NSK EDD Megatorque Motor

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2. Specifications

— 2-6 —

2.3.1.2. PN Series

Fig 2-9: PN2012 Motor

Mounting base

Motor connector

Resolver connector

Cover

(stationary part)

(rotational part)

Hollow

Rotor (rotational part)

Fig 2-10: PN3045, PN4135 and PN4180 Motors

Mounting base

Motor connector

Resolver connector

Cover

(stationary part)

(rotational part)

Hollow

Rotor (rotational part)

Main Page

Default Chapter13
- Table of Contents13
1 Introduction17
- Notes to Users18
- Terminology22
2 Specifications23
- System Configuration23
  - Control Mode23
  - Examples of System Configuration24
- Reference Number and Coding26
- Name of each Part27
- Standard Combination List32
- Motor Specifications34
- External Dimensions37
- Driver Unit Specifications47
- USB Interface Specifications49
  - CN0: USB Communication Connector49
    - CN0 Signal List49
    - Pin-Out (CN0)49
- RS-232C Interface Specifications50
  - CN1: RS-232C Serial Communication Connector50
    - CN1 Pin-Out50
    - CN1 Signal List50
- Specifications of Control Input/Output Interface2-2951
  - CN2: Control Input/Output Signal Connector51
    - CN2 Pin-Out52
    - CN2 Signal List53
  - CN2 Interfacing55
- CN3: Resolver Cable Connector60
  - CN3 Pin-Out60
  - CN3 Signal List60
- CN4: Motor Connector61
  - CN4 Pin-Out61
  - CN4 Signal List61
- CN5: Connector for Power Supply62
  - CN5 Pin-Out62
  - CN5 Wiring Diagram62
3 Unpacking, Installation and Wiring63
- Unpacking63
  - Receiving Check63
  - Motor and Driver Unit Model EDD Combinations63
- Installation64
  - Motor Mounting64
  - Installation of Driver Unit67
- Wiring68
- Turning on Main Power72
4 RS-232C Communication and USB Communication77
- RS-232C Communication (Handy Terminal Communication)78
- USB Communication (EDD MEGATERM)83
5 Tuning93
- Tuning Flowchart93
- Tuning Level 1: Automatic Tuning94
- Tuning Level 2: Servo Gain Tuning101
  - Input of Load Moment of Inertia101
    - When the Load Moment of Inertia Is101
  - Minor Tuning of Servo Gains102
- Tuning Level 3: Manual Tuning105
  - Precautions for Manual Tuning105
  - Setting Velocity Loop Proportional Gain (VG)105
- Setting Filters (Tuning Level 2)107
  - Setting Low-Pass Filter107
  - Setting Notch Filter108
6 Operation109
- Preparation109
  - Wiring Check109
  - Operation Procedure109
- Position Scale110
- Positioning Operation117
7 Operational Function147
- Control Input147
- Control Output156
- RS-232C/USB Monitor171
- Analog Monitors180
  - Use of Preset Monitors181
  - Customization of Monitor Data182
    - Analog Monitor for State of Control Inputs and Outputs Functions183
8 More Advanced Function185
- Assignment of Input/Output Function185
- Extended Control Input196
- Extended Control Output200
- Teaching207
- Tuning210
- Positioning Operation215
- Program Operation223
  - Change of Parameter Via Program Operation223
  - Automatic Program Execution at Power on225
- Home Return229
- RS-232C Communication239
  - Specifications of Communication239
  - Communication Procedure239
9 Details of Command and Parameter247
- Difference of RS-232C Communication and USB Communication247
- Handling Instruction of Command and Parameter249
- Glossary of Command and Parameter254
- Parameter List330
10 Maintenance333
- Backup Parts333
- Storing the Parts333
- Periodic Check334
  - Motor334
  - Driver Unit (Including Cables and Handy Terminal)334
- Periodic Replacement of Parts335
- Repair Service338
- Warranty Period and Covering Range339
11 Alarm and Warning341
- Identifying Alarm and Warning341
- List of Alarm and Warning345
  - Normal State345
  - Condition in the State of Alarm and Warning346
- Cause and Remedy348
12 Troubleshooting365
- Identifying Problem365
- Power Trouble366
- Motor Trouble366
- Vibration, Abnormal Noise or Unstable Settling367
- Improper Positioning367
- RS-232C Communication Problem368
Appendix 1369
Appendix 1: How to Monitor Input and Output Signal369
Appendix 2: How to Check Motor Condition374
Appendix 3: How to Back up and Restore the Settings378
Appendix 4: Handling of Saved Data in Megaterm386
- Driver Unit Model EDD388
Appendix 5: Procedure for Replacing390
Appendix 6: Regeneration Resistor390
Appendix 7: Wiring of RS-232C Communication Cable392
Appendix 8: USB Communication Cable393
Appendix 9: Setting List of Parameter and Program of394
- Driver Unit Model EDD397

NSK EDD Megatorque Motor - PN Series

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