NSK MEGATORQUE M-ESB-YSB2020AB300 User manual

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MEGATORQUE®MOTOR SYSTEM
User’s Manual
(ESB Driver Unit System)
EC-T
Document Number: C20140-01

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 that 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 2003 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.

In order to use the Megatorque Motor System properly,
observe the following notes.
1. Matters to be attended to use the Driver Unit of the Megatorque Motor System
------ For prolonged use of the Driver Unit ------
1Temperature
l Keep the ambient temperature of the Driver Unit within 0 to 50°C. You cannot use the Driver Unit in an
atmosphere over 50°C. Keep a clearance of 100 mm in upper and lower sides of the Driver Unit when it is
installed in an enclosure. If heat is build up on upper side of the Driver Unit, provide the ventilation
openings on the top or an air cool unit for environment to take the heat out easily.
(Measures against contamination are required for the ventilation openings.)
2Protection against contamination and water
l Install the Driver Unit into an enclosure that complies with IP54 or better protection code. Protect the
Driver Unit from oil-mist, cutting oil, metal chips, and paint fume etc. Otherwise it may result in failures
of electric circuits of the Driver Unit.
(IP code is specified in IEC standard. This is to classify the protection level of enclosures from solid
contamination and water.)
3Wiring / Ground
l Refer to the User's Manual for proper wiring.
l Take appropriate measures not to contaminate the Driver Unit when wiring or installing.
4Storing
l Store the Driver Unit in a place at where it is not exposed to rain, water and harmful gas or liquid.
l Store the Driver Unit in a place at where it is not exposed to direct sun light. Keep the ambient
temperature and humidity as specified.
5Limited number of times for overwriting data
l The Driver Unit uses an EEPROM for backup of the data and programs. Though the number of times to
overwrite the EEPROM is guaranteed to 500 000, it is still possible that the Driver Unit may be disabled
by an alarm for “EEPROM error (E2)” that is triggered by exceeded limits of the number of times for
overwriting because of frequent changes of the parameters and programs through master controllers.
In such a case, change setting of the parameter WM to 1 from 0 (initial setting) to kill the backup function
after setting basic parameters such as I/O and servo parameters.
6Handling of In-position (IPOS) output signal
l Different from the conventional EE/EK, EM/EP and ESA Driver Units, IPOS output of ESB Driver Unit
opens when the following conditions are met under the IPOS mode (FW0).
1) Motor servo is off.
2) An alarm is on.
l Be sure to check the master controller so that its controlling function will not be affected when replacing
the conventional Driver Unit with ESB Driver Unit.

2. Matters to be attended to use the Motor of the Megatorque Motor System
l ------ For prolonged use of the Megatorque Motor ------
1Dustproof and Waterproof of the Motor
l Make sure how your Motor is graded for dust-proof and/or waterproof. You cannot use the Megatorque
Motor in the environment where chemicals or paint fumes exist.
à Standard Megatorque Motors (RS, AS, BS, JS, SS and YSB Series)
They are not made to dustproof or waterproof specification. (Equivalent to IP20, IP30 or IP40)
You may not expose them to humid or oily environment.
à Simple waterproof Motor (RW Series)
Some part of the Motor is not completely waterproofed. Confirm what part is not waterproofed
with the specification document, and then take appropriate measures to the part against water
and dust if necessary. For a long time use of the Motor, we recommend making sure of its aging
trend of the Motor with the periodical insulation test approximately once in every half year.
You cannot use this type of Motors unless you take the measures against the environment with
water or oil.
à Waterproof Motor (RZ series: IP65 equivalent)
Use this type of Motor when continually splash water or oil on it. Provide air purge when you
use the Motor in IP66 or equivalent specification. Be sure to supply a dry air. The user shall
take the measures against dust. For a long term use, check the Motor for its aging by insulation
test (approximately once in every half year).
2Use condition
l The allowable moment load and axial load differ with Motor size. Reconfirm that the using conditions are
in the specified limits of the Motor.
l An excessive offset load or heavy load will cause permanent deflection of the rotor and the bearing
abnormality. Be sure not to give excessive impact to the Motor that is caused by external interference in
transit or at installation.
l The flatness of the Motor mounting surface shall be 0.02 mm or less.
3About Motors equipped with brake
l The brake is power off activated type electromagnetic brake.
l The user shall provide 24 VDC power source. You cannot use power source unit for YS Megatorque
Motor (M-FZ063-1 90VDC).
l Be sure to keep the friction plate of brake free from iron powder or oil.
l The brake may not function if iron made member exists near the brake. Please provide 15 mm or more
clearance between the brake and other members.
4Periodical check
l Puncture of the Motor and shorting or breakage of cable may occur depending on using condition and
environment. If the Motor is left in such conditions, it cannot exhibit its capability 100 % and will lead to
a problem of the Driver Unit. We recommend conducting the periodical check in order to detect the
problem.

3. Before concluding that the system is faulty, check the matters again.
1Alarm arises
l Did you check state of alarm and take proper action to it? Refer to the manual again for required action
for the alarm.
2Power does not turn on. Indication lamp does not turn on.
l Check voltage of main and control power sources by a tester if the voltage is in the specification
described in the User’s manual.
3The Motor does not function.
l Is rotation of the Motor smooth when it is turned manually with power is off? Any stickiness in motion?
Does the rotation axis have any axial play?
(Never disassemble the Motor.)
l Are the control Inputs and Outputs functioning properly?
® Monitor the status of SVON, RUN and IPOS signals by I/O command through handy terminal.
®Check if the voltage of input signal, and 24 V power source are stable with an oscilloscope, etc.
4Uncontrollable Driver Unit
l Compare the current setting of parameters with the original setting at the installation. Does the PA data
(unique to individual Motor) change?
5The Motor vibrates. Positioning is inaccurate. Alarm of software thermal arises frequently.
l Are servo parameters VG, VI, PG, FP and NP adjusted?
l Do you fasten the fixing bolts of load and the Motor mounting securely? Check them and fasten them
tightly if necessary.
l Connect FG terminal of the Driver Unit to one point grounding. Ground the Motor and the Driver Unit
respectively. (Refer to User’s Manual for wiring.)
l Is any external interference with rotation in Servo lock state? (It leads the Motor to overheat if external
force is applied to it in servo lock state.)
6Breaker trip occurs frequently.
l When the system recovers by turning on the power again, take the following action.
à We recommend installing a delay type breaker for a measure against breaker trip.
4. Others
l Combination of the Motor and the Driver Unit shall conform to the specification.
l Be sure to write down the setting of parameters.
l Never modify the cable set.
l Lock the connectors securely, and check for loose fixing screw(s).
l Please keep expendable parts, and backup parts in stock. (Fuses, Motor, Driver Unit, and Cable set for
replace)
l Use alcohol for cleaning. Do not apply thinner.

(Blank Page)

— i —
Conformity to the International Safety Regulations
The Megatorque Motor Systems conform to the EC Directives (CE Marking) and Underwriters’ Laboratory
(UL) regulations.
1. Conformity to the EC Directives
The Megatorque Motor System is a machine component that conforms to provisions of the EC Low Voltage
Directive. This will help a user in easy conformity with the EC Directives (CE marking) of a machine into
which the Megatorque Motor System is incorporated.
1.1. Conformity to Electromagnetic Compatibility Directive
A sample of the Megatorque Motor System has been tested under specific conditions of the Motor and the
Driver Unit in terms of their combination, installing distance and wiring routing. However, your actual use
conditions for wiring and installations won’t be the same as our tested sample, and because of this reason,
you have to check your machine, especially on electro-radiation disturbance and terminal distance voltage,
for the conformity to EMC Directive as a complete machine after installation of the Megatorque Motor
System.
n List of relevant standards
Item Conformity with European standards Relevant
EC Directive
Megatorque Motor EN60034-1
EN50178
Low Voltage
Directive
EN61800-3 : Adjustable speed electrical power drive system
EN61000-3-3 : Class5
Harmonic voltage and fluctuation
EN61000-4-2 : Electro static discharge
EN61000-4-3 : Radio-frequency electromagnetic field
EN61000-4-4 : Electric fast transit burst
EN61000-4-5 : Lightening surges
Motor / Driver Unit
EN61000-4-6 : Radiofrequency conducted disturbance
Electromagnetic
Compatibility
Directive

— ii —
1.2. Conditions to Conform With EC Directives
The wiring example shown below should be referred for the conformity to the EC Directives.
Figure 1: Recommendation example for wiring
Resolver
ESB Driver Unit
AC power
source
Protective
ground
Main
power
TB1
Control
power
CN4
CN3
MC1
Noise
filter
MC1
Circuit
breaker
Thermal sensor
(Normally closed)
L
N
L
N
Inside of
control
panel
CN1
N
N
Handy
Terminal
Ferrite
core
(2 turns)
Ferrite
core
(1 turn)
Ferrite
core
(
1 turn
)
Ferrite
core
(1 turn)
YSB Series
Megatorque Motor
Motor
u Environmental conditions
The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified
on IEC60664-1. The Driver Unit shall be installed into a control panel with the structure that does not
allow penetration of water, oil or dust (IP54).
u Power source
The ESB Driver Unit shall be used in environmental condition of “Over-voltage category III” as
specified on IEC60664-1.
u Circuit breaker
Install a circuit breaker that conforms to IEC standard and UL safety standard between the power
source and the Driver Unit.
u Noise filter
Install a noise filter between the power source and the Driver Unit.
u Ferrite core
Ferrite cores for signal cable shall be set to the power cable, the Motor cable and the sensor cable.
u Protective Grounding
Be sure to ground the protective grounding terminal of the ESB Driver Unit to the protective ground
(PE) of the control panel for a measure against electrical shock

— iii —
Table 1: List of recommended part
Item Specification Manufacturer Remarks
Circuit breaker Rated current: 10A Single phase: EA32AC-10
(Fuji Electric)
Conforms to IEC regulations
and approved by UL
Noise filter Single phase:
250 VAC, 10A
FN2070-10/06
(SHAFFNER)
Ferrite core 1 －E04SR301334
(Seiwa Electric MFG)
Ferrite core 2 －E04SR170730A
(Seiwa Electric MFG) For the Handy Terminal
Magnetic switch Rated current: 10A SC-03
(Fuji Electric)
2. Conformity to Underwriters Laboratories Standards
The Megatorque Motor and the ESB Driver Unit are qualified products for the following UL Standard for
safety.
Table 2
Subject Qualified regulation File No.
Megatorque Motor UL1004 E216970
Driver Unit UL508C E216221
2.1. Conditions to Meet UL Standards
Be sure to meet the following as they are the supplementary conditions the qualification.
u Environmental conditions
The Driver Unit must be used in the environmental condition of Pollution Degree1 or 2 as specified
on IEC60664-1. The Driver Unit shall be installed into a control panel with the structure that does not
allow penetration of water, oil or dust (IP54).
u Power source
The ESB Driver Unit shall be used in environmental condition of “Over-voltage category III” as
specified on IEC60664-1.
u Circuit breaker
Install a circuit breaker that conforms the UL safety standard between the power source and the Driver
Unit.
u Protective Grounding
Be sure to ground the protective grounding terminal of the ESB Driver Unit to the protective ground
(PE) of the control panel for a measure against electrical shock.

— iv —
(Blank Page)

— v —
Contents
1. Introduction-------------------------------------1-1
1.1. Notes to Users---------------------------------------------1-2
1.1.1. Notes for Safety ------------------------------------1-2
1.1.2. Operational Remark-------------------------------1-3
1.1.3. Interchangeability of Motor and
Driver Unit -------------------------------------------1-5
1.2. Terminology ------------------------------------------------1-6
2. Specifications----------------------------------2-1
2.1. System Configuration ------------------------------------2-1
2.1.1. Control Modes --------------------------------------2-1
2.1.2. Functional Setting of Driver Unit
(For B3 and 23 Types only) ---------------------2-2
2.1.3. Example of System Configuration -------------2-3
2.2. Coding for Reference Number-------------------------2-5
2.2.1. YSB Motor -------------------------------------------2-5
2.2.2. ESB Driver Unit for YSB Motor -----------------2-5
2.2.3. Cable Set for ESB Driver Unit ------------------2-6
2.2.4. Handy Terminal ------------------------------------2-6
2.3. Name of Parts----------------------------------------------2-6
2.3.1. YSB Series Megatorque Motor-----------------2-6
2.3.2. ESB Driver Unit-------------------------------------2-7
2.3.3. Handy Terminal ---------------------------------- 2-11
2.4. Standard Combination List --------------------------- 2-12
2.4.1. Combination of Motor and Driver Unit ------ 2-12
2.4.2. Cable Set ------------------------------------------ 2-12
2.4.3. Handy Terminal ---------------------------------- 2-12
2.5. Motor Specifications------------------------------------ 2-13
2.5.1. YSB Series ---------------------------------------- 2-13
2.5.2. Axial Load and Moment Load----------------- 2-15
2.6. Dimensions ----------------------------------------------- 2-16
2.6.1. Motors --------------------------------------------- 2-16
2.6.2. ESB Driver Units -------------------------------- 2-20
2.6.3. Dimensions of Cable Set --------------------- 2-22
2.7. Specifications of Driver Unit-------------------------- 2-23
2.7.1. General Specifications-------------------------- 2-23
2.7.2. Functional Specification------------------------ 2-24
2.7.3. Function List of Respective Driver Unit
Types ----------------------------------------------- 2-25
2.8. RS-232C Interface Specifications-------------------2-26
2.8.1. CN1: RS-232C Serial Communication
Connector------------------------------------------2-26
2.8.1.1. CN1 Pin-Out--------------------------------2-26
2.8.1.2. CN1 Signal List----------------------------2-26
2.9. Control Input / Output Interface Specifications --2-27
2.9.1. CN2 and CN5 Connectors:
Control I/O Signal Connectors----------------2-27
2.9.2. Control I/O Signal Specifications of
B3 and 23 Type Driver Units------------------2-28
2.9.2.1. Selection of I/O Signal Combination
Type------------------------------------------2-28
2.9.2.2. Polarity of Input Port (Nomally Open
Contact and Normally Closed Contact)
-------------------------------------------------2-28
2.9.2.3. Pin-Out
(CN2: B3 and 23 type Driver Units) --2-29
2.9.2.4. CN2 Signal List
(B3 and 23 Type Driver Units)---------2-30
2.9.3. Control I/O Signal Specifications of
B5 and 25 Type Driver Units------------------2-36
2.9.3.1. Polarity of Input Port (Normally Open
Contact and Normally Closed Contact)
-------------------------------------------------2-36
2.9.3.2. Pin-Out (CN2 and CN5: B5 and
25 type Driver Units) ---------------------2-36
2.9.3.3. Signal List (CN2 and CN5: B5 and
25 type Driver Units) ---------------------2-37
2.9.4. CN2 and CN5 Connectors: Interfacing -----2-39
2.9.4.1. General Input ------------------------------2-39
2.9.4.2. Pulse Train Input--------------------------2-39
2.9.4.3. General Output ----------------------------2-40
2.9.4.4. Alarm Output-------------------------------2-42
2.9.4.5. Position Feedback Signal Output-----2-42
2.9.4.6. Analog Command Input -----------------2-43
2.9.4.7. Analog Control Monitor------------------2-43
2.10. CN3: Resolver Cable Connector ------------------2-44
2.10.1. Pin - Out ------------------------------------------2-44
2.10.2. Signal List ----------------------------------------2-44
2.11. CN4: Motor Connector -------------------------------2-45
2.11.1. CN4: Pin-Out ------------------------------------2-45
2.11.2. CH4 Signal List (CN4)-------------------------2-45
2.12. TB: Terminal Block for Power Supply ------------2-46
2.12.1. Terminal List -------------------------------------2-46
2.12.2. Winding Diagram -------------------------------2-46
2.13. TB2: Thermal Sensor Terminal Block -----------2-47
2.13.1. Terminal Code and Function ---------------2-47
2.13.2. Wiring Diagram --------------------------------2-47
2.14. Jumper Pin ----------------------------------------------2-48
2.14.1. JP1 (Output Mode Selection of øZ)--------2-48

— vi —
3. Unpacking • Installation • Wiring----------3-1
3.1. Unpacking---------------------------------------------------3-1
3.1.1. Receiving Check -----------------------------------3-1
3.1.2. Combination of Motor and Driver Unit --------3-1
3.2. Installation --------------------------------------------------3-2
3.2.1. Motor Mounting-------------------------------------3-2
3.2.1.1. Fixing Motor----------------------------------3-2
3.2.1.2. Loading Attachment (Work) to
Motor-------------------------------------------3-2
3.2.1.3. Checking Load Inertia ---------------------3-2
3.2.2. Driver Unit Mounting ------------------------------3-3
3.3. Wiring --------------------------------------------------------3-4
3.3.1. Motor Wiring-----------------------------------------3-4
3.3.2. Connecting Power ---------------------------------3-5
3.3.3. Prevent Overheating of Motor ------------------3-6
3.3.4. Ground Connection--------------------------------3-6
3.3.5. Wiring of Connector -------------------------------3-9
3.3.5.1. Example of B3 and 23 Driver
Units (CN2)-----------------------------------3-9
3.3.5.2. Wiring Example of B5 and 25Driver
Units (CN2 and CN5 Connectors)---- 3-16
3.4. Turning on Main Power-------------------------------- 3-19
3.4.1. Precautions---------------------------------------- 3-19
3.4.2. Indication of Power on-------------------------- 3-19
3.4.3. Selection of Control I/O Signal Ports-------- 3-20
3.4.3.1. Selection of Input/Output Combination
Type (CN2: B3 and 23 Driver Units)- 3-20
3.4.3.2. Setting Polarity of Input Port
(Normally open or closed contact) --- 3-22
3.4.4. Turn the Power and the Servo on.----------- 3-24
4. Handy Terminal Communication ---------4-1
4.1. Setting Parameters --------------------------------------4-2
4.1.1. Setting Without the Password -----------------4-2
4.1.2. Setting With the Password ---------------------4-2
4.2. Readout of Parameter -----------------------------------4-3
4.2.1. TS Command ---------------------------------------4-3
4.2.2. Use of “?” to Read out Parameter Setting ---4-4
5. Tuning and Trial Running ------------------5-1
5.1. Tuning Sequence -----------------------------------------5-1
5.2. Automatic Tuning -----------------------------------------5-2
5.2.1. Precaution -------------------------------------------5-2
5.2.2. Initialize Servo Parameter -----------------------5-4
5.2.3. Execution of Automatic Tuning
(Tuning Level 1) ----------------------------------5-5
5.2.4. Trial Running (Tuning Level 1) ----------------5-6
5.2.5. Minor Servo Adjustment (Tuning Level 2) ---5-8
5.3. Manual Tuning -------------------------------------------5-10
5.3.1. Precautions for Manual Tuning---------------5-10
5.3.2. Adjustment of Velocity Loop Proportional
Gain (VG) ------------------------------------------5-10
5.3.3. Adjustment of Velocity Loop Integration
Frequency (VI)------------------------------------5-12
5.4. Setting Filters (Tuning Level 2) ----------------------5-14
6. Operation ---------------------------------------6-1
6.1. Preparation ------------------------------------------------ 6-1
6.1.1. Wiring Check --------------------------------------- 6-1
6.1.2. Operation Procedure----------------------------- 6-2
6.2. Position Control Mode Operation -------------------- 6-3
6.2.1. Setting Home Position --------------------------- 6-3
6.2.1.1. Setting Home Position by AZ Command
-------------------------------------------------- 6-4
6.2.1.2. Setting Home Position by Home Return
-------------------------------------------------- 6-5
6.2.2. Programmable Indexer Positioning --------6-13
6.2.2.1. Internal Program Channel Selection
-------------------------------------------------6-15
6.2.2.2. Programming-------------------------------6-16
6.2.3. Pulse Train Command Positioning
Operation ----------------------------------------6-23
6.2.3.1. Pulse Train Command Format --------6-23
6.2.3.2. Pulse Train Resolution ------------------6-24
6.2.3.3. Pulse Train Input Timing ----------------6-25
6.2.4. Jog Operation-------------------------------------6-27
6.2.5. RS-232C Communication Position Operation
-------------------------------------------------------6-29
6.3. Velocity Control Mode Operation ------------------6-31
6.3.1. RS-232C Communication Command
Operation ----------------------------------------6-31
6.3.2. Analog Velocity Command Operation -----6-32
6.3.2.1. Dead Band Set to Command Voltage
-------------------------------------------------6-33
6.3.2.2. Offsetting Analog Command-----------6-33
6.3.3. Function to Limit Acceleration /
Deceleration---------------------------------------6-36
6.4. Torque Control Mode Operation -------------------6-37
6.4.1. RS-232C Communication Command
Operation ----------------------------------------6-37
6.4.2. Analog Torque Command Operation -------6-38
6.4.2.1. Dead Band Set to Command Voltage
-------------------------------------------------6-39
6.4.2.2. Offsetting Analog Command-----------6-39

— vii —
7. Operational Function ------------------------7-1
7.1. General Operation and Function --------------------7-1
7.1.1. Servo ON (SVON) Input ------------------------7-1
7.1.2. Emergency Stop (EMST) Input-----------------7-2
7.1.3. Interruption of Positioning (STP)---------------7-3
7.1.4. Making Pulse Train Command or Analog
Command Ineffective (INH)---------------------7-4
7.1.5. Clearing Position Error Counter (CLR) -------7-5
7.1.6. Integration OFF/Lower Gain (IOFF) Input --7-6
7.1.7. Brake-off (CLCN) Input -------------------------7-7
7.1.8. Over Travel Limit-----------------------------------7-9
7.1.8.1. Hardware Over Travel Limit Sensor
(DTP and OTM) Input ----------------------7-9
7.1.8.2. Software Over Travel Limit------------- 7-10
7.1.9. Alarm Output (DRDY and OVER) ---------- 7-12
7.1.10. Brake --------------------------------------------- 7-13
7.1.10.1. YSB Series Motor Equipped With
Brake -------------------------------------- 7-13
7.1.10.2. Brake Output (BRK) ------------------ 7-13
7.1.10.3. Brake Control Output (BRKC) ------ 7-14
7.1.10.4. Brake Sequence Function ----------- 7-14
7.1.11. In-Position Output (IPOS)-------------------- 7-16
7.1.11.1. Output Signal Format ------------------ 7-17
7.1.11.2. Parameter IN----------------------------- 7-18
7.1.11.3. Parameter IS --------------------------- 7-18
7.1.11.4. IPOS Output in Special Occasion -- 7-18
7.1.12. Completion of Home Return / Detection
of Home Position (HOME) ------------------- 7-20
7.1.13. Definition of Home Position (HCMP) ----- 7-21
7.1.14. Velocity Threshold (SPD) ------------------- 7-21
7.1.15. Target Proximity / In target
(NEARA and NEARB) ------------------------ 7-22
7.1.16. Position Feedback Signal -------------------- 7-26
7.1.17. Analog Velocity Monitor ---------------------- 7-27
7.1.18. Monitoring via RS-232C Communication
------------------------------------------------------- 7-28
7.1.18.1. Monitoring Control Input/Output
Signals (B3 and 23 Driver Units) ----- 7-29
7.1.18.2 Monitoring Control Input/Output
Signals (B5 and 25 Driver Units) ----- 7-30
7.1.18.3. Monitoring Pulse Train Input
Counter ------------------------------------ 7-31
7.1.18.4. Monitoring Current Position --------- 7-31
7.1.18.5. Monitoring Position Error Counter -- 7-32
7.1.18.6. Monitoring Motor Velocity------------- 7-32
7.1.18.7. Monitoring Torque Command and
Software Thermal Loading ------------- 7-33
7.1.18.8. Monitoring State of Automatic Gain
Switching ----------------------------------- 7-33
7.1.18.9. Monitoring Parameter Setting-------- 7-34
7.1.18.10. Monitoring Alarm Identification----- 7-35
7.1.18.11. Monitoring Contents of Channel--- 7-35
7.1.18.12. Monitoring Histories of Program
Execution and Change on Control I/O
--------------------------------------------------7-36
7.1.19. Monitoring Analog Control -------------------7-38
7.2. For More Advanced Operation-----------------------7-40
7.2.1. Absolute Position Scale
(For Absolute Position Sensor)---------------7-40
7.2.1.1. Direction of Position Scale -------------7-40
7.2.1.2. Resolution of Position Scale -----------7-41
7.2.1.3. Offsetting Position Data -----------------7-42
7.2.1.4. Monitoring Position Data----------------7-42
7.2.1.5. Setting User Home Position ----------7-43
7.2.2. Incremental Position Scale
(For Incremental Position Sensor) ---------7-44
7.2.2.1. Resolution of Position Scale -----------7-44
7.2.2.2. Direction of Position Scale -------------7-44
7.2.2.3. Type of Position Scale -----------------7-45
7.2.2.4. Resetting `Position Data ---------------7-47
7.2.2.5. Example of Setting Position Scale----7-47
7.2.3. Digital Filter ----------------------------------------7-48
7.2.4. Feed Forward Compensation: FF------------7-49
7.2.5. Integration Limiter: ILV--------------------------7-50
7.2.6. Dead Band: DBP ---------------------------------7-51
7.2.7. Automatic Gain Switching----------------------7-52
7.2.8. Acceleration Profiling----------------------------7-53
7.3. RS-232C Communication -----------------------------7-57
7.3.1. Specifications of Communication ------------7-57
7.3.2. Communication Procedure --------------------7-57
7.3.2.1. Turning on Power-------------------------7-57
7.3.2.2. Command Entry---------------------------7-58
7.3.2.3. Password -----------------------------------7-59
7.3.2.4. Canceling Command---------------------7-60
7.3.2.5. Error------------------------------------------7-61
7.3.2.6. Monitoring Command--------------------7-62
7.3.3. Communication with Personal Computer --7-64
7.3.3.1. Set-up of HyperTerminal----------------7-64
7.3.3.2. Store Parameters of ESB Driver
Unit -----------------------------------------7-65
7.3.3.3. Transmit Stored Parameters to ESB
Driver Unit ----------------------------------7-65
7.3.4. Daisy Chain Communication------------------7-66
7.3.4.1. Procedure to Set Daisy Chain
Communication----------------------------7-66
7.3.4.2. Initial Setting -------------------------------7-67
7.3.4.3. Interfacing-----------------------------------7-68
7.3.4.4. Power on------------------------------------7-69
7.3.4.5. Operation -----------------------------------7-70
7.3.4.6. Termination of Daisy Chain Mode ----7-71

— viii —
8. Glossary of Command and Parameter -8-1
8.1. Glossary of Command and Parameter --------------8-1
AB : I/O Polarity------------------------------------------8-1
AC : Analog Command Mode -------------------------8-1
AD : Absolute Positioning, Degree-------------------8-2
AE : Automatic Tuning Error, Alarm Type ---------8-3
AF : Analog Command Offset ------------------------8-3
AG : Analog Command Gain：AG-------------------8-3
AL : Acceleration Limiter -------------------------------8-4
AN : Axis Number ----------------------------------------8-4
AO : Absolute Position Scale Offset -----------------8-4
AR : Absolute Positioning, Resolver-----------------8-5
AS : Read out Daisy Chain Status-------------------8-5
AT : Automatic Tuning ----------------------------------8-6
AX : Axis Select ------------------------------------------8-6
AZ : Absolute Zero Position Set----------------------8-6
BF : Brake Sequence Function ---------------------8-7
BM : Backspace Mode ----------------------------------8-7
CA : Channel Acceleration-----------------------------8-8
CC : Clear Channel --------------------------------------8-8
CD : Delete Channel-------------------------------------8-9
CE : Brake-on Position Error -------------------------8-9
CH : Editing Program to Channel -------------------8-9
CI : Insert Channel------------------------------------ 8-10
CL : Clear Alarm --------------------------------------- 8-10
CM : Communication Mode -------------------------- 8-10
CO : Position Error Counter Over Limit ----------- 8-11
CR : Circular Resolution ------------------------------ 8-11
CS : Acceleration Pattern Select
(common setting) -------------------------------- 8-11
CS : Acceleration Pattern Select (set to a
channel of Programmable Indexer.) -------- 8-12
CV : Channel Velocity--------------------------------- 8-12
CX : Setting CS Function----------------------------- 8-13
CY : Criterion to function CS ------------------------ 8-13
CZ : Check Actual Acceleration -------------------- 8-13
DB : Dead Band ---------------------------------------- 8-14
DC : Digital RS-232C Command ------------------- 8-14
DI : Direction Inversion ------------------------------ 8-15
DP : Debugger for Program ------------------------- 8-15
DT : Direct Teaching --------------------------------- 8-15
EC : End of Command Message ------------------- 8-16
EP : Excessive Position Error, Alarm Type------ 8-16
FC : Friction Compensation ------------------------ 8-16
FD : Feed Back Direction Mode -------------------- 8-17
FF : Feed Forward Gain ----------------------------- 8-17
FO : Low-pass Filter Off Velocity------------------- 8-17
FP : Low-pass Filter, Primary ----------------------- 8-18
FR : Feed Back Signal Resolution
(Factory use only) ------------------------------- 8-18
FS : Low-pass Filter, Secondary ------------------- 8-18
FW : FIN Width ------------------------------------------ 8-19
FZ : Feedback Phase Z Configuration ----------- 8-19
GP : Gain Switching Point --------------------------8-20
GT : Switching Gain Timer ---------------------------8-20
HA : Home Return Acceleration --------------------8-20
HD : Home Return Direction -------------------------8-21
HI : Home In-position---------------------------------8-21
HO : Home Offset---------------------------------------8-21
HS : Home Return Start-------------------------------8-22
HT : Hardware Travel Limit Over, Alarm Type--8-22
HV : Home Return Velocity --------------------------8-22
HW : HOME Signal Holding Time-------------------8-23
HZ : Home Return Near-Zero Velocity------------8-23
ID : Incremental Positioning, Degree-------------8-24
ILV : Integration Limit ----------------------------------8-24
IM : IOFF Mode ----------------------------------------8-25
IN : In-position------------------------------------------8-25
IO : Input/Output Monitor ----------------------------8-25
IR : Incremental Positioning, Resolver-----------8-26
IS : In-position Stability Counter-------------------8-26
JA : Jog Acceleration ---------------------------------8-27
JP : Jump ------------------------------------------------8-27
JV : Jog Velocity ---------------------------------------8-27
KB : Kill Brake -----------------------------------------8-28
LG : Lower Gain ----------------------------------------8-28
LO : Load Inertia----------------------------------------8-28
LR : Low Torque Ripple ------------------------------8-28
MA : Move Acceleration-------------------------------8-29
MD : Move Deceleration-------------------------------8-29
MI : Read Motor ID ------------------------------------8-29
MM : Multi-line Mode -----------------------------------8-30
MN : Monitor Select ------------------------------------8-30
MO Motor Off -------------------------------------------8-31
MS : Motor Stop -----------------------------------------8-31
MT : Motor Torque (Factory use only)-------------8-31
MV : Move Velocity-------------------------------------8-31
NA : Near Position A-----------------------------------8-32
NB : Near Position B-----------------------------------8-32
NMA: Near A Output Mode ----------------------------8-32
NMB: Near B Output Mode ----------------------------8-32
NP : Notch Filter, Primary ----------------------------8-33
NQ : Notch Filter, Q Parameter ---------------------8-33
NS : Notch Filter, Secondary ------------------------8-33
NW : Chattering Preventive Timer ------------------8-34
OE : Sequence Option Edit --------------------------8-34
OG : Origin Set ------------------------------------------8-34
OL : Overload Limit (Factory use only) -----------8-34
OM : Output Signal Mode -----------------------------8-35
OP : Forced Output Port Primary/Extended -----8-35
OR : Criterion, Overrun Alarm -----------------------8-36
OS : Origin Setting Mode -----------------------------8-36
OTP : Over Travel Limit Switch Position------------8-36
OTM: Over Travel Limit Switch Position------------8-36
OU : Origin Undefined, Alarm Type ----------------8-37

— ix —
PA : Phase Adjust (Factory use only)------------- 8-37
PC : Pulse Command --------------------------------- 8-37
PE : Program Error, Alarm Type ------------------- 8-38
PG : Position Gain ------------------------------------- 8-38
PH : Program Home Return ------------------------- 8-38
PS : Position Scale Select --------------------------- 8-39
RA : Read Analog Command ----------------------- 8-39
RC : Rated Current (Factory use only)------------ 8-39
RI : Rotor Inertia (Factory use only) -------------- 8-40
RO : ABS/INC (Factory use only) ------------------ 8-40
RP : Read Pulse Train Command ----------------- 8-40
RR : Resolver Resolution (Factory use only)---- 8-41
SB : Criterion, SPD Signal Output ----------------- 8-41
SE : Serial Error ---------------------------------------- 8-41
SG : Servo Gain ---------------------------------------- 8-42
SI : System Initialization----------------------------- 8-42
SL : Set Control Mode -------------------------------- 8-43
SM : SVON Mode (Factory use only)-------------- 8-43
SO : SPD Output Mode ------------------------------- 8-43
SP : Start Program------------------------------------- 8-44
ST : Speed Stability Timer--------------------------- 8-44
SV : Servo On------------------------------------------- 8-44
TA : Tell Alarm Status -------------------------------- 8-45
TC : Tell Channel Program -------------------------- 8-46
TE : Tell Position Error Counter -------------------- 8-46
TG : Tell Gain Switching------------------------------ 8-46
TI : Timer------------------------------------------------ 8-47
TL : Torque Limit Rate ------------------------------- 8-47
TO : Software Travel Limit Over, Alarm Type--- 8-47
TP : Tell Position --------------------------------------- 8-48
TR : Tell RDC Position Data ------------------------ 8-48
TS : Tell Settings--------------------------------------- 8-49
TT : Tell Torque & Thermal ------------------------- 8-51
TV : Tell Velocity --------------------------------------- 8-51
TY : I/O type--------------------------------------------- 8-52
VG : Velocity Gain-------------------------------------- 8-52
VGL : Velocity Gain, Lower---------------------------- 8-53
VI : Velocity Integrator Frequency ---------------- 8-53
VIL : Velocity Integrator Frequency, Lower ------ 8-53
VM : Velocity Integrator Mode----------------------- 8-54
VO : Velocity Error Over Limit----------------------- 8-54
VW : Velocity Error Over Limit Width -------------- 8-54
WC : Brake-on Timer --------------------------------- 8-54
WD : Write Data to EEPROM ------------------------ 8-55
WM : Write Mode to EEPROM----------------------- 8-55
WU : Brake-off Timer --------------------------------- 8-55
ZAS : Start Point of Zone A --------------------------- 8-56
ZAE : End Point of Zone A ---------------------------- 8-56
ZBS : Start Point of Zone B --------------------------- 8-56
ZBE : End Point of Zone B ---------------------------- 8-56
ZP : Position damping (Factory use only) ------- 8-56
ZV : Velocity damping (Factory use only)-------- 8-56
8.2. Parameter List ------------------------------------------- 8-57
9. Maintenance -----------------------------------9-1
9.1. Precautions ------------------------------------------------ 9-1
9.2. Periodical check ------------------------------------------ 9-2
9.2.1. Motor ------------------------------------------------- 9-2
9.2.2. Driver Unit and Cable Set----------------------- 9-2
9.3. Periodical Replacement of Parts --------------------- 9-3
9.3.1. Motor ------------------------------------------------- 9-3
9.3.2. Driver Unit------------------------------------------- 9-3
9.4. Storing ------------------------------------------------------ 9-3
9.5. Warranty Period and Covering Range -------------- 9-4
9.5.1. Warranty Period ----------------------------------- 9-4
9.5.2. Limited Warranty ---------------------------------- 9-4
9.5.3. Immunities ------------------------------------------ 9-4
9.5.4. Service Fee----------------------------------------- 9-4
10. Alarm----------------------------------------- 10-1
10.1. Identifying Alarm ---------------------------------------10-1
10.1.1. LED Alarm Indicator ---------------------------10-1
10.1.2. Using TA Comand ----------------------------10-2
10.1.3. .Alarm History ----------------------------------10-3
10.2. Alarm List ------------------------------------------------10-4
10.2.1. Normal State -----------------------------------10-4
10.2.2. Alarm State -------------------------------------10-5
10.2.3. Interchangeable Stting of Alarm Output --10-7
10.3. Cause and Remedy of Alarm ---------------------10-8
●CPU Error ----------------------------------------- 10.8
●Heat Sink Overheat or Regeneration Redistor
Overheat: P0 -------------------------------------10-8
●Abnormal Main AC Line
(Excessive voltage/Low voltage) P1 --------10-9
●Over Current: P2 ---------------------------------10-9
●Control AC Line Under Voltage: P3 ---------10-9
●Resolver Circuit Error: A0 ------------------- 10-10
●Absolute Positon Error (In use of an absolute
position sensror only): A1--------------------- 10-10
●Software Thermal Sensor: A3 -------------- 10-10
●Velocity Error Over: A4 ----------------------- 10-11
●Home Position Undefiend: A5 -------------- 10-11
●Brake Error: A8 --------------------------------- 10-11
●Memory Error: E0 ------------------------------ 10-12
●EEPROM Error: E2 --------------------------- 10-12
●System Error: E7 ------------------------------ 10-12
●Interface Error: E8 ----------------------------- 10-12
●Analog Command Error: E9 ---------------- 10-12
●Excessive Position Error: F1 ---------------- 10-13
●Software Over Travel Limit: F2 ------------- 10-13
●Hardware Over Travel Limit: F3 ----------- 10-13
●Emergency Stop: F4 -------------------------- 10-13
●Program Error: F5 ----------------------------- 10-14
●Automatic Tuning Error: F8 ----------------- 10-14
●RS-232C Error: C2 ---------------------------- 10-14
●CPU Error: C3 ---------------------------------- 10-14
●Internal Error: C9 ------------------------------ 10-14

— x —
11. Troubleshooting --------------------------- 11-1
11.1. Identifying Problem ----------------------------------- 11-1
11.2. Troubleshooting---------------------------------------- 11-2
11.2.1. Power Trouble ---------------------------------- 11-3
11.2.2. Motor Trouble ----------------------------------- 11-4
11.2.3. Command Trouble ----------------------------- 11-6
11.2.4. Terminal Trouble ----------------------------- 11-10
11.2.5. Brake Sequence Function ---------------- 11-10
Appendix
Appendix 1: Monitoring Input/Output Signals----------- A-1
Appendix 2: How to Check Motor Condition ------------ A-7
Appendix 3: Initialization of Driver Unit------------------A-11
Appendix 4: How to Replace ESB Driver Unit---------A-14
Appendix 5: Regeneration Dump Resistor -------------A-21
Appendix 6: Wiring of RS-232C Communication
Cable --------------------------------------------A-23
Appendix 7: ESBB3 Driver Unit
Parameter/Program List --------------------A-24
Appendix 8: ESB23 Driver Unit
Parameter/Program List --------------------A-25
Appendix 9: ESBB5 Driver Unit
Parameter/Program List --------------------A-26
Appendix 10: ESB25 Driver Unit
Parameter/Program List --------------------A-28

— 1-1 —
B B3 3 t ty yp pe e B B5 5 t ty yp pe e
2 23 3 t ty yp pe e 2 25 5 t ty yp pe e
1. Introduction
1. Introduction
l This manual describes the interface, functions, and operation of the Megatorque Motor System
with the ESB Driver Unit.
l Before operating the Megatorque Motor System, this manual should be read thoroughly.
l For specifications of Motors described in “2.5. Motor Specifications,” we only describe the
standard YSB series Motors. If your Motor is not one of these, please refer to the attached
specification document to the Motor to which the priority is given.
l On the upper part of each page (header), type codes of ESB Driver Unit to which the description
on the page is applicable are indicated. Confirm if the description on the page matches to your
Driver Unit type referring to Table 1-1 in “1.2. Terminology.”
B
B3 3
t
ty yp pe e B B5 5 t ty yp pe e
2
23 3 t ty yp pe e 2 25 5 t ty yp pe e
à In a case shown above, the description on the page supports the B3 and 23 type Driver
Units, and does not support the B5 and 25 type Driver Units.

— 1-2 —
B
B3 3 t ty yp pe e B B5 5 t ty yp pe e
1.1. Notes to Users
1.1.1. Notes for Safety 2
23 3 t ty yp pe e 2 25 5 t ty yp pe e
1.1. Notes to Users
1.1.1. Notes for Safety
l For your safety, you should read this manual thoroughly and understand the contents before
operating the Megatorque Motor System.
l Following notice is added to each clause for safety precaution to get your attention.
！Danger: Matters that may cause serious injuries if you don’t follow the notes.
！Warning: Matters that may result in injuries if you don’t follow the notes.
！Caution: Matters that may damage the equipment (machine) and/or the work
attached to the Motor (jigs or end effector), or may cause malfunction of
the Motor System, if you don’t follow the notes.

— 1-3 —
B B3 3 t ty yp pe e B B5 5 t ty yp pe e
2 23 3 t ty yp pe e 2 25 5 t ty yp pe e
1.1. Notes for Safety
1.1.2. Operational Remark
1.1.2. Operational Remark
l Pay special attention to the following precautions when installing, checking and troubleshooting
the Megatorque Motor System.
！Caution: When making a combination of a Motor and a Driver Unit, confirm that
their specifications for Motor size and maximum Motor torque match
each other.
à Refer to “2.4.Standard Combination List” for the combination.
à This is because the Driver Unit holds the unique parameter settings for the Motor in it.
à Confirm that the reference numbers on each identification plate of a Motor and a
Driver Unit indicate the sane Motor size code, Motor maximum torque and position
sensor code.
à If the numbers are different, the System will lose its accuracy, and emit noise, and
furthermore, the Motor won’t move, or may lose control.
！Caution: Do not cut the Cable Set to shorten it, not to make it longer with another
extending cable or do not to connect it to another routing with other
means.
à If the cable is modified, it may cause inaccurate positioning or noise emission.
！Caution: Never disassemble the Motor since it has been precisely assemble and
tuned.
à If disassembled, it may cause abnormalities such as deterioration in rigidity and
positioning accuracy as well as increase in noise.
！Danger: Be sure to connect the Emergency stop signal circuit to the EMST port of
the control I/O connector.
à Please set the System so that you can immediately stop the Motor in case of an
emergency.
！Caution: Follow the notes below to avoid an electric shock.
à The Driver Units have high capacity conductors in its internal circuits, thus resulting in
high residual voltage of the capacitors for few minutes after the main power is turned
off.
à Do not detach a cover of a Driver Unit unless it is necessary.
à When the cover has to be removed, follow the procedures bellow.
1) Turn off the control and main power.
2) Wait for 5 minutes or more after the control and main powers were turned off,
and then remove the cover.