Nachi Motors

General Comments

This is the TI-3000N option for Nachi robot motors with Tamagawa Smart ABS serial encoders. The Nachi serial encoders listed in the next section are supported by this selection.

Types Supported

The following list shows the Tamagawa and Sumtak encoders that are currently supported by the TI-3000N option.

Identification

The motors should show Nachi – Fujikoshi Corp. on the nameplate. They have model numbers similar to Panasonic & Matsushita part numbers.

The encoders are often identified with at sticker that is visible once the encoder cover is removed. If the encoder is not identified in that manner, it may be difficult to identify. The TI-5000JX may be helpful in identifying it using the Encoder ID field.

The typical part numbers below may help you identify your motor and encoder:
 

Connection

Feedback Connection –

Feedback connection requires using the correct cable as shown in the chart in the ‘Types Supported section’ above. Those are the connections that we have figured out so far. See the end of the ‘Pin Configurations and Reference Information’ section for information on finding cable pinout sheets at http://www.mitchell electronics.com.

Armature Connection –

The correct drive armature phase leads must be connected to the correct motor armature pins in order for the commutation alignment to be correct. Different motor models and sizes may use different connectors for the armature phases, so it is not always simple to determine the correct connection. However, the correct connection is so important that it is pointless to try to run the motor if you are not sure.

There may be other connections, but the following connections are known to be used on Nachi motors:

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Nachi:

1. P8 C08192 ST2048 – 8 pole motors using MFE0011, TS5643, or AEC2048 encoder.

2.  P8 C131072 MFE17 – 8 pole motors using MFE0017 encoder.

Select the appropriate type and connect the encoder cable for the type selected.

Debugging

Section 2.2.3 provides general information about debugging the TI-3000 setup. You will want to be familiar with that material.

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

1. Press the DEBUG key to put the TI-3000 in DEBUG mode.

2. Rotate the motor in the forward direction (CW looking at the shaft for Nachi) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.

3. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the motor shaft.

4. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check.

After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

Running

Section 2.2.4 provides general information about running motors with the TI-3000JX. You will want to be familiar with that material.

Section 2.2.5 provides safety information to be observed when running motors with the TI-3000JX. Please read this section carefully and exercise all safety considerations.

After a successful Debug check, perform the following sequence to run the motor.

1. Connect the motor armature leads to the amplifier using the appropriate connectors.

2. Press the RUN key to enable the amplifier. The following check list will appear on the display. 
   a. Are hands and clothing clear of moving parts? 
   b. Is the motor mounted securely? 
   c. Is the speed pot set to the zero (stopped) position?

3. Press the RUN key again after insuring that the check list is satisfied.

4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.

5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading.

6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.