®

Megatorque Motors YSB Series

Significantly enhanced functionality at a low cost, absolute position sensor to omit Homing as standard Extended feature, and freely interchangeable motors and Lineup driver units to support random matching.

High Performance & Low-Cost

YSB Series Megatorque Motors

NSK, already recognized for introducing low-priced direct drive motors, has launched a new Megatorque Motor Series with enhanced functions whilst still maintaining a low cost. The YSB Series Megatorque Motor is suitable for a variety of industrial applications, including indexers in production equipment, semiconductor manufacturing and transportation equipment. Most notably, the Megatorque Motor has an absolute position sensor to omit Homing as standard equipment. In addition, the Megatorque Motor makes the functional improvement of random matching of motors and driver units to cut down the number of assembling steps and production management costs, as well as many other features that combine to reduce costs while increasing production efficiency. NSK proudly introduces the YSB Series Megatorque Motors, providing customers with sophisticated functions at low prices.

C O N T E N T S Features of YSB Series Megatorque Motor 1. System Configuration 1.1 System Configuration 1.2 Application 1.2.1 Examples of Application 2. Megatorque Motors 2.1 Coding of Motor Reference Number 2.2 Motor Specifications 2.3 Dimensions of Standard Motor 2.4 Option 2.4.1 Brake 2.4.2 Dust-Proof Option 2.4.3 Dimensions of Dust-Proof Motor 2.4.4 Motor with Highly Accurate Rotor Surface Runout 2.4.5 Motor for Highly Accurate Absolute Positioning 2.4.6 Reference Number Coding of Motors for Highly Accurate Absolute Positioning 2.4.7 Motor with Metal Housing Connectors 3. ESB Series Driver Unit 3.1 Coding of Driver Unit Reference Number 3.2 Driver Unit Specifications 3.2.1 Standard Model (ESBB3) 3.2.2 Optional Functions 3.3 ESBB3 Driver Unit 3.3.1 Input/Output Signal Specifications of CN2 Connector 3.4 ESBB5 Driver Unit (Option) 3.4.1 Input/Output Signal Specifications of CN2 Connector 3.4.2 Input/Output Signal Specifications of CN5 Connector 3.5 Electrical Specifications of CN2 and CN5 Connectors 3.6 Option

1

3,4 5 5 6 7 7 8 10 10,11 12 12 12 13 13 13 14 14 14 14 15 15 16 16 17 18 19

3.6.1 Driver Unit with Thermal Sensor Terminal Block 3.6.2 General Output Signal Specifications of Driver Unit with Thermal Sensor Terminal Block 3.7 Field Bus Specifications (Option) 3.7.1 Features of ESBBC Driver Unit (CC-Link) 3.7.2 CC-Link Specifications 3.7.3 CC-Link System Configuration 3.7.4 CC-Link Interface 3.8 Wiring Example 4. Cable Sets 4.1 Coding of Reference Number 4.2 Dimensions of Standard Cable Set 4.3 Dimensions of Dust-proof Cable Set 5. Handy Terminal 5.1 Coding of Reference Number 6. Characteristics/Accuracy 6.1 Speed/Output Torque 6.2 Runout 7. Selection 7.1 Estimation of Actual Load 7.2 How to Use Charts for Minimum Positioning Time 8. Combination 8.1 Motors Equipped With Absolute Position Sensor 8.2 Motors with Brake 8.3 Dust-Proof Motors 8.4 Fixed Cables 8.5 Flexible Cables 8.6 Dust-Proof Cables 9. International Safety Regulations 9.1 CE Marking 9.2 Underwriters’ Laboratory (UL)

19

19 20 21 21 21 21 22 23 24 24 25 26 26 27 27 29 30 31 32 32 32 33 33

2

Features of YSB Series Megatorque Motors Point

1: Direct Drive

The Megatorque Motor is capable to drive the load directly without using a mechanical speed reducer, and accordingly, it realizes highly accurate positioning without backlash and lost motion. A Megatorque Motor is a servomotor that equips a position detector to form full closed loop control. Point

2: High Accuracy

The YSB Series Megatorque Motor incorporates a high-resolution position detector (resolver) that features 819 200 pulses/revolution. This contributes to an exceptionally precise repeatability of ±1.6 arc seconds. Point

3: High Reliability

The Megatorque Motor is a brushless motor and does not use permanent magnets in its simple construction. It is equipped with a highly rigid and accurate roller bearing (crossed roller bearing), which is packed with lubrication grease, thus offering highly reliable and long-term maintenance-free operation.

Point

YSB Series Megatorque Motors

4: Highly Functional Driver Unit

The YSB Series Megatorque Motor constitutes a system in combination with an ESB Driver Unit for a digital servo control incorporating a 32-bit microprocessor. The ESB Driver Unit has a number of command inputs necessary for motion control, thus permitting its connection with sequencers, a variety of positioning controllers and personal computers, etc. In addition, acceleration profiling and networking functions through various field buses are available.

Standard Feature Homing

Absolute Position Sensor Current Series

Power off Home position

Power off

Point

5: Include Absolute Position Detector as Standard Equipment

The YSB Series Megatorque Motor has an absolute position detector as standard equipment. This contributes to eliminate the troublesome Homing and thus improves productivity. Additionally, the motors and the driver units can be randomly matched as a pair. Cable can be freely selected up to lengths of 30m. Point

6: Conformity to the International Safety Regulations

The Megatorque Motor systems conform to the EC Directives (CE Marking) and Underwriters’ Laboratory (UL) regulations.

Random Matching of Motors and Driver Units

YSB Series

No Homing Required No Home Sensor Wiring Required An Optional Function

Field Bus for Open Network

Controller

YSB 2020 (YSB 3040)

ESBB3 or ESBB5

3

4

1. System Configuration

YSB Series Megatorque Motors

1.1 System Configuration Handy Terminal FHT11

1.2.1 Examples of Application

✽

24V DC Power source

HANDY TERMINAL

1#

2$

3

4

5% -+

6&

7'

8(

9)

0?

.-

A

B C D E

F

G H

I

J

K

ESB type Driver Unit

L

• Sequencer • Pulse train controller CD or DVD

Megatorque Motor (Processing station)

Robot arm

✽

Megatorque Motor (Loading/Unloading station)

M N O P Q R S

T

U V W X

Y

Z

?

SHIFT

ESC

CTRL

/ BS

SP

POWER

ENT

DISP.

RS-232C communication

Processing equipment side

CN1 RS-232C

Stocker

Control power

CN4

Megatorque Motors

Control I/O signal

CN2

MOTOR

Main power

TB1

Single-phase 200—230V AC Single-phase 100—120V AC

CTRL AC100230V

N

L

MAIN AC200230V

N

YSB Series Megatorque Motor ✽

L

CN3

Transportation equipment side

Megatorque Motor (Assembly/Inspection station)

Type No.

NSK Ltd. MADE IN JAPAN

Robot arm and stocker for CD/DVD processing line

Electrical component processing line

Cable set ✽ Resolver cable Motor cable

✽

Provided by NSK.

1.2 Application Features and Main Reason for Incorporation Classification

Application High Accuracy CVD, Wafer cleaning, Ion implanting

Semiconductor manufacturing equipment LCD manufacturing equipment

Assembly machines

Wafer polishing, CMP etc Semiconductor transportation/ Inspection/Processing LCD transportation/Inspection/ Processing Electric component assembly machines Electronic component high speed assembly machines

Various assembly machines

Inspection/Testing apparatus

Robots

Transportation

5

High Rigidity

✓

✓

Compactness

Cleanliness

Maintenance Free

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

✓

Automotive parts assembly machines

Machine tools

High Speed

✓

Tool rest feeding and ATC magazines

Driving mechanism of ATC magazine Tools

✓

✓

✓

✓

✓

✓

✓

Machinery parts inspection

✓

✓

✓

Electric component inspection

✓

✓

✓

Optical component inspection

✓

✓

✓

Liquid medicine inspection

✓

✓

✓

Various inspection/Testing apparatus

✓

✓

✓

Various assembly robots

✓

✓

✓

✓

Various transportation robots

✓

✓

Inspection/Transportation robot in clean rooms

✓

✓

✓

Various work transportation equipment

✓

✓

✓

✓

✓ ✓

Processing line for automotive parts

Megatorque Motors Megatorque Motor

✓ ✓

6

2. Megatorque Motors

YSB Series Megatorque Motors 2.3 Dimensions of Standard Motor YSB2020 equipped with absolute position sensor

YSB 5120 2- φ 6H7 ( +0.012 )×7 0 (Chamfer C0.5) ✽(145) 130+– 0.2

Output rotor mounting holes 6-M5×0.8×7 P.C.D.120 (60° equal pitch) (6) (1.5)

2- φ 6H7 ( +0.012 )×5 0 (Chamfer C0.5)

105+– 0.4 ✽(42) 39 ✽(3)

✽(R85)

(φ 164.5) 0 φ 130h8 –0.063 φ 110 +0.1 0 (φ 30)

✽(145)

YSB 3040 Base mounting holes 4-φ 7 drill-thru

2.1 Coding of Motor Reference Number ✽(80)

Example of Reference Number:

(126)

YSB 2020

(115)

2

+–0.0

120

130+– 0.2

2 .0

. 5°

+0

22

0– 15

YSB 4080

✽(R22)

45°

M-YSB 2 020 K N 001

YSB Series Megatorque Motor

Design serial number 001: Standard 002: Metal housing connectors 601: Dust-proof type 701: Highly accurate upper surface runout 801: Highly accurate absolute positioning(1)

Motor size code

Connector: JST Corp.ELR-09V

✽(46.5)

✽(54)

Connector: JST Corp.ELR-15V

Unit: mm

For the dimensions marked ✽, an extra 2–3 mm margin is required for your workspace due to their variations.

N: No brake G: With brake

Maximum output torque (N•m)

K: Standard (Incorporates absolute position sensor.) J: Optional (Incorporates incremental position sensor.)(2)✽ ✽

Origin sensor wiring is required.

YSB3040 equipped with absolute position sensor

2.2 Motor Specifications M-YSB3040KN001

M-YSB4080KN001

M-YSB5120KN001

20

40

80

120

Maximum output torque

(N m)

Maximum current

(A)

6

Maximum rotational speed(3)

(s-1)

3

Resolution of position sensor

(pulse/r)

2- φ 6H7 ( +0.012 )×8 0 (Chamfer C0.5) ✽(180)

Output rotor mounting holes 6-M6×1.0×8 P.C.D.145 (60° equal pitch)

160+– 0.2

✽(5)

✽(R31)

9 500

19 600

60

80

160

400

Mass

(kg)

10

18

32

58

2

(N m)

+–0.0

Allowable moment load

(135)

4 500

(φ 206.5) 0 φ 155h8 –0.063 φ 135 +0.1 0 (φ 44)

3 700

✽(180)

(N)

160+– 0.2

Allowable axial load

2 .0

±1.6

+0

(sec)

45° 0– 19

Repeatability

Ambient temperature 0-40°C; Humidity: 20-80%; Use indoors, free from dust, condensation and corrosive gas. IP30 equivalent.(4)

Notes: (1) When using the highly accurate absolute positioning type, motors and driver units are not interchangeable. (2) A motor equipped with an incremental position sensor is also available. Please consult with NSK. (3) Consult with NSK if the motor rotates in one direction continuously at a high speed exceeding 2 (s -1), or oscillates in a very minute angle. Maintain the flatness of motor mounting surface 0.02 mm or less, and mount the jigs so that its center alignment is not off the rotational axis of the motor. Otherwise it will adversely affect the life of the motor. (4) IP30 is defined as below in a regulation of IEC 529 (International Electronics Commission). First digit following IP indicates the protection grade against solids. The number 3 indicates protection against penetration of a solid of 2.5 mm or larger into an enclosure. The second digit indicates the protection grade. The number 0 means there is no protection against water.

7

44

22.5°

145

150

Environmental conditions

2- φ 6H7 ( +0.012 )×5 0 (Chamfer C0.5) ✽(50)

819 200

Absolute positioning accuracy (sec)

•

125+– 0.4 (4) (1)

✽(R105)

•

M-YSB2020KN001

(145)

Motor Reference Number Functional Item (Unit)

Base mounting holes 4-φ 10 drill-thru ✽(80) Connector: JST Corp.ELR-09V

✽(46.5) Connector: JST Corp.ELR-15V

✽(62)

Unit: mm

For the dimensions marked ✽, an extra 2–3 mm margin is required for your workspace due to their variations.

8

YSB Series Megatorque Motors 2.4 Option 2.4.1 Brake

YSB4080 equipped with absolute position sensor

2- φ 8H7 ( +0.015 )×8 0 (Chamfer C0.5)

Output rotor mounting holes 6-M6×1.0×8 P.C.D.190 (60° equal pitch)

2- φ 8H7 ( +0.015 )×8 0 (Chamfer C0.5)

125+– 0.4

(6) (4.2)

✽(235) 210+– 0.2

43 ✽(16) ✽(9)

22.5°

✽(R140)

✽(R59)

✽(R45)

(φ 270.4) 0 φ 205h8 –0.072 φ 175 +0.1 0 (φ 50)

✽(235)

✽(R130)

45°

(1) Outline Dimensions of Motor with Brake and Brake Specifications 2 .0

+0

(181)

0– 25

(170)

2

+–0.0

190

210+– 0.2

A motor with a brake is available for use when a motor must be stopped while under load for a long periods or when there is a risk that a rotor may rotate due to load imbalance when the motor is powered off.

Base mounting holes 4-φ 12 drill-thru ✽(80) Connector: JST Corp.ELR-09V

✽(53) Connector: JST Corp.ELR-15V

Unit: mm

Dimensions Motor (mm) Reference Number M-YSB2020KG001

D1

D2

H1

H2 D1

18

80

100

115

43

M-YSB3040KG001

20

100

125

137

51

M-YSB4080KG001

18

125

150

137

63

M-YSB5120KG001

46

160

190

145

69

H1

Brake Torque (N• m)

Brake Voltage (V)

Brake Power Capacity (W) 24

Brake Release Time (ms) 60

Brake Operating Time (ms) 30

H2

26

80

40

40

140

50

50

210

80

For the dimensions marked ✽, an extra 2–3 mm margin is required for your workspace due to their variations.

Motor Reference Number

YSB5120 equipped with absolute position sensor

D3

M-YSB2020KG001

18

M-YSB3040KG001

36

M-YSB4080KG001

72

M-YSB5120KG001

145

24V DC

D2 D3

✽24V DC power supply is not included. The M-FZ063-1 (DC 90V) brake power unit for the YS Megatorque Motor cannot be used. 2- φ 10H7 ( +0.015 )×10 0 (Chamfer C0.5) ✽(310) 280+– 0.2

Output rotor mounting holes 6-M8×1.25×10 P.C.D.260 (60° equal pitch) (5.7) (4.3)

2- φ 10H7 ( +0.015 )×10 0 (Chamfer C0.5)

130+– 0.4

(2) Brake sequence function

48

The brake sequence function and BRK signals provided by the ESB Driver Unit eliminate the ON/OFF timing operations of the brake power supply and servo loop integral action conventionally controlled by the user device.

✽(5)

22.5°

45° ✽(R170) ✽(R185)

✽(R60) ✽(R70) ✽(R90.5)

(φ360) 0 φ 280h8 –0.081 φ 240 +0.1 0 (φ 85)

✽(25) ✽(50)

Positioning start (RUN input)

ON OFF

Brake control signal (BRK output)

ON OFF

Completed positioning (IPOS output)

ON OFF

2 .0

Unit: mm

For the dimensions marked ✽, an extra 2–3 mm margin is required for your workspace due to their variations.

9

Brake power-on

+0

✽(53) Connector: JST Corp.ELR-15V

Clamped Unclamped

Servo loop integrator (2) OFF (ESB Driver Unit internal processing) ON

Base mounting holes 4-φ 14 drill-thru ✽(80)

Brake power-off

Brake release time+α(1)

Brake operation

Connector: JST Corp.ELR-09V

Servo ON Servo OFF

0– 34

(215) (226)

2

+–0.0

260

✽(310) 280+– 0.2

Motor servo (SVON input)

Motor operation

Clamp

Unclamp

Integrator OFF

Integrator ON

Brake power-off

Brake operating time +α(1) Clamp Integrator OFF

Motor rotation

(1) Set with internal parameters of the ESB Driver Unit. (2) Braking the motor with the integrator ON causes the motor to continue to supply the maximum current causing the motor to overheat. The integrator should be OFF while the brake is functioning and turned it ON only before releasing the brake.

10

YSB Series Megatorque Motors 2.4.2 Dust-Proof Option (Please consult with NSK for this product.)

(3) Wiring Example When Using Brake

● A dust-proof motor corresponding to the IP50 is available for applications subject to dust exposure. Example of reference number of dust-proof motor: M-YSB2020KN601 Megatorque motor

Note: The dust-proof unit cannot be applied to a motor with a brake.

● Compatible with the ESB Driver Unit. ● Please use dust-proof cables. Example of reference number of dust-proof cable: M-C004SB23

(Prepared by users) Power unit for brake Brake

2.4.3 Dimensions of Dust-Proof Motor

CR Red/Green lead wire (+) 24V DC

Protective element ✽

YSB2020 Dust-Proof Type

Blue/Green lead wire (–)

2- φ 6H7 ( +0.012 )×7 0 (Chamfer C0.5) ✽(145) 130+– 0.2

FG

Output rotor mounting holes 6-M5×0.8×7 P.C.D.120 (60° equal pitch) (6) (1.5)

2- φ 6H7 ( +0.012 )×5 0 (Chamfer C0.5)

105+– 0.4 ✽(42) (39) ✽(3)

45° ✽(R85)

110 +0.1 0 (φ 30)

(φ 164.5) 0 φ 130h8 –0.063

✽(145) 130+– 0.2

2 .0

0V

(137)

(115)

1

Brake output

2

COM

CR

+–0.0

3

120

BRK

+0

Connector CN2

.5° 22

0– 15

+24V

✽(R22)

Driver Unit

Base mounting holes 4-φ 7 drill-thru

✽(80)

● The BRK output of CN2 can be used for brake control.

CONINVERS RC-09P1N8A2300

Unit: mm

● When connecting inductive loads such as a relay, as shown above, to the driver unit output, the rated voltage of loads should be 24V DC and the rated current should be 100 mA or less. Be sure to provide surge protection.

For the dimensions marked ✽, an extra 2–3 mm margin is required for your workspace due to their variations.

● Be sure to use the attached protective element (marked with ✽ in the above wiring example) to protect against surge currents. Manufacturer: Nippon Chemi-Con Corporation Product name: Ceramic Varistor TNR Type: TNR14V560K

✽(54)

✽(46.5) CONINVERS RC-12P1N8A2300

Please note that the shape of hatching part dust-proof seals is subject to change.

2.4.4 Motor with Highly Accurate Rotor Runout A motor with highly accurate rotor surface runout is available. Example of reference number of motor with highly accurate rotor-surface runout: M-YSB2020KN701 (mm)

Precautions

Specification Value Item Standard

Highly Accurate Type Rotor

● This is a power-off activated electromagnetic brake that functions with a negative charge.

(1) Rotor axial runout

0.050 or less

0.010 or less

● The 24V DC power supply is not included. The M-FZ063-1 (90V DC) brake power unit for the YS Megatorque Motor cannot be used.

(2) Rotor radial runout

0.050 or less

0.050 or less

Rotor axial runout

1 2

Rotor radial runout

● Be sure to keep iron powders or oil away from brake surfaces. ● Iron materials near a brake may interrupt operation; therefore allow for at least 15 mm clearance around the brake during installation.

11

12

3. ESB Series Driver Units 2.4.5 Motor for Highly Accurate Absolute Positioning A motor for highly accurate absolute positioning is available for applications such as inspection apparatus requiring absolute positioning accuracy. Absolute positioning accuracy

25 sec or less (environmental temperature: 25˚C)

2.4.6 Reference Number Coding of Motors for Highly Accurate Absolute Positioning Example of Reference Number:

M-YSB 2 020 K N 801 B A A 3 00 00: Pulse train input (Photo coupler) 01: Pulse train input (Line receiver) 02: With thermal sensor terminal block (Photo coupler) 03: With thermal sensor terminal block (Line receiver)

YSB Series Megatorque Motors Motor size code Maximum output torque (N•m) K: Incorporates absolute position sensor J: Incorporates incremental position sensor

ESB Driver Unit

3: Standard (Max. 16 channels) 5: Extended program capacity (64 channels) Analog velocity command A: DeviceNet B: PROFIBUS C: CC-Link

A: 200–230V AC (single-phase) C: 100–120V AC (single-phase)

1: Incorporates incremental position sensor A: Incorporates absolute position sensor

N: No brake G: With brake 801: Highly accurate absolute positioning

To ensure high accuracy of absolute positioning, the YSB Series Megatorque Motor and the ESB Driver Unit will be shipped with the specified cable length to match. (The YSB Series Megatorque Motor and the ESB Driver Unit are not interchangeable.)

Use the motor and driver unit with the same serial numbers and do not change the specified cable length. In addition, a motor for highly accurate absolute positioning is also compatible with highly accurate rotor runout specification (see 2.4.4).

Model ESBB3

3.1 Coding of Driver Unit Reference Number Example of Reference Number:

Design serial number 00: Pulse train input (Photo coupler) 01: Pulse train input (Line receiver) 02: With thermal sensor terminal block (Photo coupler) 03: With thermal sensor terminal block (Line receiver) Function 3: Standard (Max. 16 channels) 5: Extended program capacity (64 channels) Analog velocity command available A: Device Net B: PROFIBUS C: CC-Link

M-ESB YSB2020 A B 3 00

ESB type Driver Unit Motor size code Main power voltage A: 200–230V AC (single-phase) C: 100–110V AC (single-phase) Specification of position sensor 2: Incorporates incremental position sensor B: Incorporates absolute position sensor

3.2 Driver Unit Specifications 3.2.1 Standard Model (ESBB3) Position command Input signal Output signal

2.4.7 Motor with Metal Housing Connectors

Internal Program, Pulse Train Input, RS-232C Communication

Pulse train input

Maximum frequency: 819.2 Kpps

Control input

Input pulse format: CW/CCW, Pulse and direction, or Quadrature

Position feedback signal (1)

Output format: Line driver (Only

Control output

Driver Unit ready, In position, Brake control, Velocity threshold, Target proximity/In target area

A/ B

Z can be switched to open collector)

Alarms

Excess position error, Software thermal, CPU error, Position sensor error, Over current, Over heat, Main AC line trouble, Control AC line under voltage

Monitoring function

Analog velocity monitor, Alarm status, RS-232C communication monitor (Parameters, program contents, position data, and alarm status)

Communication

RS-232C serial communication, Baud rate: 9600 bps.

● Compatible with the ESB Driver Unit.

Others

Automatic gain adjustment by RS-232C communication command (Automatic tuning) Programmed acceleration profiling (2) (Modified sine, modified trapezoid, cycloid and arc patterns)

● Please use dust-proof cables. Example of dust-proof cable reference number: M-C004SB23

Main power voltage

Note:

Environmental condition

● Motor is IP30 equivalent and it is not dust-proof specification.

3.2.2 Optional Functions

● Motor with durable, metal connectors to prevent handling damage.

YSB2020 with Metal Housing Connectors

● Example of motor reference number: M-YSB2020KN002

Main power capacity

CONNECTOR: CONINVERS RC-12P1N8A2300 CONNECTOR: CONINVERS RC-09P1N8A2300

13

Model ESBB5

200–230V AC, ±10%, Single-phase 50/60 Hz

100–120V AC, ±10%, Single-phase 50/60 Hz

YSB2020: 1.0KVA

YSB2020: 0.7KVA

YSB3040: 1.2KVA

YSB3040: 0.9KVA

YSB4080: 1.4KVA

YSB4080: 1.0KVA

YSB5120: 1.5KVA

YSB5120: 1.0KVA

Operating temperature: 0–50°C; Humidity: 20–90%; Use indoors. Free from dust, condensation, and corrosive gas.

Extended program capacity

Internal program 64 channels

Analog velocity command (Analog torque command)

±10V analog command

Compatible to field bus (3)

CC-Link (4), PROFIBUS, DeviceNet (5)

Notes: (1) Resolution of the position feedback signal is 51 200 (pulse/r). (2) Function of acceleration profiling is not available for the field bus specifications. (3) Detailed consultation with NSK is required for the field bus specifications. (4) CC-Link is the registered trademark of CC-Link Association. (5) DeviceNet is the registered trademark of Open DeviceNet Vendor Association Incorporated.

14

YSB Series Megatorque Motors 3.3 ESBB3 Driver Unit

3.4 ESBB5 Driver Unit (Option) Dimensions of Driver Unit

CN2

Dimensions of Driver Unit

CN2

Standard ESBB3 (16 channels)

CN2 Pin out

ESBB5 (Extended in program capacity)

CN2 Pin out

80

95

75

75

50

50

170

215

CN2

180

MOTOR

TB1 CTRL L AC100230V N

VEL GND

MAIN L AC200230V N CN3

24 23 22 21 20 19 18 17 16 15 14

Type

10

DC24 EMST HLS PRG2

9

PRG0

8

CWP+ CCWP+ CHA CHB ∗CHZ OUT1 DRDY– COM

12 11

7 6 5 4 3 2 1

POWER

VR1 MON. GND

CN1 RS-232C

RS-232C

CN4

25

DISP.

DISP. CN1

SVON RUN PRG3 PRG1 CWP– CCWP– ∗CHA ∗CHB CHZ SGND DRDY+ IPOS

6

CN4 MOTOR

CN2 CN5

TB1 CTRL L AC100230V N

215

POWER

13

8.5

8.5

6

180

170

VEL GND

MAIN L AC200230V N CN3

SVON IOFF HOS OTM CWP– CCWP– ∗CHA ∗CHB CHZ SGND DRDY+ IPOS

25 24 23 22 21 20 19 18 17 16 15 14

10

DC24 EMST HLS CLR

9

OTP

8

CWP+ CCWP+ CHA CHB ∗CHZ BRK DRDY– COM

13 12 11

7 6 5 4 3 2 1

Type No.

NSK Ltd. MADE IN JAPAN

No.

NSK Ltd. MADE IN JAPAN

Unit: mm

3.3.1 Input/Output Signal Specifications of CN2 Connector Input/Output Signal Code Pin No.

Input signal

CWP+

8

CWP–

21

CW pulse train (–)

CCWP+

7

CCW pulse train (+)

CCWP–

20

EMST

CW pulse train (+)

Input signal

Input signal

15

Input/Output Signal Code Pin No.

Signal Name

Function

CWP+

8

CW pulse train (+)

CWP–

21

CCW pulse train (–)

The motor rotates counterclockwise by the pulse train input.(1) (This part can be a pulse train or a A signal.)

CW pulse train (–)

12

Emergency stop

Stops the motor and locks the servo.

CCWP+

7

CCW pulse train (+)

SVON

25

Servo on

This signal sets the motor servo on state.

CCWP–

20

CCW pulse train (–)

PRG0

9

Internal program • channel selection 0 (2)

PRG1

22

Internal program • channel selection 1 (2)

EMST

12

Emergency stop

Stops the motor and locks the servo.

PRG2

10

Internal program • channel selection 2

SVON

25

Servo on

This signal sets the motor servo on state.

PRG3

23

Internal program • channel selection 3

11

A combination of ON and OFF of these 0–3 signals selects a channel (0–15) to execute its internal program.

Input signal

The motor rotates counterclockwise by the pulse train input. (This part can be a pulse train or a A signal by switching.)

HLS

11

Home position limit switch

After Homing starts, this signal’s activation completes the Homing.

Home position limit switch

CLR

10

Clear input

This signal clears alarm state and errors in the position error counter.

IOFF

24

Integral OFF • Lower gain

Switches lowering gain function ON and OFF.

OTP

9

Overtravel limit (+)

Overtravel limit input for clockwise rotation

OTM

22

Overtravel limit (–)

Overtravel limit input for counterclockwise rotation

HOS

23

Start homing

To be used for Homing

DC24

13

External power supply

External power supply for the input signals (24V DC, 0.2A or over)

CHA

6

Position feedback signal

A

CHB

5

Position feedback signal

B

CHZ

17

✽CHA

19

Position feedback signal ✽ A

✽CHB

18

Position feedback signal ✽ B

✽CHZ

4

✽ Z/Digital position signal MSB

SGND

16

Signal ground

DRDY+

15

Driver Unit ready (+)

DRDY–

2

Driver Unit ready (–)

This signal notifies that the Driver Unit is ready for operation. (This signal opens when the Driver Unit is not ready or an alarm is given.)

IPOS

14

Positioning completed

This signal notifies a completion of positioning.

BRK

3

Brake control signal

Output signal of brake control (Normally closed)

COM

1

Output signal, common

Common for position complete and brake control signals

RUN

24

Positioning start

Starts the internal program of selected channel

DC24

13

External power supply

External power supply for the input signals (24V DC, 0.2A or over)

CHA

6

Position feedback signal

A

CHB

5

Position feedback signal

B

CHZ

17

✽CHA

19

✽CHB

18

Position feedback signal ✽ B

✽CHZ

4

✽ Z/Digital position signal MSB

SGND

16

Signal ground

Z/Digital position signal MSB

Pulse signals indicate a rotational speed of the motor Output format is line driver. (A jumper can switch Z signal only to the open collector format.)

Position feedback signal ✽ A Reversed output of position feedback signal Ground connection for position feedback signal

DRDY+

15

Driver Unit ready (+)

DRDY–

2

Driver Unit ready (–)

This signal notifies that the Driver Unit is ready for operation. (This signal opens when the Driver Unit is not ready or an alarm is given.)

IPOS

14

Positioning completed

This signal notifies a completion of positioning.

OUT1

3

Brake/Velocity threshold/ Target area proximity/Warning

Output signal of brake control (Normally closed) (3)

COM

1

Output signal, common

Common for position complete and brake control signals

Signal Code

The motor rotates clockwise by the pulse train input. (This part can be a direction or signal B.)

After a start of Homing, an activation of this signal completes the Homing.

Notes: (1) When looking at the motor from the rotor side. (2) These 2 signals can be switched to the following signals by the setting of a parameter.

Input/Output

3.4.1 Input/Output Signal Specifications of CN2 Connector Function

The motor rotates clockwise by the pulse train input.(1) (This part can be a direction or a B signal.)

HLS

Output signal

Signal Name

Unit: mm

Pin No.

(3) These signals can be switched to the signals outlined below by the setting of parameters. SPD: Velocity output, NEAR: Target proximity/In target area, OVER: Warning.

Signal Name

Function

JOG

9

Jog

Starts jog

DIR

22

Setting rotational direction

This signal is to set the rotational direction of jog.

OTP

9

Overtravel limit switch (+)

Overtravel input signal for clockwise rotation

OTM

22

Overtravel limit switch (–)

Overtravel input signal for counterclockwise rotation

Output signal

Z/Digital position signal MSB

Pulse signals indicate a rotational speed of the motor. Output format is line driver. (A jumper can switch Z signal only to the open collector format.)

Reversed output of position feedback signal

Ground connection for position feedback signal

16

YSB Series Megatorque Motors 3.5 Electrical Specifications of CN2 and CN5 Connectors CN5 Pin out

● General Inputs

95 75 50

170

VR1

DISP.

MON. GND

—

37

INH

36

—

35

— —

34 33

—

32

CN1

DIR

31

RS-232C

POWER

JOG

30

—

29 28

—

MOTOR

180

CN4 CN2 CN5

TB1 CTRL L AC100230V N

215

8.5

6

VEL GND

MAIN L AC200230V N CN3

NON+ MON–

27

— —

25

26 24

—

23

HCMP

22

HOME SPD

21

Type No.

NSK Ltd. MADE IN JAPAN

20

19 18 17 16 15 14 13 12 11

DC24 STP RUN PRG5 PRG4 PRG3 PRG2

24V DC±10%

Impedance

3.3k Ω

Input current

10 mA or less (per port)

— —

8

AIN+

✽

✽ Can be used as a minus common.

Driver Unit side

● Pulse Train Inputs

120

Input voltage

5V DC±10%

7

AIN–

6

— —

Impedance

240 Ω

NEARB NEARA OVER COM

Input current

25 mA or less

5 4 3 2 1

3.3k

PRG1 PRG0

9

10

24V DC

Input voltage

Input H (+) 390

CN5

ESBB5 (Extended program capacity)

680

Dimensions of Driver Unit

120

Input L (–) Driver Unit side

Unit: mm

● General Outputs

3.4.2 Input/Output Signal Specifications of CN5 Connector Input/Output

Signal Code

Pin No.

Signal Name

Output signal

19

External power supply 24V DC

Power supply for input signals (24V DC, 0.2A or over)

STP

18

Positioning stop

Interrupts positioning.

RUN

17

Positioning start

Starts an internal program of selected channel.

PRG0

11

Internal program •Channel selection 0

PRG1

12

Internal program •Channel selection 1

Saturation voltage

2V or less Driver Unit side

● Position Feedback Signals

Output format A combination of ON and OFF of these 0–5 signals selects a channel (0–64) to execute its internal program.

13

Internal program •Channel selection 2

PRG3

14

Internal program •Channel selection 3

PRG4

15

Internal program •Channel selection 4

PRG5

16

Internal program •Channel selection 5

JOG

30

Jog

Starts jog.

DIR

31

Jog direction

Sets direction of jog.

AIN+

8

Analog command input

AIN–

7

Ground of analog command input

INH

36

External command prohibited

Prohibits accepting the pulse train input or analog input command.

MON+

27

Analog monitor output

Analog output to monitor controlled status of the motor

Input port for velocity or torque analog command when specified

Line driver • CHZ, ✽CHZ, Line driver or open collector

Driver used

Recommendable line receiver

Texas Instruments Inc. SN75ALS193 or AM26LS32 equivalent

Maximum collector current

100 mA

SGND

Driver Unit side

Maximum collector voltage

24V DC

Saturation voltage

1V or less

CHZ

∗CHZ At open collector format

SGND

● Analog Command Inputs

Driver Unit side

20k

Maximum input voltage

±10V

Monitor output ground

Ground for the monitor output

Impedance

20 kΩ

HCMP

22

Home position established

This signal notifies that the home position is fixed.

Maximum input current

0.5 mA

HOME(2)

21

Homing completed/Tell home position

Reports completion of homing or home position.

SPD

20

Velocity threshold

Reports motor speed.

COM

1

Control output common

Common for control output signal

OVER

2

Warning

This output closes when a warning is given.

Output format

Operation amplifier output

NEARA(1)

3

Target proximity/In target area A

Reports the motor is approaching the target or the motor is in the target area.

Maximum output voltage

±10V±10%

Notes: (1) You may select “Target proximity” or “In target area” by setting a parameter. (2) You may select “Homing completed” or “Tell home position” by setting a parameter.

∗CHA ∗CHB

SN75ALS912

26

Target proximity/In target area B

CHA CHB

Texas Instruments Inc.

MON–

4

Output (+)

Output (–)

• CHA, ✽CHA, CHB, ✽CHB,

PRG2

NEARB(1)

17

24V DC/50mA

Function

DC24

Input signal

Maximum switching capacity

AIN+

–

AIN–

+ Driver Unit side

10k

● Analog Monitor Outputs

Saturation current

1000p

4 mA or less

– MON+ + MON– Driver Unit side

18

YSB Series Megatorque Motors 3.6 Option

3.7 Field Bus Specifications (Option)

3.6.1 Driver Unit with Thermal Sensor Terminal Block

Driver Unit with Temperature Sensor Terminal Block

A driver unit with a thermal sensor terminal block allows for easy wiring of thermal-sensor equipped motors. It also features an electrical specification in which output signals can be wired regardless of the polarity of common signals.

80 75 50 6

180 215

8.5

170

Compatibility to the field bus contributes to the networking user’s production equipment and cost reduction.

Example of reference number of motor with thermal sensor terminal block: M-ESB-YSB2020AB302 Unit: mm

3.6.2 General Output Signal Specifications of Driver Unit with Thermal Sensor Terminal Block Applied Output For Types B3, BA, BB and BC CN2: BRK, IPOS For Type B5 CN2: BRK, IPOS CN5: OVER, HOME, HCMP, SPD, NEARA, NEAPB Item

Specification

Maximum switching capacity

24V DC/120 mA

Maximum ion resistance

25 Ω

Output 1

Output 2

✽ COM Driver unit side 100

100

50

50

50

6

6 8.5

8.5

8.5

6

POWER

POWER

POWER

CN1

CN5

CN1

CN1

CN5 SW4

TERM.

RS-232C

SW1

ON

RS-232C

2 3

9

7 8

SW3

2 3

9

SW2

4 5 6

STATION NO.

SW1

SW2

4 5 6

1 2 3 4 5 6 7 8

RS-232C

SW1

MON. GND

DISP.

DISP.

1 2 3 4 5

DISP.

CN5

0 1

170

75

0 1

✽For output signal COMMON, connect signals corresponding to CN2 or CN5

95

75

75

N

MAIN AC200230V

N

VEL GND

L

CTRL AC100230V

N

MAIN AC200230V

N

CN3

No.

L VEL GND

L

N

No.

MAIN AC200230V

N

215

180

0 1

STATUS

CC-Link

L VEL GND

L

CN3 Type

Type

NSK Ltd. MADE IN JAPAN

9

215

CTRL AC100230V

CN3

Type

CN2

TB1

TB1

L

2 3

MOTOR

PROFIBUS

TB1 CTRL AC100230V

CN2

180

215

MOTOR

CN4

7 8

DeviceNet

180

7 8

CN2

STATUS

SW3

MOTOR

CN4

4 5 6

STATUS

B.RATE

CN4

NSK Ltd. MADE IN JAPAN

No.

NSK Ltd. MADE IN JAPAN

Unit: mm

19

20

YSB Series Megatorque Motors 3.8 Wiring Example

3.7.1 Features of ESBBC Driver Unit (CC-Link) ● ESB Driver Unit of Megatorque Motor System provides the field bus (CC-Link) compatibility. ● You can set station numbers and the baud rate with the switches provided on the Driver Unit’s front panel. ● Monitoring communication status by LED and setting of the terminating resistor are available. ● The ESB Driver Units are compatible with CC-Link Ver. 1.10.

3.7.2 CC-Link Specifications

ESBB3 Driver Unit Thermal sensor

Single-phase 200–230V AC L or Single-phase 100–120V AC N

CTRL

• Circuit breaker • Magnetic switch

MAIN

• Noise filter etc.

CN4

Megatorque Motor CN3

CC-Link station specification

Remote device station (Exclusive station: 1)

Positioning command

Internal programmed operation via CC-Link or RS-232C communication

Input signal

Control input

Output signal

Control output

CN2

Emergency stop, Home position limit switch, Overtravel limit switch (CW, CCW)

CC-Link (CN5)

Emergency stop, Servo on, Internal program start, Homing start, Clear, Jog, Jog direction, Internal program channel select, Velocity change

CN2

Driver Unit ready, Positioning completed, Brake control

CC-Link (CN5)

Driver Unit ready, Positioning completed, Brake control, Home position established, Processing internal pulse, Warning, Target proximity/In target area output A and B, Selected channel number

Alarms

Excess position error, Software thermal, CPU error, Position sensor error, Over current, Over heat, Main AC line trouble, Control AC line under voltage

Monitoring function

Alarm status, Analog velocity monitor, Alarm status, RS-232C communication monitor (Parameters, program contents, position data, and alarm status)

Communication

Serial RS-232C communication: Baud rate 9600 bps CC-Link communication: Baud rate: 156k/625k/2.5M/5M/10Mbps Station number: 1–64, Terminating resistor: None/110Ω/130Ω

(Application software “MegaTerm” is available.✽)

Master controller 13

DC24

Servo on

25

SVON

Emergency stop

12

EMST

Internal program •Channel selection 3

23

PRG3

Home position limit

11

HLS

Internal program •Channel selection 0

9

PRG0

Internal program •Channel selection 1

22

PRG1

Positioning start

24

RUN

Internal program •Channel selection 2

10

PRG2

24V DC

5V DC

Pulse train (CW)

Pulse train (CCW)

8

CWP+

21

CWP–

7

Handy Terminal FHT11

CN1

Master controller CN2

DRDY–

2

BRK

3

Brake control

CCWP+

IPOS

14

20 CCWP–

COM

1

Positioning completed

CN2

Single-phase 200–230V AC L or Single-phase 100–120V AC N

CTRL

• Circuit breaker • Magnetic switch

MAIN

• Noise filter etc.

CN4

Megatorque Motor

CC-Link

Megatorque Motor

Inputs of external sensors Single-phase 200–230V AC or Single-phase 100–120V AC

Cable Set

✽MegaTerm: Communication program with personal computer. (Readout, writing and editing parameters, and programs. [RS232C])

3.7.4 CC-Link Interface 1. DA

CC-Link

CC-Link connector

CN5

SW1 SW2 SW3

13

DC24

Servo on

25

SVON

Emergency stop

12

EMST

Homing start

23

HOS

Home position limit

11

HLS

Overtravel limit (+)

9

OTP

5V DC

Overtravel limit (–)

22

OTM

Integral OFF • Lower gain

24

IOFF

Clear

10

CLR

8

CWP+

Pulse train (CW) Pulse train (CCW)

2. DB 3. DG 4. SLD

SW1 SW2

Setting terminating resistor

Setting station number

SW3

Baud rate

LED

Data status indicator

24V DC

Upper: Terminating resistor 110Ω Middle: No terminating resistor Bottom: Terminating resistor 130Ω Station number = (SW2 × 10) + (SW3) ✽ Never set the numbers of 0 or 65 or over 0: 156Kbps 1: 625Kbps 2: 2.5Mbps

21

CWP–

7

CCWP+

3: 5Mbps 4: 10Mbps 5–9: Never set

Handy Terminal FHT11

CN1

RS-232C

CN2

20 CCWP– 19

DA : Data A DB : Data B DG : Data ground SLD: Shield

SENSOR

Master controller 24V DC

To other devices connected to CC-Link

Main Power

SW4

24V DC

MOTOR

TB1

CN3

SW4

Driver Unit ready

DRDY+ 15

Thermal sensor

Master side

CN5

RS-232C

Sequencer

Driver Unit

RS-232C

SENSOR

ESBB5 Driver Unit

3.7.3 CC-Link System Configuration Note book personal computer Handy Terminal FHT11

MOTOR

TB1

DC24

Positioning start

17

RUN

Internal program •Channel selection 5

16

PRG5

Internal program •Channel selection 4

15

PRG4

Internal program •Channel selection 3

14

PRG3

Internal program •Channel selection 2

13

PRG2

Internal program •Channel selection 1

12

PRG1

Internal program •Channel selection 0

11

PRG0

Jog

30

JOG

Jog direction

31 8

Master controller

DRDY+ 15

Driver Unit ready

CN5

Analog command

Analog monitor

DRDY–

2

24V DC

BRK

3

Brake control

DIR

IPOS

14

AIN+

COM

1

Positioning completed

HOME

21

COM

1

7

AIN–

+

27

MON+

–

26

MON–

CN2

CN5

Homing completed/ Tell home position

LED

21

RUN

ERR

RD

SD

When using a motor with a brake for both B3 and B5, the wiring example using brake is also applicable.

22

4. Cable Sets

YSB Series Megatorque Motors 4.2 Dimensions of Standard Cable Set For motor with absolute position sensor (M-C ✽ ✽ ✽ SB03/13) Connector shell (JAE) DA-C15-J10-F2

Connector (JST) ELP-09V

45.7

Connector (JAE) DAU-15PF - F0

Connector (JST) ELP-15V

40.5

15

25

Motor cable

For fixed use (φ 12) Flexible type (φ 11) For fixed use (φ 13) Flexible type (φ 11)

JAE DA-C15-J10

Resolver cable

S1 S2

Connector (AMP) 172495-1

24.6

Thermal sensor terminal (As a protective circuit against motor overheating)

24

L

(100)

Unit: mm Gray cable: For fixed use. Black cable: Flexible type for moving use.

Cable set Cable length (m) 002: 2m 015: 15m

004: 4m 008: 8m 030: 30m

Design serial number 01: Incremental positioning sensor (For fixed use) 03: Absolute positioning sensor (For fixed use) 11: Incremental positioning sensor (Flexible type) 13: Absolute positioning sensor (Flexible type) 23: Dust-proof (Flexible type)

Connector (CONINVERS) RC-09S1N8A1600

Connector shell (JAE) DA-C15-J10-F2

Connector (JAE) DAU-15PF-F0

45.7

Resolver cable 40.5

M-C 004 SB 03

(φ 11)

Example of reference number:

4.3 Dimensions of Dust-proof Cable Set

φ 26

4.1 Coding of Reference Number

• Cables of design serial number 01 and 03 are for fixed use only. (Cannot be connected to moving part.) • Minimum bending radius of the motor cable shall be 135 mm, and 110 mm for the resolver cable.

SB: ESB Driver Unit Connector (CONINVERS) RC-12S1N8A1600

15

(φ 11)

25

φ 26

Motor cable

61

Connector (AMP) 172495-1

L

24 (100)

Thermal sensor terminal (As a protective circuit against motor overheating)

Unit: mm • Use Dust-proof Cable Set for both dust-proof motor and motor with housing connectors.

23

24

5. Handy Terminal

6. Characteristics/Accuracy 6.1 Speed/Output Torque

Handy Terminal FHT11 is an easy-to-handle RS-232C communication terminal for inputting parameters and programs to the ESB driver unit. You need just connect it to the CN1 connector of the driver unit. • LCD screen: 20 letters × 4 lines • No external power source required. • Cable length: 3m

Power voltage 100V AC

Power voltage: 200V AC 3.0

3.0 M-YSB2020 M-YSB3040 M-YSB4080 M-YSB5120

5.1 Coding of Reference Number

2.5 Rotational speed, rps

Rotational speed, rps

2.5 2.0 1.5 1.0

Handy Terminal

M-FHT 11

0

25

50

100

150

200

250

0

Output torque, N m

Installing MegaTerm onto your PC allows for programming and parameter editing, creating, and managing of the ESB Driver Unit. MegaTerm can be downloaded for free from the NSK Website. (Visit www.nsk.com and access Precision Machine Parts & Mechatronics Products > Products > Rotating Actuator > Megatorque Motor.)

MegaTerm Menu Page

1.0

Personal Computer

6.2 Runout

20

40

60

80

100

120

Output torque, N m

•

Introducing MegaTerm Software for Programming and Parameter Editing using a Computer

Note: The PC side connector is D-sub 25 pin. Confirm the specifications of your PC before purchasing. When the PC side is D-sub 9 pin, you can use the commercially available RS-232C conversion connector (D09-9F25F: SANWA SUPPLY products, etc.).

1.5

0 0

Serial number

An RS-232C communication cable is available as an option. Type: M-C003RS01 (Cable length: 3m)

2.0

0.5

0.5

Example of reference number:

M-YSB2020 M-YSB3040 M-YSB4080 M-YSB5120

•

(Unit: mm)

Item

Specification

(1) Rotor axial runout

0.050 or less

(2) Rotor radial runout

0.050 or less

Rotor

Rotor axial runout

1 2

Rotor radial runout

Driver Unit RS-232C

MegaTerm Windows® 95, 98, 2000

ESB type (ESA Model 23, 25, 35)

Programs and Parameters List Page

26

7. Selection

YSB Series Megatorque Motors

It is essential to study the allowable load and output torque that requires positioning the motor at a desired time. Refer to the motor specifications for the allowable axial and moment loads. Use the following formulas to obtain an actual load to the motor.

Example: Motor: M-YSB 3040 (100V AC) Moment of inertia: 1.25 kg• m2 (GD2: 5 kgf• m2) Index angle: 30˚ Following the arrows on the chart below right, the minimum positioning time is 0.5 seconds.

(Power voltage 100V AC

7.1 Estimation of Actual Load

M-YSB 2020

M-YSB 3040 Index angle

1.5

F

)

Power voltage: 200V AC

Index angle

2.0

180

L

180

L

F

(1) When F is an external force: ● Axial load: Fa = F + total weight of jigs/works ● Moment load: M = 0

(2) When F is an external force: ● Axial load: Fa = F + total weight of jigs/works ● Moment load: M = F × L

(3) When F is an external force: ● Axial load: Fa = total weight of jigs/works ● Moment Load: M = F × (L+A)

1.0

90 45 30 15

0.5

Positioning time, s

Positioning time, s

A

F

1.5 90 1.0

45 30 15

0.5

0

0

0.5

1

0 0.1

5

0.5

Motor Reference Number

M-YSB 2020

M-YSB 3040

M-YSB 4080

M-YSB 5120

A dimension (mm)

61.5

72.5

79.0

83.5

0.05

1

5

10

20

Inertia GD 2, kgf•m2

Inertia GD 2, kgf •m2 0.1

0.5

0.05

1

0.1

0.5

1

5

2

2

Moment of inertia, kg•m

Moment of inertia, kg •m

7.2 How to Use Charts for Minimum Positioning Time

In addition, further examination is recommended when a motor is to be used in any of the following conditions. a. Load inertia exceeds the allowable value so that it may not appear on the charts: Even in this case, driving a motor is not always impossible, but may take a longer time than the theoretical value because considerable limitations will be placed on the acceleration and the rotational speed. b. When there is no chart applicable to the indexing angle: Separate calculation shall be made. However, the minimum time for positioning cannot be obtained when the indexing angle is too small. c. The settling time of 0.2 seconds is added initially. You may change the settling time to be shorter if you can relax the repeatability.

27

M-YSB 5120 Index angle

2.5

Index angle

3.5

180

180 3.0 2.0 90 1.5 45 30

1.0

15

Positioning time, s

These charts can be used only when the following conditions are satisfied; 1) The load is directly coupled to the rotor, neither using a mechanical speed reducer such as a belt or gears nor coupling, and is sufficiently rigid (natural frequency is 50 Hz or over). 2) No load torque is applied on a motor.

M-YSB 4080

Positioning time, s

Following the check of allowable loads, study the minimum time required to position the motor. The charts provided below are for checking the minimum positioning time of the YSB Megatorque Motors. Refer to the charts in the following cases. ● The user wishes to know which motor size should be selected for positioning within a required time, when the indexing angle and the load inertia are predetermined. ● The user wishes to know the required time for positioning, when an indexing angle, the load inertia and the motor size are predetermined.

2.5

90

2.0 45 1.5

30

1.0

15

0.5 0.5 0 0.1

0.5

1

5

10

50

100

0 0.1

0.5

1

5

Inertia GD 2, kgf •m2 0.1

0.5

10

50 100

500

Inertia GD 2, kgf •m2

1

5 2

Moment of inertia, kg •m

10

0.1

0.5

1

5

10

50

100

2

Moment of inertia, kg •m

28

8. Combination

YSB Series Megatorque Motors

8.1 Motors Equipped With Absolute Position Sensor Motor Reference Number Driver Unit Reference Number (1) Power Voltage Cable Reference Number M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001 M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001 M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001 M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001 M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001

8.2 Motors with Brake Main Specifications

M-ESB-YSB2020AB300

200–230V AC

M-ESB-YSB2020CB300

100–120V AC

Internal program 16 channels

M-ESB-YSB2020CB300

100–120V AC

M-ESB-YSB3040AB300

200–230V AC

(Acceleration profiling pattern

M-ESB-YSB3040AB300

200–230V AC

M-ESB-YSB3040CB300

100–120V AC

M-ESB-YSB4080AB300

200–230V AC

M-ESB-YSB4080CB300

100–120V AC

M-ESB-YSB5120AB300

200–230V AC

M-ESB-YSB5120CB300

100–120V AC

M-ESB-YSB2020AB500

200–230V AC

M-ESB-YSB2020CB500

100–120V AC

M-ESB-YSB3040AB500

200–230V AC

M-ESB-YSB3040CB500

100–120V AC

M-YSB2020KG001

M-CO✽✽ SB03

can be set to each channel.) ✽✽ indicates cable length Pulse train input (Photo coupler)

M-YSB4080KG001

M-ESB-YSB3040AB500

200–230V AC

M-ESB-YSB3040CB500

100–120V AC

M-ESB-YSB4080AB500

200–230V AC

M-ESB-YSB4080CB500

100–120V AC

(Photo coupler)

M-ESB-YSB5120AB500

200–230V AC

Analog velocity command

M-ESB-YSB5120CB500

100–120V AC

M-ESB-YSB2020ABA00

200–230V AC

M-ESB-YSB2020CBA00

100–120V AC

M-ESB-YSB3040ABA00

200–230V AC

M-ESB-YSB3040CBA00

100–120V AC

M-CO✽✽ SB03

200–230V AC

✽✽ indicates cable length

can be only set to 32 channels.)

M-ESB-YSB5120AB500

200–230V AC

M-YSB3040KG001

M-ESB-YSB5120CB500

100–120V AC

M-ESB-YSB2020ABA00

200–230V AC

M-ESB-YSB2020CBA00

100–120V AC

M-ESB-YSB3040ABA00

200–230V AC

M-ESB-YSB3040CBA00

100–120V AC

M-CO✽✽ SB03

200–230V AC

✽✽ indicates cable length

M-YSB4080KG001 M-YSB5120KG001 M-YSB2020KG001

DeviceNet compatible (2)

M-YSB3040KG001

Internal program 64 channels M-YSB4080KG001

M-ESB-YSB2020ABB00

200–230V AC

M-ESB-YSB2020CBB00

100–120V AC

M-ESB-YSB3040ABB00

200–230V AC

M-ESB-YSB3040CBB00

100–120V AC

M-CO✽✽ SB03

M-ESB-YSB4080ABB00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBB00

100–130V AC

M-ESB-YSB5120ABB00

200–230V AC

M-ESB-YSB5120CBB00

100–120V AC

M-ESB-YSB2020ABC00

200–230V AC

M-ESB-YSB2020CBC00

100–120V AC

M-ESB-YSB3040ABC00

200–230V AC

M-ESB-YSB3040CBC00

100–120V AC

M-CO✽✽ SB03

M-ESB-YSB4080ABC00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBC00

100–120V AC

M-ESB-YSB5120ABC00

200–230V AC

M-ESB-YSB5120CBC00

100–120V AC

200–230V AC

(Acceleration profiling pattern

Analog velocity command

100–120V AC

M-ESB-YSB5120AB300

(Photo coupler)

100–120V AC

(Photo coupler)

M-ESB-YSB5120CBA00

100–120V AC

M-ESB-YSB2020CB500

100–120V AC

100–120V AC

M-ESB-YSB4080CB300

can be set to each channel.) ✽✽ indicates cable length Pulse train input

Internal program 64 channels

200–230V AC

200–230V AC

100–120V AC 200–230V AC

(Acceleration profiling pattern M-CO✽✽ SB03

100–120V AC

M-ESB-YSB4080CB500

M-ESB-YSB5120ABA00

M-ESB-YSB3040CB300 M-ESB-YSB4080AB300

Internal program 16 channels

200–230V AC

✽✽ indicates cable length Pulse train input

M-ESB-YSB4080CBA00

200–230V AC

M-ESB-YSB5120CB300

M-YSB2020KG001

M-CO✽✽ SB03

M-ESB-YSB2020AB300

Main Specifications

M-ESB-YSB2020AB500

M-ESB-YSB4080AB500

M-ESB-YSB4080ABA00

M-YSB3040KG001

M-YSB5120KG001

M-YSB5120KG001 M-YSB2020KG001

PROFIBUS compatible(2)

M-YSB3040KG001

Internal program 64 channels M-YSB4080KG001 M-YSB5120KG001 M-YSB2020KG001

CC-Link compatible(2)

M-YSB3040KG001

Internal program 64 channels M-YSB4080KG001 M-YSB5120KG001

M-ESB-YSB4080ABA00 M-ESB-YSB4080CBA00

100–120V AC

M-ESB-YSB5120ABA00

200–230V AC

M-ESB-YSB5120CBA00

100–120V AC

M-ESB-YSB2020ABB00

200–230V AC

Internal program 64 channels (Acceleration profiling pattern M-CO✽✽ SB03

can be only set to 32 channels.) ✽✽ indicates cable length Pulse train input

M-ESB-YSB2020CBB00

100–120V AC

M-ESB-YSB3040ABB00

200–230V AC

M-ESB-YSB3040CBB00

100–120V AC

M-CO✽✽ SB03

M-ESB-YSB4080ABB00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBB00

100–130V AC

M-ESB-YSB5120ABB00

200–230V AC

M-ESB-YSB5120CBB00

100–120V AC

M-ESB-YSB2020ABC00

200–230V AC

M-ESB-YSB2020CBC00

100–120V AC

M-ESB-YSB3040ABC00

200–230V AC

M-ESB-YSB3040CBC00

100–120V AC

M-CO✽✽ SB03

M-ESB-YSB4080ABC00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBC00

100–120V AC

M-ESB-YSB5120ABC00

200–230V AC

M-ESB-YSB5120CBC00

100–120V AC

DeviceNet compatible (2) Internal program 64 channels

PROFIBUS compatible(2) Internal program 64 channels

CC-Link compatible(2) Internal program 64 channels

Notes:

Notes:

(1) For pulse train (line receiver format) position command, the last 2 digits of the driver unit reference number change to 01 from 00.

(1) For pulse train (line receiver format) position command, the last 2 digits of the driver unit reference number change to 01 from 00.

Example: Internal program 16 channels (16 acceleration profiling patterns), pulse train (line receiver format) M-ESB-YSB2020AB301 (2) The driver unit compatible to field bass does not provide the pulse train input function. Therefore the last digits of its reference number are 00 only.

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Motor Reference Number Driver Unit Reference Number (1) Power Voltage Cable Reference Number

Example: Internal program 16 channels (16 acceleration profiling patterns), pulse train (line receiver format) M-ESB-YSB2020AB301 (2) The driver unit compatible to field bass does not provide the pulse train input function. Therefore the last digits of its reference number are 00 only.

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YSB Series Megatorque Motors 8.4 Fixed Cables

8.3 Dust-Proof Motors (Please consult with NSK for this product.) Motor Reference Number Driver Unit Reference Number (1) Power Voltage Cable Reference Number M-YSB2020KN601 M-YSB3040KN601 M-YSB4080KN601 M-YSB5120KN601 M-YSB2020KN601 M-YSB3040KN601 M-YSB4080KN601 M-YSB5120KN601 M-YSB2020KN601 M-YSB3040KN601 M-YSB4080KN601 M-YSB5120KN601 M-YSB2020KN601 M-YSB3040KN601 M-YSB4080KN601 M-YSB5120KN601 M-YSB2020KN601 M-YSB3040KN601 M-YSB4080KN601 M-YSB5120KN601

Main Specifications

M-ESB-YSB2020AB300

200–230V AC

M-ESB-YSB2020CB300

100–120V AC

Internal program 16 channels

M-ESB-YSB3040AB300

200–230V AC

(Acceleration profiling pattern

M-ESB-YSB3040CB300

100–120V AC

M-ESB-YSB4080AB300

200–230V AC

M-CO✽✽ SB23

can be set to each channel.)

✽✽ indicates cable length Pulse train input

Cable Length

M-C002SB03

2m

M-C004SB03

4m

M-C008SB03

8m

M-C015SB03

15m

M-C030SB03

30m

(Photo coupler)

M-ESB-YSB4080CB300

100–120V AC

M-ESB-YSB5120AB300

200–230V AC

M-ESB-YSB5120CB300

100–120V AC

M-ESB-YSB2020AB500

200–230V AC

M-ESB-YSB2020CB500

100–120V AC

Internal program 64 channels

M-ESB-YSB3040AB500

200–230V AC

(Acceleration profiling pattern

M-ESB-YSB3040CB500

100–120V AC

M-ESB-YSB4080AB500

200–230V AC

M-ESB-YSB4080CB500

100–120V AC

(Photo coupler)

M-ESB-YSB5120AB500

200–230V AC

Analog velocity command

M-ESB-YSB5120CB500

100–120V AC

M-ESB-YSB2020ABA00

200–230V AC

M-ESB-YSB2020CBA00

100–120V AC

M-ESB-YSB3040ABA00

200–230V AC

M-ESB-YSB3040CBA00

100–120V AC

M-CO✽✽ SB23

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080ABA00

Cable Set Reference Number

8.5 Flexible Cables M-CO✽✽ SB23

can be only set to 32 channels.)

✽✽ indicates cable length Pulse train input

Cable Set Reference Number

Cable Length

M-C002SB13

2m

M-C004SB13

4m

M-C008SB13

8m

M-C015SB13

15m

M-C030SB13

30m

DeviceNet compatible (2)

8.6 Dust-Proof Cables

Internal program 64 channels

Cable Set Reference Number

Cable Length

M-C002SB23

2m

M-ESB-YSB4080CBA00

100–120V AC

M-ESB-YSB5120ABA00

200–230V AC

M-ESB-YSB5120CBA00

100–120V AC

M-C004SB23

4m

M-ESB-YSB2020ABB00

200–230V AC

M-C008SB23

8m

M-ESB-YSB2020CBB00

100–120V AC

M-C015SB23

15m

M-ESB-YSB3040ABB00

200–230V AC

M-ESB-YSB3040CBB00

100–120V AC

M-CO✽✽ SB23

M-C030SB23

30m

M-ESB-YSB4080ABB00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBB00

100–130V AC

M-ESB-YSB5120ABB00

200–230V AC

M-ESB-YSB5120CBB00

100–120V AC

M-ESB-YSB2020ABC00

200–230V AC

M-ESB-YSB2020CBC00

100–120V AC

M-ESB-YSB3040ABC00

200–230V AC

M-ESB-YSB3040CBC00

100–120V AC

M-CO✽✽ SB23

M-ESB-YSB4080ABC00

200–230V AC

✽✽ indicates cable length

M-ESB-YSB4080CBC00

100–120V AC

M-ESB-YSB5120ABC00

200–230V AC

M-ESB-YSB5120CBC00

100–120V AC

PROFIBUS compatible(2) Internal program 64 channels

CC-Link compatible(2) Internal program 64 channels

Notes: (1) For pulse train (line receiver format) position command, the last 2 digits of the driver unit reference number change to 01 from 00. Example: Internal program 16 channels (16 acceleration profiling patterns), pulse train (line receiver format) M-ESB-YSB2020AB301 (2) The driver unit compatible to field bass does not provide the pulse train input function. Therefore the last digits of its reference number are 00 only.

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9. International Safety Regulations

YSB Series Megatorque Motors

9.1 CE Marking ● Low Voltage Directive NSK has worked with an EU Notified Body and an EU Competent Body to ensure that the YSB Series Megatorque Motor Systems conform to the pertinent regulations of the EC Low Voltage Directive, thus any system of the users, into which the Megatorque Motor is incorporated as a “component,” can easily conform to the EC Directives.

● Electromagnetic Compatibility Directive We set conditions on the installation distance and wirings between a YSB Motor and an ESB Driver Unit and checked them for compliance with the pertinent regulations of the MC Directive. Naturally, the way to incorporate a YSB Motor and an ESB Driver Unit into your system may differ from our checking conditions. The users therefore require a final inspection of their systems which incorporate a Megatorque Motor System for conformity to EMC Directive (radiated noise and conducted noise).

9.2 Underwriters’ Laboratory (UL) ● Motor Conforms to UL1004 regulation. (File number: E216970)

● Driver Unit Conforms to UL508C regulation. (File number: E216221)

● Cable Set We use the material conforming to the UL regulations. If you require more detailed information such as installing conditions, please contact your local NSK representative.

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