignored Input the command SP to execute the Programmed operation Same function as inputting RUN command ON Type SG 66 199 to execute the channel m program m channel number Figure 10 5 Programmable indexer command timing Servo on Channel select 30ms min RUN input The Motor starts indexing upon PLS or MNS detecting the rising edge of the invalid direction speed RUN input Motor movement NUR orca Moret IPOS output d di FW 0 FW valie RUN input is invalid 2s IPOS output FW 0 i RUN input is invalid When a non programmed channel is selected the program error alarm will be ON Refer to 14 Alarms 10 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 3 1 Programmable Indexer Channel Switching 1 I O type TY1 The channel to be executed is selected by combining the on and off states of the PRGO to PRG3 inputs Table 10 3 16 Channel selection PRG3 input PRG2 input PRG1 input PRGO input Selected channel No off off CHO off off off CH1 off off CH2 off CH3 off off off CH4 off CH5 off off CH6 off CH7 on off off off CH8 on CH9 on CH10 on CH11 on CH12 on CH13 on CH14 on CH15 2 I O type TY2 and TY3 The channel to be executed is selected by combining the on and off states of the PRG2
51. 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 If another RS 232C terminal is used refer to 5 2 CN2 Control I O Connector for the wiring precautions Table 5 1 Driver Unit connector Mating connector type user device side Mating connector shell type user device side Japan Aviation Electronics Industry Limited DELC JOSAF 13L6 Japan Aviation Electronics Industry Limited DE 9PF N to be prepared by the user Japan Aviation Electronics Industry Limited DE C1 J6 to be prepared by the user These connectors are not necessary when NSK Handy Terminal FHTI1 is used 5 1 1 CN1 Pin Out Figure 5 1 CN1 Pin out 5 1 2 CN1 Signal List Table 5 2 CN1 Signal List Function 1 Transmit data 2 Clear to send 3 Receive data 4 Data set ready 5 DTR Output Data terminal ready 6 Digital signal ground 7 Ready to send 8 Never connect 9 Frame ground shield 5 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 1 3 RS 232C Communication Specifications Table 5 3 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
52. RP option reading is repeated automatically To terminate automatic reading press the key TR command reads out the status at the moment TS Tell Settings Format TS data Data 0 12 Default 0 Reads the parameters The parameters to be read vary with data TSO All the following parameters TSI PG VG VI VM LG TL TS2 FO FP FS NP NS DBP ILV FF FC TS3 CO IN IS FW VO VW TS4 CR PC RR TS5 FD FZ FR TS6 PS DI OTP OTM TS7 MV MA JV JA HV HA HZ TS8 OS HD HO TS9 PA OL RC LR TS10 TY AB SM NW TS11 MM BM CM AN WM SE TS12 LO SG MT RI ZP ZV 12 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TY I O Type Format TY data Data 1 2 3 4 7 Shipping set 4 Default Not omissible Sets the input output signal type of the CN2 connector The set value can be read by the TS command or TY The input output signals of each type are shown below CN2 Input signal Output signal connector 14 pin No TY TY2 SVON EMST RUN HLS PRG3 PRG2 DIR JOG TY3 IPOS TY4 TY7 SVON EMST RUN HLS DIR JOG OTM OTP For more details refer to 5 2 1 Setting I O Type VG Velocity Gain Format VG data Data 0 1 255 0 or AJ Adjust mode Shipping set 1 0 Default Not omissible Sets the velocity loop gain VG AJ command se
53. Turning on the Jog input makes the Motor start acceleration and moving The Motor keeps moving 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 moves to PLS direction When the DIR input is on it moves to MNS direction Jog operation parameter JA Jog acceleration JV Jog velocity Figure 10 12 Jog operation timing ON Jog input OFF ON DIR input OFF Close IPOS output FW 0 Open IPOS output gee FWz0 pen MNS direction velocity Motor movement PLS direction velocity Note When the DIR input is switched during Motor moves as shown in the above chart the Motor decelerates then reverses the direction of motion 10 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 Programming The program for programmed operation can be made through RS 232C serial communication You can input the program only when the Motor is stopping Program aria is shown in Figure 10 1 Channel 0 63 totally 64 channels are available Figure 11 1 Program area Channel 0 Channel 1 Channel 63 11 1 Commands and Parameters Home return Command HS Condition setting None This is to program Home return operation Command format HS seq seq sequence code amp The motor executes Home return under the condition
54. Units up to 16 units to be connected with a single RS 232C terminal Figure 9 32 Daisy chain communication overview Terminal RS 232C Cable 9 3 3 1 Procedure to Set Daisy chain Communication Figure 9 33 Daisy chain communication setting procedure Operation procedure Power on Y Initial setting lt AN parameter CM parameter V Power off V Daisy chain connection Y Power on again ud A heck Connection lt AS command Order of connection state check executed automatically e Initial setting e Cable state Daisy chain communication start 9 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 2 Initial Setting The password is necessary for inputting initial setting parameters The initial setting values become valid when the power is turned on next time Perform initial setting before making multi axis connection Table 9 9 Initial setting RS 232C Shipping Item parameter range set Daisy chain communication AN data 0 15 axis number setting 0 1 0 Function The set data becomes the axis number of multi axis communication Daisy chain CMO standard single driver communication communication CM data CM1 daisy chain communication mode selection 9 3 3 3 Interfacing 1 Connecting
55. a case PRILNF OFF is displayed If a value other than 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 12 19 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 1 e 10 500 is specified the frequency sets to data Command TS or NS reports the frequency setting NS AJ starts adjusting program NW Neglect Width Format NW data Data 0 4 Shipping set 2 Default 0 RUN and HOS are edge triggered inputs To protect against multiple inputs due to contact chattering the NW parameter sets a timer length to confirm the receipt of that input when NW data is specified the input pulse is detected a specified time after it initially went high rising edge 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 omissible
56. data is already programmed in CHO the registered data appears on the display ii Enter the home return start command Ls ev ii When the prompt appears again press the ENT key prompt app ENT This completes the programming in CHO 2 Home return trial operation Set the home return acceleration HA home return velocity HV or home return offset HO Then take the following steps to perform the trial operation i Make the Motor servo on 66 99 ii Following the prompt input the programmable indexer channel indexer execution command SE p SPO The Motor starts the home return operation 10 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 4 Position of Origin Limit Switch in TY1 and TY2 I O Combination There is not an input of overtravel limit in I O combination of TY1 or TY2 Use software overtravel parameter OTP and OTM to set off limit area However the software overtravle limit does not function until completion of Home return after the power is turned on The slider may hit mechanical limit in Home return operation for the first time after power on In order to avoid this kind of accident set the positions of Origin limit switch and software overtravle las shown in Figure 10 4 Figure 10 4 Position of Origin limit switch in TY1 and TY2 combiantion Area to make Origin limit
57. deceleration rate or decreasing duty cycle prevents overheating of the dump resistor 0 If heavy duty operation is still needed installation of optional Regenerative Dump Resistor is recommended Refer to Appendix 5 for the details AN Danger Never apply any water or oil to Driver Unit Take appropriate measures to protect Driver Unit from water oil slag dust and corrosive gas N Warning Do not conduct an Isolation test or Megger test on Driver Unit It may damage the internal circuit N Caution 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 altered Refer to 8 Trial Running and Adjustment for the details about parameter setting 2 2 Version Number Version number applicable to this manual is upgraded to 21 from 11 The number noted on the seal affixed to the Driver Unit is shown below Example of version number ESA LYA2A13 21 E y Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 System Outline 3 1 System Configuration Figure 3 1 Handy Terminal FHT 11 Y Controller Pulse Output Sequencer 24VDC Power Supply eo D00000 ESA13 Driver Unit Olo G9 6 TE EEE S pha
58. enr gt IR9000 10 iii Set conditions according to the command Le JL v Jelo e iRSb00 10 CV30 iv Enter 0 to cancel the input condition When incorrect data is input re enter the correct data When the same command with different data is input twice the last input data becomes valid C A 0 ENT 2CA0 Ape f v Pressing only displays the prompt and ends program setting ENT 11 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Readout data i Declare the channel to be read out The contents of the channel are displayed T J 6 J 1 0 7 ev CU M CV30 e Delete data i Declare the channel whose data is to be deleted Press key to delete the data HOME gt 11 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 4 Program Example Write the following motion profile in Channel 5 Travel stroke 30000 pulses 30mm to the MNS direction 9 Acceleration CA 0 1 G Velocity CV 100 mm s i Check that the prompt is displayed on the screen gt ii OMe NO iii After pressing the key the data presently programmed in Channel 5 will be shown on the display ENT AR27000 amp CV500 CA0 5 2 iv CL CR C DEJO D0 azos PIR 30000
59. fees paid by the customer after the warranty period 13 5 3 Immunities The product is not warranted in one of the following cases even within the warranty period 1 Failure of the unit due to installation and operation not in accordance with the instruction manual specified by the supplier 2 Failure of the unit due to improper handling and use modification and careless handling by the user 3 Failure ofthe unit due to the causes other than those attributable to the supplier 4 Failure of the unit due to modification or repair which is conducted by a person s or party ies other than the supplier 5 Other types of failures due to natural disasters and accidents causes not attributable to the responsibility of the supplier 6 Designated consumables fuses for ESA13 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 Alarms 14 1 Identifying Alarms The DRDY output opens when er
60. 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 BM0 a backspace code cancels an entered character string BMI a backspace code cancels a character When the Handy Terminal FHT11 is used press the backspace BS key 1 Parameter BM1 Shipping set For example when the backspace code is input following VG0 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 9 25 Canceling example BM1 Input BS Key gt 08H Input To Driver Unit 2 5 Echo back From Driver Unit Ee ec 2 Parameter BM0 Shipping set For example when the backspace code is input following VG0 5 a message VG0 5 and a 66 66 colon are displayed and thereby VG0 5 is ignored Figure 9 26 Cancelling example BMO Input BS Key gt 08H Input To Driver Unit ee 3d 3 Echo back From Driver Unit el EX ES EN 9 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 5 Error Note that an error occurs in any of the following cases 1 Ifa nonexistent command 1 e character string is entered If an entered character string cannot be decoded 2 Ifdata or subscript out of the allowable range is entered 3 Ifa
61. if the ESA13 Driver Unit is reading the HLS input correctly Press key to terminate the reading DOAR Gig Bd s Numeric 1 appears here when the dog enters in the home limit Switch area 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 the home return operation and thereby moves By using Handy Terminal take the following steps 23008 lw 10 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ii Press the key to start Motor rotation ENT The Motor stops as soon as the HLS sensor goes on The Handy Terminal displays the TR value 1 e number of pulses from the closest eZ rising edge of the Motor s present position Check that this value is in the following range between 1000 and 3000 If the TR value is not in this range loosen the HLS sensor and move it to PLS or MNS direction Repeat steps i and ii until the TR value is within the above range ii Input the MO command servo off command M 0 iv Press the key to execute the command and thereby turn off the Motor servo ENT TR2003 OK At this time the Motor can be moved easily by hand Move the Motor to the desired position v Input the password NICK m o0 LM vi ENT MO NSK ON NSK ON z A command can be entered
62. new alarms This history records the alarm which makes the DRDY output open Contents of record are as follow 1 Alarm code that is shown on LED 2 Details of alarm for analysis of alarm 3 The number of times the power is turned on Zi Caution 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 Ea ON The current number of now time 8 times for turning on power 0 gt F1 0 1 1 gt F1 0 4 Sn 2 gt F1 0 4 3 gt F 1 0 4 4 gt A1 0 4 The number of times for turning on powr when the alarm is reported Details of alarm Number of alarm 14 2 5 2 Clear History of Alarm 1 Input password OMAN GO G9 mer on o Ner uo 2 Input TA command DAUE a io TA CL 14 14 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 5 1 Point to be checked 1 Combination of Motor and Driver Unit Whether Motor and Driver Unit combination is proper or not 2
63. not Figure A 8 M ESA LYA2T 1 3 1 Standard F Special When replacing the 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 ESA13 Driver Unit must be disassembled To disassemble the 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 PA VG VI PG CO MA MV and HO Programs and other settings in channels o When replacing Driver Unit following tools and Handy Terminal FHT11 are necessary 1 A screwdriver cross recessed 4mm 2 A ROM remover A 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Dissemble ESA13 Driver Unit 1 Remove side panel Figure A 9 Unfasten screws Top and bottom 2 places each countersunk head Front panel 2 places countersunk head black oxide A 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure A 10 Remove side panel Commutation boa
64. one cycle of either A or B is defined as one pulse Figure 10 7 gA eB 1 pulse 9 The resolver resolution is set by the RR parameter via RS 232C 10 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 4 3 Input Timing N Caution 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 faster than Motor s maximum velocity 1 When PC is set to 0 PCO Figure 10 8 PLS Motor MNS Motor Min 600ns PLSP input PLS pulses Min 600ns Min 1us MNSP input MNS pulses 2 When PC is set to 1 PC1 Figure 10 9 PLS Motor MNS Motor PLSP input Direction 3 Min S00n8 Min 600ns Min 500ns Min 500ns MNSP input Step Min 600ns 3 When PC is set to 2 4 PC2 PC4 Figure 10 10 PLS Motor MNS Motor PLSP input A Min 2us Min 14s Min 1us MNSP input B 10 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 10 7 Pulse train format PLS amp MNS format x x2 x5 x x2 x5 x x2 x5 Pulse amp direction x format x2 x5 x x2 x5 x x2 x5 A B format x et x2 x5 x x2 x5 x x2 x5 A B format x x2 x2 x5 x x2 x5 x x2 x5 A
65. operate the Motor 1 Start SG adjusting program WOW v iii iv The message is displayed as shown below Press plus or minus key to change SG value The display shown below is an example Those values shall be set to the conditions for actual use Explanation of the messages i Key function SHIFT and Pressing key one time increases 1 resolution of SG Pressing key one time decreases 1 resolution of SG ENT Store SG value to the memory ey ii Indicates present SG value iii Indicates SG value changed by pressing plus or minus key iv Response index number The lower numbers denotes better response v Positioning index number The lower number denotes quicker response Note Do not use space key or back space key When it is used the SG changing resolution ii may be altered 8 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Observing the Motor operation press the plus key several times ore SHIFT EB en HL TENT STEP1 _SG13 As the response index decreases the movement of the Motor is getting crisply 3 Keep pressing the plus key eventually the Motor starts hunting and stops Pressing SHIFT 7 coe gt E 1 _SG18 4 Keep pressing the minus key until the Motor stops hunting and sta
66. ports of which the 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 can not be changed If 0 or 1 is input the display shows indicating the fault input If the parameter TY is changed all polarity settings return to the shipping set all A contacts Polarity setting can be read by TS or AB command The table below shows the data and port Data digit n8 CN2 pin No 9 TY PRGO TY2 JOG TY3 OTP FsvoN emsr RUN ms nos cir om OTP OTP 12 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 AN command reports the current setting For more details refer to 6 2 Daisy chain Communication AR Absolute Positioning Resolver Format AR data Data 99 999 999 99 999 999 Default 0 data indicates the position of the destination This position complies with user absolute position scale which may be read out by issuing TP If the current position is the same as the destination position the Motor does not move This command has two functions which depend on the usage 1 Ifitis entered under the condition
67. the Motor Fasten a load using all of the tapped holes of the slider N Warning The flatness of the surface where the Motor is mounted affects Motor operation About less than 0 1 mm 1000 mm flatness is needed for smooth operation When mounting minimize the looseness between Motor and the mounting surface 6 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 4 Driver Unit Mounting The ESA13 Driver Unit may be mounted by the holes in brackets N Caution For proper air circulation clearance is required above below and at the back of the unit see Figure 6 7 When the Driver Unit is installed in the control panel keep the panel internal temperature within the range from 0 C to 50 C If the heat sink overheat alarm see 14 Alarms arises frequently cool the heat sink using a fan etc Zi Caution When installing two or more Driver Units for multi axis combinations give a space of about 10 cm between adjacent Driver Units ESA13 Driver Unit has brackets for easy fixing to the control box or enclosure Figure 6 2 10cm or more 10cm or more Reference Maximum power dissipation of ESA13 Driver Unit is 100W The area where the Driver Unit is mounted must be free o
68. where a channel to be programmed is selected with a CH command the Driver Unit outputs and the system waits for a command to be entered it specifies the rotational amount of the Programmable Indexer channel 2 Ifitis entered in the normal standby condition it serves as a positioning command AS Ask Daisy Chain Status Format AS When communication in daisy chain style AS reads out the status of each axis connected to 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 Execute automatic tuning to set proper servo parameters and acceleration 12 4 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 Unit Selected Driver Unit sends a confirmation signal back to the RS 232C terminal Confirmation message 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 daisychain is not active an error message will be given back
69. 0 925 1200 45 Cable guide amp sensor mounting holes ML YB21156001 12 2x13 1285 1560 55 5 N M3 x 0 5 x 6 ML YB21204001 16 2x17 1765 2040 69 5 Figure 4 7 YB3 type 10 4L L 20 linear guide length 3 10 73 5 L st stroke length 350 ath ot Urethane rubber 155 45 130 130 45 Stopper 185 E aiam m Li p N Lo Ld pH E A H CY p it H it al it e H L i o o Es E i t i S 2 Pa N if Qq i ye 8 i N it e M Qi T Pad em E if 1A e aa T 2 B5 j 2 Slider mounting holes 9 M8 x 1 25 x 16 10 40 23 Cable length Lst 2 500 mm Base mounting holes 210 gt drill thru countersink 015 Slider 8 6 dee X 1 4 Resolver Cable Motor Cable NSR inear guide Resolver Cable 96 Motor Cable 26 Unit mm Motor Model No of base L Mess s Number N mounting holes st kg M ML YB31048001 3 2x4 100 480 29 120P x N 120N ML YB31060001 4 2x5 220 600 32 5 ML YB31084001 6 2x7 460 840 39 5 L ML YB31120001 9 2x10 820 1200 50 ML YB31156001 12 2x13 1180 1560 60 5 ML YB31204001 16 2x17 1660 2040 74 5 Cable guide amp sensor mounting holes N M3 x 0 5 x 6 4 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 Driver Unit 4 2 1 Name of Each Parts Figure 4 8
70. 001 6 2x7 670 840 9 5 ML YZ11120001 9 2x10 1030 1200 13 ML YZ11156001 12 2x13 1390 1560 16 Figure 4 3 YA1 type 10 L 20 linear guide length NI 10 64 5 I L st stroke length 140 5 125 27 86 27 Urethane rubber 10 5 Gz Stopper o d Lae En ry DU ji N n d H i 3 2 a 5 O Hn 4 4 T T pep ad 1 i i e i S 8 RS amp 1 ng e i x e i H BET ar j cto E d ji f g i race z x wo uL 3 E o Slider mounting holes 4 M6 x 1 0 x 12 10 40 144 Cable length Lst 2 500 mm Base mounting holes 97 6 drill thru countersink 2912 gi if 7 6 5 deep Z 1i NENNEN Resolver Cable z Motor Cable I A hH A H jE NSK linear guide Resolver Cable 6 i xf ji Motor Cable 26 ii t Hh Lh a a uj it 120 X 60 120Px N 120N 60 Unit mm 4 Ji L 4 Motor Model N No of base Ls A Mess Cable guide amp se
71. 1 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 RS 232C Communication Specifications 5 2 5 1 4 Sample Wiring Diagram 5 2 5 2 CN2 Control I O Connector 5 4 5 2 1 Setting of I O type 5 5 5 2 2 CN2 Pin Out 5 7 5 2 3 CN2 Signal List 5 8 5 2 4 Setting Polarity A or B contact of Input Ports 5 11 5 2 5 Changing I O Type and Contact Polarity at Once 5 13 5 2 6 CN2 Electrical Specifications 5 14 5 2 6 1 General Input Signal 5 14 5 2 6 2 Pulse Train Input 5 14 5 2 6 3 General Output Signal 5 15 5 2 6 4 Control Output Signal 5 15 5 2 6 5 Position Feedback Output Signal 5 16 5 2 7 Wiring Diagram CN2 5 18 5 3 CN3 Resolver Cable Connector 5 23 5 3 1 CN3 Pin out 5 23 5 3 2 CN3 Signal List 5 23 5 4 CN4 Motor Cable Connector 5 24 5 4 1 CN4 Pin out
72. 14 4 14 2 2 1 Heat Sink Over Temperature 14 4 14 2 2 2 Abnormal Main AC Line Voltage 14 5 14 2 2 3 Over Current 14 5 14 2 2 4 Control AC Line Under Voltage 14 6 14 2 3 Alarms Related to Motor 14 7 14 2 3 1 Resolver Circuit Error 14 7 14 2 3 2 Software Thermal Sensor 14 8 14 2 3 3 Velocity Error Over 14 8 14 2 4 Alarms Related to Control 14 9 14 2 4 1 Memory Error 14 9 14 2 4 2 EEPROM Error 14 9 14 2 4 3 System Error 14 9 14 2 4 4 CPU Error 14 10 14 2 4 5 Excess Position Error 14 10 14 2 4 6 Software Over Travel Limit 14 11 14 2 4 7 Hard ware Over Travel Limit 14 11 14 2 4 8 Emergency Stop 14 11 14 2 4 9 Program Error 14 12 14 2 4 10 Automatic Tuning Error 14 12 14 2 4 11 RS 232C Error 14 13 14 2 4 12 CPU Error 14 13 14 2 5 History of Alarm 14 14 14 2 5 1 Indication of History of Alarm 14 14 14 2 5 2 Clear History of Alarm 14 14 iv Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 1 Introduction
73. 15A Sensitivity 15mA Contact Capacity 30A Magnetic Switch Table 6 4 Inrush Current Inrush Current TYP AC100v AC200V Item Control Power Main Power Install a surge killer circuit for magnet switches relays and solenoids When replacing the fuse F1 or F2 ofthe Driver Unit use the fuse packed with the Driver Unit when it is shipped AN Caution 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 During wiring be careful not to loose terminal block screws etc N Danger 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 Specifications for the connector wiring 6 6 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 a wire 3 5mm AWG 10 or larger N Caution All the ground lines must be connected at one point and the grounding resistance must be under or equal to 100 4 Connect the shield of the signal shielded cable CN2 to the FG terminals or SG terminals of the user s controll
74. 20V 10 Table 4 2 Power supply capacity Max Capacity Motor type Except surge current YZ1 0 2 kVA YA1 YA2 0 9kVA YB1 YB2 YB3 1 2kVA Table 4 3 Control power 35mA rms Main power Inrush current 40Hz 1kHz 2 AC 100V 110V 10 Leakage current Table 4 4 Power supply capacity Max Capacity Motor type Except surge current YZ1 0 2 kVA YA1 YA2 0 7kVA YB1 YB2 YB3 1 0 kVA Table 4 5 Control power Main power Inrush current 40Hz 1kHz Environmental condition Leakage current Table 4 6 Vibration resistance 0 5G Conform to JIS C0911 Line noise resistance 1500V 1uS by noise simulator Mass 2 5kg Environmental Temperature 0 50 C Humidity 20 90 no condensation condition Temperature 20 70 C Indoor Free from dust 4 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 2 2 Functional Specifications Position control Maximum input pulse frequency 800 kpps 9 Input pulse format is selected by a parameter PLS amp MNSP Pulse and direction A and eB quadrature pulse Resolver resolution Table 4 7 um Resolver resolution Automatic resolution Motor type setting or set to 12 bit Y type Megathrust motor 1 Set to 10 bit Automatic resolution setting 10bit and 10 bit setting may be selected by a parameter Max
75. 232C error 1 Connect or disconnect the communication cable with power on 2 Attempted to transmit large volume of data without the flow control by CTS and RTS command 3 Wrong Baud rate is set to the terminal 4 Fault the power is off e Set Baud rate to 9 600 bps e Replace Driver Unit Unit e Connect or disconnect the communication cable when e Wire CTS and RTS signal and apply the flow control Refer to Appendix 4 How to Replace ESA13 Driver 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 CRL or CL command 14 2 4 12 CPU Error Output DRDY Open TA C3 CPU Error LED C3 Motor Condition Servo OFF Table 14 21 Cause and Remedy CPU error Cause 1 A wrong program is called due to noise 2 Memory is fault 3 CPU is faulty Remedy e Apply the remedy for noise e Change Driver Unit e Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit 14 13 Artisan Technology Group Quality Instrumentation Gua ranteed 888 88 SOURCE www artisantg com 14 2 5 History of Alarm Store the occurrence of alarms to EEPROM t keeps the record of alarms up to 32nd befor t does not overwrite more than 32nd alarm Clear the alarm history to keep the record for
76. 3 Home Return command fails to stop Motor in position Refer to 10 2 1 2 Adjusting the Home Limit Switch and Home Offset value 15 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 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 power is turned on Refer to 14 2 Description of Alarm Motor servo is activated Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM input is active Deactivate EMST OTP or OTM input Make sure RUN command is set to channel program Inputs of channel selection PRGO PRG5 inputs and control RUN input Check CN2 connector wiring are properly executed Can SP command start Motor Check windings of Motor and Resolver Refer to Appendix 2 How to Check Motor Condition 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 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 Al
77. 5 years or 10 000 km running whichever comes first Be sure to give periodical replenishment with grease thereafter 9 It is possible to replace the K1 lubrication unit when it comes to its life Periodical check Puncture of the Motor 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 the periodical check in order to detect the problem in its early stage 3 Before concluding that the system is defective check the matters again 1 Alarm arises Did you take proper action to the alarm Refer to the manual for the remedy again 2 Power does not turn on Indication lamp does not turn on Check voltage of main and control power by a tester if the voltage 1s in the range of specification described in the User s manual The Motor does not function Turn the power off disconnect the connector CN4 of the Driver Unit and then move the slider manually Does it operate smoothly Any unevenness in motion Never disassemble the Motor If the connector CN4 remains connected the motion of the slider will be heavier due to dynamic brake Are the control Input Output signals functioning properly Monitor status of SVON RUN and IPOS signals by I O command through the Handy Terminal Check if the voltage of input signal and 24 V power sourc
78. 8 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 width length of IPOS output Unit is 0 1 sec If it is set to FWI the time length of the IPOS output will be 0 1 sec If it is set to FWO IPOS output is in standard 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 6 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 type of the position feedback signal CHZ CN2 output FZ0 Outputs the oZ signal from CHZ FZ1 Outputs MSB of the digital position signal from CHZ Refer to 9 1 7 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 0 01 2 50 G Shipping set 0 05 Default Not omissible Sets the home return acceleration TS or HA command reports the current setting 12 12 Ar
79. 9 99999999 MV MA JV JA HV HA HZ Home return acceleration No 5 0 1 100 0 oS HD 0 1 HO Home offset CT Yes 30 000 000 30 000000 PA OL RC LR Lowtorqueripple Ys 0 01 X TY AB SM NW MM BM CM_ Communication mode Ys 0 A4 01 AN Axisnumer Yes 0 0 15 WM Databackup Ys 0 0 4 J SE Serialerrorn O Yes 0 A 0 JJ LO Loadinertia No 0 00 5000 SG Sevoggin No 0 A40 30 MT RI ZP ZV 12 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 12 2 Command and Parameter Shipping set denotes a value which is set at the factory before shipment Default denotes a value which is adopted by entering a command and parameter with no data The password must be entered before inputting a command marked with Refer to 9 3 2 3 Password for more details AB l O polarity Format AB n1 n2 n3 n4 n5 n6 n7 n8 Data nn 0 A contact Normally open nn 1 B contact Normally closed nn X At the time of input The port set to X does not change polarity o At the time of read out For the port which is shown as X the polarity can not be change A contact is fixed Shipping set ABXOXOXXO0 all A contacts Default Not omissible input all 8 digits Set the polarity of input command port The
80. CCWP CHA xCHB GHZ SGND DRDY IPOS a t 12 W iD e t pv Le A Qn 9 20 dg n 8 2 NS e 2 ARN NEP 4 D DC24 EMST HLS PRG2 PRGO CWP CCWP CHA CHB CHZ DRDY COM a i train a6 16 cahnnels o Bp E 2 DC24 EMST HLS PRG2 JOG CWP CCWP CHA SVON RUN PRG3 DIR CWP CCWP CHA CHB GHZ SGND DRDY IPOS 8 me CHB OF o CHZ OKAR p 2 DRDY COM el Pulse train input 4 cahnnels JOG SVON RUN PRG3 OTM CWP CCWP CHA CHB GHZ SGND DRDY IPOS 25 gt D A A 22 z VE fq 9 8 D 7 8 6 NO 5 5 7 Ce Ok 4 l DC24 EMST HLS PRG2 OTP CWP CCWP CHA CHB CHZ DRDY COM S Pulse train input 4 cahnnels Overtravel limit Type 4 TY4 Type 7 TY7 Zol SVON RUN HOS OTM CWP CCWP CHA CHB GHZ SGND DRDY IPOS ae mP ay W 0 2 QU an S D 49 E iB D 6 6 2 31 kO a DIES DC24 EMST HLS CLR OTP CWP CCWP CHA CHB CHZ DRDY COM Home return start Clear input Overtravel limit Pulse train input l Artisan Technology Group Quality Instrumentation Ip SVON RUN DIR OTM CWP CCWP CHA CHB GHZ SGND DRDY IPOS 5 PO wc D De d lt 6 9 D d 3 lt D D lt D D 1 ws 9 O Lo DC24 CE EMST HLS JOG
81. EM User s Manual ESA13 Driver Unit Document Number T2001 1 03 August 8 1997 October 18 1999 April 17 2002 1st Edition 2nd Edition 3rd Edition 1st Printing NSK Ltd Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3rd Edition 1st Printing April 17 2002 Document Number T20011 03 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 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 yop aed Contact us 888 88 SOURCE sales artisantg com www artisantg com
82. EPROM Use this command when WM1 data back up invalid is set N Caution Approximately 30 seconds are required to execute this command Do not turn the power off while executing this command Otherwise memory error alarm may be issued 12 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com WM Write Mode to EEPROM Format WM data Data Oor1 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 WMO Data back up valid WM1 Data back up invalid N Caution When the setting is changed from WM1 to WMO it takes approximately 30 seconds for storing all data Do not turn the power off while executing the command If the power is turned off memory error alarm may be issued 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 ZP Factory Use Only Shipping set 1 00 N Caution The parameter is for the automatic tuning function and is set at the factory Do not change the setting TS or ZP command reports the current setting ZV Factory Use Onl
83. I command is input Driver Unit rejects to execute the command SI INHIBITED message will appear in the display SI SI INHIBITED Table 8 1 Servo Parameter List TS1 Reading TS2 Reading Parameter Set Value PG 010 Fo 000 we 190 E RB 1 9 v 00 J J FS 0 WM 1 NP 0 LG 50 DBP 0 10 TL These parameters are not necessary to adjust in Level 1 and 2 adjustment 8 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 3 Execute Automatic Tuning Adjustment Level 1 Between the cases that the load weight is known and unknown the procedure of automatic tuning differs 8 2 3 1 When the load weight is known Set the load weight by parameter LO The unit of LO is kg and 0 1 kg step setting is possible For example when the load weight is 5 5 kg the setting procedure will be as follows 1 Input the password 2 Set the load weight Input LO data that differs from the present setting Otherwise automatic tuning will not be carried out 8 2 3 2 When the load weight is not known N Caution Make sure the work or Motor does not hit any obstacle when the Motor makes a motion Always stay in safe position The Motor needs to move at least 20 mm when executing the automatic tuning If the application restricts the Motor movement keep room for 20 mm Motor movement The overtravel li
84. 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 This parameter is invalid in the pulse train operation mode JA Jog Acceleration Format JA data Data 0 01 2 50 G Shipping set 0 05 Default Not omissible Sets the acceleration for Jog operation TS or JA command reports the current setting JP Jump Format JP data Data 0 15 Default 0 JP is used to specify the destination of unconditional jumping in a channel f a channel with a JP command is executed processing jumps to channel 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 to be entered If it is entered in the normal stand by state an error occurs normal 66 0 stand by state a colon is displayed JV Jog Velocity Format JV data Data 1 1800 mm s Shipping set 50 Default 0 Sets the velocity for Jog operation TS or JV command reports the current setting 12 16
85. No Character code ASCII code e X On Off Protocol No Communication procedure RTS CTS Control Yes 5 1 4 Sample Wiring Diagram Connect the ESA13 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 ESA 13 Driver Unit RS 232C Terminal cu Buc Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com RTS Control CTS Monitoring Inactive N Important When wired as shown below always confirm the echo back from Driver Unit or send the data slowly With this wiring Driver Unit may not accept the whole data when data is sent at high speed and large amount Figure 5 3 ESA13 Driver Unit RS 232C Terminal 53 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 CN2 Control I O Connector The table below shows connector types for the CN2 Table 5 4 Connector type Japan Aviation Electronics Industry Mating connector type Japan Aviation Electronics Industry DE 25PF N user device side Limited supplied with the Driver Unit Mating connector shell type Japan Aviation Electronics Industry DB C2 J9 user device side Limited supplied with the Driver Unit Wiring Precautions Use the shielded cable for CN2 and a twisted pair ca
86. OTP CWP CCWP CHA CHB CHZ DRDY COM JOG Overtravel limit l Pulse train input Guaranteed 888 88 SOURCE www artisantg com 5 2 3 CN2 Signal List Table 5 7 Type 1 Signal Name Function 9 Programmable move bit 0 10 Programmable move bit 2 11 Home limit switch 12 Emergency stop 13 24 VDC external supply 14 In position 15 Driver Unit ready 16 SGND Signal ground 17 Position feedback oZ digital position data MSB 18 Position feedback oB 19 CHA Output Position feedback gA 20 Minus direction pulse 21 Plus direction pulse 22 PRGI Input Programmable move bit 1 23 Programmable move bit 3 24 Run move 25 Servo on Table 5 8 Type 2 Pin Function Output COMMON DRDY Driver Unit ready er es le Position feedback oZ digital position data MSB Position feedback aB Position feedback A Minus direction pulse Plus direction pulse Jog Programmable move bit 2 Home limit switch Emergency stop 24 VDC external supply In position Driver Unit ready SGND Signal ground Position feedback Z digital position data MSB Position feedback oB Position feedback ead 20 Minus direction pulse 21 Plus direction pulse 22 Direction 23 Programmable move bit 3 24 Run move 25 Servo on c o io o A Go Po BO 9o BY ml 5 8 Artisan Technology Group Quality Instrumen
87. OURCE www artisantg com 2 Notes to Users This manual describes the interface function and operation of ESA13 Driver Unit Especially when you use Megathrust Motor System for the first time please thoroughly read this manual For the explanations of Motor only standard Y Motor series is described in this manual If your Motor is not Y series please refer to respective specifications or applicable document Special order ESA13 Driver Units are made in compliance with this manual When the Unit design is prescribed separately in another specification document priority is given to the specification Following notice is added to the clause of safety precautions to get your attention N Danger Might cause serious injuries N Warning Might result in injuries I Caution Might damage the equipment machine and or the load work 2 1 Operational Remarks Pay special attention to the following precautions when installing adjusting checking and trouble shooting Megathrust Motor System N Caution Make sure that Motor size and maximum force number of Motor and Driver Unit are the same Refer to 3 2 Reference Number Configuration for the details 9 If the numbers are different the system does not operate properly N Caution Do not make Cable Set shorter or longer Changing the length may worsen Motor and Driver Unit performance N Caution Do not disassemble the Motor since it is precis
88. Outline 3 1 3 1 System Configuration 3 1 3 2 Reference Number Configuration 3 2 3 2 1 System 3 2 3 2 2 Motor 3 2 3 2 3 Driver Unit 3 2 3 2 4 Cable Set 3 3 3 2 5 Handy Terminal 3 3 Specifications 4 1 4 1 Motor Specifications 4 1 4 1 1 Y Series Motor 4 1 4 1 1 1 Name of Each Parts 4 1 4 1 1 2 Specifications 4 1 4 1 1 3 Dimensions 4 2 4 2 Driver Unit 4 5 4 2 1 Name of Each Parts 4 5 4 2 2 Specifications 4 6 4 2 2 1 General Specifications 4 6 4 2 2 2 Functional Specifications 4 7 4 2 2 3 Driver Unit Dimensions 4 9 4 3 Handy Terminals 4 10 4 3 1 Name of Each Part and Dimensions 4 10 4 3 2 Specifications 4 11 5 Connector Specifications 5 1 5 1 CN
89. P3 signals if you want to use the pulse train operation 3 Off limit area Set software over travel limit as this combination type does not have overtravel limit input Refer to 9 1 4 2 Software Overtravel Limit I Caution When using an inductive switch e g relay be sure to insert a surge killer circuit When the user installs a sensor as the home limit switch connect its output directly to the input port of the Driver Unit not via the controller 5 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connection Example 3 Type 3 Figure 5 12 Motion limit range setting and 4 channels selection User s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed DC24 Servo on Emergency stop e c Home limit switch e Run move direction overtravel limit switch e c 19 OTP direction overtravel limit switch e DC24V Programmed move bit 2 PRG2 Programmed move bit 3 PRG3 Driver Unit ready DRDY DRDY In position IPOS Note 1 Home Return For example program the HS command in CHO Immediately after turning on the power select CHO and turn on the RUN input to execute the home return operation 2 Pulse train operation Add the connections of the PLSP and MNSPz signals if you want to use the pulse train operation N Caution Wh
90. V is only a typical value actual values vary slightly The voltage is not a precise representation of the velocity Figure 9 9 Plus direction maximum velocity 10V Minus direction maximum 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 10 Plus direction maximum velocity 10V Minus direction maximum velocity Table 9 4 Maximum velocity Resolver resolution 12 bit setting Automatic resolution switching or 10 bit setting Maximum velocit 600 mm s Automatic resolution switching 12 bit setting and 10 bit setting are selected by the RR parameter 9 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 2 Monitoring the I O State The Input Output state of CN2 connector can be monitored using the I O command Use this monitoring to check the wiring 9 Input format IO RP Without RP One shot display With RP Real time display Display format Bit map representing Input Output in one line See Figure 9 11 Figure 9 11 Display format always 0 always 0 ryt rye a r 9 PRGO Joc ote OTP OTP 22 PRG DIR omm om omm 23 PRG3 PRG3 PRG3 HOS DIR
91. _ v Press the key to input value and the prompt appears again ENT CV500 CA0 5 IR 30000 T SAID mp 20 5 vi CA0 1 11 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com vii Press the key to input value and the prompt appears again CA1 0 IR 30000 CA0 1 F viii CA1 0 IR 30000 CA0 1 ix Press the key to input value and the prompt appears again x 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 12 1 Command and Parameter List Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit When the display shows NSK MEGA the system is in the normal state Some parameters shown in Tables 12 1 shall be changed according to the actual operating condition from the shipping setting Parameters in a parenthesis are set at the factory before shipment and are normally fixed If the setting is to be changed contact NSK Current Setting o We recommend writing down the current settings for your future reference You may need to refer to them when changing the operating conditions or readjusting the system For you
92. a command can be entered 6 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 6 6 Handy Terminal display In normal state NSK MEGATHRUST MS1A00 E x Differs with the system configuration 3 If the system is normal input SVON signal N Caution 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 this alarm occurs it will not recover unless the power is turned on again Figure 6 7 and 8 show timing of power ON and SVON Figure 6 7 Power ON sequence Driver Unit Side i User Side Power on V Initialization NG Error Finding OK V OVER open DRDY open DRDY closed V V Alarm Servo lock Remedy V Usual operation V 6 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 6 8 Power ON SVON timing Control power Main power suppl PPy 2 sec Approx gt DRDY output lt a initialized 0 LiSee note See noie SVON input a es gt J Operation p Home Return etc command It will take 30 milliseconds
93. a noise of certain frequency Using Megathrust Motor s software low pass filters Parameter FP and FS the noise can be reduced The unit of parameters of FP and FS is cycles second Hz Iflow frequency less than 100Hz is set to parameters FP and FS hunting or unstable positioning may occur Before using filters make sure that all adjustments of gain VG and integrator frequency VI are completed Use same demonstration program SA AJ for adjusting filters Follow the procedures a j in 8 2 4 Trial Running Adjustment Level 1 1 Start FP adjusting program CF JP JCF JCA JCS Evr v iii iv The message is displayed as shown below Press plus or minus key to change FP value The display shown below is an example Those values shall be set to the conditions for actual use Explanation of the messages i Key function SHIFT and Pressing key one time increases 10 resolution of FP Pressing key one time decreases 10 resolution of FP ENT Store FP value in the memory and completes the WY ii Indicates present FP value ii Indicates FP value changed by pressing plus or minus key iv Response index number The lower number denotes better response v Positioning index number The lower number denotes quicker positioning positioning Note Changing FP step 3 I
94. ability 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 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 force command level the Motor position and the Motor velocity These factors are taken into account to compensate for the Motor non linearlities and to produce a smooth output force Power Amplif
95. ality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 Automatic Tuning Adjustment Level 1 N Caution 8 2 1 Preparations Automatic tuning cannot be performed if the following conditions are not met o The load inertia must be under the limit of the Motor Refer to 4 1 Motor Specifications o The motor axis must be horizontal The load conditions to the Motor must not be affected by the gravity o 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 o Frictional load to the Motor shall be minimal The following preparation should be carried out in advance to start the automatic tuning o Mounting the Motor onto the mounting base Unit Precautions AS Danger N Caution Mounting the load onto the slider Mounting of the Driver Unit Wiring between the Motor and the Driver Unit by specified Cable set Connecting Handy terminal to CN1 connector on the Driver Unit Power supplying line wiring Wiring SVON and EMST signal to specified pins of CN2 connector on the Driver Wire EMST Emergency Stop CN2 signal to stop the Motor immediately when an accident is foreseen If the Motor moving range is restricted set overtravel limits OTP OTM The Motor moves 7 20 mm when executing automatic tuning Always stay in safe position If mechanical rigidit
96. ally on the display This means that the Driver Unit 1s repeatedly outputting signals as follow Space code 20H Read Out Carriage Return Code 0DH Input the back space code 08H to get out the automatic reading Read Out format is shown in Table A 1 Table A 1 Input Output signal table Output signal Output signal circuit is closed when 1 is displayed Input signal Input signal is ON when 1 is displayed TY3 EMST RUN HLS TY4 nem Input output Input signals vary with the setting of the TY parameter I O Type Refer to 5 2 3 CN2 Signal List A 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example Verify the channel program start command RUN is ON i gt ii DO Ng ii J R CP I0 RP iv Press the enter key to execute Read out starts immediately after the input ENT IO RP 0010000000 000 gt a RUN v 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 I0 RP 0010000000 000 Above example shows that read out of RUN input is 1 which indicates RUN input is ON Reference Read out follows the changes of signal status while repeating reading out Signals ON and OFF are followed by 1 and 0 in the display 9 If the option code RP
97. and PRG3 Table 10 4 4 Channel selection PRG3 input PRG2 input PRG1 input PRGO input Select channel No CHO off CH4 oh oH palayo CH8 on CH12 The channels other than CHO 4 8 and 12 remain in the program area These channels can be used for channel step function amp and jump command JP 3 O type TY4 and TY7 Only channel CHO is available for storing positioning program The channel other than CHO remain in the program area These channels can be used for channel step function amp and jump command JP 10 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 4 Pulse Train Command 10 4 1 Pulse Train Signal Format Input a pulse train from PLSP and MNSP of CN2 signal Set the pulse train input signal format with the PC parameter via RS 232C communication The password must be input prior to the PC parameter setting Table 10 5 Signal format PC Parameter PLSP input MNSP input Function PCO shipping set nput PLS pulse Input MNS pulse PLS amp MNS format e Input the direction PC1 ON MNS nput pulse train Pulse amp direction format OFF PLS A B format x1 A PC2 e 1 01 Internal pulse N resolution A B format x2 A PC3 e Input B e Input A B URS EE Internal x pulse resolution A oB format x4 A Pcs e mL Internal pulse PET resol
98. and for detecting errors in the position loop For more details refer to 9 2 5 Dead Band Setting DBP TS or DBP command reports the current setting DI Direction Inversion Format DI data Data 0or 1 Shipping set 0 Default 0 Switches the position scale counting direction For more details refer to 9 2 1 Position Scale 12 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 FC data 2047 x Static friction force Motor maximum force The setting can be read with TS or FC command 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 signal is ahead of B signal when Motor moves toward PLS direction FD1 Reverse eB signal is ahead of A signal when Motor moves toward MNS direction TS or FD command reports the current setting FF Feed Forward Gain Format FF data Data 0 0000 1 0000 Shipping set 0 Def
99. arm is on after power is turned on Refer to 14 2 Description of Alarm Motor servo is activated Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM input is active Deactivate EMST OTP or OTM input Check CN2 connector wiring Check windings of Motor and Resolver Refer to Appendix 2 How to Check Motor Condition Is Motor normal Replace Motor 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 is different Baud rate of Driver Unit and Handy Terminal FHT11 is factory set to 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 Read Out Input Output Signal Status Format IO opt opt option Option Code RP Verifies on off open closed status of the control Input and Output signals on CN2 connector When IO command is executed with option code RP reading is repeated automatic
100. ation example 10 7 10 2 4 Position of Origin Limit Switch in TY1 and TY2 I O Combination 10 8 10 3 Programmed Operation 10 9 10 3 1 Programmable Indexer Channel Switching 10 10 10 4 Pulse Train Command 10 11 10 4 1 Pulse Train Signal Format 10 11 10 4 2 Pulse Train Resolution 10 12 10 4 3 Input Timing 10 13 10 5 RS 232C Position Commands 10 15 10 6 Jog Operation 10 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 11 Programming 11 1 11 1 Commands and Parameters 11 1 11 2 Program Editing Command 11 5 11 3 Inputting a Program 11 6 11 4 Program Example 11 8 12 Command and Parameter 12 1 12 1 Command and Parameter List 12 1 12 2 Command and Parameter 12 3 AB _ I O polarity 12 3 AN _ Axis Number 12 4 AR Absolute Positioning Resolver 12 4 AS _ Ask Daisy Chain Status
101. ault 0 FF sets the feed forward compensation gain For more details refer to 9 2 3 Feed Forward Compensation Setting 0 cancels the feed forward compensation function TS or FF command reports the current setting 12 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FO Low pass Filter OFF Velocity Format FO data Data 0 1 1800 mm s 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 FO data Filter OFF Y 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 FP 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 adjusting
102. axis 3 parameter Example IR300 move by 300 pulses Select axis 2 AX2 command 9 36 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 Positioning 10 1 Preparation 10 1 1 Wiring Check N Caution Before operation check the followings Table 10 1 Check list Check item Confirmation Connection af Mal power e All wiring is properly arranged and completed 1 and Tum Ouont cibles e Terminal block screws are securely fastened p P e All connectors are connected and locked properly e Cable Set Motor and Resolver cables is connected and locked 2 Cable Set properly 3 Handy Terminal e Handy Terminal FHT11 is connected and locked to CN1 y connector 10 1 2 Procedure Figure 10 1 Turn Power ON frm Check power voltage Main and Control power e After the power is turned on check the LED green and the 7 segments LED on the front panel of the Driver Unit are indicating in normal state e Confirm the Handy Terminal display is showing completion of the Driver Unit initialization Adjustment e Refer to 8 Trial Running and Adjustment Home Return Refer to Chapter 10 2 Programmable Operation Refer to Chapter 10 3 t Pulse Train Command Operation Refer to Chapter 10 4 RS 232C Communication Refer to Chapter 10 5 Jogging Refer to
103. bles for the pulse train input and position feedback signals Maximum length 2m These cables should be laid in an independent duct separate from the power line Connect one end of the cable shield to the frame ground FG N Caution Check for wiring mistake of external power supply polarity and shorting between connector pins 5 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 1 Setting of I O type There are 5 combination types of Input Output of CN2 connector as shown in Table 5 5 The user can select one combination by parameter TY The password is necessary when setting the TY parameter Shipping set is Type 4 Table 5 5 Type of I O combination Type 1 TY1 e Pulse train input 16 channels Type 2 TY2 e Pulse train input 4 channels Jog Type 3 TY3 e Pulse train input 4 channels Overtrabel limit Type 4 TY4 e Pulse train input Clear input e Home return start e Overtravel limit Type 7 TY7 e Pulse train input Overtravellimit Jog When TY is inputted the polarity of all input ports is set to A contact When TY is the same as the current setting the polarity is not changed but maintained Contact type of some Inputs Outputs for CN2 connector of ESA13 Driver Unit may be switched Polarity change is only allowed for four input signals listed below EMST Emergency stop HLS
104. can execute indexing using RS 232C commands The commands parameters are shown below Refer to 12 Command and Parameter for more details Table 10 8 Command parameter IR command AR command HS command HV parameter HA parameter HO parameter HD parameter MA parameter MV parameter Indexing Timing Figure 10 11 Indexing timing OO RS 232C input IPOS output Close FW 0 Open Motor movement Function Sets the amount and executes motion incremental in the units of pulse Sets the target and executes motion absolute in the units of pulse Starts the home return Sets the home return velocity Sets the home return acceleration Sets the home offset value Specifies the home return direction Sets the acceleration for indexing Sets the velocity for indexing Ae ee Positioning command CR stands for the carriage return code 0DH 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 the position error counter value is within the in position limit set by IN parameter after indexing the IPOS output should be closed 10 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 6 Jog Operation Jog operation is available when the Driver Unit is set to Type 7 Set system to servo on SVON input ON
105. cation Specification 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 CNI as the input output ports for RS 232C communication When the Handy Terminal FHT11 is not in use set the MM parameter to 0 MM Standard setting for the Handy Terminal MM0 For connection with a personal computer Table 9 8 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 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 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 is displayed and the system waits for a command to be entered The colon x is called a prompt Figure 9 21 Power on message NSK MEGATHRUST Slightly differs with system c
106. cluded 3 Cable Set Motor and Resolver cable unit 9 Inspect shipping containers for damage as an indication that the System 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 AN Danger Inspect the Motor and the Driver Unit very closely for damage which might have occurred in shipment The Driver Unit is particularly fragile and should be inspected for warped or bent sheet metal broken standoffs and loose or damage electric components Move Motor s slider by hand without AC power The motion should be smooth f you suspect damage do not 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 6 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 2 Motor and Driver Unit Combination N Caution Make sure that the combination of Motor and Driver Unit conforms to your requirements Check and record the Motor and Driver Unit reference number and serial number Combination 9 The Motor series size and serial numbers in both Motor and Driver Unit reference number must be same A nameplate is attached to individual Motor and Driver Unit Configurat
107. command two pulse train outputs with 90 phase difference the rated force available at zero speed the force not to exceed the maximum Motor winding temperature one typical state of servo on the Motor provides force and remains in position the state where the Driver Unit provides no current to the Motor and the Motor provides no force The Motor slider can be moved 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 force available at zero speed Megathrust 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 Introduction 1 1 1 1 Overview 1 1 1 2 Functional Principle 1 3 1 2 1 Motor 1 3 1 2 2 Driver Unit 1 3 Notes to Users 2 1 2 1 Operational Remarks 2 1 2 2 Version Number 2 2 System
108. command is valid CC Clear Channel Format CC data Data 0 15 Default 0 CC deletes the program data of a channel specified in Y data CH Channel Select Format CH data Data 0 15 Default 0 This command is to select the channel to be programmed The input program can be read with TC command N Caution Input program when the system is servo off state CL Clear Alarm Format CL 66 CL command clears excess error software thermal and program error alarms Other alarms can not be cleared with CL command 12 6 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 0 or 1 99 999 999 pulse Shipping set 50000 Default 0 CO sets the position error counter value at which the excess position error alarm is to be detected When the position error counter exceeds the set value the Driver Unit outputs the excess position err
109. command 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 Example 1 Figure 9 27 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 m LA ES ES ET Echo back From Driver Unit ES EDENERE E ES EL ELESE EE 4 Ifthe input condition is not met when entering a command In this case the entered character string with INHIBITED is returned 9 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example 2 Figure 9 28 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 Sa e Echo back From Driver Unit SSeS OE OASIS o H 9 28 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 6 Readout Command f a command for reading the internal state 1 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 Returned data consists of space code 20H read value data carria
110. ctor voltage Saturated voltage For open collector Figure 5 8 SGND t SGND m Driver Unit side Driver Unit side 5 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com How to Set Jumper JP1 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 ESA13 Driver Unit Figure 5 9 indicates the Jumper location Figure 5 9 o c oO o c o frat c 2 i o E a Table 5 18 Jumper setting Z output format LD Out short Line driver Shipping set OC Out short Open collector 5 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 7 Wiring Diagram CN2 Wiring Example 1 Type 1 Figure 5 10 16 Channels selection User s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed DC24 Servo on Emergency stop C O Home limit switch Run move Programmed move bit 0 9 PRGO Programmed move bit 1 Programmed move bit 2 Programmed move bit 3 Driver Unit ready DRDY DRDY In position IPOS Note 1 Home Return For example program the HS c
111. d IPOS output closes for the moment which is set by the parameter FW then execute the next channel 2 s program after IPOS output is opened again 9 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 7 Position Feedback Signal Resolution Set the amp A eB resolution using the FR parameter via RS 232C Table 9 2 Unit um pulse Feedback signal Z Resolution 4096 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 amp A eB will not be output Output timing Figure 9 8 Plus rotation Minus rotation CHA output A T LJ LA Le I LI LH L CHA output A l1 1 l LT LL LI CHB output B CHB output B CHZ output Z CHZ output eZ CHZ output MSB CHZ output MSB The phase can be reversed by the FD parameter set via RS 232C FDO Standard at Plus direction movement A becomes ON before eB Shipping set FDI Reverse at Plus direction movement B becomes ON before A The output specification of the CHZ signal whether to output Z or MSB is selected by the FZ parameter set via RS 232C FZO eZ Shipping set FZ1 MSB 9 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 Monitor Functions The Motor ope
112. d 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 11 Command and Parameter for details command requiring password entry may only be executed immediately after the password is entered Figure 7 2 Password Input NSK ON Entered passward NSK ON Returned message Waiting for a command to be entered Input To Driver Unit JUN JUS JU JL JLO JUN Jest I5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 4 Cancelling Command To cancel a command which has been entered halfway enter a backspace code For example when the backspace code is input following VG0 5 the cursor moves one space back to the position where 5 was input and thereby deletes 5 Figure 7 3 Canceling Example Input Key Input To Driver Unit WELLIE Ls 7 5 Error Note that an error occurs in any of the following cases 1 Ifa nonexistent command 1 e character string is entered If an entered character string cannot be decoded 2 Ifdata or subscript out of the allowable range is entered 3 Ifa command 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 F
113. data communication lines 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 so forth See Figure 9 34 Connect the output of the final axis with the input of the terminal Figure 9 34 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 32 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Connecting data transmission request lines 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 1 and so forth See Figure 9 34 Connect the input of the final axis with the output of the terminal Figure 9 35 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 35 Refer to 5 1 CN1 RS 232C Serial Communication Connector for the specification of CNI Figure 9 36 Handy Terminal Connection Example Handy Terminal Driver Un
114. dition Servo Lock in one direction The Motor will only move in a direction opposite to that of the rotation limit Table 14 15 Cause and Remedy Software over travel Cause 1 The Motor enters the inhibited area set by OTP and OTM Remedy e Get out of inhibited area Note The limit must be set to the position so that the Motor can stop before it is locked or obstructed by mechanical obstacle 14 2 4 7 Hard ware 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 move in the direction opposite to that of the rotation limit Table 14 16 Cause and Remedy Hardware over travel Cause Remedy 1 Motor activated travel limit switch e Get out of the restricted area 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 14 2 4 8 Emergency Stop Output DRDY Closed TA F4 gt Emergency Stop LED F4 Motor Condition Servo Lock Table 14 17 Cause and Remedy Emergency stop Cause Remedy 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 input B contact e Input EMST on after the Motor stops 4 Faulty wiring e Check wiring 14 11 Artisan Technology Group Quality Instrumentation Guara
115. e and Remedy Control AC line under voltage Cause Remedy 1 Low voltage of control power input Check control power voltage Low voltage due to over current or output shorting 2 Control circuit voltage for the power e Turn off power check the power supply and power amplifier falls below 70V due to faulty cable then turn on power again power supply 3 Faulty PCB e Replace Driver Unit When the alarm is on after control Refer to Appendix 4 How to Replace ESA13 Driver power is turned on Unit 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 e Turn off power check the resolver cable and Refer to Appendix 2 How to Check connector Motor Condition 2 Breakage of resolver cable e Replace resolver cable Refer to Appendix 2 How to Check Motor Condition 3 Faulty resolver e Replace Motor Refer to Appendix 2 How to Check Motor Condition 4 Faulty PCB Replace Driver Unit When the alarm is on even when the Refer to Appendix 4 How to Replace ESA13 Driver resolver and the cable are normal and Unit the connector is properly secured Note 1 Check the re
116. e are stable using an oscilloscope etc 4 Uncontrollable Driver Unit Compare the current setting of parameters with the original setting at the installation 5 The Motor vibrates Positioning is inaccurate Alarm of software thermal arises frequently Are servo parameters VG VI PG FP and NP adjusted properly Do you fasten the fixing bolts of load and the Motor securely Check and fasten them tightly if necessary Connect FG terminal of the Driver Unit to one point grounding Ground the Motor and the Driver Unit respectively Refer to the User s Manual for wiring Is any external interference to the direction of motion in Servo lock state It leads to the Motor overheat if external force is applied to the Motor in servo lock state Do you use shielded cable for input signals Is the shield perfect 6 Fuses are blown Breaker trip occurs frequently When the system recovers by remaking the power take the following action 9 Install a delay type breaker Select the breaker that has enough capacity for power consumption of the Driver Unit 4 Others Combination of the Motor and the Driver Unit shall conform to the specification Be sure to write down the setting of parameters Never modify the cable set Lock the connectors securely and check for loose fixing screw s Please keep expendable parts and backup parts the Motor the Driver Unit and Cable set for replace U
117. e torque ROM SY data that are read out by MI command have the meaning as shown below MTM23 SY 0 0 0 0 MTH3 SY 1 0 0 0 MTM25 SY 0 0 1 1 MTH25 SY 1 0 1 1 Motor classification Analog input e MTM 0 e No analog input 0 e MTH 1 e Analog input 1 Position sensor classification Analog input e Standard 0 e 23 type 0 e Absolute position sensor 1 e 25 type MM Multi line Mode Format MM data Data 0 1 Shipping set 1 Default 0 Sets the display format of commands or parameters settings with TA TC and TS commands MMO reports all contents continuously When MM1 is input the display reports the setting pausing at each item At this time the colon appears the end of command or parameter Example MA0 01 To step to the next report press the space key To quit from the report press the backspace key The colon appears in the display and the system waits for next command TS or MM reports the current setting 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 To active the Motor servo input the SV command or the MS command When the MS command is input the Motor stops in the servo on state This also clears the previously input operation command 12 18
118. echanism controlled by the Motor This function becomes valid after the origin is determined by home return or AZ command Use the OTP and OTM commands to set the overtravel limit values Operation Setting by teaching 1 Turn off the Motor servo Mj O J er gt 2 Move the Motor s slider manually to a point to be the overtravel limit on the plus side 3 Input the password CH CS C Ce stum T en NSK ON 4 Register the present position as the overtravel limit on the plus side The registered overtravel limit value appears on the display OJLTICP JL JUST fomeier e OTMO ENT 5 Move the Motor s slider manually to a point to be the overtravel limit on the minus side CONGUE _ Ge Co n fev lt 9 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 Register the present position as the overtravel limit on the minus side The registered overtravel limit value appears on the display OWS time co OTM456789 ENT 8 Move the Motor s slider into the overtravel area Check that the Driver Unit outputs the F2 alarm check the alarm indicated on the LED or input the TA command After the home return is completed take the following steps If the F2 alarm is not output this time check the following 9 Is the position scale home position located be
119. efore a command is not executed unless it ends with a carriage return code If the Driver Unit can decode an entered command it returns immediately after the line feed code If it receives an internal data read command etc it returns the data before Figure 9 23 Successful input example Entered command Waiting for another command to be entered Input To Driver Unit ee a Echo back From Driver Unit Poo ee eee 9 24 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 Applicable commands DB FC FF IL OG OL PA RC SI and ZA command requiring password entry may only be executed immediately after the password is entered Figure 9 24 Password Example NSK ON Entered passward NSK ON Returned message Waiting for a command to be entered 9 25 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 2 4 Cancelling Command A command which
120. ely adjusted and assembled If disassembled it may cause abnormalities such as deterioration in accuracy and rigidity as well as noise N Caution Do not touch Driver Unit Touching the Driver Unit just after the power is turned off may cause electric shock 9 Driver Unit has high capacity conductors in its internal circuits and there 1s high residual voltage for few minutes after the power is turned off Do not detach Driver Unit cover unless it is necessary When the cover has to be removed follow procedures described below 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 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 2 1 5 seconds or more ON Control power OFF Mai ON ain power OFF 5 minutes or more Remove cover IX Caution Using an optional regenerative dump resistor shall be considered for heavy duty operation When Motor is decelerating rotational energy is dissipated by internal dump resistor Excessive rotational energy causes very high regeneration of Motor the dump resistor is overheated then the alarms goes off and Motor stops o Gentler
121. en using an inductive switch e g relay be sure to insert a surge killer circuit When the user installs sensors as the home limit switch direction overtravel limit switch and direction overtravel limit switch connect sensor outputs directly to the input ports of the Driver Unit not via the controller 5 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connection Example 4 Type 4 Figure 5 13 Pulse train motion limit home return start and clear input User s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed DC24 Servo on o O emergency stop 55 9 OTP Home return start S as PLS pulse train gt MNS pulse train gt Driver Unit ready In position DC24V 6 CHA Positioning feedback A Positioning feedback B Positioning feedback Z digital position data MSB SGND Signal ground FGO N Caution When using an inductive switch e g relay be sure to insert a surge killer circuit When the user installs sensors as the home limit switch direction overtravel limit switch and direction overtravel limit switch connect sensor outputs directly to the input ports of the Driver Unit not via the controller 5 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www arti
122. ency Stop Program error F5 gt Program Error Automatic Turing error F8 F8 gt AT Error RS 232C error C2 C2 gt RS 232C Error CPU error C3 gt CPU Error Resolver Circuit error A AO gt Resolver Circuit Error Software Thermal Sensor A3 gt Overload Velocity error over A4 gt RUN away Heat Sink Overheat P PO gt Over Heat Abnormal Main AC Line Voltage Pl gt Main AC Line Trouble Over Current P P2 gt Over Current Control AC Line Under Voltage P P3 gt Control AC Line Under Voltage When an alarm is reportd it is identified as shown below When multiple alarms are reported a pause between the alarms will start a mew line Switching display format by MM os effective Example of display Hardware travel limit and emergency stop are display bu MMI format TA F3 gt Hardware Over Travel F4 gt Emergency Stop e 12 26 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TC Tell Channel Program Format TC data Data 0 7 15 or AL Default 0 Reports the program contents of a channel specified on Y data No data is displayed if program is not set to the channel TC AL command is to scroll all channels with pressing the space key TE Tell Position Error Counter Format TE RP Reads the value of the position error counter The displayed value is between 2 147 483 648 and 2 147 483 647 If it exceeds or lowers below the upper or
123. equirements in Table 6 3 Table 6 2 Noise Filter Requirement Driver Unit AC Line Noise Filter Voltage Rating 220VAC 30 220VAC 16 250V AC DC 250V AC DC 110VAC 19 Control Power 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 Current Rating 15A AC DC 5A AC DC The noise filter must be installed on control power AC line separately from the main power line 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 capacitive 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 6 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 6 3 Contact Requirements Contacts No Fuse Breaker Short Circuit Breaker For ESA Type Current Rating 15A Contact Capacity
124. er If runaways are caused by noise connect the shield to the FG terminal of the Driver Unit Earth the rack base by bolts when the Motor is electrically isolated from the other machines Figure 6 3 shows the wiring example This is provided as an example not the instruction Figure 6 3 Wiring Example Driver Unit 1 Main Power 6 65 gt i T Resolver Noise Filter AC Power i Circuit Breaker Control J Power CN2 Y Motor e Position controller C Pulse output Sequencer Ground Earthing x Connect to earth at one point 6 7 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 N Caution Do not make the Cable Set length longer or shorter Changing cable length may worsen Motor and Driver Unit performances typically resolver and resolver repeatability When ordering check carefully required cable length 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 Connect the Cable Set to Motor connector and Driver Unit connectors CN3 and CN4 6 8 Art
125. f water corrosive gas dirt dust and any other contamination 6 4 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 to the high voltage supply for driving the Motor 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 Megathrust 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 force at elevated speed more than 2096 of the maximum rated speed Use 2 0 mm 14AWG or larger wire with heat proof vinyl for power line The electrical noise from outside sources and from the System itself can interfere with proper operation The protection from electrical noise must be designed into the installation Usea line noise filter on the AC supply A suitable noise filter may be obtained from NSK If you supply your own it should meet these r
126. f 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 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Decrease low pass filter frequency FP to lower noise level by typing minus key several times 1 ENT 333 222 STEP10 _FP500 3 Ifthe Motor starts to work unstably increase FP value by typing plus key several times Pressing SHIFT ee 1 ENT 233 123 STEP1 _FP120 4 Type the enter key to complete the adjustment ENT 233 193 STEP1 _FP120 Note To deactivate the filter input the filter command with 0 data For example type as LEJE 05er gt 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 Example 1 Check the resonance frequency as shown in Figure 8 3 2 If the resonance frequency is 200 Hz input LN LP J 2 0 0 led to set notch filter frequency Figure 8 3 Display pa Ocsilloscope N Handy Terminal
127. first point where the resolver value becomes 0 rising edge of the Z and completes the home return The direction of move can be changed with the parameter HD Home return direction HDO PLS Plus direction HD1 MNS Minus direction 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 the home return operation 10 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Home return can be also executed with the following ways Select the channel where HS command is set and input RUN command o Execute RS command through RS 232 communication The home return movement differs as shown in Figure 10 3 according to the starting point of home return Figure 10 3 fon return starting point 9 Origin OTM input active HLS input active OTP input active MNS direction overtravel area home limit switch area PLS direction overtravel area a a MNS MNS direction PLS direction A velocity direction i PLS direction EB ZEN velocity iy The DRDY output is open during this operation lt The DRDY output remains closed during this operation The DRDY output is open during this operation lt When the home return direction is reversed by the HD parameter PLS and MNS as well as OTP and OTM are reversed as follows PLS
128. for the Driver Unit to receive the operation command after SVON is inputted 30ms min 6 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 6 12 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 enabled by issuing commands to the Driver Units through NSK Handy Terminal FHT 11 i e communication through the RS 232C interface The Driver Unit has CNI as the Input Output ports for RS 232C communication FHT11 Terminal can be a daisy chain communication terminal Refer to 9 3 3 Daisy Chain Communication for details N Caution Always turn off the Driver Unit when plugging on off the CN1 connector Turn off the Driver Unit if it has been turned on Connect FHT11 and the Driver Unit at connector CNf1 o 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 is displayed a
129. g com 1 2 Functional Principle 1 2 1 Motor By virtue of its unique design the Megathrust Motor System is capable of producing extremely high thrust force at low speeds suitable for direct drive applications Furthermore it can produce these force 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 a stator and a rack base construction The stator is constructed of laminated iron sheets with several 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 some 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 along with the stroke of the Motor The number depends upon the rack base length The rack base is an iron plate with the same tooth structure but without windings or pole pieces The rotor serves to conduct the magnetic field from the stator through the rack base and back again to the adjacent pole piece on the stator The rack base teeth also serve to focus the magnetic field into discrete points along wit
130. ge return ODH line feed code OAH 1 TS command for reading set value Figure 9 29 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 Primary stage notch filter lt Waiting for a command to be entered Input To Driver Unit N Caution When MM parameter is 1 input of 20H requires for mee Seco Echo back From Driver Unit I EDEN eJ me mie de AIH Hd mI de 9 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 If set value reading function is used Figure 9 30 function example lt Entered command Returned velocity loop proportional gain lt Waiting for a command to be entered Input To Driver Unit A 8 Echo back From Driver Unit So 3 TP command for reading current position data Figure 9 31 TP command example lt Entered command lt Returned current position coordinate lt Waiting for a command to be entered Input To Driver Unit ee 5 Echo back From Driver Unit See d d EXE Ed E 9 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 Daisy Chain Communication Daisy chain communication allows multiple Driver
131. gure 9 15 Coordinate Minus direction origin Plus direction 2 147 483 648 2 147 483 647 9 2 1 4 Position Scale Reset Zi Caution The position scale value is not decided immediately after the power is turned on Be sure to reset the position scale before positioning The position scale value is reset to 0 by the following operations o Home return finish AZ command input 9 2 1 5 Position Readout You can read out the current position by inputting TP command through RS 232C serial communication terminal such as the Handy terminal Command format TRZ RP ENT With RP One shot readout Without RP Real time readout 9 16 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 1 6 Position Scale Setting Example 1 Set the MNS direction of the position scale as the plus direction i Input the password The password acknowledgment message appears on the display LEONIS UG NSK ON LO JUN J ev ab ii Inputthe DI command to determine the position scale direction CES UC Tear NSK ON DI1 2 Resetting the position scale value i Input the password The password acknowledgment message appears on the display LL JON J SUK le NSK ON LO JUN ex mE ii Input the AZ command to reset the position scale value A J Z J evr NSK ON NSK ON AZ
132. h Speed The Driver Unit features higher speeds than ever before with less force drop off at the intermediate speeds As a result smaller Motors may be used for high speed positioning applications when the thrust 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 Megathrust 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 1 1 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 Mega
133. h the stroke of the rack base and the combined effect of these points of focused magnetic field around both the stator and the rotor act like electronic gear reduction multiplying the force hundreds of times while reducing the speed by the same amount Brushless Microprocessor Commutation For each full electrical cycle of commutation the Motor moves through one magnetic cycle which is the distance between adjacent teeth There is one 1 electrical cycle per 4 096 mm stroke 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 move 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 force 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 Unlike motors which use permanent magnets the Megathrust Motors do not weaken with age 1 2 2 Driver Unit All of the circuits that are needed to operate the Megathrust Motor System in position velocity or force control modes are contained in the Driver Unit These circuit functions are Digital microprocessor Power amplifier o Resolver interface
134. ier Subsystem 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 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 signals 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 S
135. ifies the alarm ENT TA Fl Excess Position Error Thus the alarm is identified as Excess position error 14 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 1 3 Alarm List Alarms and their codes are listed in Table 14 1 Table 14 1 Alarm code list Alarm Terminal Display Memory error E0 2Memory Error EEPROM error E2 gt EEPROM Error System error E7 gt System Error Excess Position error Fl Fl gt Excess Position Error Software Over Travel Limit F2 gt Software Over Travel Hardware Over Travel Limit F3 gt Hardware Over Travel Emergency Stop F4 gt Emergency Stop Program error F5 gt Program Error Automatic Turing error F8 gt AT Error RS 232C error C2 gt RS 232C Error CPU error C3 C3 gt CPU Error gt iz Resolver Circuit error A0 Resolver Circuit Error Software Thermal Sensor A3 gt Overload Velocity error over A4 gt RUN awa Heat Sink Overheat PO gt Over Heat Abnormal Main AC Line Voltage Pl gt Main AC Line Trouble Over Current P2 gt Over Current Control AC Line Under Voltage P3 gt Control AC Line Under Voltage TA commend identifies an alarm The display shows nothing when there is no alarm When two or more alarms are detected each alarm is displayed in a separate line Display mode changed by MM parameter is valid Display example Emergency stop and hardware over travel limit alarms are detected in MMI se
136. igure 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 A J B Jl b e en cus Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 6 Readout Command If a command for reading initial setting or current state is entered the Driver Unit returns data The following is an example for checking JOG Velocity JV set value 1 TS command for reading set value 1 Refer to 11 Command and Parameter TS 2 JV command is in the group of TS7 input MOG Ly 3 Press key to scroll display to find out JV value aa 4 When finishing the readout i Keep pressing key until display stops scrolling or ii Press key 5 The colon is displayed to indicate the system is waiting for next command 2 If the set value reading function is used 1 Enter before inputting JV Display shows the value of JV WUE 2 A colon is displayed N Caution When reading out set value using TS command is recommended When using command make sure to input 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 8 Trial Running and
137. imit Rate 12 27 Tell Position 12 28 Tell RDC Position Data 12 28 Tell Settings 12 28 I O Type 12 29 Velocity Gain 12 29 Velocity Integrator Frequency 12 29 Velocity Integrator Mode 12 30 Velocity Error Over Limit 12 30 Velocity Error Over Limit Width 12 30 Write Data to EEPROM 12 30 Write Mode to EEPROM 12 31 Factory Use Only 12 31 Factory Use Only 12 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 Maintenance 13 1 15 Troubleshooting 15 1 13 1 Precautions 13 1 15 1 Identifying Problem 15 1 13 2 Maintenance Check 13 2 15 2 Troubleshooting 15 2 13 2 1 Motor 13 2 15 2 1 Power Trouble 15 3 13 2 2 Driver Unit and Cable Set 13 2 15 2 2 Motor Trouble
138. imum speed Table 4 8 mm s Resolver resolution Set to 12 bit Motor type Y type Megathrust motor Automatic resolution setting or set to 10 bit 1800 Automatic resolution setting 12bit and 10 bit setting may be selected by a parameter Position feed back signal A B Z MSB Output signal format Line driver Table 4 9 Resolution um Resolver resolution Set to 12 bit Set to 10 bit 12bit and 10 bit maybe selected by parameter Motor type BZ MB Y type Megathrust motor Control I O signal Input signal Emergency stop Servo on Home position limit switch Run move Program channel switching 64 channel Over travel limit Home return start Clear Jog and Jog direction Output signal Driver ready In position and Home return complete l4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Alarms Excess position Velocity error Software thermal limit Over travel limit controller error RS 232C communication error Resolver error Over current Amplifier overheat Abnormal voltage error and Control power low voltage Monitor output Analog velocity and RS 232C serial communication Current position alarm status and servo parameters Communication Asychronous RS 232C communication Baud rate 9600 bps Data backup Backed up by EEPROM Possible to overw
139. ion 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 Ltd SINGAPORE Singapore Phone 65 2781 711 NSK Bearing Thailand Co Ltd THAILAND Bangkok Phone 02 6412150 60 Taiwan NSK Precision Co Ltd TAIWAN Taipei Phone 02 591 0656 MEGATHRUST MOTOR SYST
140. ion function generates a velocity command by differentiating the position command then adds it to the velocity loop in the forward direction Feed forward compensation improves follow up delay during acceleration deceleration Setting the FF parameter to a higher value improves follow up delay but overshoot becomes more likely to occur It is generally recommended that the parameter be set to 0 5 or below Figure 9 17 Feed Forward Compensation Block Diagram Feed forward 2n compensation Differentiation gain Position loop gain Position Velocity command command Position data Velocity data 9 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 4 Integrator Limiter ILV Parameter ILV sets the upper limit to the velocity gain Shipping set is ILV100 The password is necessary when setting ILV Integrator limiter reduces overshoot caused by the integral action during high acceleration deceleration The integral action is indispensable for high precision 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 1 Command and Parameter Figure 9 18 Integrator limiter bl
141. ion of each plates are shown in Figure 6 1 Refer to 3 2 Reference Number Configuration for the more details Figure 6 1 Serial Number NSK Ltd MADE IN JAPAN ra Serial Number 6 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 3 Motor Mounting 6 3 1 Mounting Location Please check that the following environment is given to the System Ambient Temperature 0 40 C Relative Humidity 20 80 Non condensing 9 Indoor use only The area where the Motor is mounted must be free of corrosive gas dirt dust water oil and any other contamination 6 3 2 Mounting Refer to Table 6 1 to mount the Motor Table 6 1 Mounting method Motor YA1 YA2 YB1 YB2 YB3 Mounting method e U Bolt size M8 Hole span 120 mm 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 N Warning Fully fasten all the mounting holes mounting tap holes of
142. isan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 6 6 Power On and Servo On 6 6 1 Precautions N Caution Before turning on the main power check the following 1 Wiring of connectors 2 Connecting Cable of Motor and Driver unit 3 Safety N Danger Always stay in a safe place N Warning 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 AN Danger The working area of the Motor should 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 i Normal state o Figure 6 5 shows the LED indicator in normal condition Figure 6 4 ii Abnormal Figure 6 5 Green LED Illuminates when the power is turned on oc Normal Green Abnormal Orange H oe 7 segment LED display Indicate the type of alarm The alarm is normally indicated by a 2 digit code Two characters are displayed alternately at certain intervals When two or more alarms are detected their codes are also indicated alternately at certain intervals Refer to 14 Alarms for more details iii Handy Terminal display Ifa message NSK MEGA is displayed on the Handy Terminal the system is ready for operation A colon indicates that
143. it Driver Unit Driver Unit 0 1 2 The communication signal name on the Handy Terminal is opposite to that on the Driver Unit e g RXD TXD 9 33 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 4 Power On N Caution If the Handy Terminal is not used turn on power in the order of the RS 232C terminal and Driver Units Turn on the power for all Drivers simultaneously If all the 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 properly the following message is displayed the following examples shows a 3 axis configuration Figure 9 37 NSK MEGATHRUST MS1A00 XXXX EXXXXXXXXXX BM1 AS 0 OK AxX0 1 OK AX1 j Displays the connection state 2 OK AX2 Waiting for a command to be entered 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 connected improperly Figure 9 38 NSK MEGATHRUST MS1A00 XXXX EXXXXXXXXXX Displays the connection state Waiting for a command to be entered If the proper message is not displayed check for connection order initial setti
144. ive in your area 15 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Motor does not run smoothly Motor vibrates or runs away Figure 15 4 Motor trouble 2 Motor does not run smoothly Motor vibrates or runs away Make sure the combination of Motor and Driver Unit is proper Motor installed properly Load connected securely Install properly No backlash allowed Adjust parameters Servo parameters already adjusted P y aoj Refer to 8 Trial Running and Adjustment Decrease VG value Filter used Refer to 9 Operational Function ee Check Motor and resolver windings Refer to Appendix 2 How to Check Motor Condition Motor runs stably Contact NSK representative in your area 15 5 Artisan Technology Group 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 N 1 Home Return command causes no motion ete L7 Verify IO state with IO command Refer to 9 1 8 2 Monitoring the I O state Make sure the combination of Motor and Driver Unit is proper Alarm is activated after the power is turned on Refer to Figure 15 4 Motor trouble 2 EMST OTP or OTM inpu
145. leared When the excess position error alarm occurs turning on the CLR input clears the position error counter and recovers from the alarm state The Driver Unit detects the rising edge of the CLR input pulse and clears the position error counter to zero Then the counter continues its operation regardless of the state of the CLR input even when it remains on Figure 9 4 10ms min 3ms max 3ms max Position error counter over Position error limit value CO counter CLR input Excess position Alarm error alarm Normal Software thermal and program error alarms can be cleared by inputting CLR on Other alarms cannot be cleared using CLR 9 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 4 Overtravel Limit 9 1 4 1 Hardware Overtravel Limit Hardware overtravel limit is effective when I O type is set to TY3 TY4 or TY7 Use the OTP and OTM inputs to restrict the range of Motor movement If the OTP input is activated the Motor motion will stop immediately and remain in servo on The Motor can be moved to the minus direction only If the OTM input is activated the Motor motion will stop immediately and remain in servo on The Motor can be moved to the plus direction 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 on the AB
146. lied e f no troubles are found in the above check and this alarm occurs frequently contact NSK 5 Defective PCB e Replace Driver Unit As soon as the control power is turned Refer to Appendix 4 How to Replace ESA13 Driver on the alarm is activated Unit Notes 1 Stop operation immediately 2 Even the alarm goes off it is activated again when the thermal sensor is still on Take a time to cool the Motor and Driver Unit 14 4 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 Remedy 1 Abnormal power supply voltage e Check main power supply 2 9 Main circuit voltage is excessive due Excessive voltage low voltage and power source to high acceleration deceleration capacity under heavy load e Check fuse power source and the cable then turn o Defective power source gives over power on again 290V to the main power supply for power amplifier main circuit 3 Defective power source gives under 40V to power amplifier main circuit 4 Blown fuse Check blown fuse Motor over temperature abnormal e Check the fuse power supply and cables then turn on power supply wiring Driver Unit power again abnormal 5 Excessive rege
147. lower limit it is changed into the lower or upper limit with a reversed sign 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 5 more than six figures is displayed To terminate automatic reading press the key When only TE is entered the display shows the value at the moment TL Torque Limit Rate Format TL data Data 0 100 96 Shipping set 100 Default 0 Sets the torque limit The Motor torque will be reduced to a percentage 6 of the maximum torque immediately after TL is input and the Motor torque is controlled not to exceed the limit TS or TL reads the current setting 12 27 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com TP Tell Position Format TP2 RP Shipping set None Default Not omissible TP2 command reads the current position of the Motor in the pulse scale If TP is executed with an RP option reading is repeated automatically If only TP2 is executed the display shows the position at the moment To terminate automatic reading press the key TR Tell RDC Position Data Format TR RP TR reads data of RDC position data Data is between 0 and 4095 If TR command is executed with
148. mits OTP OTM must be used to restrict the Motor moving range 1 Tum SVON CN2 signal ON and inputting SV command makes the Motor in servo on states EJE 2 Confirm that Driver Unit s LED is indicating 7 P for normal condition 3 Input Automatic Tuning command LA CT Je AT ready OK If a message is different from the display shown right try procedures i and ii again 4 Confirm the message AT ready OK then input OK O K ENT AT ee ibas The Motor moves 10 20 mm back and forth to estimate the load inertia When executing estimation a dot keeps appearing in the display till the Motor stops 8 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 After the estimation of load weight the display indicates the weight value LO OK Load inertia eee9999 estimation N Caution When executing the automatic tuning if an error message is ON refer to 14 Alarms and take a proper remedy Driver Unit s LED indicates F8 for AT error 20K ee2ee0e0e0 AT Errorl 8 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 2 4 Trial Running Adjustment Level 1 N Danger Confirm that the work or Motor does not hit any obstacle when the Motor makes a motion Always stay in
149. mode 12 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com FR Feed Back Signal Resolution Format FR data Data Oor1 Shipping set 0 Default 0 Sets the resolution specification of the position feedback signal A and eB FRO 10 bit resolution specification FR1 12 bit resolution specification For more details about the resolution refer to 4 2 2 2 Function 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 adjusting mode 12 11 Artisan Technology Group Quality Instrumentation Guaranteed 88
150. mode Shipping set 0 Default Not omissible Sets the band of position loop Automatic tuning sets SG value When SG value is changed PG position gain VG velocity gain and VI velocity integrator frequency settings will be automatically revised SG AJ command sets the adjusting program TS or SG reports the current setting 12 24 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com SI Setlnitial Parameters Format Si data Data range None AL SY 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 following parameters will be initialized by SI SI Initializes servo related parameters PG VG VI DBP ILV FF FP FS NP LG TL SG LO FO FC SI AL Initializes all the parameters SI SY Initializes all the parameters excluding PA 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 N Caution System initialization takes about 30 seconds Do not turn off the power while initialization is being performed otherwise the memory will become faulty When the memory is faulty SI AL will be executed even if SI or SI SY is input
151. nd the system waits for a command to be entered The colon is called a prompt Ifthe colon is not displayed press key Figure 7 1 Power On Message NSK MEGATHRUST Slightly differs with system configurations MS1A00 xxxx EXXXXXXXXXX PR Indicates that internal initialization is completed and a command may be accepted 7 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 2 Command Entry 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 5G to a VG command Every time a character is input the Driver Unit echoes the character back to the terminal The Driver Unit returns 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 n Zi Caution When turn off the Driver Unit power 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 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 entere
152. neration voltage e Readjust operation duty the load and acceleration deceleration 6 Defective PCB e Replace Driver Unit When the alarm is on after the Motor Refer to Appendix 4 How to Replace ESA13 Driver stops even power source and fuse are Unit normal Note 1 When the regeneration dump resistor can not 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 Over Current LED P2 Motor Condition Servo OFF Table 14 5 Cause and Remedy Over current Cause Remed 1 Poor insulation of the Motor e Replace Motor Refer to Appendix 2 How to Check Motor Condition 2 Defective Motor Cable e Replace Cable Refer to Appendix 2 How to Check Motor Condition 3 Defective FET of Power Amplifier e Replace Driver Unit When the alarm is on even the Motor Refer to Appendix 4 How to Replace ESA13 Driver and Motor cable are normal Unit 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 Caus
153. ngs AN parameter CM parameter and cable connection 9 34 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 3 5 Operation Selection of Driver Unit to Communication In daisy chain mode the RS 232C terminal is capable of communication through a single driver unit Use an AX command to select one of the Driver Units connected for daisy chain communication N Caution Do not select any unit that is not connected Otherwise operation may hang up To return to the normal state press the BS key then select the number of a connected driver unit Figure 9 39 AX2 Select a new axis for communication axis No 2 ACC AX2 Acknowledgment message An axis selected for communication may be checked by issuing a AX command The axis is displayed in the same manner as it 1 selected Figure 9 40 2AX ACC AX2 Current axis for communication 9 35 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Example of Daisy chain Communication Figure 9 41 Example of Daisy chain Communication 4 Select axis 1 lt AX1 command Mb cde Acknowledgment message message ACC AX1 YES Y Set axis 1 parameter Example IR100 move by 100 pulses V of Select axis 3 lt AX3 command ce MEN Acknowledgment message message ACC AX3 Set
154. ning RS 232C communication and other controls are disabled 2 Contact NSK if the alarm occurred 14 2 4 5 Excess Position Error Output DRDY Open TA F1 Excess Position Error LED F1 Motor Condition Servo Lock Table 14 14 Cause and Remedy Excess position error Cause Remedy 1 Position error counter value is over CO e Remove mechanical restraint setting due to mechanical restraint such as brake 2 Improper gain setting e Readjust gain Refer to Chapter 8 Trial Running and Adjustment 3 Excessive acceleration deceleration Decrease acceleration deceleration 4 CP setting is too low 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 Check the applied load 5 Unmatched combination of Motor and Check reference number of Motor and Driver Unit Driver Unit 6 Improper PA setting e Refer to 6 2 Motor and Driver Unit Convination 7 Faulty PCB e Replace Driver Unit When the alarm is on even RUN Refer to Appendix 4 How to Replace ESA13 Driver command is not executed Unit 14 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 6 Software Over Travel Limit Output DRDY Open TA F2 gt Software Over Travel LED F2 Motor Con
155. not change the length of the cable Do not use other connector between the Resolver cable and CN3 N Danger Never connect pins not listed below Insert the connector being careful of its orientation Tighten the screws for fastening the connector so that it will not be loosened by shock Never connect disconnect the CN3 connector with the Driver Unit power turned on Table 5 19 Driver Unit connector Mating connector type Mating connector shell type Japan Aviation Electronics Industry Limited DALC JISSAF 13L9 Japan Aviation Electronics Industry Limited DA 15P N Japan Aviation Electronics Industry Limited DA CI1 J10 5 3 1 CN3 Pin out Figure 5 15 CN3 Pin out COMMON e e C 9 83 S 5 O9e0oOocoo 5 3 2 CN3 Signal List Table 5 20 CN3 Signal List Pin Function 8 Resolver signal phase A 7 Resolver signal phase B 15 Resolver signal phase C COMMON 4 COMMON Common 10 Frame ground 5 23 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 Megathrust 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 N Caution Do not change the cable length Do not use other connector between the Mo
156. nsor mounting holes Number mounting holes kg N M3 x 0 5 x 6 ML YA11048001 3 2x4 310 480 12 ML YA11060001 4 2x5 430 600 14 ML YA11084001 6 2x7 670 840 18 ML YA11120001 9 2x10 1030 1200 23 5 ML YA11156001 12 2x13 1390 1560 29 ML YA11204001 16 2x17 1870 2040 37 4 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com
157. nteed 888 88 SOURCE www artisantg com 14 2 4 9 Program Error Output DRDY Closed TA F5 gt Program Error LED F5 Motor Condition Servo Lock Table 14 18 Cause and Remedy Program error Cause 1 A non programmed channel is started Remedy Check the program e Check wiring of PRGO PRG3 input e Confirm sequence 14 2 4 10 Automatic Tuning Error Output DRDY Closed TA F8 AT Error LED F8 Motor Condition Normal Servo State Table 14 19 Cause and Remedy Automatic tuning error Terminal Cause l display 1 System is in Servo OFF when executing e 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 can not be executed AT Error 2 due to unbalanced load e Set parameters manually 4 Resonant vibration occurs due to low Check the load or the mounting base rigidity of the load or the mounting base Increase rigidity e Set parameters manually 14 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 4 11 RS 232C Error When parameter is SE 0 Output DRDY Close TA C2 RS232C Error LED C2 Motor Condition Normal When parameter is SE 1 Output DRDY Open TA C2 RS232C Error LED C2 Motor Condition Servo lock Table 14 20 Cause anr Remedy RS
158. ock diagram Position Velocity loop gain loop gain Velocity loop integrator Position UR Q 1 2n Int t Int t Position data Velocity data edun ier Figure 9 19 Integration gain 9 20 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 2 5 Dead Band Setting DBP The DBP parameter sets a dead band centered at 0 to error in the position loop When the position error value is below the specified dead band value the position command is set to 0 In some systems micro vibrations may be caused by a slight error in positioning In this case micro vibrations can be prevented by setting a dead band Setting a dead band reduces micro vibrations but lowers repeatability by the set value The dead band is set in the units of pulse equivalent to the resolver resolution with 12 bit specification refer to 4 2 2 2 Function Specifications resolver resolution When the resolver resolution setting is 10 bit set the dead band value by a multiple of 4 Figure 9 20 Dead Band Setting Block Diagram Position loop Position dead band loop gain Velocity Velocity loop loop gain integrator Position E command pm Position data 32 VG VI Velocity data 9 21 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 3 RS 232C Communication 9 3 1 Communi
159. ode RP opt omitted Indicates the present status opt RP Reading is repeated automatically To terminate automatic reading press the BS key Method of indication The reading will be shown in 13 digits All 1 s and 0 s represent the status of each signal as shown in the table below I P 3 I4 Is I6 I7 Is O1 O2 O3 O4 For each I1 D I3 I4 Is I6 I7 I8 O1 O2 O3 O4 ls or 0 s will be indicated O2 and O4 are always 0 Input signal n e do M is le iw i Output signal TY2 TY3 SVON EMST PRG3 PRG2 Output TY4 SVON EMST RUN HLS CLR OTM OTP separation TY7 IR Incremental Positioning Resolver Format IR data Data 99 999 999 99 999 999 pulse Default 0 Executes the incremental positioning command in the units of pulse in the RS 232C communication operation The data sign specifies the direction of rotation movement data gt 0 plus direction PLS direction data 0 minus direction MNS direction 12 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com IS In position Stability Timer Format IS data Data 0 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 position error counter is within the
160. off A 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Initialize the Driver Unit 1 Connect the Handy Terminal FHT11 to CN1 connector of the Driver Unit Y 2 Turn on the control power only Y T2 EI 3 Input the password When the colon is displayed press JUN S JCK J e Co JUN ev 4 4 The Driver Unit echoes back NSK ON 4 5 Input SIAL command EGODE 4 6 The 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 9 Input the password e CES GO GO ONC The Driver Unit echoes back NSK ON res PJA JC e e must be the same data as noted 4 3 Set other parameters and programs accordingly Y 4 Make sure that all parameters and programs are set properly Monitor the settings with TSO and TCn commands Y 5 Tum offthe power AM Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Appendix 4 How to replace ESA13 Driver Unit Ax Danger Make sure the power is turned off when replacing ESA13 Driver Unit In the reference number of ESA13 Driver Unit second digit from the last denotes whether it is interchangeable or
161. ogy Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 1 1 3 Dimensions Figure 4 2 YZ1 type 10 L 20 linear guide length 10 55 5 L st stroke length 140 5 gt 12 le 15 55 55 15 Urethane rubber_ 10 5 Lio i T i Stopper e p T TL WE TE i E i ES e 5 e ons e EN Ss SEP tct Hr i o wo o i i FR 8 vt ON a Vi H Ho it BS Xu TERN Tes HN P es ui Tu T t n HG N N t T j un Slider mounting holes 6 M5 x 0 8 x 7 5 S e TA 1 40 L14 Cable length Lst 2 500 mm Base mounting holes 26 5 drill thru countersink 910 5 2 5 5 deep 7 Lj Resolver Cable ji Motor Cable NSK li id near Resolver Cable 26 Hits Motor Cable 06 in al 120 60 120P x N 120N 60 4 L 4 Cable guide amp sensor mounting holes Unit mm N M3 x 0 5 x 6 Motor Model No of base L Mess Number N mounting holes st L kg ML YZ11048001 3 2x4 310 480 6 5 ML YZ11060001 4 2x5 430 600 7 5 ML YZ11084
162. om Jump Command JP Conditions None This is the command for unconditional jump A program jumps to specified channel and continues operation Command format Jpm m Channel number to jump default 0 Program example CHO IR1000 amp CH1 IR2000 amp CH2 JPO Figure 11 3 PRGO 5 lt o y RUN input CHO CH1 CHO Program IR1000 amp IR2000 amp IR1000 amp operation IPOS output 1 F1 FW 0 p Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Sequence code Command HS AR R Conditions amp When a sequence code is added to a command a program executes the next channel continuously without selecting a channel externally Table 11 2 Sequence code IPOS output Execution of the next channel asterisk Executes next program continuously after positioning is finished amp ampersand Stops after positioning then waits for RUN command Program example CHO IR5000 CH1 IR1000 amp Figure 11 4 PRGO 5 lt _9 y RUN input CH1 CHO Programmed IR500 IR1000 amp Operation IPOS output 1 1 FW 0 Sequence code change Conditions OE OE seq makes possible to change a currently set sequence code Program example CHO Specify an objective channel AR9000 amp CV300 input J0E cene uan HERE oO J E evr TCO
163. ommand in CHO Immediately after turning on the power select CHO and turn on the RUN input to execute the home return operation 2 Pulse train operation Add the connections of the PLSP and MNSP signals if you want to use the pulse train operation 3 Off limit area Set software over travel limit as this combination type does not have overtravel limit input Refer to 9 1 4 2 Software Overtravel Limit N Caution When using an inductive switch e g relay be sure to insert a surge killer circuit When the user installs a sensor as the home limit switch connect its output directly to the input port of the Driver Unit not via the controller 5 18 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Connection Example 2 Type 2 Figure 5 11 Jog operation and 4 channels selection User s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed Dee Servo on 9 O Emergency stop Home limit switch e lt Run move e O Jog Jog direction Programmed move bit 2 e O O Programmed move bit 3 Note 1 Home Return For example program the HS command in CHO Immediately after turning on the power select CHO and turn on the RUN input to execute the home return operation 2 Pulse train operation Add the connections of the PLSP and MNS
164. onfigurations MS1A00 xxxx EXXXXXXXXXX ES EEA Indicates that internal initialization is completed and a command may be accepted N Caution Turn the power of Driver Unit off when connecting or disconnecting the communication cable CN1 It may lead to RS 232C error alarm or break down of Driver Unit 9 23 Artisan Technology Group Quality Instrumentation Guaranteed 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 VG0 5 should be entered by adding data of 0 5 toa VG command The characters of this command with data are transmitted to the Driver Unit as shown below Figure 9 22 Example Of VG0 5 V code G code 0 code code 5 code 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 0DH 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 V GO0 5 in the example above and executes it Ther
165. only on this line vii Input the HO ST command HUC rJ S T L NSK ON NSK ON HO ST 10 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com viii ix x xi xii Press the key to execute the command ENT When the _ prompt appears on the display Home offset HO value is automatically calculated and set Input the SV command servo on command Press the key to execute the command and there by turn on the Motor servo ENT The _ prompt appears when the Driver Unit is ready to accept another input Input the HS command home return start command Press the key to execute the command and there by start the home return operation ENT HO1234 SV HS Check that the Motor stops at the desired origin point 10 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 2 3 Programming the Home Return Operation example 1 Programming the home return command in channel 0 CHO When the I O type is not TY4 there is no home return start HOS input in the CN2 connector In this case program the home return command in a Programmable Indexer channel Then start the operation by activating the channel i e RUN input ON i Input the CHO channel select command EE The prompt appears to wait for data input If
166. open P control PI control PLS position gain position integrator frequency position loop control mode Programmable Indexer pulse train quadrature output rated stall force rated force servo lock servo off servo on shipping set stall force System means velocity gain velocity integrator frequency velocity loop control mode bit per second the unit of communication speed logic output state output current will flow MNS direction PLS direction Slider N Motor Connector means Megathrust 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 direction of Motor motion minus negative see figure above means Megathrust 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 supply logic output state no output current proportional only control the servo algorithm proportional and integral control the servo algorithm direction of Motor motion plus positive see figure above 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
167. or alarm and opens the DRDY output circuit f 0 is specified the excess position error alarm detection is invalidated i e no alarm function TS or CO command reports the current setting CR Circular Resolution Format CR data Data X1 X2 X5 Shipping set X1 Default Not omissible Use to specify the pulse train resolution For the details about the resolution refer to 10 4 Pulse Train Command The resolution changes immediately after CR data is specified TS or CR command reports the current setting 12 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com CV Channel Velocity Format CV data Data 1 1800 mm s Default 0 This command is used to specify the velocity of each channel of the Programmable Indexer The CV 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 to be entered If it is entered in the normal stand by state an error occurs normal stand by state 6 V 0 when the colon is displayed while waiting for input If no setting is made in a channel or 0 is specified the velocity specified with an MV command is valid DBP Dead Band Format DBP data Data 0 or 1 4095 Shipping set 0 Default 0 Sets a dead b
168. ows the maintenance check and intervals The checking interval shown in the table is reference only It should be decided according to the actual use conditions N Caution Do not disassemble the Motor and resolver If disassembling Motor is necessary contact your local NSK representative Table 13 1 Motor maintenance check Item Checking interval How to check Remarks Abpearanc According to e Wipe off dust slag E pp environment e Blow off slag e Check dirt and contamination e Grease AV2 e Supply grease via the grease nipples on Greasing Every 6 months both ends of the slider every 6 months approximate In case of HZ type Motor grease directly onto the rail grooves e Resistance test e Resistance gt 10MO Insulation Once year Motor coil and ground earth Disconnect Driver Unit 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 Checks as shown in Table 13 2 are necessary at least once a year Table 13 2 Item Check point Remarks e Terminal block screw Retighten screws Once year e Connector fixing screw e Remove dust or contaminants inside of Cleaning Once year Driver Unit 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 i
169. parameter Besides the OTP and OTM inputs the Motor rotation can also be limited by software software overtravel limit function in the Driver Unit Refer to 9 1 4 2 Software Overtravel Limit o When the overtravel error occurs the DRDY output will be open and displays the following on the front panel OTP or OTM limit F3 Software overtravel limit F2 Figure 9 5 OTP input OTM input Close i DRDY output j Open When the OTP or OTM input works in the middle of the home return operation the Motor completes the home return operation after performing the following 1 When the Motor is moving to the minus direction N Caution The OTP input is invalid the Motor continues to move Turning on the OTM input makes the Motor decelerate then move in reverse 2 When the Motor is moving to the plus direction N Caution The OTM input is invalid the Motor continues to move Turning on the OTP input makes the Motor decelerate then move in reverse 9 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 4 2 Software Overtravel Limit Notes to be taken in overtravel limit setting N Caution The overtravel area should be 1000 pulses or wider When the overtravel area is too narrow the Motor may move through the prohibited area Set the overtravel limits with ample margin giving consideration to the overshoot of the m
170. r Unit of the Megatorque Motor System 4 Temperature Keep the ambient temperature of the Driver Unit within 0 to 50 C You cannot put the Driver Unit in an atmosphere over 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 the Driver Unit 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 failures 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 Wiring Ground Refer to User s Manual for proper wiring Take appropriate measures not to contaminate the Driver Unit when wiring or installing it 4 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 humidity as specified 2 Matters to be attended to use the Motor of the Megathrust Motor System 1 Dus
171. r convenience a parameter and program setting list provided in the last page of this manual ek The setting value varies with the Motor size These are set at the factory Do not change the settings 12 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 12 1 Megathrust Motor standard setting Parameter Current setting PG VG VI VM LG TL FO Low pass filter off velocity No oO e JI 180 J FP Low pass filter Primary No 10 500 FS Low pass filter Secondary No 0 010 50 NP Notchfiler Primary No 0 010 50 NS Notch filter Secondary No 0 010 50 DBP Deadband Yes 0 061 405 ILV FF Feedforwardgain Yes 0 X 0000 1000 FC Friction compensation Ye 0 0 207 CO IN IS In position stability timer No 0 003 10 FW FiNwdh CE No 0 9003 10 X VO VW CR PC Pusecomand _ Yes NH RR Resolver resolution Yes 1 1 0 1 FD Feedback direction mode Yves 0 01 O FZ Feedback phase Z configuration Yes 0 i O FR Feedback signal resolution Yes 0 0i O PS Postionsae vs 0 0 O DI Dirctioninvrion Yes OTP Overtravellimitswitch position Yes O 99999999 99999999 OTM __ Overtravel limit switch position Yes O 9999999
172. ration 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 3 RS 232C Item communication Monitor output command Velocity VELOCITY check pin on the front panel Position error Input output Present position CNI via RS 232C terminal Parameter value Alarm Channel program 9 11 Description Monitors the Motor velocity in forms of analog voltage output Monitors value of the position error counter e For the details refer to 11 Commands and Parameters Monitors the input output status on off of CN2 e For the details refer to 11 Commands and Parameters Monitors the present position in the position scale e For the details refer to 11 Commands and Parameters e Monitors the set values of parameters e For the details refer to 11 Commands and Parameters e Monitors the alarm status e For the details refer to 13 1 2 TA Command Monitors the program stored in the channels e For the details refer to 11 Commands and Parameters Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 8 1 Velocity Monitor 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
173. rd Printed circuit board A 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 2 Remove the compensation ROM U21 from the commutation board of old Driver Unit Use a ROM remover Figure A 11 Front side U21 Compensation ROM Figure A 12 Socket Commutation z board 3 Insert the ROM to new Driver Unit commutation board Be careful of the orientation of the ROM Make sure the ROM is securely set to the socket Figure A 13 M Be careful not ocke Zz to break pins STORM Figure A 14 P Wrong nai we Socket Sy A 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Assemble the side panel Figure A 15 Commutation board Printed circuit board A 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure A 16 Fasten all screws securely
174. rdware overtravel limits are fixed to the following regardless the DI setting OTP PLS direction OTM MNS direction The direction of position scale counting can be switched by the DI command Table 9 6 DI setting PLS direction MNS direction Plus direction Minus direction Plus direction Shipping set Figure 9 13 DIO shipping set ee pos Minus direction Plus direction Connector Figure 9 14 DI1 C Connector Minus direction Plus direction 9 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com When the position scale direction is set the directions of operations performed by the following functions are also determined Pulse train operation Home return Positioning via communication IR AR HS 9Jog Programmable indexer 9 Software overtravel limit Direction of the hardware overtravel limit switch is not reversed by DI setting Be careful when setting DII 9 2 1 3 Position Scale Coordinate The position coordinate extends linearly from the origin in both plus and minus direction Position coordinate increases in plus direction When it exceeds 2 147 483 647 pulses the coordinate returns to 2 147 483 648 pulses then decreases minus direction Falling below 2 147 483 648 pulses the coordinate returns to 2 147 483 647 pulses Fi
175. rite 500 thousand times 4 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 2 2 3 Driver Unit Dimensions Figure 4 9 n Brackets can be Hea sink A attached to here eat Sin Uo POWER o DISP CN1 39 EI U U i z 0000 00000 FUSE1 250V 10A FUSE2 250V 10A CONT AC90 220V R MAIN s AC200 220V T FGND Type No Kiet 000000000000 0000000000000 TL sss OO ooooooo0o O NSK Ltd MADEINJAPAN Fw Brackets can be i attached to here 170 4 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 3 Handy Terminals FHT11 Handy Terminal is an easy to use hand held terminal with an RS 232C communication interface for Megathrust Motor System Driver Unit FHT 11 terminal connects directly to the CNI connector on the ESA13 Driver Unit 4 3 1 Name of Each Part and Dimensions Figure 4 10 Main frame Liquid Crystal Display HANDY TERMINAL OEE Numeric keys 8 J Code keys small letters
176. ror occurs in ESA15 Driver Unit The front panel is provided with a 7 segment LED display to indicate the type of alarm Also the TA command can be used to identify alarms 14 1 1 Using LED Figure 14 1 LED Illuminates when the power is turned on Normal Green Abnormal Orange lt lt segment LED display Indicate the type of alarm The alarm is normally indicated by a 2 digit code Two characters are displayed alternately at certain intervals When two or more alarms are detected their codes are also indicated alternately at certain intervals Example Excess position error F1 Heat Sink Over Temperature PO Figure 14 3 Shows that the LED is indicating normal state 14 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 1 2 Using TA Command TA command displays the same alarm code as that is displayed on the 7 segment LED display 9 In this case the code is not displayed at different time as the LED display Example Excess position error and heat sink over temperature alarms will be displayed as shown in Figure 14 4 Figure 14 4 Alarm display TA Fl Excess Position Error PO gt Over Heat F1 Excess position error PO Heat sink over temperature Example 1 Identify a detected alarm 1 2 d A TA_ X 3 Press key to exeute and the display ident
177. rsed 5 2 6 2 Pulse Train Input Applied Inputs PLSP PLSP MNSP MNSP Table 5 14 Item Specification Input voltage 5 VDC 10 Input impedance 240 Q Maximum current 25 mA Figure 5 5 i Driver Unit side 5 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 6 3 General Output Signal Applied Outputs IPOS Table 5 15 Specification Maximum load capacit 24 VDC 100 mA Maximum saturated voltage Figure 5 6 5 2 6 4 Control Output Signal Applied Outputs DRDY DRDY Table 5 16 Specification Maximum load capacity 24 VDC 100 mA Maximum saturated voltage Figure 5 7 outp ut outp ut i Driver Unit side 5 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 6 5 Position Feedback Output Signal Applied Outputs CHA CHB CHZ CHA CHB CHZ Table 5 17 Specification Line driver CHA CHB CHA CHB Line driver or open collector CHZ CHZ Can be selected by Jumper 1 Refer to next page for the setting Texas instruments SN75ALS192 Texas instruments SN75ALS193 or AM26L32 equivalent 100mA 24V Output format Output device Recommended receiving devise Maximum collector current Maximum open colle
178. rtation 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 1997 2002 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 MEGATHRUST is a registered trademark of NSK Corp in the United States of America Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com In order to use the Megathrust Motor System properly observe the following notes 1 Matters to be attended to use the Drive
179. rts moving vus 1 ENT 253 145 STEPI SG16 5 Set SG value 80 of SG value at when the Motor stopped hunting The Motor operates stable in any position ENT 263 156 STEP1 8G13 6 Type the enter key to complete the adjustment ENT 263 156 STEP1 SG13 e 8 10 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 3 Manual Adjustment N Danger Confirm that the work or Motor does not hit any obstacle when the Motor makes a motion Always stay in safe position o Manual adjustment is needed when the automatic tuning did not work 8 3 1 Precautions 1 Initialize servo parameters Follow procedures in 8 2 2 Initialize Servo Parameters 2 Execute the demonstration program referring to 8 2 4 Trial Running Adjustment Level 1 At the beginning Motor operation is unstable due to insufficient adjustment 8 3 2 Adjustment of the Velocity Gain VG 1 Start VG adjusting program VEA The display shows the message as shown on the left Explanation of the messages i Key function SHIFT and Pressing key one time increases resolution of VG Pressing key one time decreases 1 resolution of VG Store VG value in the memory and completes the ENT adjustment LLL ii Indicates present VG value iii Indicates VG
180. s are set to A contact LA J B Je ias ABXOXOXXXX ii Input the password The password acknowledgment message appears on the display CL JUN JES K s ABXOXOXXXX NSK ON LO JUN J ev E iv The second bit following AB represents EMST Set this bit to 1 and the other bits to X no change AEM _ fg x x CX JCx evr ABX1XXXXXX Explanation Data is in the bit map format Refer to Table 5 12 for the correspondence between bits and signals EMST is the second bit from the left HLS the fourth bit from the left OTM the seventh bit from the left and OTP the eighth bit from the left 5 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Table 5 12 Pin No 09 BtN 7 6 5 ws 3 2 1 0 TY1 PRGO TY2 JOG TY3 OTP TY4 SVON EMST RUN HLS HOS CLR OTM OTP TY7 OTP Meaning of data 0 A Contact setting normally open 1 B Contact setting normally close X During input Indicates no change On display data read command Indicates that change of polarity is inhibited the port is set to A contact All the bits of the AB parameter are set to A contact before shipment 5 12 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 2 5 Changing I O Type and Contact Polarity at Once Setting Example
181. s required to be replaced periodically Refer to 13 2 Maintenance Check 13 3 2 Driver Unit Electrolytic condenser The gradual chemical change of electrolytic condensers will deteriorate system function and it may result in the system failure Table 13 3 Parts How to replace Replace PCB Electrolytic condenser Equalize power voltage s Replace whale will PCB Printed circuit boad Note Life of electrolytic condenser relies on the operating conditions The 10 years of life is rough 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 1 The items to be warranted are the supplied products by NSK Ltd 2 The supplier will repair the supplied products free of charge within the warranty period 3 The supplied products will be repaired with cost and
182. s set by HV moving velocity HA acceleration and HZ home position searching speed Reference Home position moving direction may be changed by HD parameter HDO PLS direction HD1 MNS direction shipping set Program example CHO HS 11 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Positioning Command AR IR Conditions CV CA are may be omitted This is to program positioning Table 11 1 Command format Optional e Absolute format in unit of pulses Optional code d2 AR d1 seq e The motor moves to reach the d1 pulse n nx99 position of absolute position scale 9 This makes one operation unit by e Incremental positioning in unit of pulses dividing d1 into n IR d1 d2 seq e The motor moves to the d1 distance from o Default is not to divide d1 current position seq stands for the sequence code amp which sets next operating instruction conditions of the next channel in the sequence You may set CV motion velocity and CA motion acceleration in the same channel If these are omitted velocity and acceleration follow the setting of MV and MA Program example CHO IR9000 2 CV300 CA0 5 Figure 11 2 RUN input CHO CHO Programmed IR9000 2 IR9000 2 operation 4500 um 4500 um 11 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg c
183. safe position o For this adjustment ESA13 Driver Unit s demonstration program 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 SLE 2 Confirm that Driver Unit s LED is indicating 7 for normal condition 3 Confirm an emergency stop ESTM and over travel limits OTP OTM are OFF 4 After the automatic tuning the rotational speed MV has been initialized to 500 mm s Change MV to 50 rps for trial running MJ V J 5 o E gt Note After the adjustment change MV to the actual use 5 Display the demonstration program LS P n A J J eT TN 100 1S0 0 FW1 0 s TRZO0000OR 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 11 Command and Parameter 6 To make the adjustment simple set IN 10 pulse and IS 50 m sec EBCHOICU CUN T COGS 76er P unis Check the display for confirmation 8 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 7 When moving stroke IR 200000 200 mm is feasible input OK o J K amp vr IN10 IS0 5 FW1 0 IR200000 0K OK
184. santg com Wiring Example 5 Type 7 Figure 5 14 Pulse train motion limit range setting and Jog operation User s controller ESA13 Driver Unit Polarity of DC24V external supply may be reversed DC24 Servo on oO Emergency stop oo 9 OTP Jog direction 23 DIR spas PLSpulse train gt MNS pulse train gt Driver Unit ready In position Positioning feedback A L Positioning feedback B Positioning feedback oZ digital position data MSB DC24V V Signal ground FGO Note 1 Home Return For example program the HS command in CHO Immediately after turning on the power select CHO and turn on the RUN input to execute the home return operation N Caution When using an inductive switch e g relay be sure to insert a surge killer circuit When the user installs a sensor as the home limit switch connect its output directly to the input port of the Driver Unit not via the controller 5 22 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 5 3 CN3 Resolver Cable Connector Since the resolver cable supplied with the Megathrust 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 N Caution Do
185. se 200VAC Megathrust Motor Single phase 200VAC or 100VAC LI Resolver Cable Cable Set Components Supplied by NSK NSK can supply the ESA13 Driver Unit Megathrust Motor Cable Set resolver cable and Motor cable and Handy Terminal Users are requested to acquire other equipment and wiring from other sources zig Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 2 Reference Number Configuration 3 2 1 System Figure 3 2 Megathrust Motor Y series 6 ESA Driver Unit Motor size 7 Main Power supply Number of sliders A 200VAC Rack Base length Unit cm V 100VAC Design number 8 Denotes ESA13 standard 13 3 2 2 Motor Figure 3 3 1 Megathrust Motor Y series 2 Motor size 3 Number of sliders 4 Rack Base length Unit cm 5 Design number 3 2 3 Driver Unit Figure 3 4 ESA Driver Unit 1 2 Megathrust Motor Y series 3 Motor size 4 Main power supply A 200VAC C 100VAC 5 Denotes ESA13 standard 13 E39 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 3 2 4 Cable Set Figure 3 5 1 Megathrust Motor Cable Set 2 Cable length Unit m 3 Cable Set for ESA Driver Unit 4 Cable design number 5 Compatible to CE Marking 3 2 5 Handy Terminal
186. se isoplopyl alcohol for cleaning Do not apply the thinner Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com MEGATHRUST MOTOR SYSTEM User s Manual 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 Before operating the Megathrust Motor System this manual should be read thoroughly The Megathrust 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 Megathrust Motor System with YS Motor and ESA13 Driver Unit If your model is not one of these refer to respective information Technical Information For technical assistance and sales information please contact your local NSK office A list of NSK offices is provided in the back cover 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 bps closed Driver Unit Home Return kpps MNS Motor OFF all capital ON all capital
187. solver cable for disconnection and shorted of wires 2 Check the connector for contact failure 3 When the resolver Cable is forced to move and bend the bending radius and frequency will affect on the life of cable It is necessary to have a insulation and continuity tests periodically 4 When an excessive current is applied to the resolver which is induced by internal contact or collision of Motor and motor base the fuse protecting the existing circuit of resolver may blow out Replace of Motor and Driver Unit is required in such a case 14 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 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 1 Excessive Motor duty cycle 2 Mechanical restraint to the Motor such as brake or an obstacle 3 Improper gain setting 4 Unmatched combination of Motor and Driver Unit Remedy Reduce duty cycle and the load Re adjust acceleration deceleration The Motor is overheated and air cooling is necessary after the Motor stops Then turn on power After stopping operation keep control power on e Remove mechanical restraint e Readjust gain Refer to 8 Trial Running and Adjustment Check the combination Reference number of Motor and Driver Unit Note Do not change a parameter
188. t is active Deactivate EMST OTM or OTP input Refer to 14 2 Description of Alarm Home Return starts with HOS input HS command is set to the program in a channel to start Home Return HOS input can be switched ON from Confirm if HS command is OFF programmed in the channel Inputs of channel selection PRGO PRG5 inputs and control RUN input are properly executed Can HS command start 2 Home Return starts Home Return with HS command Can HS command start Home Return Home Return can not be executed no Check CN2 connector wiring me Y Check winding of Motor and Resolver Y Refer to Appendix 2 How to Check Motor Condition no Is Motor normal gt Replace Motor yes Y 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 Is HLS input properly activated Check for the Home position limit switch and its wiring Verify HO value Note 1 Verify IO state with IO command Refer to 9 1 8 2 Monitoring the I O state 3 Home Return command fails to stop Motor in position Figure 15 7 Command trouble
189. t to shipping set Resetting parameters are necessary o When the memory error occurs read out of a parameter with TA command will be all 0 Zero 14 2 4 2 EEPROM Error Output DRDY Open TA E2 gt EEPROM Error LED E2 Motor Condition Servo Free Table 14 11 Cause and Remedy EEPROM error Cause 1 Faulty EEPROM of control circuit Remedy e Turn the power on again Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit 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 1 Faulty ROM on PCB 2 Faulty EEPROM on PCB Remedy Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit 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 e The alarm is deactivated when the power is turned on again Ifthe alarm occurs frequently contact NSK Replace Driver Unit Refer to Appendix 4 How to Replace ESA13 Driver Unit 2 Faulty PCB When the alarm is not deactivated after the power is turned on Notes 1 CPU is not functio
190. tation Guaranteed 888 88 SOURCE www artisantg com Table 5 9 Type 3 Pin Signal Name 1 0 Function Output COMMON es ee ee 7 Minus direction pulse 8 Plus direction pulse 9 direction overtravel limit switch PLS direction 10 Programmable move bit 2 11 Home limit switch 12 Emergency stop 13 24 VDC external supply 14 In position 15 Driver Unit ready 16 SGND Signal ground 17 Position feedback Z digital position data MSB 18 Position feedback oB 19 Position feedback oA 20 MNSP Input Minus direction pulse 21 Plus direction pulse 22 direction overtravel limit switch MNS direction 23 Programmable move bit 3 24 Run move 25 Servo on Table 5 10 Type 4 Pin Function Output COMMON DRDY Driver Unit ready HEN EU Position feedback oZ digital position data MSB Position feedback DB Position feedback aA Minus direction pulse Plus direction pulse direction overtravel limit switch PLS direction Clear Home limit switch Emergency stop 24 VDC external supply In position Driver Unit ready SGND Signal ground Position feedback Z digital position data MSB Position feedback suB Position feedback oA Minus direction pulse Plus direction pulse direction overtravel limit switch MNS direction Home return start Positioning start 25 Servo on DO PO PO PO po a a a RISIN S S CO
191. thrust Motor System can be interfaced to virtually any control system It is very easy to control the Megathrust Motor System with a CNC a servo motor controller a robot controller or an positioning controller You can operate the Megathrust 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 high resolution resolver the Megathrust Motor System offers repeatability as high as 1 micron or approximately 0 000039 inch With no mechanical contact or moving parts other than the Linear Guides 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 Ball Screw type actuators for example introduce mechanical irregularities s
192. tisan 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 For more details about the home return operation refer to 10 2 Home Return HD0 Home return in the PLS direction HD1 Home return in the MNS direction HO Home Offset Format HO data Data 0 7 30 000 000 pulse Shipping set 0 Default 0 Specifies an offset from the point where the position error counter reaches 0 for the first time after the home position limit switch input HLS on CN2 goes inactive to the point where the Motor stops TS or HO command reports the current setting Refer to 10 2 Home Return for more details HS Home Return Start Format HS Starts the home return Input HS LS to adjust the installation position of the home limit switch sensor For more details refer to 10 2 2 Adjusting the Home Limit Switch and Home Offset Value HV Home Return Velocity Format HV data Data 1 1800 mm s Shipping set 100 Default Not omissible Sets the home return velocity TS or HV command reports the current setting 12 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com HZ Home Return Near Zero Velocity Format HZ data Data 1 100 mm s Shipping set 5
193. to 10 times of present resolution Pressing twice makes 100 times 2 Observing the Motor operation press the plus key several times Pressing SHIFT ee 1 ENT 333 222 STEP1 VI3 As the response index decreases the movement of the Motor is getting crisply 3 Keep pressing the plus key till the Motor starts hunting and stops Pressing SHIFT e 1 ENT 233 123 STEP1 VI5 8 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 4 Keep pressing the minus key until the Motor stops hunting and starts moving Ot 1 ENT 253 145 STEPO 1 VIA 5 Set the VI value to 80 of displayed VI when a hunting us stopped 4 x 0 8 3 2 Input the space key to change the resolution of VT setting value from 1 0 to 0 1 6 Press the minus key till VT value reaches to 3 2 sp 41 1 ENT 263 156 STEPO 1 VI4 7 Input the enter key to store the VI value iis 1 ENT 263 156 STEPO 1 _VI3 2 8 A colon will appear to comfirm the input 263 156 STEPO 1 _VI3 2 e 8 14 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 8 4 Setting Filters Adjustment Level 2 When positioning the Motor may resonate mechanically and generate
194. tor cable and CN4 N Danger Insert the connector being careful of its orientation The connector is of a self locking type Insert the connector until it bottoms otherwise it Will not lock Never connect disconnect the CN4 connector with the Driver Unit power turned on A high voltage is applied to this connector after the power is turned on Be very careful not to cause short circuit Table 5 21 Driver Unit connector Mating connector type user device side Mating connector shell type user device side AMP 172039 1 AMP 172495 1 to be prepared by the user AMP 172774 1 to be prepared by the user 5 4 1 CN4 Pin out Figure 5 16 CN4 Pin out 5 4 2 CN4 Signal List Table 5 22 Signal Name and Function Function Motor winding phase A Motor winding phase A Motor winding phase B i Wee Motor winding phase B Motor winding phase C Motor winding phase C Motor grounding wire 5 24 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 23 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 17 Wiring diagram TB In the case of 200 VAC Control power Main power
195. tproof and Waterproof of the Motor You cannot use the Megathrust Motor in atmosphere at where paint fumes or chemicals exist The Motor is not made for dust proof or waterproof You cannot use the Motor in humid or oily atmosphere 2 Use condition Keep the ambient temperature of the Motor between 0 to 40 C Install thermal sensor circuit to turn off the main AC power when temperature exceeds the limit The allowable load mass and the transportable moment load differ depending on the Motor size Reconfirm that the using conditions are in the specified limits of the Motor An excessive offset load or load mass may cause permanent deflection on a part of Motor body slider and Linear Guides Be careful not to give a shock to the Motor caused by an external interference in transit or in the process of installation Do not collide the slider to the stroke ends We recommend providing over travel limit switches with the stroke ends 9 Install shock absorber to protect the work that is put on the slider Flatness of the Motor mounting surface shall be 0 05 mm or less Take sufficient measures not to dry up the Linear Guides We recommend to replenish the grease periodically Dried up Linear Guides may cause unstable operation Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com The Linear Guides equip with NSK K1 lubrication unit Life of K1 lubrication is
196. ts to adjusting mode TS or VG reports the current setting VI Velocity Integrator Frequency Format VI data Data 0 10 63 00 Hz or AJ Adjust mode Shipping set 1 00 Default Not omissible Specifies velocity integrator frequency VI AJ command sets to adjusting mode TS or VI command reports the current setting 12 29 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com VM Velocity Integrator Mode Format VM data Data 0 1 Shipping set 1 Default Changes the velocity loop integrator control as shown below VMO Velocity loop P control VMI Velocity loop PI control VO Velocity Error Over Limit Format VO data Data 1 4095 Shipping set 1 365 Default Not omissible 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 type VW Velocity Error Over Limit Width Format VW data Data 1 4095 Shipping set 100 Default Not omissible 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 E
197. tting TA F3 gt Hardware Over Travel F4 gt Emergency Stop e 14 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 14 2 Description of Alarm N Caution 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 should be considered as shown in Table 14 2 Table 14 2 Status Motor condition DRDY Remed Power off Servo OFF Power is not supplied Turn on power CPU Initializing Servo OFF Initializing the CPU Wall serie RELIER initialized SVON Input OFF Servo OFF SVON input is not active Activate the SVON input 14 2 2 Alarms Related to Power Amplifier 14 2 2 1 Heat Sink Over Temperature Output DRDY Open TA PO gt Over Heat LED PO Motor Condition Servo OFF Table 14 3 Cause and Remedy Heat sink over temperature Cause Remedy 1 Duty cycles of the Motor is too high e 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 e Stop the operation and air cool the Motor and driver due to continued heavy duty Unit Then check followings Whether the duty cycle is too high Whether excessive load is app
198. tween OTP and OTM Is OTP a positive value and OTM a negative value Setting by position scale data When the overtravel limit values are already known users can directly set these values in the OTP and OTM command parameters 9 1 5 Alarm Output After the power is on and CPU is initialized DRDY output is closed when alarms are not detected The DRDY output opens when the alarm is detected Alarm signal shall be connected to alarm input of user Y s controller Figure 9 6 N Powersupply ON onae J 2 sec apprex Alarm ON Close DRDY output n Open 9 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 6 In Position Output 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 FWI IN In Position limit value IN100 IS In Position stability timer ISO Figure 9 7 RS 232C communication command or RUN input T Determined by the IS set value Example IS1 0 1 sec k Position error IN value IPOS output IPOS format FW 0 FW value Example FW1 100 ms 5 IPOS output FIN format FW 0 Pulse command Position error Es IN value IPOS output IPOS format FW 0 9 7 Artisan Technology Group Quality Instrumentation G
199. uaranteed 888 88 SOURCE www artisantg com 9 1 6 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 0 shipping set FW1 FWO IPOS format 1 When data of parameter FW is not 0 Zero FIN format IPOS output indicates that the positioning has completed IPOS will be output for every positioning start command suchas RUN and HOS Out put format IPOS output is always open and it closes only for the moment set by FW when completion of positioning Closing time unit in FW is 100m sec Shipping set FW1 100m sec Recommendation We recommend to use FIN format when you use the programmable indexer in the Driver Unit IPOS will not be output for pulse train operation and jogging operation When the positioning is stopped in the middle of operation by the emergency stop or overtravel limit IPOS will not be output 2 When data of parameter FW is 0 Zero IPOS format The format is to indicate if there is an error between position command and present 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
200. uch as windup backlash and mechanical inaccuracy The same functions can be accomplished with just two components using the Megathrust 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 ball screw linear guides and encoder are either replaced or made unnecessary by the Motor Long Stroke and Small Cross Section Area Different from the ball screw system the cross section area of the Megathrust Motor does not depend on the stroke By jointing unit rack bases up to 30 meters rack base length can be represented while maintaining the same cross section area In addition because the rack base length does not affect to the repeatability precise positioning is possible over the full stroke Multi Slider System One ofthe other unique merit of the Megathrust Motor is that several sliders can be mounted on the same rack base and can be controlled independent of the others This also will contribute to design versatile system simple conventional brushless servo system requires at least several separate components which must be selected and packaged together often at great expense 1 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisant
201. ue is smaller roughly less than IN10 IPOS output will be instable in the moment of positioning settling even all servo gains are adjusted properly IS parameter should be set to eliminate above instability When IPOS output is in FIN format IS parameter prevents to output IPOS signal before the Motor complete the positioning IS parameter is not effective for pulse train input operation and jogging operation 9 1 6 4 IPOS Output for Special Occasion 1 When 0 Zero moment operation is executed Example When ARO is executed even the Motor is in the home position movement of the Motor is 0 Zero Followings show IPOS output states i IPOS format IS 0 There is no internal pulse output and IPOS output remains close if residual pulse of position error counter are within IN value ii IPOS format IS 0 Even no pulse is internally generated IPOS output will be opened for the moment set by IS value to check positioning stability ii FIN format Even no pulse is generated internally IPOS output signal shall always be returned for positioning start command 2 Sequential operation BCD mode for Programmable Indexer i IPOS format After the positioning is completed execute next channel program while IPOS output remains close ii FIN format After the positioning is complete
202. upply SVON input ON uuu v LLL 9 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 2 Emergency Stop 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 n the EMST state the LED on the front panel indicates F4 The DRDY output remains 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 Position loop control is not performed this time If the possibility exists of an external force being applied to the Motor in this state use a mechanical brake When the SVON input is OFF after EMST input is ON the Motor remains servo 3 on for one second after the EMST input went on If the EMST input is ON when the SVON input off motor will be servo off Figure 9 3 Position dou NET 1 ee Deactivated control loop ON SVON input 10 ms min gt lt Servo EMST input The Driver Unit may not accept EMST input unless it stays on for 10 ms or longer 9 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 3 Position Error Counter Clear Input If the CLR input is on position loop error will be c
203. urrent setting RC Rated Current Software Thermal Format RC data Data 0 100 Shipping set Unique value for each System Default 0 Do not change the RC setting RC is properly set for each System If it needs to be changed contact NSK TS or RC command reports the current setting RI Factory Use Only Shipping set Set properly to each Motor N Caution Do not change setting It is properly set for each Motor at the factory TS or RI reports the current setting 12 23 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com RR Resolver Resolution Format RR data Data 0 1 1 Shipping set 1 Default 0 Sets the resolution of the resolver RRO 10 bit setting RR1 12 bit setting RR 1 Automatic resolution switching For the details about the resolution refer to 4 2 2 2 Functional Specifications 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 SE0 DRDY output close Motor state normal SEI DRDY output open Motor state servo lock TS or SE reads out the setting Bs sure to use SEI for RS 232C communication command operation SG Servo Gain Format SG data Data 0 30 Hz or AJ Adjust
204. ution Note Maximum frequency of input pulse PLS amp MNS format and Pulse amp Direction format 800 kpps A oB input format 200 kpps 10 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 10 4 2 Pulse Train Resolution Set the resolution of the pulse train with the CR parameter via RS 232C In the case of 6A eB input the pulse train resolution is multiplied by the PC parameter value then by the CR parameter value Refer to Table 10 3 4 and 5 for the concrete data of resolution Figure 10 6 Pulse train resolution setting PC parameter CR parameter A B input PC2 x1 CR x 1 PC3 x2 CRx2 PC4 x4 CRx5 PLSP amp MNSP input Pulse amp direction input Table 10 6 Pulse train resolution PLS amp MNS format Resolver resolution pulse amp direction format x 12 bit or 12 bit 10 bit automatic inmane resolution switching ump CR Parameter A B format lum pulse CR x 1 Shipping set 4um pulse 81m pulse 16um pulse 2um pul 12 bit or 12 bit 10 bit automatic a fu 2um pulse 2um pulse resolution switching CR x2 4um pulse 8um pulse 8um pulse 16um pulse 32um pulse 5um pulse 12 bit or 12 bit 10 bit automatic resolution switching i i lt 4 o PRES 20um pulse 20um pulse 40um pulse 80um pulse Note In the A B format
205. value output is forced to open during pulses are generated internally when executing programmable indexer home return jogging and operations via RS 232C Executing programmable indexer home return jogging and operation through RS 232C Recommendation Select IPOS format for pulse train operation or RS 232C operation When the positioning is stopped in the middle of the operation by emergency stop or overtravel limit signal IPOS output will stay closed 1f residual pulses of position error counter are within the IN value When executing pulse train input 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 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 9 1 6 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 9 1 6 3 Parameter IS IS is to confirm the stability of the positioning When the in position output signal is IPOS format if the parameter IN val
206. y Shipping set 1 4 Ax Caution The parameter is for automatic tuning function and to be set at the factory Do not change the setting TS or ZP command reports the current setting 12 31 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Blank Page 12 32 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com 13 Maintenance 13 1 Precautions Back up Motor and Driver Unit o We recommend to prepare 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 o When replacing the Driver Unit refer to Appendix 4 How to replace ESA13 Driver Unit ESA13 Driver Unit has EEP ROM and does not need a battery for memory back up Life of EEP ROM approximately 500 000 cycles 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 Megathrust Motor does not have any parts which will wear out a daily maintenance check should be enough The table below sh
207. y 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 adjustment in chapter 8 3 or increase the rigidity of the load 8 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Figure 8 2 Example of Automatic Tuning Preparation Handy terminal FHT11 Driver Unit HORE JOC 888008 M J Work Load CN4 Control power Filter CN3 Main power FGND Cable Set DC24V External power supply Mounting base 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 WEHI me TICS J 2 e to check the parameter settings Note down all values 2 Enter 3 Log in the password LL JUN JUS CJ oe LO JUN les Display indicates the confirmation 4 Log in SI Set Initial Parameters command goa INITIALIZE INITIALIZE is displayed as the confirmation and the initializing parameter begins It takes 66 99 few seconds and a colon is displayed for next command N Caution When SVON signal CN2 is ON and S

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