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

10
Tightening
control
Sequencing tightening
(Blocktightening)
MAX. 19blocks (77 steps)
Retry
Whether or not set for each program
Baking determination
Reverse torque, judgement of area size
Reverse rotation for fixed
quantity
Time and angle
Speed switching
4 stage, angle management and continuously
variable transmission (smoothing) function
Accuracy
Torque waveform
Disply,all axis indication or personal computer
Angle stop accuracy
within +0.5° （downward 30rpm）
Angle display minimum unit
0.1°
Tightening accuracy
downward 3σ±2%
Connection
Connection cable
Standard type and T-tyap: connectingmethod
Others
Zero-point adjustment
Automatic correction
(Tolerance range setting is provided.)
Axis cutting function
Can be connected from a personal computer or
the controller front panel.
Communication with
other unit
Arc-Net
Setting input
USB Communication
Communication with PLC
SIO (M-NET, CC-Link, and etc) or PIO
Display connection
Connected to IF unit

11
２－２ Basic specification
Standard
specification
model（GSK）
GSK-14-E-N2
GSK-15-E-N2
GSK-17-E-N2
Standard
specification
model（GSKW）
GSKW-14-E-N2
GSKW-15-E-N2
T specification
model（GSK）
GSK-T4-E-N2
GSK-T5-E-N2
GSK-T7-E-N2
Tspecification
model（GSKW）
GSKW-T4-E-N2
GSKW-T5-E-N2
Field bus
Anybus
Corresponding
standard
M-NET
(standard)
CC-LINK
Device
-NET
PROFI-N
ET-I/O
PROFI-N
ET-IRT
FL-NET
Ether
-NET
Syste
m GSK
I/F model
(common)
GSK-IF
-N1
GSK-IFC
C-N1
GSK-IFD
N-N1、
GSK-IFP
NIO-N1
GSK-IFP
NIRT-N1
GSK-
IFFL-N1
GSK-
IFET-N1
GSK-
IFSG-N2
Control power
input
DC24 V±10% 50/60 Hz
Drive power input
3-phase AC 160～240V 50/60 Hz
Withstand voltage
AC 1500 V for 1 minute
Insulation
resistance
DC 500 V 10M Ωmore
Controller
Calorific
value
Controller 1 unit ：15W
Momentary power
failure
No effect in the range less than 50 msec (excluding the driving time)
Nut runner model
ANZM-50
ANZM-250
ANZM-350
ANZM-500
ANZM-850
ANZM-1600
ANZM-1800S
ANZM-2000
ANZM-3000
ANZM-3500
ANZM-5000
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000
Corresponding
GSK model
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
GSK-17(T7)
-E-N2
Applicable motor
TS4603N1920
TS4617N1
920
TS4609N192
0
TS4618N192
0
TS4619N192
0
TS4619N192
2
Motor output W
75
150
300
600
1125
1125
Rotor inertia
kgm2
0.04x10
-4
0.083x10
-4
0.38x10
-4
0.79x10
-4
2.62x10
-4
2.62x10
-4
Driving power
supply rated
electrical
capacity Arms
0.6
1.2
2.3
4.5
8.5
4.5
8.5
Rating output
current A rms
1.0
1.9
3.6
6.8
7.1
6.8
11.0
24.6
Instantaneous
maximum
current Arms
5.4
10.7
19.6
38.6
40.2
62.9

12
Rating torque
N.m
0.159
0.318
0.64
1.27
2.39
2.39
Instantaneous
max. torque
N.m
0.95
1.91
3.82
7.64
14.32
14.32
Maximum
rotation
number
without loads
rpm
12500
7500
12500
Motor drive
system
Transistor PWM sine 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 combination of controllers and NRs other than ANZM series
The combination of each NR and controller is shown below.
・ANZMC series(Compact torque sensor type)
TYPE
Controller type
ANZMC-50
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
ANZMC-250
ANZMC-350
ANZMC-500
ANZMC-850
ANZMC-1600
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
ANZMC-1800S
ANZMC-2000
ANZMC-3000
ANZMC-3500
ANZMC-5000
GSK-17(T7)-E-N2
ANZMC-7000
ANZMC-9000S
ANZMC-12000
ANZMC-15000
・ANZMH series (High speed type)
TYPE
Controller type
ANZMH-200
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
ANZMH-450
ANZMH-900
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
ANZMH-1500
GSK-17(T7)-E-N2
ANZMH-1850S
ANZMH-2001
ANZMH-9000

13
・ANZMCH series (Compact Torque Sensor + High Speed Type)
TYPE
Controller type
ANZMCH-200
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
ANZMCH-450
ANZMCH-900
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
ANZMCH-1500
GSK-17(T7)-E-N2
ANZMCH-1850S
ANZMCH-2000
ANZMCH-2500
・ANZMSH series (Compact Torque Sensor + Short & Small + High Speed Type)
TYPE
Controller type
ANZMSH-120
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
ANZMSH-130
ANZMSH-150
ANZMSH-450
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
ANZMSH-500
ANZMSH-700
ANZMSH-2000
GSK-17(T7)-E-N2
・ANZKHM series (High speed type with built-in clutch)
TYPE
Controller type
ANZMKH-400
GSKW-15(T5) -E-N2
GSK-15(T5)-E-N2
ANZMKH-700
・ANＣKHM series (High speed type with built-in clutch)
TYPE
Controller type
ANCKHM-200
GSKW-14(T4) -E1-N2
GSK-14(T4)-E1-N2
ANCKHM-500
GSKW-15(T5)-E1-N2
GSK-15(T5)-E1-N2
ANCKHM-900
ANZMCTH series (High speed type with built-in clutch)
TYPE
Controller type
ANZMCTH-100E1
GSKW-14(T4) -E1-N2
GSK-14(T4)-E1-N2
ANZMCTH-150E1
ANZMCTH-230E1
ANZMCTH-450E1
GSKW-15(T5)-E1-N2
GSK-15(T5)-E1-N2
ANZMCTH-700E1
ANZMCTH-900E1

14
２－３ Functions/Features
Protective function
Over current, over load, over speed, encoder failure, drive power
failure, E2PROM failure and CPU failure, etc.
Display
function
7SEGMENT LED
Alarm No., NG information
Program No., Block No.
Operation monitor
Tightening result (Torque, etc.)
Parameter setting
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
Storing the 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 when needed from PC
Applicable to the multiaxial
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 the
PLC (in serial or parallel)
Communication by multi-standard using the Anybus
※Please refer to 2-2 in regard corresponding standard
Axis cutting function
Setting for axis cutting is possible by the PC setting or the
operation from the front panel.
(Used when the controller malfunctioned)
Zero magnification check
function
Diagnosis function for the torque sensor malfunction (Performs
per tightening operation)
Gear check function
Diagnosis function for biting of the gear and motor shaft
(Selectable for Yes/No)
Simulation movement
Simulation movement is available by the personal computer
operation
(Sampling start for the seating angle by tightening)
Calendar function
It saves the Year, Month, Day, Hour, Minute and Second per data.
Regenerative function (Over
voltage detection)
Regeneration circuit that visceral the driving voltage is consumed
by the internal resistor when it exceeds a predetermined value.
Discharge function
Natural discharge by the LED
Standard inertia (INERTIA)
JL≦30JM
Rotating direction
Direction of CCW should be the forward rotation viewed from
motor shaft end.
Analog monitor
（P81 reference）
Monitor signal output at the check pin on the front panel:
M1 ... The torque, an electric current and speed can be
M2 ... monitored every each controller in panel operation.
G ... Monitor GND

15
２－４ Size
２－４－１ Interface dimensions：Standard type・・・GSK-IF

16
２－４－２ Controller dimensions：Standard type・・・GSK-4，GSKW-4

17
２－４－３ Controller dimensions：Standard type・・・GSK-5（7）

18
２－４－４ Controller dimensions：T type・・・GSK-T5（T7）

19
２－４－５ Controller dimensions：Standard type・・・GSKW-5