Fastening solution.<toward a new future of manufacturing technology> High torque type NX (T2) series (for SD550T) NX driver tool unit Instruction manual Ver1.10 Update: April. 26, 2013
Introduction Thank you for purchasing the NX driver. The NX driver, which combines a tool unit and a controller unit (SD550T series) into one, is a high-performance driver using an AC servo motor for fastening screws etc. To use the NX driver controllers correctly for many years, read this manual carefully. General precautions In the figures of this manual, the products may be shown with the covers and safety shielding materials removed for the ease of explanation on detailed parts. When you operate a product, be sure to replace specified covers and shielding materials and follow the Instruction manual. Since the figures in the manual show typical examples, the products you have received may differ from the figures. The Instruction manual may be changed as appropriate due to product modification and improvement of ease of use of this manual. If the Instruction manual is damaged or lost and you require a new one, contact our agent or nearest sales office. The products modified by users are out of warrantee coverage. We are not responsible for such products. Precautions for use A final fastening torque value may vary depending on the output shaft revolution speed of a driver, and the inertia of the joint attached to the output shaft and so on. Set the motor current value and revolution speed properly according to the Instruction manual. Parameters (motor characteristic values) vary depending on tool unit model. Be sure to specify proper parameter values in accordance with the Instruction manual when a tool unit and the controller are connected. If an incorrect value is specified, the tool unit or the controller may be damaged. Tool units covered by this Instruction manual NX020T2-07M1-20 NX050T2-07M1-20 NX100T2-07M1-20 NX020T2-07S1-20 NX050T2-07S1-20 NX100T2-07S1-20 NX180T2-05S1-20 NX250T2-07S1-20 NX500T2-0ES1-20 NX800T2-1BS1-20 1
Contents Introduction... 1 Contents... 2 For safe usage... 3 Preparation of driver... 5 1. Part names... 5 2. Inspection on receipt of product... 6 3. Handling precautions... 6 4. Cable connection... 7 5. Flange (optional) compatible with previous models(nx020t2~nx180t2)... 8 6. Parameter setting... 9 7. Torque and output shaft revolution speed settings... 11 Maintenance and inspection... 19 Typical Problems and Troubleshooting... 20 Appendix... 21 1. Specifications... 21 2. External dimensions... 22 2
For safe usage When using this product (for installation, operation, maintenance, and inspection), be sure to understand the meaning of the following precautions and handle it correctly with much care for safety. It is difficult to state clearly all items regarding safety in this manual. Therefore, be aware that accurate judgment about safety by persons handling this product is very important to avoid a risk.! DANGER Indicates that incorrect handling may lead to an imminent injury accident (death or serious injury).!! WARNING CAUTION Indicates that incorrect handling may lead an injury accident (death or serious injury). Indicates that incorrect handling may lead to injury, physical damage, or machine operation failure. Even the following items covered by CAUTION may lead to a serious accident. All the items are important. Be sure to follow the precautions: Meanings of signs (Example of sign)! INDICATES WHAT SHOULD BE TAKEN CARE OF. INDICATES WHAT MUST NOT BE DONE. INDICATES WHAT MUST BE DONE. OF F! DANGER Be sure to establish a ground. Make Be sure sure to connect to connect a ground the earth terminal terminal to the ground to an external pole (Class ground. D Otherwise, ground). Otherwise, an electric an shock electric or shock fire may or occur. fire may occur. Don't touch rotating part.! WARNING During operation, don't touch rotating part of a driver. Otherwise, you may be injured. Turn off power when an abnormal symptom is exhibited. When an abnormal symptom is exhibited, such as smoke emission or bad smell, turn off the power and contact our agent or sales office to ask for repair. If the product is used without repair, a fire or electric shock accident may occur.! OF F 3
! WARNING Don't use a voltage other than specified. Don't use the driver with a voltage other than specified. Otherwise, a fire, electric shock, or failure occurs. Don't touch a part inside the controller. Don't touch a part inside the controller. Otherwise, an electric shock or failure may occur. Don't use the product in a place with much humidity, greasy fumes, or dust. Don't use the product in a place where water is splashed, in a flammable gas atmosphere, and near a flammable substance. Otherwise, a fire, electric shock, or failure may occur. Don't damage a cable.! Don't place a heavy object on, pull forcefully, or twist a cable. Otherwise, a cable may be broken, causing a fire, electric shock, accident, or failure.! Don't disassemble or modify the product. Otherwise, a fire, electric shock, accident, or failure may occur.! CAUTION Use a tool with a specified setting. Since a parameter setting of a controller may vary depending on a tool unit, use the controller after configuring settings as specified. Otherwise, a fire or failure may occur.! Don't obstruct the ventilation hole of the controller. Otherwise, heat is kept inside, and a fire or failure may occur.! Don't change wiring while power is turned on. Otherwise, an electric shock or failure may occur.! Fix each unit securely.! Fix a tool and controller securely before using. Otherwise, injury or failure may occur.! 4
Preparation of driver 1. Part names External view of tool unit Tool type Model NX020T2 NX050T2 NX100T2 MAXIMUM TORQUE 020 2N m 050 5N m 100 9N m 180 18N m 250 24N m 500 45N m 800 80N m OUTPUT SHAFT M M8 1.25 S SQUARE NX 100 T2-07 M 1-20 SERIES NX180T2 REDUCTION UNIT 05 NX180T2 07 NX020~100,250T2 0E NX500T2 1B NX800T2 NX250T2 NX500T2 NX800T2 5
2. Inspection on receipt of product When you receive a NX driver series product, check and inspect it as follows: Check/inspection item Remarks [1] Is the product what you have ordered? Check it with the Model shown on the labels of the tool unit and the controller. (Refer to the table in previous clause.) [2] Does the output shaft of the tool unit rotate It s OK if you can rotate it lightly with your hand. smoothly? [3] Is there any broken part? Check for any damage caused during transportation etc. by viewing its appearance. [4] Is there any tightened part, such as a screw, Make a check with a tool, such as a wrench, as necessary. that comes loose? If you find any problem mentioned above, contact the agent you have purchased from or our sales office immediately. 3. Handling precautions (1) Don t give a shock to the motor in the tool unit. Otherwise, a failure may occur. (2) Don t pull a cable (encoder, motor power supply) of the tool unit. Otherwise, it may be broken. Be sure to fix the cable when installing the tool unit. (3) Don t give a strong shock to or place a load on the output shaft of the tool unit. Otherwise, a failure may occur. (Allowable loads are as follows.) 1 Radial load 2Thrust load 1 Allowable radial load 2 Allowable thrust load 200 N 900 N (4) The tool unit is designed to be used indoors. Use it under the following environment. (The motor section supports IP55 (with some exception)) Indoor environment free from corrosive and explosive gas Well-ventilated and free from dust and humidity Ambient temperature range: 0 40 C Humidity range: 20-80%RH without condensation Environment enabling easy inspection and cleaning Locations free from strong electric or magnetic field Locations in which atmosphere is free from conductive powders including iron powder Locations free from excessive vibration or impact 6
4. Cable connection Connect a motor cable, an encoder cable, and a sensor cable to the tool unit as shown in the drawing below. (For connection at the controller, refer to a separate document Driver controller SD550T Instruction manual.) Be sure to connect the motor cable first, and then connect the encoder cable. Fix each connector with 2 M2 pan head machine screws (supplied with the connector). Tighten the screws securely to a torque of 0.15 N m and confirm the connector is not loose. Since each connector uses packing, don t lose it when attaching/detaching the connector. (1) Be sure to connect a motor cable first, and then connect an encoder cable. (2) When fixing a cable, be sure to hold the connector. (3) Wiring must be designed so that connectors are free from bending or excessive force. (4) Bending radius of the motor cable should be not less than 50 mm. (5) Prevent the binding band and the cable etc. from applying an external force to the encoder cover. Otherwise, the encoder may fail. (6) The NX driver is of the single shaft control type. When using it for some shafts, avoid wrong wiring of cables between the tool unit and controller. Wrong wiring may cause damage to works due to faulty control or burn of the motor. 7
5. Flange (optional) compatible with previous models(nx020t2~nx180t2) The mounting flange of the NX driver T2 series is made smaller than that of previous NX driver TU series to increase flexibility in installation. For this reason, the mounting pitch is different from that of previous models. If previous pitch is required for mounting, attach the optional BU specification flange compatible with previous models. In this case, the distance between the output shaft end and the flange, and the hole diameter are the same as those of previous models. NX***T2: Standard specification Fixed with M4 10/spring washers (4 places) Fastening torque: 3 ±0.3 N m OP: BU specification (with previous model-compatible flange) NX***-T1/TU series (Previous model) 8
6. Parameter setting The parameters referred to here are the setting values indicating the characteristics of the tool unit. The parameters vary depending on the combination of a tool and a controller. In case of the conventional TU series parameter change was required when tool unit or controller was replaced. But for NX driver T2 series do not need to change parameter because it automatically updated to optimal value when connected. Please confirm the parameter as per following table when the driver does not work correctly. If the value were different please contact to our sales agent from whom you purchased the machine or contact to our branch immediately. Parameter Number Tool unit model NX020T2 NX050T2 NX100T2 NX180T2 NX250T2 NX500T2 NX800T2 Pa 18 (LP 18) 0300 0300 0350 0400 0400 0400 0400 Pa 19 (LP 19) 2400 6000 1080 2160 3000 6000 1140 Pa 40 (LP 40) 0400 0400 0400 0500 0500 0500 0500 Pa 41 (LP 41) 0400 0400 0400 0500 0500 0500 0500 Pa 55 (LP 55) 0400 0400 0400 0500 0500 0500 0500 Pa 56 (LP 56) 0400 0400 0400 0500 0500 0500 0500 Pa 60 (LP 60) 0078 0078 0078 0082 0064 0225 0240 Pa 61 (LP 61) 0011 0011 0011 0015 0009 0016 0009 Pa 67 (LP 67) 6100 6100 7100 7100 7100 7100 8100 Pa 106 (LP. 06) 0000 0000 0000 2200 2200 2200 2200 Pa 114 (LP. 14) 0003 0003 0005 0010 0010 0010 0010 Pa 121 (LP. 21) 0004 0004 0003 0003 0003 0003 0003 Pa 122 (LP. 22) 0450 0348 0170 0230 0230 0230 0230 Pa 123 (LP. 23) 0113 0158 0156 0220 0220 0220 0220 Pa 124 (LP. 24) 0146 0203 0191 0177 0177 0177 0177 Pa 125 (LP. 25) 0438 0609 0669 0708 0708 0708 0708 Pa 134 (LP. 34) 0000 0000 0000 0001 0001 0001 0001 対応コントローラ SD550T03-2020 SD550T 05-2020 SD550T10-2020 (Note): The numeric values in parentheses in the parameter number column indicate the display of the controller. 9
How to set parameter Set parameters as follows: (For more information on each parameter, refer to a separate document Parameter list.) (Controller display example) [1] Press key to move the cursor (blinking digit) to the upper most digit. [2] While holding down key, press key or key to change the digit at cursor position to L. [3] Press key to move the cursor to the next right digit. [4] While holding down key, press key or key to change the digit at cursor position to P. (When you set parameters 100-199, press key and key at the same time while holding down key to change the digit to P..) [5] Press key to move the cursor to the right, and press key to change the number of a parameter that you want to set. [6] Press key to move the cursor to the right most digit (4th digit). [7] If key is pressed further, the setting value of current parameter is displayed. Using, or key, change the value displayed. [8] After the setting value of the parameter is changed, press key to move the cursor to the upper most digit ( L is displayed). [9] Press and hold down key until the display changes to numeric values. (Previous display is restored if the key is released.) [10] Writing the setting values to the flash memory is completed with the steps above. To change a setting value of another parameter, repeat the steps from [4] to [9]. [11] After all the changes have been completed, turn off the power. After the indication on the display has been disappeared, turn on the power again. (Caution) The values shown on the controller display are for example only. So, actual values may be different. 10
7. Torque and output shaft revolution speed settings Normally, the torque setting is configured to the specification of customers. However, you may change the setting as necessary. The NX driver features the basic screw tightening comprising two processes, "Initial tightening" and "Final tightening". For the final tightening torque setup, use the target tightening torque. (It is recommended selecting rotating speed in the range of 10 to 50 rpm as the rotating speed at the final tightening.) Perform setup of torque and rotating speed at the "Initial tightening" so that the temporary tightening torque does not exceed the final tightening torque, referring to the graph shown below. (For the setup of torque, refer to the separate volume "Instruction Manual for Driver Controller Model SD550T".) Graph: "Relationship between output shaft rotating speed and impact torque" (It is mainly used for the setup of torque *1 and rotating speed *2 at the initial tightening.) *1: Tightening time can be reduced by decreasing the setup torque at the initial tightening and increasing the motor speed. Note that excessive decrease in the setup torque may lead to change to the torque at the final tightening (second process) while tightening has not been completed yet (before the screw head comes into contact with the work surface), and the tightening time may be lengthened. *2: Excessive increase in the rotating speed at the initial tightening may cause tightening torque exceeding the target torque because of the property of the driver output shaft (inertia), by which the driver output shaft keeps being rotated. The next page explains how to read graphs and shows graphs by tool unit model. Caution (1): Set the revolution speed of the output shaft of a tool unit to 5 rpm or higher. Caution (2): The comparison table and graph are for your reference. Use the values as rough standard Caution (3): Perform the setup so that the impact torque does not exceed the maximum value within the setup torque range of the tool unit. Otherwise, works or the tool unit may be damaged. [Remarks] Impact torque: A momentary torque generated (due to inertia) to keep rotating the shaft when the rotating output shaft of a NX driver tool unit is stopped suddenly 11
Usage of graphs (Example) When the target torque is 1.2 N-m (tool unit model: NX020T2-07*1-20): The initial tightening torque (impact torque) must not exceed the final tightening torque. When the initial tightening torque is 1.0 N-m, the setup toque and the output shaft rotating speed for the initial tightening can be identified by finding the intersection of the horizontal dotted line from the longitudinal axis of impact torque at 1.0 N-m and the curve indicating "Relationship between output shaft rotating speed and impact torque". (1) When the setup torque is 0.9 N-m, the output shaft rotating speed should be 200 rpm. (2) When the setup torque is 0.7 N-m, the output shaft rotating speed should be 380 rpm. (3) When the setup torque is 0.5 N-m, the output shaft rotating speed should be 480 rpm. Impact torque (N m) Setup torque : 1.5N m Setup torque : 1.3N m Setup torque : 1.1N m Setup torque : 0.9N m Setup torque : 0.7N m Setup torque : 0.5N m Output shaft revolution speed (rpm) 12
Setting procedure At first, the NX series drivers perform temporary fastening (from fastening start to seating) at a high speed. Next, the drivers perform final fastening at a low speed. By so doing, the XY drivers balance a fastening speed and torque accuracy. For this reason, the most important point to decrease a tact time is to increase the revolution speed as much as possible for initial rundown. [1] Setting torque during initial rundown/ Revolution speed First, set a torque during initial rundown. For machine screws, the torque range lower limit of a tool unit is specified normally. For screws requiring higher torque, such as tapping screws, specify as low a torque as possible to the extent that stable seating can be achieved. The revolution speed during initial rundown should be as high as possible. However, if it is specified too high, a target torque for final fastening is exceeded due to the inertia of the rotation system, spoiling correct fastening. For example, assume that you tighten a machine screw using the NX020T2-07*1-20 and the final target torque is 1.2 N m. Set the set a torque during initial rundown to 0.5N m because almost no torque is required for initial rundown until seating is achieved. Stable fastening can t be expected unless the impact torque at seating due to inertia is limited to 80 90% of a target torque for final fastening. Since a target torque is 1.2 N m in this example, the impact torque to 1.0 N m (85%) is decided to be allowed. From the graph, you can read that it is 480 rpm that generates an impact torque of 1.0 N m when the set a torque is set to 0.5N m. Therefore, set the revolution speed during initial rundown to 480 rpm. (The value varies depending on workpiece, screw, and output shaft shape etc.) [2] Setting final fastening set a torque/ Revolution speed From the graph, set a final fastening set a torque to 1.2N m because the final fastening target torque is 1.2 N m. Set up " Revolving speed in final fastening" for Torque measuring tightening within 5~10 rpm and for Torque control tightening within 30~50 rpm. Setting values Torque during initial rundown 0.5N m Revolving speed during initial rundown 480 rpm Torque for final fastening 1.2N m Revolving speed for final fastening 10 rpm [3] Trial fastening Adjustment After configuring the SD550T controller to satisfy the above conditions, perform trial fastening using a torque checker etc. If the torque is stable, setting up is completed. Or, you may make an adjustment to increase temporary fastening revolution speed within a range in which torque is stable. If the torque is not stable, the fastening revolution speed may be too high. If you have specified a value higher than 5~10 rpm for final fastening revolution speed, try decreasing it. If no improvement is seen, the impact torque at seating due to a low revolution speed during initial rundown may be the cause of the problem. Try decreasing the revolution speed during initial rundown. 13
Example:NX020T2-07*1-20 Relation between Output shaft revolution speed and Impact torque Hexagon bolt + PW (Thick washer) M3 10 Weight + Bit shaft inertia moment: I = 13.145 10 6 kg m 2 Impact torque (N m) An impact torque of 1.0 N m is produced when a torque during initial rundown is 0.5N m at 480 rpm. So, don t exceed 480 rpm for revolution speed during initial rundown setting. Setup torque : 1.5N m Setup torque : 1.3N m Setup torque : 1.1N m Setup torque : 0.9N m Setup torque : 0.7N m Setup torque : 0.5N m Output shaft revolution speed (rpm) This setting method is an example. The setting values vary depending on screw type, workpiece, fastening direction, and output shaft shape etc. Graphs of various models are shown on the next pages onward. The data is acquired with actual output shaft assumed and a weight (inertia moment I = 2.5 10 5 kg m 2 ) attached. 14
15
16
17
18
Maintenance and inspection Since the tool unit is of a brushless type, no check is required other than a simple daily check. Perform an inspection following the items in the table below. The Inspection cycle in the table is a rough standard. Increase or decrease the inspection cycle according to use status/environment. Note that turn off the power before starting maintenance and inspection unless otherwise instructed. No. Inspection cycle 1 Daily* Connectors 2 Daily * Cables Inspection item 3 Every day* Vibration and sound 4 Inspection/repair instruction Perform a visual and tactile inspection. Perform a visual and tactile inspection. Check by touching and hearing Remarks Free from looseness, removal, and contamination Free from damages, such as scratches and gouge Increase in the level is not allowed. According to the degree of contamination Unit appearance Cleaning using cloth or air * Perform an inspection before starting operation. [Remarks(1): Replacement of grease] Since grease is filled in the gear section of the tool unit, it is not necessary to replace grease in short intervals. However, the durability of machine parts, such as gear section, is increased if the grease is replaced with new every 3 years. In that case, ask us for overhaul (at your cost). [Remark (2): Calibration of torque sensor] In order to guarantee the precision of the output shaft torque of the tool unit, it is recommended calibrating the torque sensor periodically (every one million times of operation or yearly). Ask us for calibration (cost to be charged). 19
Typical Problems and Troubleshooting Typical problems and troubleshooting methods are explained in this paragraph. For electrical problems and problems with the controller, please refer to a separate document Driver controller SD550T Instruction manual. Problem Cause Check target Troubleshooting Breakage of coupling and gear etc. Coupling or gear Replace the tool unit. 1. Output shaft does Loosen clamp screw Coupling or gear Retightening not rotate or does Break in wire or breakage of Replace tool unit or Cable & connector not rotate stably. connector cable. Contact failure Connector Reconnect the connector. Motor failure Replacing tool unit Check ambient Set ambient temperature Ambient temperature is high. temperature. to 40 C or less. Tool surface is contaminated. Clean tool surface. 2. Tool is overheated. Prolong down time. Overloaded. Tool unit load on a Replace the tool unit workpiece is too high. of a higher-grade model. 3. Abnormal sound is generated. Loosen bolts Bearing failure Fixing screws of each section Around output shaft or motor Retightening Replace the tool unit. 20
Appendix 1. Specifications Model NX020T2-07*1-20 NX050T2-07*1-20 NX100T2-07*1-20 Torque range(n m) 0.5~2.0 1.0~5.0 2.5~9.0 Maximun rotating speed(rpm) 840 Output torque accuracy 3σ/ x=5% or less 3σ/ x=3% or less Weight(kg) 1.0 1.1 1.2 Applicable controller model SD550T03-2020 SD550T05-2020 ツールユニット型式 NX180T2- NX250T2- NX500T2- NX800T2-05S1-20 07S1-20 0ES1-20 1BS1-20 Torque range(n m) 5~18 8~24 15~45 30~80 Maximun rotating speed(rpm) 1100 840 420 220 Output torque accuracy 3σ/ x=3% or less Weight(kg) 2.0 2.4 2.6 Applicable controller model SD550T10-2020 21
2. External dimensions NX020T2~NX100T2 22
NX180T2 23
NX250T2~NX800T2 24
Machinery Division Nitto Seiko Co., Ltd. http://www.nittoseiko.co.jp/ Machinery Div. Shiroyama-cho 2, Ayabe, Kyoto, Japan 623-0003 Tel. 0773-43-1550 Fax. 0773-43-1554 Tokyo Branch Office Tsunashima-higashi 6-2-21, Kohoku-ku, Yokohama, Japan 223-0052 Tel. 045-546-4744 Fax. 045-542-6449 Kita-Kanto Office Yoshida 1221-3, Oizumi-machi, Oura-gun, Gunma, Japan 370-0523 Tel. 0276-63-8158 Fax. 0276-63-8480 Nagoya Branch Office Kamiyashiro 5-405, Meito-ku, Nagoya, Japan 465-0025 Tel. 052-709-5063 Fax. 052-709-5065 For improvement in performance, specifications may be modified without notice. 25