Giken GSK-N7 User manual

September.2020
GSK-N7 Controller
Instruction Manual
GIken Industrial Co.,Ltd

1
Before bigening operation
Caution
■Note
(1)Please read this instruction manual carefully in order to ensure that you use this product correctly.
(2)Part or all of this instruction manual may not be used or required without permission of Giken Industrial Co.,Ltd.
(3)Please consider that handling and operation which are not described in this manual can not be performed.
And please do not do such handling or operation.
In addition, problems that occur as a result of handling and operations not described
in this instruction manual are excluded from the scope of warranty.
(4)The information in this instruction manual is subject to change without notice for improvement.
(5)Special products may not match this specification.
Please consult separately.
(6) Setting PC is optional.
Please contact us if necessary.
Caution
■Measures in case of emergency
If this product is in a dangerous condition, immediately turn off all power switches of the main unit
or the connected equipment, or pull out all power cords from the plug outlets.
("Dangerous condition" means a condition where a fire or danger to the body is expected due
to abnormal heat, smoke or fire.)

2
Caution
■Cautions at first power on
１．Please check that the cable connection is correct before turning on the power. (Visual check)
２．Please attach a termination resistor (110 Ω) in the communication connector (COM port)
of the GSK driver at the end.
However, it is not necessary when using with only one axis.
３．The GSK controller needs to recognize the axis number.
In the 7SEG panel, please set the axis number of 1 axis side with “d00177” and the axis number of 2 axis side
with “d10177”.
(If the axis number is not set, communication from the setting PC can not be performed.)
※When replacing the controller, it is sure to set.
４．After power on, you should check the wiring using the variation of the following address values.
The torque sensor output value on the 1st axis side can be confirmed by “d00210”.
The torque sensor output value on the 2nd axis side can be confirmed with "d10210".
The current position of the encoder (resolver) on the 1st axis can be checked with "d02003".
The current position of the encoder (resolver) on the 2nd axis can be checked with "d12003".
(Electrical check)
５．In order to confirm the zero point of the torque sensor, you confirm the measured value of the zero point
of each axis with “d00210” and “d10210”.
In addition, it is possible to adjust the zero point by using setting software.
６．After completing the above, please enter settings etc.

3
INDEX
１. System outline...........................................................................................................................................5
２. Specifications ............................................................................................................................................7
２－１ Specifications of controller ................................................................................................................................... 7
２－２ Basic specifications............................................................................................................................................... 9
２－３ Function and characteristics................................................................................................................................ 12
２－４ Dimension ........................................................................................................................................................... 13
２－４－１ Interface dimensions: Standard specification・・・GSK-IF-N7.......................................................... 13
２－４－２ Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7........................................... 14
２－４－３ Dimension drawing: standard specification・・・GSK-15（17）-E(1)-N7 ....................................... 15
２－４－４ Dimension drawing: T type specification・・・GSK-T5（T7）-E (1)-N7......................................... 16
２－４－５ Dimension drawing: standard specification・・・GSKW-15-E (1)-N7............................................... 17
２－４－６ Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7 ................................................. 18
２－４－７ Dimension drawing(Display)：type・・・ GSK-D2-N7 .................................................................. 18
３. Wire connection ......................................................................................................................................20
３－１ Connection reference drawing ............................................................................................................................ 20
３－１－１ GSKW System connection reference diagram ......................................................................................... 20
３－１－２ GSK System connection reference diagram ............................................................................................. 21
３－２ Used connector and mating connector .................................................................................................................. 22
３－２－１ GSK Used connector and mating connector........................................................................................... 22
３－２－２ Communication port details owned by the interface .............................................................................. 23
３－３ External connection............................................................................................................................................. 24
３－３－1External connection diagram (between GSK and NR) : Driver amplifier of standard
specification and T specification .................................................................................................................................... 24
３－３－２ External connection diagram (interface～connected device):Interface ................................................. 25
３－４ Cable model list .................................................................................................................................................. 26
３－４－１ GSK cable model list .............................................................................................................................. 26
４. Signal.......................................................................................................................................................29
４－１ Type of input / output signal............................................................................................................................... 29
４－２ Input/Output signal ............................................................................................................................................. 30
４－２－１ Input signal.............................................................................................................................................. 30
４－２－２ Output signal ........................................................................................................................................... 32
４－３ Input / Output signal map ................................................................................................................................... 36
４－４ Select a sequencer ................................................................................................................................................. 38
４－４－１ Anybus board setting method ................................................................................................................... 38
５. Operation timing chart ............................................................................................................................39
５－１ Power on and inching operation ........................................................................................................................... 39
５－２ Program operation - 2 step operation 1................................................................................................................. 40
５－３ Program operation - 2 step operation 2................................................................................................................. 41
５－４ Program operation - 2 step operation 3................................................................................................................. 42
５－５ Program operation - 1 step operation 1................................................................................................................. 43
５－６ Program operation - 1 step operation 2............................................................................................................... 44
５－７ Program operation - 2 step operation 4................................................................................................................. 45
５－８ Program operation - 1 step operation 3................................................................................................................. 46
５－９ Interruption of program operation (reset) ............................................................................................................. 47
５－１０ Operation ready OFF and Start OFF at Program operation.............................................................................. 48
５－１１ Alarm output and alarm reset during program operation ................................................................................. 49
５－１２ Tightening angle sampling operation ............................................................................................................... 50
６. Setting .....................................................................................................................................................51
６－１ Display / setting function ...................................................................................................................................... 51
６－１－１ About the viewpoint of the display........................................................................................................... 51
６－１－２ Operation the display unit......................................................................................................................... 52
６－１－３ Setting example......................................................................................................................................... 53
※Procedure of setting axis number................................................................................................................................ 53
※Procedure to erase the 7 segment display of W type unused axis .............................................................................. 55
※Procedure of changed tightening sampling stop torque.............................................................................................. 56
※Procedure to change overload alarm threshold........................................................................................................... 57
６－２ Program configuration .......................................................................................................................................... 60
７. Setting function details ...........................................................................................................................61

4
７－１ Fn.** display setting function list....................................................................................................................... 61
７－２（d-00***, d-10***）Driver parameter setting for each axis ............................................................................... 62
７－３ SOC.T setting........................................................................................................................................................ 64
７－４ PRE.T setting ........................................................................................................................................................ 65
７－５ REV.T setting........................................................................................................................................................ 67
７－６ REA.T setting........................................................................................................................................................ 68
７－７ Rate setting............................................................................................................................................................ 73
７－８ X-axis rate setting ............................................................................................................................................... 75
７－９ Ｙ-axis rate setting .............................................................................................................................................. 76
７－１０ Point seting........................................................................................................................................................ 77
７－１１ （Ｆｎ．０１）Tightening result monitor of 1st axis.................................................................................... 78
７－１２ （Ｆｎ．０２）Tightening result monitor of the 2nd axis............................................................................. 78
７－１３ （Ｆｎ．０３）Input / output monitor ........................................................................................................... 80
７－１４ （Ｆｎ．０４）Operation instruction from GSK controller .......................................................................... 82
７－１５ （Ｆｎ．０５）Unit setting............................................................................................................................ 82
７－１６ （Ｆｎ．０６）Interface unit setting ............................................................................................................. 83
７－１７ （Ｆｎ．０７）ID connection setting .......................................................................................................... 86
７－１８ About Z axis setting .......................................................................................................................................... 88
７－１８－１ Coordinate setting of Z axis................................................................................................................ 88
７－１８－２ Z axis rate setting .................................................................................................................................. 89
８. Supplementary explanation.....................................................................................................................90
８－１ Motion assist function........................................................................................................................................... 90
８－２ Driver function ...................................................................................................................................................... 90
９. Monitor output ........................................................................................................................................91
１０. Code Table ..........................................................................................................................................92
１０－１ ＮＧ code list ................................................................................................................................................... 92
１０－２ Alarm Code List................................................................................................................................................ 94
１０－２－１ Interface alarm ...................................................................................................................................... 94
１０－２－２ Interface alarm details........................................................................................................................... 95
１０－２－３ Alarm generated in the GSK driver (E**) .......................................................................................... 100
１１. Indication of display..........................................................................................................................103
１２. Maintenance and inspection..............................................................................................................110
１２－１ Notes ............................................................................................................................................................. 111
１２－１－１ Maintenance and Inspection Precautions.......................................................................................... 111
１２－１－２ Inspection items ................................................................................................................................ 111
１２－１－３ lifespan .............................................................................................................................................. 111
１２－１－４ Capacitor ........................................................................................................................................... 111
１２－１－５ Relay ................................................................................................................................................. 111
１２－１－６ Cooling fan........................................................................................................................................ 112
１２－１－７ Battery............................................................................................................................................... 112
１２－１－８ E2PROM........................................................................................................................................... 112
１２－２ Warranty........................................................................................................................................................ 112
１２－３ Tightening operation glossary....................................................................................................................... 112
Supplemental explanation ...........................................................................................................................114
About GSK additional functions.................................................................................................................115
①Area judgment............................................................................................................................................................... 115
②Smooth tightening ......................................................................................................................................................... 115
③Function to connect with EtherNet (FTP transfer) ....................................................................................................... 115
④S-shaped control............................................................................................................................................................ 115
⑤Z axis pressing control .................................................................................................................................................. 115
⑥SD card.......................................................................................................................................................................... 116
Predictive maintenance function.................................................................................................................119
①Outline of Predictive Maintenance ............................................................................................................................... 119
Flow to alarm notification............................................................................................................................................. 119
②GSK controller Electronic component lifetime warning .............................................................................................. 120
③Nut runner failure prediction warning .......................................................................................................................... 121
Change log ..................................................................................................................................................128

5
１. System outline
・“GSK Nut runner System” is the torque control type nut runner system what has the function necessary to tightening
of the screw and locating.
・This system has the name specified as GSK and it is classified into driver amplifier, interface unit and AC nutrunner..
Driver amplifer section
・Tightening accuracy :3σ±2%
・GSK series improved a conventional GSS series, that was realized downsized, model integration
and processing speed Improvement by the capacity rise of CPU and a memory.
・The control of rotation speed and torque can be set by program, and various tightening patterns can be easily performed.
・The combination of position control and torque control enables high-speed and high-precision tightening control.
・The program No., operation status, alarm information etc. are displayed on the front panel
by the self-diagnosis function.
・There are three ways to set the tightening program: setting PC, dedicated display, and input from the front panel.
・As it is equipped with automatic setting input function, even beginners can easily input settings.
Interface unit section
・An interface unit is a communication device with an external unit such as a sequencer, display, setting PC, or printer.
・By connecting a personal computer to the interface unit, the GSK system can check information related
to tightening control such as setting data and tightening results.
・By connecting a printer, you can check data such as settings and tightening results without connecting it to a PC.
・The communication setting can correspond to both specifications of parallel IO and serial IO.
・One interface unit is always required for each system.
(Use one interface unit for every 16 axes if there is a positioning unit, 30 axes for none.)

6
AC Nut runner section
・As with the conventional GSS series, ANZM-type nutrunners can be used continuously.
<Specification of nut runner>
Nut runner
model
Maximum
tightening
torque
[N･m]
Maximum
rotational
speed
[rpm]
Power
supply
current
[A rms]
Motor model
Weight
[kg]
Censor model
ANZM-250
20
310
0.8
TS4603N1920E203
1.6
AZM-350
ANZM-350
30
430
1.5
TS4617N1920E203
1.9
AZM-350
ANZM-500
45
310
1.5
TS4617N1920E203
1.9
AZM-500
ANZM-850
80
420
2.8
TS4609N1920E203
3.9
AZM-850
ANZM-1600
140
420
4.0
TS4618N1922E203
5.0
AZM-1500
ANZM-2000
180
290
4.0
TS4618N1922E203
6.8
AZM-2500
ANZM-3000
280
235
6.0
TS4619N1920E203
9.0
AZM-4000
ANZM-5000
470
253
6.5
TS4619N1926E207
10.5
AZM-7500
ANZM-7000
650
176
6.5
TS4619N1926E207
10.5
AZM-7500
ANZM-9000
850
131
6.5
TS4619N1926E207
11.5
AZM-12000
The maximum tightening torque is the output value at a speed of 20 rpm.
(The dimensions etc. of the nutrunner are published in the catalog etc. Please inquire for details)

7
２. Specifications
２－１ Specifications of controller
Composition
Interface unit
Standard type(M-net communication)
The other communication methods
(IO board, CC-link, Device net, Pro-Fi net, etc)
Driver amplifer
Single standard type(GSK)3 kinds,
Single T type(GSK)3 kinds,
2 axis standard type(GSKW)2kinds,
2 axis T type(GSKW)2kinds
Data
DATA transmit / receive
function (PC)
USB communication
Other unit control
Arc-Net
DATA control (PC)
RS422，SD card
DATA saving
Tightening data: about 5000 cases
When IF is connected, It can output from a PC.
Printer conection
Connect to IF unit or PC
Max axis number
for connection
It can control up to 30 axes
Display
DATA display
6-digits 7SEG.LED
Extraordinary display
AL code indicate + NG code indicate
Indicator
Display
OK / NG
Axis arrangement (60 screws can be displayed)
Tightening setting
Setting
Setting input method
Personal computer and the controller front panel, disply panel
Memory backup
E2PROM，FRAM
Setting value backup
SD card, PC⇒FD,HD
Dimension
Interface unit
44×226×171.6
Driver unit
GSK(GSKW)-14(T4)
-E(E1,R)-N7
59(65)×238×170.5
Driver unit
GSK-17[15](T5,T7)
–E(E1,R)-N7
116.5(65.5)[86.5]×226×171.6(211.6)
() Inside dimensions are back fin type
[] Inside dimension is side fin type
※Both models in () and [] have no fans
Driver unit
GSKW-15(T5)
–E(E1,R)-N7
160.5(109.5)×226×171.6(211.6)
() Inside dimensions are back fin type
Display GSK-D2-N7
182.5×138.8×57.3
Please attach in consideration of the protruding part
of the connector
Tightening setting
Axis number
・30 axes ｘ16 programs ｘ220 steps
・30 axes ｘ50 programs ｘ70 steps
・8 axes ｘ50 programs ｘ220 steps
Maximum values are different depending
on the combination
Program number
Step number
Setting items
T:Rating 30kinds
H:REA.T SET, K:PRE.T SET, G:REV.T SET S:SCC.T SET,
screw number setting Each 24kinds
Tightening
method
Torque method, time
and angle monitor
"Zone Monitoring" function exists
Angle method, time monitor
"Gradient judgment" function exists
Tightening control
Sequencing tightening
(Blocktightening)
Up to 19 blocks: Maximum block amount per axis in program
Retry
Whether or not set for each program
Baking determination
Reverse torque, judgement of area size
Quantitative reversal
Time and angle
Speed switching
4-step, angle management
and stepless shifting (smoothing) function
Accuracy
Torque waveform
Disply,all axis indication or personal computer

8
Angle stop accuracy
Within +0.5°(30rpm or less)
Angle display minimum unit
0.1°
Tightening accuracy
3σ±2% or less
Connection
Connection cable
Standard type and T-tyap: connectingmethod
Controller
power supply
Rated current
GSK-IF-N7: 0.2A(通信規格による変動は無)
GSK-14(T4)-E（E1、R）-N7 : 0.2A
GSKW-14(T4)-E（E1、R）-N7 : 0.2A
GSK-15(T5)-E（E1、R）-N7 : 0.3A
GSKW-15(T5)-E（E1、R）-N7 : 0.4A
GSK-17(T7)-E（E1、R）-N7 : 0.3A
Startup inrush current
GSK-IF-N7 : 5.0A
GSK-14(T4-E（E1、R）-N7) : 5.0A
GSKW-14(T4-E（E1、R）-N7) : 5.0A
GSK-15(T5-E（E1、R）-N7) : 5.0A
GSKW-15(T5) -E（E1、R）-N7 : 5.0A
GSK-17(T7) -E（E1、R）-N7 : 5.0A
Other
Zero-point setting
Automatic correction (with tolerance setting)
Axis disable function
It can be set from PC or front panel.
※This function can not be used when using positioning mode.
Other unit communication
Arc-Net
Setting input
USB communication
Communication with PLC
Serial I/O (M-NET, CC-Link, and etc) or Parallel I/O
Connection with display
it is connected to IF unit

9
２－２ Basic specifications
Standard
specification
model
（GSK）
GSK-14-E-N7
GSK-15-E-N7
GSK-17-E-N7
Standard
specification
model
（GSKW）
GSKW-14-E-N7
GSKW-15-E-N7
T specification
model
（GSK）
GSK-T4-E-N7
GSK-T5-E-N7
GSK-T7-E-N7
T specification
model
（GSKW）
GSKW-T4-E-N7
GSKW-T5-E-N7
Fieldbus
Anybus
Corresponding
standard
M-NET
(Standard)
CC-
LINK
Device-
NET
PROFI-
NET-I/O
PROFI-
NET-IRT
FL-
NET
Ether-
NET
System
GSK
I/F model
GSK-IF-N7
GSK-
IFCC-
N7
GSK-
IFDN-N7
GSK-
IFPNIO-N7
GSK-
IFPNIRT-
N7
GSK-
IFFL-
N7
GSK-
IFET-N7
GSK-
IFSG-N7
Control
power input
DC24V±10％1.0Amax
Drive
power input
3 phase AC160～264V 50/60Hz
Dielectric
strength
AC1500V 1 minute
Insulation
resistance
DC500V 10MΩover
Calorific value
1 unit: 15 W
Stop
momentarily
It does not affect 50msec or less. (except when driving)
Nutrunner
model
ANZM-50
ANZM-250
ANZM-350
ANZM-500
ANZM-850
ANZM-1600
ANZM-1800S
ANZM-2000
ANZM-3500
ANZM-3000
ANZM-5000
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000
Corresponding
GSK model
GSK(GSKW)-14(T4)-E-N7
GSK(GSKW)-15(T5)-E-N7
GSK-
17(T7)-E-N7
Combination
motor
TS4603N1920
TS4617N1920
TS4609N1920
TS4618N1922
TS4619N1920
TS4619N1922
Motor output
[W]
75
150
300
600
1125
1125
Rotor inertia
[kg･m^2
]
0.04x10
-4
0.083x10
-4
0.38x10
-4
0.79x10
-4
2.62x10
-4
2.62x10
-4
Drive power
rating
electric
capacity
[Arms]
0.6
1.2
2.3
4.5
8.5
8.5
Rated output
current
[Arms]
1.0
1.9
3.6
6.8
7.1
11.0
24.6
Instantaneous
maximum
5.4
10.7
19.6
38.6
40.2
62.9

10
current
[Arms]
Rated torque
[N・m]
0.159
0.318
0.64
1.27
2.39
2.39
Instantaneous
maximum
torque
[N・m]
0.95
1.91
3.82
7.64
14.32
14.32
Maximum
speed
without load
[rpm]
12500
7500
12500
Motor drive
system
Transistor PWM Sine / Square wave drive
Angle sensor
Incremental encoder
(With the zero magnification signal, line driver output, 256C/T)
Operating
temperature
and humidity
0 to 50°C, Less than 90%RH (No condensation)
※About correspondence with NR except ANZM series
The correspondence of NR other than ANZM series is shown below.
・ANZMC series (Small torque sensor amplifier type)
Model
Compatible controller
ANZMC-50
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMC-250
ANZMC-350
ANZMC-500
ANZMC-850
ANZMC-1600
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMC-1800S
ANZMC-2000
ANZMC-3000
ANZMC-3500
ANZMC-5000
GSK-17(T7)-E-N7
ANZMC-7000
ANZMC-9000S
ANZMC-12000
ANZMC-15000
・ANZMH series (High speed type)
Model
Compatible controller
ANZMH-200
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMH-450
ANZMH-900
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMH-1500
GSK-17(T7)-E-N7
ANZMH-1850S
ANZMH-2001
ANZMH-9000

11
・ANZMCH series (Small torque sensor amplifier and high speed type)
Model
Compatible controller
ANZMCH-200
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMCH-450
ANZMCH-900
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMCH-1500
GSK-17(T7)-E-N7
ANZMCH-1850S
ANZMCH-2000
ANZMCH-2500
・ANZMSH series (Small torque sensor amplifier and short and high speed type)
Model
Compatible controller
ANZMSH-120
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMSH-130
ANZMSH-150
ANZMSH-450
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMSH-500
ANZMSH-700
ANZMSH-2000
GSK-17(T7)-E-N7
・ANZMKH series (Built in clutch type)
Model
Compatible controller
ANZMKH-400
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7
ANZMKH-700
・ANＣKHM series (Change motor and built in clutch type)
Model
Compatible controller
ANCKHM-200
GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7
ANCKHM-500
GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7
ANCKHM-900
・ANZMCTH series (Built in clutch type)
Model
Compatible controller
ANZMCTH-100E1
GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7
ANZMCTH-150E1
ANZMCTH-230E1
ANZMCTH-450E1
GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7
ANZMCTH-700E1
ANZMCTH-900E1

12
２－３ Function and characteristics
The protected function
Over current, over load, over speed, encoder failure,
drive power failure, E2PROM failure and CPU failure, etc.
display
7SEGMENT LED
Alarm No., NG information
Program No., Block No.
Operation monitor
Tightening result (Torque, etc.)
Parameter settings
Set the following parameters by a personal computer
and input them to the IF unit.
. Program 16 or 50
. Rating 30
. PRE.T
. REA.T Each 50
. REV.T
. SOC.T
Memory of tightening data
Tightening data: About 5,000 per axis
Alarm history:16 per axis
Tightening waveform:1 per axis
It is possible to check the data from PC.
Multi-axis compatible
1 to 30 units of controller or 1 to 15 units
of double type controller can be connected to 1 Interface unit.
Max. 30 axes multiaxial control is possible.
Communication
with sequencer
Communication according to many types
of compatible standards using Anybus
※Please refer to 2-2 about corresponding standard
Axis disabling function
It can be set by the operation of the PC setting or the front panel
(Use at the time of failure, etc.)
※It can not be used when using positioning.
Zero magnification
check function
Failure diagnosis function of torque sensor
(This is performed at each tightening.)
Gear check function
Gear and motor shaft burn-in diagnostic function
(selectable with or without)
Simulation movement
Simulation operation is possible from a PC.
(Tightening seating angle sampling start)
Calendar function
It stores year, month, day, hour, minute and second for each data.
Regenerative function
(Overvoltage detection)
When the drive voltage exceeds a certain value, the built
in regenerative circuit is consumed by the internal resistance.
Discharge function
If it is a single, it is a natural discharge function that uses the top
of the front panel, and if it is a W type, the LED at the top
and bottom right of the panel.
Standard inertia
JL≦30JM
Rotating direction
Make CCW in the positive direction seen from the motor shaft end
Analog monitor
2 points ± 8 V
(outputs torque, speed and current to the check terminal
on the panel surface)

13
２－４ Dimension
２－４－１ Interface dimensions: Standard specification・・・GSK-IF-N7

14
２－４－２ Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7

15
２－４－３ Dimension drawing: standard specification・・・GSK-15（17）-E(1)-N7
※GSK-15-E(P)(1)-N7 の際はファンが付きませんのでご注意ください

16
２－４－４ Dimension drawing: T type specification・・・GSK-T5（T7）-E (1)-N7

17
２－４－５ Dimension drawing: standard specification・・・GSKW-15-E (1)-N7

18
２－４－６ Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7

19
２－４－７ Dimension drawing(Display)：type・・・ GSK-D2-N7
・パネルカット寸法