Megatorque Motors
Transcript of Megatorque Motors
ExtendedLineup
Significantly enhanced functionality at a low cost,absolute position sensor to omit Homing as standardfeature, and freely interchangeable motors anddriver units to support random matching.
Megatorque Motors®
YSB Series
Features of YSB Series Megatorque Motor 3,41. System Configuration
1.1 System Configuration 51.2 Application 5
1.2.1 Examples of Application 62. Megatorque Motors
2.1 Coding of Motor Reference Number 72.2 Motor Specifications 72.3 Dimensions of Standard Motor 82.4 Option 10
2.4.1 Brake 10,112.4.2 Dust-Proof Option 122.4.3 Dimensions of Dust-Proof Motor 122.4.4 Motor with Highly Accurate Rotor
Surface Runout 122.4.5 Motor for Highly Accurate Absolute
Positioning 132.4.6 Reference Number Coding of Motors
for Highly Accurate Absolute Positioning 132.4.7 Motor with Metal Housing Connectors 13
3. ESB Series Driver Unit3.1 Coding of Driver Unit Reference Number 143.2 Driver Unit Specifications 14
3.2.1 Standard Model (ESBB3) 143.2.2 Optional Functions 14
3.3 ESBB3 Driver Unit 153.3.1 Input/Output Signal Specifications of
CN2 Connector 153.4 ESBB5 Driver Unit (Option) 16
3.4.1 Input/Output Signal Specifications of CN2 Connector 16
3.4.2 Input/Output Signal Specifications of CN5 Connector 17
3.5 Electrical Specifications of CN2 and CN5 Connectors 18
3.6 Option 19
3.6.1 Driver Unit with Thermal Sensor Terminal Block 19
3.6.2 General Output Signal Specifications ofDriver Unit with Thermal SensorTerminal Block 19
3.7 Field Bus Specifications (Option) 203.7.1 Features of ESBBC Driver Unit
(CC-Link) 213.7.2 CC-Link Specifications 213.7.3 CC-Link System Configuration 213.7.4 CC-Link Interface 21
3.8 Wiring Example 224. Cable Sets
4.1 Coding of Reference Number 234.2 Dimensions of Standard Cable Set 244.3 Dimensions of Dust-proof Cable Set 24
5. Handy Terminal5.1 Coding of Reference Number 25
6. Characteristics/Accuracy6.1 Speed/Output Torque 266.2 Runout 26
7. Selection7.1 Estimation of Actual Load 277.2 How to Use Charts for Minimum
Positioning Time 278. Combination
8.1 Motors Equipped With Absolute Position Sensor 298.2 Motors with Brake 308.3 Dust-Proof Motors 318.4 Fixed Cables 328.5 Flexible Cables 328.6 Dust-Proof Cables 32
9. International Safety Regulations9.1 CE Marking 339.2 Underwriters’ Laboratory (UL) 33
1 2
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.
High Performance & Low-Cost
C O N T E N T S
43
ESBB3 or ESBB5
YSB 2020(YSB 3040)
Features of YSB Series Megatorque Motors YSB Series Megatorque Motors
Point 1: Direct DriveThe Megatorque Motor is capable to drive the loaddirectly without using a mechanical speed reducer,and accordingly, it realizes highly accurate positioningwithout backlash and lost motion. A MegatorqueMotor is a servomotor that equips a position detectorto form full closed loop control.
Point 2: High Accuracy The YSB Series Megatorque Motor incorporates ahigh-resolution position detector (resolver) thatfeatures 819 200 pulses/revolution. This contributes toan exceptionally precise repeatability of ±1.6 arcseconds.
Point 3: High ReliabilityThe Megatorque Motor is a brushless motor and doesnot use permanent magnets in its simple construction.It is equipped with a highly rigid and accurate rollerbearing (crossed roller bearing), which is packed withlubrication grease, thus offering highly reliable andlong-term maintenance-free operation.
Point 4: Highly Functional Driver UnitThe YSB Series Megatorque Motor constitutes asystem in combination with an ESB Driver Unit for adigital servo control incorporating a 32-bitmicroprocessor.The ESB Driver Unit has a number of command inputsnecessary for motion control, thus permitting itsconnection with sequencers, a variety of positioningcontrollers and personal computers, etc. In addition,acceleration profiling and networking functionsthrough various field buses are available.
Point 5: Include Absolute Position Detectoras Standard Equipment
The YSB Series Megatorque Motor has an absoluteposition detector as standard equipment. Thiscontributes to eliminate the troublesome Homing andthus improves productivity. Additionally, the motorsand the driver units can be randomly matched as apair. Cable can be freely selected up to lengths of 30m.
Point 6: Conformity to the InternationalSafety Regulations
The Megatorque Motor systems conform to the ECDirectives (CE Marking) and Underwriters’ Laboratory(UL) regulations.
Power off
Power off
Homing
Home position
Controller
Current Series
Random Matching ofMotors and Driver Units
Absolute Position Sensor
Field Bus for Open Network
Random Matching ofMotors and Driver Units Field Bus for Open Network
Absolute Position SensorStandard Feature
No Homing RequiredNo Homing Required
No Home SensorWiring RequiredNo Home SensorWiring Required
An Optional Function
YSB Series
65
1. System Configuration YSB Series Megatorque Motors
1.1 System Configuration
1.2 Application
Classification ApplicationFeatures and Main Reason for Incorporation
High Accuracy High Speed High Rigidity Compactness Cleanliness Maintenance Free
Semiconductor CVD, Wafer cleaning, Ion implanting
manufacturing Wafer polishing, CMP etc
equipment Semiconductor transportation/
LCD manufacturing LCD transportation/Inspection/
Electric component assembly
Assembly machines
Electronic component high speed
Automotive parts assembly machines
Various assembly machines
Machine tools Tool rest feeding and ATC magazines
Machinery parts inspection
Inspection/TestingElectric component inspection
apparatus Optical component inspection
Liquid medicine inspection
Various inspection/Testing apparatus
Various assembly robots
Robots Various transportation robots
Inspection/Transportation robot in
Transportation Various work transportation equipment
1.2.1 Examples of Application
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
CN3
TB1L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
NSK Ltd.MADE IN JAPAN
230V
A FB C ED
Y Z ? /
S XT U WV
M RN O QP
G LH I KJ
1# -+2$ 3 5% 4
6& .-7' 8( 0?9)
SHIFT ENTESC CTRL S PB S
HANDY TERMINAL
Handy TerminalFHT11
ESB type Driver Unit
24V DC Power source
• Sequencer• Pulse train controller
RS-232C communication
Main power
Single-phase 200—230V ACSingle-phase 100—120V AC
Control power Control I/O signal
Cable setResolver cable
Motor cable
YSB Series Megatorque Motor
Provided by NSK.
Inspection/Processing
equipment Processing
machines
assembly machines
clean rooms
Megatorque Motors
Processingequipment side
CD or DVD
Robot arm
Stocker
Transportationequipment side Megatorque Motor
(Assembly/Inspection station)
Megatorque Motor (Loading/Unloading station)
Megatorque Motor (Processing station)
Driving mechanism of ATC magazine
Electrical component processing line
Robot arm and stocker for CD/DVD processing line
Processing line for automotive parts
Megatorque Motor
Megatorque Motors
Tools
22.5°
2- 6H7 ( )×8+0.0120
φ(Chamfer C0.5)
(180)
160 0.2+–
P.C.D.145 (60° equal pitch)
Output rotor mounting holes6-M6×1.0×8
(180
)
160
0.2
+ –
(80)
Connector: JST Corp.ELR-09V Connector: JST Corp.ELR-15V
145 0.02+–
Base mounting holes4- 10 drill-thruφ
1
55h8
( 4
4)
135
( 2
06.5
) 0 –0
.063
+0.
1 0
φφ
φφ
(4)
(1)
(46.5) (62)
44
(50)
(5)
(R
31)
(R
105)
(145
)
(135
)
(Chamfer C0.5)2- 6H7 ( ) × 5φ +0.012
0
45°
190 0.02+–
125 0.4+–
Unit: mm
(1
45)
130
0.2
+ –
22.5°
120 0.02
(Chamfer C0.5)2- 6H7 ( )×7+0.012
0φ
(145)130 0.2+–
Output rotor mounting holes 6-M5×0.8×7P.C.D.120 (60° equal pitch)
(80)
Connector: JST Corp.ELR-09V Connector: JST Corp.ELR-15V
+–
(6)(1.5) 39
(3)
(42)105 0.4+–
1
30h8
( 3
0)
110
( 1
64.5
) 0 –0
.063
+0.
1 0
φφ
φφ
(126
)
(115
)
(46.5) (54)
(R
22)
(R
85)
(Chamfer C0.5)2- 6H7 ( )×5φ +0.012
0
45°
150 0.02+–
Unit: mm
Base mounting holes4- 7 drill-thruφ
2. Megatorque Motors
N020 001M-YSB 2 KExample of
Reference Number:
YSB Series Megatorque Motor
Motor size code
Maximum output torque (N•m)
Design serial number001: Standard002: Metal housing connectors601: Dust-proof type701: Highly accurate upper surface runout801: Highly accurate absolute positioning(1)
N: No brake G: With brake
K: Standard (Incorporates absolute position sensor.)J: Optional (Incorporates incremental position sensor.)(2)
Origin sensor wiring is required.
2.1 Coding of Motor Reference Number
2.3 Dimensions of Standard Motor YSB2020 equipped with absolute position sensor
YSB3040 equipped with absolute position sensor
YSB 2020 YSB 3040
For the dimensions marked , an extra 2–3 mm marginis required for your workspace due to their variations.
For the dimensions marked , an extra 2–3 mm marginis required for your workspace due to their variations.
87
YSB 4080
YSB 5120
YSB Series Megatorque Motors
2.2 Motor SpecificationsMotor Reference Number
M-YSB2020KN001 M-YSB3040KN001 M-YSB4080KN001 M-YSB5120KN001Functional Item (Unit)
Maximum output torque (N•m) 20 40 80 120
Maximum current (A) 6
Maximum rotational speed(3) (s-1) 3
Resolution of position sensor (pulse/r) 819 200
Absolute positioning accuracy (sec) 150
Repeatability (sec) ±1.6
Allowable axial load (N) 3 700 4 500 9 500 19 600
Allowable moment load (N•m) 60 80 160 400
Mass (kg) 10 18 32 58
Environmental conditionsAmbient 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 adverselyaffect 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 anenclosure. The second digit indicates the protection grade. The number 0 means there is no protection against water.
P.C.D.260 (60° equal pitch)Output rotor mounting holes 6-M8×1.25×10
(Chamfer C0.5)2- 10H7 ( )×10+0.015
0φ
(310)280 0.2+–
(3
10)
280
0.2
+ –
22.5°
260 0.02+–
(80)
Connector: JST Corp.ELR-09V Connector: JST Corp.ELR-15V
Base mounting holes4- 14 drill-thruφ
(5.7)(4.3)
130 0.4+–
48(5)
(53)
(25)(50)
2
80h8
( 8
5)
240
( 36
0) 0 –0
.081
+0.
1 0
φφ
φφ
(R
60)
(R
70)
(R
90.5
)
(R
170)
(R
185)
(215
)
(226
)
(Chamfer C0.5)2- 10H7 ( )×10φ +0.015
0
45°
340 0.02+–
Unit: mm
(170
)
(181
)
P.C.D.190 (60° equal pitch)Output rotor mounting holes 6-M6×1.0×8
(Chamfer C0.5)2- 8H7 ( )×8
(235)
(2
35)
(80)
+0.0150
Connector: JST Corp.ELR-09V Connector: JST Corp.ELR-15V
φ
210 0.2+–
210
0.2
+ –
190 0.02+–
Base mounting holes4- 12 drill-thruφ
(6)(4.2)
125 0.4+–
43(16)
(53)
(9)
2
05h8
( 5
0)
175
( 2
70.4
) 0 –0
.072
+0.
1 0
φφ
φφ
(R
45)
(R
59)
(R13
0)
(R
140)
(Chamfer C0.5)2- 8H7 ( )×8φ +0.015
0
45°22.5°
250 0.02+–
Unit: mm
9 10
D1 D2 D3 H1 H2
M-YSB2020KG001 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
M-YSB2020KG001 18 24 60 30
M-YSB3040KG001 3624V DC
26 80 40
M-YSB4080KG001 72 40 140 50
M-YSB5120KG001 145 50 210 80
D2
D1
D3
H1
H2
A motor with a brake is available for use when a motormust be stopped while under load for a long periodsor when there is a risk that a rotor may rotate due toload imbalance when the motor is powered off.
Servo ON
Servo OFF
Brakepower-off Brake power-offBrake power-on
Clamp Clamp
Integrator OFF
ON
OFF
ON
OFF
ON
OFF
Clamped
Unclamped
OFF
ON
Unclamp
Integrator ON
Motor rotation
Brake release time+α(1)Brake operating
time +α(1)
Motor servo (SVON input)
Positioning start (RUN input)
Brake control signal (BRK output)
Completed positioning (IPOS output)
Brake operation
Servo loop integrator(2)
(ESB Driver Unit internal processing)
Motor operation
Integrator OFF
2.4 Option2.4.1 Brake
(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.
(1) Outline Dimensions of Motor with Brake and Brake Specifications
(2) Brake sequence function
The brake sequence function and BRK signals provided by the ESB Driver Unit eliminate the ON/OFF timingoperations of the brake power supply and servo loop integral action conventionally controlled by the user device.
24V DC power supply is not included. The M-FZ063-1 (DC 90V) brake power unit for the YS Megatorque Motor cannot be used.
YSB Series Megatorque Motors
YSB4080 equipped with absolute position sensor
YSB5120 equipped with absolute position sensor
For the dimensions marked , an extra 2–3 mm marginis required for your workspace due to their variations.
For the dimensions marked , an extra 2–3 mm marginis required for your workspace due to their variations.
MotorReference Number
Dimensions(mm)
MotorReference Number
BrakeTorque(N•m)
BrakeVoltage
(V)
BrakePower
Capacity(W)
BrakeRelease
Time(ms)
BrakeOperating
Time(ms)
P.C.D.120 (60° equal pitch)Output rotor mounting holes 6-M5×0.8×7
(Chamfer C0.5)2- 6H7 ( )×7+0.012
0φ
(145)130 0.2+–
(1
45)
130
0.2
+ –
(80)
CONINVERSRC-09P1N8A2300
CONINVERSRC-12P1N8A2300
Base mounting holes4- 7 drill-thruφ
(6)(1.5)
105 0.4+–
(42)
(39)
(46.5)
(3)
(54)
(R
22)
(R
85)
(137
)
(115
)
( 1
64.5
)φ
1
30h8
( 3
0)
110
0 –0.0
63
+0.
1 0
φ
φ
(Chamfer C0.5)2- 6H7 ( )×5φ +0.012
0
45°
150 0.02+–
120 0.02+–
22.5°
Unit: mm
11 12
ItemSpecification Value
Standard Highly Accurate Type
(1) Rotor axial runout 0.050 or less 0.010 or less
(2) Rotor radial runout 0.050 or less 0.050 or less
(mm)
Power unit for brake
Brake
Brake output
Megatorque motor
Red/Green lead wire (+)
Blue/Green lead wire (–)Protectiveelement
24V DC
(Prepared by users)
CR
+24V
0V
FG
Driver Unit
Connector CN2
3
1
BRK CR
COM
2.4.3 Dimensions of Dust-Proof Motor
YSB2020 Dust-Proof Type
The BRK output of CN2 can be used for brake control.
When connecting inductive loads such as a relay, as shown above, to the driver unit output, the rated voltage ofloads should be 24V DC and the rated current should be 100 mA or less. Be sure to provide surge protection.
Be sure to use the attached protective element (marked with in the above wiring example) to protect againstsurge currents.
Manufacturer: Nippon Chemi-Con CorporationProduct name: Ceramic Varistor TNRType: TNR14V560K
(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-YSB2020KN601Note: 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
2.4.2 Dust-Proof Option (Please consult with NSK for this product.)
A motor with highly accurate rotor surface runout is available.Example of reference number of motor with highly accurate rotor-surface runout: M-YSB2020KN701
2.4.4 Motor with Highly Accurate Rotor Runout
Please note that the shape of hatching part dust-proof seals is subject to change.
2
1 Rotor axial runout
Rotor radial runout
Rotor
This is a power-off activated electromagnetic brake that functions with a negative charge.
The 24V DC power supply is not included. The M-FZ063-1 (90V DC) brake power unit for the YSMegatorque Motor cannot be used.
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 clearancearound the brake during installation.
Precautions
YSB Series Megatorque Motors
For the dimensions marked , an extra 2–3 mm marginis required for your workspace due to their variations.
CONNECTOR: CONINVERS RC-12P1N8A2300
CONNECTOR: CONINVERS RC-09P1N8A2300
3. ESB Series Driver Units
00A BM-ESB YSB2020 3
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
Design serial number00: 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)
A: Device NetB: PROFIBUSC: CC-Link
Function3: Standard (Max. 16 channels)5: Extended program capacity (64 channels) Analog velocity command available
Example of Reference Number:
3.1 Coding of Driver Unit Reference Number
Model ESBB3 Model ESBB5
13 14
Absolute positioning accuracy 25 sec or less (environmental temperature: 25˚C)
A motor for highly accurate absolute positioning is available for applications such as inspection apparatusrequiring absolute positioning accuracy.
2.4.5 Motor for Highly Accurate Absolute Positioning
To ensure high accuracy of absolute positioning, theYSB Series Megatorque Motor and the ESB Driver Unitwill be shipped with the specified cable length tomatch. (The YSB Series Megatorque Motor and theESB Driver Unit are not interchangeable.)
Use the motor and driver unit with the same serialnumbers and do not change the specified cable length.In addition, a motor for highly accurate absolutepositioning is also compatible with highly accuraterotor runout specification (see 2.4.4).
K: Incorporates absolute position sensorJ: Incorporates incremental position sensor
Motor size code
Maximum output torque (N•m)
N: No brakeG: With brake
801: Highly accurate absolute positioning
N020 801M-YSB 2 K
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)
3: Standard (Max. 16 channels)5: Extended program capacity (64 channels) Analog velocity commandA: DeviceNetB: PROFIBUSC: CC-Link
A: 200–230V AC (single-phase)C: 100–120V AC (single-phase)
00AB A 3
1: Incorporates incremental position sensorA: Incorporates absolute position sensor
ESB Driver Unit
Example ofReference Number:
YSB Series Megatorque Motors
2.4.6 Reference Number Coding of Motors for Highly Accurate AbsolutePositioning
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)
3.2.2 Optional Functions
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.
Position command Internal Program, Pulse Train Input, RS-232C Communication
Input signalPulse train input Maximum frequency: 819.2 Kpps
Control input Input pulse format: CW/CCW, Pulse and direction, or Quadrature A/ B
Output signalPosition feedback signal(1) Output format: Line driver (Only Z can be switched to open collector)
Control output Driver Unit ready, In position, Brake control, Velocity threshold, Target proximity/In target area
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.
Others Automatic gain adjustment by RS-232C communication command (Automatic tuning)Programmed acceleration profiling (2) (Modified sine, modified trapezoid, cycloid and arc patterns)
Main power voltage 200–230V AC, ±10%, Single-phase 50/60 Hz 100–120V AC, ±10%, Single-phase 50/60 Hz
Main power capacityYSB2020: 1.0KVA YSB2020: 0.7KVA
YSB3040: 1.2KVA YSB3040: 0.9KVA
YSB4080: 1.4KVA YSB4080: 1.0KVA
YSB5120: 1.5KVA YSB5120: 1.0KVA
Environmental condition Operating temperature: 0–50°C; Humidity: 20–90%; Use indoors. Free from dust, condensation, and corrosive gas.
3.2 Driver Unit Specifications3.2.1 Standard Model (ESBB3)
YSB2020 with Metal Housing Connectors Motor with durable, metal connectorsto prevent handling damage.
Example of motor reference number: M-YSB2020KN002
Compatible with the ESB Driver Unit.
Please use dust-proof cables.Example of dust-proof cable referencenumber:
M-C004SB23
Note:
Motor is IP30 equivalent and it is notdust-proof specification.
2.4.7 Motor with Metal Housing Connectors
3.3.1 Input/Output Signal Specifications of CN2 Connector
95
50
180
215
6
8.5
75
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VELGND
CN3
TB1L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
230V
NSK Ltd.MADE IN JAPAN
CN5
MON.GND
VR1
170
Unit: mm
80
50170
180
215
6
8.5
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VELGND
CN3
TB1L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
NSK Ltd.MADE IN JAPAN
230V
75
Unit: mm
Dimensions of Driver Unit
ESBB5 (Extended in program capacity)
15
3.3 ESBB3 Driver Unit
DC24
PRG2
EMST
HLS
PRG0
CWP+
CCWP+
CHA
CHB
∗CHZ
OUT1
DRDY–
COM
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
SVON
RUN
PRG3
PRG1
CWP–
CCWP–
∗CHA
∗CHB
CHZ
SGND
DRDY+
IPOS
Standard ESBB3 (16 channels)
16
DC24
CLR
EMST
HLS
OTP
CWP+
CCWP+
CHA
CHB
∗CHZ
BRK
DRDY–
COM
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
SVON
IOFF
HOS
OTM
CWP–
CCWP–
∗CHA
∗CHB
CHZ
SGND
DRDY+
IPOS
CN2 Pin out
CN2
CN2 Pin out
YSB Series Megatorque Motors
3.4 ESBB5 Driver Unit (Option)
3.4.1 Input/Output Signal Specifications of CN2 ConnectorInput/Output Signal Code Pin No. Signal Name Function
CWP+ 8 CW pulse train (+) The motor rotates clockwise by the pulse train input.
CWP– 21 CW pulse train (–) (This part can be a direction or signal B.)
CCWP+ 7 CCW pulse train (+) The motor rotates counterclockwise by the pulse train input.
CCWP– 20 CCW pulse train (–) (This part can be a pulse train or a A signal by switching.)
EMST 12 Emergency stop Stops the motor and locks the servo.
SVON 25 Servo on This signal sets the motor servo on state.
Input signal HLS 11 Home position limit switch After Homing starts, this signal’s activation completes the Homing.
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 APulse signals indicate a rotational speed of the motor.
CHB 5 Position feedback signal B Output format is line driver.
CHZ 17 Z/Digital position signal MSB(A jumper can switch Z signal only to the open collector format.)
CHA 19 Position feedback signal A
CHB 18 Position feedback signal B Reversed output of position feedback signal
CHZ 4 Z/Digital position signal MSBOutput signal
SGND 16 Signal ground Ground connection for position feedback signal
DRDY+ 15 Driver Unit ready (+) This signal notifies that the Driver Unit is ready for operation.
DRDY– 2 Driver Unit ready (–) (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
Dimensions of Driver Unit CN2
Input/Output Signal Code Pin No. Signal Name Function
CWP+ 8 CW pulse train (+) The motor rotates clockwise by the pulse train input.(1)
CWP– 21 CW pulse train (–) (This part can be a direction or a B signal.)
CCWP+ 7 CCW pulse train (+) The motor rotates counterclockwise by the pulse train input.(1)
CCWP– 20 CCW pulse train (–) (This part can be a pulse train or a A signal.)
EMST 12 Emergency stop Stops the motor and locks the servo.
SVON 25 Servo on This signal sets the motor servo on state.
Input signalPRG0 9 Internal program •channel selection 0(2)
PRG1 22 Internal program •channel selection 1(2) A combination of ON and OFF of these 0–3 signalsPRG2 10 Internal program •channel selection 2 selects a channel (0–15) to execute its internal program.
PRG3 23 Internal program •channel selection 3
HLS 11 Home position limit switchAfter a start of Homing, an activation of this signal completes the Homing.
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 Pulse signals indicate a rotational speed of the motor CHB 5 Position feedback signal B Output format is line driver. (A jumper can switch Z
CHZ 17 Z/Digital position signal MSB signal only to the open collector format.)
CHA 19 Position feedback signal A
CHB 18 Position feedback signal B Reversed output of position feedback signal
CHZ 4 Z/Digital position signal MSB
Output signal SGND 16 Signal ground Ground connection for position feedback signal
DRDY+ 15 Driver Unit ready (+) This signal notifies that the Driver Unit is ready for operation.
DRDY– 2 Driver Unit ready (–)(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 3Brake/Velocity threshold/
Output signal of brake control (Normally closed)(3)
Target area proximity/Warning
COM 1 Output signal, common Common for position complete and brake control signals
Input/Output Signal Code Pin No. Signal Name Function
Input signalJOG 9 Jog Starts jog
DIR 22 Setting rotational direction This signal is to set the rotational direction of jog.
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.
(3) These signals can be switched to the signals outlined below by the settingof parameters.SPD: Velocity output, NEAR: Target proximity/In target area,OVER: Warning.
Input signalOTP 9 Overtravel limit switch (+) Overtravel input signal for clockwise rotation
OTM 22 Overtravel limit switch (–) Overtravel input signal for counterclockwise rotation
17
—
—
——
—
—
—
—
—
——
—
—
—
DC24
INH
DIR
JOG
NON+MON–
HCMP
HOMESPD
STPRUN
PRG5
PRG4PRG3PRG2
PRG1PRG0
AIN+
AIN–
NEARBNEARAOVER
COM
37
36
35
3433
32
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
CN5 Pin out
CN5
18
YSB Series Megatorque Motors
Input/Output Signal Code Pin No. Signal Name Function
DC24 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
A combination of ON and OFF of these 0–5PRG2 13 Internal program•Channel selection 2signals selects a channel (0–64) to execute its
Input signalPRG3 14 Internal program•Channel selection 3 internal program.
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 Input port for velocity or torque analog command
AIN– 7 Ground of analog command input when specified
INH 36 External command prohibitedProhibits accepting the pulse train input oranalog input command.
MON+ 27 Analog monitor output Analog output to monitor controlled status of the motor
MON– 26 Monitor output ground Ground for the monitor output
HCMP 22 Home position established This signal notifies that the home position is fixed.
HOME(2) 21 Homing completed/Tell home position Reports completion of homing or home position.
Output signal 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.
NEARA(1) 3 Target proximity/In target area A Reports the motor is approaching the target or the
NEARB(1) 4 Target proximity/In target area B motor is in the target area.
3.4.2 Input/Output Signal Specifications of CN5 Connector
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.
95
50
180
215
6
8.5
75
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VELGND
CN3
TB1L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
230V
NSK Ltd.MADE IN JAPAN
CN5
MON.GND
VR1
170
Unit: mm
Dimensions of Driver Unit
ESBB5 (Extended program capacity)
3.5 Electrical Specifications of CN2 and CN5 Connectors
24V DC3.3k
680
120Input H (+)
Output (+)
Input L (–)
Output (–)
390
CHACHB
CHACHB
SGND
SGND
20kAIN+
AIN–
MON+
MON–
10k
1000p
Driver Unit side
Driver Unit side
Driver Unit side
Driver Unit side
Driver Unit side
Driver Unit side
Driver Unit side
120
∗∗
CHZ
CHZ
∗
–
–
+
+
General Inputs
Input voltage 24V DC±10%
Impedance 3.3k Ω
Input current 10 mA or less (per port)
Can be used as a minus common.
Pulse Train Inputs
Input voltage 5V DC±10%
Impedance 240 Ω
Input current 25 mA or less
General Outputs
Maximum switching capacity 24V DC/50mA
Saturation voltage 2V or less
Position Feedback Signals
• CHA, CHA, CHB, CHB,
Output formatLine driver
• CHZ, CHZ,
Line driver or open collector
Driver usedTexas Instruments Inc.
SN75ALS912
Recommendable Texas Instruments Inc.
line receiver SN75ALS193 or AM26LS32equivalent
Maximum collector current 100 mA
Maximum collector voltage 24V DC
Saturation voltage 1V or less
Analog Command Inputs
Maximum input voltage ±10V
Impedance 20 kΩ
Maximum input current 0.5 mA
Analog Monitor Outputs
Output format Operation amplifier output
Maximum output voltage ±10V±10%
Saturation current 4 mA or less
At open collector format
2019
80
50170
180
215
6
8.5
75
Unit: mm
Driver Unit with Temperature Sensor Terminal Block
A driver unit with a thermal sensor terminal blockallows for easy wiring of thermal-sensor equippedmotors.It also features an electrical specification in whichoutput signals can be wired regardless of thepolarity of common signals.
Example of reference number of motor withthermal sensor terminal block: M-ESB-YSB2020AB302
3.6 Option3.6.1 Driver Unit with Thermal Sensor
Terminal Block
Output 2
COM
Output 1
Driver unit side
For output signal COMMON, connect signals corresponding to CN2 or CN5
Applied OutputFor Types B3, BA, BB and BC
CN2: BRK, IPOSFor Type B5
CN2: BRK, IPOSCN5: OVER, HOME, HCMP, SPD, NEARA, NEAPB
YSB Series Megatorque Motors
3.7 Field Bus Specifications (Option)
100
50
180
215
6
8.5
75
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VEL
GND
CN3
TB1
L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
NSK Ltd.MADE IN JAPAN
230V
DeviceNet
SW1
STATUS
CN5
1 2
3
4
5
6
7
8
1 2
3 4
5
170
100
50
180
215
6
8.5
75
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VEL
GND
CN3
TB1
L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
NSK Ltd.MADE IN JAPAN
230V
PROFIBUS
CN5
SW1
SW2
SW3
STATUS
ON
95
50
180
215
6
8.5
75
Type
No.
DISP.
POWER
CN1
RS-232C
CN2
VEL
GND
CN3
TB1
L
L
N
N
CTRLAC100-
230V
MAINAC200-
CN4MOTOR
NSK Ltd.MADE IN JAPAN
230V
CC-Link
CN5
STATUS
GNDMON.
TERM.STATION NO.
B.RATE
SW4SW1
SW2SW3
3
45
6
7890
1
2
1
2 3
45
6
7890
1
2 3
45
6
7890
Unit: mm
Compatibility to the field bus contributes to the networkinguser’s production equipment and cost reduction.
Item
Maximum switching capacity
Maximum ion resistance
Specification
24V DC/120 mA
25 Ω
3.6.2 General Output Signal Specifications of Driver Unit with ThermalSensor Terminal Block
3.7.4 CC-Link Interface
SW4
CN5
CC
-Link
SW1
SW2
SW3
LED
RS-232C
(Application software “MegaTerm” is available.)Note book personal computer Handy Terminal FHT11
Single-phase 200–230V ACor
Single-phase 100–120V AC
Main Power
CC-Link
Driver Unit
Sequencer
Master side
To other devices connected to CC-Link
Inputs of external sensors
Megatorque Motor
Cable Set
3.7.3 CC-Link System Configuration
DA : Data A
CN5 CC-Link connectorDB : Data BDG : Data groundSLD: Shield
Upper: Terminating resistor 110ΩSW4 Setting terminating resistor Middle: No terminating resistor
Bottom: Terminating resistor 130Ω
SW1Setting station number
Station number = (SW2 × 10) + (SW3)SW2 Never set the numbers of 0 or 65 or over
0: 156Kbps 3: 5MbpsSW3 Baud rate 1: 625Kbps 4: 10Mbps
2: 2.5Mbps 5–9: Never set
LED Data status indicator
1. DA
2. DB
3. DG
4. SLD
ERR
SD
RUN
RD
22
3.7.2 CC-Link Specifications CC-Link station specification
Positioning command Internal programmed operation via CC-Link or RS-232C communication
CN2 Emergency stop, Home position limit switch, Overtravel limit switch (CW, CCW)
Input signal Control input CC-Link Emergency stop, Servo on, Internal program start, Homing start, Clear, Jog,(CN5) Jog direction, Internal program channel select, Velocity change
CN2 Driver Unit ready, Positioning completed, Brake control
Output signal Control output CC-LinkDriver Unit ready, Positioning completed, Brake control, Home position established,
(CN5)Processing internal pulse, Warning, Target proximity/In target area output A and B, Selected channel number
Excess position error, Software thermal, CPU error, Position sensor error, OverAlarms
current, Over heat, Main AC line trouble, Control AC line under voltage
Monitoring functionAlarm status, Analog velocity monitor, Alarm status, RS-232C communication monitor (Parameters, program contents, position data, and alarm status)
Serial RS-232C communication: Baud rate 9600 bpsCommunication CC-Link communication: Baud rate: 156k/625k/2.5M/5M/10Mbps
Station number: 1–64, Terminating resistor: None/110Ω/130Ω
Remote device station (Exclusive station: 1)
21
CN2
13
25
12
23
11
9
22
24
10
8
21
7
20
19
17
16
15
14
13
12
11
30
31
8
7
27
26
DC24
SVON
EMST
HOS
HLS
OTP
OTM
IOFF
CLR
CWP+
CWP–
CCWP+
CCWP–
DC24
RUN
PRG5
PRG4
PRG3
PRG2
PRG1
PRG0
JOG
DIR
AIN+
AIN–
MON+
MON–
24V DC
24V DC
5V DC
L
NTB1
CTRL
MAIN
CN1 RS-232C
CN3 SENSOR
CN4 MOTOR
CN2
DRDY+
DRDY–
BRK
IPOS
COM
15
2
3
14
1
24V DCCN5
CN5HOME
COM
21
1
+
–
Single-phase 200–230V ACor
Single-phase 100–120V AC
• Circuit breaker
• Magnetic switch
• Noise filter etc.
Master controller
Servo on
Emergency stop
Homing start
Home position limit
Overtravel limit (+)
Overtravel limit (–)
Integral OFF •Lower gain
Clear
Pulse train (CW)
Pulse train (CCW)
Positioning start
Internal program•Channel selection 5
Internal program•Channel selection 4
Internal program•Channel selection 3
Internal program•Channel selection 2
Internal program•Channel selection 1
Internal program•Channel selection 0
Jog
Jog direction
Analog command
Analog monitor
Thermal sensor
Megatorque Motor
Handy Terminal FHT11
Master controller
Driver Unit ready
Brake control
Positioning completed
Homingcompleted/ Tell home position
CN2
13
25
12
23
11
9
22
24
10
8
21
7
20
DC24
SVON
EMST
PRG3
HLS
PRG0
PRG1
RUN
PRG2
CWP+
CWP–
CCWP+
CCWP–
Pulse train (CW)
Pulse train (CCW)
24V DC
5V DC
L
N
Single-phase 200–230V ACor
Single-phase 100–120V AC
CTRL
MAIN
CN1 RS-232C
CN3 SENSOR
CN4 MOTOR
CN2
DRDY+
DRDY–
BRK
IPOS
COM
15
2
3
14
1
24V DC
TB1
Master controller
Internal program•Channel selection 3
Internal program•Channel selection 0
Internal program•Channel selection 1
Internal program•Channel selection 2
Servo on
Emergency stop
Home position limit
Positioning start
Thermal sensor
Megatorque Motor
Handy Terminal FHT11
Master controller
Driver Unit ready
Brake control
Positioning completed
• Circuit breaker
• Magnetic switch
• Noise filter etc.
3.8 Wiring Example
ESBB5 Driver Unit
ESBB3 Driver Unit
When using a motor with a brake for both B3 and B5, the wiring example using brake is also applicable.
YSB Series Megatorque Motors
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.
MegaTerm: Communication program with personal computer. (Readout, writing and editing parameters, and programs. [RS232C])
JAE
DA
-C15
-J10
15
45.7
40.5
For
fixe
d us
e(
12)
Fle
xibl
e ty
pe(
11)
L
25
(100)
S1
S2
Connector (JST) ELP-09V
Connector shell (JAE)DA-C15-J10-F2
Connector (JAE) DAU-15PF - F0
Resolver cable
Connector (JST) ELP-15V
Motor cable
Connector (AMP)172495-1 2424.6
φ φF
or fi
xed
use
( 1
3)
Fle
xibl
e ty
pe(
11)
φ φ
Thermal sensor terminal(As a protective circuit againstmotor overheating)
Unit: mm
4. Cable Sets
03004 SBM-CExample of reference number:
Cable set
Cable length (m) 002: 2m 004: 4m 008: 8m015: 15m 030: 30m
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)
SB: ESB Driver Unit
Design serial 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.
For motor with absolute position sensor (M-C SB03/13)
4.1 Coding of Reference Number
4.2 Dimensions of Standard Cable Set
24
Gray cable: For fixed use.Black cable: Flexible type for moving use.
23
Thermal sensor terminal(As a protective circuit againstmotor overheating)
Connector (CONINVERS)RC-12S1N8A1600
45.7
40.5
15
25
24
L (100)
61
Connector shell (JAE)DA-C15-J10-F2
Connector (JAE)DAU-15PF-F0
Resolver cable
Motor cable
Connector (AMP)172495-1
Connector (CONINVERS)RC-09S1N8A1600
26φ26φ
( 1
1)φ
( 1
1)φ
Unit: mm
4.3 Dimensions of Dust-proof Cable Set
YSB Series Megatorque Motors
• Use Dust-proof Cable Set for both dust-proof motor and motor with housing connectors.
5. Handy Terminal
M-FHT 11Handy Terminal Serial number
Example of reference number:
Handy Terminal FHT11 is an easy-to-handle RS-232Ccommunication terminal for inputting parameters andprograms to the ESB driver unit. You need justconnect it to the CN1 connector of the driver unit.
• LCD screen: 20 letters × 4 lines• No external power source required.• Cable length: 3m
5.1 Coding of Reference Number
25 26
Installing MegaTerm onto your PC allows for programming and parameter editing, creating, and managing of theESB Driver Unit. MegaTerm can be downloaded for free from the NSK Website.(Visit www.nsk.com and access Precision Machine Parts & Mechatronics Products > Products > RotatingActuator > Megatorque Motor.)
An RS-232C communication cable is available as an option. Type: M-C003RS01 (Cable length: 3m)
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.).
MegaTerm Menu Page Programs and Parameters List Page
PersonalComputer
Windows®
95, 98, 2000
MegaTermRS-232C
ESB type(ESA Model23, 25, 35)
Driver Unit
6. Characteristics/Accuracy
00
0.5
1.0
1.5
2.0
2.5
3.0
50 100
Power voltage: 200V AC
150 200 250
M-YSB2020M-YSB3040M-YSB4080M-YSB5120
Rot
atio
nal s
peed
, rps
Output torque, N•m
6.1 Speed/Output Torque
00
0.5
1.0
1.5
2.0
2.5
3.0
20 40 60
Power voltage 100V AC
80 100 120
M-YSB2020M-YSB3040M-YSB4080M-YSB5120
Rot
atio
nal s
peed
, rps
Output torque, N•m
Item Specification
(1) Rotor axial runout 0.050 or less
(2) Rotor radial runout 0.050 or less2
1 Rotor axial runout
Rotor radial runout
Rotor
(Unit: mm)6.2 Runout
2827
0.5 1 5 10 50 1000
0.5
1.0
1.5
2.0
2.5
0.1
0.1 0.5 1 5 10
180
90
45
30
15
Index angle
Moment of inertia, kg•m 2
Pos
ition
ing
time,
s
Inertia GD , kgf•m 2 2
0.5 1 5 10 50 100 5000
0.5
1.0
1.5
2.0
2.5
3.0
3.5
0.1
0.1 0.5 1 5 10 50 100
Pos
ition
ing
time,
s
Inertia GD , kgf•m 2 2
Moment of inertia, kg•m 2
180
90
45
30
15
Index angleM-YSB 4080 M-YSB 5120
YSB Series Megatorque Motors7. Selection
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 obtainan actual load to the motor.
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
7.2 How to Use Charts for Minimum Positioning Time
7.1 Estimation of Actual Load
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 chartsin 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.
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.
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 onthe acceleration and the rotational speed.
b. When there is no chart applicable to the indexing angle: Separate calculation shall be made. However, the minimum timefor 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 therepeatability.
F
AL
F
LF
(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) 0.5 1 5
0.1 0.5 10.05
0
0.5
1.0
1.5
0
180
90
45
30
15
Pos
ition
ing
time,
s
Index angle
Inertia GD , kgf•m 2 2
Moment of inertia, kg•m 2
0
0.5
1.0
1.5
2.0
0.1 0.5 1 5 10
0.1 0.5 1 50.05
20
Pos
ition
ing
time,
s
Index angle
180
90
45
30
15
Inertia GD , kgf•m 2 2
Moment of inertia, kg•m 2
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.
M-YSB 2020 M-YSB 3040
(Power voltage 100V AC Power voltage: 200V AC )
8. Combination
8.1 Motors Equipped With Absolute Position SensorMotor ReferenceNumber Driver Unit Reference Number (1) Power Voltage Cable Reference Number Main Specifications
M-YSB2020KN001M-ESB-YSB2020AB300 200–230V AC
M-ESB-YSB2020CB300 100–120V AC
M-YSB3040KN001M-ESB-YSB3040AB300 200–230V AC
M-ESB-YSB3040CB300 100–120V AC
M-YSB4080KN001M-ESB-YSB4080AB300 200–230V AC
M-ESB-YSB4080CB300 100–120V AC
M-YSB5120KN001M-ESB-YSB5120AB300 200–230V AC
M-ESB-YSB5120CB300 100–120V AC
M-YSB2020KN001M-ESB-YSB2020AB500 200–230V AC
M-ESB-YSB2020CB500 100–120V AC
M-YSB3040KN001M-ESB-YSB3040AB500 200–230V AC
M-ESB-YSB3040CB500 100–120V AC
M-YSB4080KN001M-ESB-YSB4080AB500 200–230V AC
M-ESB-YSB4080CB500 100–120V AC
M-YSB5120KN001M-ESB-YSB5120AB500 200–230V AC
M-ESB-YSB5120CB500 100–120V AC
M-YSB2020KN001M-ESB-YSB2020ABA00 200–230V AC
M-ESB-YSB2020CBA00 100–120V AC
M-YSB3040KN001M-ESB-YSB3040ABA00 200–230V AC
M-ESB-YSB3040CBA00 100–120V AC
M-YSB4080KN001M-ESB-YSB4080ABA00 200–230V AC
M-ESB-YSB4080CBA00 100–120V AC
M-YSB5120KN001M-ESB-YSB5120ABA00 200–230V AC
M-ESB-YSB5120CBA00 100–120V AC
M-YSB2020KN001M-ESB-YSB2020ABB00 200–230V AC
M-ESB-YSB2020CBB00 100–120V AC
M-YSB3040KN001M-ESB-YSB3040ABB00 200–230V AC
M-ESB-YSB3040CBB00 100–120V AC
M-YSB4080KN001M-ESB-YSB4080ABB00 200–230V AC
M-ESB-YSB4080CBB00 100–130V AC
M-YSB5120KN001M-ESB-YSB5120ABB00 200–230V AC
M-ESB-YSB5120CBB00 100–120V AC
M-YSB2020KN001M-ESB-YSB2020ABC00 200–230V AC
M-ESB-YSB2020CBC00 100–120V AC
M-YSB3040KN001M-ESB-YSB3040ABC00 200–230V AC
M-ESB-YSB3040CBC00 100–120V AC
M-YSB4080KN001M-ESB-YSB4080ABC00 200–230V AC
M-ESB-YSB4080CBC00 100–120V AC
M-YSB5120KN001M-ESB-YSB5120ABC00 200–230V AC
M-ESB-YSB5120CBC00 100–120V AC
29 30
8.2 Motors with BrakeMotor ReferenceNumber Driver Unit Reference Number (1) Power Voltage Cable Reference Number Main Specifications
M-YSB2020KG001M-ESB-YSB2020AB300 200–230V AC
M-ESB-YSB2020CB300 100–120V AC
M-YSB3040KG001M-ESB-YSB3040AB300 200–230V AC
M-ESB-YSB3040CB300 100–120V AC
M-YSB4080KG001M-ESB-YSB4080AB300 200–230V AC
M-ESB-YSB4080CB300 100–120V AC
M-YSB5120KG001M-ESB-YSB5120AB300 200–230V AC
M-ESB-YSB5120CB300 100–120V AC
M-YSB2020KG001M-ESB-YSB2020AB500 200–230V AC
M-ESB-YSB2020CB500 100–120V AC
M-YSB3040KG001M-ESB-YSB3040AB500 200–230V AC
M-ESB-YSB3040CB500 100–120V AC
M-YSB4080KG001M-ESB-YSB4080AB500 200–230V AC
M-ESB-YSB4080CB500 100–120V AC
M-YSB5120KG001M-ESB-YSB5120AB500 200–230V AC
M-ESB-YSB5120CB500 100–120V AC
M-YSB2020KG001M-ESB-YSB2020ABA00 200–230V AC
M-ESB-YSB2020CBA00 100–120V AC
M-YSB3040KG001M-ESB-YSB3040ABA00 200–230V AC
M-ESB-YSB3040CBA00 100–120V AC
M-YSB4080KG001M-ESB-YSB4080ABA00 200–230V AC
M-ESB-YSB4080CBA00 100–120V AC
M-YSB5120KG001M-ESB-YSB5120ABA00 200–230V AC
M-ESB-YSB5120CBA00 100–120V AC
M-YSB2020KG001M-ESB-YSB2020ABB00 200–230V AC
M-ESB-YSB2020CBB00 100–120V AC
M-YSB3040KG001M-ESB-YSB3040ABB00 200–230V AC
M-ESB-YSB3040CBB00 100–120V AC
M-YSB4080KG001M-ESB-YSB4080ABB00 200–230V AC
M-ESB-YSB4080CBB00 100–130V AC
M-YSB5120KG001M-ESB-YSB5120ABB00 200–230V AC
M-ESB-YSB5120CBB00 100–120V AC
M-YSB2020KG001M-ESB-YSB2020ABC00 200–230V AC
M-ESB-YSB2020CBC00 100–120V AC
M-YSB3040KG001M-ESB-YSB3040ABC00 200–230V AC
M-ESB-YSB3040CBC00 100–120V AC
M-YSB4080KG001M-ESB-YSB4080ABC00 200–230V AC
M-ESB-YSB4080CBC00 100–120V AC
M-YSB5120KG001M-ESB-YSB5120ABC00 200–230V AC
M-ESB-YSB5120CBC00 100–120V AC
YSB Series Megatorque Motors
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 ofits reference number are 00 only.
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 ofits reference number are 00 only.
DeviceNet compatible(2)
Internal program 64 channels
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
Internal program 64 channels
(Acceleration profiling pattern
can be only set to 32 channels.)
Pulse train input
(Photo coupler)
Analog velocity command
Internal program 16 channels
(Acceleration profiling pattern
can be set to each channel.)
Pulse train input
(Photo coupler)
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
PROFIBUS compatible(2)
Internal program 64 channels
CC-Link compatible(2)
Internal program 64 channels
DeviceNet compatible(2)
Internal program 64 channels
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
Internal program 64 channels
(Acceleration profiling pattern
can be only set to 32 channels.)
Pulse train input
(Photo coupler)
Analog velocity command
Internal program 16 channels
(Acceleration profiling pattern
can be set to each channel.)
Pulse train input
(Photo coupler)
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
M-CO SB03
indicates cable length
PROFIBUS compatible(2)
Internal program 64 channels
CC-Link compatible(2)
Internal program 64 channels
31 32
8.3 Dust-Proof Motors (Please consult with NSK for this product.)
Motor ReferenceNumber Driver Unit Reference Number (1) Power Voltage Cable Reference Number Main Specifications
M-YSB2020KN601M-ESB-YSB2020AB300 200–230V AC
M-ESB-YSB2020CB300 100–120V AC
M-YSB3040KN601M-ESB-YSB3040AB300 200–230V AC
M-ESB-YSB3040CB300 100–120V AC
M-YSB4080KN601M-ESB-YSB4080AB300 200–230V AC
M-ESB-YSB4080CB300 100–120V AC
M-YSB5120KN601M-ESB-YSB5120AB300 200–230V AC
M-ESB-YSB5120CB300 100–120V AC
M-YSB2020KN601M-ESB-YSB2020AB500 200–230V AC
M-ESB-YSB2020CB500 100–120V AC
M-YSB3040KN601M-ESB-YSB3040AB500 200–230V AC
M-ESB-YSB3040CB500 100–120V AC
M-YSB4080KN601M-ESB-YSB4080AB500 200–230V AC
M-ESB-YSB4080CB500 100–120V AC
M-YSB5120KN601M-ESB-YSB5120AB500 200–230V AC
M-ESB-YSB5120CB500 100–120V AC
M-YSB2020KN601M-ESB-YSB2020ABA00 200–230V AC
M-ESB-YSB2020CBA00 100–120V AC
M-YSB3040KN601M-ESB-YSB3040ABA00 200–230V AC
M-ESB-YSB3040CBA00 100–120V AC
M-YSB4080KN601M-ESB-YSB4080ABA00 200–230V AC
M-ESB-YSB4080CBA00 100–120V AC
M-YSB5120KN601M-ESB-YSB5120ABA00 200–230V AC
M-ESB-YSB5120CBA00 100–120V AC
M-YSB2020KN601M-ESB-YSB2020ABB00 200–230V AC
M-ESB-YSB2020CBB00 100–120V AC
M-YSB3040KN601M-ESB-YSB3040ABB00 200–230V AC
M-ESB-YSB3040CBB00 100–120V AC
M-YSB4080KN601M-ESB-YSB4080ABB00 200–230V AC
M-ESB-YSB4080CBB00 100–130V AC
M-YSB5120KN601M-ESB-YSB5120ABB00 200–230V AC
M-ESB-YSB5120CBB00 100–120V AC
M-YSB2020KN601M-ESB-YSB2020ABC00 200–230V AC
M-ESB-YSB2020CBC00 100–120V AC
M-YSB3040KN601M-ESB-YSB3040ABC00 200–230V AC
M-ESB-YSB3040CBC00 100–120V AC
M-YSB4080KN601M-ESB-YSB4080ABC00 200–230V AC
M-ESB-YSB4080CBC00 100–120V AC
M-YSB5120KN601M-ESB-YSB5120ABC00 200–230V AC
M-ESB-YSB5120CBC00 100–120V AC
8.5 Flexible Cables
8.4 Fixed Cables
8.6 Dust-Proof Cables
YSB Series Megatorque Motors
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 ofits reference number are 00 only.
Cable Set Reference Number Cable Length
M-C002SB03 2m
M-C004SB03 4m
M-C008SB03 8m
M-C015SB03 15m
M-C030SB03 30m
Cable Set Reference Number Cable Length
M-C002SB13 2m
M-C004SB13 4m
M-C008SB13 8m
M-C015SB13 15m
M-C030SB13 30m
Cable Set Reference Number Cable Length
M-C002SB23 2m
M-C004SB23 4m
M-C008SB23 8m
M-C015SB23 15m
M-C030SB23 30m
DeviceNet compatible(2)
Internal program 64 channels
M-CO SB23
indicates cable length
M-CO SB23
indicates cable length
Internal program 64 channels
(Acceleration profiling pattern
can be only set to 32 channels.)
Pulse train input
(Photo coupler)
Analog velocity command
Internal program 16 channels
(Acceleration profiling pattern
can be set to each channel.)
Pulse train input
(Photo coupler)
M-CO SB23
indicates cable length
M-CO SB23
indicates cable length
M-CO SB23
indicates cable length
PROFIBUS compatible(2)
Internal program 64 channels
CC-Link compatible(2)
Internal program 64 channels
3433
YSB Series Megatorque Motors9. International Safety Regulations
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 DirectiveWe 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 UnitConforms to UL508C regulation.
(File number: E216221)
Cable SetWe use the material conforming to the UL regulations.
If you require more detailed information such as installing
conditions, please contact your local NSK
representative.