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.