Instruction Manual
GSK/GSKW Controller

November.2017
GIKEN INDUSTRIAL CO., LTD.

The 3rd editionBefor beginning operation:

Caution■Note① Please read this instruction manual carefully in order to ensure that you use this product correctly.
② A part or no part of this instruction manual may be used or reproduced without the permission of GIKEN
Industrial Co., LTD.
③ Regarding the handling process and opration that are not listed in this instruction manual, please think thatthey cannot be oprated, and do not attempt to oprate them. Any defect that would occur when thehandling process or the operation that is not listed in this instruction manual is executed should be
excluded in the scope of the warranty.
④ Matters listed in this instruction manual are subject to change for the improvement without notice.
⑤ For the product with special specifications, please consult us because it may not be pertinent to the use ofthis instruction manual⑥ The personal computer for setup operation is an option. Please contact us if it is required.

Caution■Measures in case of an emergency

If this product is in a dangerous condition, immediately turn OFF all power switches of the main unit or theconnected equipment, or pull out all power cords from the plug outlets.
(「Dangerous condition」 means the condition when the fire break out or the danger to personal injury can be
expected due to the excessive heat generation, smoking or ignition)

1

Caution■Notes of the first time the power is turned on
１. Please check the connection of cables before you turn on the power.
２． Please install the termination resister(110Ω) to connection terminal of each axis for Arc net.
But you don’t need it when you use only one axis
３．Please set axis No. at one axis side on 『d00177』 and two axis side on 『d10177』 from the panel section to
make GSK controller driver recognize axis Number.
(You cannot communication from the PC when axis No. isn’t set.)*You must set axis No. when you change controller driver.
４．For wiring reconfirmation after turning on the power, "d00210" "d10210" "d01003" "d11003" is confirmed.
(Electrical check)

５．In order to confirm the zero point of the torque sensor, please check the measurement value of thezero-point of each axis in the "d00210" "d10210".
It's possible to use setting software again to adjust zero by software.
６． Please set input, etc after the above content has been completed.

2

INDEX
Instruction Manual ................................................................................................................................ 0
GSK/GSKW Controller .........................................................................................................................................0
November.2017 ....................................................................................................................................................0
GIKEN INDUSTRIAL CO., LTD. ...........................................................................................................................0
Befor beginning operation: ...................................................................................................................................1
１ System out line................................................................................................................................. 7
Controller section..................................................................................................................................................7
IF unit section .......................................................................................................................................................7
AC nut runner section ...........................................................................................................................................8
２ Specifications ................................................................................................................................... 9
２－１ Specifications of controller ........................................................................................................................9
２－２ Basic specification ................................................................................................................................... 11
２－３ Functions/Features ..................................................................................................................................14
２－４ Size ..........................................................................................................................................................15
２－４－１ Interface dimensions：Standard type・・・GSK-IF ............................................................................15
２－４－２ Controller

dimensions：Standard type・・・GSK-4，GSKW-4 ........................................................16

２－４－３ Controller

dimensions：Standard type・・・GSK-5（7） ...................................................................17

２－４－４ Controller

dimensions：T type・・・GSK-T5（T7） ...........................................................................18

２－４－５ Controller

dimensions：Standard type・・・GSKW-5......................................................................19

２－４－６ Controller

dimensions：T type・・・GSKW-T5 ................................................................................20

２－４－７ Dimensions（display） ： Model ・・・GSK-D1 ................................................................................21
３ Wire connection ............................................................................................................................. 22
３－１ Wiring reference diagram ........................................................................................................................22
３－１－１ （M-net ver.）GSKW Controller system wiring reference diagram .................................................22
３－１－２ （M-net ver.）GSK Controller system wiring reference diagram ....................................................23
３－２． Used connector and mating connector .................................................................................................24
３－２－１ GSK Used connector and mating connector .................................................................................24
３－３ Connection to the outside ........................................................................................................................26
３－３－1

External connection diagram（GSK controller～NR）：standard and T type ...............................26

３－３－２ External connection diagram（I/F unit～Connected equipment）：standard and T type ...............26
３－４ Cable model list .......................................................................................................................................28
３－４－１ GSK Cable model list .....................................................................................................................28
３－４－２ GSKW Cable model list .................................................................................................................29
４．Signal ............................................................................................................................................. 30
４－１ Input and output signals ..........................................................................................................................30
４－２ Input and output signals ..........................................................................................................................31
４－２－１ Input and output signals .................................................................................................................313

４－２－２ Output signal ..................................................................................................................................33
４－３ Input & output signal map ........................................................................................................................35
４－４ Sequencerselected ..................................................................................................................................36
４－４－１ Extender board setting method ......................................................................................................36
Functional differences ........................................................................................................................................36
５. Operation timing chart .................................................................................................................. 37
５－１ Power ON and inching operation ............................................................................................................37
５－２ program operation -2 step operation ① ..................................................................................................37
５－３ program operation -2 step operation ② ..................................................................................................38
５－４ program operation -2 step operation③ ...................................................................................................39
５－５ program operation -1step operation① ....................................................................................................40
５－６ program operation -1step operation② ....................................................................................................41
５－７ program operation --2 step operation④ ..................................................................................................42
５－８ program operation -1step operation③ ....................................................................................................43
５－９ Interruption of program operation（reset） ................................................................................................44
５－１０ Operation preparation OFF and program start OFF in the program operation ....................................45
５－１１ Alarm and alarm reset in the program operation ..................................................................................46
５－１２ Tightening angle sampling operation .....................................................................................................47
６．Setting ........................................................................................................................................... 48
６－１ Display / setting function .........................................................................................................................48
６－１－１ View of the display unit ..................................................................................................................48
６－１－２ Operation the display unit ..............................................................................................................48
６－１－３ Setting example ..............................................................................................................................48※Procedure for setting axis number ..............................................................................................................48※Procedure to erase the 7 segment display of W type unused axis .............................................................48※Procedure of changed tightening sampling stop torque ..............................................................................48
６－２ Program ...................................................................................................................................................48
７．Setting function details .................................................................................................................. 50
７－１ Fn. ** Display setting function list ............................................................................................................50
Setting the axis number (d0xxxx) .......................................................................................................................51
７－２ （d-00***, d-10***）Each-axis setting, driver parameter setting ................................................................51
７－３ Socket-fittings setting ..............................................................................................................................53
７－４ Pre-tightenings setting .............................................................................................................................54
７－５ Revese tightening setting ........................................................................................................................56
７－６ Real tightening setting .............................................................................................................................58
Gradient calculation method ...............................................................................................................................62
７－７ Rate setting .............................................................................................................................................63
７－８ X-axis rate setting ....................................................................................................................................65
７－９ Y-axis rate setting ....................................................................................................................................66
７－１０ Point setting ..........................................................................................................................................674

７－１１ (Fn.01) Tightening result monitor of the 1th axis ..................................................................................68
７－１２ (Fn.02) Tightening result monitor of the 2th axis ...................................................................................68※The display contents of the Fn.1 and Fn.2 .....................................................................................................68
７－１３（Fn.03） Input and output monitor ...........................................................................................................69
７－１４ （Fn.04）Operation instruction from GSK drive ......................................................................................70
７－１５ (Fn.5) unit setting .................................................................................................................................70
７－１６ (Fn.6) Interface unit setting ..................................................................................................................71
７－１７ (Fn.7) ID controller connection setting ................................................................................................73
８． Supplementary explanation ........................................................................................................ 75
８－１ Operation auxiliary function .....................................................................................................................75
８－２ Driver function .........................................................................................................................................75
９．Monitor output................................................................................................................................ 76
１０．Code table ................................................................................................................................... 76
１０－１ NG Code List ........................................................................................................................ 77
１０－２ Alarm Code List.....................................................................................................................................79
Alarm generated in the GSK IF (EC*) ................................................................................................................79
Alarm generated in the GSK driver (E**) ............................................................................................................81
１１． Indication on the display ........................................................................................................... 83
１２ Maintenance and check .............................................................................................................. 90
１２－１ PRrecautions.........................................................................................................................................90
１２－１－１ Precautions for maintenance and check .....................................................................................90
１２－１－２ Check items .................................................................................................................................90
１２－１－３ Operating life ...............................................................................................................................90
１２－１－４ Capacitor .....................................................................................................................................91
１２－１－５ Relay ...........................................................................................................................................91
１２－１－６ Cooling fan ..................................................................................................................................91
１２－１－７ Battery .........................................................................................................................................91
１２－１－８ Ｅ２ＰＲＯＭ ....................................................................................................................................91
１２－２ Guarantee .............................................................................................................................................91
１２－３ Tightening operation glossary ...............................................................................................................91
Supplemental explanation .................................................................................................................. 94
About GSK tightening setting additional items ................................................................................... 95①Judgment area ................................................................................................................................................95②Smooth tightening ...........................................................................................................................................95③SD card ...........................................................................................................................................................96(1) Reading, saving and writing GSK settings ................................................................................................96
Predictive maintenance function ...................................................................................................... 100① Outline of Predictive Maintenance ..............................................................................................................100
Flow to alarm notification ..............................................................................................................................100②GSK controller Electronic component lifetime warning.................................................................................101
5

③Nut runner failure prediction warning ............................................................................................................101
Precautions for Input/Outout communication ...................................................................................................102
Precautions to read history ...............................................................................................................................103
About connection setting of ID controller..........................................................................................................104
Select with condition of starting transmission ..................................................................................................105
５.Selecting transmission data ..........................................................................................................................106
６．Transmission of torque, time, angle data based on the kinds of operation .................................................106

6

１ System out line
・“GSK” is the torque control type nut runner system what has the function necessary to tightening of the screw
and locating.
・This system has the name specified as GSK and it can be divided into the controller section, IF unit
section(Interface) and AC nut runer section.

Controller section
・Tightening accuracy :3σ±2％・GSK series improved a conventional GSS series, that was realized downsized, model integration andprocessing speed Improvement by the capacity rise of CPU and a memory
・Tightening program sets the rotation number and torque control, facilitating the wide variety of tightening
patterns.
・High-speed and highly accurate tightening control is provided by combinig the position control and the torquecontrol.
・Self diagnosis function displays the program number/operating condition/alarm information on the front LED

display.
・Three setup methods are provided to setup the tightening program: the input method from the setup personal
computer, exclusive display and that from the controller front panel.
・It is easy even for beginners to set up and input because the automatic setup and input function has been
installed.

IF unit section
・IF unit is the communication device to communicate with the external unit such as the sequencer/display/setup
personal computer/printer or other equipment.
・GSK system allows you to check the information related to the tightening control such the setting
data/tightening results by connecting a personal computer to the IF unit.
・It is possible to check the information by connecting to a printer without inputting the data such as thesetting/tightening results into a personal computer.
・Communication setting is applicable to both specifications of PIO and SIO.
・One IF unit is always required by set of controller.(2 units for 31 axes or more).

7AC nut runner section
・ANZM type nut runner can be continued to used like a conventional GSS series.
＜Specification of nut runner ＞
Nut runnermodel
ANZM-250
ANZM-350
ANZM-500
ANZM-850
ANZM-1600
ANZM-2000
ANZM-3000
ANZM-5000
ANZM-7000
ANZM-9000

MAX.
tightening
torqueMAX.
rotational
speed

Power
supply current

（N.m）

（rpm）

（A rms）

20
30
45
80
140
180
280
470
650
850

310
430
310
420
420
290
235
253
176
131

0.8
1.5
1.5
2.8
4.0
4.0
6.0
6.5
6.5
6.5

WeightMoter model（Kg）
TS4603N1920E203
TS4617N1920E203
TS4617N1920E203
TS4609N1920E203
TS4618N1920E203
TS4618N1920E203
TS4619N1920E203
TS4619N1922E207
TS4619N1922E207
TS4619N1920E207

1.6
1.9
1.9
3.9
5.0
6.8
9.0
10.5
10.5
11.5

MAX tightening torque is an output value when the rotational speed is 20rpm.
When making the speed short exceedingly, torque output in a table becomes difficult.
（The sizes of the nut runner are indicated on catalogs, but please inquire about details）.

8

Transducer
model
AZM-350
AZM-350
AZM-500
AZM-850
AZM-1500
AZM-2500
AZM-4000
AZM-7500
AZM-7500
AZM-12000

２ Specifications
２－１ Specifications of controller
IF unitComposition
Controller unit
DATA communication
function (PC)
Other unit control
DATA control (PC)
Data

DATA saving
Printer connection

Display
Indicator

Max axis number forconnection
DATA display
Extraordinary display
Display
Setting input method

SettingMemory backup
Setting value backup
IF unit

Outsidedimensions

9

Arc-NetRS422，SD card
Tightening data: about 6000 cases
When IF is connected, It can output from aPC.
It connects a PC. (setting software is requiredfor output)
30 axis control（software-based 60 axis）
6-digit 7SEG.LED
AL code indicate + NG code indicate
OK/NG, axial arrangement, tightening setting(applicable to the 60 axes display)
Personal computer and the controller front
panel, disply panel
E2PROM，FRAM
SD Card，PC⇒FD,HD
44×226×171.6
59（65）×238×170.5
The dimensions In parentheses are including
a heat sink

Controller unit
GSK-1（T）5-E-N2，
GSK-1（T）7-E-N2

116.5（86.5） ×226×171.6（211.6）
The dimensions In parentheses are no fans in
the T type.

Controller unit
GSKW-1（T）5-E-N2

160.5(109.5) ×226×171.6(211.6)
The dimensions In parentheses are no fans in
the T type.

Display GSK-D1

182.5×138.8×57.3
Please install by considering the projection of
the connector

Program number

・30 axis ｘ 16 program ｘ 220 step・30 axis ｘ 50 program ｘ 70 step・8 axis ｘ 50 program ｘ 220 step

Step number

Maximum values are different depending on the
combination

Setting items
Tightening
methodUSB communication

Controller unit
GSK-1(T)4-E-N2，
GSKW-1(T)4-E-N2

Axis number

Tightening
settingStandard 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

Torque method, time andangle monitor
Angle method, time monitor

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

Tightening
controlSequencing tightening(Blocktightening)
Retry
Baking determination
Reverse rotation for fixed
quantity
Speed switching

Accuracy
Connection

Torque waveform
Angle stop accuracy
Angle display minimum unit
Tightening accuracy
Connection cableZero-point adjustment
Axis cutting function

OthersCommunication withother unit
Setting input
Communication with PLC
Display connection

10

MAX. 19blocks (77 steps)
Whether or not set for each program
Reverse torque, judgement of area size
Time and angle
4 stage, angle management and continuously
variable transmission (smoothing) function
Disply,all axis indication or personal computer
within +0.5° （downward 30rpm）
0.1°
downward 3σ±2%Standard type and T-tyap: connectingmethod
Automatic correction(Tolerance range setting is provided.)Can be connected from a personal computer orthe controller front panel.
Arc-NetUSB Communication
SIO (M-NET, CC-Link, and etc) or PIO
Connected to IF unit２－２ Basic specification
Standard
specification
model（GSK）
Standard
specification
model（GSKW）
T specification
model（GSK）
T specification
model（GSKW）

GSK-14-E-N2

GSK-15-E-N2

GSKW-14-E-N2

GSKW-15-E-N2

GSK-T4-E-N2

GSK-T5-E-N2

GSKW-T4-E-N2

GSKW-T5-E-N2

Field bus
Corresponding
standard
I/F model(common)Control power
input

GSK-17-E-N2

GSK-T7-E-N2

AnybusM-NET(standard)
GSK-IF-N1

CC-LINK
GSK-IFC
C-N1

Device-NET
GSK-IFD
N-N1、

PROFI-N
ET-I/O
GSK-IFPNIO-N1PROFI-N
ET-IRT
GSK-IFPNIRT-N1

FL-NET
GSKIFFL-N1

Ether
-NET
GSKIFET-N1

DC24 V±10% 50/60 Hz

Drive power input

3-phase AC 160～240V 50/60 Hz

Withstand voltage

AC 1500 V for 1 minuteInsulation
resistance

DC 500 V 10M Ωmore

Controller
Calorific
valueController 1 unit ： 15W

Momentary power
failureNo effect in the range less than 50 msec (excluding the driving time)

Nut runner model

Syste
m GSK
GSKIFSG-N2

ANZM-50
ANZM-250

Corresponding
GSK model

ANZM-350
ANZM-500

ANZM-850

GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2

ANZM-1600
ANZM-1800S
ANZM-2000

ANZM-3000
ANZM-3500

GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2

ANZM-5000
ANZM-7000
ANZM-9000
ANZM-12000
ANZM-15000
GSK-17(T7)-E-N2

Applicable motor

TS4603N1920

TS4617N1
920

TS4609N192
0TS4618N192
0TS4619N192
0TS4619N192
2

Motor output W

75

150

300

600

1125

1125

Rotor inertia
kgm2
Driving power
supply rated
electrical
capacity Arms
Rating output
current A rms
Instantaneous
maximum
current Arms

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
4.5

8.5

1.0

1.9

3.6

6.8

7.1
6.8

11.0
24.6

5.4

10.7

19.6

38.6

40.2

62.9

11

Rating torqueN.m
Instantaneous
max. torqueN.m
Maximumrotation
number
without loads
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 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 combination of controllers and NRs other than ANZM series
The combination of each NR and controller is shown below.
・ANZMC series(Compact torque sensor type)
TYPE
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

Controller type
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2

GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2

GSK-17(T7)-E-N2・ANZMH series (High speed type)

12

TYPE
ANZMH-200
ANZMH-450

Controller type
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2

ANZMH-900

GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2

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

GSK-17(T7)-E-N2

・ANZMCH series (Compact Torque Sensor + High Speed Type)TYPE
ANZMCH-200
ANZMCH-450

Controller type
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2

ANZMCH-900

GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2

ANZMCH-1500
ANZMCH-1850S
ANZMCH-2000
ANZMCH-2500

GSK-17(T7)-E-N2・ANZMSH series (Compact Torque Sensor + Short & Small + High Speed Type)TYPE
ANZMSH-120
ANZMSH-130
ANZMSH-150
ANZMSH-450
ANZMSH-500
ANZMSH-700
ANZMSH-2000

Controller type
GSKW-14(T4)-E-N2
GSK-14(T4)-E-N2
GSKW-15(T5)-E-N2
GSK-15(T5)-E-N2
GSK-17(T7)-E-N2

・ANZKHM series (High speed type with built-in clutch)TYPE
ANZMKH-400
ANZMKH-700

Controller type
GSKW-15(T5) -E-N2
GSK-15(T5)-E-N2

・ANＣKHM series (High speed type with built-in clutch)
TYPE
ANCKHM-200
ANCKHM-500
ANCKHM-900

Controller type
GSKW-14(T4) -E1-N2
GSK-14(T4)-E1-N2
GSKW-15(T5)-E1-N2
GSK-15(T5)-E1-N2

ANZMCTH series (High speed type with built-in clutch)
TYPE
ANZMCTH-100E1
ANZMCTH-150E1
ANZMCTH-230E1
ANZMCTH-450E1
ANZMCTH-700E1
ANZMCTH-900E1

13Controller type
GSKW-14(T4) -E1-N2
GSK-14(T4)-E1-N2
GSKW-15(T5)-E1-N2
GSK-15(T5)-E1-N2

２－３ Functions/Features
Over current, over load, over speed, encoder failure, drive power
failure, E2PROM failure and CPU failure, etc.

Protective function

Displayfunction

7SEGMENT LED

Parameter setting

Storing the tightening data

Applicable to the multiaxial
Communication with the
PLC (in serial or parallel)
Axis cutting function
Zero magnification
functioncheck

Gear check function
Simulation movement

Alarm No., NG information
Program No., Block No.
Operation monitor
Tightening result (Torque, etc.)
Set the following parameters by a personal computer and 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 when needed from PC
1 to 30 units of controller or 1 to 15 units of double type controller
can be connected to 1 Interface unit.
Max. 30 axes multiaxial control is possible
Communication by multi-standard using the Anybus※ Please refer to 2-2 in regard corresponding standard
Setting for axis cutting is possible by the PC setting or theoperation from the front panel.
(Used when the controller malfunctioned)
Diagnosis function for the torque sensor malfunction (Performs
per tightening operation)
Diagnosis function for biting of the gear and motor shaft(Selectable for Yes/No)
Simulation movement is available by the personal computer
operation(Sampling start for the seating angle by tightening)

Calendar function

It saves the Year, Month, Day, Hour, Minute and Second per data.

Regenerative function (Overvoltage detection)

Regeneration circuit that visceral the driving voltage is consumed
by the internal resistor when it exceeds a predetermined value.

Discharge function

Natural discharge by the LED

Standard inertia (INERTIA)

JL ≦ 30JM

Rotating direction
Analog monitor（P81 reference）

14

Direction of CCW should be the forward rotation viewed frommotor shaft end.
Monitor signal output at the check pin on the front panel:
M1 ...
The torque, an electric current and speed can be
M2 ...
monitored every each controller in panel operation.
G ... Monitor GND

２－４ Size
２－４－１ Interface dimensions：Standard type・・・GSK-IF

15

２－４－２ Controller dimensions：Standard type・・・GSK-4，GSKW-4

16

２－４－３ Controller dimensions：Standard type・・・GSK-5（7）17２－４－４ Controller dimensions：T type・・・GSK-T5（T7）18

２－４－５ Controller dimensions：Standard type・・・GSKW-5

19

２－４－６ Controller dimensions：T type・・・GSKW-T520

２－４－７ Dimensions（display） ： Model ・・・GSK-D1

Side

Front

Back

Under

Panel cut-out dimensions

21

３ Wire connection
３－１ Wiring reference diagram
３－１－１ （M-net ver.）GSKW Controller system wiring reference diagram22

３－１－２ （M-net ver.）GSK Controller system wiring reference diagram23

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

Use／Matter
For the control power
supply connection
Not used

Used model
734-166（WAGO）
1-1827864-4（TYCO）

Matching model
734-106（WAGO）
1-1827864-4（TYCO）

Matching model pin annexed―○

1827570-2(TYCO)

―

―

○

CN3

For communication MSTB2,5/6-STF-5,08 MSTB2,5/6-STF-5,08（PHOENIX（PHOENIX
among controllers at
ARCNET
CONTACT）
CONTACT）

CN10

For the driving power
supply connection

1-179277-2(TYCO)

1-178128-4(TYCO)

1-175218-2(TYCO)○

CN11

For power lineof nutrunner 1

2-179277-2(TYCO)

2-178128-4(TYCO)

1-353717-2(TYCO)○

CN12

For power lineof nutrunner 22-179277-2(TYCO)

2-178128-4(TYCO)

1-353717-2(TYCO)○

CN21

For sensor lineof nutrunner110220-52A2PL（3MJapan）

10320-52A0-008（3MJapan）

10120-3000VE（3MJapan）○

CN22

For sensor lineof nutrunner210220-52A2PL（3MJapan）

10320-52A0-008（3MJapan）

10120-3000VE（3MJapan）○

Used model

Matching model

GSK driver unit (15/T5, 17/T7)
Matching model pin annexed

Port No.

Use／Matter

CN10

For the driving power
supply connection

1-917541-2(TYCO)

1-179958-4(TYCO)

316040-2(TYCO)○

CN11

For power lineof nutrunner 1

2-917541-2(TYCO)

2-179958-4(TYCO)

316040-2(TYCO)○

CN12

For power lineof nutrunner 22-917541-2(TYCO)

2-179958-4(TYCO)

316040-2(TYCO)○

24

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

CN10

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

Printer connecting
port

1-1827876-2(TYCO)

1-1827864-2(TYCO)

1827570-2(TYCO)―

Mattr
Number

Name

CN1

PLC

(RS485)CN2Power / READY
notification(SW)CN3

Debugger for serial(RS232)

CN4

A setting personal computer
(USB)

CN5

Driver（ARCNET）

CN6

CAN communication connector

CN7

External display (RS422)

CN8

ID controller or quality control
PC (RS422)

CN9
Printer or personal computerfor quality control(CN9: RS422)
CN10

CN11

25

Printer or personal computerfor quality control(CN10: RS232C)
Battery backup

Explanation
Connected by corresponding standard in the 2-2 table that is used.
4-core connector
Left 2 core power supply (24V)
Right two-wire start notification for relay
Usually, it does not connect.
Also used in the firmware update of GSKIF.
Use to rewrite or read the data using the configuration software.
Also used in the firmware update of GSKIF.
If you want to connect a plurality of GSK driver, it connects thedriver to each other in the ARCNET.
UnusedIt will be used to connect to an external display GSK-D1.
ID controller and a printer are seleced either by the setting of apersonal computer. It can not be connected at the same time.
The connection partner of quality control personal computer
depends on the setting.
ID controller when using ⇒ ⑨ ⑩· Printer when using ⇒ ⑧【Caution】
Please do not connect the equipment at the same time in twoconnectors of CN9 and CN10.
【In the case of the previous firmware than Rev1721-160】· CN8 = quality control PC· CN9 / 10 = Printer or ID controller
Connect the clock backup battery.

３－３ Connection to the outside
３－３－1

External connection diagram（GSK controller～NR）：standard and T type1-axis type has none.

CN.21 at positioning mode

※Pins not shown in the above figure are
not connected.

26

３－３－２ External connection diagram（I/F unit～Connected equipment）：standard and T type27

３－４ Cable model list
３－４－１ GSK Cable model list
（Please be sure to read the following notes.）
Cable name

Use nut runner

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.

8E*S*D-16R-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*DC-16R-□M

ANZR series

8R*S*D-16R-□M

ANZRC series

8R*S*DC-16R-□M

ANZM-50～ANZM-9000 etc.

8E*S*T-16R-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*TC-16R-□M

ANZR series etc.

8R*S*T-16R-□M

ANZRC series etc.

8R*S*TC-16R-□M

ANZM-50～ANZM-9000 etc.

8E*S*T-16A-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*TC-16A-□M

ANZR series etc.

8R*S*T-16A-□M

ANZRC series etc.

8R*S*TC-16A-□M

Encoder sensor extension cable（Relay part～Relay part）―

8EST-16EＸ-□Ｍ

Resolver sensor extension cable（Relay part～Relay part）―

8RST-16EＸ-□Ｍ

Integrated power cable（Nut runner ～ Controller）

Movable relay power cable（Nut runner ～Relay part）

Unmovable relay power cable（Relay part ～ Controller）

Integrated encoder sensor cable（Nut runner ～ Controller）

Integrated resolver sensor cable（Nut runner ～ Controller）

Movable relay encoder sensor cable（Nut runner ～Relay part）

Movable relay resolver sensor cable（Nut runner ～Relay part）

Unmovable relay encoder sensor cable（Relay part ～ Controller）

Unmovable relay resolver sensor cable（Relay part ～ Controller）

28

３－４－２ GSKW Cable model list
Cable name
Integrated power cable（Nut runner ～ Controller）

Movable relay power cable（Nut runner ～Relay part）

Unmovable relay power cable（Relay part ～ Controller）

Integrated encoder sensor cable（Nut runner ～ Controller）

Integrated resolver sensor cable（Nut runner ～ Controller）

Movable relay encoder sensor cable（Nut runner ～Relay part）

Movable relay resolver sensor cable（Nut runner ～Relay part）

Unmovable relay encoder sensor cable（Relay part ～ Controller）

Unmovable relay resolver sensor cable（Relay part ～ Controller）

Use nut runner

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.

8E*S*D-16R-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*DC-16R-□M

ANZR series

8R*S*D-16R-□M

ANZRC series

8R*S*DC-16R-□M

ANZM-50～ANZM-9000 etc.

8E*S*T-16R-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*TC-16R-□M

ANZR series etc.

8R*S*T-16R-□M

ANZRC series etc.

8R*S*TC-16R-□M

ANZM-50～ANZM-9000 etc.

8E*S*T-16A-□M

ANZMC, ANZMCH, ANZMSH etc.
Small torque sensor series

8E*S*TC-16A-□M

ANZR series etc.

8R*S*T-16A-□M

ANZRC series etc.

8R*S*TC-16A-□M

Caution 1（Cable General）
In parentheses represents the length of the cable. The unit is meters.
Please select from the numeric value that is designated.
You can also create other types of cables, but it takes time for delivery.
Caution 2（Angle and Torque sensor cable）
Please write the length the respective sensor cables are wishing on cable model * when you buy it.
E*: The length of the encoder (angle sensor) from a parting.
If you're blank, the length will be 0.3m.
S*: The length of the torqre sensor from a parting.
If you're blank, the length will be 1.5m.

29

４．Signal
４－１ Input and output signals

Parallel I / O
I/OPointsSignal nameSpecification

Parallelinput signal

48

IN1~IN48

DC24V
11mA

OUT1~OUT48

DC24V
30mA max

Paralleloutput signal

48

Contents

Used for exclusive Anybus board installation.

Serial I/O
I/O

Note

Management

ARC-NET

Installation of terminating Inter-controller communication during multiaxis control
resistor 110 Ω is required (to be crossed by COM)

CC-LINK

Used for exclusive board
installation on Anybus

Communication of tightening management with PLC

Devise-NET

Used for exclusive board
installation on Anybus

Communication of tightening management with PLC

Analog monitor
Output item
M1
M2

MatterOutput the date of torque, speed and current by the panel operation
Monitoring of the torque sensor（≒5V/sensor rate）、Scaling of the current(10A/10V)
Monitoring of the motor rotation speed（Output plus value when it rotates to the right）※You can change the above in the operation of the setting panel.（See PageNo..81）

I/F unit
I/O

PointsUSB

1

Parameters and various data inputs and outputs data from the connection PC

Centronics
or RS4221or2Connecction the printer or ID controller and Quality control PC(You cannot connect connect the printer when ID controller and Quality control
PC are connected)

RS422

1

Connection the display.

RS485

1

The interface is connected at [Serial Input/Output]to a seaquencer , etc.

30

Matter４－２ Input and output signals
４－２－１ Input and output signals
Input（“PLC”→“GSK”）
No.

Bit

Name

0

0

Operation ready0

1

Automatic/Manual

0

2

Start

0

3

Inching start

0

31

4

Determination reset

05Alerm reset06

QL sginal

07

QL modeMatterThis is the opration ready comand
0：Stop(Operation prohibition.The GSK Interface doesn’t run.)・Start signal cannot be accepted.
・It stops the motor at emergency stop if it becomes 0 operation.
1：This operation enabled state.
・The output signal[Operation ready] becomes 1 operation when
the GSK can oprate.
Choose Automatic or manual operation
0: The manual actions can be oprated
Input siganl
ActionInching start
Nut runner does inching action
The nut runner move to the
JOG start
specified position
XJOG/YJOGJOG motion Xaxis/Yaxis【on Positoning mode】
Othe than the above, automatic operation is possible.
1: The automatic operation is possible to start
Input siganl
Action【On multi-axis mode】
It actions only 1 block.
When it exit,it waits for the next
start.
start【on Positoning mode】
Some set blocks are performed
continuously
GSK will start the program execution at the rising edge of thestart bit (start bit: 0⇒1).
You also need to maintain the 1 at start bit during operation.
If 1 become 0 to suspend, the automatic operation becomes acycle stop state during the operation.
GSK will start the inching action at the rising edge of the inching
start bit (inching start bit: 0⇒1).
GSK will reset the determination result at the rising edge of thedetermination reset bit (determination reset bit: 0⇒1).
Only when it receives the output signal of the program operationend (Total OK bit or Total NG bit : 0⇒1)GSK will accept this reset
signal
GSK will reset the alarm condition at the rising edge of the Alerm
reset bit (Alerm reset bit: 0⇒1).
If successful Alarm reset (if driving preparation signal is ON)
operation ready signal will return to ON.
QL signal is input at the rising edge of the i QL signal bit (QLsignal bit: 0⇒1).
GSK Indicates whether to accept the QL signal。
0：unavailable 1：Effectiveness
This_signal_bit must become 1 when it does QL operation.

32

No.

Bit

Name

1

0-5

Program select 1～
Program select 61

6Input ENABLE

1

7

GSK reset

2

0-3

XJOG＋
XJOG－
YJOG＋
YJOG－

2

4-5

INX①
INX②

2

6-7

INY①
INY②

3

0-1

Cylinder return end
Cylinder motion end

3

2-3

X-axis return order
Y-axis return order

3

4-5

WAIT①
WAIT②

3

6

SPW

3

7

JOG start

4

0-7

Positon No.

5

0

IN

5

7

Tightening angle
sample start

MatterThis signal indicates the program number at the automatic
operation.
（The program number represented by a six-digit binary number
data. (Program select 1→Bit0)）
Program No. specify from among the up to the value of provisions.
It tells the program number acquisition time.
GSK will reset to the start condition at the rising edge of the GSK
reset bit (GSK reset bit: 0⇒1).。
【Only positioning mode】
GSK does the JOG operation each of the X-axis/Y-axis.
【Only positioning mode】
This signal is used to hold the X-axis movement in automatic
operation.
【Only positioning mode】
This signal is used to hold the Y-axis movement in automatic
operation.
【Only positioning mode】
This signal is used to check the vertical position of the nut runner.
【Only positioning mode】
Return the axis of the command to the specified position.
When in operation such as automatic operation, it will begin to
move after interrupting the operation.
【Only positioning mode】
This signal is used when you temporarily suspend the execution of
the program step.
【Only positioning mode】
This signal is used when moving in synchronization among
multi-units.
【Only positioning mode】
X-axis and Y- axis move to the specified position at the rising edgeof the JOG start bit ( JOG start bit: 0⇒1).
【Only positioning mode】
This is a position No. of the destination when JOG start bit
become one（The program number represented by a eight-digit binary number
data.）
This number specifies the range of 1 to 255.
This signal is the input signal.
GSK will hold a step execution until this signal becomes ON when
this step has the attribute of “IN waiting".
This signal is used in conjunction with the output signal "OUT".
It will start measuring the tightening angle at the rising edge of thetightening angle sample start bit (tightening angle sample start bit:0⇒1).

４－２－２ Output signal
Output （“GSK”→“PLC”）
No.

Bit

Name

0

0

Completion ofoperation preparation

0

1

System OK

0

2

BatteryOK

0

3-4

Total OK
Total NG0

5

Nut runner running

06Completion of QL
processing

7

During program
execution

1

0-5

Program select OK 1～
Program select OK 6

1

6

Output ENABLE

0

2

2

33

0-1

Tightening total OK
Tightening total NG

2-3CompleteX-axis origin
returnComplete Y-axis origin
returnMatter
GSK will notify the PLC that it is possible operations
0：Incompletion of operation preparation
GSK cannot operate.
1：Completion of operation preparation.
It accepts the signal to perform an operation such as a start.
※It outputs 0 always in the following cases.
・An alerm occurs at the GSK(interface or driver).
・The input signal “operation ready” is 0
It will notify that GSK system is normal
0：Operation error（An alerm occurs at the GSK(interface or driver).
1：Operation normal
0：Battery voltage drop(2.5V or less). Determind only when thecontrol power supply is turned on.
1：battery normal
It displays the result of automatic operation.
・When automatic operation starts ,OK bit and NG bit are 0
・When all blocks on the selected program completes, OK bit or
NG bit becomes 1.
※Sometimes Total NG change into Total OK by the QL processing※OK and NG bits don't become 1 when the process stops on theselected program
0：Motor is stopped. (Servo motors are tuned off on all axes.)
1：Motor is running.(Either axis is controlled with motor.)

This signal becomes 1when you complete QL process.
This signal indicates that the program of automatic operation isrunning.
1：running
0：stopped（program doesn’t start or all blocks are completed. ）To notify the number of the program that has been selected.
(The program number represented by a six-digit binary number
data (Program select OK 1→Bit0)）.
0: Initial value
1: This signal become 1 when to input a program numnercomplete and it lost signal at the falling edge of the input
ENABLE bit【on Multi-axis mode】
It's always 0.
【on positioning mode】
It displays the tightening result of automatic operation.
・When automatic operation starts ,OK bit and NG bit are 0
・When all blocks on the selected program completes, OK bit or
NG bit becomes 1.
0：Incomplete the return the origin position
1：Complete to return the origin position
When this ignal is 0 GSK cannot use theprogram operation and
JOG start.

2

4-5

2

6

Zero point andmagnification check
OK
Zero point andmagnification check
NG
Cycle stop

2

7

OUT

3

6

Block OK
Block NG4

0-5

Block end 1～
Block end 32

4

6

Positioning mode boot
in

5

0-7

Position No.1～
Position No.128

0-1

X-axis within therange 1
X-axis within therange 2

6

2-3

Y-axis within therange 1Y-axis within therange 2

6

4

Interference error

6

5

Position error

6

6-7

7
～
14
14
14
14

0-7
～
0-3
4-5
6
7

6

34

Cylinder return
Cylinder motion
Bolt 1 OK～
Bol t60 OK
Reserve
Protection warningLife warning

It noticey zero point and magnification check result at the GSK
driver.
This OK signal is 1.：Zero point and magnification check is
successful at all axes.
This NG signal is 1：there are zero point and magnification check
NG axisone or more.
This signal bit becomes 1 when the “cycle stop” occur.ed
OUT signal
This signal is used in the synchronization with the PLC in
automatic operation.
・This signal is 0 at the start.
・If the program of the command is the OUT attribute, it outputs1atthe time of the comand of the process completed.
This signal is used in conjunction with the input signal "IN".
GSK notisy thetightening result each blocks.
The signal is 0 at the start.
Block OK ⇒１：Plogram advanced to the final step in the unit andtightening in the block is correctly completed.
Block NG⇒１：Plogram advanced to the final step and error
occurred with either of tightening in the block※This signal doesn’t change when X-axis/Y-axis complete theblock.
GSK notify the block number what the work is completed in theautomatic operation.
The block number represented by a six-digit binary number data
(Block end 1→Bit0)）.
This signal is 0 at the automatic operation start.
【Only positioning mode】
0：X-axis and Y-axis aren’t used.
1：X-axis or Y-axis alternatively both in operation.
【Only positioning mode】
GSK notify the position number at present.
The position is undecided when this signal is 0.
The position number represented by a eight-digit binary number
data (Position No.1 bit→Bit0)）.
【Only positioning mode】
It will turn ON when the X-axis is within a certain range。
Range of coordinates is determined by the range output upper
limit value of "X Jikuteikaku setting".
【Only positioning mode】
It will turn ON when the Y-axis is within a certain range.
Range of coordinates is determined by the range output upper
limit value of "Y Jikuteikaku setting".
【Only positioning mode】
This signal will be 1 if it has occurrd the interference between
units.
【Only positioning mode】
This signal will be 1 when each axis has failed to move to theposition specified by the position number.
【Only positioning mode】
This signal is located in order to lower the nut runner.
Those signals output which signals are bolt numbers at the
tighatening successful.
―――４－３ Input & output signal map
Communication input （PLC ⇒ GSK）
NO.
0
1
2
3
4
5

bit 0
Operation
ready
Programselect 1
XJOG＋
Cylinderreturn end
Positon
No.1
IN

bit 1
bit 2
bit 3
bit 4
bit 5
Automatic/
Determinati
Start
Inching start
Alerm reset
Manualon reset
Program
Program
Program
Program
Programselect 2
select 3
select 4
select 5
select 6
XJOG－
YJOG＋
YJOG－
INX①
INX②
CylinderX-axisY-axis
WAIT①
WAIT②
motion end return order return order
PositonPositonPositonPositonPositon
No.2
No.4
No.8
No.16
No.32
-

-

-

-

Z JOG Up

bit 6

bit 7

QL sginal

QL modeInput
ENABLEINY①

GSK reset
INY②

SPW

JOG start

Positon
No.64

PositonNo.128Tightening
angle
sample start

Z JOG
Down

Communication output （GSK ⇒ PLC）
NO.
0
1

2

3
4
5
6

bit 0
bit 1
bit 2
bit 3
bit 4
bit 5
bit 6
Completion
Completion
Nut runnerof operation System OK Battery OK
Total OK
Total NGof QL
running
preparation
processing
Program
Program
Program
Program
Program
Program
Outputselect OK 1 select OK 2 select OK 3 select OK 4 select OK 5 select OK 6 ENABLE
Zero point
Zero point
Complete
CompleteTightening Tightening
andandX-axisY-axis origin
Cycle stop
total OK
total NGmagnificatio magnificatio
origin return
returnn check OK n check NG
Z axisZ axis――――Block OK
pottion 1
pottion 2
Positioning
Block end
Block end
Block end
Block end
Block end
Block endmode boot
1
2
4
8
16
32
in
Position
Position
Position
Position
Position
Position
Position
No.1
No.2
No.4
No.8
No.16
No.32
No.64
X-axisX-axisY-axisY-axisInterference
Position
Cylinderwithin thewithin thewithin thewithin the
error
error
motionrange 1
range 2
range 1
range 2
Bolt 4 OK

Bolt 5 OK

bit 7
Duringprogram
execution―

OUT

Block NGZ axismovingPosition
No.128Cylinderreturn7

Bolt 1

OK Bolt 2

OK Bolt 3

OK

Bolt 6

OK Bolt 7

OK Bolt 8OK

8Bolt 9

OK Bolt10

OK Bolt11

OK Bolt12

OK Bolt13

OK Bolt14

OK Bolt15

OK Bolt16

OK

9

Bolt17

OK Bolt18 OK Bolt19

OK Bolt20

OK Bolt21

OK Bolt22

OK Bolt23

OK Bolt24

OK

10

Bolt25 OK

Bolt26 OK

Bolt27 OK

Bolt28 OK

Bolt29 OK

Bolt30 OK

Bolt31 OK

Bolt32 OK

11

Bolt33 OK

Bolt34 OK

Bolt35 OK

Bolt36 OK

Bolt37 OK

Bolt38 OK

Bolt39 OK

Bolt40 OK

12

Bolt41 OK

Bolt42 OK

Bolt43 OK

Bolt44 OK

Bolt45 OK

Bolt46 OK

Bolt47 OK

Bolt48 OK

13

Bolt49 OK

Bolt50 OK

Bolt51 OK

Bolt52 OK

Bolt53 OK

Bolt54 OK

Bolt55 OK

Bolt56 OK

14

Bolt57 OK

Bolt58 OK

Bolt59 OK

Bolt60 OK――

Protection
warning

Life warning

Each signal of No.7～No.4 output If you specify the unit 1 only35

４－４ Sequencerselected
M-NET communication is standard communication which can connect between GSKiIF and PLC.
But it can be connected with the sequencer in other communications by setting the expansion board.
GSKIF reads the ID according to the board in the time of power supply on and moves according to therespective communication, so there is no setting change in the communication.
※※※※Caution※※※※Reading a different ID board, to carry out the switching is Ver 1721-143 or later.
There is also equipment with an exclusive program (DeviceNet=1722. CCLINK=1723) by equipment before that.

４－４－１ Extender board setting method
Please set the following expansion board to connector J2 at under GSKIF of cover.

MNET

An extender board is unnecessary.

DeviceNet

HMS Industrial network Co ., LTD.ANYBUS-S Devicenet

CC-LINKHMS Industrial network Co ., LTD.ANYBUS-S CC-Link

PROFINET IO

HMS Industrial.network Co ., LTD.ANYBUS-S Profinet-IO

PROFINET IRT

HMS Industrial network Co ., LTD.ANYBUS-S Profinet-IRT

Functional differences
IO signal map does not change even changed communication method, but the functional has the following
differences.
Communication
method36

Axis switching
information

Tightening result
notification

M-NET

N

N

DeviceNet

Y

N

CC-LINKYY

PROFINET IOYYPROFINET IRT

YY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)

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)

0.2 sec. min. 0.2 sec. min.
10 sec. min.

Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input
0.2 sec. min.

Program selection(1 to 5)

Normal rotation

Reverse rotation

Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
OperatingExecuting

QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)
Block completion
Axes OK (1 to 60)

37

Commutation initialize

Forwardrotation ofinching

Reverserotation ofinching５－２ program operation -2 step operation ①(1 block setting, if the judgment OK)

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Operating

1st step

2nd step

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)38

Blocks OK (1 to 26)

1 block
OK

Block completion

1 blockcompletion

Axes OK (1 to 60)

All axesOK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)Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle
sampling start
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Operating

1st step

2nd step

Executing
QL processing
end

Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)

1 block OK

Blocks OK (1 to 26)
1 block completion

Block completion
Axes OK (1 to 60)

39

3rd axis OK

1st axis OK

2nd axis OK

５－４ program operation -2 step operation③(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)Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Operating

1st step

2nd step

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)
1 block completion

Block completion
Axes OK (1 to 60)

40

2nd axisOK５－５ program operation -1step operation①(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)

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)

1 block OK

2 block OK

Blocks OK (1 to 26)
Block completion
Axes OK (1 to 60)

41

1 block completion

3rd axis 1st axis 2nd axis OK
OKOK

2 block completion

1st to 3rd axes OK

５－６ program operation -1step operation②(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: atthe end of the program collectively QL）

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready0.2 sec. min.

Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)1, 2 block OK

Blocks OK (1 to 26)
1 block completion

2 block completion

3rd axis OK

1st to 3rd axes OK

Block completion
Axes OK (1 to 60)

42５－７ program operation --2 step operation④(1 block, there is IN set ting to the second step)）

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

0.2 sec. min.

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
1st step

2nd step

OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)

1 block OK
1 block completion

Block completion
1st axes OK

Axes OK (1 to 60)
OUT43

５－８ program operation -1step operation③(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)

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE

0.2 sec. min.

0.2 sec. min.

Reset
Tightening angle samplingstart

Block 2Block selection (1 to 5)

Block 1

Block 3

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Block 2Block 1

Block 3OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block 2Block 3Block 1

Block selection output(1 to 5)Block 2Block 1

2 block completion

1 block completion

Block 3Blocks OK (1 to 26)
Block completion
Axes OK (1 to 60)

44

3 block completion

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)

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE

0.2 sec. min.

0.2 sec. min.

Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
1 block

1 block

OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)

1st block

Output ENABLE
Block OK
Block NG
Block selection output

1 block OK(1 to 5)Blocks OK (1 to 26)
1 block completion

Block completion
Axes OK (1 to 60)

45

Quick stop (1 sec. max.)

５－１０ Operation preparation OFF and program start OFF in the program operation（At the 1 step × 2 blocks program , “Operation preparation OFF" occur in the first block and “program start off”
occur the 2nd block.）Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
Operating1 block

Quick stop (1 sec. max.)

1 block

Quick stop (1 sec. max.)

Executing
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)

1 block NG

2 block NG

Running operation
NG

Running operationNG

All operating axesNG

All operating axes
NG

Blocks OK/NG (1 to 10)
Operations OK/NG
Axes OK/NG (1 to 30)
Cycle stop46

５－１１ Alarm and alarm reset in the 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）

Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)

0.2 sec. min.

Operation ready
Automatic/inching
Program start
Inching start
Determination reset

0.2 sec. min.

Alarm reset

Error check/cancel

QL input
QL modeIN wait input

0.2 sec. min.

Program selection(1 to 5)
Input ENABLE
Reset
Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
1 block

1 block

OperatingExecuting
QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK/NG (1 to 10)
Operations OK/NG
Axes OK/NG (1 to 30)
Cycle stop47

1 block ΟΚ1 block completion

５－１２ Tightening angle sampling operation(It will start the operation at the tightening angle sampling start signal turn ON in the state of Completion ofoperation preparation.)Control power supply
Drive power supply

Input signal(PLC→GSS)(PLC→GSK)
Operation ready
Automatic/inching
Program start
Inching start
Determination reset
Alarm reset
QL input
QL modeIN wait input
Program selection(1 to 5)
Input ENABLE
Reset

0.2 sec. min.
0.2 sec. min.

Tightening angle samplingstart
Block selection (1 to 5)

Output signal(GSS→PLC)(GSK→PLC)
Operation ready OK
Device OK
Battery OK
Total OK
Total NG
OperatingExecuting

QL processing
end
Step completion
Program selection
output (1 to 5)
Output ENABLE
Block OK
Block NG
Block selection output(1 to 5)Blocks OK (1 to 26)
Block completion
Axes OK/NG (1 to 60)

48

Tightening
direction

Loosening direction

６．Setting

49

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
Fn0-00

Matter of display data
status of 2-axis motion

Fn 0-01

I / O status

Fn 0-02
Fn 0-03
Fn 0-04
Fn 0-05
Fn 0-06

Product Model
Firm-ware program number
Firm-ware version number
At the time, 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
Printer output settings
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

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
d0xxxxAny data monitor of the 1th-axis

d1xxxxAny data monitor of the 2th-axis

r0xxxxr1xxxxThe 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―――
(Note 1)
(Note 1)
(Note 1)
(Note 1)xx < 50 , yy < 16:
xx < 50 , yy < 32:xx < 50 , yy < 16:
xx < 50 , yy < 48:
xx < 30 , yy < 10:(Note 1)
(Note 1)
(Note 1)
(Note 1)
(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: u is the unit number, xxx is point number, X coordinate in the y = 0, Y coordinate in the y = 1.
xxx> = 255 data limit coordinate data
※ Note 3:At time of data selection mode, it save the data of xxxx <200 in the long press of the "←"50

Setting the axis number (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 motorin the two-axis type of driver.

７－２ （d-00***, d-10***）Each-axis setting, driver parameter setting
Address
036
064
065
066
068
069
070
071
084
085
086
087
104

105
142

MatterThis sets the maximum value of the rotational speed.
0: If you are detected using the LSW and the sensor
method of return to origin
1: butting formula
Set position data after Abutment formula: return amount homing
the return to origin(LSW formula: set position after homing)
Starting rotary direction of homing operation
Homing start direction
0: positive direction
1: negative direction
Homing speed
Speed to start the homing
Creep rate
Origin detection rate
Collision time
Butting time in the origin detection of abutment type
Butting torque in the origin detection of abutment type
Collision torquePlease set as a percentage of the motor rated current
Data of the set ID is converted into an analog signal that it
ID of the monitor 1‘s outputted from the M1 terminal.
Scale of the monitor 1 Output scaling of the monitor 1
Data of the set ID is converted into an analog signal that it
ID of the monitor 2‘s outputted from the M2 terminal.
Scale of the monitor 2 Output scaling of the monitor 2
The alarm becomes overloaded when the average value ofDetection current of
the motor current exceeds the set value.
overload alarm
Setting value is set as a percentage of the motor rated
current.
Detection rate of
The number of revolutions of the motor
Acceleration alarm
It sets the resolution magnification of the sensor.
Magnification of theNR, positioning encoder, positioning resolver: 4
sensor resolution

unit
rpm
―
―
―
rpm
rpm
msec
%
―
―
―
―
%

rpm
―

160

Gear abnormality
determination count(continuous)

When the gear failure is detected, it will set the number oftimes determined to the alarm.

―

161

Gear abnormality
determination count(cumulative)

It sets the resolution of the sensor
NR: 256, Positioning resolver: 8192
Positioning encoder: 16384
NR2: 1024―

This sets the torque-free monitoring time of the
pre-tightening.

msec

163
165

166

51

Name
Speed limit

Temporary tightening
torque-free monitoringtime
Minimum gradient
determination value
Bolt fracture criterion
value

It is judged to be abnormal when the gradient is less thanthe value obtained by multiplying the value of -1 to be set
here.
Here you set the rapid torque change rate that it isgenerated by a bolt breakage at the time of this tightening
end.

%
%

Address
168
169
170

174

177

178

179

Name

MatterThis reverses the output polarity of the entire waveform by
Polarity of tightening
selecting 1.
waveform※ Please use when you select a left rotation
Torque-free monitoring This sets the torque-free monitoring time in the case of thetime
operation other than the real tightening or pre-tightening.
This sets the waiting time until the beginning theZero times check wait
acceptance of the torque signal from the output of thetime
zero-magnification check signal.
This sets the torque value of the starting point, when it
Seating detection torque starts the measurement at the tightening angle
measurement operation.
You enter the axis number of each corresponding to thedriver.
Axis number※Please set immediately after the driver mounting when
installing the driver.
You are the axis of the driver nut runner - or for use as,
sets whether to use as a positioning motor.
1: Nutrunner 2:X-axis motor 3: Y-axis motor※
Axis type
Please set immediately after the same driver installation
and axis number.
It can be set in the PC configuration software unlike theaxis number.
You set the current limit at the time of the socket Remove
Socket torque limit
operations (inching operation) in what percentage of the
rated current of the motor※ Important items
177

52

・・・ You will need the settings when you install the driver to the equipment.
Be sure to set this when installing the drivers to exchange and new.

unit
―
msec
msec

Nm

―

―

%

７－３ Socket-fittings 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)
Number
(yy)
No.00
No.01

No.02

No.03
No.04
No.05
No.06
No.07

53

MatterRotation angle
To set the rotation end angle.
Speed
Setting the rotation speed.
Rotate / inching direction, fitting, gear check00 * □|∟---------Rotation / inching direction specified|
0: rotation to the tightening direction|
1: Rotation Loosen the direction+ --- Torque judgment / fitting / gear check0: No torque judgment
1: One-shot reversal
2: Fitting
3: Gear Check
Detection torqueDuring the rotation, it reaches the set value, and exit the rotation. If you do not reacheven beyond the cut angle will be the "fitting angle over".
Before time
From rotating operation start, after a set time, we actually begin to operate.
Over time
When "setting time" elapsed from the rotation start, it completes the operation if in
operation. (Not including before time)――increments
1 degree
1rpm

－

0.1Nm
1msec
1sec
―
―

７－４ Pre-tightenings setting
Rotating at high speed until the seating position is set for moving the screw. (Numbers 1 to 50)
Number is the number of the case to be set from GSK driver panel (Lxx-yy)
Number(yy)

MatterRotation angle
It sets the angle to rotate at the screw adjustment speed.
Screw adjustment speed
No.01
It sets the rotation speed while turning at rotation angle.
Fast-forward angle
No.02
It sets the rotation angle at the Fast-forward speed.
Fast-forward speed
No.03
It sets the rotation speed during the fast forward.
Closed fast decision torqueNo.04 If this torque is reached between the start and the end of the fast-forward angle, thefast-tightening judgment becomes invalid.
Pre-tightening torqueNo.05
It is the target torque of the pre-tightening.
Torque upper
No.06
If you have not entered torque value is in the range at the time oflimit
arrest, it will be "Pre-tightening torque over" "Pre-tightening torque
Torque lower
under".
No.07
limit
End torque of 1th speed (upper byte)
No.08
This torque switches to the 2th speed.
1th speed
No.09
It is the speed before the screw is fastened after fast forward.
2th speed
No.10
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
No.11
value, the rotation stops when this set time is reached and "over time" NG is output.
This time setting prevents mistakes.
Judgment area ★
No.12 Judgment area in the graph of angle and torque, is the integral value of the torquewaveform.
Measurement invalid range
No.13 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
No.14
The area is judged from the measurement start point to the set value.
Before time
No.15 It starts to operate after the set time has elapsed from the start of the temporary
tightening process.
Time upper limit
No.16
If the time of the stop found in the range of the set value will be★
"Pre-tightening time over" "Pre- tightening time under". (Measurement
Time lower limit
fromTQ1)
No.17★
Angle upper
No.18
If no angle at the time of arrest comes in the range of the set value will
limit ★
be "temporary tightening angle over" "temporary tightening angle
Angle lower
over". (Measurement from TQ1)
No.19
limit ★
Torque-free monitoring time
This sets the time from the start of the pre-tightening until the start of torque monitoring.
No.20 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 ofrotation.
No.00

54

increments
1 degree1rpm
1 degree
01rpm
0.1Nm
0.1Nm
0.1Nm
0.1Nm
0.1Nm
1rpm
1rpm

1sec

1N ・degree

1 degree1 degree
1msec
1msec
1msec
0.1 degree
0.1 degree

1msec

Number(yy)

MatterMeasurement start torque ★
No.21 Measurement of tightening time and tightening angle starts after detection of the arrivalat this set torque.
Pre- 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 ☆
When using a sensorless type nut runner, in order to stabilize the tightening torque, theNo23torque must be held for a certain time after reaching the cut torque.
This sets the holding time.
～No31 Reserve

Pre-tightening reference waveform

55

increments

0.1Nm

1 degree1msec－

７－５ Revese tightening 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)
Number
(yy)
No.00
No.01
No.02

No.03

No.04

No.05

No.06

No.07

No.08

No.09

56

MatterReversal torqueIf this torque is exceeded when reaching the measurement angle, NG is output.
Reverse angle
This sets the angle to rotate in the reverse rotation.
The 1th speed
This 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 when
this set angle is reached.
Set 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, "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, it becomes"reverse seizing torque NG".
It becomes NG when the pre-tightening torque is too large or when the screws are
seized to not loosen.
Overtime
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
When this set angle is reached, the speed is switched from the first speed to thesecond speed.
The 2th speed
It sets the reverse rotation second speed after removing the torque. (It is usually set toa value larger than the first speed)
Before time
When this set time has elapsed since entering the reverse rotation process, it will start
operation.

Increments
0.1Nm
1 degree1rpm

1 degree

0.1Nm

0.1Nm

1sec

1 degree

1rpm

1msec

Reverse tightening reference waveform57

７－６ Real tightening 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.)
MethodTorquemethodExit conditions
Until it reaches the cut torque, to rotate at a specified
speed. Angle from the snug torque, to determine thetime result.

Judgment items
Zone
judgment

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

Gradient
decision

No torquesensor

Do tighten similar to the torque method.
Calculate the torque to use the current value of the
motor.

―Torque upper/lower limit
Time upper/lower limit
Angle upper/lower limit
Over time―

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.
NumberMatterIncrements(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.
0.1Nm
methodNo.01
Angle
Stop torque: It is a stop torque to prevent the bolt from twisting.
0.1Nm
methodTorque Measurement start torque ★: With this setting it begins measuring angle
0.1Nm
methodand time.
No02.
Angle
Snag torque: It starts clamping plastic zone from this torque.
0.1Nm
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
1rpm
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
1 degree
When it reaches this angle, it switches to speed 2.
Speed 2: This is the tightening speed in this process.
No.05
1rpm
20 - 50 rpm is recommended.
Over time:
When this set time elapses from the start of the process, the process is terminated.
No.06
1sec
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.
0.1Nm
No.08
Torque lower limit: It sets the allowable lower limit of cut torque or stop torque.
0.1Nm
Stop angle★:
Torque This is a setting to interrupt this process.
1 degreemethod It functions to not break the machine when the torque does not reach the target
No.09
value due to some trouble.
Angle
Tightening angle: This is the rotation angle from the snug torque.
1 degreemethodThis sets the target angle.
No.10
Before time: It delays the start of this process by the set value of time.
1msec
Time upper limit★: It sets the allowable upper limit of the time.
No.11
1msec
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
1msec
Unlike Overtime, this time is measured from the "Measurement starting
torque" or “Snag torque”.
58

Number
(yy)
No.13

No.14

No.15

No.16

No.17

No.18

No.19

No.20

No.21

MatterAngle upper limit★: It sets the allowable upper limit of the angle.
Unlike Overtime, this time is measured from the "Measurement 0.1 degree
starting torque" or “Snag torque”.
Angle lower limit★: It sets the allowable upper limit of the angle.
Unlike Overtime, this time is measured from the "Measurement 0.1 degree
starting torque" or “Snag torque”.
Closed fast decision angle:
If the measurement start torque is detected earlier than this set angle, "fast-tightening NG"
is output.
1 degreeIn this case, fast-tightening refers to a state in which the screw hole is crushed and thescrew is not tightened.
Torque-free monitoring time: It will not monitor the torque for the set time from the start of
1msec
the process.
Judgment area ★:Judgment area is in the graph of angle and torque.
X 10
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 thesetting.
Torque―Reserve★
methodSnag torque upper limit: It is the upper limit value of snug torque.
Angle
If this value is exceeded, "snug torque over NG" is0.1Nm
methodoutput.
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.
0.1Nm
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 zone monitoring" ⇒ Zone judgment is not performed.
Torque "Zone lower limit ignored" ⇒ The lower limit value is not judged at zone―
methodjudgment.
"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.
Real tightening torque passing:Angle
It is a torque to judge whether abnormality occurred during tightening.
0.1Nm
methodIt is judged below this value after passing the snug torque.
Torque Zone starting point ★:0.1Nm
method We set the torque value at the start of zone judgment.
Gradient decision:
Angle
It sets whether to make gradient judgment.
―
method0: None 1: Execution
Zone starting point tolerance ★:Torque0.1Nm
We set the range of start torque for executing the zone judgment.
methodNo.22
Angle
methodTorquemethodNo.23

59

Increments

Angle
methodGradient sampling number:
The width of one sampling is represented by this set value X 0.5 °.
Zone end point ★:It sets the angle of judgment range at zone judgment.
Moving average number:
It sets how many times sampling is done in increments of 0.5 °.
(Please refer the page number 65.)

1 times
0.1 degree

1 timesNumber
(yy)
No.24

No.25
No.26

No.27

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

No.33

No.34

～No.47

MatterTorque Zone end point tolerance ★:0.1 degree
method It sets the intersection angle of the end point for the zone judgment.
Angle
Gradient decision upper limit:
1%
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. .
1rpm
Torque Cut torque at the speed ★:1rpm
method It sets the speed at which the cut torque is reached during smoothing tightening.
Snug torque speed:
Angle
It sets the speed at which the snag torque is reached during smoothing
1rpm
methodtightening.
Speed 3, 4 additional mode:
It sets whether to use Speed 3 and 4.
―
0:None 1: Execution
Speed 3 switching angle:
1 degree
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.
1rpm
Speed 4 switching torque:
0.1Nm
When this torque is reached it switches from Speed 3 to Speed 4.
Speed 4:1rpm
It is the final tightening speed in speed 3, 4 mode.
Stall time☆:
Torque1msec
method When the torque sensor is not used, it sets the time to hold the tightening torquein order to fix the torque.
Angle
Gradient decision lower limit:
1%
method It sets the lower limit value for gradient judgment.
Torque Over cut time ☆:1msec
method If tightening is not completed before exceeding this angle, NG will be output.
Angle―
Reserve★
methodReserve★

※ Priorities of behavior is "with smoothing tightening"> "Speed 3, 4, additional mode".

60

Increments―

61

Gradient calculation method

62

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).
Number

No.00

No.01

No.02

No.03

No.04

No.05

No.06

MatterTorque sensor rate/Current sensor rate
・Torque sensor exist: Set the torque at the time of the torque sensor
output 10V.
・Torque sensor none: Set the nut runner shaft end torque of that whichcauses 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
Sensor typeNut runner type0
Tightening direction（Note 2）
（Note 1）
Tightening direction
0: Tightening in the right rotation looking at the motor from the encoderside (tightening in the motor shaft end CCW rotation)
1: Tightening in the left rotation looking at the motor from the encoderside (tightening in the motor shaft end CW rotation)
Limit overWhen the zero-fold check it set the tolerance of magnification output
value and zero output.
Zero-point output = (zero point preset) ± (limit over)Magnification output = (magnification preset) ± (limit over)If it exceeds the above, respectively, "zero offset anomaly", it will be"magnification abnormal".
(Torque senso:about 5% at rating、current sensor:about 10% at rating)Set overSet the fluctuation tolerance value every zero times check.
It compares the current output value and the output value in theprevious zero times check, , respectively When the difference exceeds
the set value each will be "zero offset fluctuation abnormal" and"magnification change abnormal".
(About 2% of the torque sensor rating)Zero point preset
The output voltage at no-load of the torque sensor, set in the torqueconversion.
Usually set to "0".
Magnification preset
To set the output voltage at the time of the torque sensor magnification
check with a torque conversion.
Usually set the 1/2 of the value of the "torque sensor rating".
Gain correction
It is used to perform a correction of output of the torque (current) sensor(slope).
If not corrected, set the half of the value of the "sensor rating" .
Torque value after correction (T) is calculated by the following equation.
Ｔ=

Sensor output voltae

10(V)

No.07
No.08

63

(V) X Torque sensor rate X

Increments

0.1Ｎｍ

―

0.1Nm

0.1Nm

0.1Nm

0.1Nm

0.1Nm

Magnification preset
Gain correction

The smaller the gain correction value, the actual torque will be higher.
Reduction ratio
To set the gear ratio of the nut runner gear.
Please set as mechanism when the motor shaft rotates the set value is
one rotation.
Moter model (Note 3)

0.1rev―

Note 1: About value of nut runner type.
Nut runner typeANZ-200
ANZ-350
ANZ-450
ANZ-500
ANZ-850
ANZ-1500
ANZ-2000ANZ-3000ANZ-3500
ANZ-4500
ANZ-4500H
ANCKH-150
ANCKH-350
ANCKH-600
ANCKH-1000
ANZ-6000
ANZ-8000
ANZ-12000
ACKHM-200
ACKHM-500
ACKHM-400
ACKHM-700
ANZM-50
ANZM-250
ANZM-350

Value
0
1
24
2
3
4
5
6
7
8
9
15
10
17
18
19
20
21
33
39
42
52
44
43
45

Nut runner type
ANZM-500
ANZM-850
ANZM-1600
ANZM-2000
ANZM-3000
ANZM-3500
ANZM-5000
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
47
48
50
51
53
63
55
56
57
75
60
36
46
49
62
54
65
68
83
73
64
71
80
84
99

(Note) The value is 0 to ③2 can not be used in the GSK / GKL. (GSS only)
Note 2: About value of sensor type.
Sensor type
―
100S
200
250
350
500
850
1500
2500
4000
5000

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

Motor model
TS4603N1925E203
TS4609N1920E203
TS4612N1920E601
TS4614N6920E102
TS4617N1520E203
TS4617N1920E203
TS4618N1920E203
TS4619N1920E203
TS4619N1922E207
TS4839N2820E235

Value
10
11
12
13
14
15
16
17
18
19

Note 3: About value of motor model
Motor model
TS4129N2820E230
TS4200E5
TS4201E5
TS4202E5TS4203E5
TS4204E12TS4204N31E5TS4509N2825E203
TS4515N2820E202
TS4603N1920E203

Value
0
1
2
3
4
5
6
7
8
9

Note: In the GSK / GKL TS42 *** it can not be used. (GSS only)64７－８ X-axis rate setting
It is the basic settings for the X-axis.（Number 1 to 30）
Please set the motor and the moving speed, and the like to be used in the X-axis.
X-axis rate number 28 to 30, number 28 is X/Y-axis Inching. - No. 29 is specified point movement.
- No. 30 isused in the back X.

Number is the number of the case to be set from GSK driver panel (= xx-yy).
Number
(yy)
No.00

No.01
No.02

No.03

No.04
No.05
No.06
No.07
No.07
No.08

No.09

65

Matter
Acceleration time constant
The acceleration time constant at the time of position movement set in therotation angle unit of the motor.
Deceleration time constant
The deceleration time constant at the time of position movement set in therotation angle unit of the motor.
Moving Speed
It set the movement speed at the time of position movement.
Point ± detection range
When the current coordinate is within the range "X-coordinate ± the set valueof the points", GSK driver determines that the move to the specified point has
been completed.
Range output ①
When the current Y-axis coordinate is within the range oflower limit
this setting, the output signal "X range output ①" will turnRange output ①
ON.※upper limit
Range output ②
When the current Y-axis coordinate is within the range oflower limit
this setting, the output signal "X range output ②" will turnRange output ②
ON.※upper limit
Motor revolution amount of movement
It is set something to mili meters move when the motor is rotated 1.
Motor model
It is set the model of motor. (See the motor model list)
Source direction of rotation
When the position is increased in the positive direction, 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

Settingrange

Increments

0000-7FFF

10
rpm/s

0000-7FFF

10
rpm/s

0000-9999

1mm/s

0000-9999

0.1mm

0000-9999

1mm

0000-9999

1mm

0000-9999

0.001
mm/rev

0000-7FFF―

0000 / 0001―

７－９ Y-axis rate setting
It is the basic settings for the Y-axis.（Number 1 to 30）
Number is the number of the case to be set from GSK driver panel (= xx-yy).
Number(yy)

MatterSetting range increments

Acceleration and deceleration time constant
The acceleration time constant at the time of position movement set in therotation angle unit of the motor.
Deceleration time constant
No.01
The deceleration time constant at the time of position movement set in therotation angle unit of the motor.
Moving Speed
No.02
It set the movement speed at the time of position movement.
Point ± detection range
When the current coordinate is within the range "Y-coordinate ± the set
No.03
value of the points", GSK driver determines that the move to the specified
point has been completed.
Range output ①
When the current Y-axis coordinate is within the range of
No.04
lower limit
this setting, the output signal "Y range output ①" will turnRange output ①
ON.※
No.05
upper limit
Range output ②
When the current Y-axis coordinate is within the range of
No.06
lower limit
this setting, the output signal "Y range output ②" will turnRange output ②
ON.※
No.07
upper limit
Motor revolution amount of movement
No.07
It is set something to mili meters move when the motor is rotated 1.
Motor model
No.08
It is set the model of motor. (same as X-axis rate)
Source direction of rotation
When the position is increased in the positive direction, and set whether the
No.09
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※ The setting value of the range output will be the range output
that Y Jikuteikaku numbers 1 to 4 are each units 1 to 4.
Please beware that the settings for the unit rather than the axis.
No.00

Motor model list

66

Motor modelvalue

TS4603
TS4604
TS4607TS4609TS4610TS4612
TS4613

3
4
5
6
10
12
13

0000-7FFF

10
rpm/s

0000-7FFF

10
rpm/s

0000-9999

1mm/s

0000-9999

0.1mm

0000-9999

1mm

0000-9999

1mm

0000-9999

0.001
mm/rev

0000-7FFF―

0000 / 0001―

７－１０ Point setting
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.
Number(yy)

Matter

No.000～No.254

Point coordinate value (Point number1～255)
Set the coordinate values of the point of the X-axis.
※ Axis type (z):0 is the X-axis, 1 is the Y-axis.

No.255Reserve
Set the adjacent interference distance 1 to 8.
The combination of the unit number (x) and the shaft type (z) shows thefollowing value.

Increments

0000-9999

0.1mm

―

―

―

―

―

―

―

―

―

―

―

―

―

―

―

―

Unit number(x)

No256

No257

No258

No.259～No.266
No267

No268
No269
～
No.287

67

Axis type(z)Meaning0
Adjacent interference distance 1
1
1
Adjacent interference distance 20
Adjacent interference distance 3
2
1
Adjacent interference distance 40
Adjacent interference distance 5
31
Adjacent interference distance 60
Adjacent interference distance 7
41
Adjacent interference distance 8
Set the soft limit (+ direction).
Set the upper operating limit coordinate value according to the unit
number (x) and the shaft type (z).
Set the adjacent interference distance 9 to16.
The combination of the unit number (x) and the shaft type (z) shows thefollowing value.
Unit number(x)Axis type(z)Meaning0
Adjacent interference distance 91
1
Adjacent interference distance 100Adjacent interference distance 1121
Adjacent interference distance 120Adjacent interference distance 1331
Adjacent interference distance 140Adjacent interference distance 15
41
Adjacent interference distance 16

Settingrange

Each individual operation interlock setting(GSK is not used because it has no function.)
Adjacent interference check invalid setting
BIT1 0:check 1:not check※ Note that the check "to" 0
Set the soft limit (- direction).
Set the lower operating limit coordinate value according to the unit
number (x) and the shaft type (z).
Reserve７－１１ (Fn.01) Tightening result monitor of the 1th axis
Number
Fn.1- 00 to 42

Content
This displays the result of 1th axis.

Monitor only. You cannot change the content.

７－１２ (Fn.02) Tightening result monitor of the 2th axis
NumberFn.2- 00 to 42

Content
This displays the result of 2th axis.

Monitor only. You cannot change the content.

※The display contents of the Fn.1 and Fn.2
In data selection mode, when they are the Fn1-xx and Fn2-xx, you can monitor the data of screw tightening
each CH1 and CH2. Its contents are as in the following table.
NumberContents
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］
The A / D input value of the torque sensor［2048/10V］
41
42(Parameter)typical value of torque sensor preset
68You can update the display data by long press of the "←" button.

７－１３（Fn.03） Input and output monitor
Number

Unit number
Un.0

Fn3-00 to 19
Un.1 to 7

MatterSetting range[No.0 ~ No.12]: check the network status
Display the internal state of[No.14, No.15]: GSK-IF alarm display
the GSK-IF[Other than those described above]: Preliminary
Display the input andoutput signals of[No.0-No.5]: the contents of the input signal 0 to 5
communication with the [No.6-No.19]: the contents of the output signal 0 to 13
PLC※ Attention point of the input-output monitor
The signal monitor display is a hexadecimal display.
Please do the following change to convert it to parallel I/O data.
・ 4 digits of displayed contents are changed from a hexadecimal number to a binary number.
Right end of the value after a change (LSB) is equivalent to IN 0/OUT 0.
It is incremented by one in accordance as the advance on the left sidet, it will be the IN 15 / OUT 15.
If the corresponding digit isn’t calculated as "0".

69

７－１４ （Fn.04）Operation instruction from GSK drive
The write operation of Fn4 will be the operating instructions for the GSK interface.
Set the operation type to Fn4-00 and the data number to Fn4-01, and it will execute the following operations by
the long press the left arrow button.
NumberMatterFn4-.00

Operation type

Fn4-.01

Data number

Description
1: The final tightening result print start
2: Special Operation
This becomes a different meaning by the operation type.
[In the case of operation type = 1]
Unit number (1 to 7).
[In the case of operation type = 2]
Special operation for debugging
1: It will allow the special operation ★ 1
2: SETTING.BIN file save (GSK interface⇒SD)
3: SETTING.SD file save (GSK interface⇒SD)
4: Preliminary
5: SETTINGS.BIN file read (SD⇒GSK) ★ 2
6: SETTING.SD file read (SD⇒GSK)
7: Preliminary
8:Communication port exchange of debugging and PC
communication (RS232C → USB).

★ 1: Only just after writing in "1" for wrong operation prevention, after 2 moves.
For example, when you want to save the SETTING.BIN file, please do in the 1 → 2 of the order.
You need to do from writing again "1" If you perform another operation.
★2: After the end of a read, please cut the powersupply and turn on the power of GSK interface after that.

７－１５ (Fn.5) unit setting
Number

NO.□□

No.-

MatterThe □□ is axis number.
Please set each axis belongs the unit number to Un- ○○.
The set value of the unit will be the station number of SIO.
Please be sure to set "Un.01" as an axis with the interface unit.
To the axis of the shaft cut is set to "Un._-" the unit number.
Save at once all of the data of Fn.11 at the SAVE button.

Setting range
Un.01～Un.07
Un.－【Caution】
Please the power of always GSKIF after changing the unit set to the OFF / ON.
GSK system does not correspond to change the unit configuration while the power is ON.

70―７－１６ (Fn.6) Interface unit setting
Number

No.00

No.01

MatterTo select equipment type:
Here you select the type of equipment.
This setting is used in the adjacent interference checkin the positioning mode.
0000:Standard coordinate 0001: Special coordinate10002: Special coordinate2
The maximum waiting time of waveform read in quality management PC【Multi axis mode】
This setting is not used in this mode.
【Positioning mode】
It sets the maximum time to wait when it reads the waveform to thequality control personal computer.
The quality control personal computer will read the waveform at the endof a block, but the reading of the waveform is needs the many time.
This setting is a timer in order to hold between the read.
1～9:Waiting time 0:Quality management PC is invald[Set 1 or more]
It is pending the execution of the next block until it finishes reading
waveform of all the units by the personal computer at the end of a block.
If the waveform reading finshed earlier than the setting time, it will start
the next block as soon as reading is over.
⇒When the reading of the wave pattern of all units is not finished even if
it reaches in waiting time, I start the next blocking.
※This setting is the setting for the quality control personal computer, but
the behavior is the same if you have connected the setting personal
computer. Please be sure to set a 0 if you do not want to connect thequality management PC.
Screw number for ID output
No.02
It sets the maximum number of for a single work.
This sets the communication speed of the personal computer (1 byte dataof hexadecimal)
communication speed of setting personal computer (bps)No.03 ＊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)
No.04 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
No.05
according to the M-NET 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
No.06 display in 0.5-degree increments.
(For example, 0.5 degrees: 05,1.0 degrees: 10,1.5 degrees: 15,2.0
degrees: 20)

71

Settingrange

Increments

0000/0002―

0000-0009

sec

0000-0099―

0000-0012―

0000-0011―

0001-0007―

0005-0095

0．1degreeNumber

No.07

No.08

No.09

No.10
No.11
No.12
No.13
～
No.19

72

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 check thecommunication speed of the display.
This setting is the default communication speed in the case of theconnection 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 times 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: temporary tightening result print presence or absence
BIT0: socket alignment prints presence or absence
Initial number(N at the time of the "automatic printing selected first N stand" of No08
Print Settings)
QL setting ※ This feature is enabled by Version1721-170 below.
PLC settingThis sets the such as IO size of the PLC to be connected to the Anybus
board. Please set the parameters according to the PLC to be connected.
Meaning of the value depends on the Anybus board.
Reserve

Settingrange

Increments

0-3

―

―

―

―

―

―

―

―

―

―

―

―

―

７－１７ (Fn.7) ID controller connection setting
Number
No.0
No.1
No.2
No.3
No.-

MatterID controller output content setting
ID controller output content setting
Function selection of the Interface unit CH12
SIO start address setting " set at the 1-7 "Save at once all of the data of Fn.12 at the SAVE button.

Please refer to the following about the details of the above-mentioned Fn.7.
No.

Digit

1st digit
No._0

No._1

Setting value0
1

2nd digit2
Min.3
0 to 7

3rd digit

0/1

4th digit

0/1

1st digit
2nd digit
3rd digit
4th digit

Refer to theundermentioneddata

1st digit

0 to 4

2nd digit

0/1

No._2

Set Yes or No with transmission of program no.
0: not to be transmitted
1: to be transmitted
Set Yes or No with transmission of unit no.
4th digit
0/1
0: No/select gradient
1: Yes/select gradient2: No/select snag.
3: Yes/select snag
Set address of M-Net station―
1 to 7
Set station address of unit 1. Address after 2 is the serial
number following to setting value *1.
Save the whole data of Fn.12 in a lump by the SAVE button
3rd digit

No._3
No._－

73

Transmission timing
Data transmission at block judgement output
Data transmission at start of next block and input ofjudgement reset input
Data transmission from command from the upper device
Not used
Set the digit no. of engine no. transmission (digit no-1)
Setting of with or w/o transmission eith axis no.
0: not to be transmitted
1: to be transmitted
Setting yes or no with transmission of each axis judgement
0: not to be transmitted
1: to be transmitted
Set the digit no. of transmission with torqueSet the digit no. of transmission with time
Set the digit no. of transmission with angle
Set the digit no. of transmission with gradientI/F unit selection of ch2 function
0: Operation as printer port
1: Connection of ID controller of standard specification
2: Output of T spec. torque and judgement
3: Output of T spec. judgement
4: Connection with J spec. ID controller Quality control PC
This port is possible with operation
if the number is order than zero.
Set Yes or No with transmission of date and time
0: not to be transmitted
1: to be transmitted

0/1Setting
value
０
２
３
４
５
６
Ａ
ｂ
Ｃ
ｄ
Ｅ

Torque, angle,
gradient
It doesn’t transmit.
＊．＊
＊＊．＊
＊＊＊．＊
＊＊＊＊．＊＊＊＊＊＊．＊
＊＊
＊＊＊
＊＊＊＊
＊＊＊＊＊
＊＊＊＊＊＊Time

Remark

＊．＊
＊．＊＊
＊．＊＊＊
＊＊．＊＊＊＊＊＊．＊＊＊
＊＊
＊＊＊
＊＊＊＊
＊＊＊＊＊
＊＊＊＊＊＊

2nd digit with decimal point
3rd digit with decimal point
4th digit with decimal point
5 th digit with decimal point
6th digit with decimal pointnd
2 digit without decimal point
3rd digit without decimal point
4th digit without decimal point
5th digit without decimal point
6th digit without decimal point

In case of setting value not provided, the operation is same as zero.

74

８． Supplementary explanation
８－１ Operation auxiliary function①Zero times check function：Zero times checked every block tightening.
Carried out in the presence or absence check by the program setting screen check Box for checking thepresence or absence.
②History data storage function
After tightening comprehensive judgment outputs, make the history data stored in each driver at the reset input
as a trigger.
When the data is confirmed the data was read from GSK_PC- 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 thecancel SW.)
③Waveform sampling function
It can save 2048 the 2 kinds of waveform data in the each driver. 2 kinds of waveform data are waveform data1
and waveform data2.
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: The data about 6,000 has been saved in the E2PROM of each axis.
The call of history, you can use the setting software.
Alarm history function: GSK has 16 times the storage of the alarm.
The call of alarm history, you can use the setting software.

75

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 theMonitor1

085

Output-scale of theMonitor1

086

Output-ID of theMonitor2

087

Output-scale of theMonitor2

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 value of 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.
IDNumber

Display contents

It represents the current speed [rpm].
It is initialized to analog monitor 2.
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.
41※(10041)※ For GSK-T4-E-N2 and GSKW-T4-E-N2 there is no analog monitor pin notation.
Pins for analog monitor in these controller types are within the red framein 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.

76

１０．Code table
１０－１ NG Code List
Operation

Codedisplay

Basic NG

FFFF
FF00
0001

0002

Beforestarting
check,
etc.

0003

0004

0033

0034

0106

0107
SOC.T
0108
0111
0112
0133
0207
0211
0212
0221
PRE.T
0222
0231
0232

77

MatterEmergency stop
Preparation for operation off during operation or START OFF in therunning program.
Zero offset error
During the zero / double check, zero point output has exceeded thelimit over range.
Magnification error
During the zero / double check, magnification output exceeds thelimit over the range.
Zero offset fluctuation error
Difference in the previous and current output value exceeds the set
over.
Magnification fluctuation error
Difference in the previous and current output value exceeds the set
over.
1.On nut runner
Tightening sampling error
2.On position mode
Return to origin point over time error
Homing operation at the time of incomplete.
Position move command of the X/Y-axis has been issued in the stateof 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 exceeds the cut angle.
SOC.T torque over
Torque value at the time of arrest has exceeded the upper limit.
SOC.T torque under
SOC.T over time
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 arrest 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 when stopped exceeds the maximum.
Pre tightening time underIt does not reach the lower limit time at stop.
Pre tightening angle overAngle at the time of arrest has exceeded the upper limit.
Pre tightening angle underAngle at the time of arrest does not reach the lower limit.

0233

Pre tightening over time

0240

Pre tightening area over

0306
0307
REV.T

0311
0321
0322
0333
0403
0404
0405
0406
0407
0411
0412

REA.T

0421
0422
0431
0432
0433
0434
0440
0441
0442
0451

78

Reverse tightening pass torque NG
During operation, it was not equal to or greater than the set valueof the torque.
Reverse tightening sticking judgment NG
Reverse tightening torque over
The torque at the measured angle is greater than the upper limit.
Reverse tightening time over
The time when stopped exceeds the maximum.
Reverse tightening time underIt does not reach the lower limit time at stop.
Reverse tightening over time
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.
Quality check torque NG
The torque value at the time of arrest has exceeded the range.
Quality check angle NG
The angle at the time of arrest has exceeded the range.
Real tightening closed fast NG
Torque has reached the sampling start torque between the closed
fast decision angle from the start.
Real tightening torque over
Torque value at the time of arrest has exceeded the upper limit.
Real tightening torque under
Torque value at the time of stopping does not reach the lower limit.
Real tightening time over
The time when stopped exceeds the upper limit.
Real tightening time underIt does not reach the lower limit time at stop
Real tightening angle overAngle at the time of arrest has exceeded the upper limit.
Real tightening angle underAngle at the time of arrest does not reach the lower limit.
Real tightening over time
Real tightening over cut angle
Angle from the start was over. (No torque sensor only)
Real tightening area over
Real tightening snag torque overTQ2 used was beyond the scope.
Real tightening snag torque under
TQ2 used does not reach the range.
Real tightening torque decrease NG

１０－２ Alarm Code List
Alarm generated in the GSK IF (EC*)
Code display
MatterEC0ProgramNumber error

EC1
Operation
details of the
error

EC2
No action-axis
error※Reset is
impossible.

Detection
factor

Selectedprogram error／Details of
the problem

Deciphering
impossible
operation isset.

The specified
axis has not
been
implemented.
/the axis
number ismapped twice.

Cause

Counterplan

It is Outside the range specified
program No.

Confirmation of program
selection signal

Program data GSKIF remember
is illegal state. （Check SUM）

Readjustment of aprogramThere are no nut runners bymulti axis mode.

Confirmation of the unit
setting

Program data GSKIF remember
is illegal state. (You found an
unknown command)

Readjustment of aprogram

Unit misconfiguration

Confirmation of the unit
setting
Confirmation of theconnection between GSK
interface and GSK driver

ARC-NET communication failure

Confirmation of theconnection among GSK
drivers
Check whether the axis
number of GSK driversaide and unit setting ismatching

EC3
FRAM error※Reset is
impossible.

EC4
External
communication
error※Reset is
impossible.

EC5
Rate number
setting error
EC6
Position select
error

79

Anomalydetection by
self-check of
GSKIF farm

Ensure shortage of backup area

Review the GSKIF of
firmware

M-NET connection faulty wiring

Confirmation of the wiring

Station address of the PLC side,
the number of bytes sent andreceived abnormal

Confirmation of thesequence settings

M-NET station address
misconfiguration

Confirmation of the N-NET
stations

Shield processing defects of the
M-NET connection line

Confirmation of the wiring

NR/X/Y axis
rate number
error

NR/X/Y axis rate assignment
other than 1 to 30

Confirmation of the
program setting

Position selecterror at thetime of JOG
operation

Selected positions at the time of
JOG operation are other than 1
to 255.

Confirmation of the input
and output signals

M-NETcommunication
has stopped.

Code display
Matter

Detection
factorEC7
CAN
communication
error

Communication error with Z
axis driver

EC9Arcnetcommunication
error

80

It occurs, whenturning on the
power.

Cause

Counterplan

CAN cable connection problem

Change the cable

Fogging or mismatch of Z axis
driver ID

Review the driver settings

Z axis driver turns off

Reboot the master

ARC-NET communication failure

Same as EC2

Without replies from GSK driver

It's checked whether index
of an axis on the driverside is parallel with index
of an axis of unit setting.

Alarm generated in the GSK driver (E**)
Code

E11

E21

E22

E31

E41

E42

E61

E62

E63

E64

E65

81

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 exceededthe "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[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[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[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[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[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[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

E66

E67
E69
E71
E72
E73

E74

E81
E82
E83

E91

E92
E93
E94

E95
EA0

82

[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 resistance cannot be replaced.
[Regenerative abnormality] Regenerative resistance overload
1. Insufficient capacity of regenerative resistor: Since the regenerative resistor cannot be replaced, replace the controller.
[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[Bus failure] Cannot read / write data between CPU and peripheral device normally
1. CPU peripheral circuit error : Controller replacement[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.
[Non-volatile memory error] Data cannot be read normally
1. Non-volatile memory malfunction or memory data destroyed: 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[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

１１． Indication on the display【Axis arrangement】

Arrangement axis is being indicated.
It's white display before tightening.

1

3

The time of tightening OK is green.

5

Tightening NG will be red indication.

2

4

6

【Tightening result data】
Data of a tightening result is indicated.
A message of a tightening result is shown to MSG part.

【tightening torque curve】

A tightening corrugation can be seen "transverse: Time - vertical axis: torque", "transverse: Time - vertical axis:
speed" and "transverse: The angle - vertical line: The torque", "transverse: The angle - vertical axis: speed".
83【Setting menu】
It's possible to confirm the parameter of setting
variously.

Setting parametor change is possible by input PIN
code.

【Selevt language】

It's possible to change the language shown to adisplay.

The language which can be indicated is two,Japanese and English.

【SD card setting read/write】
The reading of the setting and writing in can do by
a SD card.

Input of PIN is needed in case of writing in.

84

【common setting】

There is [unit setting] [tightening data output]【unit setting】

It's indicating which unit an axis is.

[option setting] in common setting.
【output of tightening data】

The tightening data output output from a【option setting】

The setting contents by the option item are being

controller is established.

indicated.

【position setting】【Ⅹ axis rate】

When using positioning control, X and a Y axis are
established.
85

Each parameter details of rated value setting of an
X axis motor are indicated.

【ＸＹ point teaching】

Details of each parameter in the set coordinate
location are indicated by each axis of XY.

【Buffering territory setting】

Each parameter details in a set interaction
region are indicated by each XY axis.

【Monitor timer】
The restriction time details established as theintervention waiting time with the other units areindicated.

【Nutrunnner setting】

There is [rated setting] [socket adjustment] [reverse][pre-tightening] [real-tightening] [data collection] as nut
runner setting.

86【Rated setting】

Each parameter of rated setting of used nut runneris indicated.

【Socket adjustment】
Each parameter of socket adjustment is indicated.

【Pre-tightening】

A parameter of pre-tightening set value is indicated. It's possible to do smaller control and judgment by
option setting.
【Reverse】
A parameter of reverse set value is indicated.

87【Real-tightening –torque control mode】

A parameter of real-tighteningl set value by the torque control mode is indicated. It's possible to dosmaller control and judgment by option setting.
【Real-tightening –angle control mode】

A parameter of real-tighteningl set value by the angle control mode is indicated. It's possible to do smaller
control and judgment by option setting.

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

88

【Program setting】
The program setting can be confirmed.

【ＩＯ monitor input】
It's possible to do input confirmation of I/O monitor.

A screen is changed by an arrow button.

【ＩＯ monitor output】

It's possible to do output confirmation of I/O monitor.

A screen is changed by an arrow button.
89

１２ Maintenance and check１２－１ PRrecautions
１２－１－１ Precautions for maintenance and check・Before removing the unit, make sure to cut off the power supply, and discharge the voltage by operating
DISCHARGE, and detect the voltage.
・Do not operate when your hands are wet, Doing so may cause electric shock.
・Do not attempt the insulation resistance test of the driver with a Megger tester. Doing so may damage
the driver・Do not disassemble or repair the product at the customer end.
General operating condition:
Ambient temperature should be at the annual average 30℃ and the load ratio be less than 80% and operation
be less than 20 hours a day.

１２－１－２ Check 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.Periodical check（１year）
・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 Operating life
Changes depending on the environmental condition and usage. It is required to replace the component
if the abnormal condition is detected.
To replace the parts, please return it to the manufacturer for repair.
Products

Component
Capacitor

Driver90

Standard replacement interval

Remarks

About 5 year

Relay

100,000 times operation

Cooling fan

10,000 to 30,000 hours

Battery

10,000 to 50,000 hours

E2PROM

10,000 times of overwriting operatio

Standard replacement interval is only
for your reference. It is required toreplace when the defective condition
is found even if it has not reached thestabdard replacement interval.

１２－１－４ Capacitor
・A smoothing capacitor deteriorates its characteristic under the effect of ripple current. The operating lifeof capacitor varies depending on the ambient temperature and using conditions but it lates about 5 years
under the general operating condition.

１２－１－５ Relay
・Contacts wear due to the open/close current. Relay reaches the life limit by about 100,000 times of operation

１２－１－６ Cooling fan
・Due to the bearing’s operating life, the cooling fan has the life of 10,000 to 30,000 hours
under continuous operation.

１２－１－７ Battery
・Battry life is basically about 5 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 Guarantee
The overwriting frequency under the guaranteed condition is as follows as an outline. It is restrictedby 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
UNIIT：
Multiple axes control up to 30 axes can be treated as each axis to independently operateor as a group of 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：
Screw tightening program can form the program from 1 to 24 on each axis.
One program begins with the control flag(Zero magnification check is performed or not, etc.) and rating setting,and it is possible to set operation to maximum 77 steps.
However, the rating block number, screw number and end is handled as 1 step.
At least one block should have been set in the program.

91

BLOCK：A set of operations in tightening program. Block start begins from rating step and shows the set of steps to theend declaration. In automatic operation, one-time program start executes one block. It is also possible to startfrom the block on the way by designating the block number. The determination (Block OK/NG) against theoperated block is output on the step in the block end declaration. If “NG“ is determined on either step in theblock, it becomes the “block NG” (excluding the case when there is a retry); the next step will not be executed.
After determination output, the program start inintiates 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 startdeclaration 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 stepof 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 forthe step completion of other axes. When steps of all axes are complete, the next step will be operated.

QL INPUT：In the block where the tightening operation is in progress, if the tightening operation is not within the OK range,“NG” DEdetermination is output in this block. Operator looks at this “NG” determination and needs to retighten
the screw manually. At this time, it is possible to change the determination “NG” to “OK” by inputting thetightening output of the manual torque wrench to the controller. This input is called a QL input.

RETRY：
It is possible to retry (try again) operation if NG occurred in set on the step, if NG occurred on the way from theblock start declaration till the previous step of retry, the operation following the retry will be gxecuted. If NG did
not occure, the operation following the rtry will not be executed.

ROTATION：
Used for screw pick up (a socket picks up a screw head) operation before tightening or preventive operation
against socket-engagement after tightening.

PRETIGHTENING：
Operation to perform temporary tightening until a screw seats.

REVERSE ROTATION：
Operation to unfasten the seated screw by several turns in order to transit to final tightening. (Baking inspectionof the screw by pretightening)

FINAL TIGHTENING：
Final tightening operation of screws.
92

ZERO MAGNIFICATION CHECK：
Inspects the torque sensor zero point and magnification (Output voltage at 1/8 momentary maximum current).
※When the zero magnification check is set on the program, the zero point of the torque sensor becomes zeroautomatically.

However, the value exceeding the one of the rating setting becomes “Zero magnification NG”.

APPLICABLE TO QC PERSONAL COMPUTERr：
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, Finaltightening 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,

APPLICABLE TO ID CONTROLLER：
It is possible to transfer the engine number, set the calendar and transmit the result data by connecting theinterface unt and ID controller via serial communication. (Exclusive use with a printer.)

APPLICABLE TO PRINTERS：Connects with a printer through Centronics interface. Setting data and tightening result can be printed .
（Exclusive use with a QC personal computer and ID controller）

TIGHTENING ANGLE SAMPLING OPERATION：
Operation to rotate the screw in the tightening direction at a constant speed and then stop when it reaches thepreset torque, in order to measure the screw length.The angle form the start to stop is read through the personal
computer vommunication. This is not the operation on the program. （Execcutable only from the personal
computer and SIO）

END, STOP：
During tightening operation (rotanion, pretightening, reverse tightening and final tightening), 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.

93Supplemental explanation
Precautions for wiring the arc net.
Please use the following drawing for the arc net wiring.

Driver unit

Driver unit

Driver unit

Driver unit

I/F unit

110Ω
resistanceSet 110Ω resister to (+)(-) on the arc net connector of the end unit driver .

Precautions to use M-net communication
Make sure to set the SIO start address setting “Fn12 No.13” from the controller panel when SIO is selected forthe communication with PLC. (If the PLC address does not match the GSK controller SIO start address, thecommunication between PLC and GSS cannot be established.

Password to write the setting data to GSK PC
Password when the setting is written: 201494

About GSK tightening setting additional items①Judgment area
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 (option setting item in case of Real tightening).
With the tightening waveform of the automatic measurement item in the setting software,
you can check the 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.

95

③SD 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) Reading, saving and writing GSK settings(2) 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.

(1) Reading, saving and writing GSK settings
You can read and write settings written to GSK-IF from the setting software to the SD card.
By using the GSK display, you can read the setting data in the GSK-IF and store it in the SD card,otherwise you can write the setting data in the SD card to the GSK-IF by operating the GSK display.
When reading and writing to the SD card with the setting software, please select setup reading
and setting writing according to the application from the main menu of the setting software.
※By selecting the red frame in the lower right figure, it is saved in the PC with the extension ".SD"that can be read and written on the GSK display.
In the lower left figure, read the configuration file with the extension ".SD"from the storage medium (HDD, USB memory, SD card, etc.) connectedto the PC running the setting software.
The name of the file read by the GSK display or the file saved to the personal computer is "SETTING.SD".

96

For setting reading and writing on the GSK display, execute with each item on the screen shown below
in "SDCard relationship" in "Settings".
Since the GSK side is a subjective operation, please operate after confirmingthat the direction of data transmission is correct.

The "prohibit access to SD card" button under reading and writing is a function for safe retrieval.
Please turn off the power or push this button when unplugging the SD card.
This function is canceled by pushing this button and pulling out the SD card.
While this button is active, the lighting of LED 2 will stay red.
The following table shows the lighting state of the LED and the state of the SD card at that time.

State

LED2

Lights off

No SD card inserted

Lit green

SD card inserted (idle)

Blinkinggreen

SD card inserted (accessing)

Lit red

Access prohibited

Blinking red

97

Explanation

SD card access error occurred or
Wait for SD card insertion / removal after conservation. (GSK-IF ⇒ SDCard)

(2) Automatic storage of tightening result
The tightening result when operating automatically, is received at any time from GSK – IFand the data is preserved in 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
record of 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

98

・HISTORY.CSV file
When 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".

①②③

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.

99

Predictive maintenance function① Outline of Predictive Maintenance
The predictive maintenance function is a function to urge early exchange and maintenance by notifying before
the GSK Nutrunner system fails.
This function prevents occurrence of breakdown on the manufacturing line.
Controller electronic
component life warning
Nutrunner failure
prediction warningThis function warns the parts life of the GSK system (GSKIF / GSK driver).
Warning will be issued when parts life comes close, 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,such as overload.
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 warning bit of the IO output
signal.
3. Confirm warning details by using a PC or external display (currently being created)
GSK_Driver
GSKIF

state
Warning judgment
GSK_Driver
Warning condition
state

Warning status notification
GSK_DriverPC

Display

PLC

state

It detects presence or absence of
It displays warning details

It displays warning details

It resets warning

It resets warning

warning (IO output signal)※At the stage of warning comes out, the lifetime of each consumable item of GSK is not much left.
We recommend exchanging it promptly.

100

②GSK controller Electronic component lifetime warning
If even one of the following warning conditions occurs, the output signal to the PLC "warning of electricalcomponent 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
Warning level
Determination
methodWarning Reset

Lifetime warning of electrolytic capacitor mounted on GSK drive
4 years (lifespan: 5 years)
We write the date of manufacture when manufacturing the GSK driver.
The GSK I / F compares the manufacture date of each driver with the current date andIt judges whether it exceeds the warning level or not.
※However, if the date of manufacture is all 0, it will not be checked.
That is impossible.

Driver's relay lifetime warning
Warning content
Warning level
Determination
methodWarning Reset

Lifetime warning of the drive power-on relay mounted on the GSK drive
80 thousand times (lifespan 100 thousand times)
It clears the relay operation count to 0 when manufacturing the GSK driver.
The GSK controller increments this count by 1 each time the relay is moved.
The GSK I / F checks the number of relay operations of each driver and it judges
whether it exceeds the warning level or not.
That is impossible.

Driver's EEPROM lifetime warning
Warning content
Warning level
Determination
methodWarning Reset

Lifetime warning of EEPROM rewriting installed in the GSK drive
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 by 1 each time EEPROM rewrite is performed.
GSKIF checks the EEPROM write count of each driver and it judges whether
it exceeds the warning level or not.
That is impossible.

③Nut runner failure prediction warning
When the following warning condition occurs, the output signal "protection warning" turns 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 content
Judgment target
Warning level
Determination
methodWarning Reset101

The load current of the GSK driver exceeds a certain value.
Overload alarm level (percentage of alarm level)80%
The GSK driver notifies the GSK I/F of the overload alarm level of the motor.
GSK I/F checks whether the judgment value has exceeded the warning level andexceeded.
Warnings can be reset by computer operation.
It resets when turning off the power of GSK I/F.

Precautions for Input/Outout communication
１．Program selection
Make sure to select the program No.1 to No.24 for the program bit when the program selected.
When the program number is 0 or more than 25, it becomes ALC0 (Program not selected NG)
２．Input ENABLE
Please always input “Input ENABLE” after the program bit is selected.
If ENABLE is not input, the program cannot be changed or selected, After the program selection is changed,
check that the output of program selection completion and the program number is security changed.
３．Determination reset
Determination reset is not accepted except the total determination output after the program is finished.
(To prevent the double tightening, it is always required to input the determination reset
after the program is finished. (Total determination output))
４．Inching start
Select the program number by selecting the program bit at the inching start.
Rotating speed and direction are decided during rotation by selecting the program.
(Rotation setting number is selected by the selected program number and the speed and rotating direction
by this setting controls the inching movement.)
If the program is not selected, inching start is not accepted. Please be careful of it.
Do not input the inching start during the program operation. It may cause malfunction.
５．Alarm reset
Input for the alarm reset input is enabled only when the alarm occurred.
６．IN input
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.
７．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 start and only operates when the inching star is turned ON.
８．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.
９．Program bit selection
Program bit selection allows you to select the program number by combining the program bit.
１０．Program setting
Rating setting and axis number setting is possible by each block and axis unit in the program.

102

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.）☆Items of setting possible and setting not possible
Item
Manual input
Driverparametor
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 ADDRESS

103

○
○
○
○
○
○
×
×
○
○
○

Input from setup soft
×
○
○
○
○
○
○
○
○
○
○

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（１４letters） △ means blank（２０Ｈ）［Each axis judgement］＝0000（ＯＫ） or ＮＧ code （４letters）［Axis no.］＝01 to 30（2 letters）［Program no.］＝01 to 24（2 letters）［Unit no.］＝1 to 6

（1 letter）［Torque］＝123.4（Number of letters is according to the parametter）［Time］＝12.34（Number of letters is according to the parametter）［Gradient］＝99.9（Number of letters is according to the parametter）［Engine no.］＝1234567（Number of letters is according to the parametter）

104

（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（Number of letters is according to the parameter）［Each axis judgement］＝2

（1＝ＮＧ

2＝ＯＫ）

（３）T specification without torque（ｆｎ1st figure = 3 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］＝△△△(Number of letters is according to the parametter）△ means blank（20Ｈ）［Each axis judgement］＝2

（1＝NG

2＝OK）

Part of torque data always outputs zero.

（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（１４letters） △ means blank（２０Ｈ）［Program no.］＝01 to 24（2 letters）［Unit no.］＝1 to 6

（1 letter）［Engine no.］＝1234567（Number of letters is according to the parametter）［Axis no.］＝01 to 30（2 letters）［Torque］＝123.4［Time］＝12.34（Number of letters is according to the parametter）（Number of letters is according to the parametter）［Gradient］＝99.9（Number of letters is according to the parametter）［Each axis judgement］＝0000（ＯＫ） or ＮＧ code （４letters）

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

105

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 withhigher priority is not carried out, it select the operation of following order of priority. In case of carrying out samekind of operation more than two times within the same block, the last operation is selected.

Order of priority （high） １：Real tightening
２：Reverse tightening
３：Pretightening（low） ４：Socket fitting

106

Update log

107

Log

Date

Update contents

1st

May .2016―

2nd

Jun .2017

Added correspondence table of nut runner and controller
Etc.

3rd

November.2017

4th

March.2020

Added the commentary about Additional functions
Added setting procedure
Etc.
Alarm list modified
Contact email address has been updated.

GIKEN INDUSTRIAL CO., LTD.

■Headquaters
97-8, Imago-cho Yamatokoriyama, Nara, 639-1031
TEL ： 0743-59-3730
FAX ： 0743-59-3733
E-Mail（Sales engineering department）：gyomu@gikenkogyo.com
E-Mail（Control engineering section）：seigyo@gikenkogyo.com■Nagoya Branch Office1202, Kumada, Nagakute, Aichi, 480-1144
TEL ： 0561-63-5321
FAX ： 0561-63-5320
E-Mail：nagoya@ gikenkogyo.com■Kanto Branch Office
1-2-15, Matoba, Kawagoe, Saitama, 350-1101
TEL ： 049-298-4755
FAX ： 049-298-4756
E-Mail：kanto@ gikenkogyo.com
The 4th edition in March. 2020108