メガトルクモータ システム MECHATROLINK-Ⅲオプション
Contents
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4. 3 3 1 CN2 EMST OTP OTM STP CN2 SVON TT 7 LED RBM p MV e MV2621 M v J 2 e 2 1 MV2621 DA nd de Pe SPA mw Nas SP 3 s sp ied 2 1D 9000 CJC 3 gt TI500 0 p 4 JP256 ENT
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6. TSO0 TS1 TS14 TS TSO TS14 BVG BVI BPG BFF BHVL BHZ BTUU BTVEU Oirs ke s Mp CTS en CT WA ET It Lt J PGO 16 ENT IN100 BPI TSO BS 2 8 TP
7. xe 2 Q 0 50 C 50 C 100 mml
8. IP54 TP TIEC 100 VAC 200 VACIA 200 VAC 100 VAC t
9. 6 DETBIIEBEDISBI E CN2 MMA HJIR 20 EMST AZ RFLG TELT FEL AERAR ERER SBE MITOBABEIAZUXI ZSESS25UZTJ Pf1 BFF TIE KILI PIKA S FEL
10. 2 1 2 2 4 MV RSI Mv RS er 2 5 VG VG 2 vl G ENT VG L JA Am a j VG1 50 VG 7 OTR BP I sp VG Scal VG1 50 gt VGL1 50 VG IBS
11. 3 4 1 1 SG SP AJ 3 3 OSG AJ SG SG5 SG se A J er gt J JA zA gt SG AJ STEP 1 SG 5 M di SHIFT li 1286 AJ STEP SG 10 SG SHIFT s me STEP 93 8
12. EDC OIOIOIOIOIOIOIOIOIOIOIOIOIOIO1 1 1 1 1 2 2 2 RS 2820 2 1 lt
13. b Gull H 393 6 3 3 3 2 SPO CN2 RUN CHO 0 TD9000 CW Ami 90 1 TT500 0 e 500 msl 2 TD 9000 e CCW 90 3 TT500 0 e _ _ _500 msJM Fu IIA Lh 4 JP0 0 3 7 3 3 4 2 1 2 3 4 1 SG
14. SG EJ se aJ STEP SG 16 SG 80 8SG16 16x 0 8513 SG se aJ SG 13 OENT BS ENT SG AJ m J ud is OE 26 BP BS SP SP SG 13 PG0 26 VG2 81 Bee 3 8 83
15. puo STP ON STP F5 3 4 3 7 F8 RAT b Fane Zani POSITION OVER 3oP 8 4 8989 Lv 2 8 OVER INERTIA 2 wr dC SEA
16. 4 3 1 A3 AEE I OBBOREIMS UP ANREKECE 2S ERAANLGE T RDWEST EANO BYFF BIT Y VARRM0OIKGOKCEFRELTD 5S AERE OTC EEL ELI V7 hIS SILON EME D fifi WI A BRE LOFIE D ina IIo TONED Q 8 4 3 2 C4 MECHATROLINK TAZHI X6
17. IENT 1 Li 3 2 2 fil LC MV MV 9 M CV e ow L9 we Ne eJ HV 6214 DMV 0 5 s1 MV13107 MVA 0 7 mr gt B UA aa Aa WAOANA AA ERA NET II MAA ABA DEEBREWIOTCEEL otzRAAGBICEIREUSCKBBEREARITZ A E2 ROM RR DHESSEOEMBHVYES 2 3 NSK ON NIS Ks NSK ON NSK ON ON er ec NSK ON 1
18. 2 6 TS D RARE VG WA SA TOL TS1 gt PG0 001 DE EE BE pa TS1 SBP VG sp sp ee TS1 PG0 001 gt PGLO 001 VG1 50 _ 8P HBS BS PGO 001 e j PGLO 001 v 50 2 2 2 2 7
19. MR T I P Y Ji R Y P ENT eee 1310720_ I BSI 2 9 TP TV TP WW TP WIW mr TP WW L L Ju DaN J J gt TR 1310720 TV Tv WW fe TP WW LONE Ne TP 1310720 TV wW_ 2 TV Ww TP 1310720 p TV 0 002 WWC W WC lenr TP 1310720 Lr JU Uy TV 0 002 p WWC 2 2 4
20. 24 VDC A3 3 d 4 1 4 4 2 CN2 EMST
21. RRO ER CHEE FELT V 1 OK 2 V 3 1 2 3 OK 1 TRE COMA H81 WAF 3 2 3 2 1 3 2 1 LED KRD GE OAT AT READY OK AT READY OK
22. 4 2 EMST MST Tan E TR RS EMST EMST 4 4 4 4 3 6 F5 TA HI HAG PAP PAK GR OGRA WE HA BUSY RUN EE Bor rd 2 up RUN SN G c Foi EPLET x RAKETER RUN 1Imsl PRGO 7
23. 8 5 8 4 Tuning Level2 Servo Gain Tuning 8 8 9 Troubleshooting 9 1 9 1 Quick Troubleshooting AA 9 1 9 2 Alarm at Power Cycle 9 2 9 3 Cause and Remedy 9 4 9 4 Others AAA 9 8 10 Conformity with the International Safety Regulations 10 1 10 1 Conformity with the EC Directives 10 1 10 2 Conformity with the EMC command 10 1 10 3 Conditions to Conform with EC Directives 10 2 10 4 Conformity with Underwriters Laboratories Standards 10 3 10 5 Precautions for the International Safety Regulations 10 4 Contacts Contents Blank Page 6 Introduction 6 Introduction This is the startup guide to support tuning process of the Megatorgue Motor System with EDC driver unit MECHATROLINK III Option Tuning using the master controller please refer to the instruction manual of the master controller Before operating the Megatorgue Motor System please read User s Manual to understand product featur
24. 20 THO Imc ABHET XLHEBLDI EERE CIE LET SIS meri DHD bNIODERHILLEBELY A8 DEES EGEDDVYES TOBA RHIEE v kino BM BEE FIPS FOMEEARULES 2 2 PN TER TL F41t 2 PN YRO LHR LEE BIC DL FOE GRIF F amp ETEBEXDZL tFCT 24 VDCQ 15hmm 1 000
25. TA kn JU Jew TA HI gt TIME 012 04 46 0 40 00 gt F5 0 000 05 18 6 35 11 o1575 2 000 10 22 4 7 LN Jas A nin pee QSP BS 4 3 10 9 7 LED ALM WRN H7 CPU X A0 B O A1 el Q A2 EA BR m O A3 8B O A4 m O A5 cm O AT LINASE ITA mm O A9 m QO CO ALES Ezi II gt W O C3 CPU 8 An C4 m O C5 W O EO RAM m x E2 ROM B AT ET m O E8 Za ARH ip i O E9 ADC E 5m O FI 93 O F4 Fem te E m x F5 W O F8 B QO PO d EE EN pe O PI
26. 1 000 1 t ZW UIEELZL VI ILI B M PN3045KG001 000 n M PN4135KG001 500 n ul PN D XERES EGEN BS ATL FEREAUNT lukis TC FSO 2 3 ben RSM IPGGM IEC EN60529 IEC EN60034 5 t E DEE FILA It 3 Bia D RBIERE ETS ERE CB Y TAN CORB CORK BEDRA Rik FRAT 6 60 CADYV Et EBARA MO E AXABI ITAEBAMEAVELCBUZT IEXU Y OCOBBAXURII E SI SE RERET SEO C3 Us EA Fh SURE wal UT FIIODXEIID ERIS GIR TIA LN C C EEL X 2 f AXI
27. M EDC PN3 M EDC PN4 75 C KDA IEEE AWG zi Input Output 18 19 115 9 4 gt National Electrical Code 5 5 PN LURK MBEBEZ PX YY KOE BAMBELU PX YY RA EDC F541 73125 pit UL BBBEUWCE UL BBEBAUCE WA LECADCIOHES FAW EEL ZL ItE PN REE Z EDC F541 Z4Zwklt
28. EC 5 2 EMC 4 m a rd EMC KE 5 1 EMC IE PAHS EN60034 1 EN50178 EN55011 Group1 Class A EN55011 Group1 Class A EN61000 6 2 EN61000 4 2 s EN61000 4 3 EMC EN61000 4 4
29. 0 IO 4 3 4 F3 442 7 BAN BIST OPA E ME B OTP OTM 4 2 O OREA OIM RAOS OTPSOTM OTP OTM an vai ay Viv bev aie 4 3 5 F4 ELD AI MA USA LA EMST B EMST
30. ON OFF ARAURA PEKGLOLO UANI KAA ULA MAI ADD KA LU TB TE EK FUATA DEEN TULL KE CK BSP ARDS ORE Y FETT FEL O bE TI ESOK BIORAI A BHEE CE OIE Y LEOEZARRERML OC HEL RRABISOWU CA RRRBZORALPY ITRNE BALTE M Por AA a 1 1 2 2 1 uH YI WA c X I D M MEE 2 1 DIa R E AA 2 1 DOMNUS OD re rey er ee ee ee 2 1 2 4 TRAPE NO UA aac UE 2 2 2 5 2 2 2 6 2 2 2 7 2 3 2 2 3 2 9 2 3 S
31. 3 9 3 3 4 2 3 4 2 1 LO kg m C3 BIL UT LO 0 128 kg m2 SG FP 1 4 NJ CS K Jis NSK ON prx rcm NSK ON O J N le ni L o o 1 NSK ON D NSK ON 25 ED ENT 100 123 OSG 5 S G J 5 ev pls P ises
32. 4 gt JP256 L 5 SP AJ Ready OK YA 3 5 o AW JH Z 3 3 DOK OK mr per SAN Jie J SP AJ Ready OK gt 20K PP W CCW CW oop 500 msl CCW 90 500 msl 4 EV 8 2 FERT AT STADE ENT CANCELED RIR MS gt MS LM sja Aa 2 3
33. Ne EN61000 4 5 EN61000 4 6 EN61000 4 8 EN61000 4 11 EA RART 5 1 5 5 3 EC E AC EC EDC CN5 L N OST PE suem dar IEC60664 1 IEC60664 1
34. 2 14 13 3F 420 0852 17 1 22F 460 0007 2 1 9 Bani 460 0007 2 1 9 Bani 460 0007 2 1 9 BE7IL 97 ACER 460 0007 2 1 9 Bani 920 0346 1 40 540 0031 1 26 KRAH EJL 6F 790 0011 4 6 1 6F 670 0962 100 2 8F 540 0031 1 26 KRAH EJL OF 525 0031 8 4 540 0031 1 26 KRAH EJL 8F 540 0031 1 26 7F 732 0802 3 7 19 3F 721 0952 5 29 10 812 0013 2 6 1 861 8003 8 16 50 243 0018 2 6 10 SF 417 0055 BERSTABN 1 124 2 2F 141 8560 1 6 3 BREIL 321 0953 HARFASHREMB
35. PR DR Eg 5 1 RAR P54 EDF TY MOREE BCE SITE SAU CW OIF 2 a 1 ue cae ae PS ee MECHATOROLINK MECHATOROLINK IEC UL X 5 2 MEGA aS E TEC ji 15 A EA32AC 15 Fuji Electric Cees oo UL 250 VACI JAK TAWA vac FN2070 10 07 SCHAFFNER fy yw R A V781BWZ 4 Okaya electric 7274 ba7 1 E04RA400270150 Seiwa Electric MFG 7 2 E04SR301334 Seiwa Electric MFG 7 3 E04SR211132 Seiwa Electric MFG 5 2 5 5 4 UL
36. 3 12 4 4 4 1 4 2 4 8 AU gt IO SVON IPOS
37. KF I y hOMBERMEILITDEUCC KEL ABEBDBIES 62V UT PROMI 3A HL TAK ILZE AOSBNEEZATSMLCCOE amp ERLU FEE hE IERI TFMLgSE IIEDUFABElH E RUYAC IEAUET FEEROERRADMHR DEAN CHS CL ERELT FAL aA Ee bea lel 38 PIBK ZA felt O 2 OKA EB PE I NAOD SSDESTisiE UET E 2REBHOE 2 AAO E 2ADGEPBEDPOMBF k EERTE E 0 02 mm 45 ORAA TR U ik LEGER DBE A HEAMELTE ZE Wl JELEBEzs amp amp CaL E BIKBENYS Y F CEGBEFAGUE CFS E 2 SBI ERS FAD BS RANIA FEMS 658 LRA 0 01 mmJ LA amp fr 2 TK FAL AKEHE PBA EPIIT A ABOMRILABE SERIO SBGEODYVES BERORARHI hulia RI FINSPALKE CHR UTELY PIERRE E NIAE E 3EBIESAIA S UST BER CRBS SHAE SOMGMBILRENAGUATICLTOHSb TREAKEULCOKTISVZZL tEft sUI UBSILILIE STYTLSvZZL
38. OK Lok Jer m AT READY OK OK TO ABORT PUSH BS ENT SP IBS gt 20K TO ABORT PUSH BS LO0 003 SG6 PG0 12 VG1 29 FP480 FS480 3 3 3 3 2 2 RIA KAF2a LV ART APISK BIE E X VY hEHES SEOO 20 aiz Lg ERED t dO IRI EBAAIFILIZBA 6 SEMAI ESEI MONATA RUN hFa 2V IO MAS ECEMBDYFEF COBA CM2 EMST AZ FEF MO TIBA TEH EFI RI TL TOK BE HEE SI ERILARMOMEE ES SSD RRBABESAIOLT HELAL3 8S BS TROIBIEE XL KIGBDHBEMOPILAN NIX B2OREDBIGPNEEA 3 4 3 3
39. T S 0 M D TS0 MD i im JU JL PG0 16 VG4 13 LENT IN100 Every input of the SP key identifies the parameter whose setting has been altered from the shipping set Press the BS key to abort the readout 7 8 Monitoring the Current Status This function is useful when you need to monitor various conditions of the System in the middle of condition adjustment The following example describes how to monitor the current position by the Monitor TP Read out current position in units of pulse 1 Enter as Monitor code R TPIT IR IP fen je TP 1310720 _ current position is read out continuously An input of the BS key will resume the readout and the prompt changes to colon 7 9 Inputting a Command while Monitoring Multiple Conditions The following example describes how to monitor simultaneously the monitor TP Monitor current position in units of pulse and the monitor TV Monitor current velocity The function to monitor multiple conditions simultaneously is called Multi monitor DInput the monitor TP to the multi monitor Enter as Monitor code WW TP 7 WWlmr my C J J J JV J L J TP 1310720 2 And subsequently input the monitor TV Tv ww enr TP WW S GAP ab TYE TP 1310720 TV WW_ Thus two conditions can be monitored simultaneously You may input the command in this state TV WW TP 1310720 TV 0 002 Input the
40. WRN p anos 2 3 3 4 2 3 CAN T TUNE ALARM R h cd gt P Hua DETECTED BROOD SNA TERR LTIS 4 3 8 By AA OFP uh ei mU EH 100 FP SG 4 5 4 4 3 9 TA HI
41. Q P2 m O P3 ee Ee x P5 5m O P9 NO O 1 2 AZ 4 4 KER tt 4 6 5 5 5 1 EC AT A
42. 3 OTP OTM 5 6 EMST OTP OTM A 1 7 LED LED gt 4 LED F e 2 LED HE H41 ha RL 2 MO Dan I
43. EEPROM 10 3 Cita ERE 0 40 C 40 C PS PN PN PX P30 2 IP66M 3HE
44. K 5 3 HG UL Hg File No UL1004 1 E216970 UL508C E216221 UL m UL IEC60664 1 2 1 IP54 TEC60664 1 240 VAC 5000 Arms UL 15 A 5 2 PE 60775 C
45. PIO Dian NES QFN BPI NW AB ABl gt NWO 2 ONDERE A AB0 NT c EMST A A J 8 lle ml ae gt ENT OSV EU OTP A PI2 OTM A PI8 4 2 4 4 3 7 LED
46. ANGE MI OR SEMI SHR AJRNI SENOS FA Bu AABE U e DIEI ZA SBNMHSHE 2 1 TER E BERFIFAAY HLE BVIRELUBRAHMA NIE TU SMABDE ccm ESL TER fr TER TEX f BR EE RE E TEX DZIEL CHER fg PHELITPEUCTC FEL
47. Output DRDY Output WRN Alarm history CPU not functioning Open Open AO Disconnected sensor cable Al Position data error A2 Disconnected Motor cable Open A3 Excess velocity O A4 Resolver amplifier alarm Open A5 Commutation error Open AT CPU error Open A9 Fieldbus error Open CO RAM error On Ca ROM error Open C4 System error Open Open C5 Interface error Open EO ADC error E2 Emergency stop Open E7 Over heat Opn E8 Excess voltage Open E9 Excess Motor current F1 Low control power voltage Open F4 Power module alarm Open F5 CPU not functioning Open F8 Disconnected sensor cable i Open PO Position data error P1 Disconnected Motor cable P2 Excess velocity Open P3 Resolver amplifier alarm Open P5 Commutation error Open P9 CPU error Open NO 2 OOIO XOO OO OX OOOO OB XO OB III x 1 Back up only recordable history 2 When the home position is reset by the command AZ Absolute ZERO position set or the Home Return operation the event code NO is recorded However this is not abnormal 9 4 Others Combination of the Motor and the Driver Unit shall conform to the specification Be sure to keep the record of parameter settings Do not modify the cable set Lock the connectors securely and check for loose fixing screw s Please keep
48. SBP OFP 200 Hz LE LP tolo ey FP200 aap OIE PEE RAY Au 3 4 1 74 VE BRUT BIA OTK FAV a 2 3 10 3 4 2 2 BELI 1 Eo CHAMBLEE Y ha HEECHREDOEGE ELIIT Epb o LHE LO weli keli SBADS KA Y FOl FIC HALT KIMIA HEHEGTEKOAILHBIS E aili K 3 2 DEEE 8 2 ARMALEE x M EDHE kg mz ue M PS1004KN510 0 010 0 020 0 050 M PS1006KN002 0 020 0 050 0 100 M PS1012KN002 0 040 0 100 0 200 M PS1018KN002 0 060 0 150 0 300 M PS3015KN002 0 040 0 120 0 250 M PS3030KN002 0 100 0 250 0 500 M PS3060KN002 0 200 0 500 1 000 M PS3090KN002 0 300 0 750 1 500 M PN2012KN201 0 040 0 100 0 200 M PN3045KNO01 0 150 0 380 0 750 M PN4185KN001 0 400 1 100 2 250 M PN4180KN001 0 600 1 500 3 000 M PN3045KG001 0 150 0 350 0 750 M PN4135KG001 0 400 1 200 2 250 M PNZ3040KN001 0 120 0 300 0 650 M PNZ4130KN001 0 350 1 000 2 100 M PNZA175KNO001 0 500 1 400 2 850 M PX3050KN501 0 030 0 070 0 140 341
49. o IA NSK ON JL JL DAN NSK ON FEE L00 123 Set the SG to 5 S G sem esl iss Press the SP key several times till the colon appears on the bottom line DSet the FP to 200 Hz FJJ f Fp200 Implement 8 4 1 Minor Tuning of Servo Gain after input of load inertia 8 10 8 Tuning 8 4 2 2 Precauitons for Load moment of Inertia Caution When the setting of load moment of inertia by Automatic Tuning is not appropriate be sure to input the load moment of inertia manually Caution When an calculation of load inertia is difficult temporally set a value referring to the estimation of load inertia in Table 8 2 below Table 8 2 Estimation of load moment of inertia Setting of LO kg m2 Motor Low inertia Medium inertia High inertia M PS1004KN510 0 010 0 020 0 050 M PS1006KN002 0 020 0 050 0 100 M PS1012KN002 0 040 0 100 0 200 M PS1018KN002 0 060 0 150 0 300 M PS3015KN002 0 040 0 120 0 250 M PS3030KN002 0 100 0 250 0 500 M PS3060KN002 0 200 0 500 1 000 M PS3090KN002 0 300 0 750 1 500 M PN2012KN201 0 040 0 100 0 200 M PN38045KNO01 0 150 0 380 0 750 IM PN4135KN001 0 400 1 100 2 250 M PN4180KNO01 0 600 1 500 3 000 M PN3045KG001 0 150 0 350 0 750 M PN4135KG001 0 400 1 200 2 250 M PNZ3040KN001 0 120 0 300 0 650 IM PNZ4130KN001 0 350 1 000
50. 1 905 890 0740 F 1 800 800 2788 MONTREAL 2150 32E Avenue Lachine Quebec Canada H8T 3H7 P 1 514 633 1220 F 1 800 800 2788 VANCOUVER 3353 Wayburne Drive Burnaby British Columbia Canada V5G 4L4 P 1 877 994 6675 F 1 800 800 2788 Argentina NSK ARGENTINA SRL BUENOS AIRES Garcia del Rio 2477 Piso 7 Oficina A 1429 Buenos Aires Argentina P 54 11 4704 5100 F 54 11 4704 0033 Brazil NSK BRASIL LTDA SAO PAULO x Rua 13 de Maio 1633 14th Andar Bela Vista CEP 01327 905 Sao Paulo SP Brazil P 55 11 3269 4786 F 55 11 3269 4720 BELO HORIZONTE Rua Ceara 1431 4th andar sala 405 Funcionarios Belo Horizonte MG Brazil 30150 311 P 55 31 3274 2591 F 55 31 3273 4408 JOINVILLE Rua Blumenau 178 sala 910 Centro Joinville SC Brazil 89204 250 P 55 47 3422 5445 F 55 47 3422 2817 PORTO ALEGRE Av Cristovao Colombo 1694 sala 202 Floresta Porto Alegre RS Brazil 90560 001 P 55 51 3222 1324 F 55 51 3222 2599 RECIFE Av Conselheiro Aguiar 2738 6th andar conj 604 Boa Viagem Recife PE Brazil 51020 020 P 55 81 3326 3781 F 55 81 3326 5047 Peru NSK PERU S A C LIMA Av Caminos del Inca 670 Ofic 402 Santiago del Surco Lima Peru P 51 1 652 3372 F 51 1 638 0555 Mexico NSK RODAMIENTOS MEXICANA S A DE C V MEXICO CITY xx Av Presidente Juarez No 2007 Lote 5 Col San Jeronimo Tepetlacalco Tlalnepantla Estado de Mexico Mexico C P 54090 P 52 55 3682 2900 F 52 55 3682 2937 MONTERREY Av Ricardo Margain 575 IO
51. 4 2 WAWE E ORN e HE n C4 0 ASIC C4 1 C4 2 500 s 64 ms C4 3 4 3 4 4 3 3 C5 MECHATROLINK TA HI H H E 4 3 7 4 L FIRI OSAN E HE PAS x ie FA C5 0 51 Ed o C ROT WAR 2472 2 MMO FRE OES C5 2 C5 3
52. Long Industrial Park Dong Anh District Hanoi Vietnam P 84 4 3955 0159 F 84 4 3955 0158 NSK REPRESENTATIVE OFFICE HO CHI MINH CITY Suite 307 Metropolitan Building 235 Dong Khoi Street District 1 Ho Chi Minh Cuty Vietnam P 84 8 3822 7907 F 84 8 3822 7910 Europe United Kingdom NSK EUROPE LTD EUROPEAN HEADQUARTERS MAIDENHEAD Belmont Place Belmont Road Maidenhead Berkshire SL6 6TB U K P 44 1628 509 800 F 44 1628 509 808 NSK UK LTD NEWARK Northern Road Newark Nottinghamshire NG24 2JF U K P 44 1636 605 123 F 44 1636 605 000 France NSK FRANCE S A S PARIS Quartier de l Europe 2 Rue Georges Guynemer 78283 Guyancourt France P 33 1 30 57 39 39 F 33 1 30 57 00 01 Germany NSK DEUTSCHLAND GMBH DUSSELDORF Harkortstrasse 15 D 40880 Ratingen Germany P 49 2102 4810 F 49 2102 4812 290 STUTTGART Liebknechtstrasse 33 D 70565 Stuttgart Vaihingen Germany P 49 711 79082 0 F 49 711 79082 289 WOLFSBURG Tischlerstrasse 3 D 38440 Wolfsburg Germany P 49 5361 27647 10 F 49 5361 27647 70 Contacts Italy NSK ITALIA S P A MILANO Via Garibaldi 215 Garbagnate Milanese Milano 20024 Italy P 439 299 5191 F 39 299 025778 Netherlands NSK EUROPEAN DISTRIBUTION CENTRE B V TILBURG De Kroonstraat 38 5048 AP Tilburg Netherlands P 31 13 4647647 F 31 13 4647648 Poland NSK REPRESENTATIVE OFFICE WARSAW UI Migdalowa 4 73 02 796 Warsaw Poland P 48 22 645 1525 F 48 2
53. Tune the servo gains referring to 8 Tuning or User s Manual Remove external interference ncrease rigidity of the load CAN T TUNE Cannot perform automatic Mount the Motor so that the Moro azis is tuning vertical Eliminate the effect of gravity Tune the servo gains referring to 8 Tuning or User s Manual ALARM An alarm or a warning is Take measures against the cause of the alarm DETECTED occurring or the warning 9 3 8 Motor vibration after Automatic Tuning The estimated parameter setting values may not suitable for the application Implement procedure in below with referring User s Manual DFP Decrease FP parameter setting value around 100 Hz Cut and try to figure out appropriate setting value to reduce motor vibration SG Decrease SG parameter setting value 9 3 9 Alarm History From the record of the time of occurrence you can figure out whether an alarm occurred tight after power cycle or it has been occurring continuously DInput the command TAZ HCE alarm status TA HI gt TIME 012 04 46 0 40 Wore 0 000 05 18 6 35 11 015r5 2 000 10 22 4 7 Number of times for power on Alarm code YA N Sub code lx of occurrence input of the SP key will monitor the next line Press the BS key to quit monitoring 9 7 9 Troubleshooting 9 3 10 List of Alarm and Warning Table 9 8 List of Alarm and Warning 7 segmens LED Name
54. be furnished by customer Avoid the adherence of iron powder or oil to brake sliding surfaces If there are steel components close to the brake the brake may fail to operate During installation keep them at least 15 mm away from the brake Brake can be used to supplement position retention the motor stops Do not fail to release the brake before running the motor Operating life is 10 million cycles This is not guaranteed performance If brake operating cycles are short operating life of 10 million cycles may be reached within the warranty period If this occurs warranty repair will not apply The brake can be used to bring the motor to an emergency stop if a power failure or an alarm occurs during motor operation The brake is designed to bring the motor to an emergency stop in the event of an emergency and therefore cannot be used for braking purposes on a routine basis Brake operating life is as follows Not guaranteed performance Tablel Motor designation numbers and brake life used for braking Reference Number Brake operating cycles M PN3045KG001 1 500 cycles M PN4135KG001 1 500 cycles Caution Never fail to use the brake power supply to place the brake in the released state before adjusting the servo parameters of the PN series with a brake Note of Users DUPE pe e E 2 3 Precautions for Z series High Environmental Resistance Caution Dust and water resistance test
55. excessive eccentric load or an excessive load may cause the permanent deformation of the rotor or premature failure of the bearing inside the Motor When handling the Motor please pay special attention not to drop it and not to give a shock to it Protect the Motor from a collision with an obstacle Excessive load to the Motor may damage the bearing of Motor and may mechanically lock the Motor The flatness of the Motor mounting surface shall be 0 02 mm or less Caution For an oscillating operation less than 45 9 turn the Motor 90 J or more at least once a day ICaution Do not give a direct impact to the Motor with a hammer or the like A direct impact to the outside of the Motor or the load fixed to the Motor may deteriorate accuracy of the built in position sensor Note of Users Caution When attaching a rotary machine component to the Motor such as a bearing or a ball screw be sure to align both centers within 0 01 mm Excessive eccentric load or excessive load to the Motor may cause the premature failure of Motor s bearing arning Be sure not to activate the dynamic brake in the following conditions Otherwise the dynamic brake circuit may break and the Motor will enter in a free run state leading to possible injuries Do not activate the dynamic brake in normal operations Stop the Motor by a control command not by
56. in the place at where it is not exposed to direct sunlight Keep the ambient temperature and the humidity as specified 5 The limited number of times for overwriting data to EEPROM The EEPROM is used to backup all data and programs However the number of times for overwriting is limited to approximately 100 000 times 3 Precautionary statement for the prolonged use of the Motor 1 Temperature Keep the ambient temperature of the Driver Unit within 0 to 40 C You cannot use the Driver Unit in a high temperature atmosphere over 40 C 2 Dust proof and Waterproof of the Motor The PS series the PN series the PN series with Brake and The PX series are not made for dust proof or waterproof IP30 equivalent You cannot use the Motor in humid or oily atmosphere The Z series with High Environmental Resistance complies with IP66M under IEC standards certified by T V Rheinland Japan Ltd But it does not guarantee full protection for all kinds of environment 3 Use conditions The allowable moment load and axial load depend on the Motor size Double check the specified limits of the Motor meet the actual use conditions An excessive load or excessive offset load will cause permanent deflection of the rotor and the bearing abnormality Be sure not to drop the Motor or not to give an excessive impact to it while transporting it or installing it The flatness of the Motor mounting surface shall be 0 02 mm or less Or Periodic
57. no liability can be accepted any loss or damage suffered through error omissions We will gratefully acknowledge any additions corrections NSK Ltd 2013
58. of Electric Shock Capacitor discharge time is at least 5 min 104 Contacts Contacts NSK LTD HEADOUARTERS TOKYO JAPAN INDUSTRIAL MACHINERY BUSINESS DIVISION HEADQUARTERS Nissei Bldg 1 6 3 Ohsaki Shinagawa ku Tokyo 141 8560 Japan P 81 3 3779 7227 F 81 3 3779 7644 AUTOMOTIVE BUSINESS DIVISION HEADQUARTERS Nissei Bldg 1 6 3 Ohsaki Shinagawa ku Tokyo 141 8560 Japan P 81 3 3779 7189 F 81 3 3779 7917 xx Head Office P Phone F FAX Africa South Africa NSK SOUTH AFRICA PTY LTD JOHANNESBURG 25 Galaxy Avenue Linbro Business Park Sandton Gauteng P O Box 1157 Kelvin 2054 South Africa P 27 11 458 3600 Asia and Oceania Australia NSK AUSTRALIA PTY LTD MELBOURNE 11 Dalmore Drive Scoresby Victoria 31 P 61 3 9765 4400 SYDNEY P 61 2 8843 8100 BRISBANE 1 69 Selhurst Street Coopers Plains Q P 61 7 3347 2600 PERTH P 61 8 9256 5000 New Zealand NSK NEW ZEALAND LTD AUCKLAND 3 Te Apunga Place Mt Wellington Auc P 64 9 276 4992 China NSK HONG KONG LTD F 27 11 458 3608 79 Australia F 61 3 9764 8304 24 28 River Road West Parramatta New South Wales 2150 Australia F 61 2 9893 8406 ueensland 4108 Australia F 61 7 3345 5376 Unit 1 71 Tacoma Circuit Canning Vale Western Australia 6155 Australia F 61 8 9256 1044 kland New Zealand F 64 9 276 4082 HONG KONG Suite 705 7th Floor South Tower World F
59. tHIBAHI LZUU 2UuKEC BETHEDBYES GRILL o TKAGFRIBDY ES A3 CO C5 F5 TI DRE FR 360P 0 5ls PN4180 PNZA175
60. the dynamic brake The dynamic brake is an auxiliary function to stop the Motor immediately in an emergency In the middle of operation an alarm a warning or the Emergency stop input activates the dynamic brake Warnings that initiate Servo off state are A3 Software thermal CO Position command Feedback error C5 Field bass error F5 Program error and F8 Automatic tuning error The load moment of inertia to a Motor must be 70 times or less than the Motor inertia 100 times for the PS1 PS3 and PN2 type Motors In case of an indexing operation a position command shall be 360 degrees or less while the maximum speed for continual rotation must be 0 5 s or less However there may be a possibility to exceed the above limits in some cases Please consult NSK when you require a close investigation on the limits Forthe PN4180 Motor be sure to stop the Motor for 20 minutes or longer when you stop it by the dynamic brake Caution When the Motor is continually accelerating a high inertial load with high acceleration the system constantly outputs a high torque exceeding the rated torque and thus likely to activate the warning A3 Software thermal In such a case take a remedy to decrease the load moment of inertia or to lower the speed 2 2 Precautions for PN series with Brake Caution A negative actuation type brake that is activated in non excitation mode A24 VDC power supply for the brake must
61. 1 2700 L 0258 36 6360 L 03 3779 7302 L 011 231 1400 L 028 610 8701 L 03 3779 7334 L 042 645 7021 L 03 3779 7251 L 03 3779 7307 L 046 223 9911 L 0266 58 8800 L 0268 26 6811 L 055 222 0711 L 054 253 7310 L 052 249 5700 L 052 249 5749 L 052 249 5750 L 052 249 5720 L 076 260 1850 L 06 6945 8156 L 089 941 2445 L 079 289 152 L 06 6945 8248 L 077 564 755 L 06 6945 8158 L 06 6945 8168 L 082 285 7760 L 084 954 650 L 092 451 567 L 096 337 277 L 046 223 888 L 0545 57 131 L 03 3779 736 L 028 610 9805 L 0566 71 5260 L 027 321 3434 L 0565 31 1920 L 0566 71 5351 L 053 456 1161 L 06 6945 8169 L 082 284 6501 L 079 289 1530 FAX 03 3779 7431 FAX 03 3779 7644 FAX 03 3779 7917 FAX 03 3779 8698 FAX 03 3495 8231 FAX 03 3779 8698 FAX 022 261 3768 FAX 029 222 5661 FAX 027 321 2666 FAX 0258 36 6390 FAX 03 3779 7437 FAX 011 251 2917 FAX 028 610 8717 FAX 03 3779 7437 FAX 042 645 7022 FAX 03 3495 8241 FAX 03 3495 8241 FAX 046 223 9910 FAX 0266 58 7817 FAX 0268 26 6813 FAX 055 224 5229 FAX 054 275 6030 FAX 052 249 5701 FAX 052 249 5826 FAX 052 249 5751 FAX 052 249 5701 FAX 076 260 1851 FAX 06 6945 8174 FAX 089 941 2538 FAX 079 289 1675 FAX 06 6945 8174 FAX 077 564 7623 FAX 06 6945 8175 FAX 06 6945 8178 FAX 082 283 9491 FAX 084 954 6502 FAX 092 474 5060 FAX 096 348 0672 FAX 046 223 8880 FAX 0545 57 1310 FAX 03 3779 7439 FAX 028 610 9806 FAX 0566 71 5365 FAX 027 321 3476 FAX 0565 31 3929 FA
62. 2 100 IM PNZ4175KN001 0 500 1 400 2 850 M PX3050KN501 0 030 0 070 0 140 8 41 8 Tuning Blank Page 8 12 9 Troubleshooting 9 Troubleshooting 9 1 Quick Troubleshooting Check the contents below to clarify the faulty of product When an alarm occurs Refer 9 2 Alarm at power cycle When Driver Unit detects alarm at power cycle Refer 9 3 Cause and remedy for recovery 2 When the power does not turn on and the indication display does not turn on Check the voltage of main and control power by a tester if the voltage is in the range of specifications that are described in the User s manual 3 When the Motor does not move Turn off the Motor power and check the followings Does the Motor turn smoothly Is there any jerky motion Does the rotation axis have any axial play Never disassemble the Motor Are the control Inputs and Outputs properly functioning Monitor the status of SVON and IPOS signals by the I O command through the Handy Terminal Check if the voltage of input signal and 24 VDC power source are stable using an oscilloscope etc The Motor vibrates Positioning is inaccurate Alarm of software thermal occurs frequently Did you tune the servo parameters LO Load inertia SG Servo gain VG Velocity loop proportional gain PG Position loop proportional gain FP Primary low pass filter and NP Primary notch filter Are the fixing bolts of the l
63. 2 645 1529 Russia NSK POLSKA SP Z 0 0 SAINT PETERSBURG Office 703 Bldg 29 18th Line of Vasilievskiy Ostrov Saint Petersburg Russia 199178 P 7 812 332 5071 F 7 812 332 5072 Spain NSK SPAIN S A BARCELONA C Tarragona 161 2a Planta 08014 Barcelona Spain P 34 93 433 5775 F 34 93 433 5776 Turkey NSK RULMANLARI ORTA DOGU TIC LTD STI ISTANBUL 19 Mayis Mah Atat rk Cad Ulya Engin Is Mrk No 68 3 Kat 6 34736 Kozyatagi Istanbul Turkey P 90 216 477 7111 F 90 216 477 7174 UAE NSK BEARINGS GULF TRADING CO DUBAI JAFZA View 19 Floor 24 Office 2 3 Jebel Ali Downtown PO Box 262163 Dubai UAE P 971 4 804 8200 F 971 4 884 7227 North and South America United Sates of America NSK AMERICAS INC AMERICAN HEADQUARTERS ANNARBOR 4200 Goss Road Ann Arbor Michigan 48105 U S A P 1 734 913 7500 F 1 734 913 7511 NSK CORPORATION ANNARBOR 4200 Goss Road Ann Arbor Michigan 48105 U S A P 1 734 913 7500 F 1 734 913 7511 NSK PRECISION AMERICA INC FRANKLIN x 3450 Bearing Drive Franklin Indiana 46131 U S A P 1 317 738 5000 F 1 317 738 5050 SAN JOSE 780 Montague Expressway Suite 508 San Jose California 95131 U S A P 1 408 944 9400 F 1 408 944 9405 NSK LATIN AMERICA INC MIAMI 2500 NW 107th Avenue Suite 300 Miami Florida 33172 U S A P 1 305 477 0605 F 1 305 477 0377 Canada NSK CANADA INC TORONTO 5585 McAdam Road Mississauga Ontario Canada L4Z 1N4 P
64. 2TA 21 EYY E 7F 446 0056 1 9 2 2 SF 370 0841 16 11 3F 7471 0875 5 10 446 0056 1 9 2 2 SF 430 7719 111 2 19F 540 0031 1 26 732 0802 3 7 19 670 0962 100 2 8F TF E TEL 0120 446 040 Zu i Notes for Proper Use of Megatorgue Motor System Notes for Proper Use of Megatorgue Motor System 1 Special purpose Applications This product is intended for general industrial applications and is not designed manufactured for use under dangerous conditions Contact NSK before using this product for any special purpose applications including nuclear power equipment and systems or aerospace medical and safety devices While this product is manufactured under strict quality controls NSK recommends that an appropriate safety device be installed when used with equipment
65. 4 1 Low Voltage EN50178 Directive EN55011 Group1 Class A Conducted noise EN55011 Group1 Class A Radiated noise EN61000 6 2 Immunity standard for industrial environments EN61000 4 2 Electro static discharge Motor EN61000 4 3 Radio frequency electromagnetic Electromagnetic Driver Unit field Compatibility EN61000 4 4 Electric fast transit burst Directive EN61000 4 5 Lightning surges EN61000 4 6 Radio frequency conducted disturbance EN61000 4 8 Power frequency magnetic field EN61000 4 11 Voltage dips and short interruption In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures 10 1 10 Conformity with the International Safety Regulations 10 3 Conditions to Conform with EC Directives The wiring ezample shown below is one of our recommendations for the conformity with the EC Directives Figure 10 1 Wiring diagram Example Inside of control panel EDC Driver Unit CN5 Bi LI Control ONL power Source Noise filter Circuit breaker CCS Protective ground Ferrite cored i Ferrite coret 2 turns 8 tums PS Series Megatorque Motor Resolver Main power Ferrite core3 1 tums Ferrite core3 2 tums Ferrite core3 1 tums Motor A To MECHATROLINK IT master control
66. 796 3300 CHENNAI amp 6th Floor Bannari Amman Towers No 29 Dr Radhakrishnan Salai Mylapore Chennai 600 004 Tamil Nadu India P 91 44 2847 9600 F 91 44 2847 9601 Contacts ee GURGAON Unit No 202 2nd floor Block A Iris Tech Park Sector 48 Sohna Road Gurgaon 122018 Haryana India P 91 124 4104 530 F 91 124 4104 532 MUMBAI 321 A Wing Ahura Centre 82 Mahakali Caves Road Andheri East Mumbai 400 093 India P 91 22 2838 7787 F 91 22 2838 5191 Indonesia PT NSK INDONESIA JAKARTA Summitmas ll 6th Floor Jl Jend Sudirman Kav 61 62 Jakarta 12190 Indonesia P 62 21 252 3458 F 62 21 252 3223 Korea NSK KOREA CO LTD SEOUL Posco Center West Wing 9F 892 Daechi 4Dong Kangnam ku Seoul 135 777 Korea P 82 2 3287 0300 F 82 2 3287 0345 Malaysia NSK BEARINGS MALAYSIA SDN BHD SHAH ALAM No 2 Jalan Pemaju U1 15 Seksyen U1 Hicom Glenmarie Industrial Park 40150 Shah Alam Selangor Malaysia P 60 3 7803 8859 F 60 3 7806 5982 PRAI No 36 Jalan Kikik Taman Inderawasih 13600 Prai Penang Malaysia P 60 4 3902275 F 60 4 3991830 JOHOR BAHRU 88 Jalan Ros Merah 2 17 Taman Johor Jaya 81100 Johor Bahru Johor Malaysia P 60 7 3546290 F 60 7 3546291 IPOH Gr Floor 89 Jalan Bendahara 31650 Ipoh Perak Malaysia P 60 5 2555000 F 60 5 2553373 Philippines NSK REPRESENTATIVE OFFICE MANILA 8th Floor The Salcedo Towers 169 H V Dela Costa St Salcedo Villege Makati C
67. AC aa C EE 3 1 Sa a ee a es 3 2 3 2 1 3 3 Bi AAA 3 5 3 4 2 3 8 d A wa ma OL mance a aa 41 4 1 41 4 2 4 2 4 3 RE Ze Se IA 43 I c c C ck 46 E vo EE 51 BOB NEC S Sr UY E 51 5 2 EMC 5 1 5 3 EC 5 2 AU Ear ae aa ed 5 3 5 5 4 ce font O sce MRI a 5 3 1 MEOCHATROLINK
68. NSK MECHATROLINK IIZ Z a v MEGATORQUE MOTOR SYSTEM MECHATROLINK II Option Start up Guide M E099DC0C2 189 C20189 01 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 license under its present patent nor the rights of others 1
69. PN U AXHOFZYZAZ ZwkEXHOS UL BHBBLU CE FLIORRL NLEAYIHAFTEY ES x REOR Mo USESTOC WEIL TLUONEI 5 ZHLEDFHIBZEI ITC FAL 5 3 5 5 4 or D gt ot 9 ge gt wos DO eS SH Oo a bk Hag x FA H PEE zi Xt s in I E pt BE nk nk X iM m om om xt Pt NS Pr HH y kt Bl HARE Ye E Ji EO im dm jp dB 3 ow hi at i a s 1 HU 3 HB m de nk E Im dmi SB De yy nk 1 1 aS BOB oy BF Db oy HOF E E E E E E E E E E E E E E E E E E E E E E E E TE TE E E E E E E E E E E E E E E E E E E E E E E E TE L 03 3779 7111 L 03 3779 7227 L 03 3779 7189 L 03 3495 8223 L 03 3779 7297 L 03 3779 7315 L 022 261 3735 L 029 222 5660 L 027 32
70. S Torre C Suite 516 Parque Corporativo Santa Engracia San Pedro Garza Garcia N L Mexico C P 66267 P 52 81 8000 7300 F 52 81 8000 7095 Contacts Blank Page MECHATROLINK II T Z 73 7 MEGATORQUE MOTOR SYSTEM MECHATROLINK II Option Start up Guide Nov 15 2013 1st Edition NSK Ltd NSK Ltd has basic policy not to export any products or technology designated as controlled item by export related laws When exporting the products in this brochure the laws of the exporting country must be observed Specifications are subjects to change without notice and without any obligation on the part of the manufacturer Every care has been taken to ensure the accuracy of the data contained in this brochure but
71. UZHOU Room 1801 1811 B1 1A Class Office Building Wanda Plaza No 8 Aojiang Road Fuzhou China 350009 P 86 591 8380 1030 F 86 591 8380 1225 WUHAN Room 2108 New World International Trade Tower No 568 Jianshe Road Wuhan Hubei China 430000 P 86 27 8556 9630 F 86 27 8556 9615 QINGDAO Room 802 Farglory International Plaza No 26 Xianggang Zhong Road Shinan District Qingdao Shandong China 266071 P 86 532 5568 3877 F 86 532 5568 3876 GUANGZHOU Room 2302 TaiKoo Hui Tower 1 No 385 Tianhe Road Tianhe District Guangzhou China 510620 P 86 20 3817 7800 F 86 20 3786 4501 CHANGSHA Room 1048 10 F Zhongtian Plaza NO 766 WuyiRoad Changsha Hunan China 410005 P 86 731 8571 3100 F 86 731 8571 3255 LUOYANG Room 1108 Fangda Hotel No 6 XiYuan Road LuoYang HeNan China 471003 P 86 379 6069 6188 F 86 379 6069 6180 XI AN Room 1007 B Changan Metropolls Center No 88 Nanguanzheng Steet Xi an Shanxi China 710068 P 86 29 8765 1896 F 86 29 8765 1895 CHONGQING Room 2306 Unit B No 137 Keyuan 2nd Road Jiulongpo District Chongqing China 400039 P 86 23 6806 5310 F 86 23 6806 5292 CHENGDU Room1117 Lippo Tower NO 62 North Kehua Road Chengdu Sichuan China 610041 P 86 28 8528 3680 NSK CHINA SALES CO LTD JINGSU P 86 512 5796 3000 India NSK INDIA SALES CO PVT LTD No 8 NSK Rd Huaqiao Economic Development Zone Kunshan Jiangsu China F 86 28 8528 3690 215332 F 86 512 5
72. X 0566 71 5365 FAX 053 453 6150 FAX 06 6945 8179 FAX 082 284 6533 FAX 079 289 1675 141 8560 1 6 3 A EJL 141 8560 1 6 3 141 8560 1 6 3 141 8560 1 6 3 141 8560 1 6 3 141 8560 1 6 3 980 0811 1 2 25 NS 7F 310 0803 1 4 7 5 6F 370 0841 16 11 2F 940 0066 2 1 1 7F 141 8560 1 6 3 060 0032 11 23 321 0953 HARFAEAREB2TE 21 Tt 141 8560 1 6 3 192 0046 4 7 14 ON 8F 141 8560 1 6 3 141 8560 1 6 3 A EJL 243 0018 2 6 10 REAA EJL SF 7392 0015 5336 2 4F 7386 0024 1 6 4 400 0031
73. a command Refer User s manual to confirm password required commands or parameters 7 Command and Parameter Input Method 7 4 Reset to Shipping Set You may reset a parameter which has been altered once to the shipping set Though the command of initialization resets all parameters to the shipping set at once this section describes the way to rest parameters to the shipping set one by one The following example describes how to reset the parameter MV Motor velocity to the shipping set DEnter as Parameter code RS Mv R S le m o 7 5 Readout the Parameter The following example describes how to read out the parameter VG Velocity gain 1 Check the current setting of the parameter VG Enter as Parameter code Co va fer P UG 3 VG1 50 _ The current setting of the VG is displayed and the prompt semicolon is on the bottom line 2 An input of the SP key reads out the next parameter while the prompt is semicolon SP VG VG1 50 VGL1 50 When all parameters with the code VG have read out the prompt changes to colon Input the BS key to abort the readout 7 6 Monitoring Parameters by a Group There are many parameters for the Driver Unit The command TS Tell settings will read out parameter values by groups Refer to User s Manual for the detail of the command TS 1 The follo
74. all types of liquid or oil Caution The operating temperature of the liquid should be 0 to 40 C Caution Purge the air out of the oil seal section to ensure protection from ingress of water Please use the air purge tapped hole M5 plug is inserted at shipping The air pressure for purging must be 0 01 MPa to 0 02 MPal The applied air for purging must be dried and without any contamination The uses of air filter rated filtration 5lum mist separator rated filtration 0 3 m micro mist separator rated filtration 0 01 nm are recommended Purge the air when the motor is used in the environment where liquids and or solids are appeared regardless of the motor power supply condition Caution Be sure to install the protective cap supplied with Motor when the cable set is not connected such as during maintenance or inspection Caution Oil seals O rings gaskets and cables are consumable parts Periodic inspection of sealing performance is strongly recommended to prevent motor failure or outage due to ingress of water Refer Z series with High Environmental Resistance supplemental manual for Air Leak Test Contens Contents Note for Proper Use of Megatorgue Motor System Note of Users 6 Introduction 6 1 7 Command and Parameter Input Method 7 1 7 1 Checking of Operat
75. check Puncture of the Motor and shorting or breakage of cable may occur depending on using and environmental conditions If the Motor is left in such conditions it cannot exhibit its capability 100 and will lead to a problem of the Driver Unit We recommend conducting the periodic preventive measures such as an insulation resistance check of the Motor to see its current condition Note of Users Notes of Users 1 Notes of Safety The following notices are added to give particular emphasis on the safety precautions in this manual Danger A matter that might cause serious injuries arning A matter that might result in injuries Caution A matter that might result in the breakdown of equipment into which the Motor is installed or the break down of the mechanism surrounding the Motor 2 Precautions for Use 2 1 Precautions for Megatorque Motor System Pay special attention to the following when installing checking and troubleshooting the Megatorque Motor System Caution When making a combination of a Motor and a Driver Unit confirm that their specifications for Motor size and maximum Motor torque match each other This is because the Driver Unit holds the unique parameter settings for a matching Motor Refer to User s Manual for the combination Make sure that the reference numbers on each identification plate of a Motor and a Driver Unit indicate the same coding for Motor size Motor maximum torque an
76. command WWC for cancellation of Multi monitor Ww C ent TP 1310720 L CACAI TV 0 002 gt WWC Blank Page 7 3 7 Command and Parameter Input Method 7 4 8 Tuning 8 Tuning The proper gain adjustment is essential to make the full use of the capability of the Megatorque Motor System Adjustment level 1 Automatic tuning and adjustment level 2 Servo gain tuning are described in this section Refer User s Manual for adjustment level 3 Manual tuning procedure Table 8 1 Adjustment level Adjustment level Responsiveness Stability Difficulty Level 1 Automatic tuning Low Low Easy Level 2 Servo gain tuning Medium Medium Medium Level 3 Manual tuning High High Hard Please adjust the servo parameter according to the procedure of Danger this chapter When a servo on is done without adjusting it the Motor might oscillate or rotate uncontrollably Danger Before activating the Motor be sure to wire the following input signals so that the Motor can stop immediately in case of emergency Emergency stop EMST Over travel limit switch OTP and OTM if the off limits are is set Take an appropriate precaution for full turn of the motor Danger 8 1 8 Tuning 8 1 Tuning Flowchart Figure 8 1 Tuning flowchart Preparation Install the Motor and wire the Driver Unit ICaution Make sure that
77. d position sensor Ifthe reference numbers are not matched the Motor may lose its accuracy and emit noise and furthermore it may not move or lose its control Caution Do not cut the Cable Set or do not hook it up to other cable The modification of the Cable Set may worsen the Motor and Driver Unit performances typically positioning accuracy and repeatability of the resolver Caution Never disassemble the Motor because it has been precisely assembled and tuned If disassembled it may cause abnormalities such as deterioration in rigidity and positioning accuracy and generation of noise Danger Be sure to connect the Emergency Stop signal circuit to the EMST port of the CN2 control I O connector Please set the System so that you can immediately stop the Motor in case of an emergency Caution Do not remove the panel of the Driver Unit so as not to cause an electric shock It is extremely dangerous due to high voltage present Driver Units have high capacity electrolytic capacitors in its internal circuits and thus resulting in high residual voltage of the capacitors for few minutes after the main power is turned off Danger Do not place other objects in the path of the Motor when the Motor power is on An unexpected motion of the Motor may result in injury and or damage to the System or other mechanism Danger Always stay in a safe place away from the operating area of the Motor when the System is powered on Danger f the M
78. e Motor The screen displays as CANCELED and the System gets in the normal waiting state for command entry Stop the Motor with the Command MS Motor stop after confirmation of tuning results MJ S Jer gl Complete the tuning at this stage if the Motor operates normally If motion of the Motor is unstable execute the next level of tuning When the tuning is completed change the setting of the parameter MV that matches to actual use conditions 8 6 8 Tuning 8 3 2 Trial running by customer s own program Refer program example in below to make your own program The command SPO Program start or the input RUN Start program starts the program operation Refer program operation in User s manual for more detail Program example CHO 0 ID9000 _ Rotate 90 degree in CW 1 TI500 0 e 500 ms dwell time 2 TD 9000 e _ Rotate 90 degree in CCW 3 TI500 0 500 ms dwell time 4 JPO Jump to line 0 8 7 8 Tuning 8 4 Tuning Level2 Servo Gain Tuning If the automatic tuning has not been performed or the automatic tuning has not been successful the Servo gain tuning may improve the motor performance 8 4 1 Minor Tuning of Servo Gains Increasing SG Servo Gain parameter setting value improves the responsibility of the motor 8 4 1 1 Tuning Procedure When tuning the param
79. e Terminal Core 2 Seiwa Electric MFG iln d Ferrite E04SR211132 Core 3 Seiwa Electric MFG 10 2 10 Conformity with the International Safety Regulations 10 4 Conformity with Underwriters Laboratories Standards Table 10 3 List of UL Standards Subject Qualifies regulation File No Motor UL1004 1 E216970 Driver Unit UL508C E216221 Cable Set Use UL conformable parts Ya Be sure to meet the following as they are the supplementary conditions for the qualification Environmental conditions The Driver Unit must be used in the environmental condition of Pollution Degreel or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water oil or dust IP54 Power source The EDC Driver Unit shall be used in environmental condition of Over voltage category III as specified by IEC60664 1 Suitable for use on a circuit capable or delivering not more than 5 000 Arms symmetrical amperes 240 V maximum Circuit breaker Install a circuit breaker rated 15 A that conforms the UL safety standard between the power source and the Driver Unit Please refer to Table 10 2 above for the specifications Protective Grounding Be sure to ground the protective grounding terminal of the EDC Driver Unit to the protective ground PE of the control panel for a measure against electrical shock Wiring Use 60 75 C CU wire on
80. er etc To MECHATROLINK II master controler etc Environmental conditions The Driver Unit must be used in the environmental condition of Pollution Degreel or 2 as specified by IEC60664 1 The Driver Unit shall be installed into a control panel with the structure that does not allow penetration of water oil or dust IP54 Power source The EDC Driver Unit shall be used in the environmental condition of Over voltage category III as specified by IEC60664 1 Circuit breaker Install a circuit breaker that conforms to IEC standard and UL safety standard between the power source and the Driver Unit Noise filter Install a noise filter between the power source and the Driver Unit Ferrite core Ferrite cores for signal cable shall be set to the power cable the Motor cable and the resolver cable Protective Grounding Be sure to ground the protective grounding terminal of the EDC Driver Unit to the protective ground PE of the control panel for a measure against electrical shock Table 10 2 List of recommended part Item Specification Manufacturer Remarks Circuit Rated Current EA32AC 15 Conforms to IEC regulations and breaker 1514 Fuji Electric approved by UL Noise filter Single phase 250 VACI 10 A FN2070 10 07 SCHAFFNER Surge 2 R A V781BWZ 4 absober Okaya electric Ferrite E04RA400270150 Core 1 Seiwa Electric MFG Ferrite E04SR301334 For th
81. es and terms of warranty Description in User s Manual must be preferred in case of any difference compared with this startup guide These User s Manuals can be downloaded from the NSK Web site http www nsk com Please refer table 6 1 and 6 2 for list of manuals MECHATROLINK is a registered trademark of MECHATROLINK Members Association Table 6 1 Manual list Item Reference number MEGATORQUE MOTOR SYSTEM JPN MECHATROLINK Option ENG M R099DC0C2 189 Start up Guide MECHATR LINKCM Option JPN MrEO99DCOC2r187 User s Manual ENG M E099DCO0C2 188 Table6 2 Manual list Manual Content Notes for Proper Use O O Notes for Users O O International Safety Regulations O O System configuration O Motor Specifications O Driver Unit Specifications O Unpacking Installation and Wiring O Command and Parameter Input Method O O Tuning A O Operation O More Advanced Function O Details of Command and Parameter Oo Maintenance E O Alarm and Warning O Troubleshooting A O O Described A Partially described Not described 6 1 6 Introduction Blank Page 6 2 7 Command and Parameter Input Method 7 Command and Parameter Input Method Use Handy terminal or Megaterm to enter commands and parameters Turn on the power for Driver unit after connecting Handy terminal or RS232C cable Enter command or parameter
82. eter SG operate the Motor with the demonstration program Follow the procedures to in 8 3 Trial Running Input SG VA The screen changes as shown below and you can change the setting of SG by the keys of and The example below is for setting SG5 Setting depends on the tuning result when the automatic tuning has been completed Increment of SG setting value for an input of Hor H key Sof s s m Ss G JA Je gt SG AJ STEP 1 SG 5 Current setting Input the key several times observing the motion of the Motor Pressing SHIFT 2t Ut gt JA A 5SG AJ STEP 1 SG 10 Observe how the motion of Motor gets crisper as the SG setting increases 8 8 8 Tuning Keep pressing the key further until the Motor starts hunting and stops its reciprocating motion Pressing SHIFT Sa ate seya JL JL J D STEP ab SG 18 Decrease the SG setting pressing the key several times until the Motor stops hunting and starts reciprocating motion again AS SG AJ STEP 1 16 n Q The Motor will operate smoothly at any position when the SG is decreased to 80 of the reading at where the hunting stopped Set this value to the parameter SG SG AJ STEP d 13 Q OEnter the ENT key to complete the tuning and the changed parameter data will be di
83. expendable parts and backup parts The Motor the Driver Unit and the Cable set for replace Use alcohol for cleaning and never apply thinner 9 8 10 Conformity with the International Safety Regulations 10 Conformity with the International Safety Regulations The Megatorgue Motor Systems conform to the EC Directives CE Marking and Underwriters Laboratory UL regulations 10 1 Conformity with the EC Directives The Megatorgue Motor System is a machine component that conforms to provisions of the EC Low Voltage Directive This will help a user in easy conformity with the EC Directives CE marking of a machine into which the Megatorque Motor System is incorporated 10 2 Conformity with the EMC command NSK defined installation models conditions for the Megatorque Motor PS PN Series including installation space and wiring between Driver Units and Motors and set EMC command standards based on 4 m cable models which have been certified by TUV When Megatorque Motor PS PN Series is incorporated into machinery real world installation and or wiring conditions may differ from those of established models Therefore it is necessary to check for EMC command compliance especially radiation and conduction noise in the machinery incorporating he PS PN Series Motors Compliance with UL Standards PS PN Series only Table10 1 List of relevant standards tor EMC Directive Item Conformed regulation Motor EN6003
84. f faulty error with the Driver Unit C4 2 Send and receive error C4 3 Transmassiuh ye Snr Please reconfigure the transmission cycle range of 500 ns to 64 ms 9 Troubleshooting 9 3 3 C5 Fieldbus Warning The warning reports the error in MECHATROLINK II communication error and the line breakage of the fieldbus board The cause of fault can be identified by checking TA HI alarm history Table 9 3 Cause and Remedy for Fieldbus Warning Alarm history Cause Remedy C5 0 Frame check sequence error P CE C ddatai ved In case of the fault continues after power cycle pr j ommane enun 1 nor receive replace the Driver Unit due to possibility of faulty C5 2 Sync frame is not received with the Driver Unit C5 3 Watchdog timer error Check the comminication cable for proper C5 4 CPU time out connection Visually check the comminication cable for damage 9 3 4 F3 Hardware Over Travel Limit This warning reports that the Motor enters or passes through the off limits area set by the hardware travel limits Table 9 4 Cause and Remedy for Hardware Over Travel Limit Cause Remedy The shipping set of polarity of inputs OTP and OTM is normally closed Connector B Refer to 9 2 Alarm at Power Cycle Wrong polarity setting of OTP or OTM input port Input a command to move the Motor out of the off limits area as the System accepts the move command to this OTP or OTM is
85. h power Normal Green Abnormal Orange Step 2 Polarity setting of Input ports 1 Input the command MO Motor Off to make the Motor servo off to set the polarity of control inputs v o ev OO 2 Input the command PIO Edit input function Duan ES Pen 3 Following the display of the parameter FN Function the parameters NW Anti chattering timer AB Input polarity appear sequentially by a press of key then the prompt appears on the bottom line sp FNEMST ABl NWO 2 4 Input the parameter ABO to change the polarity to the normally open contact After the input a prompt appears again press the key when the prompt appears again Thus the input EMST is set to the normally open contact WAJE 4m 9 2 9 Troubleshooting 5 Input the command SV Servo on to turn on the servo of the Motor za When setting the input OTP to the normally closed contact input the command PI2 and follow the procedure above When setting the input OTM to the normally closed contact input the command PI3 and follow the procedure above 9 3 9 Troubleshooting 9 3 Cause and Remedy The detected fault can be confirmed by the characters displayed in 7 segments display on front panel The major alarms could be detected during tuning process are described in this document Refer User s manual for the detail of alarm and warning 9 3 1 A3 Software thermal T
86. his alarm will be detected when the heat generation and radiation of the Motor estimated by the Driver Unit exceeds the threshold Do not turn off the control power at the occurrence of this warning to keep estimated heat generation value in the Driver Unit Caution if the estimated heat generation value is cleared motor damage may occur when motor operation is implemented continuously Turn control power off after confirming parameter TJ Thermal Load becomes 0 Table 9 1 Cause and Remedy for Software Thermal alarm Cause Remedy NM sbageseiv load Check for mechanical restraint that causes high friction Mechanical restraint to the resistance or locks the Motor motion Motor such as brake Increase idle time Readjust acceleration deceleration parameters Excessive motor duty cycle Vibration caused by poor Set the servo parameter properly adjustment of servo parameters Refer to 8 Tuning 9 3 2 C4 Fieldbus Error This alarm will be detected when the Driver Unit MECHATROLINK III option detects communication error The cause of fault can be identified by checking TA HI alarm history Table 9 2 Cause and Remedy for Fieldbus error Alarm history Cause Remedy C4 0 Communication ASIC initialization error In case of the fault continues after power cycle C44 Waiting for connection monitor replace the Driver Unit due to possibility o
87. inance Centre Harbour City T S T Kowloon Hong Kong China P 852 2739 9933 SHENZHEN P 86 755 25904886 NSK SHANGHAI TRADING CO LTD F 852 2739 9323 Room 624 626 6 F Kerry Center Renminnan Road Shenzhen Guangdong China F 86 755 25904883 JINGSU No 8 NSK Rd Huaqiao Economic Development Zone Kunshan Jiangsu China 215332 P 86 512 5796 3000 F 86 512 5796 3300 NSK CHINA INVESTMENT CO LTD JINGSU x No 8 NSK Rd Huaqiao Economic Development Zone Kunshan Jiangsu China 215332 P 86 512 5796 3000 F 86 512 5796 3300 BEIJING Room 2116 Beijing Fortune Bldg 5 Dong San Huan Bei Lu Chao Yang District Beijing China 100004 P 86 10 6590 8161 F 86 10 6590 8166 TIAN JIN Room 06 09F The Exchange Tower 2 No 189 NanJing Road Heping District Tianjin China 300050 P 86 22 8319 5030 F 86 22 8319 5033 CHANGCHUN Room 1001 Building A Zhongyin Building 727 Xi an Road Changchun Jilin China 130061 P 86 431 8898 8682 F 86 431 8898 8670 SHENYANG Room 1101 China Resources Building No 286 Qingnian Street Heping District Shenyang Liaoning China 110004 P 86 24 2334 2868 F 86 24 2334 2058 DALIAN Room 1805 Xiwang Tower No 136 Zhongshan Road Zhongshan District Dalian Liaoning China 116001 P 86 411 8800 8168 F 86 411 8800 8160 NANJING Room A1 22F Golden Eagle International Plaza No 89 Hanzhong Road Nanjing Jiangsu China 210029 P 86 25 8472 6671 F 86 25 8472 6687 F
88. ing do not constitute a guarantee against malfunction or accident or a guarantee of the product life IP classifications specified by the IEC constitute indexes for protective performance under fixed conditions and do not constitute a guarantee of ingress protection in all conditions and for all liquids and solids Caution Surface treatment for antirust is applied on the motor outer surface However it does not mean that NSK guarantees antirust performance in any type of condition environment Refer to table2 for surface treatment Please do not use it under any conditions that may affect the surface treatment of the following Table Surface treatment Parts Surface treatment Output shaft rotor Electroless nickel plating Mounting base Low temperature chrome fluoride plating Motor outer side Dust cover Connector spacer Alumite treatment black Cover plate Connector Zinc plating trivalent chromate treating black Output shaft bolts Connector spacer bolts None material stainless steel Cover plate screws Connector screws Zinc plating trivalent chromate treating white Caution Sealing parts such as oil seals O rings and gaskets for connector parts are made of nitrile rubber NBR Compatibility with the specific liquid to be used must be confirmed in advance Caution The outer layer sheath of the cable set uses heat resistant PVC which is not resistant to
89. ing that may cause two or more rising signals Check if the input RUN is already ON due to noise Confirm if the selection of the program channel is F541 There is no command is set in right the specified channel Check if one of the input PRGO to PRG7 is settled 1 ms before an input of the RUN signal A command that cannot be F5 2 carried out in the current Refer to User s Manual for conditions to execute condition is involved in the each command channel program 2 caa e 9 ae Confirm if the Input STP Stop is OFF F5 3 specification is set in the d oie Mes Confirm if an alarm or a warning is occurring channel program 9 6 9 3 7 F8 Automatic Tuning error This alarm will be detected when the load estimation could not completed by Automatic Tuning 9 Troubleshooting The cause of fault can be identified by checking alarm history TA HI Table 9 7 Cause and Remedy for Automatic Tuning error Indication of Terminal Cause Remedy Remove external interference POSITION The Motor rotated more Mount the Motor so that the Moro axis is OVER than 3019 during automatic vertical Eliminate the effect of gravity tuning Tune the servo gains referring to 8 Tuning or User s Manual Remove the cause of excessive friction g resistance or mechanical interference that OVER INERTIA The load moment of inertia S locks the Motor WRN is too much r
90. inputted direction Turn off the Motor servo then move the Motor manually out of the area Wrong wiring OTP amp OTM etc Check wiring of OTP and OTM Check the OT sensor Defective limit sensor 9 5 9 Troubleshooting 9 3 5 F4 Emergency stop This alarm will be detected when the input signal for emergency stop is activated Table 9 5 Cause and Remedy for Emergency stop Cause Remedy Wrong setting of the input EMST signal port polarity The shipping set of the input EMST port is normally closed contact If the port is not connected the alarm occurs Refer to 9 2 Alarm at Power Cycle EMST signal is inputted Take measures against the problem and then clear the EMST input Defective wiring D Defective EMST switch Check wiring between the input EMST to the Emergency Stop switch Check the Emergency Stop switch itself 9 3 6 F5 Program Error This alarm will be detected when the execution of specified program is not implemented properly The cause of fault can be identified by checking alarm history TA HI Table 9 6 Cause and Remedy for Program error Alarm history Cause Remedy The input RUN Program start is disabled while the output BUSY In operation is closed F5 0 The System is executing other When a mechanical contact is used for the input program RUN check for chatter
91. ion 7 1 7 2 Setting ParameterS 7 1 7 3 Input the Password 7 1 7 4 Reset to Shipping Set 7 2 7 5 Readout the Parameter 7 2 7 6 Monitoring Parameters by a Group 7 2 7 7 Monitoring Parameters Altered from Shipping Set 7 3 7 8 Monitoring the Current Status 7 3 7 9 Inputting a Command while Monitoring Multiple Conditions 7 3 8 Tuning 8 1 8 1 Tuning Flowchart 8 2 8 2 Tuning Level1 Automatic Tuning 8 3 8 3 Trial Running
92. ity Philippines 1227 P 63 2 893 9543 F 63 2 893 9173 Singapore NSK INTERNATIONAL SINGAPORE PTE LTD SINGAPORE 238A Thomson Road 24 01 05 Novena Square Tower A Singapore 307684 P 65 6496 8000 F 65 6250 5845 NSK SINGAPORE PRIVATE LTD SINGAPORE 238A Thomson Road 24 01 05 Novena Square Tower A Singapore 307684 P 65 6496 8000 F 65 6250 5845 Taiwan TAIWAN NSK PRECISION CO LTD TAIPEI amp 11F No 87 Song Jiang Rd Jhongshan District Taipei City 104 Taiwan R O C P 886 2 2509 3305 F 886 2 2509 1393 TAICHUNG 107 7 Sec 3 Wen Xing Rd Taichung City 407 Taiwan R O C P 886 4 2311 7978 F 886 4 2311 2627 TAINAN 5F No 8 Daye 1st Rd Southern Taiwan Science Park Tainan City 741 Taiwan R O C P 886 6 505 5861 F 886 6 505 5061 TAIWAN NSK TECHNOLOGY CO LTD TAIPEI x 11F No 87 Song Jiang Rd Jhongshan District Taipei City 104 Taiwan R O C P 886 2 2509 3305 F 886 2 2509 1393 TAICHUNG 10F 3 No 925 Sec 4 Taiwan Blvd Xitun Dist Taichung City 407 Taiwan R O C P 886 4 2358 2945 F 886 4 2358 7682 TAINAN 5F No 8 Daye 1st Rd Southern Taiwan Science Park Tainan City 741 Taiwan R O C P 886 6 505 5861 F 886 6 505 5061 Thailand NSK BEARINGS THAILAND CO LTD BANGKOK 26 Soi Onnuch 55 1 Pravet Subdistrict Pravet District Bangkok 10250 Thailand P 66 2320 2555 F 66 2320 2826 Vietnam NSK VIETNAM CO LTD HANOI Techno Center Room 204 205 Thang
93. limit and STP Stop are not active Activate the input SVON Servo on Confirm that the 7 segments LED on the front panel of Driver unit indicates the System is in the normal state 77 Normally Lower the MV Motor velocity to 0 1 s MV2621 for trial running 202 EM CH CoE MV2621 LENT Display the menu of the demonstration program on the screen LS JLP JL A NOS OThe program for trial running appears on the screen Input the SP key to scroll the program to the end sp sp 2 gt 1D 9000 Vau NONO 3 gt TI500 0 mp 1557256 gs DA prompt question mark appears on the screen when the readout of the demonstration program completes An input of the IENT key at this stage will make the screen to indicate that the demonstration program is ready ENT 4 gt JP256 L J 57 SP AJ Ready OK 8 5 8 Tuning Input OK if you use the demonstration program as displayed KI 7 ee Se Aa SP AJ Ready OK gt 0K gt L The Motor starts a cyclic motion as soon as you input the OK message Firstly the Motor moves in CW direction Figure 8 2 Motor motion by demonstration program Rotate 90 degree in CW direction 500 ms dwell time Rotate 90 degree in CCW direction 500 ms dwell time Jump to D Press the ENT key after the prompt question mark to get out from the demonstration program without moving th
94. ly For models except for M EDC PN3 and M EDC PN4 Series Use 75 C CU wire only For models M EDC PN3 and M EDC PN4 Series Wire range for field wiring terminals are marked adjacent to the terminal on the wiring diagram or instruction manual Table 10 4 Acceptable lead diameter Wire Range AWG Input Output AII Models 18 19 Model No Others Solid state Motor overload protection level of 115 of FLA is provided in each model Integral solid state short circuit protection does not provide branch circuit protection Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes Motor over temperature protection is not provided by the driver 10 3 10 Conformity with the International Safety Regulations 10 5 Precautions for the International Safety Regulations Danger Megatorque Motor PN series with Brake unit Megatorque Motor Z series with High environmental resistance Megatorque Motor High speed PX series with its Driver Unit and their system as a combination of Motor and EDC Driver Unit do not comply with UL and CE marking regulation EDC Driver Units comply with UL Standard and CE Mark when used with a standard PN series Megatorque Motor However they do not comply with UL standards or CE Mark when used with Megatorque Motor PN series with Brake unit and Megatorque Motor Z series with High environmental resistance Caution Risk
95. oad and the Motor securely fastened Check and fasten them tightly if necessary Connect the FG terminal of the Driver Unit to one point grounding Refer to User s Manual for wiring Is any external force in rotational direction when the Motor is stopping with the Servo lock state It leads to the Motor overheat if external force is applied Breaker trip occurs frequently In case of the faulty resolved by the power cycle confirm rated current propriety of circuit breaker installed to the power line for Driver Unit 9 1 9 Troubleshooting 9 2 Alarm at Power Cycle The alarm occurs when the power is turned on if input signals of EMST Emergency stop Pin No 3 and OTP OTM Over travel limits Pin No 5 and 6 of the connector CN2 are not wired However the Driver Unit is not defective This is because the ports of EMST input and OTP OTM inputs are set to the normally closed contact B contact at the factory To cancel the alarm wire these ports or follow the procedure below to change the polarity to the normally open contact A contact Step 1 identify the alarm 1 Turn on the power of the Driver Unit 2 Check the 7 segments LED on the front panel of the Driver Unit The LED changes in order of 4 in case of Emergency stop The LED changes in order of 3 in case of Travel limit over alarm Figure 9 1 LED on Front panel Normal state Shows two characters in abnormal state Power LED Light on wit
96. otor is fitted with an arm or similar devices take extra care to assure that no obstacles are in or around the Motor work area Caution Use of an optional dump resistor shall be considered for a heavy duty operation The Megatorque Motors regenerate when they decelerate carrying heavy load inertia An internal capacitor charges the Motor regeneration However when high and continuous regeneration exceeding its capacity is applied excess energy activates an alarm P1 Abnormal main power voltage and the Motor stops In such a case you need to decrease velocity deceleration rate and operation duty cycle or you require an external high capacity dump resistor Danger Never apply water or oil to the Driver Unit Take appropriate measures to protect the Driver Unit from water oil slag dust and corrosive gas arning Do not test the insulation of the Driver Unit The high voltage used in the test may destroy the internal circuits of Driver Unit Caution In most cases the Direct Drive Motor System cannot exhibit its full performance unless the shipping set of the parameters is altered for actual applications Refer to 8 Tuning and be sure to set the servo parameters to actual use conditions Caution Allowable moment load and axial load depend on Motor size Please confirm that actual load conditions are in the limits of the Motor Refer to User s Manuals for the allowable moment load axial load and radial load Caution An
97. r the LO value has appeared on the screen press the SP key to read out the servo parameters that are set by the automatic tuning The BS key aborts the readout and the prompt colon appears for the next command 20K TO ABORT PUSH BS LO0 003 SG6 PG0 12 VG1 29 FP480 FS480 8 3 8 Tuning 8 2 2 Precautions for Automatic Tuning Danger The Motor will rotate for 20 3 during the automatic tuning in order to estimate the Load moment of inertia Do not enter the range of Motor rotations Caution The Motor may vibrate at the end of automatic tuning if rigidity of the load is insufficient In such a case turn the Motor servo off by the following way Then increase the rigidity or perform manual tuning to continue the tuning Make the input EMST Emergency stop OFF Make the input SVON Servo on OFF Turn off the power of Driver Unit Caution f the IBS key is inputted in the middle of estimating load inertia the estimation will be interrupted thus making unable to renew the servo parameters 8 4 8 Tuning 8 3 Trial Running Motor performance must be confirmed by trial running after the adjustment of Servo parameter tuning by demonstration program or customer s own program 8 3 1 Trial running by demonstration program Be sure that the inputs of the EMST Emergency stop OTP OTM Hardware over travel
98. splayed An input of the BS key reset to the setting before the tuning ENT gt SG AJ STEP 1 SG 13 PG0 26 Each setting is indicated with the prompt semicolon C and the screen pauses the indication at this stage Input the SP key An input of the BS key will abort the readout ss SG 13 OJJ PG0 26 VG2 81 S2 Implement 8 3 Trial running after the adjustment of Servo gain Refer User s manual to adjust Servo gain and filter setting value for further improvement 8 9 8 Tuning 8 4 2 Input of Load moment of Inertia An accurate estimate of load inertia contributes to decrease in external disturbance such as friction and to increase in the command follow up capability When the estimated of load inertia by the automatic tuning Tuning Level 1 is not appropriate be sure to input the load moment of inertia manually 8 4 2 1 Input of Load moment of Inertia Input the load moment of inertia with the parameter LO load moment of inertia in units of kg m The following show an example when the load moment of inertia is 0 123 kg m When the parameter LO is manually set the parameter SG Servo Gain and FP Primary low pass filter are not set automatically Set temporally the parameter SG and FP Input the password The acknowledgement appears on the screen LL EN CS JU Cs tama ON er E Input the value of load inertia i O
99. that could cause serious accidents or damage in the event of product failure 2 Precautionary statement for the prolonged use of the Driver Unit 1 Temperature Keep the ambient temperature of the Driver Unit within 0 to 50 C You cannot use the Driver Unit in a high temperature atmosphere over 50 C Keep a clearance of 100 mm in the upper and the lower side of the Driver Unit when it is installed in an enclosure If heat is built up on the upper side of the Driver Unit provide ventilation openings on the top surface or equip a forced air cool unit to take the heat out of the Driver Unit Measures against contamination are required for the ventilation openings 2 Dustproof and Waterproof Put the Driver Unit in an enclosure with the protection code of IP54 or better Protect the Driver Unit from oil mist cutting oil metal chips and paint fume etc Otherwise it may result in failure of electric circuits of the Driver Unit The IP code is to specify the protection level of enclosures from solid contamination and water It is specified in the IEC standard and other safety regulations 3 Wiring Ground Refer to the User s Manual for proper wiring When wiring and installing the Driver Unit take appropriate measures not to contaminate it Please observe the specification of power supply voltage A Storing Store the Driver Unit in a place at where it is not exposed to rain water and harmful gas or liquid Store the Driver Unit
100. the LED shows the System is in the Power on normal state Initialization of Servo Parameters Automatic tuning Tuning Level 1 This is the basic function of the automatic tuning The tuning completes at this stage if the results Automatic Tuning Tuning Level 2 YES Input of Load Inertia Trial Running Satisfaied YES Minor Tuning of Servo Gains Tuning Level 3 Setting Filter i When the tuning level 1 and 2 are not successful it requires conventional manual tuning Level 3 Manual Tuning Satisfied End of Trial Runnig 1 The procedure described in this document 8 2 8 Tuning 8 2 Tuning Level1 Automatic Tuning The automatic tuning function implements estimation of the load inertia mounted on the motor and set the Servo parameter setting values appropriate to the mounted load automatically 8 2 1 Executing Automatic tuning Confirm that the LED on the front panel of Driver Unit indicates the System is in the normal state Normally Input the command AT Automatic tuning AT READY OK Input OK for the confirmation The Motor servo automatically activates and the Motor rotates for 10 to 20 to estimate of load inertia starts oan m AT READY OK OK TO ABORT PUSH BS Afte
101. under Maintenance mode Refer User s manual for more detail 7 1 Checking of Operation To confirm the Driver unit is ready to accept command 1 Be sure that the colon is on the display Press the EN key once if the colon is not on the display ENT di 7 2 Setting Parameters This section describes the procedures to enter parameters Following example describes how to check and change the current setting of parameter MV Motor velocity 1 Check the current setting of parameter MV Enter as Parameter code as follows MV ml MV gt MV26214 2 Set the parameter MV to 0 5 s MV13107 Enter as Parameter code datal IMvi4 as 4 MV13107 0 7 ew gt i This completes the setting when the colon appears on the screen Caution Confirm that the colon is on the screen when turning off the power of the Driver Unit after the setting of parameters Otherwise the alarm E2 ROM error may occur when the power is on next time 7 3 Input the Password Several parameters and commands require an entry of the password for setting and execution 1 Enter the Password NSK ON IIN SK sr NSK ON L PAN J p gt NSK ON The acknowledgment appears on the screen and the colon appears indicating the normal stand by state for command entry Then set a parameter or a command However the password is effective for only one entry of a parameter or
102. wing example describes how to read out the setting of parameter VG for the velocity loop proportional gain velocity gain The parameter VG belongs to a group of TS1 as described on User s Manual Thus enter as IESE TS1 Tj S 1 JIN ES PG0 001 The screen will firstly show the setting of the parameter PG position loop proportional gain 2 Press the SP key to scroll the display until it spots the setting of the VG sp sp TS1 a PG0 001 PGLO 001 VG1 50 _ 3 To terminate monitoring keep pressing the 3 key until the display stops scrolling or enter the SP key The colon will appear on the screen to indicate the completion of readout BS PG0 001 C PGLO 001 VG1 50 7 2 7 Command and Parameter Input Method 7 7 Monitoring Parameters Altered from Shipping Set When adjusting and setting parameters you may read out parameter values only which have been altered from the shipping set The command TSO monitors all parameter values that belong to parameter groups of TS1 to TS14 Here let s use the command TS Tell settings to read out the parameters which have been altered from the shipping set Among all parameters that can be read out by the command TSO let s read out only the parameters whose setting have been altered from the shipping set However some parameter of TS14 BVG BVI BPG BFF BHVL BHZ BTUU BTVEU is always read out 1Enter as TS number MD
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