HM-40073-3 Tuning-free AC servo motor unit NX Series USER MANUAL Thank you for purchasing an Oriental Motor product. This Manual describes product handling procedures and safety precautions. • Please read it thoroughly to ensure safe operation. • Always keep the manual where it is readily available.
Table of contents 1 Safety precautions .............................. 3 2 3 4 5 6 Overview of the NX series .................. 7 System configuration .......................... 8 Introduction ....................................... 10 Precautions for use........................... 12 Preparation ....................................... 14 6.1 6.2 6.3 6.4 6.5 Checking the product ............................ 14 How to identify the product model......... 14 Combinations of motors and drivers .....
1 Safety precautions 1 Safety precautions The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions. Warning Handling the product without observing the instructions that accompany a “Warning” symbol may result in serious injury or death.
1 Safety precautions Maintenance and inspection • Do not touch the connection terminals on the driver while the power is supplied or for at least 10 minutes after turning off the power. Before making wiring connections or carrying out checks, also wait for the CHARGE LED to turn off and check the voltage with a tester, etc. Failure to do so may result in electric shock. Repair, disassembly and modification • Do not disassemble or modify the motor and driver. This may cause electric shock or injury.
1 Safety precautions Precautions when using lithium thionyl chloride batteries The built-in battery is a lithium thionyl chloride battery with hermetically sealed construction by glass sealing and laser welding. Always observe the following items when using the battery. If the battery is improperly used, heat, explosion, fire, etc. may happen. Doing so may result in equipment damage. Warning Do not recharge • Never try to recharge the battery.
1 Safety precautions Precautions against transport and storage Store the battery in a place that satisfies the following conditions: Storage of the battery at high temperature or high humidity may decrease the performance or cause leakage.
2 Overview of the NX series 2 Overview of the NX series The NX Series tuning-free AC servo motor unit is a product consisting of a high-performance motor equipped with 20-bit absolute encoder, and a driver supporting four control modes based on position, speed, torque and tension. When used with the optional data-setter OPX-2A or the data setting software MEXE02 (both are sold separately), you can set parameters and data using the switches on the driver and also access extended functions.
3 System configuration 3 System configuration 24 VDC power supply Be sure to connect a 24 VDC power supply if the motor is equipped with an electromagnetic brake. Regeneration unit An optional regeneration-unit (sold separately). Connect this unit if gravitational operation or other operations involving up/down movement, or sudden starting/stopping of a large inertial load, will be repeated frequently. P.45 24 VDC Driver GND P.46 Thermostat output (AWG22) 2 pcs.
3 System configuration Extend functions are made available through use of options (sold separately)! Data setter OPX-2A Or PC in which the data setting software MEXE02 has been installed The customer must provide a PC. Easy setting using switches! Analog I/Os Connect an external potentiometer or external DC voltage. A set of CN6 connector and variable resistors is available as an option (sold separately). P.
4 Introduction 4 Introduction Before use Only qualified personnel should work with the product. Use the product correctly after thoroughly reading the section “1 Safety precautions” on p.3. The product described in this manual has been designed and manufactured for use in general industrial machinery, and must not be used for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.
4 Introduction • For Low Voltage Directive • • • • The product is a type with machinery incorporated, so it should be installed within an enclosure. This product cannot be used with cables normally used for IT equipment. Install the product within the enclosure in order to avoid contact with hands. Be sure to maintain a protective ground in case hands should make contact with the product.
5 Precautions for use 5 Precautions for use This section covers limitations and requirements the user should consider when using the product. • Use the supplied cable to connect the motor and driver. Always use the supplied cable to connect the motor and driver. If a flexible cable or cable longer than 3 m (9.8 ft.) is to be used, an appropriate cable must be purchased separately. Refer to “18 Options (sold separately)” on p.138.
5 Precautions for use • Use the optional regeneration unit (sold separately) if gravitational operation or other operation involving up/down movement, or sudden starting/stopping of a large inertial load, will be repeated frequently. The factory setting is to use the internal regeneration resistor.
6 Preparation 6 Preparation This chapter explains the items you should check, as well as the name and function of each part. 6.1 Checking the product Verify that the items listed below are included. Report any missing or damaged items to the branch or sales office from which you purchased the product. Verify the model number of the purchased unit against the number shown on the package label. Check the model number of the motor and driver against the number shown on the nameplate.
6 Preparation 6.3 Combinations of motors and drivers indicates the cable length. indicates the gear ratio.
6 Preparation 6.4 I/O ratings • indicates A (single shaft) or M (with electromagnetic brake). • indicates the cable length. • indicates the gear ratio. • The model names of motors (UL recognized) apply to the condition before a gearhead is assembled. Unit model Motor model Motor model (UL recognized) NX45 A- Driver model NXD20-A NXM45 Frequency Single-phase 1.2 A/ Three-phase NXD20-A Single-phase 1.8 A/ Three-phase NXM65 -PS NX65 C-PS - NXM610 -PS 1.
6 Preparation 6.
6 Preparation Driver (Example: NXD20-C) SW1 Control mode setting switches (SW1-1, 1-2) LED Absolute system setting switch (SW1-3) Pulse input mode selector switch (SW1-4) 24 VDC power supply input terminal (CN1) Regeneration register thermal input terminal (CN1) Mechanical rigidity setting switch (SW2) Internal potentiometers (VR1, VR2) Electromagnetic brake terminal (CN1) Data edit connector (CN4) CHARGE LED Encoder connector (CN5) Motor connector (CN2) Analog I/O signals connector (CN6) Regenerati
6 Name Control mode setting switches (SW1-1, 1-2) Description Preparation Reference These switches are used to set the control mode of the driver (position control, speed control, torque control or tension control). Position control mode Speed control mode Torque control mode Tension control mode − Absolute system setting switch (SW1-3) Pulse input mode selector switch (SW1-4) LED Mechanical rigidity setting switch (SW2) This switch is effective in the position control mode.
6 Preparation Description Reference 24 VDC power supply input terminal (CN1) [24V] Name Connect 24 VDC. Once a 24 VDC power supply is connected, you can check the contents of alarms that have generated even when the main power is cut off. If a motor with an electromagnetic brake is used, be sure to connect a 24 VDC power supply for the electromagnetic brake power. p.45 Regeneration resistor thermal input terminal (CN1) [TH1, TH2] Connect the optional regeneration unit (sold separately).
7 Installation 7 Installation This chapter explains the installation location of the driver, installation method, and how to install the regeneration resistor unit. Also covered in this section are the installation and wiring methods that are in compliance with the relevant EMC Directive. 7.1 Location for installation The motor and driver are designed and manufactured for installation in equipment. Install them in a well-ventilated location that provides easy access for inspection.
7 Installation • Motor frame size: 42 mm (1.65 in.) Secure at the two mounting holes according to the installation method appropriate for your specific method of use. Installation method A Installation method B Pilot holder Pilot holder Motor type Standard Frame size [mm (in.)] Bolt size Tightening torque [N·m (oz-in)] 42 (1.65) M3 1 (142) Effective depth of bolt [mm (in.)] Installation method 6 (0.24) A − B • Motor frame size: 60 to 104 mm (2.36 to 4.09 in.
7 Installation 7.3 Installing a load When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Be careful not to damage the output shaft or the bearings (ball bearings) when installing a coupling or pulley to the motor’s output shaft. Installing on the flange surface With a PJ geared type, a load can be installed directly to the gear using the load mounting holes provided on the flange surface.
7 Installation 7.4 Permissible overhung load and permissible thrust load Permissible overhung load [N (lb.)] Type Standard PS geared Unit Distance from the tip of motors output shaft [mm (in.)] model∗ Permissible thrust load [N (lb.)] 0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79) 25 (0.98) 30 (1.18) 35 (1.38) NX45 NX410 81 (18.2) 88 (19.8) 95 (21) 104 (23) − − − − 59 (13.
7 Installation 7.5 Installing the driver The driver is designed so that heat is dissipated via air convection and conduction through the enclosure. When two or more drivers are to be installed side by side, provide 20 mm (0.79 in.) and 50 mm (1.97 in.) clearances in the horizontal and vertical directions, respectively. When installing the driver in an enclosure, use two screws (three screws for NXD75-S) to secure the driver through the mounting holes. Screws (M4) are not supplied.
7 Installation 7.6 Installing the regeneration unit Regeneration units (options: sold separately) vary based upon the model of the driver used. NXD20-A and NXD20-C Use a regeneration unit RGB100. Install the RGB100 in a location where heat dissipation capacity equivalent to a level achieved with a heat sink [made of aluminum, 350 × 350 × 3 mm (13.78 × 13.78 × 0.12 in.)] is ensured. Secure the RGB100 on a smooth metal plate offering high heat conductivity, using two screws (M4, not supplied).
7 Installation 7.7 Installing and wiring in compliance with EMC Directive Effective measures must be taken against the EMI that the motor and driver may give to adjacent control-system equipment, as well as the EMS of the motor and driver itself, in order to prevent a serious functional impediment in the machinery. The use of the following installation and wiring methods will enable the driver to be compliant with the EMC directive.
7 Installation Wiring the power supply cable and signal cable Use a shielded cable of AWG16 to 14 (1.25 to 2.0 mm2) or larger for the main power supply, and wire the power supply cable over the shortest possible distance. Use a shielded cable of AWG28 to 16 (0.08 to 1.25 mm2) for the 24 VDC power supply, and wire the power supply cable over the shortest possible distance. Use a shielded cable of AWG28 (0.08 mm2) or more for the I/O signals, and wire the signal cable over the shortest possible distance.
7 Installation Precautions about static electricity Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, handle the driver with care and do not come near or touch the driver. Always use an insulated screwdriver to adjust the driver’s switches. Note The driver uses parts that are sensitive to electrostatic charge. Before touching the driver, turn off the power to prevent electrostatic charge from generating.
8 Connection 8 Connection This chapter explains the driver, motor, I/O signals, how to connect the power supply, and grounding method. 8.1 Connection method for connectors Wiring the CN1 connector 1. Strip the insulation cover of 2. Insert each lead wire into the CN1 the lead wire by 7 mm (0.28 in.) connector and tighten the screw using a screwdriver. Connector screw size: M2 Tightening torque: 0.22 to 0.25 N·m (31 to 35 oz-in) 7 mm (0.28 in.
8 Connection 8.2 Connecting the motor Example: electromagnetic brake motor Refer to p.45 for the connection method of 24 VDC power supply. CN1 connector 24 VDC power supply + - 24 VDC±10% 0.8 A or more 24 V+ 24 V- Black White Connect to CN1 MB1 MB2 Connect to CN5 Connect to CN2 CN2 connector Red Phase U White Phase V Black Phase W Cable for encoder Tightening torque: 1.
8 Connection 8.3 Connecting the I/O signals Solder the I/O signal cable (AWG28 to 26: 0.08 to 0.14 mm2) to the CN7 connector (36 pins) by checking the pin numbers in “Connector function tables” provided on p.33 and pages that follow. Use a shielded cable for I/O signals. Refer to p.30 for wiring the connectors. We provide an optional driver cable allowing easy connection with a driver, as well as a connector-terminal block conversion unit. Refer to p.138 for details.
8 Connection Connector function table – Position control mode Pin No.
8 Connection Connector function table – Speed control mode Pin No.
8 Connection Connector function table – Torque control mode Pin No.
8 Connection Connector function table – Tension control mode Pin No.
8 Connection Internal input circuit All input signals of the driver are photocoupler inputs. The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler rather than the voltage level of the signal. IN-COM, S-ON, CLR/ALM-RST/P-CK, P-REQ/BRAKE, TL/W-RESET, M0, M1, P-PRESET/M2, FREE CW/PLS, CCW/DIR, CW+24 V/PLS+24 V, CCW+24 V/DIR+24 V Driver internal circuit Driver internal circuit 3 kΩ 2.
8 Connection Connecting to a current sink output circuit • When pulse input is of line driver type Programmable controller Driver 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 2.
8 Connection • When the input voltage is 5 V Programmable controller 5 VDC Driver 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 2.7 kΩ 200 Ω 10 kΩ 36 0V • When the input voltage is 24 V Programmable controller 24 VDC Driver 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 36 2.
8 Connection Connecting to a current source output circuit • When pulse input is of line driver type Programmable controller Driver 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 2.
8 Connection • When the input voltage is 5 V Programmable controller Driver 5 VDC 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 2.7 kΩ 200 Ω 10 kΩ 36 0V • When the input voltage is 24 V Programmable controller Driver 24 VDC 33 31 2.7 kΩ 200 Ω 10 kΩ 32 34 35 36 2.
8 Connection 8.4 Connecting the analog I/O signals Use the connector (20 pins) included in the optional accessory set AS-SV2 or AS-SD1 (sold separately) as the analog I/O connector (CN6). Solder the analog I/O cable (AWG28 to 26: 0.08 to 0.14 mm2) to the CN6 connector by checking the pin numbers in “Connector function table” provided below. Use a shielded cable for analog I/O signals. Refer to p.30 for wiring the connectors.
8 Connection Connection example • Input circuit Driver 10.6 V DC voltage Or Variable resistor P-VREF 20 kΩ -10 to +10 V V-REF 3 1 Maximum output current: 2 mA Input voltage: -10 to +10 V 15 kΩ SG GND Input impedance: 15 kΩ 2 0V 10.
8 Connection Single-phase 100-115 V Connect the live side of the power cable to the L terminal and the neutral side to the N terminal. Use a power supply capable of supplying the current capacity as shown below. Unit model Current capacity NX45 1.9 A or more NX410 2.9 A or more NX65 1.9 A or more NX610 2.9 A or more NX620 4.6 A or more NX810 2.8 A or more NX820 NX920 4.
8 Connection 8.6 Grounding the driver Be sure to ground the protective earth terminal (screw size: M4) of the driver. Tightening torque: 1.2 N·m (170 oz-in) You can ground either of the two protective earth terminals. The terminal not grounded should be connected to the protective earth lead of the motor cable. Use a grounding wire (AWG16 to 14: 1.25 to 2.0 mm2), and do not share the protective earth terminal with a welder or any other power equipment.
8 Connection Connecting the regeneration unit • When the internal regeneration resistor is used The driver has an internal regeneration resistor. The driver is shipped with the TH1 and TH2 terminals of CN1, and RG2 and RG3 terminals of CN3, shorted respectively to enable the internal regeneration resistor.
8 Connection Regeneration unit specifications NXD20-A, NXD20-C Driver model Regeneration unit type Allowable current consumption Continuous regenerative power Instantaneous regenerative power Resistance Operating temperature of thermostat Internal regeneration resistor NXD75-S RGB100∗ Internal regeneration resistor RGB200∗ − 50 W − 200 W 600 W 600 W 2250 W 2250 W 150 Ω 150 Ω 50 Ω 50 Ω Operation: 75±5 °C (167±41 °F) Operation: Opens at 175±5 °C (347±41 °F) Reset: Closes at 115±15 °C
8 Connection 8.8 Connecting the battery 1. Hold the driver with its bottom facing up and plug the connector attached at the end of the battery lead wires into the battery connector. 2. Hook the tabs on the battery connector onto the mating parts on the driver. 3. Push in the battery holder carefully by ensuring that the lead wires are not pinched.
9 Functions and operations in the position control mode 9 Functions and operations in the position control mode The following functions are available in the position control mode: • Positioning operation based on pulse input Positioning operation is performed based on input pulses. • Torque limit ......................... The maximum output torque of the motor is limited. • Absolute system .................. When a battery is connected, the absolute function of the driver can be used.
9 Functions and operations in the position control mode STEP 2 Operate the motor To perform damping control: VR1 SW1 30 Hz 30 to 7 Hz 30 Hz range 1. Set the control mode to "Position Control Mode." Ineffective range 2. Set the mechanical rigidity. SW2 P.66 5. Confirm that the motor rotates without problem. 3. Turn the S-ON input ON to excite the motor. 4. Input pulses. Note STEP 3 The new settings of the control mode setting switches will become effective after the power is cycled.
9 Functions and operations in the position control mode 9.2 List of setting items The items that can be set in the position control mode are listed below. OPX-2A MEXE02 You can use the data setter OPX-2A or the data setting software MEXE02 to set operation data or change the internal parameters of the driver. Parameter codes displayed on the OPX-2A screen are shown in brackets. These codes are also referenced in the main text herein. Use these codes as keywords.
9 Functions and operations in the position control mode Description OPX-2A screen display Analog torque monitor maximum value Sets the maximum value of monitored analog torque. This setting determines the slope of output of monitored analog torque. [APP-2-10] Analog torque monitor maximum voltage Sets the monitored output voltage corresponding to the maximum value of monitored analog torque. [APP-2-11] Analog torque monitor offset voltage Sets the offset voltage for monitored analog torque.
9 Functions and operations in the position control mode Using the switch Use the pulse input mode selector switch (SW1-4) to set a desired mode. 1P: 1-pulse input mode, negative logic 2P: 2-pulse input mode, negative logic Each mode can only be set with a negative logic using the pulse input mode selector switch. To select a positive logic, set the applicable parameter using the OPX-2A or MEXE02.
9 Functions and operations in the position control mode Pulse input mode Phase difference input mode Input pattern Timing chart ×1 0.4 µs or more ON CW input OFF ON CCW input OFF Rotation direction Forward rotation ×2 Reverse rotation 0.4 µs or more ON CW input OFF ON CCW input OFF Rotation direction Forward rotation ×4 Reverse rotation 0.
9 Functions and operations in the position control mode Step 2 Setting the resolution Set the resolution using the system parameters for electronic gear A [SyS-0-00] and electronic gear B [SyS-0-01].
9 Functions and operations in the position control mode Step 4 Confirming the absolute system function Install the optional battery BAT01A (sold separately). When the battery is connected, the current position will be retained even in the event of power outage or after the driver power is cut off. Set the absolute system function using the absolute system setting switch (SW1-3). ON: Enable the absolute function OFF: Disable the absolute function (factory setting) For details, refer to “9.
9 Functions and operations in the position control mode Notifying that the motor is ready: READY output When the motor becomes ready, the READY output will turn ON. Confirm that the READY output is ON before inputting pulses. The READY output remains ON while pulses are input. The READY output is OFF under the following conditions. Motor operation is disabled while the READY output is OFF: • The main power supply is cut off. • An alarm is present.
9 Functions and operations in the position control mode Notifying the timing of electromagnetic brake control: MBC output Use the MBC output to control the electromagnetic brake using a programmable controller, etc. The MBC output can be enabled by selecting the output using the application parameter for output signal selection 1 [APP-1-02]. The MBC output will turn ON when the electromagnetic brake is released, and turn OFF when the electromagnetic brake is actuated (= to hold the load in position).
9 Functions and operations in the position control mode Freeing the motor output shaft: FREE input When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque, and the output shaft can be turned with an external force. The deviation counter will also be cleared. If the FREE input is turned ON while the position is held with the electromagnetic brake, the electromagnetic brake will be released. Accordingly, the position can no longer be held.
9 Functions and operations in the position control mode Analog setting 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. 3. Turn the M0 and M1 inputs OFF and select operation data No. 0. 4. Set the gain.
9 Functions and operations in the position control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. Note 2. 3. Use the OPX-2A or MEXE02 to set one of operation data Nos. 1 to 3 as the torque limit value.
9 Functions and operations in the position control mode 9.5 Absolute system Install the optional battery BAT01A (sold separately). When the battery is connected, the current position will be retained even in the event of power outage or after the driver power is cut off. Set the absolute system function using the absolute system setting switch (SW1-3).
9 Functions and operations in the position control mode Resetting the absolute position loss alarm Be sure to set the home position again after resetting the absolute position loss alarm. • How to reset 1. 2. 3. Turn the ALM-RST input to ON and then OFF to reset the alarm. Perform a return-to-home operation using an external controller. Set the home position again with the P-PRESET input. Note • Even after resetting the alarm, the alarm status will continue until the home position is set again.
9 Functions and operations in the position control mode • Not setting the home position Reconnect the power An absolute position loss alarm generates ALM output ON OFF Cycling the power before setting the home position generates an absolute position loss alarm again. The WNG output remains ON until the home (position) is set. WNG output ON OFF Pulse input Inhibited inhibition Permitted ALM-RST input ON OFF Pulse input The alarm is reset at the OFF edge of the ALM-RST input. ON OFF 9.
9 Functions and operations in the position control mode • Checksum (8 bit) The 48 bits of current position and status information are divided into bytes, and all bytes are added up. The checksum represents the last 8 bits in the result obtained by a total of six additions (addition of six bytes). This information is used to check if the data has been read correctly.
9 Functions and operations in the position control mode P-REQ input P-CK input ∗6 ON OFF ∗2 ON ∗4 OFF 2 ms or less P-OUTR output ON ∗1 ∗3 ∗5 ∗7 OFF P-OUT0 output ON P-OUT1 output OFF Once Twice 3 times 27 times 28 times ∗1 The driver turns the P-OUTR output ON within 2 ms of the ON edge of the P-REQ input. ∗2 The programmable controller turns the P-CK input ON after confirming that the P-OUTR output has turned ON.
9 Functions and operations in the position control mode Gain tuning mode • Automatic Set the mechanical rigidity using the mechanical rigidity setting switch (SW2) on the driver or the application parameter for mechanical rigidity setting [APP-0-02]. Which value should be made effective is selected using the application parameter for mechanical rigidity setting switch [APP-4-00]. Once the mechanical rigidity is set, the gain will be adjusted automatically. Refer to p.
9 Functions and operations in the position control mode • Speed feed-forward rate If the speed is constant, the deviation between the command position and actual position can be reduced to shorten the settling time. Setting the speed feed-forward rate to 100% will bring the deviation down to nearly 0. Note, however, that an excessively high value may increase the motor overshoot or undershoot.
9 Functions and operations in the position control mode 9.9 Damping control Even if the motor is assembled into a machine of low rigidity, residual vibration can be reduced during positioning, in order to shorten the positioning time. (An optimal value varies depending on the equipment and its operating conditions.) Set a damping control frequency under each of four operation data numbers from 0 to 3.
9 Functions and operations in the position control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new setting will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. Use the OPX-2A or MEXE02 to set one of operation data Nos. 1 to 3 as the damping control frequency.
10 Functions and operations in the speed control mode 10 Functions and operations in the speed control mode The following functions are available in the speed control mode: • Speed controlled operation ...............The motor speed is controlled. • Torque limit ......................................The maximum output torque of the motor is limited. • Tuning ..............................................Operations are performed via automatic tuning.
10 Functions and operations in the speed control mode STEP 2 Operate the motor SW1 1. Set the control mode to "Speed Control Mode." To change the speed command value: VR1 Lower speed command value Higher speed command value 2. Set the mechanical rigidity. SW2 P.87 To change the acceleration/ deceleration time: VR2 Shorter acceleration/ deceleration time 5. Confirm that the motor rotates without problem. Note STEP 3 3. Turn the BRAKE input ON. 4. Input the CW (CCW) signal.
10 Functions and operations in the speed control mode 10.2 List of setting items The items that can be set in the speed control mode are listed below. OPX-2A MEXE02 You can use the data setter OPX-2A or the data setting software MEXE02 to set operation data or change the internal parameters of the driver. Parameter codes displayed on the OPX-2A screen are shown in brackets. These codes are also referenced in the main text herein. Use these codes as keywords.
10 Functions and operations in the speed control mode Description OPX-2A screen display Analog speed monitor maximum value Sets the maximum value of monitored analog speed. This setting determines the slope of output of monitored analog speed. [APP-2-07] Analog speed monitor maximum voltage Sets the monitored output voltage corresponding to the maximum value of monitored analog speed. [APP-2-08] Analog speed monitor offset voltage Sets the offset voltage for monitored analog speed.
10 Functions and operations in the speed control mode 10.3 Speed control operation The motor operates continuously while the CW input or CCW input is ON.
10 Functions and operations in the speed control mode Using the internal potentiometer VR1 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note 2. 3. When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. Turn the M0 to M2 inputs OFF and select operation data No. 0. Set the speed command using the internal potentiometer VR1.
10 6. Functions and operations in the speed control mode Set the offset. If there is even a slight margin of error in the voltage value, the speed command value may not become 0 r/min even when the voltage command specifies 0 V (minimum value). In this case, adjust the offset using one of the two methods described below. Automatic adjustment 1. Set the application parameter for analog input signal automatic offset [APP-2-06] to “Enable.” 2. Input 0 V to the analog input terminal (pin 5 of CN6). 3.
10 Functions and operations in the speed control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. Use the OPX-2A or MEXE02 to set one of operation data Nos. 2 to 7 as the speed command value. 3.
10 Functions and operations in the speed control mode Step 3 Setting the motor rotation direction Set a desired motor rotation direction using the system parameter for motor rotation direction [SyS-1-06]. Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply.
10 Functions and operations in the speed control mode When the parameter for operation selection after stopping in speed control mode [SyS-1-02] is set to “Free” 0 s or more CW input ON CCW input OFF ON BRAKE input OFF 2 ms or less 2 ms or less ON READY output OFF 2 ms or less 2 ms or less ON MOVE output OFF 10 ms or less 2 ms or less ON MBC output OFF Delay time when the motor is not excited = 20 ms 30 ms or less ON Motor excitation OFF 20 ms or less 60 ms or less Electromagnetic H
10 Functions and operations in the speed control mode When the parameter for operation selection after stopping in speed control mode [SyS-1-02] is set to “Servo lock” 0 s or more CW input ON CCW input OFF ON S-ON input OFF ON BRAKE input OFF 2 ms or less 2 ms or less ON READY output OFF 2 ms or less ON MOVE output OFF ON MBC output OFF ON Motor excitation OFF Electromagnetic Hold brake Release 2 ms or less Detected speed 2 ms or less Motor speed Command speed Exciting the motor: S-ON i
10 Functions and operations in the speed control mode Notifying that the motor is ready: READY output When the motor becomes ready, the READY output will turn ON. Start the operation after confirming that the READY output has turned ON. The READY output remains OFF while the motor is operating. The READY output is OFF under the following conditions. Motor operation is disabled while the READY output is OFF: • The main power supply is cut off. • An alarm is present.
10 Functions and operations in the speed control mode Notifying that the command speed has been reached: VA output When the detected speed enters the range of “command speed ± attained speed output band,” the VA output will turn ON. You can set the band within which the VA output turns ON, using the application parameter for attained speed output band [APP-1-07].
10 Functions and operations in the speed control mode When the parameter for operation selection after stopping in speed control mode [SyS-1-02] is set to “Servo lock” 30 ms or less ON Motor excitation OFF 60 ms or less 20 ms or less Electromagnetic Hold brake Release S-ON input ON (normally open) OFF 2 ms or less FREE input ON OFF 2 ms or less 60 ms or less READY output ON OFF 2 ms or less MBC output 60 ms or less 2 ms or less 2 ms or less ON OFF 10.
10 Functions and operations in the speed control mode Select a desired torque limit value from among the predefined settings, based on a combination of ON/OFF statuses of M0 to M2 inputs. Operation data M2 input M1 input M0 input No.0 OFF OFF OFF No.1 OFF OFF ON No.2 OFF ON OFF No.3 OFF ON ON No.4 ON OFF OFF No.5 ON OFF ON No.6 ON ON OFF No.7 ON ON ON Analog setting 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.
10 Functions and operations in the speed control mode Setting example Setting example Analog torque limit gain [APP-2-03] Analog torque limit offset voltage [APP-2-05] Description ① 30% 0V The torque limit value per 1 V of voltage command becomes 30%. ② 10% 0V The torque limit value per 1 V of voltage command becomes 10%. ③ 100% 0V The torque limit value per 1 V of voltage command becomes 100%. ④ 30% 1V The home position of voltage command becomes 1 V.
10 Functions and operations in the speed control mode Step 2 Limiting the torque Turning the TL input ON while positioning operation is in progress will limit the maximum output torque by the torque limit value you have set. Example of limiting the torque using operation data Nos.
10 Functions and operations in the speed control mode Related parameters The parameters that can be set vary depending on the tuning mode.
10 Functions and operations in the speed control mode 4. Decrease the deviation that cannot be adjusted with the speed loop gain. Set the application parameter for speed loop integral time constant [APP-0-05]. If the integral time constant is too high, motor operation will become slow. If the constant is too low, on the other hand, hunting may occur. 5.
11 Functions and operations in the torque control mode 11 Functions and operations in the torque control mode The following functions are available in the torque control mode: • Torque controlled operation .............The motor is operated in a manner controlling its output torque at a specified level. • Speed limit .......................................The speed of the motor operating under torque control is limited. 11.
11 STEP 2 Functions and operations in the torque control mode Operate the motor To change the torque command value: VR1 Lower torque value SW1 Higher torque value 1. Set the control mode to "Torque Control Mode." To change the speed limit: VR2 Lower speed limit 3. Confirm that the motor rotates without problem. Note STEP 3 Higher speed limit 2. Input the CW (CCW) signal. The new settings of the control mode setting switches will become effective after the power is cycled.
11 Functions and operations in the torque control mode 11.2 List of setting items The items that can be set in the torque control mode are listed below. OPX-2A MEXE02 You can use the data setter OPX-2A or the data setting software MEXE02 to set operation data or change the internal parameters of the driver. Parameter codes displayed on the OPX-2A screen are shown in brackets. These codes are also referenced in the main text herein. Use these codes as keywords.
11 Functions and operations in the torque control mode System parameters Item OPX-2A screen display Description Reference Encoder output electronic gear A Sets the denominator of the electronic gear for encoder output. Encoder output electronic gear B Sets the numerator of the electronic gear for encoder output. Analog input signals Changes the setting to enable/disable the analog input signals. [SyS-1-05] p.93 Motor rotation direction Set the direction in which motor torque generates.
11 Functions and operations in the torque control mode Using the internal potentiometer VR1 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note 2. 3. When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. Turn the M0 to M2 inputs OFF and select operation data No. 0. Use the internal potentiometer VR1 to set the torque command value.
11 Functions and operations in the torque control mode Setting example Setting example Analog torque command gain [APP-2-03] Analog torque command offset voltage [APP-2-05] ① 30% 0V The torque command value per 1 V of voltage command becomes 30%. ② 10% 0V The torque command value per 1 V of voltage command becomes 10%. ③ 100% 0V The torque command value per 1 V of voltage command becomes 100%. ④ 30% 1V The home position of voltage command becomes 1 V.
11 Functions and operations in the torque control mode Step 2 Setting the motor rotation direction Set a desired motor rotation direction using the system parameter for motor rotation direction [SyS-1-06]. Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply.
11 Functions and operations in the torque control mode Step 3 Performing the torque controlled operation Motor speed 1. Set the torque command value. Analog setting: Set a desired value using the internal/external potentiometer or external DC voltage. Digital setting: Set a desired operation data number based on a combination of ON/OFF statuses of M0 to M2 inputs. 2. Turn the CW input or CCW input ON. Torque controlled operation starts according to the torque command value set in step 1. 3.
11 Functions and operations in the torque control mode Notifying that operation is in progress: MOVE output The MOVE output can be enabled by selecting the output using the application parameter for output signal selection 1 [APP-1-02]. The MOVE output remains ON while the motor is operating. You can set the minimum time during which the MOVE output remains ON using the application parameter for minimum ON time for MOVE signal [APP-1-08].
11 Functions and operations in the torque control mode Freeing the motor output shaft: FREE input When the FREE input is turned ON, the motor current will be cut off. The motor will lose its holding torque, and the output shaft can be turned with an external force. If the FREE input is turned ON while the position is held with the electromagnetic brake, the electromagnetic brake will be released. Accordingly, the position can no longer be held.
11 Functions and operations in the torque control mode Select a desired speed limit value from among the predefined settings, based on a combination of ON/OFF statuses of M0 to M2 inputs. Operation data M2 input M1 input M0 input No.0 OFF OFF OFF No.1 OFF OFF ON No.2 OFF ON OFF No.3 OFF ON ON No.4 ON OFF OFF No.5 ON OFF ON No.6 ON ON OFF No.7 ON ON ON Using the internal potentiometer VR2 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.
11 Functions and operations in the torque control mode Adjustment using a parameter 1. Set the application parameter for analog input signal automatic offset [APP-2-06] to “Disable.” 2. Set the offset voltage in the application parameter for analog speed limit offset voltage [APP-2-02]. 7. Set the speed limit value using an external potentiometer or external DC voltage.
12 Functions and operations in the tension control mode 12 Functions and operations in the tension control mode When winding a roll of film, paper, etc., the diameter of material is different between the start and end of winding. Therefore, the torque must be changed according to the changing diameter to keep the tension at a constant level. This type of control is possible in the tension control mode. 12.
12 STEP 2 Functions and operations in the tension control mode Operate the motor SW1 1. Change the control mode to "Tension Control Mode." To change the tension command value: VR1 Lower tension value Higher tension value 2. Set the minimum speed. SW2 P.106 To change the speed limit: VR2 Lower speed limit 4. Confirm that the motor rotates without problem. Note STEP 3 Higher speed limit 3. Input the CW (CCW) signal.
12 Functions and operations in the tension control mode 12.2 List of setting items The items that can be set in the tension control mode are listed below. OPX-2A MEXE02 You can use the data setter OPX-2A or the data setting software MEXE02 to set operation data or change the internal parameters of the driver. Parameter codes displayed on the OPX-2A screen are shown in brackets. These codes are also referenced in the main text herein. Use these codes as keywords.
12 Functions and operations in the tension control mode Description OPX-2A screen display Analog torque monitor maximum value Sets the maximum value of monitored analog torque. This setting determines the slope of output of monitored analog torque. [APP-2-10] Analog torque monitor maximum voltage Sets the monitored output voltage corresponding to the maximum value of monitored analog torque. [APP-2-11] Analog torque monitor offset voltage Sets the offset voltage for monitored analog torque.
12 Functions and operations in the tension control mode 12.4 Tension controlled operation (simple mode) Follow the steps below to perform a tension controlled operation: Step 1 Calculating the tension command value Step 2 Setting the tension command value Step 3 Setting the motor rotation direction Step 4 Performing the tension controlled operation Step 1 Calculating the tension command value In the simple mode, the operating speed of the motor is inversely proportional to the generated torque.
12 Note Functions and operations in the tension control mode In the simple mode, keep constant the rate of material feed set by the feed roller, etc. If the feed rate changes, the tension cannot be kept constant. Feed roller Tension [N] Feed rate Back tension Winding operation Step 2 Setting the tension command value Set a tension command value calculated per Step 1 under each of eight operation data numbers from 0 to 7.
12 Functions and operations in the tension control mode Using an external potentiometer or external DC voltage 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. 3. Turn the M0 input ON and M1 and M2 inputs OFF, and select operation data No. 1. 4. Set the gain.
12 Functions and operations in the tension control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. Use the OPX-2A or MEXE02 to set one of operation data Nos. 2 to 7 as the tension command value.
12 Functions and operations in the tension control mode Step 4 Performing the tension controlled operation 1. Set the tension command value. Analog setting: Set a desired value using the internal/external potentiometer or external DC voltage. Digital setting: Set a desired operation data number based on a combination of ON/OFF statuses of M0 to M2 inputs. 2. Turn the CW input or CCW input ON. Tension controlled operation starts according to the speed command value set in step 1. Note 3.
12 Functions and operations in the tension control mode Step 2 Setting the tension command value Set a tension command value under each of eight operation data numbers from 0 to 7. When the system parameter for analog input signals [SyS-1-05] is set to “Enable,” two analog points and six digital points are available to assign settings. If the parameter is set to “Disable,” eight digital points are available to assign settings. available to assign settings.
12 Functions and operations in the tension control mode Using an external potentiometer or external DC voltage 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. 3. Turn the M0 input ON and M1 and M2 inputs OFF, and select operation data No. 1. 4. Set the gain.
12 Functions and operations in the tension control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. Use the OPX-2A or MEXE02 to set one of operation data Nos. 2 to 7 as the tension command value.
12 Functions and operations in the tension control mode Step 4 Setting the material inertial moment and core inertial moment (high function mode II only) In high function mode II, set a material inertial moment and core inertial moment under each of operation data numbers from 0 to 7. Select desired data from among the predefined settings, based on a combination of ON/OFF statuses of M0 to M2 inputs. As the material inertial moment, set the value of inertial moment corresponding to the maximum diameter.
12 Functions and operations in the tension control mode Step 6 Performing the tension controlled operation 1. Set the tension command value. Analog setting: Set a desired value using the internal/external potentiometer or external DC voltage. Digital setting: Set a desired operation data number based on a combination of ON/OFF statuses of M0 to M2 inputs. 2. Set the direction in which tension generates in the system parameter for motor rotation direction [SyS-1-06]. 3. Turn the CW input ON.
12 Functions and operations in the tension control mode 12.6 Timing chart Winding operation No.0 Speed limit value Motor speed No.1 30 r/min 2 ms or less Final diameter Current diameter Initial diameter No.1 No.0 Tension command 20 ms 20 ms ON Motor excitation OFF 20 ms or less 20 ms or less Electromagnetic Hold brake Release CW input∗1 2 ms or more ON OFF ON M0 to M2 input No.0 OFF No.
12 Functions and operations in the tension control mode Unwinding operation No.0 Motor speed No.1 30 r/min Speed limit value Initial diameter Current diameter Final diameter No.0 No.1 Tension command 20 ms 20 ms ON Motor excitation OFF 20 ms or less 20 ms or less Electromagnetic Hold brake Release 2 ms or more CW input∗1 ON OFF ON M0 to M2 input No.0 OFF No.
12 Functions and operations in the tension control mode Resetting the roll diameter: W-RESET input In high function mode I and high function mode II, the current winding (unwinding) diameter is calculated. If the W-RESET is turned ON while the motor is stopped, the winding (unwinding) diameter will be reset to the initial diameter at the ON edge of the W-RESET input. Nothing will happen if the W-RESET input is turned ON while the motor is operating.
12 Functions and operations in the tension control mode Notifying that the detected speed has become zero: ZV output The ZV output can be enabled by selecting the output using the application parameter for output signal selection 2 [APP-1-03]. When the detected speed drops into the zero speed output band, the ZV output will turn ON. You can set the band within which the ZV output turns ON, using the application parameter for zero speed output band [APP-1-06].
12 Functions and operations in the tension control mode 12.7 Speed limit Since speed control is not performed during tension controlled operation, the motor may operate at high speed if the load is too small. To prevent this from happening, you can limit the speed of the motor operating under tension control. Set a speed limit value under each of eight operation data numbers from 0 to 7.
12 Functions and operations in the tension control mode Using an external potentiometer or external DC voltage 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. 3. Turn the M0 input ON and M1 and M2 inputs OFF, and select operation data No. 1. 4. Set the gain.
12 Functions and operations in the tension control mode Digital setting • When the analog input signal parameter [SyS-1-05] is set to “Enable” 1. Set the system parameter for analog input signals [SyS-1-05] to “Enable.” Note When a system parameter has been changed, the new parameter will become effective after the power is cycled. If a 24 VDC power supply is used, also cycle the 24 VDC power supply. 2. Use the OPX-2A or MEXE02 to set one of operation data Nos. 2 to 7 as the speed command value. 3.
13 Monitor functions 13 Monitor functions This chapter explains the functions to check the motor conditions, such as motor position, detected speed and detected torque. The monitor functions described herein are available in all control modes. 13.1 Encoder output The motor position can be checked by counting the numbers of ASG output and BSG output pulses. The BSG output has a 90° phase difference with respect to the ASG output.
13 Monitor functions 13.2 Analog monitor The detected speed and detected torque can be output as voltages from pin 7 (V-MON output) and pin 9 (T-MON output) of the analog I/O connector (CN6), respectively. Use this function if you want the output voltage to be monitored by a programmable controller, etc.
13 Monitor functions Analog torque monitor Set the analog torque monitor using the following application parameters: • Analog torque monitor maximum value [APP-2-10] Sets the maximum value of detected torque to be monitored. • Analog torque monitor maximum voltage [APP-2-11] Sets the voltage at which to detect the maximum torque. • Analog torque monitor offset voltage [APP-2-12] This parameter is set when the home position of output voltage is to be offset.
14 Inspection 14 Inspection It is recommended that periodic inspections be conducted for the items listed below after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest office. During inspection • • • • • • • Are any of the motor mounting screws loose? Check for any unusual noises in the motor’s bearings (ball bearings) or other moving parts.
15 Alarms and warnings Alarm reset Perform one of the reset operations specified below. Before resetting an alarm, always remove the cause of the alarm and ensure safety. • Turn the ALM-RST input to ON and then OFF. (The alarm will be reset at the OFF edge of the input.) • Perform an alarm reset using the OPX-2A or MEXE02. • Cycle the power. Note • Some alarms cannot be reset with the ALM-RST input or alarm reset functions provided by the OPX-2A and MEXE02.
15 Alarms and warnings Descriptions of alarms Number of times the ALARM LED blinks Alarm type Alarm code output AL2 AL1 AL0 Overheat protection Motor overheat protection Alarm code Motor operation upon alarm∗ Reset using the ALM-RST input/ OPX-2A/MEXE02 21 × Possible 26 × Not possible 30 × Possible 31 × Possible 34 × Possible 51 × Not possible 22 × Not possible 23 × Possible 25 × Possible Overload Overspeed Command pulse error 2 OFF ON OFF Regeneration unit overh
15 Cause Alarms and warnings Action The internal temperature of the driver exceeded approx. 85°C (185 °F). Review the ventilation condition in the enclosure. The motor temperature reached approx. 85°C (185 °F). • Check the heat dissipation condition of the motor. • Review the ventilation condition of the surroundings. A torque exceeding the rated torque was applied. • Reduce the load or increase the acceleration/deceleration time. • Check the cable connection.
15 Alarms and warnings Number of times the ALARM LED blinks Alarm type Alarm code output AL2 AL1 AL0 Alarm code Motor operation upon alarm∗ Reset using the ALM-RST input/ OPX-2A/MEXE02 Position range error 32 Possible 33 Possible 47 Possible 48 Possible Absolute position loss 7 ON ON ON ABS not supported No battery Electronic gear setting error 71 × Not possible Sensor error during operation 28 × Not possible Encoder communication error 2A × Not possible 42 × Not possi
15 Cause • The command position exceeded the coordinate control range (−2,147,483,648 to 2,147,483,647). • The multi-rotation data for internal encoder coordinates exceeded the coordinate control range (−32,768 to 32,767). (This alarm generates when the absolute system function is used in the position control mode.) Alarms and warnings Action • Set the command position so that the moving range will remain inside the coordinate control range.
15 Alarms and warnings 15.2 Warnings When a warning generates, the WNG output will turn ON. The motor will continue to operate. Once the cause of the warning is removed, the WNG output will turn OFF automatically. Present warnings can be checked using the data setter OPX-2A or the data setting software MEXE02. You can also check the records of up to ten most recent warnings starting from the latest one, or clear the warning records. You can also clear the warning records by turning off the driver power.
15 Alarms and warnings 15.3 Timing charts ALM output/WNG output Generation condition Warning Alarm Generation condition 1 s or more ALM-RST input∗1 1 ms or more ON OFF 10 ms or less 10 ms or less ON WNG output OFF 2 ms or less ALM output∗2 2 ms or less ON OFF 2 ms or less 30 ms or less 2 ms or less 30 ms or less ON Motor excitation∗3 OFF Electromagnetic Hold brake∗3 Release ∗1 An alarm is reset at the ON OFF edge.
15 Alarms and warnings Notifying the generation of an alarm: ALM output When an alarm generates, the ALM output will turn OFF. At the same time, the ALARM LED on the driver will start blinking and the motor current will be cut off, causing the motor to stop∗. In the case of an electromagnetic brake motor, the electromagnetic brake will actuate to hold the load in position. Set the programmable controller to stop the motor operation command upon detection of an OFF status of the ALM output.
16 Troubleshooting and remedial actions 16 Troubleshooting and remedial actions During motor operation, the motor or driver may fail to function properly due to an improper speed setting or wiring. When the motor cannot be operated correctly, refer to the contents provided in this section and take appropriate action. If the problem persists, contact your nearest office. Phenomenon Possible cause • The motor is not excited. The S-ON input is turned OFF.
17 General specifications 17 General specifications Motor specifications Degree of protection IP65∗ Operation environment Ambient temperature 0 to +40 °C (+32 to +104 °F) (non-freezing) Humidity 85% or less (non-condensing) Altitude Up to 1000 m (3300 ft.
17 Note General specifications If the ambient temperature of the driver exceeds 40 °C (104 °F) while the driver is in use, keep the continuous output of the motor to or below the derating curve shown below. For your information, there is no need for derating for the models whose rated output is 50 W or 400 W.
18 Options (sold separately) 18 Options (sold separately) Motor cable set The cable supplied with the NX series is all you need to connect the motor and driver. Take note, however, that if you wish to connect the motor and driver over a distance of 3 m (9.8 ft.) or more, the supplied cable is not long enough and you must use a connection cable set or extension cable set. When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
18 Options (sold separately) • Connection cable set A cable set is needed to connect the motor and driver. Each set consists of two cables, one for motor and the other for encoder. The cable set for electromagnetic brake motor consists of three cables, one each for motor, encoder and electromagnetic brake. • For standard motors Model • For electromagnetic brake motors Length [m (ft.)] CC050VNF Model Length [m (ft.)] 5 (16.4) CC050VNFB CC070VNF 7 (23) CC070VNFB 7 (23) CC100VNF 10 (32.
18 Options (sold separately) • Flexible connection cable set A cable set offering excellent flexibility used to connect the motor and driver. Each set consists of two cables, one for motor and the other for encoder. The cable set for electromagnetic brake motor consists of three cables, one each for motor, encoder and electromagnetic brake. • For standard motors Model • For electromagnetic brake motors Length [m (ft.)] Model Length [m (ft.)] CC010VNR 1 (3.3) CC010VNRB 1 (3.3) CC020VNR 2 (6.
18 Options (sold separately) • Extension cable set This cable set is needed to extend the wiring length between the motor and driver. Each set consists of two cables, one for motor and the other for encoder. The cable set for electromagnetic brake motor consists of three cables, one each for motor, encoder and electromagnetic brake. • For standard motors Model • For electromagnetic brake motors Length [m (ft.)] Model Length [m (ft.)] CC010VNFT 1 (3.3) CC010VNFBT 1 (3.3) CC020VNFT 2 (6.
18 Options (sold separately) • Flexible extension cable set This cable set offering excellent flexibility is needed to extend the wiring length between the motor and driver. Each set consists of two cables, one for motor and the other for encoder. The cable set for electromagnetic brake motor consists of three cables, one each for motor, encoder and electromagnetic brake. • For standard motors Model • For electromagnetic brake motors Length [m (ft.)] Model Length [m (ft.)] CC010VNRT 1 (3.
18 Options (sold separately) Accessory set Use an accessory set if the analog I/O functions are to be used. Model: AS-SV2 A set of one CN6 connector and two variable resistors. Model: AS-SD1 This is a CN6 connector. Data setter The data setter lets you set parameters for your NX series with ease and also functions as a monitor. Model: OPX-2A Data setting software The data setting software lets you set parameters for your NX series and monitor its operating condition using a PC.
19 References 19 References 19.
19 References • When a 24 VDC power supply is used 0 s or more 10 s or more Main power ON supply OFF 24 VDC power ON supply OFF 0 s or more ON S-ON input OFF 60 ms or less 2 s or less Whichever is longer 100 ms or less ON READY output OFF 300 ms or less ON ALM output OFF 300 ms or less END output∗ ON OFF 2 ms or less 2 s or less Whichever is longer 100 ms or less ON MBC output OFF 30 ms or less 2 s or less Whichever is longer 100 ms or less ON Motor excitation OFF 60 ms or less 2
19 References Power supply input [speed control mode (free after stopping), torque control mode, tension control mode] • When no 24 VDC power supply is used 10 s or more ON Main power supply OFF 24 VDC power ON supply OFF 0 s or more CW input ON CCW input OFF 2 s or less 2 ms or less ON READY output OFF 100 ms or less 800 ms or less ON ALM output OFF 2 ms or less 100 ms or less ON MBC output OFF 30 ms or less 100 ms or less ON Motor excitation OFF • When a 24 VDC power supply is used 0
19 References S-ON input [position control mode, speed control mode (servo locked after stopping)] ON S-ON input OFF 60 ms or less 2 ms or less ON READY output OFF 2 ms or less 2 ms or less ON MBC output OFF 30 ms or less Delay time when the motor is not excited = 20 ms ON Motor excitation OFF 60 ms or less 20 ms or less Electromagnetic Hold brake Release • The electromagnetic brake does not operate if no 24 VDC power is input.
19 References • Servo locked after stopping 0 s or more CW input ON CCW input OFF ON S-ON input OFF ON BRAKE input OFF 2 ms or less 2 ms or less ON READY output OFF 2 ms or less ON MOVE output OFF ON MBC output OFF ON Motor excitation OFF Electromagnetic Hold brake Release 2 ms or less Detected speed 2 ms or less Motor speed Command speed CW input/CCW input [torque control mode, tension control mode] 0 s or more CW input ON CCW input OFF 2 ms or less 2 ms or less ON READY output OFF
19 References FREE input ON FREE input OFF ON S-ON input∗ OFF 60 ms or less 2 ms or less 60 ms or less 2 ms or less 30 ms or less ON READY output OFF 2 ms or less 2 ms or less 2 ms or less ON MBC output OFF 30 ms or less ON Motor excitation OFF 20 ms or less 60 ms or less 60 ms or less Electromagnetic Hold brake Release ∗ Position control mode and speed control mode only.
19 References ALM-RST input Generation condition Alarm 1 s or more ALM-RST input ON OFF 2 ms or less ALM output ON 60 ms or less ON OFF Indeterminable 2 ms or less MBC output 2 ms or less OFF 2 ms or less READY output 1 ms or more 2 ms or less ON OFF 2 ms or less ON Motor excitation OFF 20 ms or less 30 ms or less∗ 60 ms or less∗ Electromagnetic Hold brake Release ∗ In the position control mode or speed control mode (servo locked upon stopping) when the S-ON input is ON.
19 References BRAKE input [speed control mode] • Free after stopping 0 s or more CW input ON CCW input OFF 2 ms or less BRAKE input ON OFF 2 ms or less READY output ON OFF 2 ms or less 2 ms or less MOVE output ON OFF 10 ms or less MBC output 2 ms or less ON OFF Delay time when the motor is not excited = 20 ms 30 ms or less ON Motor excitation OFF 20 ms or less 60 ms or less Electromagnetic Hold brake Release 2 ms or less Detected speed Motor speed 10 ms∗ 60 ms or less 30 r/min -30 r/min
19 References • Servo locked after stopping 0 s or more CW input ON CCW input OFF S-ON input ON OFF 2 ms or less BRAKE input ON OFF 2 ms or less READY output ON OFF 10 ms or less MOVE output MBC output 2 ms or less ON OFF ON OFF ON Motor excitation OFF Electromagnetic Hold brake Release 2 ms or less Detected speed 2 ms or less Motor speed ∗ Command speed ∗ The MOVE output will turn OFF when the detected speed becomes zero.
19 References TL input [position control mode, speed control mode] ON TL input OFF M0 to M2 ON input∗1 OFF 10 ms or less 10 ms or less 10 ms or less ON TLC output OFF ∗2 2 ms or less ∗2 2 ms or less 2 ms or less 300 % Detected torque Torque 0% Torque limit ∗1 In the position control mode, the M0 and M1 inputs are used instead. ∗2 The specific time varies depending on the load condition and gain.
19 References ZV output [speed control mode, torque control mode, tension control mode] 10 ms or less 10 ms or less 10 ms or less 10 ms or less ON ZV output OFF Detected speed Zero speed output band Motor speed 0 r/min VA output [speed control mode] 10 ms or less 10 ms or less 10 ms or less 10 ms or less 10 ms or less 10 ms or less ON VA output OFF Attained speed output band Detected speed Target speed Motor speed ALM output/WNG output 0 s or more Generation condition Alarm Generatio
19 References WNG output Generation condition Warning #A Generation condition Warning #B Generation condition Warning #C 10 ms or less 10 ms or less ON WNG output OFF Warning code 0x00 #B #A #C #A 0x00 Operation based on pulse input [position control mode] 0 s or more CW/CCW input READY output ON OFF ON OFF ∗1 2 ms or less MOVE output ON OFF ∗2 2 ms or less END output ON OFF Detected speed Command speed Motor speed ∗1 The specific time varies depending on the setting of the appl
19 References Output selection P-REQ input∗1 ON OFF Alarm Generation condition 1 ms or more 1 s or more ON ALM-RST input OFF 2 ms or less 2 ms or less ON ALM output OFF 2 ms or less 2 ms or less ON READY output OFF READY AL0∗2 2 ms or less 2 ms or less P-OUTR∗1 AL0∗2 READY 2 ms or less 2 ms or less 2 ms or less TLC output∗3 ON OFF TLC AL1∗2 2 ms or less P-OUT0∗1 AL1∗2 TLC 2 ms or less 2 ms or less 2 ms or less ON ZSG2 output OFF ZSG2 AL2∗2 2 ms or less P-OUT1∗1 AL2∗2
19 References M0 to M1 input [position control mode] ON M0 to M1 input OFF 2 ms or less 2 ms or less Torque limit∗1 2 ms or less 2 ms or less Damping control frequency∗2 ∗1 The TL input is ON. ∗2 Damping control is enabled. M0 to M2 input [speed control mode] ON M0 to M2 input OFF 2 ms or less 2 ms or less Speed command 2 ms or less 2 ms or less Torque limit∗ ∗ The TL input is ON.
19 References Tension controlled operation • Winding operation (CW input ON) ON READY output FREE input CW input∗1 OFF ON OFF ON OFF W-RESET input ON (level input) OFF Acceleration/deceleration torque Torque command Current diameter CW CW Motor speed Initial diameter ∗2 ∗1 In high function mode I and high function mode II, the CCW input is disabled.
19 References 19.2 Speed - Torque Characteristics Continuous duty region: Continuous operation is possible in this region. Limited duty region: This region is used primarily when accelerating and decelerating. Standard type NX410 1.2 0.5 1 0.4 0.3 Limited duty region 0.2 0.1 0 0.8 1000 2000 3000 4000 5000 6000 Operating speed [r/min] 0.4 0 Continuous duty region 1000 2000 3000 4000 5000 6000 Operating speed [r/min] NX640 2.5 5 2 4 1.5 Limited duty region 1 0.
19 References PS geared type • NX65 Gear ratio: 5 2.5 Gear ratio: 10 5 Maximum torque 1.5 1 Limited duty region Permissible torque 0.
19 References • NX920 Gear ratio: 5 10 Gear ratio: 10 20 Maximum torque 6 4 Torque [N·m] Torque [N·m] 8 Limited duty region Permissible torque 2 15 Limited duty region 10 Permissible torque 5 Continuous duty region 0 Maximum torque Continuous duty region 0 100 200 300 400 500 600 700 Operating speed [r/min] 50 100 150 200 250 300 350 Operating speed [r/min] Gear ratio: 25 50 Torque [N·m] 40 30 20 Maximum torque Limited duty region Permissible torque 10 Continuous duty region 0 25 50 75
19 References PJ geared type • NX810 Gear ratio: 5 Gear ratio: 10 5 3 Maximum torque 8 Torque [N·m] Torque [N·m] 4 10 Limited duty region 2 Permissible torque 1 6 4 Limited duty region Permissible torque 2 Continuous duty region Continuous duty region 0 Maximum torque 100 200 300 400 500 600 700 Operating speed [r/min] 0 50 100 150 200 250 300 350 Operating speed [r/min] Gear ratio: 25 25 Torque [N·m] 20 15 10 Maximum torque Limited duty region Permissible torque 5 Continuous duty
19 References • NX1040 Gear ratio: 5 Gear ratio: 10 40 20 Maximum torque Torque [N·m] Torque [N·m] Maximum torque 15 Limited duty region 10 Permissible torque 5 30 Limited duty region 20 Permissible torque 10 Continuous duty region Continuous duty region 0 0 100 200 300 400 500 600 700 Operating speed [r/min] 50 100 150 200 250 300 350 Operating speed [r/min] Gear ratio: 25 90 Maximum torque Torque [N·m] 75 60 Limited duty region 45 30 Permissible torque 15 Continuous duty region 0 25 5
19 References 19.3 Function/parameter list (position control mode) Item Overview Standard Extended specification function Control mode Set the control mode. Available Available Torque limit Set the torque limit value as an analog setting (external potentiometer or external DC voltage). Available Available Damping control frequency Set the torque limit value per 1 V of analog input voltage. Not available Available Set the offset voltage for analog input.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value − − − − − − − − APP-2-03 Analog torque limit gain 0 to 300 [%] 30 APP-2-05 Analog torque limit offset voltage −1.00 to 1.00 [V] 0 APP-2-06 Analog input signal automatic offset 0: Disable 1: Enable 0 trq Torque limit 0 to 300 [%] 0 − − − vib Damping frequency 7.00 to 100.00 [Hz] APP-4-02 Damping control 0: Disable 1: Enable − − − 30.
19 References Standard Extended specification function Item Overview Positioning near output When the current position enters the positioning near output band, the NEAR output will turn ON. Not available Available Enable the positioning near output. Not available Available MOVE output Set the output band for positioning near output. Not available Available The MOVE output remains ON while the motor is operating. Not available Available Select the MOVE output.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value − − − − APP-1-03 Output signal selection 2 0: ZSG2 output 1: NEAR output APP-1-05 Positioning near output band 0.01 to 36.00 [°] − − 0 1.
19 References Item Overview Load inertial ratio setting Set the percentage of the load inertial moment to the rotor inertial moment of the motor. This ratio is set in semi-auto tuning or manual turning. If the load inertial moment is equal to the rotor inertial moment, the load inertial ratio become 100%. Mechanical rigidity setting switch Set the gain adjustment level according to the mechanical rigidity.
19 References Parameter/operation data OPX-2A screen display APP-0-01 Name Load inertial moment ratio − Setting range 0 to 10,000 [%] − Initial value 500 − − APP-4-00 Mechanical rigidity setting switch 0: Disable 1: Enable 1 APP-0-02 Mechanical rigidity setting 0 to 15 6 APP-0-03 Position loop gain 1 to 200 [Hz] 10 APP-0-04 Speed loop gain 1 to 1000 [Hz] 50 APP-0-05 Speed loop integral time constant 1.0 to 500.
19 References 19.4 Function/parameter list (speed control mode) Item Overview Standard Extended specification function Control mode Set the control mode. Available Available Speed command Set the speed command value via operation data No. 0 or 1 as an analog setting (internal potentiometer VR1, external potentiometer or external DC voltage). Operation data Nos. 2 to 7 provide digital settings. Available Available Torque limit Acceleration/ deceleration time.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value − − − − − − − − APP-2-00 Analog speed command gain 0 to 5500 [r/min] 550 APP-2-01 Analog speed command clamp 0 to 500 [r/min] 10 APP-2-02 Analog speed command offset voltage −1.00 to 1.
19 References Item MOVE output Overview The MOVE output remains ON while the motor is operating. Select the MOVE output. Set the minimum ON time for the MOVE output. FREE input MBC output Release the electromagnetic brake and stop the motor excitation. The motor output shaft becomes free. The deviation counter continues to be reset while the FREE input is ON. Output the timing at which to release the electromagnetic brake.
19 References Parameter/operation data OPX-2A screen display Name − − APP-1-02 Output signal selection 1 0: WNG output 1: MOVE output 2: MBC output APP-1-08 Minimum ON time for MOVE signal 0 to 255 [ms] − APP-1-02 Setting range Initial value − − − Output signal selection 1 − 0: WNG output 1: MOVE output 2: MBC output 0 5 − 0 − − − − − − − − − − − − SyS-0-02 Encoder output electronic gear A 1 to 1000 1 SyS-0-03 Encoder output electronic gear B 1 to 1000 1 APP-1-03
19 References Item Overview Standard Extended specification function Position loop proportional gain Set the position loop proportional gain when manual tuning is performed. When the value is increased, the response will increase. Not available Available Speed loop proportional gain Set the speed loop proportional gain when manual tuning is performed. When the value is increased, the response will increase.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value APP-0-03 Position loop gain 1 to 200 [Hz] 10 APP-0-04 Speed loop gain 1 to 1000 [Hz] 50 APP-0-05 Speed loop integral time constant 1.0 to 500.0 [ms] APP-0-06 Speed feed-forward rate 0 to 100 [%] 0 Data-setter initial display 0: Operating speed [r/min] 1: Position [steps] 2: Torque [%] 3: Estimated inertial moment ratio [%] 4: Operation number 5.
19 References 19.5 Function/parameter list (torque control mode) Item Overview Standard Extended specification function Control mode Set the control mode. Available Available Torque command Set the torque command value via operation data No. 0 or 1 as an analog setting (internal potentiometer VR1, external potentiometer or external DC voltage). Operation data Nos. 2 to 7 provide digital settings. Available Available Speed limit Set the torque command value per 1 V of analog input voltage.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value − − − − − − − − APP-2-03 Analog torque command gain 0 to 300 [%] 30 APP-2-05 Analog torque command offset voltage −1.00 to 1.
19 References Item Overview ZV output The ZV output will turn ON when the detected speed drops into the speed range set by the zero speed output band. Alarm code When an alarm generates, a corresponding alarm code will be output based on the READY output, VLC output and ZSG2/ZV output. Analog speed monitor Output a voltage according to the detected speed. Set the band within which the ZV output turns ON.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value APP-1-03 Output signal selection 2 0: ZSG2 output 1: ZV output 0 APP-1-06 Zero speed output band 1 to 5500 [r/min] 10 Alarm code output 0: Disable 1: Enable 0 APP-1-10 − − − APP-2-07 Analog speed monitor maximum value 1 to 6000 [r/min] APP-2-08 Analog speed monitor maximum voltage 1 to 10 [V] APP-2-09 Analog speed monitor offset voltage −1.00 to 1.
19 References 19.6 Function/parameter list (tension control mode) Item Overview Standard Extended specification function Control mode Set the control mode. Available Available Tension control mode Select the tension control mode. Simple: The tension is controlled at a constant level when the feed rate is constant during winding operation, etc. High function I: The current winding (unwinding) diameter is calculated automatically based on the initial diameter, material thickness and final diameter.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value − − − − SyS-1-03 Tension control mode selection − 0: Simple 1: High function I 2: High function II − 0 − − APP-2-04 Analog tension command gain 0 to 100 [%] 10 APP-2-05 Analog tension command offset voltage −1.00 to 1.
19 References Item ZV output Overview The ZV output will turn ON when the detected speed drops into the speed range set by the zero speed output band. Set the band within which the ZV output turns ON. Standard Extended specification function Not available Available Not available Available Acceleration/decelerati on correction filter Set the correction filter time constant for acceleration/deceleration in high function mode II.
19 References Parameter/operation data OPX-2A screen display Name Setting range Initial value APP-1-03 Output signal selection 2 0: ZSG2 output 1: ZV output 0 APP-1-06 Zero speed output band 1 to 5500 [r/min] 10 APP-4-03 Acceleration/deceleration correction filter 10 to 500 [ms] 100 APP-4-04 Friction torque correction 0 to 50 [%] 0 − − − − − − − − SyS-0-02 Encoder output electronic gear A 1 to 1000 1 SyS-0-03 Encoder output electronic gear B 1 to 1000 1 APP-1-03 Output
19 References 19.7 Warning/alarm lists Alarms (protective functions) Item Alarm check function LED indicator Overview/condition When an alarm generates, the ALARM LED on the front face of the driver will blink. The number of times the LED blinks varies depending on the content of the alarm. ALM output ALM output This signal will be output when an alarm generates.
19 References Parameter/operation data Standard Extended specification function OPX-2A screen display Name Setting range Initial value Available Available − − − − Available Available − − − − Not available Available − − − − Not available Available APP-1-10 0: Disable 1: Enable Alarm code output 0: Disable Available Available − − − − Available Available − − − − 1 to 1000 [rev] 10 Not available Available APP-3-00 Excessive position deviation alarm Available Availab
19 References Item Descriptions of alarms −186− Overview/condition Electronic gear setting error The power was turned on when the resolution set by the electronic gear and encoder output electronic gear was outside the specified range. Sensor error during operation An encoder error was detected during operation. Encoder communication error A communication error occurred between the driver and encoder. Sensor error during initialization An encoder error was detected when the power was turned on.
19 References Parameter/operation data Standard Extended specification function OPX-2A screen display Name Setting range Initial value Available Available − − − − Available Available − − − − Available Available − − − − Available Available − − − − Available Available − − − − Available Available − − − − Available Available − − − − Available Available − − − − −187−
19 References Warnings (warning functions) Item Overview/condition Warning check function WNG output When a warning generates, the WNG output will turn ON. Warning detection condition setting Excessive position deviation warning Set the condition under which an excessive position deviation warning generates, as an amount of rotation of the motor shaft. Descriptions of warnings Overvoltage warning Set the voltage at which an overvoltage warning generates.
19 Standard Extended specification function References Parameter/operation data OPX-2A screen display Name Setting range Initial value Available Available APP-1-02 Output signal selection 1 0: WNG output 1: MOVE output 2: MBC output 0 Not available 1 to 1000 [rev] 9 Available APP-3-01 Excessive position deviation warning Not available Available APP-3-02 Overvoltage warning 320 to 400 [V] 390 Not available Available APP-3-03 Undervoltage warning 120 to 280 [V] 125 80 90 Available
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