Giken GSK Series User manual

Instruction Manual
GSK/GSKW Controller
November.2017
GIKEN INDUSTRIAL CO., LTD.
The 3rd edition

1
Befor beginning operation:
Caution
■Note
①Please read this instruction manual carefully in order to ensure that you use this product correctly.
②A part or no part of this instruction manual may be used or reproduced without the permission of GIKEN
Industrial Co., LTD.
③Regarding the handling process and opration that are not listed in this instruction manual, please think that
they cannot be oprated, and do not attempt to oprate them. Any defect that would occur when the
handling process or the operation that is not listed in this instruction manual is executed should be
excluded in the scope of the warranty.
④Matters listed in this instruction manual are subject to change for the improvement without notice.
⑤For the product with special specifications, please consult us because it may not be pertinent to the use of
this instruction manual
⑥The personal computer for setup operation is an option. Please contact us if it is required.
Caution
■Measures in case of an 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 the condition when the fire break out or the danger to personal injury can be
expected due to the excessive heat generation, smoking or ignition)

2
Caution
■Notes of the first time the power is turned on
１. Please check the connection of cables before you turn on the power.
２． Please install the termination resister(110Ω) to connection terminal of each axis for Arc net.
But you don’t need it when you use only one axis
３．Please set axis No. at one axis side on 『d00177』and two axis side on 『d10177』from the panel section to
make GSK controller driver recognize axis Number.
(You cannot communication from the PC when axis No. isn’t set.)
*You must set axis No. when you change controller driver.
４．For wiring reconfirmation after turning on the power, "d00210" "d10210" "d01003" "d11003" is confirmed.
(Electrical check)
５．In order to confirm the zero point of the torque sensor, please check the measurement value of the
zero-point of each axis in the "d00210" "d10210".
It's possible to use setting software again to adjust zero by software.
６． Please set input, etc after the above content has been completed.

3
INDEX
Instruction Manual................................................................................................................................0
GSK/GSKW Controller .........................................................................................................................................0
November.2017....................................................................................................................................................0
GIKEN INDUSTRIAL CO., LTD............................................................................................................................0
Befor beginning operation: ...................................................................................................................................1
１System out line.................................................................................................................................7
Controller section..................................................................................................................................................7
IF unit section.......................................................................................................................................................7
AC nut runner section...........................................................................................................................................8
２Specifications...................................................................................................................................9
２－１ Specifications of controller ........................................................................................................................9
２－２ Basic specification...................................................................................................................................11
２－３ Functions/Features..................................................................................................................................14
２－４ Size..........................................................................................................................................................15
２－４－１ Interface dimensions：Standard type・・・GSK-IF............................................................................15
２－４－２ Controller dimensions：Standard type・・・GSK-4，GSKW-4 ........................................................16
２－４－３ Controller dimensions：Standard type・・・GSK-5（7）...................................................................17
２－４－４ Controller dimensions：T type・・・GSK-T5（T7）...........................................................................18
２－４－５ Controller dimensions：Standard type・・・GSKW-5......................................................................19
２－４－６ Controller dimensions：T type・・・GSKW-T5................................................................................20
２－４－７ Dimensions（display）：Model ・・・GSK-D1................................................................................21
３Wire connection .............................................................................................................................22
３－１ Wiring reference diagram........................................................................................................................22
３－１－１ （M-net ver.）GSKW Controller system wiring reference diagram.................................................22
３－１－２ （M-net ver.）GSK Controller system wiring reference diagram ....................................................23
３－２． Used connector and mating connector.................................................................................................24
３－２－１ GSK Used connector and mating connector .................................................................................24
３－３ Connection to the outside........................................................................................................................26
３－３－1External connection diagram（GSK controller～NR）：standard and T type...............................26
３－３－２ External connection diagram（I/F unit～Connected equipment）：standard and T type...............26
３－４ Cable model list.......................................................................................................................................28
３－４－１ GSK Cable model list.....................................................................................................................28
３－４－２ GSKW Cable model list .................................................................................................................29
４．Signal.............................................................................................................................................30
４－１ Input and output signals ..........................................................................................................................30
４－２ Input and output signals ..........................................................................................................................31
４－２－１ Input and output signals.................................................................................................................31

4
４－２－２ Output signal..................................................................................................................................33
４－３ Input & output signal map........................................................................................................................35
４－４ Sequencerselected..................................................................................................................................36
４－４－１ Extender board setting method......................................................................................................36
Functional differences ........................................................................................................................................36
５.Operation timing chart..................................................................................................................37
５－１ Power ON and inching operation ............................................................................................................37
５－２ program operation -2 step operation ①..................................................................................................37
５－３ program operation -2 step operation ②..................................................................................................38
５－４ program operation -2 step operation③...................................................................................................39
５－５ program operation -1step operation①....................................................................................................40
５－６ program operation -1step operation②....................................................................................................41
５－７ program operation --2 step operation④..................................................................................................42
５－８ program operation -1step operation③....................................................................................................43
５－９ Interruption of program operation（reset）................................................................................................44
５－１０ Operation preparation OFF and program start OFF in the program operation ....................................45
５－１１ Alarm and alarm reset in the program operation ..................................................................................46
５－１２ Tightening angle sampling operation.....................................................................................................47
６．Setting ...........................................................................................................................................48
６－１ Display / setting function .........................................................................................................................48
６－１－１ View of the display unit ..................................................................................................................48
６－１－２ Operation the display unit..............................................................................................................48
６－１－３ Setting example..............................................................................................................................48
※Procedure for setting axis number ..............................................................................................................48
※Procedure to erase the 7 segment display of W type unused axis.............................................................48
※Procedure of changed tightening sampling stop torque..............................................................................48
６－２ Program...................................................................................................................................................48
７．Setting function details..................................................................................................................50
７－１ Fn. ** Display setting function list............................................................................................................50
Setting the axis number (d0xxxx).......................................................................................................................51
７－２ （d-00***, d-10***）Each-axis setting, driver parameter setting ................................................................51
７－３ Socket-fittings setting ..............................................................................................................................53
７－４ Pre-tightenings setting.............................................................................................................................54
７－５ Revese tightening setting........................................................................................................................56
７－６ Real tightening setting.............................................................................................................................58
Gradient calculation method...............................................................................................................................62
７－７ Rate setting .............................................................................................................................................63
７－８ X-axis rate setting....................................................................................................................................65
７－９ Y-axis rate setting....................................................................................................................................66
７－１０ Point setting ..........................................................................................................................................67

5
７－１１ (Fn.01) Tightening result monitor of the 1th axis ..................................................................................68
７－１２ (Fn.02) Tightening result monitor of the 2th axis...................................................................................68
※The display contents of the Fn.1 and Fn.2 .....................................................................................................68
７－１３（Fn.03）Input and output monitor...........................................................................................................69
７－１４ （Fn.04）Operation instruction from GSK drive ......................................................................................70
７－１５ (Fn.5) unit setting.................................................................................................................................70
７－１６ (Fn.6) Interface unit setting..................................................................................................................71
７－１７ (Fn.7) ID controller connection setting ................................................................................................73
８． Supplementary explanation ........................................................................................................75
８－１ Operation auxiliary function.....................................................................................................................75
８－２ Driver function .........................................................................................................................................75
９．Monitor output................................................................................................................................76
１０．Code table...................................................................................................................................76
１０－１ NG Code List ........................................................................................................................77
１０－２ Alarm Code List.....................................................................................................................................79
Alarm generated in the GSK IF (EC*) ................................................................................................................79
Alarm generated in the GSK driver (E**)............................................................................................................81
１１． Indication on the display...........................................................................................................83
１２ Maintenance and check..............................................................................................................90
１２－１ PRrecautions.........................................................................................................................................90
１２－１－１ Precautions for maintenance and check.....................................................................................90
１２－１－２ Check items.................................................................................................................................90
１２－１－３ Operating life ...............................................................................................................................90
１２－１－４ Capacitor .....................................................................................................................................91
１２－１－５ Relay ...........................................................................................................................................91
１２－１－６ Cooling fan ..................................................................................................................................91
１２－１－７ Battery .........................................................................................................................................91
１２－１－８ Ｅ２ＰＲＯＭ ....................................................................................................................................91
１２－２ Guarantee.............................................................................................................................................91
１２－３ Tightening operation glossary...............................................................................................................91
Supplemental explanation..................................................................................................................94
About GSK tightening setting additional items...................................................................................95
①Judgment area................................................................................................................................................95
②Smooth tightening...........................................................................................................................................95
③SD card...........................................................................................................................................................96
(1) Reading, saving and writing GSK settings ................................................................................................96
Predictive maintenance function ......................................................................................................100
①Outline of Predictive Maintenance ..............................................................................................................100
Flow to alarm notification ..............................................................................................................................100
②GSK controller Electronic component lifetime warning.................................................................................101

6
③Nut runner failure prediction warning............................................................................................................101
Precautions for Input/Outout communication...................................................................................................102
Precautions to read history...............................................................................................................................103
About connection setting of ID controller..........................................................................................................104
Select with condition of starting transmission ..................................................................................................105
５.Selecting transmission data..........................................................................................................................106
６．Transmission of torque, time, angle data based on the kinds of operation.................................................106

7
１System out line
・“GSK” 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 can be divided into the controller section, IF unit
section(Interface) and AC nut runer section.
Controller 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
・Tightening program sets the rotation number and torque control, facilitating the wide variety of tightening
patterns.
・High-speed and highly accurate tightening control is provided by combinig the position control and the torque
control.
・Self diagnosis function displays the program number/operating condition/alarm information on the front LED
display.
・Three setup methods are provided to setup the tightening program: the input method from the setup personal
computer, exclusive display and that from the controller front panel.
・It is easy even for beginners to set up and input because the automatic setup and input function has been
installed.
IF unit section
・IF unit is the communication device to communicate with the external unit such as the sequencer/display/setup
personal computer/printer or other equipment.
・GSK system allows you to check the information related to the tightening control such the setting
data/tightening results by connecting a personal computer to the IF unit.
・It is possible to check the information by connecting to a printer without inputting the data such as the
setting/tightening results into a personal computer.
・Communication setting is applicable to both specifications of PIO and SIO.
・One IF unit is always required by set of controller.(2 units for 31 axes or more).

8
AC nut runner section
・ANZM type nut runner can be continued to used like a conventional GSS series.
＜Specification of nut runner ＞
Nut runner
model
MAX.
tightening
torque
MAX.
rotational
speed
Power
supply current
Moter model
Weight
Transducer
model
（N.m）
（rpm）
（A rms）
（Kg）
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
TS4618N1920E203
5.0
AZM-1500
ANZM-2000
180
290
4.0
TS4618N1920E203
6.8
AZM-2500
ANZM-3000
280
235
6.0
TS4619N1920E203
9.0
AZM-4000
ANZM-5000
470
253
6.5
TS4619N1922E207
10.5
AZM-7500
ANZM-7000
650
176
6.5
TS4619N1922E207
10.5
AZM-7500
ANZM-9000
850
131
6.5
TS4619N1920E207
11.5
AZM-12000
MAX tightening torque is an output value when the rotational speed is 20rpm.
When making the speed short exceedingly, torque output in a table becomes difficult.
（The sizes of the nut runner are indicated on catalogs, but please inquire about details）.

9
２Specifications
２－１ Specifications of controller
Composition
IF unit
Standard type（M-net communication）
the Other communication methods
(IO board, CC-link, Device net, Pro-Fi net, etc)
Controller unit
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 communication
function (PC)
USB communication
Other unit control
Arc-Net
DATA control (PC)
RS422，SD card
DATA saving
Tightening data: about 6000 cases
When IF is connected, It can output from a
PC.
Printer connection
It connects a PC. (setting software is required
for output)
Max axis number for
connection
30 axis control（software-based 60 axis）
Display
DATA display
6-digit 7SEG.LED
Extraordinary display
AL code indicate + NG code indicate
Indicator
Display
OK/NG, axial arrangement, tightening setting
(applicable to the 60 axes display)
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
Outside
dimensions
IF unit
44×226×171.6
Controller unit
GSK-1(T)4-E-N2，
GSKW-1(T)4-E-N2
59（65）×238×170.5
The dimensions In parentheses are including
a heat sink
Controller unit
GSK-1（T）5-E-N2，
GSK-1（T）7-E-N2
116.5（86.5）×226×171.6（211.6）
The dimensions In parentheses are no fans in
the T type.
Controller unit
GSKW-1（T）5-E-N2
160.5(109.5) ×226×171.6(211.6)
The dimensions In parentheses are no fans in
the T type.
Display GSK-D1
182.5×138.8×57.3
Please install by considering the projection of
the connector
Tightening
setting
Axis number
・30 axis ｘ16 program ｘ220 step
・30 axis ｘ50 program ｘ70 step
・8 axis ｘ50 program ｘ220 step
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