NSK Megatorque M-EDC-PS1006 Series User manual

MEGATORQUETM MOTOR SYSTEM
User’s Manual
(EDC Driver Unit System)
Optional Driver Unit with Analog Interface
M-E099DC0C2-171
Document Number: C20171-01

Limited Warranty
NSK Ltd. warrants its products to be free from defects in material and/or workmanship which NSK
Ltd. is notified of in writing within, which comes first, one (1) year of shipment or 2400 total
operation hours. NSK Ltd., at its option, and with transportation charges prepaid by the claimant,
will repair or replace any product which has been proved to the satisfaction of NSK Ltd. to have a
defect in material and/or workmanship.
This warranty is the sole and exclusive remedy available, and under no circumstances shall NSK
Ltd. be liable for any consequential damages, loss of profits and/or personal injury as a result of
claim arising under this limited warranty. NSK Ltd. makes no other warranty express or implied,
and disclaims any warranties for fitness for a particular purpose or merchantability.
Copyright 1997 to 2008 by NSK Ltd., Tokyo, Japan
All rights reserved.
No part of this publication may be reproduced in any
form or by any means without permission in writing
from NSK Ltd.
NSK Ltd. reserves the right to make changes to any
products herein to improve reliability, function or design
without prior notice and without any obligation.
NSK Ltd. does not assume any liability arising out of the
application or use of any product described herein;
neither does it convey any license under its present
patent nor the rights of others.
Patents issued and patents pending.
“MEGATORQUE” is a registered trademark of NSK Ltd. in
Japan and that of NSK Corp. in the United States of America.

Contents
1. Introduction ------------------------------------------------------------ 1-1
2. Specifications---------------------------------------------------------- 2-1
2.1.System configuration ------------------------------------------------------------------ 2-1
2.2.Reference Number and Coding----------------------------------------------------- 2-2
2.3.Dimension of EDC Drive Unit-------------------------------------------------------- 2-2
2.4. Functional Specifications ------------------------------------------------------------ 2-4
2.5. Specifications related to resolution------------------------------------------------ 2-4
2.6. Control I/O Connector Specification----------------------------------------------- 2-5
2.6.1. Pin-Out (CN2) -------------------------------------------------------------------- 2-5
2.6.2. CN2 Signal List------------------------------------------------------------------- 2-6
3. Analog Input Function----------------------------------------------- 3-1
3.1.Interfacing --------------------------------------------------------------------------------3-1
3.1.1.Analog Command Input---------------------------------------------------------3-1
3.2.Velocity Control Mode-----------------------------------------------------------------3-2
3.2.1.Velocity Control With RS-232C Command --------------------------------3-2
3.2.2.Velocity Control With Analog Command -----------------------------------3-3
3.2.2.1.Offsetting Analog Velocity Command---------------------------------3-4
3.3.Torque Control Mode------------------------------------------------------------------3-6
3.3.1.Torque Control With RS-232C Command ---------------------------------3-6
3.3.2.Torque Control With Analog Command ------------------------------------3-7
3.3.2.1.Offsetting Analog Torque Command----------------------------------3-8
4. Glossary of Commands and Parameters------------------------4-1
5. Conformity with the International Safety Regulations------- 5-1
5.1. Conformity with the EC Directives -------------------------------------------------- 5-1
5.2. Conformity with Electromagnetic Compatibility Directive --------------------- 5-1
5.3. Conformity with Underwriters Laboratories Standards ------------------------ 5-3
— i —

(Blank Page)
— ii —

1. Introduction
 This manual describes an option of the Megatorque Motor System that consists of the
EDC Driver Unit with the Analog Interface. Please refer to the user’s manual of the
Megatorque Motor System (Document number: C20158) for other details.
 For your safety, please be sure to read the user’s manual thoroughly before operating
the Megatorque Motor System.
— 1-1 —

(Blank page)
— 1-2 —

— 2-1 —
2. Specifications
2.1. System Configuration
Figure 2-1: System configuration for analog command
Cable set
RS-232C
communication
Single phase:
200 to 230 VAC
or
100 to 115 VAC
Main power Megatorque Motor
PLC*
Motor controller*
24 VDC
power supply*
EDC Driver Unit
Handy Terminal
3 < 2 $ 1 #- + 5 % 4 >
8 ( 7 ‘ 6 &. = 0 ? 9 )
CBA FED
IHG LKJ
ONM RQP
UTS XWV
?ZY */,
CTRLESCSHIFT ENTSPBS
NSK
HANDY TERMINAL
Motor cable
Resolver cable
Control IO signal
Control
power
* User shall provide these devices.
Analog signal
The optional parts listed below are not shipped with the Driver Unit.
Table 2-1 ： Optional parts lists
Name System Reference Number Contents
Connector :54306-5019(Molex)
M-E014DCFS1-001 Connector
for CN2 Shell :54331-0501(Molex)
Connector :231-305/026-000(WAGO)
Connector M-E014DCFS1-002 Connector
for CN5 Wiring lever :231-131(WAGO)
Driver Mounting
Brackets M-E050DCKA1-001 Qty 2, Includes screws (4-M3x8 countersunk Philips head)
M-E099DC0C2-171 Megatorque Motor System User’s Manual (EDC Driver Unit System)
Optional Driver Unit with Analog Interface
User’s Manual
M-E099DC0C2-158 Megatorque Motor System User’s Manual
(EDC Driver Unit System)

— 2-2 —
2.2. Reference Number and Coding
Figure 2-2: Reference number coding of EDC Driver Unit
EDC Driver Unit
M-EDC
–
PS1006 A B 5 02
–
01
Motor size code
Design serial number: 02: Standard.
Power voltage A: 200 to 230 VAC (single phase)
C: 100 to 115 VAC (single phase)
Position sensor code B: Absolute position sensor
Function: 5: Standard
1: Analog Input(Optional)
C: CC-Link (Optional)
02: Provid connectors, fixing
blackets and English manual.
01: Provide connectors, fixing
blackets and Japanese manual
No code:without connectors,
blackets and manual
2.3. EDC Driver Unit
Figure 2-3: Dimension of Analog input type EDC Driver Unit (same as standard type)
(Motor type: PS1006, PS1012, PS1018, PS3015, PS3030, and PN2012)

— 2-3 —
Figure 2-4: Dimension of Analog input type EDC Driver Unit (same as standard type)
(Motor type: PS3060, and PS3090)

— 2-4 —
2.4. Functional Specifications
Table 2-2: Functional Specification
Velocity control RS-232C serial communication，Analog command:±10V
Control
mode Torque control RS-232C serial communication，Analog command:±10V
Input
signals Control Input Emergency stop, Servo-on, Stop, Clear, Over travel limit, Integration OFF
Position feedback Refer to “2.5.Specifications related to resolution”
Output
signals Control Output Driver Unit ready, Warning, Servo-state,±Travel limit detection,
Under/Over velocity
Alarm functions
RAM error，ROM error，System error，Interface error，ADC error，Emergency
stop，CPU error, Resolver Sensor error, Absolute position error, Motor cable
disconnect error, Excessive velocity, Resolver excitation amplifier alarm,
Commutation error，Over-heat, Main AC line over voltage, Excess current,
Control AC line under voltage, Power module alarm，Software thermal error, Main
AC line under-voltage, Over travel limit
Monitoring functions
Analog monitor ×2ch（Motor velocity, Motor velocity command, Motor velocity
error, Torque command, Current command, Thermal load）
RS-232C communications monitor (Position data, Alarm messages，
Servo parameter, etc)
Communications RS-232C serial communications (synchronous，9600[bps])
Data back-up EEPROM (The parameter can be rewritten 100,000 times)
2.5. Specification related to resolution
Table 2-3: resolution specification
Item Specifications
Resolver Resolution 2,621,440[counts/revolution] ※1
Resolver Accuracy 90[arc-sec] compatible※1
(when environmental temperature of 25±5[℃])
Position feed back signal output format ΦA/ΦB/ΦZ Line driver
Phase A ,A
Phase B ,B 20,480[pulses/revolution](default setting)
(Quadrupled:81920)
Up to 1,310,720[pulses/revolution] can be set※2
(Quadrupled:5242880)
(Maximum frequency remains 781 [k Hz])
Resolution of Position feedback signal
Phase Z ,Z 80[pulses/revolution]
※1Due to the speed limit of feedback signal and the resolution of analog command, performance such as high
speed and high precision which are expected by using standard type EDC Driver Unit or CC-Link Type EDC
Driver Unit may not exhibited by external controller.
※2As the maximum frequency is 781 [k Hz], the setting of the resolution limits the maximum velocity.
The maximum velocity [s-1] = 781[kHz] / phase A, and B resolution.

— 2-5 —
2.6. Control I/O Connector Specifications
Table 2-4:Mating connector
Connector Manufacturer and model
Driver Unit’s connector Molex 52986－5071
Mating connector (user’s device side) Molex 54306－5019
Mating connector shell (user’s device side) Molex 54331－0501
Use shielded cable for wiring of the CN2 connector and be sure to use twisted cables for the
position feed back signals. Wiring length shall be short as possible. (2[m] maximum)
2.6.1.Pin-Out（CN2）
The pin-out arrangement below is for the shipping set. The function of each signal port may be
changed by the function setting of control Input/Output ports.
Figure 2-5: CN2 pin out (shipping set)
1
DC24
26
COM
2
DC24
27
COM
3
EMST
28
DRDY
4
ACLR
29
WRN
5
OTP
30
OTPA
6
OTM
31
OTMA
7
SVON
32
SVST
8
IOFF
33
TVU
9
STP
34
TVO
10
－
35
－
11
－
36
CHA
12
－
37
*CHA
13
－
38
CHB
14
－
39
*CHB
15
－
40
CHZ
16
－
41
*CHZ
17
－
42
－
18
－
43
SGND
19
－
44
AIN+
20
－
45
AIN-
21
－
46
－
22
－
47
－
23
－
48
－
24
－
49
－
25
－
50
－
EMST ：Emergency stop
Input dedicated to safety function
EMST ：Emergency stop
A
CLR ：Alarm clear
OTP ：Travel limit, + direction
OTM ：Travel limit, - direction
SVON ：Servo on
RUN ：Program start
STP ：Stop
PRG0 ：Internal program channel selection 0
PRG1 ：Internal program channel selection 1
PRG2 ：Internal program channel selection 2
PRG3 ：Internal program channel selection 3
PRG4 ：Internal program channel selection 4
IOFF ：Integration off
NONE ：（Set to a non-function port）
General input
DRDY ：Driver Unit ready
WRN ：Warning
OTPA ：Travel limit detection, + direction
OTMA ：Travel limit detection, - direction
SVST ：Servo state
BUSY ：In operation
ZONEA ：Zone A
ZONEB ：Zone B
ZONEC ：Zone C
TVU ：Velocity under
TVO ：Velocity over
TTU ：Torque command under
TTO ：Torque command over
TJU ：Thermal loading under
TJO ：Thermal loading over
OTXA ：Travel limit ditection, ±direction
NRM ：Normal
NONE ：（Set to a non-function
p
ort）
DRDY ：Driver Unit ready
NRM ：Normal
Output dedicated to safety function
General output
Pin number 3 and Pin number 28 are the dedicated ports to the safety function input and output respectively.
 You cannot change the function setting to the Pin number 3: EMST input [Emergency stop]. You may
only set the logic of the connector and the stability timer to it.
 You can only change the function of the Pin number 28: DRDY output [Driver Unit ready] to the function
NRM (normal) output. You cannot set the output logic and the stability timer to it.

— 2-6 —
2.6.2. CN2 Signal List
！Caution : Follow the specification documents for the specially ordered System
when its settings of Inputs and Outputs are different from the standard.
！Caution :Never connect the idle pins that are instructed as “Do not connect.”
Do not disconnect the idle pins at the master controller (PLC, etc) side
after you have connected all pins of the CN2 connector.
Table 2-5: CN2 signal name and function (Shipping set)
Input
Output Pin No Port
code Signal
code Contact logic Signal name Function
1 - DC24 - 24 VDC external power supply External power supply for input signal
2 - DC24 - 24 VDC external power supply External power supply for input signal
3 PI0 EMST Normally
closed Emergency stop Terminates positioning operation and the
Motor stops by the dynamic break.
4 PI1 ACLR Normally
open Alarm clear Clears warning.
5 PI2 OTP Normally
closed Over travel limit, + direction If OTP goes active, the Motor servo is
locked in the CW direction.
6 PI3 OTM Normally
closed Over travel limit, - direction If OTM goes active, the Motor servo is
locked in the CCW direction.
7 PI4 SVON Normally
open Servo-on If SVON goes active, the servo turns on and
the System waits for a command to be
entered.
8 PI5 IOFF Normally
open Integration OFF Terminates velocity integration control.
9 PI6 STP Normally
open Stop Stops positioning operation and execution of
the program.
10 - - - (Do not connect) -
11 - - - (Do not connect)
12 - - - (Do not connect)
13 - - - (Do not connect)
14 - - - (Do not connect)
15 - - - (Do not connect)
16 - - - (Do not connect)
17 - - - (Do not connect)
18 - - - (Do not connect)
19 - - - (Do not connect)
20 - - - (Do not connect)
21 - - - (Do not connect)
22 - - - (Do not connect)
23 - - - (Do not connect)
24 - - - (Do not connect)
Input
25 - - - (Do not connect)

— 2-7 —
Table 2-5 (continued): CN2 signal name and function (Shipping set)
Input
Output Pin
No. Port code Signal
code Contact
logic Signal name Function
26 – COM – Output signal common
27 – COM – Output signal common Common for output signal.
28 PO0 DRDY Positive Driver Unit ready Reports that the Motor is ready to rotate.
(Those pins are open when the Motor is not
ready or an alarm occurs.)
29 PO1 WRN Negative
Warning Warns abnormality in the System.
30 PO2 OTPA Negative
Over travel limit (+ direction)
detected Reports the output of over travel limit (software and hardware) in the plus direction.
31 PO3 OTMA Negative
Over travel limit (- direction)
detected
Reports the output of over travel limit
(software and hardware) in the minus
direction.
32 PO4 SVST Positive Servo state Reports the state of servo.
33 PO5 TVU Positive Velocity, under
34 PO6 TVO Positive Velocity, over Reports condition of velocity against the
threshold value.
35 – – – (Do not connect.) –
36 – CHA – Position feedback signal øA
37 – *CHA – Position feedback signal ø*A
38 – CHB – Position feedback signal øB
39 – *CHB – Position feedback signal ø*B
40 – CHZ – Position feedback signal øZ
41 – *CHZ – Position feedback signal ø*Z
A pulse signal that reports the number of
rotations of the Motor.
Free setting of output resolution in øA/øB
phase is available.
42 – –– (Do not connect.) –
43 – SGND – Signal ground Ground for the position feedback signal.
44 – AIN+ –
Analog command (+)
45 – AIN- –
Analog command (-) +/- 10[VDC] input for analog velocity or
torque control.
46 – – –
(Do not connect.) –
47 – – –
(Do not connect.) –
48 – – –
(Do not connect.) –
49 – – –
(Do not connect.) –
Output
50 – – –
(Do not connect.) –

— 2-8 —
(Blank page)

3. Analog Input function
！Caution
： Constrain of motor speed
・ Each motor type has its maximum speed. Check the maximum speed in the
specification sheet.
・ The parameter VL (Velocity limiter) depends on parameter FR (Feedback signal
resolution).
！Caution
： Positioning control by external controller
・ Due to the speed limit of feedback signal and the resolution of analog command,
performance such as high speed and high precision which are expected by using
standard type EDC Driver Unit or CC-Link Type EDC Driver Unit may not exhibited by
external controller.
3.1. Interfacing
3.1.1. Analog Command Input
Applied input: AIN +, AIN –
Table 3-1: Specifications of analog command input
Item Specification
Max. input voltage ± 10 [VDC]
Input impedance 20 [ kΩ]
Maxi. input current 0.5 [mA]
ADC resolution 12 [bits]
Effective resolution Typical 10 [bits]
Offset error ±13 [ %] of maximum input voltage
Figure 3-1:Analog input specification
Driver Unit side
20 [kΩ]
AIN +
AIN –
–
+
User’s controller side
— 3-1 —

3.2. Velocity Control Mode
 Parameter SL2 sets the control mode to velocity control.
SL1: Torque control mode
SL2: Velocity control mode
SL3: Inhibit
Velocity control via the RS-232C command or the analog command may be selected in the velocity
control mode.
Parameter AC selects the way of control.
AC0 : Analog command invalid. DC command is valid.
AC1 : Analog command valid. When analog velocity command is +: CW direction
AC–1 : Analog command valid. When analog velocity command is +: CCW direction
3.2.1. Velocity Control with RS-232C Command
 Motor velocity may be controlled directly through the RS-232C command in the velocity
control mode.
 Parameter AC (AC0) sets validity of DC command.
Inputting
CD ENT
（data）
will have the Motor controlled with the velocity that is proportional to the data.
 Relation between the data of DC command and the velocity is shown in Figure 3-2.
Figure 3-2: DC command VS the velocity
＋32 767
－32 767
10 [s-
1
]
－10 [s-
1
]
Rotational speed
DC command
！Caution : AS DI parameter reverses the sign of coordinate, the polarity of the DC
command is reversed as well. DI parameter is set to “0” in shipping.
： Please confirm the speed of the motor.
— 3-2 —

3.2.2. Velocity Control with Analog Command
 Velocity of the Motor may be directly controlled with the analog velocity command in the
velocity control mode.
 Voltage range of the analog command is ± 10V. Offset adjustment is possible setting
parameter AF. (Refer to “3.2.2.1. Offsetting Analog Velocity Command.”)
 Parameter AC selects the polarity of command voltage. (Refer to Table 3-2.)
 Relation between the command voltage and the velocity may be selected with parameter AG.
(See Figure 3-3.)
Table 3-2: Rotating direction relater to DI,AC and the polarity of Command voltage
DI setting AC setting Command voltage Rotating direction
0 1 + CW
0 1 – CCW
0 – 1 + CCW
0 – 1 – CW
1 1 + CCW
1 1 – CW
1 – 1 + CW
1 – 1 – CCW
Figure 3-3: Command voltage and velocity (DI=0)
- 10 [V] + 10 [V]
• Porality: + for CW direction
(AC1) • Porality: + for CCW direction
(AC-1)
- 10 [V]
-10[s-
1
]
10[s-
1
]
+ 10
[
V
]
-10[s-
1
]
10[s-
1
]
AG = 0.5
AG = 1.0
AG = 2.0
Rotational speed
Input voltage
Rotational speed
Input voltage
！CAUTION
： Please confirm the speed of the motor.
— 3-3 —

3.2.2.1. Offsetting Analog Velocity Command
 You may adjust offset value of command voltage with the parameter AF.
 Parameter AF sets the offset value by “ 0.3 mV” per parameter data in the range of AF–6552
to AF6552.
Figure 3-4: Example: Setting AF-10 (AC1
）
+ 10 [V]
- 3 [mV]
- 10 [V]
10 [s-
1
]
- 10 [s-
1
]
Rotational speed
Input Voltage
(1) Automatic offset setting
 Set the offset value automatically to compensate current analog input, which is caused by the
drift, to 0 (zero).
(1) Connect the master controller and the Driver Unit, and then input analog velocity
command 0 (zero).
(2) Input the password. The acknowledgement will be returned.
:
/NSK ON
NSK ON
:_
KN S/ SP
N ENT O
(3) Input as
:
AF/ST_
SF /A T
(4) Pressing the ENT key sets the offset value automatically. The set value of AF will
be on the screen.
:
AF/ST
AFxx
:_
ENT
 Unit of setting value is [0.3mV].
 If the offset value is too much, it indicates as “RANGE OVER?”. However, the offset value
won’t be changed.
— 3-4 —

(2) Manual offset setting
 Set offset value with the analog command monitor.
(1) Take a memo of setting on polarity of the analog command AC, and then change those settings to
AC1.
(2) Connect the master controller and the Driver Unit and input the velocity command of 0 (zero).
(3) Type as shown below and monitor the analog command.
:
RA/RP
_
RA /R P
(4) When the ENT key is pressed, the current analog command due to the drifting will be
shown in the screen repeatedly. Indication of 2 , as shown in the screen below, denotes that
the offset to the command voltage shall be 0.6 mV ( 0.3[mV] × 2).
:
RA/RP
2_
ENT
(5) Confirm the result and press the BS key. Otherwise the next command won’t be accepted.
:
RA/RP
2
:_
BS
(6) Input the password. The acknowledgement will be returned.
:
/NSK
O
N
NSK ON
:_
KN S/ SP
N ENT O
(7) Execute the following commands. Be sure to input the opposite sign as it was monitored by
the RA command.
:
AF
-
2
:_
F - 2 $ENT
A
(8) Reset the analog command polarity AC to the setting as noted at the step (1).
— 3-5 —

3.3. Torque Control Mode
 Parameter SL1 selects the torque control mode.
SL1: Torque control mode
SL2: Velocity control mode
SL3: Inhibit
 Torque control via the RS-232C command or the analog command may be selected. Parameter
AC selects the way of control.
AC0 : Analog command invalid. DC command is valid.
AC1 : Analog command valid. When analog torque command is +: CW rotation
AC–1 : Analog command valid. When analog torque command is +: CCW rotation
3.3.1. Torque Control with RS-232C Command
 You may control directly the motor output torque with RS-232C command in the torque
control mode.
 Set the parameter AC (AC0) to make the DC command valid.
Input as
CD ENT
（data）
to control the motor with torque proportional to the parameter data.
 Relation between the data of DC command and the motor output torque is shown in Figure
3-5.
Figure 3-5: DC command VS the motor output torque
+32 767
- 32 767
CCW
Max. torque
CW
Max. torque
DC commnad
— 3-6 —