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ESB M-E099SB0C2-139 C20139-01 1

.. 2003 2

ESB AC (2 ) MC1 TB1 L N L N YSB N 2 (1 ) CN1 CN3 CN4 MC1 Normal ii

iii

閾 iv

B3 23 B5 25

ON OFF ON OFF 5

M-ESB YSB2020AB300

SHIFT ESC CTRL SHIFT ESC CTRL BS BS SP SP ENT ENT FHT11 NSK HANDY TERMINAL 1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F DC24V ESB G H I J K L M N O P Q R S T U V W X Y Z?, / * AC200230V AC100120V RS-232C DC24V YSB FHT11 NSK HANDY TERMINAL 1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F, DC24V ESB G H I J K L M N O P Q R S T U V W X Y Z?, / * AC200230V AC100120V RS-232C DC24V YSB

SHIFT ESC CTRL BS SP ENT ESB DC24V AC200230V AC100120V RS-232C DC24V YSB FHT11 NSK HANDY TERMINAL 1 # 2 $ 3 < 4 > 5 % - + ESB DC24V 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L M N O P Q R S T U V W X Y Z?, / * AC200230V AC100120V RS-232C DC24V YSB

YSB Nm M-YSB 2 020 K N 001 001: 601: 701: 801: N : G : K : J : M-ESB YSB2 020 A B3 02 ESB Nm AAC200V CAC100V B 2 00 01 02 03 3 5 ADevice Net BProfibus CCC-Link

0022m, 0044m, 0088m, 01515m 03030m M-C 004 SB 03 03 13 01 11 ESB M-FHT 11

LED 7 LED CN19pin RS-232C FHT11 CN225pin I/O CN315pin CN4 TB1 Type No.

LED 7 LED CN19pin RS-232C FHT11 CN225pin I/O CN315pin CN4 CN537pin I/O2 TB1 Type No. VR1

LED 7 LED CN19pin RS-232C FHT11. CN225pin I/O CN315pin. CN4. TB1 TB2 Type No.

LED 7 LED CN19pin RS-232C FHT11 CN225pin I/O CN315pin CN4 CN537pin I/O5 TB1 TB2 Type No. VR1

26 98 LCD 68 NSK HANDY TERMINAL 180 1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L M N O P Q R S T U V W X Y Z?, / * SHIFT ESC CTRL BS SP ENT SHIFT --- ESC ( CTRL ( ) BS --- (2) SP --- (3) ENT --- (4) DE-C1-J6 DE-9PF-N JAE DE-C1-J6 86 38 19 3000

F F L F L A F FaF M0 F FaF MFL F FaF MF LA

FG +5V RTS SG DTR DSR RXD CTS TXD

SVON RUN PRG3 PRG1 CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS PRG2 PRG0 CWP+ CCWP+ CHA CHB CHZ OUT1 DRDY- COM 1TY1 16 SVON RUN PRG3 DIR CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS PRG2 JOG CWP+ CCWP+ CHA CHB CHZ OUT1 DRDY- COM 2TY2 4, JOG SVON RUN PRG3 OTM CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS PRG2 OTP CWP+ CCWP+ CHA CHB CHZ OUT1 DRDY- COM 3TY3 4 SVON RUN HOS OTM CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS CLR OTP CWP+ CCWP+ CHA CHB CHZ OUT1 DRDY- COM 4TY4 SVON RUN DIR OTM CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS JOG OTP CWP+ CCWP+ CHA CHB CHZ OUT1 DRDY- COM 7TY7 SVON RUN IOFF/CLCN PRG1 CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS DC24 EMST HLS PRG2 PRG0 CWP+ CCWP+ CHA CHB CHZ OUT1/BRKC DRDY- COM 8TY8 8

SVON IOFF/CLCN HOS OTM CWP- CCWP- CHA CHB CHZ SGND DRDY+ IPOS CN2 DC24 EMST HLS CLR OTP CWP+ CCWP+ CHA CHB CHZ BRK/BRKC DRDY- COM INH DIR JOG MON+ MON- HCMP HOME SPD CN5 DC24 STP RUN PRG5 PRG4 PRG3 PRG2 PRG1 PRG0 AIN+ AIN- NEARB NEARA OVER COM

DC24 3.3k 680 120 120 390

2.4k 2.4k 1k 1k 100p 2.4k COM

1 2 COM

CHA CHB CHZ JP1 3 OC 1 LD CHA CHB SGND CHZ SGND

AIN AIN 20k 10k 1000pF MON MON 10k

B3, B5 23, 25 INC-C ABS-C FG INC-A INC-B ABS-A ABS-B COMMON INC-C FG INC-A INC-B COMMON

C 5 1 A C 6 2 A 3 B FG 7 4 B

AC200V TB1 CTRL AC100-230V MAIN AC200-230V L N L N AC100V AC200V AC200V AC100V TB1 CTRL AC100-120V MAIN AC100-120V L N L N AC100V AC100V

S1 S2 TB2

LED OC CN2 LD JP1 7 CN1 CN3

3-1 3-2. REF.NO. M-YSB 2 020 KN001 SERIAL NO. 2-11001 Type ESB- YSB 2 020 A B 5 00-** No. 2-11020 3-1

3-2

100mm 100mm 3-3

CN3 CN4 3-4

3-5

3-6

AC ELB1 CB1 NF1 MC1 TB1 CN3 CN4 D FG CN5 CN2 15 2 SW1 SW2 MC1 RY1 RY1 MC1 NF 1. DC24V ELB1 CB1 NF1 MC1 RY1 SW1 ON SW2 OFF 3-7

AC ELB1 CB1 NF1 MC1 TB1 CN3 CN4 D S1 S2 FG TB2 CN5 CN2 15 2 SW1 SW2 MC1 RY1 RY1 MC1 NF 1. DC24V ELB1 CB1 NF1 MC1 RY1 SW1 ON SW2 OFF 3-8

ESB. DC24V 0 1 2 3 CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 PRG0 22 PRG1 10 PRG2 23 PRG3 DC24V / 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *1 1 COM FG 3-9

ESB. DC24V 2 3 CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 JOG 22 DIR 10 PRG2 23 PRG3 DC24V / 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *1 1 COM FG 3-10

ESB. DC24V 2 3 CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 OTP 22 OTM 10 PRG2 23 PRG3 DC24V / 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *1 1 COM FG 3-11

. DC24V ESB CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 OTP 22 OTM 10 CLR 23 HOS DC5V DC24V / A B CW CCW Z MSB 8 CWP+ 21 CWP- 7 CCWP+ 20 CCWP- 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *1 1 COM 6 CHA 19 CHA 5 CHB 18 CHB 17 CHZ 4 CHZ 16 SGND FG 3-12

. DC24V ESB CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 OTP 22 OTM 10 JOG 23 DIR DC5V DC24V / A B CW CCW Z MSB 8 CWP+ 21 CWP- 7 CCWP+ 20 CCWP- 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *1 1 COM 6 CHA 19 CHA 5 CHB 18 CHB 17 CHZ 4 CHZ 16 SGND FG 3-13

ESB. DC24V 0 1 2 CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 RUN 9 PRG0 22 PRG1 10 PRG2 23 IOFF/CLCN*1 DC24V / 15 DRDY+ 2 DRDY- 14 IPOS 3 OUT1 *2 1 COM FG 3-14

1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L M N O P Q R S T U V W X Y Z?, / * SHIFT ESC CTRL BS SP ENT ESB AC200V AC100V CTRL MAIN TB CN4 MOTOR YSB FGND CN3 SENSOR DC24V 0 1 2 DC5V CW CCW DC24V RL1 13 DC24 25 SVON 12 EMST 23 IOFF/CLCN 11 HLS 9 PRG0 22 PRG1 24 RUN 10 PRG2 8 CWP+ 21 CWP- 7 CCWP+ 20 CCWP- 15 DRDY+ 2 DRDY- 3 BRK/BRKC CN2 / (-) NSK HANDY TERMINAL RL1 / (+) ( ) FHT11 DC24V GND 14 IPOS CN1 RS-232C 1 COM 3-15

. DC24V ESB CN2 13 DC24 25 SVON 12 EMST 11 HLS 24 IOFF/CLCN*1 9 OTP 22 OTM 10 CLR 23 HOS DC5V DC24V CW CCW 8 CWP+ 21 CWP- 7 CCWP+ 20 CCWP- 15 DRDY+ 2 DRDY- 14 IPOS 3 BRK/BRKC*1 1 COM A B Z MSB. DC24V 5 4 3 2 1 0 6 CHA 19 CHA 5 CHB 18 CHB 17 CHZ 4 CHZ 16 SGND CN5 19 DC24 17 RUN 16 PRG5 15 PRG4 14 PRG3 13 PRG2 12 PRG1 11 PRG0 30 JOG 31 DIR 18 STP 36 INH DC24V A A B B FG 2 OVER 21 HOME 22 HCMP 20 SPD 3 NEARA 4 NEARB 1 COM 3-16

. DC24V ESB CN2 13 DC24 25 SVON 12 EMST 9 OTP 22 OTM 10 CLR 24 IOFF/CLCN *1 DC24V A B Z MSB 10V DC24V 15 DRDY+ 2 DRDY- 14 IPOS 3 BRK/BRKC *1 1 COM 6 CHA 19 CHA 5 CHB 18 CHB 17 CHZ 4 CHZ 16 SGND CN5 8 AIN+ 7 AIN- 19 DC24 36 INH DC24V A B 2 OVER 20 SPD 3 NEARA 4 NEARB 1 COM FG 3-17

1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L M N O P Q R S T U V W X Y Z?, / * SHIFT ESC CTRL BS SP ENT AC200V AC100V DC24V DC5V CW CCW DC24V RL1 CTRL MAIN FGND 13 DC24 25 SVON 12 EMST 23 HOS 11 HLS 9 OTP 22 OTM 24 IOFF/CLCN 10 CLR 8 CWP+ 21 CWP- 7 CCWP+ 20 CCWP- 15 DRDY+ 2 DRDY- 3 BRK/BRKC 14 IPOS 1 COM ESB TB CN2 CN4 CN3 MOTOR SENSOR / (-) RL1 YSB / (+) ( ) DC24V GND DC24V 5 4 3 2 1 0 19 DC24 17 RUN 16 PRG5 15 PRG4 14 PRG3 13 PRG2 12 PRG1 CN1 RS-232C 11 PRG0 30 JOG 31 DIR 18 STP NSK HANDY TERMINAL FHT11 DC24V / A / B 36 INH 8 AIN+ 7 AIN- 27 MON+ 26 MON- 2 OVER 21 HOME 22 HCMP 20 SPD 3 NEARA 4 NEARB 1 COM CN5 3-18

LED. 7 LED.. 2. NSK MEGATORQUE MS1A50-***** E***** :_. 3-19

/ N S K SP O N ENT :/NSK ON NSK ON :_ T Y 2 # ENT NSK ON :TY2 ABX0X0XXXX :_ 3-20

/ N S K SP O N ENT :/NSK ON NSK ON :_ O M 3 < ENT NSK ON :OM3 :_ 3-21

SHIFT 0? : :?_ A B ENT : :?AB ABX0X0XX00 :_ / N S K SP O N ENT ABX0X0XX00 :/NSK ON NSK ON :_ A B X X X X X X 1 # X ENT EMST :/NSK ON NSK ON ABX1XXXXXX :_ B. 3-22

DRDY NG OK DRDY DRDY NG OK SVON ON OFF ON OFF 2 DRDY SVON ON OFF 30ms min. 3-23

3-24

26 98 LCD 68 NSK HANDY TERMINAL 180 1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L M N O P Q R S T U V W X Y Z?, / * SHIFT ESC CTRL BS SP ENT SHIFT ESC CTRL BS (2) SP (3) ENT (4) (1) DE-C1-J6 DE-9PF-N JAE DE-C1-J6 86 38 19 3000 4-1

ENT :_ M V 0?. = 5 % ENT :MV0.5 :_ ENT :_ / N S K SP O N ENT :/NSK ON NSK ON :_ 4-2

ENT :_ T S 7 ENT :TS7 MV1.00; SP SP :TS7 MV1.00; MA1.00,1.00; JV0.10; BS MV1.00; MA1.00,1.00; JV0.10; :_ 4-3

ENT :_? J V ENT :?JV JV0.10 :_ 4-4

5.4.. LED. NSK MEGATORQUE MS1A50_*** E********* :_ 5.2.2... 5.2.3. 5.2.4. NO OK NO OK NO NO OK YES YES 5.2.5. OK 5.3. YES YES.PGVGVIMA 1. 2, 3.. 1 OK. 2 1. 1, 2 3 3. 5-1 5-1

5-2

SHIFT ESC CTRL BS SP ENT NSK HANDY TERMINAL 1 # 2 $ 3 < 4 > 5 % - + 6 & 7 8 ( 9 ) 0?. = A B C D E F G H I J K L CN4 CN3 CN1 TB CTRL MAIN M S N T O U P V Q W Y Z?, / * R X AC AC FG DC24V DC24 13 SVON 25 CN2 EMST 12 OTP 9 OTM 22 5-3

T ENT T ENT S 1 # / N S K SP O N ENT S 2 $ :/NSK ON NSK ON :_ S I ENT :SI INITIALIZE :_ :SI SI INHIBITED :_ 5-4

S V ENT :SV :_ A T ENT :AT AT ready OK?_ O K ENT :AT AT ready OK?OK?OK LO**** :_?OK AT Error* :_ 5-5

S V ENT :SV :_ M V 0?. = 1 # ENT :MV0.1 :_ S P / A J ENT :SP/AJ IN100,IS0.0,FW1.0 ID9000/OK?_ I N 1 # 0? I S 0? 5 % ENT ENT?IS0.5 IN10,IS0.5,FW1.0 ID9000/OK. =?_ 5-6

O K ENT IN10,IS0.5,FW1.0 ID9000/OK?OK :_ I D 3 < 0? 0? ENT 0??ID3000 IN10,IS0.5,FW1.0 ID3000/OK?_ M S ENT :MS :_ S P / A J ENT IN10,IS0.5,FW1.0 ID3000/OK? :_ 5-7

S G / A J ENT [+],[-],[ENT] 444( 333) STEP1 _SG10 SHIFT - + SG 1. - + SG 1. ENT SG. 5-8

SHIFT - + - + [+],[-],[ENT] 333( 222) STEP1 _SG13 SHIFT - + - + [+],[-],[ENT] 233( 123) STEP1 _SG18 - + - + [+],[-],[ENT] 253( 145) STEP1 _SG16 [+],[-],[ENT] 263( 156) STEP1 _SG13 ENT 263( 156) STEP1 SG13 :_ 5-9

V G / A J ENT [+],[-],[ENT] 444( 333) STEP1 _VG1 SHIFT - + VG 1. - + VG 1. ENT 5-10

SHIFT - + - + [+],[-],[ENT] 333( 222) STEP1 _VG3 SHIFT - + - + [+],[-],[ENT] 233( 123) STEP1 _VG5 - + - + [+],[-],[ENT] 253( 145) STEP0.1 _VG4 SP [+],[-],[ENT] 263( 156) STEP0.1 _VG4 - + - + [+],[-],[ENT] 263( 156) STEP0.1 _VG4 ENT 263( 156) STEP0.1 VG3.2 :_ 5-11

V I / A J ENT [+],[-],[ENT] 444( 333) STEP1 _VI1 SHIFT - + VI 1. - + VI 1. ENT VI. SHIFT - + - + [+],[-],[ENT] 333( 222) STEP1 _VI3 5-12

SHIFT - + - + [+],[-],[ENT] 233( 123) STEP1 _VI5 - + - + [+],[-],[ENT] 253( 145) STEP0.1 _VI4 SP [+],[-],[ENT] 263( 156) STEP0.1 _VI4 - + - + [+],[-],[ENT] 263( 156) STEP0.1 _VI3.2 ENT 263( 156) STEP0.1 VI3.2 :_ 5-13

F P / A J ENT [+],[-],[ENT] 444( 333) STEP10 _FP500 SHIFT - + FP 10. - + FP 10. ENT FP. 5-14

- + - + [+],[-],[ENT] 333( 222) STEP10 _FP500 SHIFT - + - + [+],[-],[ENT] 233( 123) STEP1 _FP120 ENT 233( 123) STEP1 FP120 :_ F P 0? ENT :FP0 :_ N P 2 $ 0? 0? ENT :NP200 :_ 200Hz5ms 5-3 5-15

5-16

6-1

1 LED 7 LED.. 2 5.... 6.2. 6.2.1. 6.2.2. 6.2.3. 6.2.4. RS-232C 6.2.5. RS-232C 6.3. RS-232C 6.3.1. RS-232C 6.3.2. 6.4. RS-232C 6.4.1. RS-232C 6.4.2. 6-2

6-3

RS-232C 6.2.1.1. AZ 6.2.1.2. M O ENT :MO :_ / N S K SP O N ENT :MO :/NSK ON NSK ON :_ A Z ENT NSK ON :AZ AO1234 :_ 6-4

[ ] SVON ON OFF RS-232C H S CR HOS ON CH HS OFF RUN ON HLS OFF 30ms min. 10ms min. CR 0DH. [ ] CCW * CW * HA HZ HV H [ ] Z HO0 IPOSFW0 IPOSFW0 HOME FW HCMP 6-5

6-6

OTM *ON CCW HLS ON OTP *ON CW CCW * CCW * CW * CW * DRDY (). DRDY (). DRDY (). Z 6-7

HLS ON CCW CCW CW CW HLS ON CCW Z HO CCW CW CW 6-8

HLS ON CCW HO CCW CW CW Z HLS ON CCW CCW CW CW 6-9

6-10

H S / L S :HS/LS_ ENT :HS/LS TR8006 OK :_ M O :HS/LS TR8006 OK :MO_ ENT TR8006 OK :MO :_ / N S K SP O N :TR8006 OK :MO :/NSK ON_ 6-11

ENT :MO :/NSK ON NSK ON :_ H O / S T :MO :/NSK ON NSK ON :HO/ST_ ENT NSK ON :HO/ST HO1234 :_ S V NSK ON :HO/ST HO1234 :SV_ ENT :HO/ST HO1234 :SV :_ H S :HO/ST HO1234 :SV :HS_ ENT HO1234 :SV :HS :_ 6-12

C H 0? ENT : : :CH0?_ H S ENT : :CH0?HS?_ ENT :CH0?HS? :_ S P 0? ENT : : :SP0 :_ 6-13

ON SVON OFF PRG0PRG5 30ms min. DIR RUN ON OFF 10ms min. CW CCW 10ms min.. MA CA MV CV IPOS FW0 IPOS FW0 RUN RUN FW 6-14

ON (RS232C OFF RUN ) (BRKC ) (IPOS FW0) IN OUT FWIPOS (IPOS FW0) WU WC IS ( IN ) 6-15

6-16

[B3, 23 ] [B5, 25 ] 0 CH0 0 CH0 1 CH1 1 CH1 15 CH15 63 CH63 6-17

RUN CH0 IR9000/2 45 CH0 IR9000/2 45 6-18

PRG05 0 RUN CH0 CH1 CH2 IR1000* TI10* IR-1000 1 IPOS FW0 PRG05 0 RUN CH0 CH1 CH0 IR1000& IR2000& IR1000& IPOS FW0 6-19

6-20

PRG05 0 RUN CH0 IR500 CH1 IR1000& IPOS FW0 O E ENT 6-21

6-22

C H 1 # 0? :CH10_ ENT I R 9 ) 0? 0? 0? / 1 # 0? AR18000 CV0.9000 CA2.00,2.00?_ AR18000 CV0.9000 CA2.00,2.00?IR9000/10_ ENT CV0.9000 CA2.00,2.00?IR9000/10? C V 0?. = 5 % CV0.9000 CA2.00,2.00?IR9000/10?CV0.5_ ENT CA2.00,2.00?IR9000/10?CV0.5?_ 6-23

C V 0? ENT?CV0?_ ENT? :_ T C 1 # 0? :TC10_ ENT :TC10 IR9000/10 CV0.5000 :_ C C 1 # 0? :CC10_ ENT :CC10 :_ 6-24

A B A B A B 6-25

A B PC CR CWPCCWP PC2 1 PC3 2 PC4 4 CR1 CR2 CR4 CR360000 CR36000 CR3600 A B 1 6-26

CW CCW CWP ON CW OFF 500ns 500ns 800ns CCWP ON CCW OFF CW CCW CWP CCWP ON OFF ON OFF 500ns 500ns 500ns 500ns 500ns CW CCW CWP A ON OFF CCWP B ON OFF 1.25s 2.5s 1.25s 600ns 600ns 6-27

(CLCN ) ON OFF (BRKC ) IN OUT WU WC rnthr 6-28

[ ] SVON JOG ON OFF ON OFF 30ms min. DIR ON OFF [ ] CW JA JV JA JA [ ] IPOS FW0 CCW JV IPOS FW0 6-29

(CLCN ) ON OFF (JOG ) ON OFF (DIR ) ON OFF (BRKC ) IN OUT WU WC 6-30

[ ] SVON ON OFF RS-232C MIN 30msec CR [ ] MV MA [ ] IPOS FW0 6-24 CR 0DH. 6-31

D C data ENT 3 s -1 5 461 5 461 3 s -1 6-32

3 s -1 10V 10V 3 s -1 AGV0.5 AGV1.0 AGV2.0 6-33

3 s -1 490mV 10V 10V490mV 3 s -1 3 s -1 10V 49mV 10V 3 s -1 6-34

/ N S K SP O N ENT A F / S T :/NSK ON :_ :AF/ST_ ENT :AF/ST AFxx :_ 6-35

R A / R P :RA/RP_ ENT :RA/RP 2_ BS :RA/RP 2 :_ / N S K SP O N ENT :/NSK ON :_ A F 2 $ ENT :AF2 :_ 6-36

MNS AL AL PLS AL AL 6-37

D C data ENT CW 4095 4095 CCW 6-38

CCW AC1 CW CW AC1 CW 10V 10V 10V 10V CCW CCW AGT0.5 AGT1.0 AGT2.0 6-39

CW 490mV 10V 10V 490mV CCW 6-32DBA100 AC1 CW 10V 49mV 10V CCW 6-40

DRDY ON OFF CPU 2 SVON ON OFF ON OFF 30ms max. 5ms max. RS-232C SV MS MO SV MS SV MS ON OFF ON OFF 1[s] min. SVON ON OFF 7-1

SVON EMST (A ) ON OFF ON OFF ON OFF 4[s] 7-2

STP ON OFF RS-232C ON RUN OFF MA CW CCW 10ms min. 10ms max. MD 10ms max. IPOS (FW0) 7-3

INH ON OFF 10ms max 10ms max CW CCW 7-4

CLR ON OFF CO 0 3ms max. 10ms 3ms max. 7-5

IOFF ON OFF 10ms max. 10ms max. IM0IM1 VG IM1IM2 VGLG VG 7-6

(CLCN ) ON OFF (JOG ) ON OFF (DIR ) ON OFF (BRKC ) IN OUT WU WC (A8) 7-7

7-8

7-9 BRKC WU WC IN OUT ON OFF CLCN (A8)

OTP ON OTM OFF 10ms max. 7-10

M O ENT :MO :_ / N S K SP O N ENT :MO :/NSK ON NSK ON :_ O T P / S T ENT :OTP/ST OTP123456 OTM0 :_ 7-11

O T M / S T ENT :OTM/ST OTP123456 OTM456789 :_ / N S K SP O N ENT :/NSK ON NSK ON :_ O T P 1 2 3 4 5 6 ENT :/NSK ON NSK ON :OTP123456 :_ / N S K SP O N ENT :/NSK ON NSK ON :_ O T M 4 5 6 7 8 9 ENT :/NSK ON NSK ON :OTM456789 :_ 7-12

DRDY ON OFF CPU 2 OVER 7-13

DRDY ON OFF SVON EMST ON OFF ON OFF BRK 7-14

7-15

ON (RS232C OFF RUN ) BRKC IN OUT FW IPOS (FW0) IPOS (FW0) WU WC IS ( IN ) 7-16

RS232C RUN IR100 IPOS IPOS FW0IS0 IPOS FW0IS0 FIN FW0IS0 CFIN FW0IS0 100ms FW1100ms FW () 100ms IN 7-17

7-18

7-19

7-20

7-21

HI +HI -HI HOME HW0 50msec 50msec HW0.550msec 7-22

7-23

SPD SO0 SB 0 ST ST SO1 ST ST 7-24

NMA0 NA NEARA NMA0 NMA ZAS ZAE NMB0 NB NEARB NMB0 NMB ZBS ZBE 7-25

RS232C RUN NEARA NMA0 NEARA NEARB NA20000 NB10000 20000 10000 10ms max NEARB NMB0 10ms max 7-26

ZAE ZAS ZBS ZBE NEARA ZAE ZAS ZBS ZBE NEARA NMA0 NEARB NMB0 NMA0.550ms 50ms 50ms 100ms NMB1100ms NEARB 7-27

/ N S K SP O N ENT N M A 1 # ENT :/NSK ON NSK ON :_ :NMA1 :_ M O ENT :MO :_ Z A S / S T ENT :ZAS/ST ZAS123456 ZAE0 :_ Z A E / S T ENT :ZAE/ST ZAS123456 ZAE456789 :_ 7-28

/ N S K SP O N ENT N M A 1 # ENT :/NSK ON NSK ON :_ :NMA1 :_ Z A S 1 # 2 $ 3 < :ZAS123456 :_ 4 > 5 % 6 & ENT Z A E 4 7 8 ( 9 ) > ENT 5 % 6 & :ZAS123456 :ZAE456789 :_ 7-29

CW CCW CHA A CHA A CHB B CHB B CHZ Z CHZ Z CHZ CHZ MSB CHZ MSB 7-30

CW 10V 10V CCW 7-31

7-32

IO0 :IO0 ABCDEFGHIJKLM 01000011/0010 : 0 OFF 1 ON IO0/RP :IO0RP ABCDEFGHIJKLM 01000011/0000 *1******/**0* * 0 OFF 1 ON 7-33

7-34

IO0 :IO0 ABCDEFGHIJKLM 01000011/0010 : 0 OFF 1 ON IO0/RP :IO0RP ABCDEFGHIJKLM 01000011/0000 *1******/**0* * 0 OFF 1 ON 7-35

7-36

:RP/RP 12345 16 10 :TP2/RP 123456 7-37

:TE/RP 12 :TV/RP 1.2000 s -1 7-38

511 A B C :TT/RP 383, 75.0 A16384/32767, 50.0 [%] 100[%] A3>Overload UVG VI LVGLVIL # [pulse] :TG/RP U,#, 1200, 600 [ms] 7-39

:TS1 PG0.1; VG10.0; VGL1.0; 7-40

:TA F3>Hardware Over Travel; F4>Emergency Stop; :_ :TC1 ID90000/10; CV0.5; : 7-41

:DP CH15,STA; 10000001(15)00/10; 10000000(15)00/10; 0 0 0 0 0 0 0 0 ( 0 0 ) 0 0 / 0 0 OVER DRDY INH STP PRG 1 PRG0~5 (10 ) RUN JOG OTP OTM CLR HOS EMST CH**,STA STA FIN ABO 7-42

:DP _10000011(15)00/10; _10000011(15)00/00; _10001011(15)00/00; _10001001(15)00/00; _CH15,ABO; _10001001(15)00/10; _CH15,STA; _10000001(15)00/10; _10000000(15)00/10; _10000000(11)00/10; _10000000(03)00/10; _10000000(02)00/10; _CH02,FIN; _CH02,STA; _10000001(02)00/10; _10000000(02)00/10; _10000000(00)00/10; _00000000(00)00/10; : DRDY Ready JOG DRDY Not Ready 15 15 15 02 02 02 SVON DRDY Ready 7-43

7-44

MN0 CW MN1 CW MN2 CW 8 7.5V 7.5V 10V 10V 10V 10V CCW CCW CCW 8 MN3 CW C MN4 MN5 CW 10V 10V 10V 7.5V 7.5V CCW CCW C MN6 MN7 MN8 CW 127 CW 16383 OL100 10V 10V 10V 10V 10V CCW 127 CCW 16383 7-45

7-46

/ N S K SP O N ENT :/NSK ON NSK ON :_ D I 1 # ENT :/NSK ON NSK ON :DI1 :_ YSB 270 614 400 0 0 AZ CW 180 409 600 90 204 800 7-47

0 AO10 000 10 000 409 600 819 199 0 399 600 809 199 819 199 T P P 5 % ENT / R :TP5/RP 12345 BS :TP5/RP 12345 :_ 7-48

M O ENT :MO :_ / N S K SP O N ENT :MO :/NSK ON NSK ON :_ A Z ENT NSK ON :AZ AO1234 :_ 7-49

7-50

YSB 2 147 483 648 AZ CCW CW 614 400 204 800 204 800 614 400 2 147 483 647 270 90 90 270 819 200 409 600 0 409 600 819 200 7-51

YSB 270 614 400 0 0 AZ CW 180 409 600 90 204 800 YSB AZ CCW CW P614 400 P204 800 204 800 614 400 270 90 90 270 P819 200 P409 600 0 409 600 819 200 360 180 0 180 360 PS 0. P 819 200 PS 360 PS 7-52

/ N S K SP O N :/NSK ON NSK ON :_ ENT D I 1 # ENT :/NSK ON NSK ON :DI1 :_ / N S K SP O N :/NSK ON NSK ON :_ ENT P S 0? ENT :/NSK ON NSK ON :PS0 :_ / N S K SP O N :/NSK ON NSK ON :_ ENT 7-53

A Z ENT :/NSK ON NSK ON :AZ :_ 7-54

1 2 1 2 VG VI FP FS NP NS 7-55

FF PG 7-56

PG VG VI ILV ILV ILV 7-57

DBP PG VG VI 7-58

RS232C RUN GP 5ms GT55ms 5ms VGLVIL VGVI VGLVIL 7-59

7-60

7-61

O N N S ENT K SP :/NSK ON NSK ON :_ C X 1 # ENT :CX1...... :_ C S 5 %, 2 $ ENT :CS5,2...... :_ M A 2 $, 1 # ENT :MA2,1...... :_ 7-62

7-63

MA( ) CY CY MA( ) 0 0 CY MA( ) MA( ) CY MA( ) CY MA( ) CY MA( ) CY MA( ) CY MV MV 0 0 C Z ENT :CZ 1 :_ 7-64

7-65

7-66 MA( ) MA( ) CY CY MV MA( ) CY MA( ) CY MA( ) MA( ) CY CY MV MA( ) CY MA( ) CY 0 0 0 0 MA( ) MA( ) MV 2 0 0 MA( ) MA( ) MV 2,..

NSK MEGATORQUE MS1A50_xxxx Exxxxxxxxxx :_.. 7-67

V56 H 47 H 030 H.2E H 535 H 0D H FHT11 ENT :VG0.5 :_ V G 0. 5 0DH V G 0. 5 0DH 0AH : 7-68

:/NSK ON NSK ON :_ / N S K 20H O N 0DH / N S K 20H O N 0DH 0AH 20H N S K 20H O N 0DH 0AH : 7-69

:VG0.5_ :VG0._ BS 08H V G 0. 5 08H V G 0. 5 08H 20H 08H :VG0.5_ BS 08H :VG0.5 VG0.5? :_ V G 0. 5 08H V G 0. 5 0DH 0AH 20H V G 0. 5? 0DH 0AH : 7-70

:ABCDE ABCDE? :_ ABCDE,. A B C D E 0DH A B C D E 0DH 0AH 20H A B C D E? 0DH 0AH : 7-71

:IR10 IR INHIBITED :_ IR,. I R 1 0 0DH I R 1 0 0DH 0AH 20H I R 20H I N H I B I T E D 0DH 0AH : 7-72

:TS2 FP0 FS0 NP0 NS0 :_ 1 2 1 2 MM 20H. T S 2 0DH T S 2 0DH 0AH 20H F P 0 0DH 0AH 20H F S 0 0DH 0AH 20H N P 0 0DH 0AH 20H N S 0 0DH 0AH : 7-73

7-74 : 0AH 0DH :?VG VG0.5 :_ 0DH G V? 20H 0AH 0DH G V? 5. 0 G V : 0AH 0DH :TP5 10000 :_ 0DH 5 P T 20H 0AH 0DH 5 P T 0 0 0 0 1

7-75

:MM0 :TS PG0.100 VG2.0 PE0 AE0 :TC/AL PH0 >TC0 AD0 CV2.0000 CA5.00,5.00 >TC15 : KP1 PG0.100 VG2.0 PE0 AE0 PH0 CH0 AD0 CV2.0000 CA5.00,5.00 CH1 AR3000 CH15 KP0 7-76

RS232C #0 #1 #2 #15 AN CM OFF NG OK AS 7-77

/ N S K SP O N ENT :/NSK ON NSK ON :_ C M 1 ENT / N S K SP O N ENT :/NSK ON NSK ON :CM1 :_ :/NSK ON NSK ON :_ A N 1 ENT :/NSK ON NSK ON :AN1 :_ 7-78

8 5V 1 RXD 3 TXD 7 CTS 2 RTS 5 DSR 4 DTR 6 GND No. 5V RXD TXD CTS RTS DSR DTR GND RXD TXD CTS RTS DSR DTR GND RXD TXD CTS RTS DSR DTR GND 0 1 2 7-79

NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX BM1 AS 0 OK AX0 1 OK AX1 #2 OK AX2 :_ 0. BM1. NSK MEGATORQUE MS1A50_XXXX EXXXXXXXXXX BM1 AS 0 OK AX0 1 ERR. AX2 #2 ERR. AX1 :_. 7-80

:AX2 ACC. AX2 :_ 2 :?AX ACC. AX2 :_ 1 AX1 NO YES ACC, AX1 1 IR100100 3 AX3 NO YES ACC, AX3 3 IR300300 2 AX2 7-56 7-81

A X 0 ENT AX0 A X 1 ENT AX1 :_ / N S K SP O N ENT C M 0 ENT :/NSK ON NSK ON :_ :/NSK ON NSK ON :CM0 :_ 7-82

8-1

8-2

8-3

8-4

8-5

8-6

8-7

8-8

CH0 CH1 CH2 CH3 CH61 CH62 CH63 CH0 CH1 CH2 CH60 CH61 CH62 CH63 8-9

8-10

CH0 CH1 CH2 CH3 CH61 CH62 CH63 CH0 CH1 CH2 CH3 CH4 CH62 CH63 8-11

8-12

8-13

閾閾 8-14

8-15

8-16

8-17

8-18

ON OFF FO 8-19

8-20

8-21

8-22

8-23

8-24

8-25

8-26

8-27

8-28

8-29

8-30

8-31

8-32

8-33

8-34

8-35

8-36

8-37

8-38

8-39

8-40

8-41

8-42

8-43

8-44

8-45

閾 8-46

:TA F3>Hardware Over Travel; F4>Emergency Stop; :_ 8-47

8-48

8-49

8-50

8-51

8-52

8-53

8-54

8-55

8-56

8-57

8-58

8-59

8-60

8-61

8-62

閾 8-63

8-64

閾 8-65

8-66

閾 8-67

8-68

閾 8-69

8-70

8-71

9-1

9-2

9-3

9-4

LED,. 10-1

:TA F1>Excess Position Error P0>Over Heat :_ :_ T A :TA_ ENT :TA F1>Excess Position Error :_ 10-2

T SP A / H I ENT :TA/HI now time=8 0>F1-0, 4; 1>F1-0, 1; 2>F1-0, 1; 3>F1-0, 1; 4>A1-0, 1; :_ / N S K SP O N ENT :/NSK ON NSK ON : 10-3

T A / C L ENT :/NSK ON NSK ON :TA/CL :_ 10-4

10-5

10-6

10-7

10-8

10-9

10-10

10-11

10-12

10-13

10-14

10-15

10-16

10-17

11-1

NO YES 10.. NO 11.2.1. 11.2.2., 11.2.3.. RUN.. 11.2.4..,. YES. 11-2

11-3 NO NO YES YES OK ON..

. YES 10.2.. NO ON. S V ENT IO0 I O 0? ENT SVON NO ( 1?) SVON ON. :IO0 ABCDEFGHIJKLM 10000000/1110 YES TL100? NO TL100. YES T L 1 # 0? 0? ENT NO YES. 5... 2. YES NO.. 11-3, 11-4

11-5 NO YES NO NO YES YES 2.., VG.?. 5.4.. 5....

! IO. 7.1.18.1. B3, 23 7.1.18.2. B5, 25. NO YES ON NO YES EMST, OTP, OTM! YES NO HOS YES NO HS YES HS NO NO! HOS OFF ON NO! NO YES HS HS NO YES YES YES HS YES CN2, CN5 NO. 2 NO YES 11-6

! HLS NO YES HO.! 6.2.1.2. 2. 11-7

RUN! NO YES 10.2.. NO ON. 11-3. YES EMST, OTP, OTM! YES EMST, OTP, OTM OFF. NO.! NO B3, 23 CN2 B5, 25 CN5 YES YES SP NO PRG05, RUN 6.2.2.. 2.. NO. YES. 11-8 11-8

!. NO YES 10.2.. NO ON. 11-3. YES! EMST, OTP, OTM NO YES EMST, OTP, OTM OFF. FW0 NO YES FW0. CN2 2.. NO. YES. 11-9

11-10 CN1., 9600bps. NO YES. 7.3.4..

:IO0 ABCDEFGHIJKLM 01000011/0010 : 0 OFF, 1 ON, :IO0RP ABCDEFGHIJKLM 01000011/0000 *1******/**0* A-1

EMST ON OFF ON OFF ON OFF A-2

:_ I O :IO_ / R P :IO/RP_ ENT :IO/RP ABCDEFGHIJKLM 00100000/0000 ********/**** RUN BS ABCDEFGHIJKLM 00100000/0000 ********/**** :_ A-3

:IO0 ABCDEFGHIJKLM 01000011/0010 : 0 OFF, 1 ON, :IO0RP ABCDEFGHIJKLM 01000011/0000 *1******/**0* * 0 OFF 1 ON A-4

EMST ON OFF ON OFF ON OFF A-5

:_ I O 2 # :IO2_ / R P :IO2/RP_ ENT :IO2/RP ABCDEFGHIJKLMN 0000001000/000 **********/*** RUN BS ABCDEFGHIJKLMN 0000001000/000 **********/*** :_ A-6

11 6 1 12 7 2 13 8 3 14 9 4 15 10 5 A-7

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 3 6 9 2 5 8 1 4 7 3 6 2 5 1 4 incremental A-8

D-Sub 8 7 15 4 INC-A INC-B INC-C common 1 4 7 2 B common A C incremental 6 5 14 10 ABS-A ABS-B ABS-C FG 3 6 9 B A C D-Sub 8 7 15 4 INC-A INC-B INC-C common 1 2 3 4 A B common C incremental 10 FG A-9

11 6 1 12 7 2 13 8 3 14 9 4 15 10 5 A-10

,. SI,. A-11

/ N S K SP O N ENT S I / S Y A-12

/ N S K SP O N ENT P A ENT / N S K SP O N ENT R O ENT V G ENT A-13

M-ESB-YSB3040A B 500 1, A 2, B A-14

A-15

PA CB A-16

U2 J3U102 U102 CB ROM ROM ROM ROM A-17

PA CB A-18

A-19

/ N S K SP O N ENT S I / S Y ENT A-20

* * 0 A-21

3.0 180 360 2.5 A 2.0 rps 1.5 1.0 B 0.5 0 YSB2020 YSB3040 0.1 0.5 1 5 10 50 100 500 GD 2 kgfm 2 YSB4080 YSB5120 YSB5240 0.05 0.1 0.5 1 5 10 50 100 kgm 2 A-22

RS232C TXD RXD RTS CTS DSR DTR SG CN1 1 TXD 3 RXD 7 RTS 2 CTS 4 DSR 5 DTR 6 SG FG 9 FG RS232C TXD RXD RTS CTS DSR DTR SG ESB CN1 1 TXD 3 RXD 7 RTS 2 CTS 4 DSR 5 DTR 6 SG FG 9 FG A-23

A-24

A-25

A-26

A-27

A-28

A-29

A-30

A-31

C20139-01 ESB 2003 9 3 1 1, NSK() 12

. 1-6-3 141-8560 1 1 2003 9 3 C20139-01 13