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Contents
1. Introduction ------------------------------------ 1-1
1.1. Notes to Users --------------------------------------------- 1-2
1.1.1. Notes for Safety ----------------------------------- 1-2
1.1.2. Precautions for Use ------------------------------ 1-2
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 Mode -------------------------------------- 2-1
2.1.2. Examples of System Configuration ---------- 2-2
2.2. Reference Number and Coding ----------------------- 2-4
2.2.1. Mega torque Motor ------------------------------- 2-4
2.2.2. Driver Unit Model EDD -------------------------- 2-4
2.2.3. Cable Set ------------------------------------------- 2-4
2.2.4. Handy Terminal ----------------------------------- 2-4
2.3. Name of Each Part ---------------------------------------- 2-5
2.3.1. Mega torque Motor ------------------------------- 2-5
2.3.1.1. PS Series ------------------------------------ 2-5
2.3.1.2. PN Series ------------------------------------ 2-6
2.3.1.3. PX Series ------------------------------------ 2-7
2.3.2. Driver Unit Model EDD -------------------------- 2-8
2.3.3. Handy Terminal ----------------------------------- 2-9
2.4. Standard Combination List ---------------------------- 2-10
2.4.1. Motor and Driver Unit Model EDD
Combinations ------------------------------------ 2-10
2.4.2. Cable Set ----------------------------------------- 2-11
2.4.3. Handy Terminal --------------------------------- 2-11
2.5. Motor Specifications ------------------------------------ 2-12
2.5.1. PS Series ----------------------------------------- 2-12
2.5.2. PN Series ----------------------------------------- 2-13
2.5.3. PX Series ----------------------------------------- 2-13
2.5.4. Axial Load and Moment Load --------------- 2-14
2.6. External Dimensions ----------------------------------- 2-15
2.6.1. Megatorque Motors ---------------------------- 2-15
2.6.1.1. PS Series ---------------------------------- 2-15
2.6.1.2. PN Series ---------------------------------- 2-19
2.6.1.3. PX Series ---------------------------------- 2-21
2.6.2. Driver Unit Model EDD ------------------------ 2-22
2.6.3. Cable Set ----------------------------------------- 2-23
2.6.3.1. Stationary Cable -------------------------- 2-23
2.6.3.2. Flexible Cable ----------------------------- 2-23
2.7. Driver Unit Specifications ----------------------------- 2-25
2.8. USB Interface Specifications ------------------------- 2-27
2.8.1. CN0: USB Communication Connector ---- 2-27
2.8.1.1. Pin-Out (CN0) ----------------------------- 2-27
2.8.1.2. CN0 Signal List --------------------------- 2-27
2.9. RS-232C Interface Specifications ------------------- 2-28
2.9.1. CN1: RS-232C Serial Communication
Connector ----------------------------------------- 2-28
2.9.1.1. CN1 Pin-Out ------------------------------- 2-28
2.9.1.2. CN1 Signal List --------------------------- 2-28
2.10. Specifications of Control Input/Output Interface2-29
2.10.1. CN2: Control Input/Output Signal
Connector ----------------------------------------- 2-29
2.10.1.1. CN2 Pin-Out ----------------------------- 2-30
2.10.1.2. CN2 Signal List ------------------------- 2-31
2.10.2. CN2 Interfacing --------------------------------- 2-33
2.10.2.1. General Input Signal ------------------- 2-33
2.10.2.2. Pulse Train Input Signal -------------- 2-34
2.10.2.3. Analog Command Input Signal ----- 2-35
2.10.2.4. Output Signal ---------------------------- 2-36
2.10.2.5. Position Feedback Signal Output -- 2-36
2.10.2.6. Analog Monitor Output ---------------- 2-37
2.11. CN3: Resolver Cable Connector ------------------ 2-38
2.11.1. CN3 Pin-Out ------------------------------------- 2-38
2.11.2. CN3 Signal List --------------------------------- 2-38
2.12. CN4: Motor Connector ------------------------------- 2-39
2.12.1. CN4 Pin-Out ------------------------------------- 2-39
2.12.2. CN4 Signal List --------------------------------- 2-39
2.13. CN5: Connector for Power Supply --------------- 2-40
2.13.1. CN5 Pin-Out ------------------------------------- 2-40
2.13.2. CN5 Wiring Diagram--------------------------- 2-40
3. Unpacking, Installation and Wiring ------ 3-1
3.1. Unpacking -------------------------------------------------- 3-1
3.1.1. Receiving Check---------------------------------- 3-1
3.1.2. Motor and Driver Unit Model EDD
Combinations -------------------------------------- 3-1
3.2. Installation -------------------------------------------------- 3-2
3.2.1. Motor Mounting ----------------------------------- 3-2
3.2.1.1. Environmental Conditions of Motor --- 3-2
3.2.1.2. Motor Installation --------------------------- 3-2
3.2.1.3. Coupling Load to Motor ------------------ 3-3
3.2.1.4. Confirmation of Use Conditions -------- 3-4
3.2.1.5. Dummy Inertia ------------------------------ 3-4
3.2.2. Installation of Driver Unit ----------------------- 3-5
3.3. Wiring -------------------------------------------------------- 3-6
3.3.1. Connection of Cable Set------------------------ 3-6
3.3.2. Connecting Power-------------------------------- 3-7
3.3.3. Ground Connection ------------------------------ 3-8
3.3.4. Connector Wiring --------------------------------- 3-9
3.3.4.1. Wiring Example (CN2) -------------------- 3-9
3.4. Turning on Main Power-------------------------------- 3-10
3.4.1. Precautions Before Power-on --------------- 3-10
3.4.2. Points to be Checked When Power-on --- 3-11
3.4.3. Polarity Setting of Control Input Port
(Normally Open Contact and Normally
Closed Contact)--------------------------------- 3-12
3.4.4. Power on and Servo on ----------------------- 3-13
4. RS-232C Communication and USB
Communication ------------------------------- 4-1
4.1. RS-232C Communication
(Handy Terminal Communication) -------------------- 4-2
4.1.1. Check on Handy Terminal ---------------------- 4-3
4.1.2. Setting Parameters ------------------------------- 4-3
4.1.2.1. Input of the Password -------------------- 4-3
4.1.2.2. Reset to Shipping Set -------------------- 4-4
4.1.3. Readout of Parameter--------------------------- 4-4
4.1.3.1. Monitoring Parameters by a Group --- 4-5
4.1.3.2. Monitoring Parameters Altered from
Shipping Set -------------------------------- 4-5
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