User manual

Table of contents
−2−
1 Safety precautions..............................3
2 Overview of the NX series ..................7
3 System configuration ..........................8
4 Introduction.......................................10
5 Precautions for use...........................12
6 Preparation .......................................14
6.1 Checking the product ............................ 14
6.2 How to identify the product model......... 14
6.3 Combinations of motors and drivers ..... 15
6.4 I/O ratings.............................................. 16
6.5 Names and functions of parts................ 17
7 Installation.........................................21
7.1 Location for installation.......................... 21
7.2 Installing the motor................................ 21
7.3 Installing a load ..................................... 23
7.4 Permissible overhung load and
permissible thrust load .......................... 24
7.5 Installing the driver ................................ 25
7.6 Installing the regeneration unit.............. 26
7.7 Installing and wiring in compliance with
EMC Directive ....................................... 27
8 Connection........................................30
8.1 Connection method for connectors ....... 30
8.2 Connecting the motor............................ 31
8.3 Connecting the I/O signals.................... 32
8.4 Connecting the analog I/O signals ........ 42
8.5 Connecting the power supply................ 43
8.6 Grounding the driver.............................. 45
8.7 Connecting the 24 VDC power supply
input, regeneration resistor and
electromagnetic brake........................... 45
8.8 Connecting the battery .......................... 48
8.9 Connecting the data setter .................... 48
9 Functions and operations in the
position control mode........................49
9.1 Quick operations ................................... 49
9.2 List of setting items................................ 51
9.3 Positioning operation based on pulse
input....................................................... 52
9.4 Torque limit ............................................ 59
9.5 Absolute system.................................... 62
9.6 Current position output.......................... 64
9.7 Gain tuning............................................ 66
9.8 Command filter...................................... 68
9.9 Damping control .................................... 69
10 Functions and operations in the
speed control mode ..........................71
10.1 Quick operations.................................... 71
10.2 List of setting items................................ 73
10.3 Speed control operation ........................75
10.4 Torque limit ............................................ 84
10.5 Gain tuning ............................................87
11 Functions and operations in the
torque control mode..........................90
11.1 Quick operations....................................90
11.2 List of setting items................................ 92
11.3 Torque control operation........................93
11.4 Speed limit.............................................99
12 Functions and operations in the
tension control mode.......................102
12.1 Quick operations..................................102
12.2 List of setting items.............................. 104
12.3 Selecting the operation mode.............. 105
12.4 Tension controlled operation
(simple mode)...................................... 106
12.5 Tension control operation (high function
mode I, high function mode II)............. 110
12.6 Timing chart......................................... 116
12.7 Speed limit...........................................120
13 Monitor functions.............................123
13.1 Encoder output .................................... 123
13.2 Analog monitor ....................................124
14 Inspection .......................................126
15 Alarms and warnings ......................126
15.1 Alarms .................................................126
15.2 Warnings..............................................132
15.3 Timing charts .......................................133
16 Troubleshooting and remedial
actions ............................................135
17 General specifications.....................136
18 Options (sold separately) ................138
19 References .....................................144
19.1 Timing charts .......................................144
19.2 Speed - Torque Characteristics ...........159
19.3 Function/parameter list
(position control mode)........................164
19.4 Function/parameter list
(speed control mode) ..........................170
19.5 Function/parameter list
(torque control mode) .......................... 176
19.6 Function/parameter list
(tension control mode).........................180
19.7 Warning/alarm lists .............................. 184