GIKEN
Mar.2024

GSK_N7
Controller Instruction Manual

GIken Industrial Co.,LtdBefore bigening operation

Caution■Note(1)Please read this instruction manual carefully in order to ensure that you use this product correctly.
(2)Part or all of this instruction manual may not be used or required without permission of Giken Industrial Co.,Ltd.
(3)Please consider that handling and operation which are not described in this manual can not be performed.
And please do not do such handling or operation.
In addition, problems that occur as a result of handling and operations not describedin this instruction manual are excluded from the scope of warranty.
(4)The information in this instruction manual is subject to change without notice for improvement.
(5)Special products may not match this specification.
Please consult separately.
(6) Setting PC is optional.
Please contact us if necessary.

Caution■Measures in case of emergency
If this product is in a dangerous condition, immediately turn off all power switches of the main unitor the connected equipment, or pull out all power cords from the plug outlets.
("Dangerous condition" means a condition where a fire or danger to the body is expected due
to abnormal heat, smoke or fire.)1Caution■Cautions at first power on
１．Please check that the cable connection is correct before turning on the power. (Visual check)
２．Please attach a termination resistor (110 Ω) in the communication connector (COM port)of the GSK driver at the end.
However, it is not necessary when using with only one axis.
３．The GSK controller needs to recognize the axis number.
In the 7SEG panel, please set the axis number of 1 axis side with “d00177” and the axis number of 2 axis sidewith “d10177”.
(If the axis number is not set, communication from the setting PC can not be performed.)※ When replacing the controller, it is sure to set.
４．After power on, you should check the wiring using the variation of the following address values.
The torque sensor output value on the 1st axis side can be confirmed by “d00210”.
The torque sensor output value on the 2nd axis side can be confirmed with "d10210".
The current position of the encoder (resolver) on the 1st axis can be checked with "d02003".
The current position of the encoder (resolver) on the 2nd axis can be checked with "d12003".
(Electrical check)
５．In order to confirm the zero point of the torque sensor, you confirm the measured value of the zero pointof each axis with “d00210” and “d10210”.
In addition, it is possible to adjust the zero point by using setting software.
６．After completing the above, please enter settings etc.

2

INDEX
１. System outline ........................................................................................................................................... 5
２. Specifications ............................................................................................................................................ 7
２－１ Specifications of controller ................................................................................................................................... 7
２－２ Basic specifications ............................................................................................................................................... 9
２－３ Function and characteristics ................................................................................................................................ 12
２－４ Dimension ........................................................................................................................................................... 13
２－４－１ Interface dimensions: Standard specification・・・GSK-IF-N7 .......................................................... 13
２－４－２ Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7........................................... 14
２－４－３ Dimension drawing: standard specification・・・GSK-15（17）-E(1)-N7 ....................................... 15
２－４－４ Dimension drawing: T type specification・・・GSK-T5（T7）-E (1)-N7 ......................................... 16
２－４－５ Dimension drawing: standard specification・・・GSKW-15-E (1)-N7 ............................................... 17
２－４－６ Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7 ................................................. 18
２－４－７ Dimension drawing(Display)： type・・・ GSK-D2-N7 .................................................................. 18
３. Wire connection ...................................................................................................................................... 20
３－１ Connection reference drawing ............................................................................................................................ 20
３－１－１ GSKW System connection reference diagram ......................................................................................... 20
３－１－２ GSK System connection reference diagram ............................................................................................. 21
３－２ Used connector and mating connector .................................................................................................................. 22
３－２－１ GSK Used connector and mating connector ........................................................................................... 22
３－２－２ Communication port details owned by the interface .............................................................................. 23
３－３ External connection............................................................................................................................................. 24
３－３－1 External connection diagram (between GSK and NR): Driver amplifier of standard
specification and T specification .................................................................................................................................... 24
３－３－２ External connection diagram (interface～connected device):Interface ................................................. 25
３－４ Cable model list .................................................................................................................................................. 26
３－４－１ GSK cable model list .............................................................................................................................. 26
４. Signal....................................................................................................................................................... 29
４－１ Type of input / output signal ............................................................................................................................... 29
４－２ Input/Output signal ............................................................................................................................................. 30
４－２－１ Input signal .............................................................................................................................................. 30
４－２－２ Output signal ........................................................................................................................................... 32
４－３ Input / Output signal map ................................................................................................................................... 36
４－４ Select a sequencer ................................................................................................................................................. 38
４－４－１ Anybus board setting method ................................................................................................................... 38
５. Operation timing chart ............................................................................................................................ 39
５－１ Power on and inching operation ........................................................................................................................... 39
５－２ Program operation - 2 step operation 1 ................................................................................................................. 40
５－３ Program operation - 2 step operation 2 ................................................................................................................. 41
５－４ Program operation - 2 step operation 3 ................................................................................................................. 42
５－５ Program operation - 1 step operation 1 ................................................................................................................. 43
５－６ Program operation - 1 step operation 2 ............................................................................................................... 44
５－７ Program operation - 2 step operation 4 ................................................................................................................. 45
５－８ Program operation - 1 step operation 3 ................................................................................................................. 46
５－９ Interruption of program operation (reset) ............................................................................................................. 47
５－１０ Operation ready OFF and Start OFF at Program operation .............................................................................. 48
５－１１ Alarm output and alarm reset during program operation ................................................................................. 49
５－１２ Tightening angle sampling operation ............................................................................................................... 50
６. Setting ..................................................................................................................................................... 51
６－１ Display / setting function ...................................................................................................................................... 51
６－１－１ About the viewpoint of the display ........................................................................................................... 51
６－１－２ Operation the display unit ......................................................................................................................... 52
６－１－３ Setting example ......................................................................................................................................... 53※Procedure of setting axis number ................................................................................................................................ 53※Procedure to erase the 7 segment display of W type unused axis .............................................................................. 55※Procedure of changed tightening sampling stop torque .............................................................................................. 56※Procedure to change overload alarm threshold ........................................................................................................... 57
６－２ Program configuration .......................................................................................................................................... 60
７. Setting function details ........................................................................................................................... 613

７－１ Fn.** display setting function list ....................................................................................................................... 61
７－２（d-00***, d-10***）Driver parameter setting for each axis ............................................................................... 62
７－３ SOC.T setting ........................................................................................................................................................ 64
７－４ PRE.T setting ........................................................................................................................................................ 65
７－５ REV.T setting........................................................................................................................................................ 67
７－６ REA.T setting........................................................................................................................................................ 68
７－７ Rate setting ............................................................................................................................................................ 73
７－８ X-axis rate setting ............................................................................................................................................... 75
７－９ Ｙ-axis rate setting .............................................................................................................................................. 76
７－１０ Point seting ........................................................................................................................................................ 77
７－１１ （Ｆｎ．０１）Tightening result monitor of 1st axis .................................................................................... 78
７－１２ （Ｆｎ．０２）Tightening result monitor of the 2nd axis............................................................................. 78
７－１３ （Ｆｎ．０３）Input / output monitor ........................................................................................................... 80
７－１４ （Ｆｎ．０４）Operation instruction from GSK controller .......................................................................... 82
７－１５ （Ｆｎ．０５）Unit setting ............................................................................................................................ 82
７－１６ （Ｆｎ．０６）Interface unit setting ............................................................................................................. 83
７－１７ （Ｆｎ．０７）ID connection setting .......................................................................................................... 86
７－１８ About Z axis setting .......................................................................................................................................... 88
７－１８－１ Coordinate setting of Z axis ................................................................................................................ 88
７－１８－２ Z axis rate setting .................................................................................................................................. 89
８. Supplementary explanation ..................................................................................................................... 90
８－１ Motion assist function ........................................................................................................................................... 90
８－２ Driver function ...................................................................................................................................................... 90
９. Monitor output ........................................................................................................................................ 91
１０. Code Table .......................................................................................................................................... 92
１０－１ ＮＧ code list ................................................................................................................................................... 92
１０－２ Alarm Code List ................................................................................................................................................ 94
１０－２－１ Interface alarm ...................................................................................................................................... 94
１０－２－２ Interface alarm details ........................................................................................................................... 95
１０－２－３ Alarm generated in the GSK driver (E**) .......................................................................................... 100
１１. Indication of display.......................................................................................................................... 103
１２. Maintenance and inspection .............................................................................................................. 110
１２－１ Notes ............................................................................................................................................................. 111
１２－１－１ Maintenance and Inspection Precautions .......................................................................................... 111
１２－１－２ Inspection items ................................................................................................................................ 111
１２－１－３ lifespan .............................................................................................................................................. 111
１２－１－４ Capacitor ........................................................................................................................................... 111
１２－１－５ Relay ................................................................................................................................................. 111
１２－１－６ Cooling fan ........................................................................................................................................ 112
１２－１－７ Battery ............................................................................................................................................... 112
１２－１－８ E2PROM ........................................................................................................................................... 112
１２－２ Warranty ........................................................................................................................................................ 112
１２－３ Tightening operation glossary....................................................................................................................... 112
Supplemental explanation ........................................................................................................................... 114
About GSK additional functions ................................................................................................................. 115①Area judgment ............................................................................................................................................................... 115②Smooth tightening ......................................................................................................................................................... 115③Function to connect with EtherNet (FTP transfer) ....................................................................................................... 115④S-shaped control ............................................................................................................................................................ 115⑤Z axis pressing control .................................................................................................................................................. 115⑥SD card .......................................................................................................................................................................... 116
Predictive maintenance function ................................................................................................................. 119①Outline of Predictive Maintenance ............................................................................................................................... 119
Flow to alarm notification ............................................................................................................................................. 119②GSK controller Electronic component lifetime warning .............................................................................................. 120③Nut runner failure prediction warning .......................................................................................................................... 121
Change log .................................................................................................................................................. 128

4

１. System outline
・“GSK Nut runner System” is the torque control type nut runner system what has the function necessary to tighteningof the screw and locating.
・This system has the name specified as GSK and it is classified into driver amplifier, interface unit and AC nutrunner..

Driver amplifer section
・Tightening accuracy :3σ±2%・GSK series improved a conventional GSS series, that was realized downsized, model integrationand processing speed Improvement by the capacity rise of CPU and a memory.
・The control of rotation speed and torque can be set by program, and various tightening patterns can be easily performed.
・The combination of position control and torque control enables high-speed and high-precision tightening control.
・The program No., operation status, alarm information etc. are displayed on the front panelby the self-diagnosis function.
・There are three ways to set the tightening program: setting PC, dedicated display, and input from the front panel.
・As it is equipped with automatic setting input function, even beginners can easily input settings.

Interface unit section
・An interface unit is a communication device with an external unit such as a sequencer, display, setting PC, or printer.
・By connecting a personal computer to the interface unit, the GSK system can check information related
to tightening control such as setting data and tightening results.
・By connecting a printer, you can check data such as settings and tightening results without connecting it to a PC.
・The communication setting can correspond to both specifications of parallel IO and serial IO.
・One interface unit is always required for each system.
(Use one interface unit for every 16 axes if there is a positioning unit, 30 axes for none.)5

AC Nut runner section
・As with the conventional GSS series, ANZM-type nutrunners can be used continuously.
<Specification of nut runner>
Maximum
Nut runnertightening
model
torque[N･m]Maximumrotational
speed
[rpm]

Power
supplycurrent[A rms]Motor model

Weight[kg]

Censor model

ANZM-250

20

310

0.8

TS4603N1920E203

1.6

AZM-350

ANZM-350

30

430

1.5

TS4617N1920E203

1.9

AZM-350

ANZM-500

45

310

1.5

TS4617N1920E203

1.9

AZM-500

ANZM-850

80

420

2.8

TS4609N1920E203

3.9

AZM-850

ANZM-1600

140

420

4.0

TS4618N1922E203

5.0

AZM-1500

ANZM-2000

180

290

4.0

TS4618N1922E203

6.8

AZM-2500

ANZM-3000

280

235

6.0

TS4619N1920E203

9.0

AZM-4000

ANZM-5000

470

253

6.5

TS4619N1926E207

10.5

AZM-7500

ANZM-7000

650

176

6.5

TS4619N1926E207

10.5

AZM-7500

ANZM-9000

850

131

6.5

TS4619N1926E207

11.5

AZM-12000

The maximum tightening torque is the output value at a speed of 20 rpm.
(The dimensions etc. of the nutrunner are published in the catalog etc. Please inquire for details)

6

２. Specifications
２－１ Specifications of controller
Interface unit
Composition
Driver amplifer
DATA transmit / receivefunction (PC)
Other unit control
DATA control (PC)
Data

Display
Indicator
Setting

Dimension

DATA saving
Printer conection
Max axis number
for connection
DATA display
Extraordinary display
Display
Setting input method
Memory backup
Setting value backup
Interface unit
Driver unit
GSK(GSKW)-14(T4)-E(E1、E2、R）-N7
Driver unit
GSK-15(17) –E(E1、E2、R)-N7
Driver unit
GSK-T5(T7)E(E1、E2、R)-N7
Driver unit
GSKW-15–E(E1、E2、R)-N7
Driver unit
GSKW-T5E(E1、E2、R)-N7
Display
GSK-D2-N7
Axis number
Program number

Tightening setting

Step number
Setting items

Tightening
methodTightening control

Torque method, timeand angle monitor
Angle method, time monitor
Sequencing tightening(Blocktightening)
Retry
Baking determination

Standard type(M-net communication)
The other communication methods(IO board, CC-link, Device net, Pro-Fi net, etc)
Single standard type(GSK)3 kinds,
Single T type(GSK)3 kinds,
2 axis standard type(GSKW)2kinds,
2 axis T type(GSKW)2kinds
USB communication
Arc-NetRS422，SD card
Tightening data: about 5000 cases
When IF is connected, It can output from a PC.
Connect to IF unit or PC
It can control up to 30 axes
6-digits 7SEG.LED
AL code indicate + NG code indicate
OK / NG
Axis arrangement (60 screws can be displayed)
Tightening setting
Personal computer and the controller front panel, disply panel
E2PROM，FRAM
SD card, PC⇒FD,HD
44×226×91
54.5×226×171.6
86.5(116.5)×226×171.6(211.6)※Both models in () and [] have no fans65.5×226×211.6
160.5×226×171.6
109.5×226×211.6
182.5×138.8×57.3
Please attach in consideration of the protruding partof the connector
・30 axes ｘ 16 programs ｘ 220 steps
・30 axes ｘ 50 programs ｘ 70 steps
・8 axes ｘ 50 programs ｘ 220 steps
Maximum values are different dependingon the combination
T:Rating 30kinds
H:REA.T SET, K:PRE.T SET, G:REV.T SET S:SCC.T SET,
screw number setting Each 24kinds"Zone Monitoring" function exists"Gradient judgment" function exists
Up to 19 blocks: Maximum block amount per axis in program
Whether or not set for each program
Reverse torque, judgement of area size
7

Quantitative reversal
Speed switching

Accuracy
Connection

Torque waveform
Angle stop accuracy
Angle display minimum unit
Tightening accuracy
Connection cable

Rated current
Controller
power supply
Startup inrush current

Zero-point setting
Axis disable function
Other

Other unit communication
Setting input
Communication with PLC
Connection with display

Time and angle
4-step, angle management
and stepless shifting (smoothing) function
Disply,all axis indication or personal computer
Within +0.5°(30rpm or less)
0.1°
3σ±2% or lessStandard type and T-tyap: connectingmethod
GSK-IF-N7: 0.2A(通信規格による変動は無)GSK-14(T4)-E（E1、R）-N7 : 0.2A
GSKW-14(T4)-E（E1、R）-N7 : 0.2A
GSK-15(T5)-E（E1、R）-N7 : 0.3A
GSKW-15(T5)-E（E1、R）-N7 : 0.4A
GSK-17(T7)-E（E1、R）-N7 : 0.3A
GSK-IF-N7 : 5.0A
GSK-14(T4-E（E1、R）-N7) : 5.0A
GSKW-14(T4-E（E1、R）-N7) : 5.0A
GSK-15(T5-E（E1、R）-N7) : 5.0A
GSKW-15(T5) -E（E1、R）-N7 : 5.0A
GSK-17(T7) -E（E1、R）-N7 : 5.0A
Automatic correction (with tolerance setting)
It can be set from PC or front panel.
※ This function can not be used when using positioning mode.
Arc-NetUSB communication
Serial I/O (M-NET, CC-Link, and etc) or Parallel I/O
it is connected to IF unit8

２－２ Basic specifications
Standard
specification
model
（GSK）
Standard
specification
model（GSKW）
T specification
model
（GSK）
T specification
model（GSKW）
Fieldbus

GSK-14-E-N7

GSK-15-E-N7

GSKW-14-E-N7

GSKW-15-E-N7

GSK-T4-E-N7

GSK-T5-E-N7

GSKW-T4-E-N7

GSKW-T5-E-N7

GSK-17-E-N7

GSK-T7-E-N7

AnybusCorresponding
standard

M-NET(Standard)

I/F model

GSK-IF-N7

CCLINK
GSKIFCCN7

DeviceNET
GSKIFDN-N7

Controlpower input
Drive
power input
Dielectricstrength
Insulation
resistance

PROFINET-I/O

PROFINET-IRT
GSKGSKIFPNIRTIFPNIO-N7
N7
DC24V±10％

FLNET
GSKIFFLN7

EtherNET

SystemGSK

GSKIFET-N7

GSKIFSG-N7

1.0Amax

3 phase AC160～264V 50/60Hz
AC1500V
DC500V

1 minute

10MΩ overCalorific value

1 unit: 15 W

Stop
momentarily

It does not affect 50msec or less. (except when driving)

Nutrunner
model

ANZM-50
ANZM-250

Corresponding
GSK model

ANZM-350
ANZM-500

ANZM-850

GSK(GSKW)-14(T4)-E-N7

ANZM-3000

ANZM-5000
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000

GSK(GSKW)-15(T5)-E-N7

GSK17(T7)-E-N7

ANZM-1600
ANZM-1800S
ANZM-2000
ANZM-3500

Combination
motor

TS4603N1920

TS4617N1920

TS4609N1920

TS4618N1922

TS4619N1920

TS4619N1922

Motor output
[W]

75

150

300

600

1125

1125

0.04x10-4

0.083x10-4

0.38x10-4

0.79x10-4

2.62x10-4

2.62x10-4

0.6

1.2

2.3

4.5

8.5

8.5

1.0

1.9

3.6

6.8

7.1

11.0
24.6

5.4

10.7

19.6

38.6

40.2

62.9

Rotor inertia[kg･m^2]
Drive power
ratingelectric
capacity[Arms]
Rated output
current[Arms]
Instantaneous
maximum

9

current[Arms]
Rated torque[N・m]Instantaneous
maximum
torque[N・m]Maximum
speed
without load[rpm]
Motor drive
system

0.159

0.318

0.64

1.27

2.39

2.39

0.95

1.91

3.82

7.64

14.32

14.32

7500

12500

12500

Transistor PWM Sine / Square wave drive

Angle sensor

Incremental encoder(With the zero magnification signal, line driver output, 256C/T)

Operatingtemperatureand humidity

0 to 50°C, Less than 90%RH (No condensation)※About correspondence with NR except ANZM series
The correspondence of NR other than ANZM series is shown below.
・ANZMC series (Small torque sensor amplifier type)Model
ANZMC-50
ANZMC-250
ANZMC-350
ANZMC-500
ANZMC-850
ANZMC-1600
ANZMC-1800S
ANZMC-2000
ANZMC-3000
ANZMC-3500
ANZMC-5000
ANZMC-7000
ANZMC-9000S
ANZMC-12000
ANZMC-15000

Compatible controller
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7

GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7

GSK-17(T7)-E-N7・ANZMH series (High speed type)Model
ANZMH-200
ANZMH-450

Compatible controller
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7

ANZMH-900
ANZMH-1500
ANZMH-1850S
ANZMH-2001
ANZMH-9000

GSK-17(T7)-E-N7

10

・ANZMCH series (Small torque sensor amplifier and high speed type)
Model
Compatible controller
ANZMCH-200
GSKW-14(T4)-E-N7
GSK-14(T4)-E-N7
ANZMCH-450
GSKW-15(T5)-E-N7
ANZMCH-900
GSK-15(T5)-E-N7
ANZMCH-1500
ANZMCH-1850S
GSK-17(T7)-E-N7
ANZMCH-2000
ANZMCH-2500
・ANZMSH series (Small torque sensor amplifier and short and high speed type)
Model
Compatible controller
ANZMSH-120
GSKW-14(T4)-E-N7
ANZMSH-130
GSK-14(T4)-E-N7
ANZMSH-150
ANZMSH-450
GSKW-15(T5)-E-N7
ANZMSH-500
GSK-15(T5)-E-N7
ANZMSH-700
ANZMSH-2000
GSK-17(T7)-E-N7・ANZMKH series (Built in clutch type)Model
ANZMKH-400
ANZMKH-700

Compatible controller
GSKW-15(T5)-E-N7
GSK-15(T5)-E-N7

・ANＣKHM series (Change motor and built in clutch type)
Model
ANCKHM-200
ANCKHM-500
ANCKHM-900
・ANZMCTH series (Built in clutch type)Model
ANZMCTH-100E1
ANZMCTH-150E1
ANZMCTH-230E1
ANZMCTH-450E1
ANZMCTH-700E1
ANZMCTH-900E1

Compatible controller
GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7
GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7
Compatible controller
GSKW-14(T4)-E1-N7
GSK-14(T4)-E1-N7
GSKW-15(T5)-E1-N7
GSK-15(T5)-E1-N7

11

２－３ Function and characteristics
The protected function

display

7SEGMENT

LED

Parameter settings

Memory of tightening data

Multi-axis compatible
Communication
with sequencer
Axis disabling function
Zero magnification
check function
Gear check function
Simulation movement

Over current, over load, over speed, encoder failure,
drive power failure, E2PROM failure and CPU failure, etc.
Alarm No., NG information
Program No., Block No.
Operation monitor
Tightening result (Torque, etc.)
Set the following parameters by a personal computerand input them to the IF unit.
. Program 16 or 50. Rating 30. PRE.T. REA.T
Each 50. REV.T. SOC.T
Tightening data: About 5,000 per axis
Alarm history:16 per axis
Tightening waveform:1 per axis
It is possible to check the data from PC.
1 to 30 units of controller or 1 to 15 unitsof double type controller can be connected to 1 Interface unit.
Max. 30 axes multiaxial control is possible.
Communication according to many typesof compatible standards using Anybus※ Please refer to 2-2 about corresponding standard
It can be set by the operation of the PC setting or the front panel(Use at the time of failure, etc.)※ It can not be used when using positioning.
Failure diagnosis function of torque sensor(This is performed at each tightening.)
Gear and motor shaft burn-in diagnostic function(selectable with or without)Simulation operation is possible from a PC.
(Tightening seating angle sampling start)

Calendar function

It stores year, month, day, hour, minute and second for each data.

Regenerative function(Overvoltage detection)

When the drive voltage exceeds a certain value, the built
in regenerative circuit is consumed by the internal resistance.
If it is a single, it is a natural discharge function that uses the topof the front panel, and if it is a W type, the LED at the top
and bottom right of the panel.

Discharge function
Standard inertia

JL ≦

30JM

Rotating direction

Make CCW in the positive direction seen from the motor shaft end

Analog monitor

2 points ± 8 V(outputs torque, speed and current to the check terminalon the panel surface)12

２－４ Dimension
２－４－１ Interface dimensions: Standard specification・・・GSK-IF-N7

13

２－４－２ Dimension drawing: standard specification・・・GSKW-1(T)4-E(1)-N7

14

２－４－３ Dimension drawing: standard specification・・・GSK-15（17）-E(1)-N7※GSK-15-E(P)(1)-N7 の際はファンが付きませんのでご注意ください15

２－４－４ Dimension drawing: T type specification・・・GSK-T5（T7）-E (1)-N7

16

２－４－５ Dimension drawing: standard specification・・・GSKW-15-E (1)-N7

17

２－４－６ Dimension drawing: T type specification・・・GSKW-T5-E (1)-N7

18

２－４－７ Dimension drawing(Display)： type・・・ GSK-D2-N7
・パネルカット寸法19３. Wire connection
３－１ Connection reference drawing
３－１－１ GSKW System connection reference diagram20

３－１－２ GSK System connection reference diagram21

３－２ Used connector and mating connector
３－２－１ GSK Used connector and mating connector
・GSK driver unit (14/T4)Port No.
CN1
CN2
CN3

Matching connector
housing734-166734-106
For the control power(WAGO)(WAGO)
1-1827876-4
1-1827864-4
Not used(TYCO)(TYCO)For communication MSTB2.5/4-GF-5.08 MSTB2.5/4-STF-5.08
among controllers(PHOENIX(PHOENIX
at Arc-Net
CONTACT)
CONTACT)
Name

Used connector type

Matching connector
annexedpin―○

1827570-2(TYCO)

―

―

○

CN10

For the driving power
supply connection

2-179277-2(TYCO)

2-178128-4(TYCO)

1-353717-2(TYCO)○

CN11

For power lineof nutrunner 1

1-179277-2(TYCO)

1-178128-4(TYCO)

1-175218-2(TYCO)×

CN12

For power lineof nutrunner 1

1-179277-2(TYCO)

1-178128-4(TYCO)

1-175218-2(TYCO)×

CN21

For sensor lineof nutrunner110220-52-A2PL(SUMITOMO 3M)

10320-52A0-008(SUMITOMO 3M)

10120-3000VE(SUMITOMO 3M)

×

CN22

For sensor lineof nutrunner210220-52-A2PL(3M Japan)

10320-52A0-008(SUMITOMO 3M)

10120-3000VE(SUMITOMO 3M)

×・GSK driver unit (15/T5, 17/T7)
Port No.
CN10
CN11
CN12

Name

Used connector type

For the driving power
supply connection
For power lineof nutrunner 1
For power lineof nutrunner 1

1-917541-2(TYCO)
2-917541-2(TYCO)
2-917541-2(TYCO)

22

Matching connector
Matching connector pin annexedhousing
1-179958-4
316040-2○(TYCO)(TYCO)
2-179958-4
316040-2
×(TYCO)(TYCO)
2-179958-4
316040-2
×(TYCO)(TYCO)

・GSK Interface unit
Port No.
CN1
CN2
CN3
CN4
CN5
CN6
CN7
CN8
CN10

Matching connector Matching connector
annexedhousingpin
PLC connection
1-1827876-3
1-1827864-3
1827570-2―
port(TYCO)(TYCO)(TYCO)
Control power
734-144734-104―○
supply input port
(WAGO)(WAGO)
1-1827876-2
1-1827864-2
1827570-2
Not used―(TYCO)(TYCO)(TYCO)
Port for setting PC UBB-4R-D14T-4DUSB――
connection(JST)
Type BMSTB2.5/4-STF-5.08
Controller
MSTB2.5/4-GF-5.08(PHOENIX―○
connection port (PHOENIX CONTACT)CONTACT)Port for CAN
1-1827876-3
1-1827864-3
1827570-2―
communication(TYCO)(TYCO)(TYCO)
Display connection
1-1827876-4
1-1827864-4
1827570-2―
port(TYCO)(TYCO)(TYCO)
Port for ID
1-1827876-4
1-1827864-4
1827570-2
controller―(TYCO)(TYCO)(TYCO)
connection
Printer connection
1-1827876-2
1-1827864-2
1827570-2―
port(TYCO)(TYCO)(TYCO)
Name

Used connector type３－２－２ Communication port details owned by the interface
・GSK Interface unit
Port No.

Name

CN1

PLC (RS485)

CN2

Power / READY
notification(SW)

CN3
CN4
CN5
CN6
CN7

Debugger for
serial(RS232)
A setting personal
computer (USB)
Driver（Arc-Net）
CAN communication
connector
External display (RS422)

Explanation
This is used when communicating with PLC in M-NET.
※ It is not used when using Anybus
4-core connector
Left 2 cores are power supply (24V)
Right two-wire start notification for relay
It does not connect normally.
This is used when updating GSK-IF firmware.
This is used to rewrite and read data using setting software.
It is also used when updating GSK-IF firmware.
When connecting some GSK controllers,
this port connects the controllers with Arc-Net.
Not used※This is used for a connection with the external display.
ID controller and a printer are seleced either by the setting of a personal
ID controller or quality
CN8
computer. It can not be connected at the same time.
control PC (RS422)
The connection partner of quality control personal computer depends on
CN9Printer or personal
the setting.
computer for quality
ID controller when using ⇒ ⑨ ⑩control· Printer when using ⇒ ⑧(CN9: RS422)【Caution】
Please do not connect the equipment at the same time in two connectors
CN10
Printer or personalof CN9 and CN10.
computer for quality【In the case of the previous firmware than Rev1721-160】
control· CN8 = quality control PC(CN10: RS232C)· CN9 / 10 = Printer or ID controller
CN11
Battery back up
A backup battery for clocks is connected here.
※Unused CN6 may be used for special specification.

23

３－３ External connection
３－３－1

External connection diagram (between GSK and NR): Driver amplifier of standard specification and T specification24

３－３－２ External connection diagram (interface～connected device):Interface25

３－４ Cable model list
３－４－１ GSK cable model list
Cable name
Motor direct cable(NR～Driver)※1

Motor relay movable cable(NR～Relay section)

Motor relay fixed cable(Relay section～Driver)※1

Encoder･Sensor direct cable(NR～Driver)

Resolver･Sensor direct cable(NR～Driver)

Encoder･Sensor relay movable cable(NR～Relay section)

Resolver･Sensor relay movable cable(NR～Relay section)

Encoder･Sensor relay fixed cable(Relay section～Driver)

Resolver･Sensor relay fixed cable(Relay section～Driver)NR that can use the cable

Cable model

ANZM-50～ANZM-850 etc

K8M5DW-4R-□M

ANZM-1600～ANZM-3500 etc

K8M30D-4R-□M

ANZM-5000～ANZM-9000 etc

K8M90D-4R-□M

ANZM-50～ANZM-850 etc

K8M5TW-4R-□M

ANZM-1600～ANZM-3500 etc

K8M30T-4R-□M

ANZM-5000～ANZM-9000 etc

K8M90T-4R-□M

ANZM-50～ANZM-850 etc

K8M5TW-4A-□M

ANZM-1600～ANZM-3500 etc

K8M30T-4A-□M

ANZM-5000～ANZM-9000 etc

K8M90T-4A-□M

ANZM-50～ANZM-9000 etc

K8E*S*D-16R-□M

ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series

K8E*S*DC-16R-□M

ANZR series

K8R*S*D-16R-□M

ANZRC series

K8R*S*DC-16R-□M

ANZM-50～ANZM-9000 etc

K8E*S*T-16R-□M

ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series

K8E*S*TC-16R-□M

ANZR series etc

K8R*S*T-16R-□M

ANZRC series etc

K8R*S*TC-16R-□M

ANZM-50～ANZM-9000 etc

K8E*S*T-16A-□M

ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series

K8E*S*TC-16A-□M

ANZR series etc

K8R*S*T-16A-□M

ANZRC series etc

K8R*S*TC-16A-□M

Encoder･Sensor extension cable―
K8EST-16EＸ-□Ｍ(Relay section～Relay section)
Resolver･Sensor extension cable―
K8RST-16EＸ-□Ｍ(Relay section～Relay section)※1. Ferrite core MRFC-8 (manufactured by Kitagawa Kogyo) is attached to the UVW wire for the motor cable.
The above ferrite core is recommended when manufactured.

26

３－５ Noise countermeasure
３－５－１ Noise countermeasure example
Attach the ferrite core for noise suppression to the controller side of the cable.
For the positioning GSK encoder cable, attach it to the encoder side of the cable.

Recommended countermeasure parts27

３－４－２GSKW cable model list
Cable name
Motor direct cable(NR～Driver)※1

Motor relay movable cable(NR～Relay section)

Motor relay fixed cable(Relay section～Driver)※1

Encoder･Sensor direct cable(NR～Driver)NR that can use the cable

Cable model

ANZM-50～ANZM-850 etc

K8M5DW-4R-□M

ANZM-1600～ANZM-3500 etc

K8M30D-4R-□M

ANZM-50～ANZM-850 etc

K8M5TW-4R□M

ANZM-1600～ANZM-3500 etc

K8M30T-4R-□M

ANZM-50～ANZM-850 etc

K8M5TW-4A□M

ANZM-1600～ANZM-3500 etc

K8M30T-4A-□M

ANZM-50～ANZM-3500 etc

K8E*S*D-16R-□M

ANZMC, ANZMCH, ANZMSH etc
K8E*S*DC-16R-□M
Small torque sensor series
ANZR series

K8R*S*D-16R-□M

ANZRC series

K8R*S*DC-16R-□M

ANZM-50～ANZM-3500 etc

K8E*S*T-16R-□M

ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series

K8E*S*TC-16R-□M

ANZR series etc

K8R*S*T-16R-□M

ANZRC series etc

K8R*S*TC-16R-□M

ANZM-50～ANZM-3500 etc

K8E*S*T-16A-□M

ANZMC, ANZMCH, ANZMSH etc
Small torque sensor series

K8E*S*TC-16A-□M

ANZR series etc

K8R*S*T-16A-□M

ANZRC series etc

K8R*S*TC-16A-□M

Resolver･Sensor direct cable(NR～Driver)

Encoder･Sensor relay movable cable(NR～Relay section)

Resolver･Sensor relay movable cable(NR～Relay section)

Encoder･Sensor relay fixed cable(Relay section～Driver)

Resolver･Sensor relay fixed cable(Relay section～Driver)

Note 1 (All cables)
he inside of □ represents the cable length in meters.
Please choose from 3m, 7m, 10m, 15m and 20m.
It's also possible to manufacture some cables of other than above, but in that case more time is required.
Note 2 (Encoder(Resolver)･sensor cable)
E *: If the encoder cable length from the junction is not filled in, we will create it as standard. (0.3 m)
S *: If the sensor cable length from the junction is not filled in, we will create it as a standard. (1.5 m)※1. Ferrite core MRFC-8 (manufactured by Kitagawa Kogyo) is attached to the UVW wire for the motor cable.
The above ferrite core is recommended when manufactured.

28

４. Signal
４－１ Type of input / output signal
Parallel I/O
I/O
Parallel input
signalParalleloutput signal

PointsName

48 points

IN1~IN48

48 points

OUT1~OUT48

Serial I/O
I/OSpecification
DC24V
11mA
DC24V
30mA max

Contents
This installs and uses
a exclusive Anybus board

Note

Using

Arc-Net

It is necessary to installa 110Ω termination resistor.

Communication between controllers
in multi-axis control

CC-LINK

Attach and use a dedicated Anybus board

Communication of tightening managementwith PLC

Devise-NET

Attach and use a dedicated Anybus board

Communication of tightening managementwith PLC

Analog monitor
Contents
M1
M2

This outputs data such as torque and current by panel operation.
Data such as torque sensor output (≒ 5V / sensor rating), current scaling (10A / 10V),
motor rotation speed (right output plus output) can be checked using an oscilloscope etc.）※The above can be changed by the operation of the setting panel. (See page 81)
Interface unit
I/O

Points

RS232C

1 point

Centronics
or RS422

Parallel printer connection
1 point
ID and product PC connection/2 points(impossible simultaneously with the printer)

Using
Parameters and other various data are input / output
by PC connection

RS422

1 point Connect with a display

RS485

1 point Connect with sequencer etc. in SIO format (option)29

４－２ Input/Output signal
４－２－１ Input signal
Input(“PLC” ⇒ “GSK”)
No. Bit
I/O

0

0

0

1

IN 1

IN 2

Name

Operation ready

AUTO/MANU

Contents
It is an operation preparation command to the GSK system.
OFF: Operation prohibited. GSK-IF does not work.
・Start signal is not accepted.
・GSK performs emergency stop if this signal becomes OFF
during operation
ON: The operation is permitted.
・When GSK can operate, the output signal "Operation readycompleted" becomes ON.
This signal selects automatic operation / manual operation.
OFF: You can start the following manual operation.
Input signal
Operation
Inching start
Inching start
JOG start
Move to specified position
XJOG/YJOG
XY jog operation【In the positioning mode】
In addition to the above, automatic operationin block units is possible.
It is necessary to be in this state when teaching.
ON: Automatic operation (program operation) can be started.
Input signal
Operation【In the multi axis mode】
It works only one block.
It will wait for the next start when finished.
Start【In the positioning mode】
It will perform the block operation
continuously.

0

2

IN 3

Start

0

3

IN 4

Inching start

0

4

IN 5

Determination reset

0

5

IN 6

Alarm reset

0

6

IN 7

QL input

0

7

IN 8

QL mode

1

0-5

IN
9-14

Program bit1~
Program bit6

1

6

IN 15

Reserve

1

7

IN 16

GSK reset

2

0-3

17-20

X JOG +

Automatic operation of the program is started
at the OFF⇒ON rising edge of this signal.
You must keep this signal at ON during operation.
If it changes to 0 during operation, it will stop the cycle
and pause automatic operation.
The nutrunner performs inching operation
at the OFF⇒ON rising edge of this signal.
The judgment result of automatic operation is resetat the OFF⇒ON rising edge of this signal.
When the program operation is completed, it is accepted if the output
signal "total judgment OK" or "total judgment NG" is on
The OFF⇒ON rising edge of this signal clears
the GSK system alarm status.
When the alarm reset is successful, the operation ready complete signal
will return to ON if the operation preparation signal is ON.
The QL procedure is executed on the OFF⇒ON rising edge of thissignal.
This sets whether to accept QL signal.
OFF: Disabled
ON: EnabledThis signal must be ON when performing QL operation.
They specify the program number in automatic operation.
(The program number is 6 bit data which regarded “Program bit 1”
as LSB)The program number is specified in the range
from 1 to the maximum selected value.
―
At the rising edge of OFF to ON, it resets the GSK system
to its initial state.
【Positioning mode only】
30

X JOG YJOG +Y JOG -

It performs jog operation on X and Y axes respectively。
【Positioning mode only】
This signal is used to suspend X-axis movementin automatic operation.
【Positioning mode only】
This signal is used to suspend Y-axis movementin automatic operation.
【Positioning mode only】
This signal is used to refer to the vertical position of the nut runner.
【Positioning mode only】
The input of this signal moves the X and Y axes to the return position.
If it is in operation such as automatic operation, it will stop operationand then start moving.

2

4-5

IN
21-22

INX 1
INX 2

2

6-7

IN
23-24

INY 1
INY 2

3

0-1

IN
25-26

Cylinder1 returned
Cylinder1 advanced

3

2-3

IN
27-28

X return signal
Y return signal

3

4-5

3

6

IN
29-30
IN 31

WAIT 1
WAIT 2
Reserve

3

7

IN 32

JOG start

4

0-7

IN
33-40

Position 1 signal~
Position 128 signal

5

0

IN 41

IN

5
5

1
2

WAIT 3
WAIT 45

3-4

Reserve

―

5
5

5
6

IN
42-43
IN
44-45
IN 46
IN 47

【Positioning mode only】
This signal temporarily pauses program step execution.
―【Positioning mode only】
It moves to the XY coordinates specified by "Position command"at the 0⇒1 rising edge of this signal.
【Positioning mode only】
This signal is the position number to move when JOG starts.
(8-bit data that regarded "Position 1 signal" as LSB)The number in the range of 1 to 255 is specified.
If the step in the program is “waiting for IN”, step execution issuspended until this signal is input.
This signal is used in combination with the output signal "OUT".
【Positioning mode only】
This signal temporarily pauses program step execution.

5

7

IN 48

6-9

0-7

10

0-1

10
11

2-7
0-7

12
-13

0-7

14
-17

0-7
～
0-5

17

6-7

ZJOG rise
ZJOG descent
Tightening samplingstart

By this signal input, raising operation of Z axis is performed.
The Z axis is lowered by the input of this signal.
The thightening angle sampling starts at the off⇒on rise of this signal.
The tightening setting is performed automatically using
the acquired angle by this operation.
※This signal is used only by the setting software function.

IN
49-80
IN
81-82
IN
83-96

Retightening signal
Retightening mode
Reserve―IN
97-112Heighst1～16

The correction value for correcting the height of the work isrepresented by these 1 to 16 signals.
The correction value is 16 bits with a sign, and these 1 to 16 represent
bit 0 to 15 of the correction value respectively.

Axis off
1～30

This deactivates that axis when this signal is input.

Reserve

―

IN
113
-142
IN
143
-144

Reserve―
These signals are used for retightening.

31

４－２－２ Output signal
Output(“GSK” ⇒ “PLC”)
No.
Bit
I/O

Name

0

0

OUT 1

Opration readycompleted

0

1

OUT 2

NR unit OK

0

2

OUT 3

Battery OK

Contents
This signal informs the PLC etc. that the preparationfor operation is completed.
If this is not output, the system does not energize the nut runner.
OFF: Servo motor power off
The connected motor can not operate because the power is off.
ON: Servo motor power on
As the connected motor is turned on, and each operation command
becomes Enabled.
※It always informs OFF in the following cases.
・The GSK interface or GSK controller is outputting an alarm.
・"Operation ready" of the input signal is 0.
This signal indicates that the GSK system is normal.
OFF: Device error (alarm occurrence)
ON: Device is normal
This signal is sent to check if the battery for GSK-IF clock
is normal.
OFF: Voltage error
This signal turns off when the voltage drops below 2.5V.
When the battery is removed, it takes about 60 seconds
to reach this state.
ON: Voltage is normal※This signal is only notification. Even in the case of OFF,
there is no restriction on operation.
(Date and time information will be undefined)
These signals show the result of program operation
by automatic operation.
At the start of automatic operation, both signals are OFF.
Either of these becomes ON when all operations of the specified
program number are completed.
※Total NG may change to total OK due to QL operation.
※These signals do not become onwhen the program does not workto the end due
to “GSK reset” etc.
This signal indicates whether the nutrunner axis is operating.
OFF: All nutrunner axes in the same unit have stopped.
ON: There is a nutrunner axis in operation.

0

3-4

OUT
4-5

Total OK
/Total NG

0

5

OUT 6

NR running

0

6

OUT 7

QL COMP.

This signal will be ON when the QL operation is complete.
This signal informs that the program of automatic operation is
operating.
ON: Working
OFF: Stopped

0

7

OUT 8

Program running

1

0-5

OUT
9-14

Program bit1~
Program bit61

6

OUT 151

7

OUT 16

Output enabled
Z axis home
return complete

The selected program number is notified by these signals.
(6 Bit data that regarded "Program bit 1" as LSB)
This signal indicates that program selection has been completed.
This signal indicates that the current value of Z axis is the origin.

32

No.

Bit

I/O

Name

0-1

OUT
17-18

Tightening
toatal OK/Tightening
total NG

2-3

OUT
19-20

X axis home
return complete/Y axis home
return complete

2

4-5

OUT
21-22

ZERO/GAINOK/ ZERO/GAIN
NG

2

6

OUT 23

Cycle stop2

7

OUT 24OUT

3

0

OUT 25

3
3
3

1
2
3

OUT 26
OUT 27
OUT 28

3

4-5

29-30

Z up Lmt
Z down Lmt

OUT
31-32

Tightening blockOK/ Tightening
block NG

2

2

3

6-7

SYNC
/MARK Waiting
Retightening
Reserve
Z axis Pressing

4

0-5

OUT
33-38

Block 1 end～
Block 32 end

4

6

OUT 39Position locaterrunning

4

7

OUT 40Z axis moving

Contents【In case of multi axis mode】
It is always OFF【In case of positioning mode】
These signals show the result of program operation
by automatic operation.
At the start of automatic operation, both signals are OFF.
Either of these becomes ON when all tightening commandsof the specified program number are completed.
※By referring to this signal, the result can be judged earlier
than "total OK" or "total NG"
These signals indicate whether or not the X-axis / Y-axis origin iscorrectly recognized.
OFF: Home return not performed
ON: Home return※If home return is not performed, XY movement
by program operation and JOG start can not be performed.
These signals signal the results of zero checks and magnification
checks in the GSK controller.
ZERO/GAIN OK is ON: The zero checks and magnification checks succeeded
for all NR axes.
ZERO/GAIN NG is ON: There were one or more axes of the zero checks NGor magnification checks NG.
This signal becomes ON when a cycle stop occurs.
This signal is used in synchronization with the PLC
in automatic operation.
･It is OFF at the time of start.
･If the command of the program has OUT attribute, this signal is
output at the processing of the command is completed.
Usually it used in combination with the input signal "IN".
This signal is output while waiting for a SYNC
or WT_MARK command.
This signal indicates that retightening is in operation.
―
This signal indicates that the Z axis is in pressing operation.
Z up Lmt: This signal notifies that the current coordinate of Z axis exceeds
the limit of point detection coordinates.
Z downLmt: Notifies that the current Z axis coordinate exceeds
the point detection coordinate lower limit.
These signals report the tightening results for each block.
Either turns on at the end of the block.
OK is ON: Tightening was successful for all NR axes
NG ON: There were one or more screws of tightening NG.
※These signals may change from NG to OK by the QL procedure.
※This signal does not change at the end of the XY block.
These indicate the block number for which the operation has been
completed in automatic operation in binary with each signal
as 1 bit.
(6 Bit data which regarded Block 1 end as LSB)
When the tightening block is completed,the indicated value is incremented by one.
【Positioning mode only】
OFF: Both X and Y axes stop
ON: Both or one of X and Y axes is operatingThis signal indicates that the Z axis is moving.
33

No.

Bit

I/O

Name

5

0-7

OUT
41-48

Position 1 output~
Position 128
output

6

0-1

OUT
49-50

X extent output 1
X extent output 2

6

2-3

OUT
51-52

Y extent output 1
Y extent output 2

6

4

OUT 53

Interference fault【Positioning mode only】
This signal turns ON when interference between units occurs.

65

OUT 54

Position locater
fault【Positioning mode only】
This signal turns ON when movement of the XY axis specified
point number fails.

6

6-7

OUT
55-56

Cylinder 1advance/ Cylinder 1
return7

0

OUT 57

Z output rang

7

1

OUT 58

Z_UP 1

7

2

OUT 59Z_UP 2

7

3

OUT 60

Z down position

7

4-6

OUT
61-63

Reserve7

7

OUT 64

Driver Ready

8-9

0-7
～
0-7

OUT
65-80

Reserve

10
17

0-7
～
0-3

OUT
81-140Screw 1 OK~
Screw 60 OK

17

4

17

5

17

6

17

7

OUT
141
OUT
142
OUT
143
OUT
144

Transferring
results
Adjustment
mode
Protection
warning
Life time
warning

Contents【Positioning mode only】
These indicate the current position number in binary
with each signal as a bit.
(8-bit data where "Position 1 output" is regarded as LSB)
If the value indicated by these is 0, it has not reached
the coordinates of any number.
【Positioning mode only】
This signal indicates if the X axis is within a certain range.
The range coordinate value is determined by the range output
upper and lower limit value of the X axis rating.
【Positioning mode only】
This signal indicates if the Y axis is within a certain range.
The range coordinate value is determined by the range output
upper and lower limit value of the Y axis rating.

【Positioning mode only】
This signal is for raising and lowering the nut runner axis.
This signal turns on while the current Z axis coordinate is within
the Z range upper limit to lower limit of the Z axis rating.
This signal indicates that it is abovethe "Z_UP1 command completion position".
This signal indicates that it is above the "Z_UP2 commandcompletion position".
This signal turns ON when the Z-axis coordinate descends
to the target position during program operation.
It also turns ON when the Z coordinate position specified
by the cylinder lowering command or pressing commandis reached.
―Turns on when all drivers in the unit can be driven.
:A driver alarm has occurred.
:Drive power supply (200 V) is not supplied to the driver.
(Wiring problem etc.)
Does not turn on.
―
When the screw tightening operation is successful, the signal of thecorresponding screw number turns ON.
※ If screw tightening fails, it will remain OFF,but it may change to 1 due to subsequentre-tightening operation or QL procedure.
This signal is turned on while transferring the tightening result
by FTP.
This signal indicates that coordinate adjustment is possible
by teaching.
Please refer to the "Preventive Maintenance" section.
Please refer to the "Preventive Maintenance" section.

34

No.

Bit

I/O

Name

18

0

OUT
145

Loose complete

18

1

OUT
146

Loose waiting

18

2

18

3-5

18

6

18

7

19

0

19

1

19

2

19

3-6

OUT
147
OUT
148-150
OUT
151
OUT
152
OUT
153
OUT
154
OUT
155
OUT
156-159

Retightening NG

Contents
The ON state of this signal is the start conditionof the retightening mode.
When the loosening signal is turned on at the loosening mode,
this signal is turned on.
This signal indicates that the retightening operation is required
when the overall NG is output and the retighteing function iseffective.
It turns off by the signal during retightening.
This signal notifies that there was an NG in the resultof the retightening operation.

Reserve―

Automatic
operation

This signal outputs that the entire device is in automatic operation.

During Axis off
Work addition
warning
Screw addition
warning
SD card warning

Turn on this signal if there is at least one invalid axison the system.
This signal is output when the number of automatic operations
reaches the work addition warning value.
This signal is output when the number of screws tightened byautomatic operation reaches the screw addition warning value.
Turns on when the SD card is set and can not write.
(SD card write failure etc.)

Reserve

―

19

7

OUT
160

Warning

Informs that some warning has occurred
Even one of the following conditions is ON. (OR condition)・ "Protection warning" is ON・ "Life warning" is ON
・ "Work accumulated warning" is ON・ "Screw integration warning" is ON
・ "SD card warning" is ON

20
-23

0-7
~
0-7

OUT
161-192

Reserve―35

４－３ Input / Output signal map
Input(“PLC” ⇒ “GSK”)
No.
bit 0
bit 1

bit 3

bit 4

bit 5

bit 6

bit 7

Start

Inching
start

Determination
reset

Alarm reset

QL input

QL modeProgram
bit4

Program bit5

Program bit6―

GSK reset

INX 1

INX 2

INY 1

INY 2

―

JOG start

0

Operation
ready

1

Program bit1 Program bit2 Program bit3

2

AUTO
/MANU

bit 2

X JOG +X JOG -YJOG +Y JOG -

Cylinder1
returned
Position 1
signalCylinder1advanced
Position 2
signalX return
signalPosition 4
signal

Y return
signalPosition 8
signalWAIT 1

WAIT 2

Position 16
signalPosition 32
signal5

IN

WAIT 3

WAIT 4――ZJOG rise

6

―

―

―

―

―

―

―

―

7

―

―

―

―

―

―

―

―

8

―

―

―

―

―

―

―

―

9

―

―

―

―

―

―

―

―

3
4

Position 64 Position 128
signalsignalTightening
ZJOG
sampling
descent
start=====The following is valid only for UNIT 1 =====
10

Retightening Retightening
signal
mode

―

―

―

―

―

―

11

―

―

―

―

―

―

―

―

12
13

Heighst 1
Heighst 9

Heighst 2
Heighst 10

Heighst 3
Heighst 11

Heighst 4
Heighst 12

Heighst 5
Heighst 13

Heighst 6
Heighst 14

Heighst 7
Heighst 15

Heighst 8
Heighst 16

14

Axis off 1

Axis off 2

Axis off 3

Axis off 4

Axis off 5

Axis off 6

Axis off 7

Axis off 8

15

Axis off 9

Axis off 10

Axis off 11

Axis off 12

Axis off 13

Axis off 14

Axis off 15

Axis off 16

16

Axis off 17

Axis off 18

Axis off 19

Axis off 20

Axis off 21

Axis off 22

Axis off 23

Axis off 24

17

Axis off 25

Axis off 26

Axis off 27

Axis off 28

Axis off 29

Axis off 30

―

―

36

Output(“GSK” ⇒ “PLC”)
No.
bit 0
bit 1
Opration0
ready
NR unit OK
completed

bit 2

bit 3

ｂit 4

Battery OK

Total OK

Total NG

bit 5

bit 6

NR running QL COMP.

bit 7
Programrunning

1

Program bit1 Program bit2 Program bit3 Program bit4 Program bit5

Programbit6

Outputenabled

Z axis home
returncomplete2

Tightening
toatal OK

Tightening
toatal NG

X axis home
returncomplete

Yaxis home
returncompleteZERO/GAIN OKZERO
/GAIN NG

Cycle stop

OUT

3

SYNC
/MARK
Waiting

Retightening―

Z axisPressing

Z up Lmt

Z down
Lmt

Tightening
block OK

Tightening
block NG

4

Block 1 end

Block 2 end

Block 4 end

Block 8 end Block 16 end

Position 1
outputX extent
output 1

Position 2
outputX extent
output 2

Position 4
outputY extent
output 1

7

Z output rang

Z_UP 1

Z_UP 2

Position 8
outputY extent
output 2
Z downposition

8

―

―

―

―

―

―

―

―

9

―

―

―

―

―

―

―

―

5
6

10
11
12
13
14
15
16
17
18
19

Position
Z axislocatermovingrunning
Position 16 Position 32 Position 64 Position 128
outputoutputoutputoutputInterference
Position
CylinderCylinderfault
locater fault advance
returnDriver―――Ready
Block 32
end=====The following is valid only for UNIT 1 =====
Screw 6Screw 7
Screw 1 OK Screw 2 OK Screw 3 OK Screw 4 OK Screw5 OK
OK
OK
Screw 14
Screw 15
Screw 9 OK Screw 10 OK Screw 11 OK Screw 12 OK Screw 13 OK
OK
OK
Screw 22
Screw 23
Screw 17 OK Screw 18 OK Screw 19 OK Screw 20 OK Screw 21OK
OK
OK
Screw 30
Screw 31
Screw 25 OK Screw 26 OK Screw 27 OK Screw 28 OK Screw 29 OK
OK
OK
Screw 38
Screw 39
Screw 33 OK Screw 34 OK Screw 35 OK Screw 36OK Screw 37 OK
OK
OK
Screw 46
Screw 47
Screw 41 OK Screw 42 OK Screw 43 OK Screw 44 OK Screw 45 OK
OK
OK
Screw 54
Screw 55
Screw 49 OK Screw 50 OK Screw 51 OK Screw 52 OK Screw 53OK
OK
OK
Transferring Adjustment Protection
Screw 57 OK Screw 58 OK Screw 59 OK Screw 60 OK
resultsmode
warning
Loose
Loose
Retightening
Automatic―――
complete
waitingNG
operation
Work
Screw
SD cardaddition
addition――――
warning
warning
warning

Screw 8 OK
Screw 16 OK
Screw 24 OK
Screw 32 OK
Screw 40 OK
Screw 48 OK
Screw 56 OK
Life time
warning
During Axis
off
Warning

20

―

―

―

―

―

―

―

―

21

―

―

―

―

―

―

―

―

22

―

―

―

―

―

―

―

―

23

―

―

―

―

―

―

―

―

37

４－４ Select a sequencer
The communication that GSK-IF can connect as standard is M-NET.
GSK-IF reads the ID of each board when power is turned on and operates according to each communicatio.
And so there is no change of communication switching settings.

４－４－１ Anybus board setting method
It opens the GSK-IF cover and sets the following Anybus board in connector CN14.
M-NET
DeviceNet
CC-LINK
PROFINET IO
PROFINET IRT

No need for Anybus board
HMS Industrial Networks
HMS Industrial Networks
HMS Industrial Networks
HMS Industrial Networks

ANYBUS-S Devicenet
ANYBUS-S CC-Link
ANYBUS-S Profinet-IO
ANYBUS-S Profinet-IRT

Functional differences with M-NET
The I/O signal map does not change even if the communication standard changes.
However, there are the following functional differences.
Communication
methodM-NET
Device-Net
CC-LINK
PROFINET IO
PROFINET IRT

Off axis
information
×○○Tightening result
notification
×
○
○

○

○

○

○

38

５. Operation timing chart
５－１ Power on and inching operation(It will work at the speed and direction setting of rotation and inching that has been selected (1 to 24)
by the program selection signal (1 to 5))39５－２ Program operation - 2 step operation 1(1 block setting, if the judgment OK)40

５－３ Program operation - 2 step operation 2(When 1 block has settings of the 3 axis, first and second axis become NG at first step, third Axis is OK up to a two-step:
there is QL process)41

５－４ Program operation - 2 step operation 3(When 1 set block has the 2 axis, first axis become NG at first step, second axis is OK up to a two-step:
QL process is nothing)42

５－５ Program operation - 1 step operation 1(2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK,
2 th block all axes OK : 1 block after QL)

43

５－６ Program operation - 1 step operation 2(2 block setting of, among the three axes, 1 and 2-axis is the first block NG, 3 Axis OK,
2 th block all axes OK: at the end of the program collectively QL)

44

５－７ Program operation - 2 step operation 4(1 block, there is IN set ting to the second step)45

５－８ Program operation - 1 step operation 3(3 blocks, if allowed to operate in the block order specified by the block selection signal:
When the block select 1 to 5 are all OFF will operate from the block 1 in the order)46

５－９ Interruption of program operation (reset)(And if one block after the end of reset in one step × 2 blocks operation is turned ON
If it became a reset or ON in the first block of the operation)47

５－１０ Operation ready OFF and Start OFF at Program operation(At the 1 step × 2 blocks program , “Operation preparation OFF" occur in the first blockand “program start off” occur the 2nd block.)48

５－１１ Alarm output and alarm reset during program operation(At the 1 step × 2 blocks program ,the alarm occurs in the middle of first block , if that was allowed
to restart after the alarm reset)49５－１２ Tightening angle sampling operation(It will start the operation at the tightening angle sampling start signal turn ON in the state of Completionof operation preparation.)50

６. Setting
６－１ Display / setting function
It will display the each kinds data, parameters and condition by the 7SEG.LED 6-digit.
You can change the settings in the push-button operation.

６－１－１ About the viewpoint of the display51

６－１－２ Operation the display unit

※important※
GSK driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis.
If you use the driver in two or more axes, please set the axis number in the following way
by operating the panel. In the case of Axis 1: You set the axis number to d00177 and write the number data.
(1-axis type of driver the same)
In the case of Axis 2: You set the axis number to d10177 and write the number data.
Please set so as not to overlap with the axis number of the driver.
If you use the two-axis type of driver, and you don’t connect the motor, please set the axis number to 0 (not used).

52

６－１－３ Setting example
For GSK · GSKW, each parameter can be changed by using the bottom button of 7 SEG display part.
Here, we will explain the setting of representative parameters using 7 SEG display by using several examples.
For the setting place etc. of each parameter, please refer to paragraph 7.

※Procedure of setting axis number
When assembling equipment with GSK, you have to recognize each axis to number of each axis's own number.
Here, the setting procedure is shown below.

53※Please set the controller axis numbers so that they do not overlap.

54

※Procedure to erase the 7 segment display of W type unused axis
There are circumstances such as using only one axis when using W type.
If you don’t set the axis number, you can use W type as it is.
However, 7 SEG on the unused axis continues to discharge the sensor unconnected alarm.
(In this case, you can ignore the alarm and tighten the screw.)
Here is the procedure for setting to erase the indication of the unused axis which discharges the alarm.

※This setting procedure is available only after GSK version "1851-2.18".
Please note that the display on the 2 axes side will not disappear even if this setting is made in earlier versions.

55※Procedure of changed tightening sampling stop torque
It setting When you set the tightening method from the PC, there is a sampling setting as a method for making that setting.
Here, we show how to set the target torque of the sampling operation to automatically collectthe tightening information
with the setting method.
(The tightening sampling stop torque has an initial value of 0.
For that reason, sampling setting can not be used unless that it sets the torque by this procedure.)56

※Procedure to change overload alarm threshold
This alarm is output when the average motor current exceeds the overload alarm threshold.
Here we show how to read the average current value of the motor, the rated current value of the motor,
and how to set the threshold based on it.

57

58

59

６－２ Program configuration60

７. Setting function details
７－１ Fn.** display setting function list
It can set internal data and modify and monitor at the panel surface of the GSK controller.
Select data
Fn0-00Fn 0-01
Fn 0-02
Fn 0-03
Fn 0-04
Fn 0-05
Fn 0-06
Fn 1-00～42
Fn 2-00～42
Fn 3-00～19
Fn 4-00～01
Fn 5-01～30
Fn 6-00～19
Fn 7-00～03
Axx-yy
Lxx-yyGxx-yyHxx-yyUxx-yyXxx-yyYxx-yyPu.xxx.y
d0xxxxd1xxxxr0xxxxr1xxxxMatter of display data
Status of 2-axis motion
I / O status
Product Model
Firm-ware program number
Firm-ware version number
At the hours, minutes, and seconds
date
The first axis of the screw tightening
result monitor
The second axis of the screw
tightening result monitor
M-Net input / output monitor
Operation instruction from GSK controller
Setting the unit number
Setting of the I / F parameter
Setting the ID controller
Parameter of the "SOC.T" operation
Parameter of the "PRET" operation
Parameter of the "REV.T" operation
Parameter of the "REA.T" operation
Parameter of the "RATE" operation
Parameter of the "X-axis RATE" operation
Parameter of the "Y-axis RATE" operation
XY position movement point coordinates
Any data monitor of the 1th-axis
Any data monitor of the 2th-axis
The 1th axis of history data monitor
The 2th axis of history data monitor

Remarks
Special display
Display in the code the state of the DI and DO"021.0xx" xx is No. N upper two digits――
It displays the current time
It displays the date――
Monitor the status of GSK-IF(Note 1)
(Note 1)
(Note 1)
(Note 1)xx < 50 , yy < 16:(Note 1)
xx < 50 , yy < 32:(Note 1)
xx < 50 , yy < 16:(Note 1)
xx < 50 , yy < 48:(Note 1)
xx < 30 , yy < 10:(Note 1)
xx < 30 , yy < 16:(Note 1)
xx < 30 , yy < 16:(Note 1)
u：1～4 xxx< 288 y< 2(Note 2)
3 < xxxx ≦ 200: Can be changed(Note 3)
3 < xxxx ≦ 200: Can be changed (Note 3)
Address of FRAM , Data of 0xxxxh
Address of FRAM , Data of 1xxxxh※ Note 1: When the data selection mode, the data sent to the controller in the long press "←".
※ Note 2: The u is a unit number, xxx is a point number, y = 0 is an X coordinate, y = 1 is a Y coordinate,
and xxx> = 255 data is a limit coordinate data
※ Note 3:At time of data selection mode, it save the data of xxxx <200 in the long press of the "←"Axis number setting (d0xxxx)
GSK driver you need to set the the axis number (1 to 30 decimal) in order to identify each axis.
Please set the following parameters to manipulate the case of a two-axis for the driver panel.
In the case of Axis 1: Write to set the axis number to d00177. (Same as 1-axis type driver)In the case of Axis 2: Write to set the axis number to d10177.
Please set so as not to overlap with the driver axis number.
Please set the axis number to 0 (not used) or, if you do not want to connect the motor in the two-axis type of driver.

61

７－２（d-00***, d-10***）Driver parameter setting for each axis
Here you can change the key parameter information of the driver amplifier.
Enter the following address numbers in the * part of (d-00 ***), and it switches to the input screen with the H / D button.
(Refer 6-1-2.)
Address
Name
MatterUnit
036
Speed limit
This sets the maximum value of the rotational speed.
rpm
0: If you are detected using the LSW and the sensor
064
Method of return to origin―
1: Collision formula
Set position data after the return Collision type: Home position return amount065―
to origin
LSW type: Setting position after return to origin
Starting rotary direction of homing operation
066
Origin return start direction―
0: positive direction
1: negative direction
068
Home position return speed Home position return start speedrpm
069
Creep rate
Home position detection speedrpm
070
Collision time
Contact time in collision type origin detection
msec
Contact torque in collision type home position detection
071
Collision torque%This is set as a percentage of motor rated current
Data of the set ID is converted to an analog signal and output
084
Monitor 1 ID―
from the M1 terminal
085
Monitor 1-scaleThis sets the scale of the monitor 1 output.
―
Data of the set ID is converted to an analog signal and output from086
Monitor 2 ID―
the M2 terminal
This sets the scale of the monitor 2 output.
087
Monitor 2-scale―
If the average value of the motor current exceeds this setting, it
Overload alarm detection
104
outputs an overload alarm.
%
current
This is set as a percentage of motor rated current.
Acceleration alarm detection This outputs an acceleration alarm when the increase
105
rpm
speed
in rotational speed exceeds this set value.
Since the resolver signal is an analog signal, a delay occurs
before it is reflected in the operation.
114
RESOLVER_START_OFFSET
1/30μsec
The start is delayed by this setting value so that the influenceof the delay is reduced.
140
Sensor type
NR : 2
Positioning : 7 etc―
GSK（W）-○○-E-N7：256
GSK（W）-○○-E1-N7：1024
GSK（W）-○○-E2-N7：2048
141
Sensor resolution―
GSK（W）-○○-R-N7：8192
GSK（W）-○○-E-P7：16384
GSK（W）-○○-E-P7B：16384
This sets the resolution factor of the sensor.
142
Sensor resolution magnification―
NR, positioning encoder, positioning resolver: 4This shows the rated current of the connected motor.
144
Motor rated current
The ratio of the overload alarm detection current to the valueArms
displayed here is the overload alarm detection current threshold.
Gear abnormality determination
160
count (continuous)This sets the number of occurrences (accumulated or continuous)―
Gear abnormality determination to determine as an alarm when a gear abnormality is detected
161
count (cumulative)
PRE.T tightening torque-free This sets the torque-free monitoring time of the PRE.T.
163
msec
monitoring time
It is judged as abnormal when the slope is smaller
165
Minimum slope judgment value%
than this setting value multiplied by -1.
This sets the sudden torque change rate that occurs at the end
166
Bolt fracture criterion value%of PRE.T and REA.T as the judgment value of bolt breakage.
This reverses the output polarity of the entire waveform
168
Polarity of tightening waveform by selecting 1.
―※ Please use when you select a left rotation.
This sets the torque-free monitoring time in the case
169
Torque-free monitoring time
msec
of the operation other than the REA.T and PRE.T.
Zero magnification check wait This sets the waiting time until the torque signal is received
170
msec
time
after the zero magnification check signal is output
62

AddressName
Tightening angle sampling
torqueMatterThis sets the torque value that is judged to be seated174
in the tightening angle measurement operation.
You enter the axis number of each corresponding to the driver.
177
Axis number※Please set immediately after the driver mounting.
This sets whether the axis of this driver amplifier is used
as a nut runner or as a positioning motor.
178
Axis type
1: Nut runner 2:X axis motor 3:Y axis motor※This is set before operation check.
Unlike axis number, it can be set by PC setting software.
This sets the current limit at socket removal operation
179
Socket torque limit(inching operation) by a percentage of the motor's rated current.
This is the effective value of the current flowing throughthe motor.
364
Motor average current
An alarm is output when this current exceeds
the current alarm threshold.
This shows the current position of the angle sensor attached1003 Current position of angle sensor
to the connecting motor.
※Important items
177 (Axis number): Setting is required when the controller is installed in the equipment.
Be sure to set this when replacing or installing a new controller.

63

Unit
Nm
―

―

%
Arms
―

７－３ SOC.T setting
It is the setting for performing screw tightening before the preparation operation. (Numbers 1 to 50)
Bolt picked up, it performs a gear check, fitting, etc., and then to state that can be screw-tightening.
Number is the number of the case to be set from GSK driver panel (Axx-yy)
No.
Matter
(yy)
No.00
No.01

No.02

No.03
No.04
No.05

No.06

No.07

No.08

Angle
This sets the end angle of this operation.

Unit
1 °

Speed
This sets the rotational speed of this operation.
Socket alignment operation/ Direction, Fitting, Gear checked００＊□｜＋―― Socket fit/ Designation of rotational direction｜
0:Tightening direction｜
1:Loosing direction＋――― Non torque check / Fitting/ Gear checked
0:Non torque check
1:One shot reverse
2:Fitting
3:Gear checked
Detection torqueDuring the rotation, it reaches the set value, and exit the rotation.
If you do not reach even beyond the cut angle will be the "fitting angle over".
Before time
This starts operation after the set time has elapsed from the socket alignment operation start.
Overtime
If it is operating after the set time has passed from the socket alignment operation start,
this ends the operation and outputs "overtime NG". (Not including before time)
Height check operation
This sets whether to check the height and how many times to retry when it is done.
The setting is made with 4 digits in hexadecimal (■ ■ □ □).
High-order digit (■■): Height check 0: None 1: Yes.
Lower digit (□□): NG retry count 0 to 255 (FFh)Upper limit of height check
This is the height for retry judgment.
Check the height of Z axis after executing socket alignment.
And if the result is higher than this setting value, socket adjustment will be performed again.
Lower limit of height check
This is the height for trial judgment.
After executing socket alignment, check the height of Z axis.
If the result is lower than this setting value, output NG immediately and advance to the next
block.

~No.15 Reserve

1rpm

―

0.1Nm
1msec
1sec

―

0.1mm

0.1mm

―

64

７－４ PRE.T settingThis setting is for rotating at high speed and moving the screw to the seating position. (No. 1 to 50)
The number is the number when setting from the GSK controller panel (Lxx-yy)
No.
(yy)
No.00
No.01
No.02
No.03
No.04
No.05
No.06
No.07
No.08
No.09
No.10
No.11
No.12
No.13
No.14
No.15
No.16
No.17
No.18
No.19

No.20

No.21

MatterRotation angle
It sets the angle to rotate at the screw adjustment speed.
1th speed
It sets the rotation speed while turning at rotation angle.
Fast-forward angle
It sets the rotation angle at the Fast-forward speed.
After the rotation angle on screw adjustment is complete, this angle starts.
2th speed
It sets the rotation speed during the fast forward.
Closed fast decision torqueIf this torque is reached between the start and the end of the fast-forward angle, the fasttightening judgment becomes invalid.
Pre-tightening torque
It is the target torque of the pre-tightening.
Torque upper
limit
If the torque value is not within the range at the time of stop,
Torque lower "Pre-tightening torque over" or " Pre-tightening torque under" NG is output.
limit
End torque of 3th speed (upper byte)
This torque switches to the 4th speed.
3th speed
It is the speed before the screw is fastened after fast forward.
4th speed
It is the final fastening speed of this process.
Over time
If the pre-tightening torque is not reached from the start of this process until this set value,
the rotation stops when this set time is reached and "over time" NG is output.
This time setting prevents mistakes.
Judgment area ★
Judgment area in the graph of angle and torque, is the integral value of the torque waveform.
Measurement invalid range
This sets the range to disable the area measurement.
The corresponding area will be from the pre-tightening start to this setting angle.
Measurement angle
The area is judged from the measurement start point to the set value.
Before time
This starts operation after the set time has elapsed from this operation start.
Time upper
limit ★
If the time value is not within the range at the time of stop,"Pre-tightening time over" or " Pre-tightening time under" NG is output.
Time lower
limit ★
Angle upper
limit ★
If the time value is not within the range at the time of stop,"Pre-tightening angle over" or " Pre-tightening angle under" NG is output.
Angle lower
limit ★
Torque-free monitoring time
This sets the time from the start of the pre-tightening until the start of torque monitoring.
It does not measure the torque from the pre-tightening start until this set time.
It is a setting to prevent misjudgment by picking up torque fluctuation
at the start of rotation.。
Measurement start torque ★
Measurement of tightening time and tightening angle starts after detection of the arrival atthis set torque.
If the torque does not reach this setpoint, the above time and angle will be the value
from this motion start.
65

Unit
1 °
1rpm
1 °
1rpm
0.1Nm
0.1Nm
0.1Nm
0.1Nm
0.1Nm
1rpm
1rpm
1sec
―
1 °
1 °
1msec
1msec
1msec
0.1 °
0.1 °

1msec

0.1Nm

No.
(yy)

MatterPre- tightening cut angle
No.22 It stops when it reaches this set angle from measurement starting torque.
This setting uses angles to prevent mistakes.
Stall time ☆
In the case of current control after reaching the cutting torque, in order to stabilize theNo.23
tightening torque, it is necessary to hold that torque for a fixed time.
This sets the time to hold that.
Speed 4 switching distance (for Z axis pressing control)
No.24 When the current Z-axis coordinate reaches this value due to fast-forwarding, etc.,
the rotation speed is switched to speed 4.
～
Reserve
No31
Pre-tightening reference waveform

66

Unit
1 °

1msec

0.1mm
―

７－５ REV.T setting
You use the seating detection determined that the burning decision.
Number is the number of the case to be set from GSK driver panel (Gxx-yy).
No.
Matter(yy)
Judgment torqueNo.00
If this torque is exceeded when reaching the measurement angle, NG is output.
Reverse angle
No.01
This sets the angle to rotate in the reverse rotation.
The 1th speed
No.02This sets the 1th speed of reverse rotation.
(Usually to a smaller value than the 2th speed)
Measurement angle
Before the end of the reverse rotation operation, torque judgment is performed
No.03
when this set angle is reached.
This sets the angle from the start of reverse rotation operation.
Please set so that it becomes smaller than reverse rotation angle.
Passing torqueIf there is no condition beyond this set value during reverse rotation operation,
No.04"reverse rotation passing torque NG" will be obtained.
(It becomes NG when tightening an unclamped bolt etc.)
Baking torque
When the torque reaches the set value during the reverse rotation process,No.05
it becomes "reverse seizing torque NG".
It becomes NG when the pre-tightening torque is too large orwhen the screws are seized to not loosen.。
Overtime
No.06
When this set time has elapsed from the start of reverse rotation, if it is in operation,
it outputs NG and ends the operation. (Excluding before time)
Speed 1 End angle
No.07
When this set angle is reached, the speed is switched from the first speed
to the second speed.
The 2th speed
No.08
It sets the reverse rotation second speed after removing the torque.
(It is usually set to a value larger than the first speed)
Before time
No.09
This starts operation after the set time has elapsed from this operation start.
Reverse tightening reference waveform

67

Unit
0.1Nm
1 °
1rpm

1 °

0.1Nm

0.1Nm

1sec
1 °
1rpm
1msec

７－６ REA.T setting
It is set for a final tightening of the screws. (Numbers 1 to 50)
This tightening will choose from two types of torque method / angle method.
However, if it is set without torque sensor, selection methods tightening of No.00 is ignored.
(Or without torque sensor is set in the driver parameters.)
MethodExit conditions
Torque method

Until it reaches the cut torque, to rotate at a specified speed.
Angle from the snug torque, to determine the time result.。

Angle method

From the snug torque, it will rotate at the specified speed
until it reaches the cut angle.
Torque, time, torque gradient also determined.

No torque sensor

In this method, the motor current value is converted to torque, andtightening is performed using the torque method.

Number is the number of the case to be set from GSK driver panel (Uxx-yy).
★ GKL should fix the value to 1.
☆ GSK should fix the value to 0.
No.
Matter(yy)
Mode ★ (In GKL angle method can not be used)
No.00
0: Torque method 1: Angle method
TorqueReal tightening torque: This torque is the target of this tighterning.
methodNo.01
Angle
Stop torque: It is a stop torque to prevent the bolt from twisting.
methodTorqueMeasurement start torque ★: With this setting it begins measuring angle
methodand time.
No02.
Angle
Snag torque: It starts clamping plastic zone from this torque.
methodIt also starts measuring angle and time.
Speed 1: It is the speed at the start in this process. Normally set about 50 to 80 rpm.
No.03
The tightening angle is also shown when tightening with only this process.
Speed 1 End angle: It rotates at speed 1 until this set angle is reached.
No.04
When it reaches this angle, it switches to speed 2.
Speed 2: This is the tightening speed in this process.
No.05
20 - 50 rpm is recommended.
Over time:
When this set time elapses from the start of the process, the process is terminated.
No.06
It outputs overtime NG when it ends.
(It is excluded from time).
No.07 Torque upper limit: It sets the allowable upper limit of cut torque or stop torque.
No.08 Torque lower limit: It sets the allowable lower limit of cut torque or stop torque.
Stop angle★:
TorqueThis is a setting to interrupt this process.
methodIt functions to not break the machine
No.09
when the torque does not reach the target value due to some trouble.
Angle
Tightening angle: This is the rotation angle from the snug torque.
methodThis sets the target angle.
No.10 Before time: It delays the start of this process by the set value of time.
Time upper limit★: It sets the allowable upper limit of the time.
No.11
Unlike Overtime, this time is measured
from the "measurement starting torque" or “Snag torque”.
Time lower limit★: It sets the allowable lower limit of the time.
No.12
Unlike Overtime, this time is measured
from the "Measurement starting torque" or “Snag torque”.
Angle upper limit★: It sets the allowable upper limit of the angle.
No.13
Unlike Overtime, this time is measured
from the "Measurement starting torque" or “Snag torque”.
Angle lower limit★: It sets the allowable upper limit of the angle.
No.14
Unlike Overtime, this time is measured
from the "Measurement starting torque" or “Snag torque”.
68

Unit
―
0.1Nm
0.1Nm
0.1Nm
0.1Nm
1rpm
1 °
1rpm
1sec
0.1Nm
0.1Nm
1 °
1 °
1msec
1msec
1msec
0.1 °
0.1 °

No.
(yy)
No.15

No.16

No.17

No.18

No.19

MatterClosed fast decision angle:
If the measurement start torque is detected earlier than this set angle,"fast-tightening NG" is output.
In this case, fast-tightening refers to a state in which the screw hole is crushed
and the screw is not tightened.
Torque-free monitoring time: It will not monitor the torque for the set timefrom the start of the process.
Judgment area ★:Judgment area is in the graph of angle and torque.
It is a setting for judging screw failure, and if it exceeds this value,
it will be "screw failure".
Please refer to the measured value in the online etc of the automatic measurement
for the setting.
TorqueReserve★
methodAngle
Snag torque upper limit: It is the upper limit value of snug torque.
method If this value is exceeded, "snug torque over NG" is output.
Torque Zone judgment★:
method It sets whether to perform the zone judgment.
Snag torque lower limit:
Angle
It is the lower limit value of snug torque.
methodIf this value is exceeded, "snug torque under NG" is output.
Zone judgment range ★:It is one of the screw judgment.
We select the range of zone judgment from the following.

No.25
No.26
No.27

―
0.1Nm
―
0.1Nm

Angle
methodGradient sampling number:
The width of one sampling is represented by this set value X 0.5 °.

1time

TorquemethodNo.24―

TorquemethodAnglemethod

No.23

1msec

0.1Nm

No.20

No.22

1 °

"No zone monitoring"⇒ Zone judgment is not performed.
"Zone lower limit ignored" ⇒ The lower limit value is not judged
at zone judgment.
"Zone upper limit ignored" ⇒ The upper limit value is not judged
when zone judgment is made.
"Zone normal monitoring" ⇒ Judge by the upper limit value andthe lower limit value when judging the zone.
REA.T passing torque:
It is a torque to judge whether abnormality occurred during tightening.
It is judged below this value after passing the snug torque.
Zone starting point ★:We set the torque value at the start of zone judgment.
Gradient decision:
It sets whether to make gradient judgment.
0: None 1: Execution
Zone starting point tolerance ★:We set the range of start torque for executing the zone judgment.

Torquemethod

No.21

Unit

Angle
methodTorque Zone end point ★:method It sets the angle of judgment range at zone judgment.
Angle
Moving average number:
method It sets how many times sampling is done in increments of 0.5 °.
Torque Zone end point tolerance ★:method It sets the intersection angle of the end point for the zone judgment.
Angle
Gradient decision upper limit:
method It sets the upper limit value for gradient judgment.
smoothing tightening ★:It sets whether to perform smoothing tightening.
0:None 1: Execution
Initial speed ★: It sets the speed at the start of smoothing tightening.
Torque Cut torque at the speed ★:method It sets the speed at which the cut torque is reached during smoothing tightening.
69

―

0.1Nm
―
0.1Nm

0.1 °
1回
0.1 °
1%
―
1rpm
1rpm

No.
(yy)

Matter

Unit

Snug torque speed:
It sets the speed at which the snag torque is reachedduring smoothing tightening.
Speed 3, 4 additional mode:
It sets whether to use Speed 3 and 4.
0:None 1: Execution
Speed 3 switching angle:
When this angle is reached, speed 3 is switched.
Speed 3: It will be the speed when you are seated in Speed 3, 4 mode.
Speed 4 switching torque:
When this torque is reached it switches from Speed 3 to Speed 4.
Speed 4:
It is the final tightening speed in speed 3, 4 mode.
Stall time☆:
TorqueWhen the torque sensor is not used, it sets the time to hold the tightening torquemethodin order to fix the torque.
Angle
Gradient decision lower limit:
method It sets the lower limit value for gradient judgment.
Torque Over cut time ☆:method If tightening is not completed before exceeding this angle, NG will be output.
Angle
Reserve★
methodSpeed 4 switching distance (for Z axis pressing control)
When the current Z-axis coordinate reaches this value due to fast-forwarding, etc.
in the speed 3, 4 additional mode, the rotation speed is switched to speed 4.
Angle
method

No.28
No.29
No.30
No.31
No32

No.33

No.34

No.35

～
Reserve
No.47※ Priorities of behavior is "with smoothing tightening"> "Speed 3, 4, additional mode"

70

1rpm
―
1 °
1rpm
0.1Nm
1rpm
1msec
1%
1 °
―
0.1mm
―

Tightening wave and Zone judgement

71

ABOUT GRADIENT JUDGMENT72

７－７ Rate setting
It is the basic settings for the nut runner axis. （Number 1 to 30）
Please set a value corresponding to the motor and sensors to be used in the nut runner.
Number is the number of the case to be set from GSK driver panel (Uxx-yy).
No.
MatterTorque sensor rate/Current sensor rate
・Torque sensor exist: Set the torque at the time of the torque sensor output 10V.
No.00
・Torque sensor none: Set the nut runner shaft end torque of thatwhich causes a momentary maximum current to the motor.
Tightening direction/Nut runner format
The following Bit allocation in hexadecimal data
F
E
D~8
7~0
Tightening
Sensor typeNut runner type0
direction(Note 2)
(Note 1)
No.01
Tightening direction
0: Tightening in the right rotation looking at the motor from the encoder side.
(tightening in the motor shaft end CCW rotation)
1: Tightening in the left rotation looking at the motor from the encoder side.
(tightening in the motor shaft end CW rotation)
Limit overThis sets the value variation tolerance for every zero magnification check.
The output value in the previous zero-fold check is compared with the current output value.
No.02
If the difference exceeds the set value, "zero offset fluctuation anomaly"and "multiplication fluctuation anomaly" will be generated respectively.
(Torque sensor: about 2% of rated, current sensor: about 10% of rated)
Set overThis sets the tolerance of the zero point output value and the magnification output value
at the time of zero-magnification check.
No.03 If the zero point output exceeds [(zero point preset) ± (set over)]or the magnification output exceeds [(magnification preset) ± (set over)],“zero offset error” or “magnification error” will occur.
(About 5% of torque sensor rating, current sensor: about 20% of rating)Zero preset
No.04 This sets the output voltage without torque sensor load in terms of torque.
Normally, this is set to "0".
Magnification preset
No.05 This is set by converting the output voltage at torque sensor magnification check.
Normally, it is set to 1/2 of the "torque sensor rating".
Gain correction
This is used to correct the output (slope) of the torque (current) sensor.
If not corrected, this item is set to 1/2 of the "Sensor rating".
No.06 The corrected torque value is calculated by the following formula.

No.07
No.08

The smaller the gain correction value, the higher the actual torque value.
Reduction ratio
This sets the gear ratio of the nutrunner.
Please set the mechanism to rotate once when the motor shaft rotates by the set value.
Motor model (Note 3)

73

Unit
0.1Nm

―

0.1Nm

0.1Nm

0.1Nm
0.1Nm

0.1Nm

0.1rev―

(Note 1).About Nut runner typeNut runner type
ANCKH-150
ANCKH-350
ANCKH-600
ANCKH-1000
ACKHM-200
ACKHM-500
ACKHM-400
ACKHM-700
ANZM-50
ANZM-250
ANZM-350
ANZM-500
ANZM-850
ANZM-1600
ANZM-2000
ANZM-3000
ANZM-3500
ANZM-5000(Note 2).About sensor type
Sensor type
NON
100S
200
250
350
500
850
1500
2500
4000
5000
(Note 3).About motor model
Motor model
TS4129N2820E230
TS4509N2825E203
TS4515N2820E202
TS4603N1920E203
TS4603N1925E203
TS4609N1920E203
TS4612N1920E601

Value
15
10
17
18
33
39
42
52
44
43
45
47
48
50
51
53
63
55

Nut runner type
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000
ANZM-20000
ANZMH-200
ANZMH-450
ANZMH-900
ANZMH-1500
ANZMH-9000
ANZMSH-130
ANZMSH-150
ANZMSH-500
ANZMSH-700
ANZMSH-2000
ANZMKSH-40
LUR-1000
OTHER

Value
56
57
75
60
36
46
49
62
54
65
68
83
73
64
71
80
84
99

Value
0
1
2
3
4
5
6
7
8
9
10

Sensor type
7000
7500
8000
12000
15000
20000
ANMSH-13
AZM-40SH
AZMSH-70
AZMT-150
OTHER

Value
11
12
13
14
15
16
17
18
19
20
21

Value
0
7
8
9
10
11
12

Motor model
TS4614N6920E102
TS4617N1520E203
TS4617N1920E203
TS4618N1920E203
TS4619N1920E203
TS4619N1922E207
TS4839N2820E235

Value
13
14
15
16
17
18
19

74

７－８ X-axis rate settingThis is a basic setting for the X axis. (No. 1 to 30)
Please set the motor type and moving speed etc. used by the X axis.
X axis rating numbers 28 to 30 have special meanings.
・ No. 28 is used by the manual JOG operation.
・ No. 29 is used when the specified point and JOG start signal are input.
・ No. 30 is used when the X return signal is input.
Number is the number of the case to be set from GSK driver panel (= xx-yy).
No.
Matter(yy)
Acceleration time constant
No.00
This sets the acceleration when moving the position.
Deceleration time constant
No.01
This sets the deceleration when moving the position.
Moving Speed
No.02
It set the movement speed at the time of position movement.
Point ± detection range
No.03 When the current coordinate is within the range "X-coordinate ± the set value of the points",
GSK driver determines that the move to the specified point has been completed.
Range output 1
No.04
lower limit
When the current X-axis coordinate is within the range of this setting,the output signal "X range output 1" will turn ON.
Range output 1
No.05
upper limit
Range output 2
No.06
lower limit
When the current X-axis coordinate is within the range of this setting,the output signal "X range output 2" will turn ON.
Range output 2
No.07
upper limit
Travel distance when the motor rotates once
No.08
This sets the amount of movement when the motor makes one revolution.
Motor model
No.09
It is set the motor model. (See the motor model list(Note 1))
Source direction of rotation
When the position is increased in the positive direction,
No.10 and set whether the motor is turning in any direction.
0000:CW direction as viewed from the rear of the motor
0001:CCW direction as viewed from the rear of the motor
S-curve acceleration settingThis is to set the acceleration / deceleration pattern of the positioning motor.
No.11 [Bit15-12] acceleration / deceleration pattern 1：Normal 2：S-curve[Bit11-0] S-curve acceleration time constantThis sets the fluctuation range of acceleration / deceleration at S-curve control.
(Note 1)Motor model list
Motor model
TS4603
TS4604
TS4607N2088
TS4609TS4607N3222
TS4612
TS4610TS4606
TS4612N3222
TS4613N3222
TS4614N6920
TSM4104N2820
TSM4104N7820
TSMB
TSM
75

Value
3
4
5
6
7
9
10
11
12
13
14
15
16
17
18

Unit
10rpm/s
10rpm/s
1mm/s
0.1mm

1mm

1mm
0.001
mm/rev
―

―

―
msec

７－９ Ｙ-axis rate settingThis is a basic setting for the X axis. (No. 1 to 30)
Number is the number of the case to be set from GSK driver panel (= xx-yy).
No.
Matter(yy)
Acceleration time constant
No.00
This sets the acceleration when moving the position.
Deceleration time constant
No.01
This sets the deceleration when moving the position.
Moving Speed
No.02
It set the movement speed at the time of position movement.
Point ± detection range
No.03 When the current coordinate is within the range "X-coordinate ± the set value of thepoints", GSK driver determines that the move to the specified point has been completed.
Range output 1
No.04
lower limit
When the current Y-axis coordinate is within the range of this setting,the output signal "Y range output 1" will turn ON.
Range output 1
No.05
upper limit
Range output 2
No.06
lower limit
When the current Y-axis coordinate is within the range of this setting,the output signal "Y range output 2" will turn ON.
Range output 2
No.07
upper limit
Travel distance when the motor rotates once
No.08
This sets the amount of movement when the motor makes one revolution.
Motor model
No.09
It is set the motor model. (See the motor model list(Note 1))
Source direction of rotation
When the position is increased in the positive direction,
No.10 and set whether the motor is turning in any direction.
0000:CW direction as viewed from the rear of the motor
0001:CCW direction as viewed from the rear of the motor
S-curve acceleration settingThis is to set the acceleration / deceleration pattern of the positioning motor.
No.11 [Bit15-12] acceleration / deceleration pattern 1：Normal 2：S-curve[Bit11-0] S-curve acceleration time constantThis sets the fluctuation range of acceleration / deceleration at S-curve control.

76

Unit
10rpm/s
10rpm/s
1mm/s
0.1mm

1mm

1mm
0.001
mm/rev
―

―

―
msec

７－１０ Point seting
It will remember the XY coordinates of each unit in the form of a point number.
If GSKIF instructs the move to GSK driver, specify the point number, not the coordinate value.
Number is the number of the case to be set from GSK driver panel (= x-yyy-z).
The x is the unit number (1 ~ 4), yyy is point number (1 ~ 255), z indicates the axis type.
No.
Matter(yy)
No.000 Point coordinate value (point number 1 to 255)～
: It sets the coordinate value of the point of X (or Y) axis to here.
No.254 ※ As for axis type, 0 is X axis and 1 is Y axis.

Unit

0.1mm

No.255 Reserve―No.256 ※This function is currently unavailable.

―

No.257It sets the coordinate value of the upper limit in the operation according
to the unit number and axis type etc.

No.258 ※This function is currently unavailable.

―

No.259～※This function is currently unavailable.
No.266
No.267 ※This function is currently unavailable.
No.268―――It sets the coordinate value of the lower limit in the operation according
to the unit number and axis type etc.

No.269～Reserve
No.287――77

７－１１ （Ｆｎ．０１）Tightening result monitor of 1st axis
No.

Fn.1-00～42

MatterThis displays the tightening result of the first axis.

This function is for confirmation only.
Please note that the content can not be changed.

７－１２ （Ｆｎ．０２）Tightening result monitor of the 2nd axis
No.

Fn.2-00～42

MatterThis displays the tightening result of the second axis.

This function is for confirmation only.
Please note that the content can not be changed.

78

※Fn.1 および Fn.2 の表示内容
In Fn1-xx and Fn2-xx in the data selection mode, you can check the data on screw tightening of CH1 and CH2.
The following table shows the display contents for the above xx numbers.
締付データ
No.
Contents(xx)
00
Screw number
01
Program number02
The torque results of socket alignment operating
03
The time results of socket alignment operating
04
The angle results of socket alignment operating
05
The torque results of pre-tightening operation
06
The time results of pre-tightening operation
07
The angle results of pre-tightening operation
08
The torque results of final tightening operation
09
The time results of final tightening operation
10
The angle results of final tightening operation
11
The sample point torque of final tightening operation
12
The final slope ratio of final tightening operation
13
Spare
14
The torque results of reverse operation
15
The time results of reverse operation
16
The angle results of reverse operation
17
Result number
18
The fast-forward torque result of pre-tightening
19
The fast-forward time result of pre-tightening
20
The fast-forward angle result of pre-tightening
21
The area result of pre-tightening
22
The area result of final tightening
23
The initial slope of the final tightening
24
The final slope of the final tightening
25
The gradient ratio of t final tightening ((23) / (24) × 100)
26
The sample point torque result of pre-tightening
27
The total operating time result of the pre-tightening operation
28
The total rotation angle result of the pre-tightening operation
29
The total operating time result of the final tightening operation
30
The total rotation angle result of the final tightening operation
31
The sample point angle result of the reverse rotation
32
The execution time of the program operation
33
Spare
34
Spare
35
The offset torque result of zero magnification check operation
36
Zero preset value of the "rate" parameter
37
The test of the zero magnification check operation
38
The gain correction value of the "rate" parameter
39
The number of running the program operation
40
Position data of the motor［2048/rev］
41
The A / D input value of the torque sensor［2048/10V］
42(Parameter)typical value of torque sensor preset
You can update the displayed data by pressing and holding the “ ” button for 2 seconds.

79

７－１３ （Ｆｎ．０３）Input / output monitor
The displayed content changes according to the value specified in “PLC signal monitor unit” of Fn 6-05 IF parameter.
The display format is fixed to 2 hexadecimal digits.
【When monitor unit = 1 to 6】
This monitors the PLC (including M-NET) signal of the specified unit number.
Data No.
Data display contents
Remarks
Input signal monitor
This displays the first 8 bytes of the unit input signal.
Fn3-00~07
from PLC
The display will be "00" as 05-07 is an unused area.
Output signal monitor
Fn3-08~15
This displays the first 8 bytes of the unit output signal.
to PLC
Fn3-16
Active block number―
Bit7：Z-axis Not Ready※This is turned onby driving power off etc.
Bit6：Z-axis Operation NG
Bit5：Z-axis In rotation
Bit4：Z-axis In action
Operating state 1
Bit3：NR-axis Not Ready
Fn3-17of each axis
Bit2：NR-axis Operation NG(Nut runner, Z axis state)
Bit1：NR-axis In rotation
Bit0：NR-axis In action

Fn3-18Operating state 2of each axis
(X-axis and Y-axis state)

Fn3-19Operating state 3of each axis
(Z axis state (position))【When multiple mode】
If one axis is ON, this indication is ON.
Bit7：Y-axis Not Ready
Bit6：Y-axis Operation NG
Bit5：Y-axis In rotation
Bit4：Y-axis In action
Bit3：X-axis Not Ready
Bit2：X-axis Operation NG
Bit1：X-axis In rotation
Bit0：X-axis In action
Bit7-6：Fixed to 0
Bit5 ：Z-axis position is the down limit(same as output signal "Z-axis position 2")
Bit4 ：Z-axis position is the upper limit(same as output signal "Z-axis position 1")
Bit3-2：Fixed to 0
Bit1-0：Z-axis pressing condition(0: OFF 1 to 3: pressing force during operation)

80

【Monitor unit = 0】This monitors the internal state of GSK interface.
※ All indication is hexadecimal number.
No.
Matter2 digits display
IP address of GSKIF of the board for FTP transfer“<No0>. <No1>. <No2>. <No3>”
Fn3-No0~3※If you set the IP address to "0.0.0.0" in the FTP network settings,
the IP address stored inside the Anybs board will be displayed.
2 digits display
IP address of FTP server (transfer destination)
Fn3-No4~7“<No 4>. <No 5>. <No 6>. <No 7>”
2 digits display
IP address of GSKIF of board for PLC connection(for PROFINET or EtherNet / IP)
Fn3“<No8>.<No9>.<No10>.<No11>”
No8~11※If you set the IP address to "0.0.0.0" in the FTP network settings,
the IP address stored inside the Anybs board will be displayed.
2 digits display
FTP status display
Upper
lower
Value
(Last FTP transfer result)(Current FTP transfer status)
0
Initial state
Initial state
1
OK FTP Transfer successful
Waiting for retry start2
NG FTP Start process
FTP During start processing
3
NG FTP SERVER CONNECT
Connecting to FTP server
During USER command
4
NG USER COMMAND
execution
During PASS command
5
NG PASS COMMAND
execution
During TYPE command
6
NG TYPE COMMAND
execution
DuringCWD command
Fn3-No127
NG CWD COMMAND
execution
During PASV command
8
NG PASV COMMAND
execution
During STOR command
9
NG STOR COMMAND
executionA
NG DATA CONNECT
During data accessB
NG DATA TRANSFER
During data transfer
C
NG FTP CLOSE
Exiting FTP
D-F
UnusedUnused【Meaning of result】
0: FTP transfer has not been performed even once after power on
1: FTP transfer succeeded
2-3: Could not connect to the FTP server. (LAN cable disconnection, address error etc.)
4 or more: Failed to connect to the FTP server. (Incorrect password etc.)
Fn3-No13 Unused
Fn3-No14 IF alarm detail code (upper)
Fn3-No15 IF alarm detail code (lower)～Fn3Unused
No19

81

７－１４ （Ｆｎ．０４）Operation instruction from GSK controller
The Fn.4 writting operation is an operationcommand for GSK interface.
This performs the following operation by setting the operation type to Fn4-00 and the data number to Fn4-01
and pressing the ← button for a long time.
No.

Matter

Fn4-00Operation type

Fn4-01

Data number

Commentary
1: REA.T result print start
2: Special operation
3: FTP transfer test
[When operation type = 1]
Unit number (1 to 7).
[For operation type = 2]
Special operation for debugging
1: SETTING. BIN file save (GSKIF ⇒ SD)[When operation type = 3]This performs FTP transfer test.

７－１５ （Ｆｎ．０５）Unit settingThis sets the relationship between unit number and axis.
The number indicates the axis number (1 to 30).
No.
Fn5.-□□

Matter
It is 2-byte data of hexadecimal .
[Bit15-8]Unit number(1 to7, 0 is not connected )[Bit7-0]Axis type
(0: None 1: Nut runner 2: X axis 3: Y axis 4: Z axis)【Note】
After changing the unit settings, it is necessary to power off GSK-IF once.
The GSK system does not activate unit configuration changes unless the power is turned off.
The unit settings have the following limitations.
・Specify the axes in ascending order of UNIT number.
⇒ Axis 1 / UNIT1, Axis 2 / UNIT1, Axis 3 / UNIT2 are OK.
⇒ Axis 1 / UNIT1, Axis 2 / UNIT2, Axis 3 / UNIT1 are NG。
・Specify the axes in the same unit by order of NR / X / Y / Z.
⇒ Axis 1 / UNIT1 (NR), axis 2 / UNIT1 (X), and axis 3 / UNIT1 (Z) are OK.
⇒ Axis 1 / UNIT1 (NR), axis 2 / UNIT1 (Z), and axis 3 / UNIT1 (X) are NG.
※ It is possible to skip an unused axis and specify.
Axis 1 / UNIT1, Axis 2 / Not connected, Axis 3 / UNIT1 are OK.

82

７－１６ （Ｆｎ．０６）Interface unit setting
No.
(yy)

No.00

No.01

No.02

No.03

No.04

No.05

No.06

MatterBasic setting
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
Reserve Reserve Reserve Reserve Reserve Reserve IOB2 SYS[Bit0]System GSK operation
0: Standard GSK (connect PLC) 1: System GSK（Unused PLC）
[Bit1] Whether to use 2 I/O boards in system GSK
0: Not used(CN14 connector only) 1:Use(CN13/CN14 connector)[Bit2-7] Reserve[Quality control PC waveform reading maximum waiting time]【In case of multi-axis mode】
This setting has no meaning【Other than multi-axis mode】
This sets the maximum waiting time for loading the waveformon the quality control PC.
The quality control PC reads the waveform at the end of the block, but it takes time
to read the waveform.
It is a timer value for holding so as not to advance to the next block in the meantime.
1 to 9: Waiting time, 0: Quality control PC disabled[Operation when waiting time is 1 or more]
This suspends the execution of the next block until the waveform reading of all units
by the personal computer is completed at the end of the block.
⇒Execution of the next block starts when all waveform reading is completed.
In this case, the next block is started earlier than the waiting time.
⇒If the wait time is reached and waveform readingof all units has not been completed yet, execution of the next block starts.
※Although this setting is for the quality control PC, the same operation is performed
when the setting PC is connected.
If you do not connect the quality control PC, be sure to set 0.
Screw number for ID output
It sets the maximum number of for a single workwhen the connected ID controller is T type.
This sets the communication speed of the personal computer (1 byte data of hexadecimal)
communication speed of setting personal computer (bps)
0:9600
1:19200
2:38400
communication speed of quality control personal computer (bps)
0:19200
1:38400
Setting of the external display (Decimal data)
1th digit: Display valid (0: Invalid 1: Valid)
2th digit: Language switching (0: Japanese 1: English)※Language will be changed by sending the informationof the language switching to an external display.
M-NET signal monitor unit selection
This select the unit number (1 to 7) to be displayed in GSK driver panel according to the MNET signal monitor (Fn03).
If set to 0 will be the state monitoring of GSK interface.
Waveform resolution to an external display
The resolution of the waveform data when transmitted to an external display in 0.5-degreeincrements.
(For example, 0.5 degrees: 05, 1.0 degrees: 10, 1.5 degrees: 15, 2.0 degrees: 20)

83

Unit

―

sec

―

―

―

―

0.1degree

No.
(yy)

No.07

No.08

No.09

No.10
No.11

No.12

MatterCommunication speed of the external display (bps)
0:38400
1:57600
2:76800 3:115200【Note: the operation of the later version 1721-141】
When the power is ON it will connect at the optimal speed to checkthe communication speed of the display.
This setting is the default communication speed in the case of the connection
between the power is turned ON display it could not be confirmed.
Please combine this setting with the communication speed of display as possible.
Print Settings (hexadecimal data)
This sets the conditions relating to the printer output.
BIT7: new line code specified (0: LF 1: CR + LF)
BIT6-3: unused
BIT1-0: Auto Print selection(00: N / 01: every time 10: NG at the time / 11: First N stand + when NG)
Online print mode
BIT5: print format (0: Standard 1: Jamco specification)
BIT4: zero magnification result print presence or absence
BIT3: Print the presence or absence of this tightening results
BIT2: Print the presence or absence of the reverse result
BIT1: Pre-tightening result print presence or absence
BIT0: socket alignment prints presence or absence
Initial numberThis is the number from the start of automatic operation to perform online printing.
This setting is enabled when "Automatic print selection N first time" is selected in Fn 6-08.
QL setting※This function is effective after Version 1721-170.
BIT0 : QL treatment contents
0: 1 time (NG screw only) 1: 2 times (all screws QL after NG screw)
PLC settingThis sets the IO size etc. of the PLC connected to the Ayabus board.
Please set the parameters according to the PLC to be connected.
The meaning of each value differs depending on the Anybus board.
For details, refer to the specifications for each sequencer.
Special equipment type]This specifies the setting with Bit when running GSK-IF
with special equipment configuration.
Bit 7-6: Fixed to 0 (Be sure to set this to 0 because this is for checking
that the backup area has been cleared.)Bit 5-2: SpareBit 1: Special equipment 2
Bit 0: Special equipment 1

Unit

―

―

―

―
―

―

※Use only in the case of the following equipment configuration. Normally, "0" should be set.
No.13

[Special equipment 1]:This setting is used to connect two GSK-IFs to one display.
This setting is set on the sub side of the two GSK-IFs to be connected.
[Special equipment 2]
This is a special equipment configuration where all unit settings are nutrunners but use
specific axes as positioning.
・ Position movement is performed by the command of the nut runner.
・ Special unit is specified by Fn06-14.
⇒This unit does not notify the tightening result to ID or Display.
⇒It does not affect the axis alignment screen clear timing of Display etc.
(This is treated as an independent unit.)

84

―

No.
(yy)

Matter

Unit

No.14

[Parameters for Special Equipment]
Value of No.13
Meaning
1(Special equipment 1) Unused
A special unit that moves the position in the setting2(Special equipment 2)of the nutrunner is specified in Bit(Bit0 = UNIT1, bit1 = UNIT2, ..., Bit6 = UNIT7)

―

No.15

PLC setting 2
Extended setting for PLC operation[In the case of MNET]
It is fixed to 0. (This setting does not have meaning)[In case of PLC using Aybus board]
GSK operation differs depending on the type of board to be connected.
For details, please refer to the specifications for each communication method.

secThis is two-digit data in hexadecimal.
Upper digit:[Bit 7-6] Spare[Bit 5] Restart after cycle stop(0: prohibited 1: permitted)[Bit 4] Block at restart(0: Operate the same block 1: Go to the next block)

―

No.16

Lower digit [Bit3-0]: Adjustment mode speed
The XYZ axes operate at the specified speed x 10%. (1 runs at 10% speed)
It operates at 30% when 0, and 100% when A to F (10 or more).
※When changing the IF parameter, turn off the power once and then operate it.

85

[10%]

７－１７ （Ｆｎ．０７）ID connection setting
NumberMatterNo._0
ID controller output content setting
No._1
ID controller output content setting
No._2
ID controller output content setting
No._3
M-Net start address setting " set at the 1-7 "Please refer to the following about the details of the above-mentioned Fn.7.
No.

Digit

1st digit

Setting
Value
0
1
2
Min.3

No._00

2nd digit

0~7

3rd digit

0/1

4th digit

0/1

1st digit
No._01

No._02

2nd digit
3rd digit
4th digit

Data transmission at block judgement output
Data transmission at start of next block and input of judgement
reset input
Data transmission from command from the upper device
Not usedThis sets the engine number transmission digit number.
0: None , 1 to 7: Number digit transmission
Transmission setting of screw number
0: Do not send 1: Send
Transmission setting of each axis judgment
0: Do not send 1: Send
This sets the digit no. of transmission with torque.
This sets the digit no. of transmission with time.
This sets the digit no. of transmission with angle.
This sets the digit no. of transmission with slope(snag torque).
I / F unit ID controller / printer function selection
0: Printer connection (ID controller not connected)
1: Standard specification ID controller connection
2: Toyota specification ID controller(torque and judgment output)
3: Toyota specification ID controller (judgment output)
4: Jatco specification ID controller connection
5: Free (not used)
6: A specification ID controller connection
When using JTECT's display, please set it
to any ID controller connection.

1st digit

0~4

2nd digit

0/1This sets Yes or No with transmission of date and time
0: not to be transmitted
1: to be transmitted

3rd digit

0/1This sets Yes or No with transmission of program no.
0: not to be transmitted
1: to be transmitted

4th digit

No._03(Note 1)

Matter

―

0 ~7

1~7

Unit number other transmission setting
Bit 0: Unit number sent / not sent
0: None 1: Present
Bit 1: Selection of slope / SNAG
0: Slope: 1SNAG
Bit 2: Selection of torque value
0: Torque according to priority 1: SNAG torque fixed
M-NET station address settingThis sets the station address of unit 1.
The address after unit 2 is the serial number from the setting
value +1. Set the final station to 7 or less.
Example: When the set value is 6, unit 1: station 6,
unit 2: station 7.
(In this example, units 3 and 4 can not correspond)

86

(Note 1) Transmission digit setting list
Setting
Torque, Angle, Slope
Time
Remarksvalue
0
Not send2＊．＊＊．＊
2 digits with decimal point
3
＊＊．＊
＊．＊＊
3 digits with decimal point
4
＊＊＊．＊
＊．＊＊＊
4 digits with decimal point5＊＊＊＊．＊＊＊．＊＊＊
5 digits with decimal point6＊＊＊＊＊．＊＊＊＊．＊＊＊
6 digits with decimal pointA＊＊＊＊
2 digits without decimal point
B
＊＊＊
＊＊＊
3 digits without decimal point
C
＊＊＊＊
＊＊＊＊
4 digits without decimal point
D
＊＊＊＊＊
＊＊＊＊＊
5 digits without decimal pointE＊＊＊＊＊＊＊＊＊＊＊＊
6 digits without decimal point
If the setting value is not specified above, it will be the same operation as 0.

87

７－１８ About Z axis setting
７－１８－１ Coordinate setting of Z axis
The coordinates of the Z axis are set in setting No. 160 to 239 (XY point No. 161 to 240) of point setting.
Therefore, the points when using the Z axis are only point numbers 1 to 160 and four original positions.
The value set here indicates the descent amount in units of 0.1 mm when the "Cylinder operation" command is executed.
No.
(yyy)

No.160～No.239Contents

Setting range

7SEG display = Px (unit number). Yyy (setting number). Z (axis type 0: X coordinate, 1: Y coordinate).
If this is easy to see, it will be the following.
Z coordinate of point No. 1 at Px.160.0.
Z coordinate of point No. 2 at Px.160.1.
Z coordinate of point No. 3 at Px.161.0
Z coordinate of point No. 4 at Px.161.1
・・・
Z coordinate of point No. 159 at Px.239.0
Z coordinate of point No. 160 at Px.239.1
It sets the point coordinates of the Z axis in the above manner.

880000-9999

Unit

0.1mm

７－１８－２ Z axis rate setting
When using a Z axis motor, the setting No. 240 to 250 of the point setting is the setting area of the Z axis rating.
Unlike X-axis and Y-axis ratings, Z-axis ratings are fixed for each unit.
It is not possible to change the rating number during automatic operation.
No.
Maximum
Item
Explanation
Unit
value
yyy
z
Acceleration0
Z axis acceleration
10rpm/sec
32767
rating240
Deceleration
1
Z axis deceleration
10rpm/sec
32767
ratingTravel distance0
Length traveled by one motor revolution
0.1mm/rev
32.767
per motor
241
Motor rotation direction when moving
Source rotation
0：CW
1
in + direction
direction
1：CCW※ 0 origin on the motor side is CCW
0 Moving Speed
Travel distance per second
1mm/sec
Return amount242
Movement amount when moving up
1(relative
0.1mm
with "Cylinder relative return" command
distance)
Position when raising the Z-axis
Return position0
by return operation
0.1mm(Rising limit)and "Cylinder return" command
243
Abnormality judgment value
at Z axis movement
1
Lower limit
0.1mm
Alarm is generated when moving
above specified value
Point detection
Check range of whether the Z axis is
0
1mm
100
coordinates
within the target range
244
1
UnusedReserve―
0
JOG Speed
JOG operation speed
1mm/sec
245
Home return
1
Home return operation speed
1mm/sec
operation speed
0
Driver typeType of driver to connect
0:GSK driver amplifier
246
X axis rating table
1
Motor typeSpecify motor type
Refer motor type
Z_UP 1
Coordinates ascended
00.1mm
coordinate
by Z_UP 1 command
247
Z_UP 2
Coordinates ascended
1
0.1mm
coordinate
by Z_UP 2 command
Upper byte:
Z axis overlap
Lowering completion overlap distance
01mm
distance
Lower byte:
248
Rise completion overlap distanceUpper byte: spare
XY axis overlap
1
Lower byte:
1mm
distance
XY movement completion overlap distance
Z range upper
Upper limit coordinate (minimum value)
00.1mm
limit positionof Z range output signal
249
Z range lower
Lower limit coordinate
1
0.1mm
limit positionof Z range output signal (maximum value)
250―
UnusedReserve―89

８. Supplementary explanation
８－１ Motion assist function①Zero-magnification check function
If the check box in the program setting is checked, zero magnification check will be performed.
If it is not present, this check will not be performed.
This check is always performed in multi-axis mode.
In positioning mode, it is executed only at the first tightening block.
②History data storage function
After tightening comprehensive judgment outputs, it makes the history data stored in each driverat the reset input as a trigger.
When the data is confirmed the data was read from the setting software-automatic measurement screen. (The history data is read to PC by the all or Specified axis when the read switch on setting software.
There is the cancel SW.)
③Waveform sampling function
It can save 2048 the 2 kinds of waveform data in the each driver.
2 kinds of waveform data are called waveform data 1 and waveform data 2.
When the number of data is over 2048, next tightening data will be overwritten.
Waveform data1: save in 10msec Interval from the block start to block end.
Waveform data2: save in 0.5degree Interval from the real tightening snag torque to real tightening finished
It is possible at the setting software that it saves the waveform data 1 after tightening
and it can get waveform data 2 by the always-on connection (online).

８－２ Driver function
Regeneration capability: If the drive voltage exceeds a certain value, it has a built-in regenerative circuit
to be consumed by the internal resistance. (Regenerative resistor is external.）
Discharge function: The driver spontaneously discharges by the LED.
Analog monitor: Monitor signal output from the panel surface check pin (can be selected by parameter)
Standard load inertia : JL(Standard load inertia) ≦ 30JM(30 times of the moter inertia)
Tightening history storage: GSK saves approximately 5000 tightening data in the E2PROM of each driver amplifier.
Setting software is used to read the history.
Alarm history function:GSK stores 16 alarms for each driver amplifier.
Setting software is required to read alarm history.

90

９. Monitor output
Any internal signal of this driver is converted into an analog signal of -8V ~ + 8V, it can be monitored.
The output voltage is scaled so that the setting value of the monitor output scale become 8V.
The analog monitor signal is output to M1.M2 pin on the panel surface of the driver.
The setting about an analog monitor is indicated below.
Please input the address in d_00XXX.
There are the pins of M1, M2 only on CH1 side in case of GSKW.
When seeing CH2 side, please change the input ID.
address
084

Item nameOutput-ID of theMonitor 1

085

Output-scale of theMonitor 1

086

Output-ID of theMonitor 2

087

Output-scale of theMonitor 2

MatterIt sets the ID of the data which is output to the analog monitor 1.
Initial value：45(The ID of the input value from the torque sensor)
The analog monitor 1 is scaled so that the set valueof this parameter becomes 8V output.
initial value：2048
It sets the ID of the data which is output to the analog monitor 2.
Initial value：41(Current speed ID)
The analog monitor 1 is scaled so that the set value of this parameter
becomes 8V output.
initial value：1500

The output ID set above and its contents are shown below.
ID-Number
Display contents
It represents the current speed [rpm].
41
It is initialized to analog monitor 2.
※(10041)
The initial scale is 1500 [rpm / 8 V].
42
It represents the motor current value for monitoring [0.01 Arms].
※(10042)
Please set it in torque sensor unused mode.
It represents the output current value of the torque sensor.
45
It is initialized to analog monitor 1.
※(10045)
The initial scale is 2048 [Arms / 8 V].
※When using the W type controller and checking CH 2,
please set the value which added 10000 to the number of CH 1.
※ For GSK-T4-E-N2 and GSKW-T4-E-N2 there isno analog monitor pin notation.
Pins for analog monitor in these controller types arewithin the red frame in the left figure.
These show the following from the top of the figure.
TP6: M1 pin
TP7: M2 pin
TP 8: GND
When connecting, please connect to pin and GND respectively.

91１０. Code Table
１０－１ ＮＧ code list
Operation
Basic NGCodedisplay
FFF
F00
001
002
003

Before starting
check,
etc.

004
033

034
106
107
SOC.T
108
133
207
211
212
221
222
231
PRE.T

232
233
240

271

272

MatterEmergency stop
Preparation for operation off during operation or START OFF in the running program.
Zero offset error
During the zero / magnification check, zero point output exceedes the set over range.
Magnification error
During the zero / magnification check, magnification output exceeds the set
over the range.
Zero offset fluctuation error
Difference in the previous and current output value exceeds the limit over.
Magnification fluctuation error
Difference in the previous and current output value exceeds the limit over.
1.On Nut runner
Tightening sampling error
2.On Positioning mode
Return to origin point over time error
Home to return operation at the time of incomplete.
Positioning movement command of the X/Y-axis has been issued in the state ofthat origin return is not yet completed.
Gear checkNG1
In the torque-free monitoring time, angle tightening has reached the cut angle.
Gear checkNG2
Motor current during rotation exceeds the torque upper limit equivalent.
※The torque limit is a current value.
Fitting angle overIt does not reach the fitting torque when it exceeds the cut angle.
SOC.T over time
The time of this operation has exceeded the set value.
Pre tightening early tightening NG
It reaches the second speed switching torque between the closed fast decision angle
from the start.
Pre tightening torque over
The torque value at the time of the end has exceeded the upper limit.
Pre tightening torque under
The torque value at the time of stopping does not reach the lower limit.
Pre tightening time over
The time exceeds the upper limit when this operation is completed.
Pre tightening time underIt does not reach the lower limit when this operation is completed.
Pre tightening angle over
The angle exceeds the upper limit when this operation is completed.
Pre tightening angle underIt does not reach the lower limit when this operation is completed.
Pre tightening over time
The time of this operation has exceeded the set value.
Pre tightening area over
The size of the judgment area exceeds the set value.
Pre tightening total angle exceeded
The angle from the start of Pre tightening to the end of tightening exceeds the total
angle upper limit.
This function can be used with I/F version: 1899-7.031 or higher and controller
version 1851-7.20 or higher.
Pre tightening total angle under
The angle from the start of Pre tightening to the end of tightening does not reach thetotal angle lower limit.
This function can be used with I/F version: 1899-7.031 or higher and controller
version 1851-7.20 or higher.

92

Operation

Codedisplay
306
307

REV.T

311
333
403
404
407
411
412
421
422
431
432

REA.T

433
434
440
441
442
451

471

472

MatterReverse tightening pass torque NG
During operation, the torque did not reach the set value.
Reverse tightening sticking judgment NG
During operation, the torque exceeds the set value.
Reverse tightening torque over
The torque at the measurement angle exceeded the judgment torque.
Reverse tightening over time
The time of this operation has exceeded the set value.
Real tightening zone NG
Out of the zone determination range at torque method.
Real tightening gradient NG
Gradient at an angle method exceeds the set value.
It has ended operation before the acquisition of basic gradient.
Real tightening early tightening NG
The tightening torque reached the cut torque between the startand the early tightening judgment angle.
Real tightening torque over
The torque value at stop has exceeded the upper limit.
Real tightening torque under
The torque value at stop does not reach the lower limit.
Real tightening time over
The time exceeds the upper limit when this operation is completed.
Real tightening time underIt does not reach the lower limit when this operation is completed.
Real tightening angle over
The angle exceeds the upper limit when this operation is completed.
Real tightening angle underIt does not reach the lower limit when this operation is completed.
Real tightening over time
The time of this operation has exceeded the set value.
Real tightening over cut angle
Angle from the start was over. (No torque sensor only)
Real tightening area over
The size of the judgment area exceeds the set value.
Real tightening snag torque over
The snug torque exceeded the upper limit by the angle method.
Real tightening snag torque underThe snug torque does not reach the lower limit by the angle method.
Real tightening torque decrease NG
The tightening torque becomes lower than the setting value of the real tightening
passing torque after passing the snug torque.
Real tightening total angle exceeded
The angle from the start of Real tightening to the end of tightening exceeds the total
angle upper limit.
This function can be used with I/F version: 1899-7.031 or higher and controller
version 1851-7.20 or higher.
Real tightening total angle under
The angle from the start of Real tightening to the end of tightening does not reach thetotal angle lower limit.
This function can be used with I/F version: 1899-7.031 or higher and controller
version 1851-7.20 or higher.

93１０－２ Alarm Code List

１０－２－１ Interface alarm
The table below shows the list of alarms (EC *) that occurred in GSK-IF.
Code display
Detection factor
Cause
contents
EC0
Program No.
Error
EC1
Operation
content error

rogram selection error/
Content error
Indecipherable operationis setSpecified program No. out of range
The program data stored by GSK-IF isincorrect (check SUM)
There is no NR axis in multi-axis mode
Program data stored in GSK-IF isincorrect(I found an unknown command)
Unit setting error

EC2Motion axis noabnormality※Resetimpossible

Specified axis is not
implemented/
Axis number is doubled

EC3
FRAM error※Resetimpossible

Error detection by selfcheck of GSK-IF
firmware

EC4
External
communication
error※Resetimpossible
EC5
Rated number
setting error
EC6
Position selecterrorCommunication with theoutside (mainly PLC)
stoppedConfirm program selection
signalProgram reset
Confirm unit setting
Program reset
Confirm unit setting
Connection check between
GSK-IF and GSK controller
Connection check between
GSK controllers
Check if the axis number ofunit setting and the axis
number of GSK controller
matching

Insufficient backup area, etc.

Program reset

M-NET connection miswiring
Station address on the sequencer side,
Transmitted / received byte count error

Wiring check
Sequencer setting
confirmation
M-NET station addressconfirmation

M-NET station address setting error
Shield processing failure of M-NET
connection line

Wiring check

NR axis, X axis, Y axis
Rated number error

NR axis, X axis, Y axis rated
designation other than 1 to 30

Program setting
confirmation

Position selection error
during JOG operation

Position specification for JOG operation
is other than 1 to 255

I / O signal confirmation

EC7
CAN
communication
error

Communication error
with Z axis controller(GSK-R3-N1)EC8Parameter
setting error

Parameters such as unit
settings do not conformto setting rules

EC9
ARCNET
communicationerror
at power on

ARCNET communication fails

Measures

CAN cable connection failure
MAC ID of Z-axis controller doubles ordisagrees

Cable change
Review controller settings

Power off of Z-axis controller

Re-supply operation
preparation

Unit setting number exceeded(To position unit of maximum unit 4
Against 5 to 7 units)
Unit numbers do not match the order ofaxis numbers

Reset unit settings

ARCNET communication failure
Occurs at power on
No response from controller

94

Same as EC2 ARCNET
communication error
Check if the axis number ofunit setting and the axis
number on GSK controller
matching.

１０－２－２ Interface alarm details
Interface alarms have multiple causes for each alarm.
The detail code can be found in the configuration software or on the display.

EC0 Selected program error【Detection content】 Program choice and content issues【Cause and measures】
Detail codeCause(***1)The selected program number is out of range
0101(0 or exceeded the maximum program number)
0201

Some NR axis was moving at program start

0301

NR axis was moving at block start

0401

Did not decide which block to execute at the start

0501

Block to execute was all axes empty

0601
0701
0801
0901
0A01
0B01
0C01
0D01

0E01
0F01

The block number you tried to start wasover the maximum(IF firmware self-diagnosis error)
Zero magnification check turnedon in a block where no command exists
Use duplicate MARK commandof the same number

Measures
Confirm program number of input signal
Wait for the nutrunner operation to stop
before starting
Wait for the nutrunner operation to stop
before starting
Block was not decided at the start
Check the program contents of the number to be
executed
Check the version of IF firmware
Confirm the contents of the program
Confirm MARK command number in program

Retightening start timing is too early
Retightening can not start because the numberof blocks in each unit does not match
XY block detected in multiple-axis mode
(The unit settings may have been changed
but the program has not been overwritten.)
NR block detected in unit in positioning mode
and without NR axis
Detecting MOVEXY commands
that can not be executed(Ex: Detecting MOVEX commandin a unit without X axis)
Detection of non-executable Z-axis commands(Ex: A unit with no Z axis detects
a pressing down command)
Detection of "end synchronization" ON
in positioning mode

95

Open about 300ms between retightening signal
ON and start signal ON
Insert a dummy block and adjust the numberof blocks. Or change the mode of retightening
Confirm the contents of the program
Write the correct program
Confirm the contents of the program
Write the correct program
Confirming the MOVEX, MOVEY, MOVEXY
commands
Write the correct program
Confirm Z axis related commands
Program not to use "end synchronization "EC1Program step error【Detection content】 Unreadable operation step in setup program or read error of program step
【Cause and measures】
Detail code
Cause
Measures(***2)
Program backup error (Life of FRAM etc.)(Also occurs when the program is not written
Program rewrite
0102
once after changing the program Max value
Change IF if it occurs frequently
setting)0202
Detect unreadable step command
Program rewrite ※0302
Detected SPW command
Program rewrite ※0402
Program STEP exceeded
Program rewrite ※0502
Rated number out of range
Program rewrite ※Insufficient internal memory for program cache
Confirm unit setting and program Max value
0602(There are valid axis numbers more than thesetting
number of axes in program Max value setting)
Program rewrite ※0702
The program's END command can not be detected Program rewrite ※※※If it still occurs, the version of IF may be old. Please check if the IF version is the latest.

EC2 Controller connection error【Detection content】Communication error with controller (mainly ARC-NET communication)【Cause and measures】
Detail code
Cause
Measures(***3)
Upgraded controller firmware
0103
At startup: Controller version is old
Change controller
At startup: Controller system number error
0203
Change controller(Not a GSK controller)
At startup: Controller axis not found0303(No controller response)
Check controller axis number
At startup: There is an axis with no control
Connection check of GSKIF and controller
0403
response
・Is the termination resistance attached・noise
ARCNET communication cut off
・Poor cable contact
1003(Communication was successful at startup, butthen failed)

EC3 Interface unit error【Detection content】 FRAM (firmware * writing area) abnormality, some abnormality in the Interface unit
【Cause and measures】
Detail code
Cause
Measures(***4)
Parameter backup error (FRAM life etc.)
Rewrite GSK configuration parameters
0104(Possibility that various setting values are broken) Change IF if it occurs frequently
I /O signal definition error
0204
Upgrade of IF firmware version(IF firmware self-diagnosis error)
Insufficient size of program area
0304
(IF firmware * problem, insufficient
Upgrade of IF firmware version
backup area)※Here is the operation program of the interface itself

96

EC4 External communication error (sequencer connection error)【Detection content】 Communication error with external control equipment (sequencer etc.)【Cause and measures】
Detail code
Cause
Measures(***5)
It depends on the connected device
0105
Communication failure (at startup)
Supplementary materials
M-NET: Receive size specification
0205
IO size check on MNET sequencer sidefrom the parent station is too small
M-NET: Receive size specification
0305
IO size check on MNET sequencer sidefrom the parent station is too big
M-NET: Transmission size specification
0405
IO size check on MNET sequencer sidefrom the parent station is too small
M-NET: Transmission size specification
0505
IO size check on MNET sequencer sidefrom the parent station is too big
Communication failure
1005
Supplementary materials(successful at startup but later failure)【Supplement】M-NET
StatusOccursafter power on※1

Cause
Connection miswiring
Station address setting error
Poor shielding of connection
lines

Measures
Wiring check
Check if station address setting
matches PLC setting
Wiring check※1
In the case of M-NET, EC4 does not occur even if M-NET connection can not be madeimmediately after GSKIF power is turned on.
Occurs when the M-NET connection is made once at power on and then disconnected.
If GSIF does not respond to the signal from PLC even though EC4 is not generated,check the above cause / measure.
Other
M-NET indicates the number of transmit and receive bytes from PLC
But, it does not check whether this size matches the input / output signal size of GSKIF.
Please check the signal size for each PLC station if you can only exchange part of the input /output signals by looking at the IO monitor etc.
[Related main parameters] M-NET station address setting: Fn7-No. 03【Supplement】Other than M-NET
StatusCause
PLC connection incorrect wiring
Mismatch of PLC station address,
communication speed, etc. ※ 2
Occurs after poweron※1
I / O signal size mismatch

Measures
Wiring check
Check if PLC settings and Anybus
board settings match
Confirm PLC setting (Fn6-12)
Confirm PLC setting 2(Fn6-15)

Poor shielding of PLC connection
Wiring checkwire
Occurs after power Poor shielding of PLC connection
Wiring checkonwire
How to use the Anybus board depends on the PLC type Devicenet / CCLINK / Profinet etc.) .
Refer to the instruction manual for each communication standard for details.
※1.The connection sequence with the PLC may take some time to complete, so it may wait up
to several tens of seconds for an alarm to be generated.
※2.The setting method differs depending on the PLC.
【Related key parameters】 PLC setting: Fn6-No. 1297EC5 Position move failure【Detection content】 Abnormality regarding positioning operation of XYZ【Cause and measures】
Detail code
Cause
Measures(***6)
Return: There is an axis that has not been home0106
Home position return
returned and can not operate
There is an axis for which return-to-origin is not
0206
completed, and the program operation can not
Home position return
start
Confirmation of position number specified
Range error of POS number specified
0306
by input signal
in program operation(If there is a Z axis, you can specify up to 160)
There is a problem with the X rating
0406
Check X rating(speed 0, etc.)
There is a problem with the Y rating
0506
Check Y rating(speed 0, etc.)
There is a problem with the Z rating
0606
Check Z rating(speed 0, etc.)
1006
Z axis: Home position return parameter error
Check Z rating
1106
Z axis: JOG parameter error
Check Z rating
1206
Z axis: teaching parameter error
Check Z rating
IF firmware rewrite
Z axis descent failed. It tried to descend
Review the overlap distance1306
during Z axis operationof Z-axis rating setting.
Insertion of waiting by DELAY command
POS number error on move destination
Check the range of position numbers specified
2206
by JOG signalby the input signal
2306
XY movement by JOG signal can not operateHome position return

ＥＣ６ Out of target position range【Detection content】 Anomaly about move destination of XYZ movement【Cause and measures】
Detail code
Cause
Measures(***7)
Z axis: Move destination coordinate error,
limit over
0107
Confirm Z axis coordinate of specified position(It tried to move out of the range of rising limit
and falling limit)
Z axis: Z axis coordinate unknown
by cylinder lowering command
Check if specified point number is within range
0207
・ The coordinate value of Z axis was 0 mm
Check if Z-axis coordinate value
・ Return number 255, etc. Point number withoutof specified point is greater than rising limit
Z axis coordinates
Return destination X coordinate is out
0307
of soft limit range
Return destination Y coordinate is out
0407
of soft limit range
X coordinate of program destination is out
1007
Confirm that the destination XY coordinates areof soft limit range
within the soft limit
Y coordinate of program destination is out
Expandthe soft limit range as needed1107
of soft limit range
X coordinate of JOG signal destination is out
2007
of soft limit range
Y coordinate of JOG signal destination is out
2107
of soft limit range98EC7 CAN communication error【Detection content】 CAN communication error【Cause and measures】
Detail codeCause(***8)CAN open failure
0108(insufficient resources such as RAM)CAN communication failure at startup
・ Connection failure of CAN cable0208
・ Z-axis axis number doubles, disagreement
・ Power off of Z axis driver etc
CAN communication failure after startup
0308(Communication has been broken sinceconnecting once)

MeasuresUpgrade of IF firmware version
Wiring confirmation (termination resistance etc.)
energization check
Axis number (MAC-ID) confirmation
Wiring check

EC8 Parameter setting error【Detection content】 The content of the parameter set in the interface does not conform to the setting rule
【Cause and measures】
Detail code
Cause
Measures(***9)
0109
UNIT setting: There is no valid axis
Unit setting check
Unit setting confirmation Unit number in
UNIT setting: UNIT number per axis is not in
0209
ascending orderascending order
Determine the axis number
Unit setting check. Assign the nut runner axis,
UNIT setting: Axis number is not in the order of0309
X axis, Y axis, Z axis in ascending order
NR / X / Y / Z
of axis number for the axis of the same unit
UNIT setting: UNIT number over0609
Fit within 4 units(The upper limit of positioning is 4 units)

ＥＣ９ Tightening operation abnormality【Detection content】 Abnormality in operation of nutrunner【Cause and measures】
Detail code
Cause(***A)
010A
Axes other than NR axis are off (setting software)
020A
Axes other than NR axis are off (input signal)
NR axis movement: Start failure
200A(The selected program number
or program content is broken)
NR axis movement: Start failure
210A(There was no program that was valid for one axis
in the selected program)

99

MeasuresCheck the contents of the off axis setting
Check input signal for axis turning
Confirm selected program number
Check the contents of the inching program
In some cases, rewriting is necessary
Check the contents of the inching program(At least one axis must have a tightening block)１０－２－３ Alarm generated in the GSK driver (E**)
Code

E11

E21

E22

E31

E41

Alerm names and detection contents /Cause of generation and treatment[IPM error] Power drive signal error (overcurrent / overheat / power supply error)
1. Short circuit between motor windings : Replace motor
2. Short circuit of motor connection cable : Replace cable
3. Controller drive circuit failure : Replace controller
4. Overheating due to overload
5. The ambient temperature of the controller is abnormally high: Review the installation environment
6. Fan does not work : Replace controller[Overload] The motor average current exceeded the “overload alarm detection value” (see * 6-1)
1. Excessive load torque : Reduced load
2. Acceleration / deceleration frequency of operation is too high : Change of operation pattern
3. Overload alarm set value is too small : “d00104” parameter change
4. Sensor setting error : Review parameters of “d00141”[Current control error] The average deviation of the current control loop exceeded the "current control
error value"
1. Motor disconnection : Replace motor
2. Broken motor connection cable : Replace cable
3. Occurrence of abnormal vibration : Readjustment of servo gain
4. Resolver NR is used : “d00114” parameter review[Overspeed] The motor speed exceeded the “overspeed alarm detection value”.
1. Excessive command speed : Review of command speed
2. Overspeed detection set value is too small : “d00105” parameter change ** There is a difference in initial value between NR and positioning.
Representative value
NR : 15000 Positioning : 7500
Since the value varies depending on the model, please contact the manufacturer for details.
3. Overshoot during control : Servo gain readjustment
4. After resetting the absolute position detection senso r: Reset the alarm again.
[Position control counter overflow] Position data exceeds ± 68000000h
1. Rotated in a certain direction for a long time: Review of operation pattern
2. Does not move due to cable disconnection or wiring mistake: Cable replacement

E42[Excessive deviation] Position deviation exceeded "deviation error detection value"
1. A large position command has been added in steps: Review of the position command
2. Motor disconnection: Motor replacement
3. Disconnection of motor connection cable: Encoder / resolver cable replacement
4. Abnormal vibration occurs: Servo gain readjustment
5. Setting error of angle sensor resolution: “d00141” parameter review

E61[Sensor error] Encoder signal cannot be detected (disconnected)
1. Broken motor angle sensor connection cable : Replace the cable
2. Sensor setting error : Review parameters of “d00140”
3. Abnormal sensor attached to motor : Replace motor

E62[Sensor abnormality] Abnormal sensor signal from resolver backup unit
1. After an error occurred, the power was turned off without resetting : Reset the R / D_board.
2. Resolver backup unit error : R / D_board replacement
3. Motor sensor magnetic pole signal error : Replace motor

E63[Sensor error] Communication error with SmartInc or SmartABS encoder / resolver
1. Connection cable error: Replace cable
2. Resolver backup unit error: R / D_board replacement
3. Abnormal motor angle sensor: Replace motor

E64[Sensor error] SmartInc or SmartABS encoder detected an error
1. Overflow count value overflow : Reset of multi-turn position data by alarm reset
2. Battery voltage drop : Replace battery after error reset
3. Cable breakage between resolver backup unit and resolver : cable replacement
4 Abnormal motor angle sensor : Replace motor
5. Malfunction of backup unit due to noise: Review cable connection and ground connection, and install ferrite core on motor connection line
6. Uncertain origin : Return to origin
100

E65

E66

E67
E69
E71
E72
E73
E74

[Sensor abnormality] There is no HZ state when the power saving encoder power is ON
1. Sensor setting error : Review parameters of “d00140”
2. Abnormal motor angle senso r: Replace motor[Abnormal sensor] Excessive amplitude of resolver signal
1. Unresolvable resolver : Please contact us
2. Sensor setting error : Review parameters of “d00114” and “d00142”
3. Resolver reception circuit error : Replace controller
4. A value exceeding the motor speed upper limit was set : Review of settings
5. Disconnection between resolver backup unit and resolver : cable replacement[Sensor abnormality] Sensor signal abnormality
Multi-turn overflow of resolver backup unit
[Sensor abnormality] Sensor signal abnormality
1.Resolver backup unit error[Overvoltage] Excessive drive power supply voltage
1. Drive power supply voltage exceeded 800V: Review of drive power supply
2. Drive voltage detection circuit malfunction: Controller replacement[Voltage drop] Drive power supply voltage drop
1. The drive power was turned off while the servo was on: Controller replacement[Regeneration abnormality] Voltage does not decrease due to regeneration
1. Regenerative resistance is too large : Replace the controller because the regenerative resistancecannot be replaced.
[Regenerative abnormality] Regenerative resistance overload
1. Insufficient capacity of regenerative resistor : Since the regenerative resistor cannot be replaced,
replace the controller.

E81[Abnormal control power] Decrease of control 24V voltage
1. Control 24V voltage dropped : Review of external power supply unit
2. Abnormal voltage detection circuit : Replace controller

E82[Bus failure] Cannot read / write data between CPU and peripheral device normally
1. CPU peripheral circuit error : Controller replacement

E83[Current offset error] The offset value of the current sensing circuit is abnormally large
1. Abnormal current detection circuit: If the alarm cannot be reset after turning the drive power off, replace the controller.

E91

E92

E95

[Non-volatile memory error] Data cannot be read normally
1. Non-volatile memory malfunction or memory data destroyed: Resetting parameters
Display d00000 or d10000 on the 7 segment screen of the controller where the alarm is occurring.
◀Press and hold to save parameters.
Turn the power off and on.
: Parameter initialization and resetting or controller replacement[Non-volatile memory error]
Data cannot be written normally (E92)
Data cannot be erased normally (E93)
Write check failure (E94)
1. Malfunction of nonvolatile memory: If the parameter is saved again and the alarm cannot be reset, replace the controller.
[Non-volatile memory error] Abnormality of the data to be written
1. There is a parameter setting value exceeds the allowable range: Review of the parameters

EA0[Nutrunner operation parameter error]
1. Abnormal parameter sent from IF to controller : Review of setting values

EA1
EA2
EA3

[ARC-Net initialization failure]
1. ARC-Net IC error : Controller replacement

EA4
EA5

[ARC-Net communication error]
1. Communication is not possible due to noise, etc.
: Cable inspection, terminal processing inspection, shield processing inspection
101

Eb1

[Home postion return error]
Can not detect home sensor

Ed0[Z-axis pressing error]
CH2 side is not Z axis

Ed1

[Z-axis pressing error]
CH1 side is not nutrunner axis

Ed2

[Z-axis pressing error]
CH1 and CH2 are not the same unit number102１１. Indication of display【Axis array】
This screen shows the alignment of the axes.
Each screw is displayed in white before tightening,in green when tightening is OK, and in red
when tightening is not performed.
If the screw display number is set to a value over 60,
the axis number is not displayed.

【Tightening data】
This screen displays the tightening result data.
A message of NG code or alarm result is displayedin the judgment column.

103【Tightening wave】

There are the following types of tightening waveforms that can be viewed on this screen.
･"Horizontal axis: time-vertical axis: torque"･"Horizontal axis: time-vertical axis: speed"･"Horizontal axis: angle-vertical axis: torque"･"Horizontal axis: angle-vertical axis: speed"【Setting Menu】
You can check various setting parameters in the itemson this screen.
In the nutrunner setting, you can change the setting
by entering a password.

【Display language】
It's possible to change the language shown to a display.
The language which can be indicated is two, Japaneseand English.

ｌ104

【Common settings】【Unit setting】

There are [Unit setting] [tightening data output] [option
setting] in the common setting menu.

This screen displays the motor type of each axis
and the unit number to which it belongs.

【ID-Controller settings】【Option settings】

In this screen it sets the tightening data output
from the controller.

This screen displays the settings in the option items.

105【Positioning settings】【X axis rate settings】

This screen sets each parameter detailsof X axis motor rated value setting.
There is a screen to set the rated value of Y-axis motorwith the same setting contents.

This item sets the ratings and coordinates required
when using positioning control with the X-axis
and Y-axis.

【XY point】【Interference region settings】

This screen displays the details of each parameterof coordinate position.

This screen displays parameters related
to the movement range of the XY axis.

【Supervisory】
This screen shows the details of each time limit.

106

【Nut runner setting】【Rate setting】

There are [Rate setting] [SOC.T] [REV.T][PRE.T] [REA.T] [Data collection]
as nut runner setting.

This screen displays each parameter of the nutrunner usedon the rated setting.

【SOC.T】
The parameter of SOC.T set value is displayed.
Finer control and judgment can be performed
with the setting items of the option.

【PRE.T】

The parameter of PRE.T set value is displayed.
Finer control and judgment can be performed with the setting items of the option.

107

【REV.T】
This screen displays the set value parametersin reverse operation.

【REA.T-torque method】

The parameter of REA.T set value in torque method control is displayed.
Finer control and judgment can be performed with the setting items of the option.
【REA.T-Angle method】

The parameter of REA.T set value in angle method control is displayed.
Finer control and judgment can be performed with the setting items of the option.

108

【Password input】
The password entry screen shown on the left will be displayedby pressing the “[Write settings]” button
on each setting screen.
Each parameter in the nut runner setting can be changed byentering the password and the ENT key.

【Data collection】
When USB is inserted in a display when "use" is chosenfrom a data collection setting, a tightening result ispreserved by a USB memory by a CSV format.

【Program setting】
The program setting can be confirmed.

109

【I/O monitor input】
It's possible to do input confirmation of I/O monitor.
A screen is changed by an arrow button.

【I/O monitor output】

It's possible to do output confirmation of I/O monitor.
A screen is changed by an arrow button.

110１２. Maintenance and inspection
１２－１ Notes
１２－１－１ Maintenance and Inspection Precautions
・After powering off and power detection, you should remove the unit.
・Do not work with wet hands. It may cause an electric shock.
・Do not measure the insulation resistance of the controller. It may cause damage to the controller.
・Do not disassemble or repair by yourself.
General usage
Operation at an average of 20 hours or less at an ambient temperature, an average of 30 ° C per year,
and a load factor of 80% or less.

１２－１－２ Inspection items
Daily check・Check for unusual vibration or sound.
・Check for abnormal odor.
・Check the wire for flaw and cracks. Special care should be taken to inspect the movable cables.
・Check the driver ventiration hole for foreign matters attached.
Regular inspection (1 year)
・Check the screws at tightening point for loosened condition.
・Check the tightening section for alignment failure.
・Check the cooling fan for any damage.

１２－１－３ lifespanThe service life of each part varies depending on the environmental conditions and usage.
You need to replace it after confirming the abnormality.
Product

Controller

Parts

Standard replacement interval

Capacitor

About 5 years

Relay

about 100,000 operations

Cooling fan

10,000 to 30,000 hours

Battery

About 2 years

E2PROM

10,000 times of overwriting operation

Remarks

Standard exchange time isreference time.
Even if the standard replacement time
is not reached, it should be replacedwhen an abnormality is found.

１２－１－４ Capacitor
The characteristics of the smoothing capacitor etc. deteriorate due to the ripple current.
The life of the capacitor depends on the ambient temperature and operating conditions.
In a typical use situation, it will be about 5 years in life.

１２－１－５ Relay
This part causes contact wear due to the switching current.
The life of this part is about 100,000 operations.

111

１２－１－６ Cooling fan
Depending on the bearing life of the cooling fan, it will be the life in continuous 10,000 to 30,000 hours.

１２－１－７ Battery
Battry life is basically about 2 years. But it varies depending on the application to use.

１２－１－８ E2PROM
E2PROM for parameters storing has the limit of overwriting frequency.
Data holding time is about 10 years.

１２－２ Warranty
The overwriting frequency under the guaranteed condition is as follows as an outline.
It is restricted by the shortest condition in the following terms.
Parameter overwrite（Fn01 to Fn12）
Each 10,000 times/total
Program overwrite
10,000 times/each axis
Tightening history data
Tightening of about 10,000,000 times/axis
Engine number data
About 59,520,000 units
Alarm history
Alarm 10,000 vtimes occurrence/each axis

１２－３ Tightening operation glossary
UNIT:
Multiple axes control up to 30 axes can be treated as each axis to independently operate or as a groupof several axes (a unit) to operate together. One interface unit can control the maximum 7 units.
At least one controller belongs to one unit (maximum 30 axes control to one unit), and one input command is assigned
to one unit and then all belonging axes start operation simultaneously.
In SIO, different station numbers assigned to each unit.
PROGRAM:The screw tightening program can save up to 50 programs.
One program can set up to 220 steps of operation starting from control flag (with or without zero check etc.)
and rated setting.
However, the rating, screw number and end are also treated as one step.
The program must have at least one block set.
BLOCK:
A block is a group of operation commands in a screw tightening program.
The block shows the grouping of steps starting from the start declaration to the end declaration.
In automatic operation, one block is executed with one start signal input.
At the block end declaration step, GSK outputs the judgment (block OK / NG) on the operated block.
If it becomes "NG" at any step in the block, it will be judged as "block NG" (except when there is a retry)
and the next step will not be executed.
After judgment output, the program start starts from the next block.
STEP:
Each operation (Rotation, pretightening, reverse rotation and final tightening), block start declaration, screw number,block end declaration, and retry are called steps respectively.
Step 1 will be always the block start declaration and the step 2 will be always the screw number because more than one
program is needed in a program.
Program is executed from the step 1 and finished by the end declaration at the final block.
On the step of the final block end declaration, the total determination (Total OK/NG) is output.
Each axis in the unit operates by step synchronization and the axis in which step has been complete turns OFF the servo
motor and waits for the step completion of other axes.
When steps of all axes are complete, the next step will be operated.
QL PROCEDURE:
If a block with Real tightening operation does not complete screw tightening operation under the specified conditions,the block will output "NG" judgment.
The operator needs to manually retighten the screws when finding this “NG” judgment.
At this time, you can change the judgment “NG” to “OK” by inputting the tightening output of the manual torque wrench.
This input is called a QL procedure.

112

RETRY:
If NG in each operation (SOC.T, PRE.T, REV.T and REA.T) in the block,it is possible to retry the operation.
If NG occurs from the block start declaration to the step before the retry,the operation from the retry to the end is executed.
If NG did not occure, the operation following the rtry will not be executed.
END SYNCHRONIZATION:
At the end of the PRE.T or REA.T operation step, torque confirmation is performed again for only the OK axis.
In this synchronous operation, torque check is performed at 5 rpm until the cut torque, cut angle or overtime is reached.
This synchronization has no effect if it is set to SOC.T and REV.T.
(If this tightening operation is the angle method, never set this synchronization.)
SOC.T:
Used for screw pick up (a socket picks up a screw head) operation before tighteningor preventive operation against socket-engagement after tightening.
PRE.T:
This is an operation that performs temporary tightening until the screw is seated.
REV.T:
Operation to unfasten the seated screw by several turns in order to transit to REA.T.
(Inspection of screw burn-in caused by temporary tightening)
REA.T:
This action is used for final tightening of the screw.
ZERO MAGNIFICATION CHECK:This is an operation that automatically checks and adjusts the torque sensor's zero point and magnification
before the tightening block starts.
※If zero times check is set in the program, the torque sensor zero point is automatically set to 0.
However, if it is more than the set-over value of the rated setting, zero times NG will occur.
APPLICABLE TO QC PERSONAL COMPUTER:
Automatic gain of the tightening data and tightening waveform (Simultaneous use with a printer is not possible.)※Tightening data：”Machine No.”, “Axis No.”, “Screw No.”, “Date”, “Time”, “Program No.”, Pretightning torque,
Pretightening angle, Reverse time, Reverse angle, Final tightening torque, Final tightening time, Final tightening angle,
Final tightening snag torque, Gradient, Rotation torque judgement, Unit No., Engine No.
※Tightening waveform：Waveform from the final tightening snag torque to the finish,
ID CONTROLLER COMPATIBLE:
The interface unit and ID controller can be connected via serial I / O, and engine number, calendar settings,
and result data can be sent.
(This cannot be used simultaneously with the printer.)
APPLICABLE TO PRINTERS:
The angle from the start to the stop is taken into the computer. This is not a programmatic action.
(Executable only from a PC or SIO)
TIGHTENING ANGLE SAMPLING OPERATION:
This is an operation that rotates in the tightening direction at a constant speed to measure the screw length and ends
when it reaches the set torque.
The angle from the start to the stop is taken into the computer. This is not a programmatic action.
(Executable only from a PC or SIO)
END, STOP:
During tightening operation (SOC.T, PRE.T, REV.T and REA.T),
the operation may be finished to stop when the condition is matched.
This point that the condition matches (during the motor running) is defined as “End” and the point
actually the motor stopped is defined as “Stop”.
Most NG determination is executed after “Stop” is established.

113

Supplemental explanation
Precautions for wiring the Arc-Net
Please use the following drawing for the Arc-Net wiring.

Please set 110Ω resister to (+)(-) on the arc net connector of the end unit driver .
Notes on using M-net communication
When selecting M-net for communication with PLC, you must set the M-net start address setting "Fn. 7 No. 03"
from the 7SEG panel.
(If PLC SIO address does not match GSK's M-net start address setting, PLC can not communicate with GSK)
The password of GSK setting software
The initial password for writing settings with the configuration software is "2014".
This can be changed in the setting software configuration file.

114

About GSK additional functions①Area judgment
You set the area value to be used for judging screw defects.
Calculation of area value is obtained by integral calculation on torque and angle curve during Pre-tightening cycle.
With the tightening waveform of the automatic measurement item in the setting software, you can checkthe waveform used for this calculation.
To see this waveform, you select "Extended waveform".

②Smooth tightening
This tightening controls the rotational speed steplessly.
You can set this tightening method by the option of the final tightening cycle.
By setting initial speed and the speed at the cutting torque, the rotation speed changes steplessly according
to the change of torque.

③Function to connect with EtherNet (FTP transfer)
This enables EtherNet (LAN) connection by attaching an EthnerNet / IP board to the GS-KIF CN14 connector.
This will enable you to save the tightening results as a file on an FTP server.
※This function can not be used with system GSK. .

④S-shaped control
It adjusts the acceleration / deceleration of the motor from the distance to the destination point
when controlling the positioning motor.
And it controls so that the nut runner axis curves smoothly.

⑤Z axis pressing control
It is possible to press the screw to be tightened against the seating surface to a set height with a constant force
by using the torque control function of the Z-axis driver with a positioning motor.
In this way, the mechanism of the socket's cushion spring can be substituted by control.

115

⑥SD card
In GSK, several functions can be used by inserting the SD card memory into the SD card slot at the top of the I / F.
The available functions are shown below.
(1)Automatic storage of tightening result※Caution※
The SD card that GSK supports is up to "SDHC".

Please note that it does not correspond to "SDXC" type.

The following table shows the lighting state of the LED and the state of the SD card at that time.
State

LED2

Explanation

Light OFFNo SD card inserted

Lit green

SD card inserted (idling)

Blinkinggreen

SD card inserted (accessing)

Lit redSD card inserted in write-protected state

Blinking
red

SD card access error occurred or waiting for removal and insertionof SD card after saving (GSK-IF ⇒ SD)

116

(1) AUTOMATIC STORAGE OF TIGHTENING RESULTThe tightening result when operating automatically, is received at any time from GSK interface and the data is preservedin a "HISTORY.CSV" file.
・SAVE.INI file
When this automatic preservation is performed with multi-axis tightening, it may take too much time
to store all the waveform data.
In that case, setting "SAVE.INI" file in the SD card makes it possible to shorten the writing timeby reducing the amount of data to be written to the "HISTORY.CSV" file.

The following table shows the setting in this configuration file.
Items

ExplanationType

It sets the saving patternof the tightening history.
Please select the setting contentsfrom the right column.

MaxWave

It sets the number of samplingin one waveform.
It takes 0.01 seconds per sampling.
Therefore, the maximum timeof the waveform to be savedwith this setting is determined.
Waveforms exceeding this setting
are not saved.

Please specify a value
in the range from 1 to 2048.
※The smaller the value,that isthe shorter the write time.

LogType

It sets whether to write the operation recordof the program.

0:Don’t write
1:Write[HISTORY][LOG]

Setting contents
0: Don’t save
1: Save only the tightening result
2: Save tightening result+ save waveform
3: Save the tightening result+ save waveform when NG

If the "SAVE.INI" file does not exist in the SD card, it will be saved with the following settings.
TYPE = 2
MaxWave = 2048
LogType = 0

117

・HISTORY.CSVWhen the SD card is inserted into the slot of the GSK-IF, the tightening result is written to the SD card.
"HISTORY.CSV" is the file which the tightening result is written at this time.
The file name actually saved is "0000_his.CSV".

①
②

②
③

Below is a description of the number in the above figure.
①: This is the title of the history. "Result" is fixed.
The data etc. read by the support system are not shown in this notation, please use it to distinguish.
②: The details of the tightening result are shown.
The result data is saved in the same format as "Online" of the setting software.
③: Sampling data which used for waveform image creation is recorded.
It records torque, angle, rotation speed every 10 msec.
About 1000 items can be saved in this file (※).
If it is over, it names the current history file by date and time and it saves the result to a new history file.
Please refer to the table below for name change.
Order
1st and 2nd
Character
3rd and 4thCharacter
5th and 6thCharacter7th Character8th Character

Contents

StringRenamed date

01～31

Renamed hours

00～23

Renamed minutes

00～59

Renamed second (10 of digits)
Renamed month

0～5
1～9,A(October),B(1November),C(December）(Example: When splitting at 23:50:35 on October 3 ⇒ "0323503 A. CVS")
If a file with the same name already exists, it delete the existing file and it rename the current file.

118

Predictive maintenance function①Outline of Predictive Maintenance
The predictive maintenance function is a function to urge early exchange and maintenanceby notifying before the GSK Nutrunner system fails.
This function prevents occurrence of breakdown on the manufacturing line.
This function warns the parts life of the GSK system (GSKIF / GSK driver).
Controller electronic
Warning will be issued when parts life comes close,
component life warning
such as electrolytic capacitors and relays.
Warnings can not be reset without replacement work.
This function is a warning that occurs according to the state of the nut runner,
Nutrunner failuresuch as overload.
prediction warning
Warnings are cleared by turning off the power or resetting.

Flow to alarm notification
The GSK system possesses a predictive maintenance function for warning of electrical parts life warningand protection warning.
The following shows the flow until a warning is notified.
1. Each driver notifies the current state to the GSK I / F
2. When the GSK I/F judges that a warning has occurred, it turns on the protection warning or Lifetime warning bit of the
IO output signal.
GSK controller
GSK-IFcondition

Warning
judgment

GSK controller
condition

Warning
status

GSK controller

Warning status notification

conditionPC

It displays warning details.
It resets the warning.

Display

PLC

It displays warning details.
It resets warning.

119

It detects presenceor absence of warning(Output signal)

②GSK controller Electronic component lifetime warning
If even one of the following warning conditions occurs, the output signal
to the PLC "warning of electrical component life warning" turns ON.
The warning level in the table is the initial value and so it is possible
to change from 7 segment monitor.
If warning level is set to 0, warning judgment is not performed.

Driver's electrolytic capacitor lifetime warning
Warning content Lifetime warning of electrolytic capacitor mounted on GSK drive
Warning level
4 years (lifespan: 5 years)
We write the date of manufacture when manufacturing the GSK driver.
Determination
The GSK I / F compares the manufacture date of each driver
methodwith the current date and It judges whether it exceeds the warning level or not.
※However, if the date of manufacture is all 0, it will not be checked.
Warning Reset That is impossible.
Driver's relay lifetime warning
Warning content Lifetime warning of the drive power-on relay mounted on the GSK drive
Warning level
80 thousand times (lifespan 100 thousand times)
It clears the relay operation count to 0 when manufacturing the GSK driver.
Determination
The GSK controller increments this count by 1 each time the relay is moved.
methodThe GSK I / F checks the number of relay operations of each driverand it judges whether it exceeds the warning level or not.
Warning Reset That is impossible.
Driver's EEPROM lifetime warning
Warning content Lifetime warning of EEPROM rewriting installed in the GSK drive
Warning level
800 thousand times (lifespan 1 million times)
It clears the EEPROM write count to 0 when manufacturing the GSK driver.
The GSK driver increments this number
Determinationby 1 each time EEPROM rewrite is performed.
methodGSKIF checks the EEPROM write count of each driver and it judges
whether it exceeds the warning level or not.
Warning Reset That is impossible.
Interface battery warning
Warning content Lifetime warning for batteries implemented in GSK-IF
Warning level
4 years (lifespan: 5 years)
Determination
We write all 0 “00/0/0” as the battery replacement date at GSK-IF manufacture.
methodWe write the battery replacement date when connecting the battery
to the GSK driver.
GSK-IF compares the battery replacement date with the current dateand it checks whether it exceeds the warning level or not.
※However, when the date of manufacture is all 0, it does not check.
Warning Reset We set the battery replacement time by PC operation.
* Since the date is likely to be out of order, we set the exchange timeon the calendar IC of GSK-IF.
Driver amplifier battery warning
Warning content Lifetime warning about battery installed in GSK driver
Warning level
1.5 years (2 years life)
Determination
We write all 0 “00/0/0” as battery replacement date at GSK driver manufacture
methodWe write the battery replacement date from the PC when connecting the battery
to the GSK driver.
GSKIF compares the battery replacement date of driver with the current dateto check whether it exceeds the warning level or not.
※However, when the date of manufacture is all 0, it does not check.
Warning Reset
We set the battery replacement time by PC operation.

120

③Nut runner failure prediction warning
If any of the following warning conditions occur, the output signal "protection warning" will turn ON.
The warning level in the table is the initial value and can be changed by the personal computer.
When the warning level is 0, warning judgment is not performed
Driver overload warning
Warning
The load current of the GSK driver exceeds a certain value.
content
Judgment
Overload alarm level (percentage of alarm level)targetWarning level 0%
The GSK driver notifies the GSK I/F of the overload alarm level of the motor.
Determination
GSK I/F checks whether the judgment value has exceeded
methodthe warning level and exceeded.
Warnings can be reset by computer operation.
Warning Reset
It resets when turning off the power of GSK I/F.
Driver over regenerative warning
Warning
The load current of the GSK driver exceeds a certain value.
content
Judgment
Over regenerative alarm level (percentage of alarm level)targetWarning level 0%
The GSK driver notifies the GSK I/F of the over regenerative alarm level ofDetermination the motor.
methodGSK I/F checks whether the judgment value has exceeded
the warning level and exceeded.
Warnings can be reset by computer operation.
Warning Reset
It resets when turning off the power of GSK I/F.

121

122

Notes on input / output communication
1.Program selection
When selecting a program, the number to be selected must be within the range of 1 to the selected maximum value.
If the program number is 0 or more than the set maximum value, it will cause ALCO (program not selected NG).
2.Judgment reset
Judgment reset is not accepted except during general judgment output after program termination.
In order to prevent double tightening, a judgment reset input is always required after the program ends.
(general judgment output)
3.Inching start
Program selection is required to perform Inching start.
This operation is performed at the rotation speed and rotation direction of the SOC.T setting which number is sameas the selected program number.
Do not enter inching start during program operation. It may cause a malfunction.
4.Alarm reset
Alarm reset input is valid only when an alarm occurs.
5.In signal
Effective only when IN is set in the program setting.
If IN setting is performed in the program, make sure to enter IN because the program waits
for the input of IN after the program execution until the previous step before the IN is set.
Do not input the inching start and alarm reset. It may cause malfunction.
6.Auto/Each selection
Auto selection: Only the start input is accepted.
Do not turn OFF the start signal input until the total determination is output.
Doing so causes “FFFF” NG.
This is the interruption NG of the program while running.
Each selection: Only the inching start input is accepted.
When the input signal is turned OFF after inching started, it becomes to wait for the inching startand only operates when the inching star is turned ON.
7. GSK reset (ALL reset)
When GSK reset is input, make sure to input from the program selection because all steps return to the initial status.
8. Program bit selection
Program bit selection allows you to select the program number by combining the program bit.
9.Program setting
The program can set ratings and axis numbers for each block and each axis.

123Precautions to read history
Make sure to give sufficient reading time to read the history data.
(In the case of communication speed at 19200 Bps, about 4 minutes of reading time is needed per axis.)☆Setting possible･not possible items
Item
Driver parametor
internal setting
RATE. SET
SOC. T. SET
PRE. T. SET
REV. T. SET
REA. T. SET
AXIS ARRANGE SETPROGRAM SET
AXIS CUT INPUTID OUTPUT SET
M-NETSTARTED ADDRESSManualinput

Input fromsetup soft

○

×

○
○
○
○
○
×
×
○
○
○

○
○
○
○
○
○
○
○
○
○

124

☆About connection setting of ID controller
1.Outline
Connecting the interface unit with ID controller by serial communication (RS422),transfer of engine number, setting of the calendar and transmission of result data become possible.
2.Secification of communication
Communication method ：RS422
Communication speed：9600bps
Start bit：1
Stop bit：1
Parity： non
Transmission start character：’#’(23H)
Transmission finish character：CR(0DH)
Transmission character：ASCII code
3.Ressive format(ID controller → Interface unit)
Ressive of engine number.
#［Engine number］CREngine number should be maximum 7 figures by decimal numeral.
Data transmit demand or Specify of unit to send the data.
#U[n］CR
Unit No. specified(n = 1 to 6)
Setting of callendar#C［Callendar］CR
Callendar setting（year, month, date, hour, minute each 2 figures）
4.Transmission format （Interface unit → ID controller）(1)Standard specification setting(1st figure = 1 of fn12 no.2)#［Date and time］［Judge］［Axis No.］［Program No.］［Unit No.］［Torque］［Time］［Angle ］［Gradient］［Engine No.］CR［Date and time］=01/12/29△15：59［Each axis judgement］=0000(OK) or NG code
［Axis no.］=01 to 30［Program no.］=01 to 24［Unit no.］=1 to 6
［Torque］=123.4［Time］=12.34［Gradient］=99.9［Engine no.］=1234567(14letters) △ means blank(20H)(4letters)(2 letters)(2 letters)(1 letter)(Number of letters is according to the parametter)(Number of letters is according to the parametter)(Number of letters is according to the parametter)(Number of letters is according to the parametter)(2)Tspecification with Torque（1st figure = 1 of fn12 no.2）#［1st axis torque］［1st axis judgement］［2nd axis torqur］［2nd axis judgement］
・・・［n axis torque］［n axis judgement］CR［Each axis torque］=123.4［Each axis judgement］=2(Number of letters is according to the parameter)(1=NG 2=OK)(3)T specification without torque（fn1st figure = 3 of fn 12 no.2）#［1st axis torque］［1st axis judgement］［2nd axis torqur］［2nd axis judgement］
・・・［n axis torque］［n axis judgement］CR［Each axis torque］=△△△［Each axis judgement］=2
Part of torque data always outputs zero.

(Number of letters is according to the parametter)△ means blank(20H)(1=NG 2=OK）(4)J specifications(fn1st figure = 4 of fn12 no.2)#［Date and time］［Program no.］［Unit no.］［Engine no.］［Axis no.(01)］［1st axis torque］［1st axis time］［1st axis angle］［1st angle gradient］［1st axis judgement］［Axis no.(02)］［2nd axis torque］［2nd axis time］・・・［n axix gradient］［n axis judgement］CR［Date and time］= 01/12/29△15:59［Program no.］=01 to 24［Unit no.］=1 to 6

(14 letters)△ means blank(20H)(2 letters)(1 letter)
125

［Engine no.］=1234567［Axis no.］=01 to 30［Torque］=123.4［Time］=12.34［Gradient］=99.9［Each axis judgement］＝0000(OK) or NG code

(Number of letters is according to the parametter)(2 letters)(Number of letters is according to the parametter)(Number of letters is according to the parametter)(Number of letters is according to the parametter)(4 letters)

Select with condition of starting transmission
It is possible to set timing of the transmission from the interface unit by the parameter.
Timing is able to be selected from one of followins;
・Data transmission at the time of the block judgement output
・Data transmission at the time of starting next block and judgement reset input.
・Data transmission according to the request of data transmission from the upper
5.Selecting transmission data
It is possible to set each data to be transmitted or not to be transmitted, specifying figure number,with or without decimal point to the parameter if necessary.
If there are some items which are not transmitted, the following items are transmitted shortening the items not
to be transmitted.
6.Transmission of torque, time, angle data based on the kinds of operation
Transmission of torque data,time data and angle data, data of only one kind of operation is transmitted
even if many kinds of operation such as pretightening, real tightening, etc. are carried out
within the same block.
Selection with kinds of operation is effected automatically basing on the following order of priority.
When the operation with higher priority is not carried out, it select the operation of following order of priority.
In case of carrying out same kind of operation more than two times within the same block,the last operation is selected.
Order of priority (high)(low)

1:Real tightening
2:Reverse tightening
3:Pretightening
4:Socket fitting126About setting
１．Installation
GSK-14. GSKW-14, GSK-T4 and GSKW-T4 have no diference about standard specifications and T specifications,so the installation method is the same.
Also, unlike other controllers, there is no additional action required for installation.
When installing all GSK units, install a cooler or fan so that the temperature inside the panel to be installed the units
will be 50 ° C or less.
1－１．standard specifications
The standard specification controllers GSK-15, GSK-17, and GSKW-15 have fins or fans on the side for exhaust heat.
Please install at least 10 mm apart between controllers for the exhaust heat of this fin or fan.
1－2．T specification
The controllers GSK-T5, GSK-T7 and GSKW-T5 of the T specification have fins for exhaust heat on the back.
A fan must be installed in the control panel to dissipate the heat from the fins.
Please confirm the contents of the following and install it.
1－2－1．About the air volume of the heat radiation fan
Heat dissipation requires an air flow of at least 0.6 m^3 / min per controller.
If one fan is attached for two controllers, the air volume is more than double.
Moreover, in the case of 3 controllers, it is not recommended because the wind disperses.。
1－2－2．Installation method
First, install the fan within 150 mm below the controller.
And please spray from bottom to top.
If the distance is 150 mm or more, please take measures such as increasing the air volume
or preventing the wind from escaping.

127

Change log
Version001

Data
Apr.2019

Contents of change―
Output signal added
・ SD card warning
・ Driver ready・ Warning
Motor power cable specification clearly stated
6-1.Adding operations to explain
7-2.Adding parameters to be described
10-2-3. Changing the alarm description002

Jun.2019

003

Sep.2019

004

Sep.2019

3-5. Noise countermeasure added

005

Jan.2020

E64 Added items of causes and countermeasures006

Jan.2020

Predictive maintenance function typo correction

007

Mar.2023

Addition of overseas bases

Mar.2024

Addition of E91 treatment method
Corrected the parameter contents of d00141
Corrected NG code from 4 digits to 3 digits
Added NG codes 271, 272, 471 and 472
2-1 Specifications of controller
Modify dimensions
Removal of ability to read and write settings using SD card
3-2-1GSK Used connector and mating connector
Corrected wrong connector model

008

128

Note
―
IF
Ver7010~

memo

129

GIKEN INDUSTRIAL CO .,LTD.
■HeadOffice97-8, Imago-cho Yamatokoriyama, Nara, 639-1031
TEL：+81-743-59-3730
E-Mail（Sales engineering department）：gyomu@gikenkogyo.com
E-Mail（technical department）：seigyo@gikenkogyo.com
URL ： http://www.gikenkogyo.com■Nagoya Branch Office1202, Kumada, Nagakute, Aichi, 480-1144
TEL：+81-561-63-5321
E-Mail：nagoya@gikenkogyo.com■Kanto Branch Office
1-2-15, Matoba, Kawagoe-city, Saitama, 350-1101
TEL：+81-49-298-4755
E-Mail：kanto@gikenkogyo.com
Overseas base
■Giken Sanko Engineering（Thailand）Co.,
798Moo.7,T.Bangpoo Mhai
A.Muang Samutprakarn,
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Thailand 10208
TEL：+66 0817556602
Version 008
Mar.2024130