GIKEN
Mar.2023

GSK_N7
Setting Software Instruction manual

Setting Software Ver7.0.※※

GSK Interface Ver1899-7.0※※

GSK Controller Ver1851-7.※※

Before beginning operation

Caution■Note①Please read this instruction manual carefully in order to ensure that you use this product correctly.
②A part or no part of this instruction manual may be used or reproduced without the permission of GIKEN
Industrial CO., LTD.
③Regarding the handling process and operation that aren’t listed in this instruction manual, please think that theycannot be operated, and don’t attempt to operate them. Any defect that would occur when the handling processor the operation that is not listed in this instruction manual is executed should be excluded in the scope of thewarranty.
④Matters listed in this instruction manual are subject to change for the improvement without notice.
⑤For the product with special specifications, please consult us because it may not be pertinent to the use of this
instruction manual.
⑥The personal computer for set up 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 the connected
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Outline
This product is the set up software for the GSK/GSKW controller.
GSK • GSKW controller can be input setting data manually by the front side of controller, but we will use this software
to input the setting data easily and simply.
By using setting PC, you can simplify the initial setting input and improve the maintenance due to the batch
transmission function.
In addition, you can read the history of tightening and confirm torque waveform by tightening torque sampling.

Operating environment
OS：Windows XP(32bit, 64bit)
Windows Vista (32bit, 64bit)
Windows 7 (32bit, 64bit)
Windows 8 (32bit, 64bit)
RAM: Windows XP, Vista: 2GB or more, Windows 7, 8: 4GB or more
Installation directory:

C:¥GIKEN¥GSK Setting_N7

Remarks 1) Initial password for writing to controller is “2014”.
Remarks 2) Please set COM port No. on “C:¥GIKEN¥GSK Setting_N7¥GSK.ini” file.
Remarks 3) Please set Controller Ver. No. on “C:¥GIKEN¥GSK Settng_N7¥GSK.ini” file.
(Please refer to “1. Before start setting software” in details)
Remarks 4) Please install USB driver of controller to communicate with setting software.
(Please refer to “1. Before start setting software” in details)
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INDEX
1. Before start setting software .................................................................................................................................5
1-1. Install USB driver ...........................................................................................................................................5
1-2. COM port setting .............................................................................................................................................5
2. Screen structure and Communication check ........................................................................................................6
2-1. Screen structure ..............................................................................................................................................6
2-2. Communication check in starting software ...................................................................................................7
2-3. Communication check, Version check function .............................................................................................7
3. Main menu ..............................................................................................................................................................8
4. Setting read / write .................................................................................................................................................94-1. File ..................................................................................................................................................................10
4-2. Controller ....................................................................................................................................................... 11
4-3. SD card ...........................................................................................................................................................12
5. Setting ...................................................................................................................................................................13
5-1. Display setting ...............................................................................................................................................145-2. Nutrunner setting .........................................................................................................................................15
5-2-1. Rate setting ...........................................................................................................................................16
5-2-2. Manual setting ......................................................................................................................................18
5-2-2-1. Socket adjusting ...............................................................................................................................19
5-2-2-2. pre-tightening ..................................................................................................................................22
5-2-2-3. reverse rotation ................................................................................................................................25
5-2-2-4. final tightening ................................................................................................................................27
5-2-3. auto setting ............................................................................................................................................35
5-2-3-1. full-auto setting ................................................................................................................................37
5-2-3-2. setting of sampling data ..................................................................................................................40
5-3. Position setting ..............................................................................................................................................43
5-3-1. Cylinder name setting ..........................................................................................................................44
5-3-2. X rate. Set ..............................................................................................................................................46
5-3-3. Y rate. Set ..............................................................................................................................................48
5-3-4. Z rate. Set ..............................................................................................................................................50
5-3-5. XYZ point setting (Teaching) ..................................................................................................................52
5-3-5-1. Soft limit setting ..............................................................................................................................55
5-3-6. Timer setting ...........................................................................................................................................56
5-3-7. Z axis・Pressing setting .......................................................................................................................57
5-4. Program setting .............................................................................................................................................59
5-4-1. Tightening block operation select ........................................................................................................61
5-4-1-1. Graph checking for torque curve ....................................................................................................63
5-4-1-2. Screen for image of torque curve ....................................................................................................64
5-4-2. Inserts X,Y axis moving action ............................................................................................................65
5-5. Unit setting ....................................................................................................................................................673

5-6. Axis off setting ...............................................................................................................................................68
6. Auto measurement ...............................................................................................................................................70
6-1. Online .............................................................................................................................................................71
6-2. Tightening wave ............................................................................................................................................74
6-3. Tightening record ..........................................................................................................................................79
6-4. Alarm history .................................................................................................................................................81
6-5. Cycle monitor .................................................................................................................................................82
6-6. Display of current step ..................................................................................................................................83
7. Quality control ......................................................................................................................................................84
7-1.Zero / magnification results ...........................................................................................................................85
7-2. Torque sensor zero point adjustment ...........................................................................................................86
7-3. Self diagnosis .................................................................................................................................................87
7-4. Counter ...........................................................................................................................................................89
8. Print /Excel output ...............................................................................................................................................90
9. I/O Monitor ...........................................................................................................................................................92
9-1. Monitor ...........................................................................................................................................................93
9-2. Dummy input .................................................................................................................................................94
9-3. Dummy output ...............................................................................................................................................95
10. Help .....................................................................................................................................................................96
11. Option ..................................................................................................................................................................97
11-1. Calendar .......................................................................................................................................................98
11-2. Tightening data output setting ...................................................................................................................99
11-3. DISP・PC setting ......................................................................................................................................102
11-4. NG treatment setting ................................................................................................................................104
11-5. Integration counter setting .......................................................................................................................106
11-6. PLC setting ................................................................................................................................................107
11-7. Network setting ......................................................................................................................................... 111
11-7-1. PLC Network setting ........................................................................................................................ 112
11-7-2. FTP Network setting ........................................................................................................................ 113
11-7-2-3. FTP state ...................................................................................................................................... 114
11-8. Special setting ............................................................................................................................................ 115
11-9. Setting read, Setting write ........................................................................................................................ 116
12. NG code・Alarm code ...................................................................................................................................... 117
12-1. NG code list ................................................................................................................................................ 117
12-2. Alarm code list (EC alarm)........................................................................................................................120
12-3. Alarm code list (EC alarm details) ...........................................................................................................122
13. Others ................................................................................................................................................................132
13-1. About Operation ready ON/OFF in reading/writing setting...................................................................132
The terminology explanation ....................................................................................................................................133
The revise history ...................................................................................................................................................1364

1. Before start setting software
1-1. Install USB driver
Need to install USB driver to connect between GSK controller and setting software.
Please execute the following exe file in setting software disc;
32bit OS ⇒ Execute [VCP_V1.3.1_Setup.exe] and install
64bit OS ⇒ Execute [VCP_V1.3.1_Setup_x64.exe] and isntall

1-2. COM port setting
・Set COM port No. which is used in communication with controller.
Start GSK setting software and set on DISP・PC setting (inside “Main menu” ⇒ “Option”)
Or, open “¥GSK Setting_N7¥GSK.ini” and set ** part on “GSS_Com=**”.
*You can confirm COM No. in “Device Manager”

5

2. Screen structure and Communication check2-1. Screen structure6

2-2. Communication check in starting software
Inquiry "Do you want to communicate?" is shown when the program is started.
If you select “Yes”, version and communication check will be started.
If you select “No”, you enter the main menu without communication.

Fig (1-2): "Do you want to communicate?"

2-3. Communication check, Version check function
If you select "Yes" in the above window, automatically GSK controller does communication check andVersion check.

Fig (2-3-1): Initial communication check error

Fig (2-3-2): Unit setting acquisition error

Unit setting of GSK controller is acquired automatically in starting the program.

Fig (2-3-3): Controller version check error

Main confirmation points when error occurs;
・Initial communication check error: Confirmation of COM port setting on setting PC

・Error in reading unit setting: Confirmation of ARC-NET connection in controller

・Version check error: Confirmation of Setting software and GSK interface version

7

3. Main menu

Fig (3-1) Main menu
・Setting read (F1)

The setting data is read from file , controller or SD card.

・Setting write (F2)

The setting data is written to file , controller or SD card.

・Setting (F3)

Setting menu is displayed.

・Auto measurement (F4)Auto measurement menu is displayed.

・Quality control (F5)

Quality control screen is displayed.

・Print/Excel output (F6)

Print menu is displayed.

・I/O Monitor (F7)I/O monitor menu is displayed.

・Help (F8)

Setting software instruction manual is displayed.

・Option (F9)

Option menu is displayed.

・Exit (F12)Finish the program.

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4. Setting read / write
You can read / write the GSK setting data from file, controller or SD card.
“Operation ready” off will be needed in writing setting to controller.

Fig (4-1): Setting read screen･File (F1)
You can read / write “.GSK” file in PC etc.
･Controller (F2)
You can read / write setting from GSK controller with USB connection.
･SD card (F3)
You can read “.SD” file from SD card.
Or you can save “.SD” file to SD card or PC etc.

Supplement : file extension of each item and data included in “.GSK” file
The below figure shows each data which can be read by “Setting read (F1)” on Main menu (“.GSK” file);94-1. File
After selecting “FILE (F1)” on “Setting read”, the below window will be shown.

Fig (4-1-1): Select import files
You can read setting data files which saved on your setting PC.
You can read only “.GSK” extension file.
Please aware that you cannot read other setting files in this operation.
Please select a GSK setting file from the window.

After selecting the file, will start reading.
Then, reading progress is shown.

Fig (4-1-2): Progress of reading from “FILE”
After reading is completed, the below message will be shown.
After reading GSK setting file, will return to “Main menu”.

Fig (4-1-3): Completion message

104-2. Controller
GSK setting is read from setting value which saved inside GSK controller.
In case of reading setting file from GSK controller, GSK controller and PC must be connected by USB cable.

Fig (4-2-1): Progress of reading from “CONTROLLER”

Fig (4-2-2): Completion message

After reading from controller is completed, the message as Fig (4-2-2) will be shown.
After reading GSK setting file from controller, will return to the “Main menu”.

114-3. SD card
You can read “.SD” extension file by “SD CARD (F3)”Fig (4-3-1): Import file window

After click “SD CARD (F3)” on “Setting read”, the above window will be shown.
Please select and read “.SD” extension file.
*You can select not only from SD card, but from PC etc.
After select the file, the screen will be shown as below.

Fig (4-3-2): Progress of reading from SD card

Fig (4-3-3): Completion message

After reading from SD card is completed, the message as Fig (4-3-3) will be shown.
After reading GSK setting file from SD card, return to “Main menu”.

125. Setting
You can do various settings on “Setting” inside “Main menu”.

Fig (5-1): Setting Menu
・Nutrunner setting (F1)

Various settings of Nutrunner.

・Position setting (F2)

Settings of GSK positioning function *1

・Program setting (F3)

Settings of Tightening program

・Unit setting (F4)

Settings of each axis’ usage and each unit No.

・Axis off setting (F5)

Settings of each axis off and its status (NG or OK)

・Display setting (F6)

Settings of screw layout on display

・Return (F12)Return to Main Menu.

*1 You cannot select this item if only “N” axes are used on “Unit setting (F4)”13

5-1. Display setting
You can set screw No. layout on display.

Fig (5-1-1): Display setting[Item]
・PROGRAM No.

Please select program No. which you want to set layout.

・Axis layout setting form

You can set axis layout by clicking on the form.

・SCREW No.

Please select screw No. which you want to use on this program.

・DISP No .

Please select screw No. which you want to show on display.

・Big marker

Will show big marker on display

・Small marker

Will show small marker on display[Button]・ReadWill show “Read the thread number setting”.

・WriteWill show “Write the thread number setting”.

・Print the screen

Will pint the screen.

・ClearWill delete all layout information on the screen.

・Delete one

Will delete some screw layout information which selected on the screen.

・OK

Can return to “SETTING MENU” with keeping the setting.

・CancelCan return to “SETTING MENU” without keeping the setting.

Print screen (P): Print the present screen

Undo (Z):Copy (C): Copy setting contents of the present program No.

Paste (P):Cancel all changes

Paste copied information on designated program No.

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5-2. Nutrunner setting
You can do setting of Nutrunner.

Fig (5-2-1): Nutrunner setting
・RATE. SET (F1)Rate setting of Nutrunner

・Manual setting (Parameter) (F2)Each tightening process setting by manual・Auto setting (F4)Auto tightening setting by rate data & tightening point

・Return to the main menu (F11)

Return to “Main menu”

・Return to the setting menu (F12)Return to “Setting menu”

15

5-2-1. Rate setting
You can set “rate setting” of nutrunnner.

Fig (5-2-2): Rate setting[Item]
・Nut runner type

You can select nut runner type.
*If nut runner type is chosen, sensor type, motor type and other data will be selected

automatically.
・Sensor type

You can select torque sensor type.

*If sensor type is chosen, the related data will be reflected automatically.
・Motor type

You can select motor type.

・Change of data

You can change the below value by putting a check on this item

・Torque sensor rating (Input area：0～6550)

Setting of rate value of torque sensor.
Not recommend to change.

・Rating limit (Input area：0 to 3276.7)

Setting of Limit over value.
To detect abnormal fluctuation of magnification andzero offset value.
・Setting limit (Input area：0 to 3276.7)

Setting of Set over value.
To detect abnormality of magnification andzero offset value.
・Zero point preset value (Input area：0 to 3276.7)

Setting of Zero point preset value.

・Magnification preset value (Input area：0 to 3276.7)

Setting of Magnification preset value.

・Gain correction (Input area：0 to 3276.7)

Setting of Gain correction value.
To fluctuate detected torque by fluctuating this value.
16・Reduction ratio (Input area：0 to 9999)

Setting of Reduction ratio of NR.
Not recommend to change.

・Max speed

To show settable Max. rpm according to NR

・Max torqueTo show settable Max. torque according to NR

Note 1）You can change “Torque sensor rating” value only when “Sensor type” is “OTHER”
Note 2）You cannot set against the input rules as follows;・Rating limit＜

torque sensor rate

・Zero point preset value
・Gain correction＜＜

torque sensor rate

・Setting limit＜

torque sensor rate

・Magnification preset value＜

torque sensor rate

torque sensor rate

[Button]・Establish button

To fix changes.
Not written to controller yet only by clicking this button

・Read button

To move to “Read the rating setting”.

・Write button

To move to “Write the rating setting”.

・Print button

To execute printing of Rate setting.

・OK button

To return to “Nutrunner setting” with keeping changed contents.

・Cancel button

To return to “Nutrunner setting” without keeping changed contents.
Changed contents are also reset even if you click “Establish” before this operation.

Print screen (P)Undo (Z)Copy (C): Print the present screen:

Cancel all changes: Copy setting contents of the present setting No.

17

5-2-2. Manual setting
You can set tightening setting of Nut runner.

Fig (5-2-3): Manual setting menu
・SOC.T SET (F3)

Setting of socket adjustment.
To move to the setting screen.

・PRE.T SET (F4)

Setting of pre-tightening.
To move to the setting screen.

・REV.T SET (F5)

Setting of reverse.
To move to the setting screen.

・REA.T SET (F6)

Setting of final tightening.
To move to the setting screen.

・Return to the setting menu (F12)Return to “Nutrunner setting”.

18

5-2-2-1. Socket adjusting
You can do setting of fitting between socket and bolt.

Fig (5-2-4): Socket adjusting* You can move to "pre-tightening", "reverse rotation" and "final tightening" by clicking the upper right buttons.

[Item]・Rotation angle (input area：0 to 9999)

Setting of rotation angle in socket adjustment.

・Speed (input area：0 to 9999)

Setting of speed in socket adjustment.

・Change of option setting

You can set the below items if put a check on this item.

・Operation

You can choose the below movements.

・Torque determination OFF⇒

To stop movement by Rotation angle or Over time.
Not judge by “Detection torque”.

・One shot reverse⇒

To reverse rotation but not loosened, and prevent socket from being bitten・Fitting⇒

To stop movement by reaching “Detection torque” and go to the next step.
Not reaching “Detection torque” is NG.
To be used for fitting confirmation between tightened bolt and socket.

・Gear check⇒

Reaching “Detection torque” stops movement and output NG.
To check engagement of gears etc.

Remarks) Setting No. 50 of socket fitting is special for “One shot reverse”. Therefore, normal movement of socket
fitting cannot be done. In addition, in setting No. 50, “Detection torque” is ignored due to automatic
torque limit.
Setting of “Detection torque” value.

・Detection torque (input area：0 to 3276.7)
19

・Time before socket fitting (input area：0 to 9999)

Setting of time until start movement.

・Over time (input area：0 to 60)

Setting of Max. movement time for socket fitting.
To stop movement and output NG if socket fitting notfinished during this time.
・Height check enabled / disabled

To repeat socket fitting until reaching the designatedcoordinates by watching Z axis coordinates.
*This item becomes active when “Pressing setting” isset.
・Number of retries⇒

Setting of repeat number of socket fitting.
To repeat socket fitting the set times until Z axis coordinates come into thelimit area.
Or to stop socket fitting and go to next step regardless of this setting
number if Z axis coordinates come into the limit area.
・Completion upper limit⇒

To complete retry of socket fitting if Z axis coordinates over this setting value.
Setting datum is distance from Z axis coordinates which teaching has been

done.
*Coordinates of “Pressing down” command which is in the previous block ofthis fitting block becomes datum.
・Completion lower limit⇒

To output NG if Z axis coordinates over this setting value.

=About “Completion upper limit”, “Completion lower limit”=
Setting datum is distance from Z axis coordinates which teaching has been done.
*Z axis coordinates which teaching has been done means coordinates of X, Y axis moving block which is in theprevious block of this fitting block.
In the setting of socket fitting, input check will be done according to the below conditions.
You cannot set against the input rules.
*Input check will not be done if “Rotation angle” is zero.

20[Button]・Establish button⇒

To fix changes.

・Delete button⇒

All changes in the present setting No. returns to the initial values.

・Read button⇒

To move to “Read the socket fitting setting”.

・Write button⇒

To move to “Write the socket fitting setting”.

・Print button⇒

To execute printing of setting of socket fitting.

・OK button⇒

To return to “Manual setting menu” with keeping changed contents.

・Cancel button⇒

To return to “Manual setting menu” without keeping changed contents.
Changed contents are also reset even if you click “Establish”

before this operation.
Print screen (P)Undo (Z)Copy (C): Print the present screen:

Cancel all changes of the present setting No.

: Copy setting contents of the present setting No.

21

5-2-2-2. pre-tightening
You can do setting of pre-tightening.

Fig (5-2-5): Pre-tightening* You can move to "socket fitting", "reverse rotation" and "final tightening" by clicking the upper right buttons.

[Items]・Fitting thread (setting in fitting thread and female thread)・Turning angle (input area：0 to 9999)

Setting of rotation angle in thread fitting.

・Speed (input area：0 to 9999)

Setting of speed in thread fitting.

・Fast forwarding

Setting from thread fitting finish until before fit on work

surface.
・Angle of fast forwarding (input area：0 to 9999)

Setting of rotation angle in fast forwarding.

・Speed (input area：0 to 9999)

Setting of speed in fast forwarding.

・Premature tightening determination torque (input area：0 to 3276.7)
To output NG if the setting torque is detected.
Monitor range: from pre-tightening start until fast
forwarding finish.

22

・Fit on work surface (movement until fit on work surface)・Pre-tightening torque (input area：0 to 3276.7)

Setting of target torque in pre-tightening.
To stop pre-tightening by reaching this torque.

・Speed 3 finish torque (input area：0 to 3276.7)

Torque value to change from speed 3 to speed 4.

・Upper torque limit (input area：0 to 3276.7)

Upper limit torque against pre-tightening torque.
Threshold for torque over NG.

・Lower torque limit (input area：0 to 3276.7)

Lower limit torque against pre-tightening torque.
Threshold for torque under NG.

・Speed 3 (input area：0 to 9999)

Speed mainly in fitting on work surface.

・Speed 4 (input area：0 to 9999)

Final tightening speed in pre-tightening.

・Speed 4 change distance (input area：0 to 9999)

To change speed by using Z axis coordinates.
*Can be used in pressing control.

・Over time (input area：0 to 60)

Setting of Max. movement time in pre-tightening.

To stop movement and output NG If over this time
setting.
・Sampling start torque (input area：0 to 3276.7)

Starting point torque for upper / lower limit of time andangle.
・Judgment of area size (input area：0 to 65535)

Setting of area size value used for judging screw

defect.
・Change of option set
・Invalid area for measurement (input area：0 to 9999)

Setting the area not used for area judgementby angle.
Stretched waveform (angle – torque) to be used forarea judgement.
・Measurement angle (input area：0～9999)

Setting angle for measuring area.

・Time before pre-tightening (input area：0 to 65500)

Setting of time before start rotation.

・Upper time limit (input area：0 to 65500)

Setting of upper time limit for judging time.

・Lower time limit (input area：0 to 65500)

Setting of lower time limit for judging time.

・Upper angle limit (input area：0 to 999.9)

Setting of upper angle limit for judging angle.

・Lower angle limit (input area：0 to 999.9)

Setting of lower angle limit for judging angle.

・Monitoring time for no torque (input area：0 to 65500) No torque judgment time from start movement.

23

・Pre-tightening cutting angle (input area：0 to 9999)

Setting of Max. angle in pre-tightening.

In Pre-tightening setting, input check will be done according to the below conditions.
You cannot set against the input rules.
In case of both speed 3 and speed 4 are zero, input check not done.
・Over time＞= 1

・Angle of fast forwarding＞=rotation angle

・Upper time limit＞Lower time limit

・Upper torque limit＞Lower torque limit

・Upper angle limit＞Lower tangle limit

・Pre-tightening torque＞Sampling start torque ・Upper torque limit＞Pre-tightening torque＞Lower torque limit[Button]・Establish button⇒

To fix changes.

・Delete button⇒

All changes in the present setting No. returns to the initial values.

・Read button⇒

To move to “Read the pre-tightening setting”.

・Write button⇒

To move to “Write the pre-tightening setting”.

・Print button⇒

To execute printing of setting of pre-tightening setting.

・OK button⇒

To return to “Manual setting menu” with keeping changed contents.

・Cancel button⇒

To return to “Manual setting menu” without keeping changed contents.
Changed contents are also reset even if you click “Establish”

before this operation.
Print screen (P)Undo (Z)Copy (C): Print the present screen:

Cancel all changes of the present setting No.

: Copy setting contents of the present setting No.

24

5-2-2-3. reverse rotation
You can do setting of reverse rotation. Mainly detect seizure and abnormality of bolt.

Fig (5-2-6): reverse rotation* You can move to "socket fitting", "pre-tightening" and "final tightening" by clicking the upper right buttons.

[Items]・Judgment of torque (input area：0 to 3276.7)

Setting of judgement torque for judging screw defect.
To judge by measuring torque in measurement angle.

・Reverse angle (input area：0 to 9999)

Setting of rotation angle in reverse rotation.

・Speed 1 (input area：0 to 9999)

Setting of speed in starting movement.
Normally, to be set in low speed for loosening.

・Measurement angle (input area：0 to 9999)

Setting of angle of measuring torquefor detecting screw defect.
・Passing torque (input area：0 to 3276.7)

Torque setting for detecting broken screw etc.
If not detecting this torque in reverse rotation,“No detection of reverse passing torque NG” will be output.
・Baking torque (input area：0 to 3276.7)

Setting of torque for judging screw defect.

25

・Over time (input area：0 to 60)

Setting of Max. movement time in reverse rotation.
To stop movement and output NG if not finish movement

within this time.
[Change of option setting]・Speed 1 finish angle (input area：0 to 9999)

Setting of angle for switching from speed 1 to speed 2.

・Speed 2 (input area：0 to 9999)

To loosen bolts by this speed.
Normally, speed 1 in low speed and speed 2 in high speed.

・Time before reverse rotation

Setting of waiting time before starting reverse rotation.

(input area：0 to 65500)
In reverse rotation setting, input check will be done according to the below conditions.
You cannot set against the input rules.
*In case that “Reverse angle” is zero, input check not done.
・Over time＞=1

・Reverse angle＞=Measurement angle

・Reverse angle＞=Speed 1 finish angle[Button]・Establish button⇒

To fix changes.

・Delete button⇒

All changes in the present setting No. returns to the initial values.

・Read button⇒

To move to “Reading the reverse rotation setting”.

・Write button⇒

To move to “Write the reverse rotation setting”.

・Print button⇒

To execute printing of setting of reverse rotation setting.

・OK button⇒

To return to “Manual setting menu” with keeping changed contents.

・Cancel button⇒

To return to “Manual setting menu” without keeping changed contents.
Changed contents are also reset even if you click “Establish”

before this operation.
Print screen (P)Undo (Z)Copy (C)
Paste (P): Print the present screen:

Cancel all changes of the present setting No.

: Copy setting contents of the present setting No.
:

Paste copied information on the present setting No.

26

5-2-2-4. final tightening
You can do setting of final setting.

Fig (5-2-7): final tightening (torque mode)* You can move to "socket fitting", "pre-tightening" and "reverse rotation" by clicking the upper right buttons.

Final tightening – Torque mode
[Items]・Tightening mode

To decide tightening method in final tightening.
To select from “Torque mode” and “Angle mode”.

・Real tightening torque

Setting of target torque in final tightening.

(input area：0 to 3276.7)
・Sampling start torque

Setting of measuring start torque for judging angle and time

(input area：0 to 3276.7)
・Speed 1 (input area：0 to 9999)

Setting of rotation speed in starting movement.

・Speed 1 finish angle

Setting of angle value for switching from speed 1 to speed 2.

(input area：0 to 9999)
・Speed 2 (input area：0 to 999)

Setting of rotation speed after reaching “Speed 1 finish angle”
In case of no use of speed 3 and speed 4, this setting will befinal tightening speed.

27

・Over time (input area：1 to 60)

Setting Max. movement time in final tightening.
To stop movement and output NG if final tightening not finish

within this time.
・Upper torque limit

Setting of upper torque limit for target torque.

(input area：0 to 3276.7)
・Lower torque limit

Setting of lower torque limit for target torque.

(input area：0 to 3276.7)
・Cutting angle (input area：0 to 9999)

Setting of Max. movement angle in this movement.
To stop movement and judge torque in reaching this angle.

[Change of option setting]・Time before final tightening

Setting of waiting time before starting final tightening.

(input area：0 to 65500)
・Upper time limit (input area：0 to 65500)

Setting of upper time limit in final tightening.

・Lower time limit (input area：0 to 65500)

Setting of lower time limit in final tightening.

・Upper angle limit (input area：0 to 999.9)

Setting of upper angle limit in final tightening.

・Lower angle limit (input area：0 to 999.9)

Setting of lower angle limit in final tightening.

・Premature tightening determination angle

Setting of angle used for judging early tightening error.

(input：0 to 9999)
within this set angle

When the tightening torque is exceeded
Premature tightening NG is output

・Monitoring time for no torqueDuring this time from start movement, not judge torque.

(input area：0 to 65500)
・Judgment of area size

Setting of area value used for judging screw defect.

(input area：0 to 65535)

This area is calculated from stretched waveform.
Please set based upon the result value of “Auto measurement”.

・Change of zone determination

In normal movement, a slope of torque is stable.
To judge according to variations of the slope.

・Zone monitoring range

To select from the below patterns.

“Watch off”⇒

Not do zone judgement.

“Lower off”⇒

Not judge lower limit in zone judgement.

“Upper off”⇒

Not judge upper limit in zone judgement.

“Watch on”⇒

To judge by using upper / lower limit in zone judgement.

28

・Zone starting point

Setting of starting torque in zone judgement.

(input area：0 to 3276.7)
・Tolerance of the zone starting point

Setting of tolerance of starting torque in zone judgement.

(input area：0 to 3276.7)
・Zone end point (input area：0 to 999.9)

Setting of finish angle in zone judgement.
To finish zone in passing this angle from start point angle.

・Tolerance of the zone end point

Setting of tolerance of finish angle in zone judgement.

(input area：0 to 999.9)
・Smooth tightening

To tighten by changing speed automatically according to time andtorque from start tightening until reaching cutting torque and finish.
・Initial speed (input area：0 to 9999)

Setting of starting speed in smooth tightening.

・Speed at cutting torque

Setting of speed when reaching cutting torque.

(input area：0 to 9999)
・Option mode of speed 3,4

To add speed 3 and speed 4 in final tightening.

・Speed 3 select angle

Setting of angle for switching to speed 3 from final tightening start.

(input area：0 to 9999)
・Speed 3 (input area：0 to 9999)

Setting of rotation speed of speed 3.

・Speed 4 select torque

Setting of torque for switching to speed 4.

(input area：0 to 3276.7)
・Speed 4 (input area：0 to 9999)
・Speed 4 change distance(input area：0 to 3276.7)

Setting of rotation speed of speed 4.
To switch speed by using Z axis coordinates.
*Can be used in Pressing control

Setting datum is distance from Z axis coordinates which teaching has been done.
*Z axis coordinates which teaching has been done means coordinates of X, Y axis moving block which is in theprevious block of this fitting block.

29

In final tightening – torque mode setting, input check will be done according to the below conditions.
You cannot set against the input rules.
*In case that “Cutting angle” is zero, input check not done.
・Over time＞=1

・Upper torque limit＞Lower torque limit

・Upper time limit＞Lower time limit

・Upper torque limit＞Real-tightening torque＞Lower torque limit
・Initial speed＞=Speed at cutting torque[Button]・Delete button⇒

All changes in the present setting No. returns to the initial values.

・Read button⇒

To move to “Read the real tightening setting”.

・Write button⇒

To move to “Write the real tightening setting”.

・Print button⇒

To execute printing of setting of final tightening setting.

・OK button⇒

To return to “Manual setting menu” with keeping changed contents.

・Cancel button⇒

To return to “Manual setting menu” without keeping changed contents.
Changed contents are also reset even if you click “Establish”

before this operation.
Print screen (P)Undo (Z)Copy (C)
Paste (P): Print the present screen:

Cancel all changes of the present setting No.

: Copy setting contents of the present setting No.
:

Paste copied information on the present setting No.

30

Fig (5-2-8): final tightening (angle mode)* You can move to "socket fitting", "pre-tightening" and "reverse rotation" by clicking the upper right buttons.

Final tightening－angle mode
[Items]・Tightening mode

To decide tightening method in final tightening.
To select “Angle mode”.

・Snag torque (input area：0～3276.7)

Torque for starting angle-mode tightening.
To set the value which torque rise becomes stable after seating.

・cutting torque (input area：0～3276.7)

To stop the movement if over this value before reaching target

tightening angle.
・Tightening angle (input area：0～9999)

Setting of target angle from snug torque.
Normally, to stop the movement by this setting.

・Over time (input area：0～60)
・Upper torque limit(input area：0 to 3276.7)
・Lower torque limit

Setting of Max. movement time in final tightening.
Setting of upper torque limit for target torque.
To set lower value against cutting torque.
Setting of lower torque limit for target torque.

(input area：0 to 3276.7)
・Upper snag torque limit

Setting of upper torque limit for snag torque.

(input area：0 to 3276.7)

31

・Lower snag torque limit

Setting of lower torque limit for snag torque.

(input area：0 to 3276.7)
・Upper angle limit

Setting of upper angle limit for tightening angle.

(input area：0 to 999.9)
・Lower angle limit

Setting of lower angle limit for tightening angle.

(input area：0 to 999.9)
・Speed 1 (input area：0 to 9999)

Setting of rotation speed in starting final tightening.

・Speed 1 finish angle

Setting of rotation angle with speed 1.

(input area：0 to 9999)

To switch to speed 2 after reaching this angle.

・Speed 2 (input area：0 to 999)

Setting of speed value of speed 2.

・Passing torque of real tightening

The torque which monitoring torque down after snag torque.

(input area：0 to 3276.7)

To output NG if under this torque after passing snag torque.

*If “Passing torque of real tightening” is set in bigger than “Snag torque”, the movement will be stopped inreaching snag torque and NG is output.
[Change of option setting]・Time before final tightening

Setting of waiting time before starting this movement.

(input area：0 to 65500)
・Upper time limit (input area：0 to 65500)

Setting of upper time limit in this movement.

・Lower time limit (input area：0 to 65500)

Setting of lower time limit in this movement.

・Premature tightening determination angle

Setting of the angle used for judging early tightening error.

(input area：0 to 9999)
・Monitoring time for no torqueTo output NG if over this angle.
During this time from start movement, not judge torque.

(input area：0 to 65500)
・Judgment of area size
(input area：0 to 65535)

Setting of area value used for judging screw defect.
This area is calculated from stretched waveform.
Please set based upon the result value of “Auto measurement”.

・Gradient determination setting

To confirm whether the slope just before end is lower than

the slop in start by detecting both torque.

32

・Gradient sampling number

To set sampling range by “0.5 * Gradient sampling number”.

(input area：0 to 99)
・Moving average number(input area：0 to100)

To set number of sampling.
After getting torque rise value, calculate the averageby this number.
・Upper gradient determination limit

Setting of upper gradient determination limit by %.

(input area：0 to 100)・Lower gradient determination limit

Setting of lower gradient determination limit by %.

(input area：0 to 100)・Smooth tightening

To tighten by changing speed automatically according to time andtorque from start tightening until reaching cutting torque and finish.
・Initial speed (input area：0 to 9999)

Setting of starting speed in smooth tightening.

・Speed at cutting torque

Setting of speed in reaching cutting torque.

(input area：0 to 9999)
・Option mode of speed 3,4

To add speed 3 and speed 4 in final tightening.

・Speed 3 select angle

Setting of angle for switching to speed 3 from final tightening start.

(input area：0 to 9999)
・Speed 3 (input area：0 to 9999)

Setting of rotation speed of speed 3.

・Speed 4 select torque

Setting of torque for switching to speed 4.

(input area：0 to 3276.7)
・Speed 4 (input area：0 to 9999)
・Speed 4 change distance(input area：0 to 3276.7)

Setting of rotation speed of speed 4.
To switch speed by using Z axis coordinates.
*Can be used in Pressing control

Setting datum is distance from Z axis coordinates which teaching has been done.
*Z axis coordinates which teaching has been done means coordinates of X, Y axis moving block which is in theprevious block of this fitting block.

33

In final tightening – angle mode setting, input check will be done according to the below conditions.
You cannot set against the input rules.
*In case that “Tightening angle” is zero, input check not done.
・Over time＞=1
・Upper torque limit＞Lower torque limit
・Upper time limit＞Lower time limit
・Upper angle limit＞Lower angle limit
・Upper snag torque limit＞Lower snag torque limit

34

5-2-3. auto setting
You can do tightening setting of nut runner automatically.

Fig (5-2-9): Torque mode

Fig (5-2-10): Angle mode

*Before doing this setting, you need to do “Rate setting” of nut runner.
[STEP 1]
To input basic information of tightening.
Basic information

To input basic information of nut runner.
Basic information are Rate of nut runner, Tightening direction,
Tightening mode of final tightening and tightening target.

*Setting contents of tightening target is changed according to each tightening mode.
The difference of setting contents are as follows;
・Torque mode

Setting of final tightening torque and its upper / lower torque limit.

・Angle mode

Setting of snag torque, its upper / lower torque limit, tightening angle andits upper / lower angle limit.
[Items]・Rate No.

Setting of rate of nut runner.

・Tightening direction

To select tightening direction.

・Torque mode, Angle mode

To select tightening mode.

[Torque mode]
Rea tightening torque

Setting of target torque of final tightening.

Upper torque limit

Setting of upper limit of final tightening torque

Lower torque limit

Setting of lower limit of final tightening torque.

35

[Angle mode]
Snag torqueStarting point torque in angle control after bolt seating in final tightening.

Upper snag torque limit

Setting of upper limit of snag torque.

Lower snag torque limit

Setting of lower limit of snag torque.

Tightening angle

Setting of rotation angle after passing snag torque.

Upper angle limit

Setting of upper limit of tightening angle.

Lower angle limit

Setting of lower limit of tightening angle.

[STEP 2]To select setting flow in auto setting.
There are 2 patterns of flow. Input contents from next page are changed according to each pattern.
[Items]・Full-auto setting

To do setting automatically by inputting information of screw.

・Setting of sampling data

To make tightening setting based upon the information which are collected byauto sampling.
[Button]・Next

To move to next page after checking the input information.

・CancelTo finish “Auto setting” and return to “Nutrunner setting”.
Normally, if clicking this button, return to “Nutrunner setting” and reset.
But, Not be reset if move to next page once.

36

5-2-3-1. full-auto setting
You can move to “Standard setting” if you select “Full-auto setting” in “Auto setting” and click “Next”.

Fig (5-2-11): Standard setting
Setting of tightening objects[Items]・Rate No.

To show Rate No. which was input in “Auto setting”.

・Axis No.

To select axis which the block made in this setting is assigned.

・Kind of thread

To select kind of thread of tightening object.
By this selection, movement contents included in block are changed.
・Standard bolt→

Socket fitting + Pre-tightening + Reverse + Final tightening

・Nut

→

Socket fitting + Pre-tightening + Reverse + Final tightening

・Bolt with sealing compound→

Socket fitting + Pre-tightening + Final Tightening

・Bolt seat is fit on work surface
Setting of seating condition of bolt in starting tightening.
If select “Fit on work surface”, “Pre-tightening” is excluded from the above contents.
In addition, information input of “Gap of bolts” etc. becomes invalid.

37

・Gap of bolts, Pitch of thread

To input gap between bottom of bolt head and work surface and pitch of thread

for angle information until seating.
This setting becomes valid in case of “Unfit on work surface”.
If select this setting, “Revolving number of times until fit on work surface”
becomes invalid.
・Revolving number of times until fit on work surface
To input number of rotations until seating.
Based upon this, angle until seating is calculated.
This setting becomes valid in case of “Unfit on work surface”.
・Inclusion

To be selected if any inclusion which reflect on tightening between bolt andwork surface.
If “FIPG” is selected, “Reverse” is excluded from movement contents.

[Button]・Next

To move to “Screen for image of torque curve” after checking input.

・Back

To return to “Auto setting” with reset input.

・CancelTo return to “Nutrunner setting” with reset input.

After input in “Standard setting” is finished, “Next” button becomes valid.
Then move to “Screen for image of torque curve”.
38Fig (5-2-12): Screen for image of torque curve

In this page, you can confirm waveform which is made by auto setting.
[Items]・BlockYou can change block No. which were already set before.

・Setting items

Please confirm setting items of each movement in manual setting.

[Button]・Read

To open “Setting read”.
This “Read” is same function as that in “Main menu”.

・WriteTo open “Setting write”.
This “Write” is same function as that in “Main menu”.

・Graph checking

To open “Graph checking for torque curve”.
In this page, you can confirm simple cycle time and rough torque curve by value.

・OK

To return to “Nutrunner setting” with keeping setting inside setting software.

・CancelTo return to “Standard setting” without keeping setting which is made automatically.

39

5-2-3-2. setting of sampling data
“Setting of sampling data” is shown if click “Next” after selecting “Setting of sampling data” in “Auto setting”.

Fig (5-2-13): Setting of sampling data
[Items]・Rate No.

Rate No. of nutrunner is shown.

・Using nutrunner

Nutrunner which is defined on the above rate No. is shown.

・Motion axis No.

To select axis No. to be assigned.

・Operation selectTo select movement in each step (1～6).
No need to select in all steps.

[Buttons]
・Try for low speed revolution

To start sampling in low speed rotation.

・Usual measurement starting

This button becomes valid after collecting information in“Try for low speed revolution”.
To continue making setting automatically based upon basic information
and result of “Try for low speed revolution”.
・Clear of select data

To reduce the selected data on the information result list.

・Clear of all data

To reduce all result data on the list.

40

・Shift of sampling data

To save result data as file in setting PC.
The saved data can be read from “Referring of sampling data history”.

・Shift of detail setting data

To show details on “Screen for image of torque curve” after fixing the settings

which was checked in “All OK”.
・Return

To return to “Auto setting”.

*As for setting of tightening sampling cutting torque, please refer to"GSK controller instruction manual 6-1 *Tightening sampling cutting torque setting procedures” (Ver.8～).

*Flow of “Setting of sampling data”
Sampling is set in flow as follows;①

Selection of movement to be set

To select movement to be set in “Operation select”.
Selectable movements are “SOC. T”, “PRE. T”, “REV. T” and “REA. T”.

②

Measurement of angle until seating by low speed rotation try.

To measure by low speed rotation try to confirm tightening stroke of bolt and existence of inclusion.
This operation cannot be done if “Operation ready completed” is not output.
Measurement starts by clicking “Try for low speed revolution” under same conditions as actual tightening.
If measurement starts, “A low-speed revolution is being tried” is displayed.
You can cancel low speed rotation try by “Cancel” button.
During low speed rotation try, the rotation speed is 40 rpm, which is specified speed, and the angle until reachingtightening sampling cutting torque is measured.
After reaching tightening sampling cutting torque, then take place loosening until the angle which is 1.5 times ofmeasurement angle and finish measurement rotation try.
During this movement, if not reaching sampling tightening torque within specified time or specified angle due to
breakage of bolt etc., NG code “0033” is output.

Fig (5-2-14): A low-speed revolution is being tried41

③Start sampling by “Usual measurement starting”.

By clicking “Usual measurement starting” button, setting of movement based upon measured angle in low speed
rotation try and block are made.
During “Usual measurement starting”, the below message is shown. After getting necessary data, please click“Cancel” button on “Now on sampling” message.

Fig (5-16): Now on sampling④

To click cancel button after getting necessary data in “Usual measurement starting”.

Firstly, when making setting value by collected data, data to be excluded are selected on “NG”, “All OK”.
(Checked data on “NG” and not checked data on “All OK” are excluded)
After selecting, collected data are saved in setting PC by “Shift of sampling data” button.
Then, when doing setting on block, click “Shift of detail setting data” button (to ⑤), or
when measuring by setting value which are made by collected data, click “Usual measurement starting” (to ②).
The data on upper right is stretched torque curve.

Fig (5-17): Setting of sampling data after measurement⑤

By clicking “Shift of detail setting data”, move to “Screen for image of torque curve” and show block No.

Then, after clicking “OK”, information of the block is saved on setting PC.
*The block No. is smallest block number in unused numbers.
Setting value can be change in “Screen for image of torque curve”.

42

5-3. Position setting
You can do setting of X axis, Y axis and Z axis.
Remarks) If X, Y or Z axis is not selected in “Unit setting”, this item is invalid.

Fig (5-3-1): Position setting
・Cylinder name setting (F1)

Setting of cylinder name and movement to be used for each unit.

・X rate. Set (F2Setting of rate of motor used on X axis.

・Y rate. Set (F3)

Setting of rate of motor used on Y axis.

・XYZ point setting (Teaching) (F4)

Setting of coordinates

・Timer setting (F5)

Setting of timer used for outputting NG.

・Z rate. Set (F6)

Setting of rate of motor used on Z axis.

・Pressing sitting (F7)

Setting of pressing control of Z axis.

・Return to the setting menu (F12)

To return to “SETTING MENU”.

43

5-3-1. Cylinder name setting
You can change command name used in “Program setting” according to usage of Z axis.

Fig (5-3-2): Cylinder name setting

After setting cylinder name, command name in “I/O monitor” will be same as set here.
You can set each cylinder for each unit.
If numbers of setting exceed numbers of unit used, you cannot use in “Program setting”.
ex) Cylinder1 advance⇒N/R 1 down

[Items]・Cylinder use number

To select numbers of unit which each cylinder is used.
Max. numbers of setting is 4 (same as Max. numbers of unit).
You can do setting in selected numbers.

・Cylinder name setting

To select an item which is moved by the cylinder.
(N/R, Socket etc.)

To select direction of movement on the right.
(up・down, advance・return etc.)

44[Buttons]・ReadTo move to “Read the cylinder name setting”.

・WriteTo move to “Write the cylinder name setting”.

・PrintTo print setting of cylinder name.

・OK

To return to “Position setting” menu with keeping changed contents.

・CancelTo return to “Position setting” menu without keeping changed contents.
Changed contents are also reset even if you click “Establish” before this operation.

Print screen (P) :Undo (Z)Print the present screen: Cancel all changes

45

5-3-2. X rate. Set
You can do setting of rate of X axis.
Here, it will set the rating of the X-axis positioning motor.

Fig (5-3-3): X rate setting[Items]・Setting No.

To select rate No. to be set.

・Acceleration (Input range: 0 to 32767)

Setting of acceleration of positioning motor from start until reaching

Rough initial value : 3000

“Move speed”.

・Deceleration (Input range: 0 to 32767)

Setting of deceleration of positioning motor from “Move speed” until

Rough initial value : 3000

stop.

・Move speed

Setting of speed of movement.

(Input range: [“Motor 1 rotate move” * 75])
・Point coordinates

Setting of range which can be detected as point in outputting point.

(Input range: 0 to 100)・Signal output range 1 lower limit(Input range: 0 to 3276.7)
・Signal output range 1 upper limit(Input range: 0 to 3276.7)

Setting of lower limit of area which outputs “X extent output 1”of output signal
Setting of upper limit of area which outputs “X extent output 1”of output signalex) Present X coordinate is within the above output range, output signal “X extent output 1” becomes ON・Signal output range 2 lower limit(Input range: 0 to 3276.7)
・Signal output range 2 upper limit(Input range: 0 to 3276.7)

Setting of lower limit of area which outputs “X extent output 2”of output signal
Setting of upper limit of area which outputs “X extent output 2”of output signalex) Present X coordinate is within the above output range, output signal “X extent output 2” becomes ON
46

・Motor 1 rotate move

Setting of screw pitch of ball screw used in positioning.

(Input range: 0 to 32.767)

By this setting, Max. value of “Move speed” is decided.

・S-curve acceleration / deceleration control
Setting of valid / invalid of control.
To reduce vibration in acceleration / deceleration.
・S-curve acceleration / deceleration control time constantSetting of time constant in s-curve control.
(rough value : 128msec)[Button]・Establish button

To fix changes.

・Delete button

All changes in the present setting No. return to the initial values.

・Read button

To move to “Reading the X rating setting”.

・Write button

To move to “Write the X rating setting”.

・Print button

To execute printing of setting of X rating setting.

・OK button

To return to “Position setting” menu with keeping changed contents.

・Cancel button
Print screen (P)Undo (Z)Copy (C)
Paste (P)To return to “Position setting” menu without keeping changed contents.
: Print the present screen:

Cancel the previous operation: Copy setting contents of the present setting No.
:

Paste copied information on the present setting No.

Remarks) “Setting No. 30” is used in “return” operation.

47

5-3-3. Y rate. Set
You can do setting of Y axis rating.

Fig (5-3-4): Y rate setting[Items]・Setting No.

To select rate No. to be set.

・Acceleration (Input range: 0 to 32767)

Setting of acceleration of positioning motor from start until reaching

Rough initial value : 3000

“Move speed”.

・Deceleration (Input range: 0 to 32767)

Setting of deceleration of positioning motor from “Move speed” until

Rough initial value : 3000

stop.

・Move speed

Setting of speed of movement.

(Input range: [“Motor 1 rotate move” * 75])
・Point coordinates

Setting of range which can be detected as point in outputting point.

(Input range: 0 to 100)・Signal output range 1 lower limit(Input range: 0 to 3276.7)
・Signal output range 1 upper limit(Input range: 0 to 3276.7)

Setting of lower limit of area which outputs “Y extent output 1”of output signal
Setting of upper limit of area which outputs “Y extent output 1”of output signalex) Present Y coordinate is within the above output range, output signal “Y extent output 1” becomes ON・Signal output range 2 lower limit(Input range: 0 to 3276.7)
・Signal output range 2 upper limit(Input range: 0 to 3276.7)

Setting of lower limit of area which outputs “Y extent output 2”of output signal
Setting of upper limit of area which outputs “Y extent output 2”of output signalex) Present Y coordinate is within the above output range, output signal “Y extent output 2” becomes ON
48

・Motor 1 rotate move

Setting of screw pitch of ball screw used in positioning.

(Input range: 0 to 32.767)

By this setting, Max. value of “Move speed” is decided.

・Rotate direction

Setting of direction of motor which becomes + direction from origin.

・S-curve acceleration / deceleration control
Setting of valid / invalid of control.
To reduce vibration in acceleration / deceleration.
・S-curve acceleration / deceleration control time constantSetting of time constant in s-curve control.
(rough value : 128msec)[Button]・Establish button

To fix changes.

・Delete button

All changes in the present setting No. return to the initial values.

・Read button

To move to “Reading the Y rating setting”.

・Write button

To move to “Write the Y rating setting”.

・Print button

To execute printing of setting of Y rating setting.

・OK button

To return to “Position setting” menu with keeping changed contents.

・Cancel button
Print screen (P)Undo (Z)Copy (C)
Paste (P)To return to “Position setting” menu without keeping changed contents.
: Print the present screen:

Cancel all changes: Copy setting contents of the present setting No.
:

Paste copied information on the present setting No.

Remarks) “Setting No. 30” is used in “return” operation.

49

5-3-4. Z rate. Set
You can do setting of Z axis rating.

Fig (5-3-5): Z rate setting[Items]・Setting No.

To select rate No. to be set.

・Acceleration (Input range: 0 to 32767)

Setting of acceleration of positioning motor from start until reaching

Rough initial value : 3000

“Move speed”.

・Deceleration (Input range: 0 to 32767)

Setting of deceleration of positioning motor from “Move speed” until

Rough initial value : 3000

stop.

・Move speed

Setting of speed of movement.

(Input range: [“Motor 1 rotate move” * 75])
・Point coordinates

Setting of range which can be detected as point in outputting point.

(Input range: 0 to 100)・Return position (Up limit)

Max. value of upside of Z axis.
To set some mms down from 0 point which is end point of upward.

・Return amount (relative distance)

When “Cylinder relative return” command is input in “Program setting”,

Z axis return finishes at the coordinate which this amount is
subtracted from Z coordinate of next point.
・Z axis rising coordinate 1, 2

Setting of the position which Z axis shifts by command “Z_UP1”,“Z_UP2”・Down limit

Setting of Max. bottom position of Z axis.
50

To set some mms down from 0 point which is end point of upward.
・Signal output range lower limit

To output signal at any position.
If Z axis coordinate exists between upper and lower limit,“Z output range” can be output.
・Signal output range upper limit

To output signal at any position.
If Z axis coordinate exists between upper and lower limit,“Z output range” can be output.
・Motor 1 rotate move

Setting of moving amount if the axis per 1 rotation of motor.

(input area : 0～32.767)

The pitch of ball screw is input in this value.
Max. moving speed is decided by this value.

・Rotate direction

Setting of direction of rotating motor to + direction.

・Jog move speed

Setting of moving speed in jog operation.

・Home position move speed

When “X return signal” or “Y return signal” is input,

return movement starts.
Setting of the speed.
・Motor model

To select motor model for Z axis positioning.

・Rise complete overlap distanceTo output the signal which Z axis up completes earlyand makes timing of start of next step faster.
The setting distance is distance from target point coordinate.
・Fall complete overlap distanceTo output the signal which Z axis down completes earlyand makes timing of start of next step faster.
The setting distance is distance from target point coordinate.
・XY movement completion overlap distanceTo output the signal which X, Y axis move completes earlyand makes timing of start of next step faster.
The setting distance is distance from target point coordinate.
[Button]・Establish button

To fix changes.

・Write button

To move to “Write the Z rating setting”.

・Print button

To execute printing of setting of Z rating setting.

・OK button

To return to “Position setting” menu with keeping changed contents.

・Cancel button

Print screen (P)Undo (Z)To return to “Position setting” menu without keeping changed contents.

: Print the present screen:

Cancel all changes

51

5-3-5. XYZ point setting (Teaching)
You can do setting related to teaching.
The following screen appears when you select “XY point setting (Teaching)” from “Position setting” menu.

Please select the "NO" if not communicating.
If communicating, please select “YES” after selecting “Setting point try” or “All the time communication”.

“Setting point try”

The setting coordinates are imported in entering into “XY point setting”.
The present coordinates are not read.

“All the time communication”

The setting coordinates are imported in entering into “XY point setting”.
In addition, the present coordinates are always updatedby all time communication.

Fig (5-3-6): XY point setting (Teaching)[Items]・XY No．

To select unit No.

・X home position

The X axis is on home position, “Home position OK” is ON.
On other positions, “Home position NG” is ON.
In case of no communication, both are OFF.

・Y home position

The Y axis is on home position, “Home position OK” is ON.
On other positions, “Home position NG” is ON.
In case of no communication, both are OFF.

・X servo condition

To show whether driving power is supplied to X axis motor or not.
If supplied, “Sarvo on” is ON. If not supplied, “Sarvo off” is ON.
In case of no communication, “Sarvo on” is ON.
52

・Y servo condition

To show whether driving power is supplied to Y axis motor or not.
If supplied, “Sarvo on” is ON. If not supplied, “Sarvo off” is ON.
In case of no communication, “Sarvo on” is ON.

・Current value 0 set
・X setTo change the present X axis coordinate to 0.

・Y setTo change the present Y axis coordinate to 0.

・Jog move speed
・X axisSetting of moving speed of X axis in manual jog movement.
Unit is [mm/sec].

・Y axisSetting of moving speed of Y axis in manual jog movement.
Unit is [mm/sec].

・X rotation direction

if not indicate point in manual jog operation, X axis moves to this direction

in jog move speed.
・Yrotation direction

if not indicate point in manual jog operation, Y axis moves to this direction

in jog move speed.
・Manual jog

To start jog movement by the below 3 buttons;

・XY execution

X axis and Y axis do jog movement simultaneously.

・X execution

Only X axis do jog movement.

・Y execution

Only Y axis do jog movement.

・Operation mode / Adjustment mode
In operation mode, XYZ axes move in speed set in each rate setting.
In adjustment mode, XYZ axes move in 10% of speed set in each rate setting.
*The percentage of speed can be set on “Special setting” in “Option”.
・Teaching execution

To set the present coordinate on designated point.
(No need to click coordinate registration button again

because writing order is sent to controller)
・Coordinates setting

To show coordinate chart of point no. 1-60, home position and relay point.
Please click a cell in left end line in specifying a point.
If selected, the cell turns to yellow.

・Coordinate writing

To register all coordinates values shown in “Coordinates setting” into controller.
Each value of coordinate can be changed by direct input.

・Soft limit setting

To move to “Soft limit setting”.
Setting of movable area of X axis and Y axis.

53

・Coordinates shift

Setting of shifting value. By inputting this value on the below window, all coordinates

in “Coordinates setting” shifts.
*If the coordinate value is 0, not shift.
ex) If shift value is (20, 0), (30, 40) shifts to (50, 0)

Fig (5-3-7): Coordinates shift
・X coordinates

To show the present coordinate value of X axis.

・Y coordinates

To show the present coordinate value of Y axis.

・Z coordinates

To show the present coordinate value of Z axis.

[Button]・Establish button

To fix changes.

・Coordinate Write button

To move to “Write the Coordinate setting”.

・Print button

To execute printing of setting of Z rating setting.

・OK button

To return to “Position setting” menu with keeping changed contents.

・Cancel button
Print screen (P)Undo (Z)Copy (C)
Paste (P)To return to “Position setting” menu without keeping changed contents.
: Print the present screen:

Cancel all changes: Copy setting contents of the present setting No.
:

Paste copied information on the present setting No.

54

5-3-5-1. Soft limit setting
You can setting of movable range of XY unit.
Alarm is output if over the soft limit range.

Fig (5-3-8): Soft limit setting
・X + soft limit, X – soft limit
Y + soft limit, Y – soft limit(input area : -3276.7～3276.7)
Setting of movable area of X axis and Y axis.
You cannot register the value over this area on “Coordinates setting”.
Remarks 1) About direction of +-direction is the direction which moves to home position.
+direction is the direction which moves to opposite side of home position.
Remarks 2) In case of inputting “-“, also need to input “-“ mark.
Print screen (P)Undo (Z): Print the present screen:

Cancel all changes

55

5-3-6. Timer setting
To monitor moving time of each axis to target positions. If over this setting, alarm is output.

Fig (5-3-9): Timer setting
Position locator fault

GSK judges error on movement and output “Position locator fault” signal⇒

if jog movement, MOV_X, MOV_Y or MOV_XY not finishes within this time・Position locator 1 fault

Setting of upper time limit of MOV command of unit 1.

・Position locator 2 fault

Setting of upper time limit of MOV command of unit 2.

・Position locator 3 fault

Setting of upper time limit of MOV command of unit 3.

・Position locator 4 fault

Setting of upper time limit of MOV command of unit 4.

[Button]・Establish button

To fix changes.

・Read button

To move to “Reading the fault timer setting”.

・Write button

To move to “Write the fault timer setting”.

・Print button

To execute printing of timer setting.

・OK button

To return to “Position setting” menu with keeping changed contents.

・Cancel button

Print screen (P)Undo (Z)To return to “Position setting” menu without keeping changed contents.

: Print the present screen:

Cancel all changes

56

5-3-7. Z axis・Pressing setting
You can do setting of Z axis pressing control.

Fig (5-3-10): Pressing settingThis setting becomes valid if “Pressing down 1-10” is selected for Z axis down command in Program setting.
The pressing control keeps being valid until Z axis up command is input.
・Pressing control start point

Setting of position which start pressing control.

(input area : 0.0～3276.7)

Standard of position is the distance based upon Z axis coordinate of thedesignated point in program setting.
・If Z point No. is other than 0, the position is the distance from the designated point in Z point No. (the above
point is ignored).
・1st pressing force(input area : 0.0～3276.7)

・2nd pressing force

Setting of pressing force from pressing control start position to starting
pre-tightening or final tightening.

Setting of pressing force from starting pre-tightening or final tightening

to(input area : 0.0～100.0)

passing 3rd pressing distance or Z axis up command.

・3rd pressing force

Setting of pressing force from passing 3rd pressing distance to Z axis up(input area : 0.0～100.0)

command.
If 3rd pressing distance is 0, not changed to 3rd pressing force.

57

・3rd pressing distanceSetting of distance which 3rd pressing force is changed.

(input area : 0.0～3276.7)

The standard of distance is the distance based upon Z axis coordinate ofdesignated point in program setting.
*If Z point No. is other than 0, the position is the distance from thedesignated point in Z point No. (the above point is ignored).
To monitor torque of nut runner between pressing control starting point

・Monitoring torqueand(input area : 0.0～3276.7)

torque monitoring end distance.
If detecting the torque, NG judgement is output.

・Torque monitoring end distanceSetting of distance which monitoring torque is finished.

(input area : 0.0～3276.7)

The standard of distance is the distance based upon Z axis coordinate ofdesignated point in program setting.
*If Z point No. is other than 0, the position is the distance from thedesignated point in Z point No. (the above point is ignored).
・Pressing fall speed

Setting of down speed after changing to pressing control.

(input area : 0～9999)

After passing pressing control starting position, the speed set in Z
axisrating is invalid and this setting is valid.

・Z axis point number

To be set if the standard of distance is fixed freely.

(input area: 0～9999)
・Correction by height sensor

To be set if correction of distance is input from outside.

(input area : ON / OFF)In case of unstable surface height, the starting position can be decided bycorrected value from sensor etc.

58

5-4. Program setting
You can select Max. number of each setting in “Unit setting”.
As default setting. “30 axes, 16 programing, 220 steps” is selected.

Fig (5-4-1): Program setting[Items]・IN

To make “Wait for IN signal” valid.
Wait for starting the step until IN signal is input from outside.

・OUT

To output “OUT” signal after movement.
“OUT” signal is stopped by next “IN” signal input.

・PRINT

To print the designated contents after executing the step.

・Program area

To show contents of selected program No.

・ZERO

To execute zero / magnification check.

・SYNC/STo be synchronized with other axes in starting this step.

・SYNC/E

To be synchronized in finishing this step.

59

[Buttons]
・Block insert

To insert an open block before the selected cell・Open step elimination

To delete open blocks in the selected unit.

・Check program

To check whether blocks used in program are same composition as blocks registered.

・Read

To move to “Program setting reading”.

・WriteTo move to “Write the program setting”.

・PrintTo print program setting.

・Tightening block operation selectTo move to “OPERATION SELECT NUTRUNNER”.
In this page, you can select a block to be inserted into program and movement
command etc. in the block.
・X, Y axis operation selectTo move to “OPERATION SELECT XY”.
In this page, you can select movement of XYZ axes from command list and set as stepon program.
・OK

To return to “SETTING MENU” with keeping changes.

・CancelTo return to “SETTING MENU” without keeping changes.

60

5-4-1. Tightening block operation selectFig (5-4-2): Inserts tightening block・Rating No.

To specify rating No. of tightening block to be inserted.

・Screw No.

To specify screw No. of tightening block to be inserted.

・Selected Block No.

To show block No. which is inserted into the present program step.

・Block information

To show contents of movement and synchronization of selected block.

・CommandTo show contents of movement of the block.

・Sync/S, E

To show that “S” means start synchronization and “E” means end synchronization.
If being valid, each cell turns to be colored.

・Waveform image display
To confirm movement of selected block by simple waveform.
・Update block No.

To specify block No. to be inserted.

61

・Contents of programing

To show contents of block to be inserted or made.

・CommandTo select movement to be inserted.
To select only kind of movement.
To select No. of selected movement in “Command”.

・No.
・Sync/S, E

To show that “S” means start synchronization and “E” means end synchronization.
If being valid, each cell turns to be colored.

・Waveform image display
To confirm movement of selected block by simple waveform.
・Copy

To copy contents of program and keep as back data.

・PasteTo paste contents which is kept as back data to “Contents of programing”.

・Tightening parameter change
To move to each setting of movement selected in command.
・ZERO / GAIN check

To execute zero / magnification check before starting movement of block.

・START SYNC

To be synchronized between units.
This becomes valid only when positioning units are used.
In case of normal unit or multi axis mode, always to be synchronized regardless of“START SYNC”.
・All axes start synchronousStart synchronization becomes valid in all axes in a unit
*Start synchronization in all axes of selected program can be confirmed.
・END SYNC

To re-tighten after final tightening. *Valid only in final tightening.

・All axes end synchronous
End synchronization becomes valid in all axes in a unit
End synchronization in all axes of selected program can be confirmed.
・All axes retry synchronous

Valid only in selecting retry.
*If this movement is executed, all axes set retrial start retry simultaneously.
・Display all blocks

To move to “Full block indicate”.

・OK

To return to “PROGRAM SET” with reflecting changes.

・CancelTo return to “PROGRAM SET” without reflecting changes.

62

5-4-1-1. Graph checking for torque curve
You can open in clicking “Waveform image display” in “Inserts tightening block”.
To confirm image of simple torque curve and speed curve, and rough cycle time.

Fig (5-4-3): Graph checking for torque curve
・Cycle time

To show rough cycle time.

・Waveform setting screen
To move to “Screen for image of torque curve”.
・Return

To move to “Inserts tightening block”.

63

5-4-1-2. Screen for image of torque curve
You can change settings of movement on image of waveform.
This is basic waveform of each movement and not changed according to settings.

Fig (5-4-4): Screen for image of torque curve

・BlockTo show block No. which is selected by “Waveform image display”

in “Inserts tightening block”.
・SOC. T

To show socket fitting No. which is used in the block.

・PRE. T

To show pre-tightening No. which is used in the block.

・REA.T

To show final tightening No. which is used in the block.

・Read

To read GSK setting file same as “Setting read” in “Main menu”.

・WriteTo write GSK setting file same as “Setting write” in “Main menu”.

・Waveform image

To return to “Graph checking for torque curve”.

・OK

To return to “Inserts tightening block” with keeping changes.

・CancelTo return to “Inserts tightening block” without keeping changes.

*As for changes in this page, need to write in this page.

64

5-4-2. Inserts X,Y axis moving action

Fig (5-4-5): Inserts X,Y axis moving action[Items]・X rate No.

To specify X axis rate No. of XY movement.

・Y rate No.

To specify Y axis rate No. of XY movement.

・Point No.

To specify target point No.to move by this movement.

[Buttons]
・One line insertion

To insert a blank cell above the selected cell in “SETTING LIST”.

・One line delete

To delete the selected cell in “SETTING LIST”.

・ClearTo clear all contents in “SETTING LIST”.

・OK

To return to “PROGRAM SET” with reflecting changes to “PROGRAM SET”.

・CancelTo return to “PROGRAM SET” with all clear.

65

[Command]
・MOVX

To move X axis motor to the designated point.

・MOVY

To move Y axis motor to the designated point.

・MOVXY

To move XY axis motors to the designated point simultaneously.

・WAIT1-4

To wait, not going to the next step until WAIT input signal corresponding toeach command is input.
・SYNC1-20

Not to proceed with the next step until each unit arrives at SNYC(N) position.
After all units arrive at same No. of SYNC(N), all units proceed with the next step

simultaneously.
・MARK1-20

Passing marker of program. After passing, this command is ON.

・WT_MK1-20

To wait for marker. Waiting until MARK command is ON.

・INX1, INX2

To wait, not going to the next step until INX input signal is input from outside.

・INY1, INY2

To wait, not going to the next step until INY input signal is input from outside.

・TIME10-10000

Command which stops movement during this setting time.
Unit is msec. After passing this setting time, proceed with the next step.

・socket 1 down

Usable when input signal “cylinder 1 up end” is input.
To output signal of cylinder down, and make cylinder move.
After signal “cylinder 1 down end” is input, proceed with the next step.

・socket 1 up

Usable when input signal “cylinder 1 down end” is input.
To output signal of cylinder up, and make cylinder move.
After signal “cylinder 1 up end” is input, proceed with the next step.

・PULSE

Cylinder movement continues until end signal is input.
This command makes cylinder movement OFF forcibly when the cylinder movement

keeps in certain period of time to protect cylinder.
・Z_UP1,2

To specify middle end of Z axis up. The coordinate can be specified in “Z rate. Set”.

・Cylinder relative return
This command is usable only when special driver for positioning is used.
After going up by cylinder return until the setting point of “Return amount” in “Z rate. Set”,
move to the next point with keeping its height.
・Pressing down1-10

To specify middle end of Z axis up. The coordinate can be specified in “Z rate. Set”.

66

5-5. Unit setting
You can set combination of unit of nut runner or positioning motor and axis No. to be used.

Fig (5-5-1): Unit setting
・Unit No.

Setting of unit No. of each axis.

・Kind

To select N (nut runner) or X (X axis) or Y (Y axis) or Z (Z axis) for each axis to be used.

・Selection of maximum program number
To change each max. number of program, number of step and number of axis.

[Buttons]・Read

To move to “Read the unit setting”.

・WriteTo move to “Write the unit setting”.

・OK

To return to “SETTING MENU” with reflecting changes to program setting.

・CancelTo return to “SETTING MENU” with all clear.

67

5-6. Axis off setting
By making axes off, you can use GSK without moving the axes.

Fig (5-5-1): Axis off setting

・No.

Axis No.

・Axis off

To make the axis off by selecting “off”.
Remarks) Axis off is possible only on axes which “N” is selected in “Unit setting”.
Remarks) Power ON /OFF is needed to make axis off valid after changing setting.

・Axis disconnection by input (PLC) signal
To be selected in executing axis off by signal from outside.
Power ON / OFF is not needed.
Remarks) This item cannot be used under condition which controller always output alam,
Remarks) Signal change during movement is ignored.

68・Treatment of the axis which performed axis off
To select output contents of tightening result of the axis.
Display, output of block judgement, output of total judgement and output of screw OK arechanged.
・As it is

Display : No color change (only off axis)
Screw OK signal : No output (Only off axis)
Block judgement : according to result of normal axis
Total judgement : according to result of normal axis

・NG display

Display : Change to red (Only off axis)
Screw OK signal : No output (Only off axis)
Block judgement : Always output NG
Total judgement : Always output NG

・OK display

Display : Change to green (Only off axis)
Screw OK signal : Output OK
Block judgement : According to result of normal axis
Total judgement : Subject to result of normal axis

69

6. Auto measurement
The below screen is shown if “Auto measurement” is selected in “Main menu”.

Fig (6-1): Auto measurement menu

・Online (F1)

To confirm and save result data in every tightening.

・Tightening wave (F2)

To confirm and save each tightening wave.

・Tightening record (F3)

To see history of tightening saved in controller.

・Alarm history(F4)To see alarm history saved in controller.

・Cycle monitor (F5)To monitor signals between PLC and controller.

・Display of current step (F6)

To confirm which movement is executed from program list.

・Return to the main menu (F12)

To return to “Main menu”.

706-1. Online
To show tightening results in real time.

Fig (6-1-1): Online

Fig (6-1-2): Communication confirmation
Firstly, communication confirmation is done after selecting “Online” in “Auto measurement”
In the screen as Fig (6-1-2), to select whether tightening results taken automatically and zero / magnification data
saved in CSV file or not. If save tightening results or zero / magnification data automatically, to check each checkbox. In “Online”, the last tightening result of each movement for one tightening block is saved.
*In case of tightening block; SOC. T 1→PRE. T1→PRE. T2→REV. T1→REA. T1→REA. T2→REA. T3,
saved result is; SOC. T1→PRE. T2→REV. T1→REA. T3.
*File of online information is saved on “C:¥GIKEN¥GSK SETTING¥AUTO MEASUREMENT¥ONLINE”.

71

[Items]・Axis No.

To show axis No.

・Screw No.

To show screw No.

・Date

To show YMD of finishing last movement

・Time

To show time of finishing last movement.

・P.No.

To show program No.

・U.No.

To show unit No.

・Determination

If OK, to show 〇. If NG, to show NG code

・SOC. T / TorqueTo show torque value in finishing socket fitting. Unit is Nm.

・PRE. T / Fast feed torqueTo show max. torque during fast feed section when NR rotates until early tightening
angle. Unit is Nm.
To show 0 Nm when NR not rotates until early tightening angle.
・PRE. T / TorqueTo show last torque value in pre-tightening. Unit is Nm.

・PRE. T / Area (X10)

To show judgement area calculated from stretched waveform in pre-tightening.

・PRE. T / Angle

To show angle from angle measuring start torque.

・PRE. T / TimeTo show time from starting pre-tightening by 10msec

・REV. T / TorqueTo show last torque value in reverse.

・REA. T / TorqueTo show last torque value in final tightening. Unit is Nm.

・REA. T / Area (X10)

To show judgement area calculated from stretched waveform in final tightening.

・REA. T / Angle

To show angle from angle measuring start torque by °.

・REA. T / TimeTo show time from starting final tightening by 10msec.

・REA. T / SnagTo show angle measuring start torque in final tightening. Unit is Nm.

・REA. T / Initial gradienting
To show gradient average value soon after snag torque in angle mode.
・REA. T / Final gradienting To show gradient average value before finishing tightening in angle mode.
・REA. T / gradient ratio

To show gradient ratio calculated from final gradient / initial gradient * 100.

72

・X-position

To show coordinate position of X axis in tightening.

・Y-position

To show coordinate position of Y axis in tightening.

・Zero / magnification / Zero point
To show zero point measuring result in zero / magnification check before startingtightening.
・Zero / magnification / magnification
To show magnification measuring result in zero / magnification check before startingtightening.
・Work No.

To show work No.

[Buttons]
・Return to the Auto measurement menu

To return to “Auto measurement” menu.

73

6-2. Tightening wave
You can confirm waveform of tightening.

Fig (6-2-1): Communication confirmation
The following operation is changed depending upon the selection “Yes” or “No”.

If you select [Yes]:
To show tightening waveform (“Time-Torque, Speed”, “Angle-torque, Speed”) and stretch
waveform automatically in every finishing tightening block.
By selecting axis No. at upper part of screen, display change of each axis and all axes can be done.
In case of selecting “Wave data is saved at a file”, wave data is saved on CSV file automatically.
If you select [No]:To read tightening waveform (“Time-torque, Speed”, “Angle-torque, Speed”) and stretch waveformfrom controller manually.
The wave data can be saved on file manually. In addition, wave data can be shown after reading
saved wave data file.
*File of tightening wave data is saved on “C:¥GIKEN¥GSK SETTING¥AUTO MEASUREMENT¥WAVE”.

74

In case of tightening waveform auto acquisition mode (If you select [Yes])
You can set OK range for each program which is displayed by waveform.
*The specified area in OK range is surrounded by red frame on the graph.
If OK range setting is end, to be operated in auto display mode and communicated with controller.

Fig (6-2-2): OK range setting
・Torque upper limit

Setting of upper torque limit of OK range.

・Torque lower limit

Setting of lower torque limit of OK range.

・Angle upper limit

Setting of upper angle limit of OK range.

・Angle lower limit

Setting of lower angle limit of OK range.

・Work name

You can input the name of tightening object for each program.
*Blank is no problem

Fig (6-2-3): Waveform

Auto save

If you specify the range of the graph, the range will be expanded.
You cannot read the data from file and controller and save on file manually in auto acquisition mode of tightening
waveform and stretched waveform.

75

[Items]
・Tightening wave

You cannot select in selecting stretched waveform.

・Axis No.

To select axis No.
If selecting “All”, graph of each axis is shown by each color simultaneously.
If selecting each axis No., graph of only one axis is shown.

・Waveform data making

To show date and time which tightening wave data is taken

・PROGRAM NO.

To show program No. which tightening wave data is taken.

・Screw No.

To show screw No. which tightening wave data is taken.

・Sampling data list

To show the below value for each axis No. on right side of screen.
Red colored No. shows NG.

・ColorIn showing all axes, each axis is shown by each color.
To show colors assigned to each axis.

・TRQ

To show last tightening torque.

・Snag

To show snag torque or measuring start torque.

・AngleTo show angle from snag in last tightening or measuring start torque.

・GraphTo show graph corresponding to each axis.
Each graph has each color in detailed data for each axis.
Speed wave=dotted line, Torque wave=solid line

・Torque, Speed

To select which is displayed (torque wave or speed wave). Both are also OK.

[Buttons]
・Zoom clear

To return expanded graph to original.

・Print the screen

To print the present displayed screen.

・Return to the Auto measurement menu
To return to “Auto measurement” menu.
Print (P)To print the present screen.

76

In case of tightening waveform manual acquisition mode (If you select [No])Fig (6-2-4): Tightening wave screen*The red line on the graph is for torque and the Blue graph is for speed.
If you specify the graph, the range will be expanded.
・Tightening wave

To show graph by tightening wave of Time-Angle, Time-Torque and Angle-Torque.

・Axis No.

Setting of axis number.

・Waveform data making

To show date and time that the tightening waveform is acquired .

・PROGRAM No.

To show program number that tightening waveform is acquired.

・SCREW No.

To show screw number that tightening waveform is acquired.

・Torque, Speed

Please put a check on the check box which waveform is shown.

・Tightening result
・Total determination

Total OK: 〇, Total NG: NG code

・Torque

If the last step is final tightening or pre-tightening, the last torque is shown by Nm.

In other steps, 0 is shown.
・AngleIf the last step is final tightening or pre-tightening, the angle until finish is shownby °. In other steps, 0 is shown.
*Same as online angle value of pre-tightening, final tightening
・Snag

If the last step is pre-tightening or final tightening, the angle measuring start

torque value is shown by °. In other steps, 0 is shown.
・Time

If the last step is final tightening or pre-tightening, the time until finish is shown by

10msec. In other steps, 0 is shown.
・Zoom clear

To return expanded waveform graph to original size.

77・Graph creation

To make waveform from selected information in sampling data list.

・Save data

To save waveform data read from controller in file.

・ReadTo reads tightening waveform data of specified axis No. from controller. .
In addition, read waveform data from saved file.

・Table (right)

To show sampling data as list which tightening waveform is made.
You can make waveform from any data area by clicking “Graph creation” after

selecting some data in this list.
・Graph（Center）

To show tightening waveform.

・Print the screen

To print the present screen.

・Return to the Auto measurement menu
To return to “Auto measurement” menu.

Print (p):To print the present screen.

78

6-3. Tightening record
You can read 5000 tightening records per 1 axis from controller.
You can also output the displayed records as CSV file.

Fig (6-3-1): Tightening record[Items]・Screw No .

To show screw number.

・Date

To show YMD in finishing the last movement.

・Time

To show time in finishing the last movement.

・P. No.

To show program number.

・U. No.

To show unit number.

・TQ

To show final torque. Unit is Nm.

・AngleTo show angle from the start to end on the last step. Unit is °.

・TimeTime from start to end on the last step. Unit is ms.

・PRE. T area * 10

To show pre-tightening area if pre-tightening is included.

・REA. T area * 10

To show final tightening area if final tightening is included.

79

・SnagTo show angle measuring start torque by Nm.

・SlopeTo show gradient ratio of final tightening angle mode.

・Determination

OK: 〇, NG: NG code

・NG processing

To show the presence or absence of NG processing by QL input.

If there is QL processing, “presence" is shown.
If not, “absence" is shown.
*In using positioning mode, not saved in tightening record even if there is QL treatment for NG judgement.
・Data No.

To show work number.

*Data is acquired from controller and sorted in order of date, time and screw No.
[Buttons]
・AXIS No.

To select all axis or each axis No.

・READ

To read tightening record.

・CANCELTo stop reading.

・Record clear

To clear tightening record data saved in controller.

・Record write

To save tightening record as CSV file.

・Return to the Auto measurement menu
To return to “Auto measurement” menu.

806-4. Alarm history
You can read 16 Alarm records per 1 axis from controller
You can also output displayed alarm as CSV file.

Fig (6-4): Alarm history[Items]・Axis No.

To show axis number that the alarm has occurred.

・Data

To show YMD that the alarm has occurred.

・Time

To show time that the alarm has occurred.

・Alarm code

To show alarm code of the alarm.

[Buttons]
・History clear

To clear alarm history saved in controller.

・History write

To save displayed alarm history as CSV file.

・Return to the Auto measurement menu
To return to “Auto measurement” menu.

816-5. Cycle monitor
You can show the operating status of input and output signals between PLC etc. and controller.
You can also output the displayed data as CSV file.

Fig (6-5): Cycle monitor
・Data read

To read signal waveform from file.

・Data write

To save the displayed signal data and signal in file.

・Setting read

To read the selected signal from file.

・Setting write

To save selection of data acquisition signal in file.

・Object selectTo select signal names from the list in left.

・Collect start

To acquire waveform of selected signal.

*acquisition from clicking the button
・PrintTo print the screen.

・Exit

To return to “Auto measurement” menu.

82

6-6. Display of current step
To show yellow on the present step according to the movement..

Fig (6-6-1): During operation
Fig (6-1-1): Display of current step
[List]・Unit

To show each unit No.

・Program No.

To show program number for each unit No.

[Items]・Program No.
・Step display

To show program number recognized by controller.
To show yellow on the present step.

・Return to the Auto measurement menu

To return to the Auto measurement menu.

83

7. Quality control
To be shown as below if select “Quality control” from “Main menu”.

Fig (7-1): Quality control menu
・Version information

To show version information of controller and interface.

・Driver ver.

To show software version of controller for 1 st axis.

・IF ver.

To show software version of interface.

・Zero / magnification results (F1)To show the result of zero check and zero / magnification check of

torque sensor.
・Torque sensor zero point adjustment (F2)

To adjust zero point of torque sensor.

・Self diagnosis (F3)To show software version of setting software ,IF unit, controller anddisplay.
In addition, to check controller version is all same.
・Counter

To show number of work piece and screw.

・Return to main menu (F12)

To return to “Main menu”.

847-1.Zero / magnification results
To show the result of zero / magnification check of torque sensor.

Fig (7-1-1): Zero point display
・Zero point display

To show setting value and zero point measurement value of each axis.

Fig (7-1-2): Magnification display
・Magnification display

To show setting value and magnification measurement value of each axis.

The unit is "Nm".
[Buttons]
・To zero adjusting of torque sensor

To move to “Torque sensor zero point adjustment” screen.

・Return to the Quality control menu

To return to “Quality control” menu.

＊Zero point / magnification display shows the result after zero/magnification check.

85

7-2. Torque sensor zero point adjustment
To show output value [Nm] of torque sensor for each axis and GSK display value, and execute torque sensor zero
point adjustment based upon these output.
・Torque sensor zero point adjustment
The operation which torque sensor output value in no load is output as 0 in GSK torque output is called “Torquesensor zero point adjustment”.
・Sensor output value is shown by converting sensor output voltage to torque as calculated below;
Formula:Sensor output=
value

Sensor output value
acquired from controller

/

2048

＊

Sensor rate foreach axis

GSK display value shows how sensor output value is recognized inside GSK controller.

Fig (7-2-1): Torque sensor zero point adjustment
・PRESET ON

To make GSK display value of selected axis 0 by clicking this button.

・Return to the Quality control menu

To return to “Quality control” menu.

867-3. Self diagnosis
To show each version of setting PC, IF unit, controller and display.
In addition, to show details of alarm, communication status with each controller and status of IF board.

Fig (6-5): Self diagnosis[Items]・Setting personal computer

To show version of setting software.

・IF Unit

To show version of Interface unit.

・IF Alarm details

To show detailed alarm code of interface.

・Driver controller

To show version of driver controller for each axis.
If not match with version of driver in GSK.ini file,“ROM Ver error” is displayed on right end of each axis.
Please set version as below in GSK.ini file.

Fig (7-3-2): Self diagnosis controller version

・Display

To show version of display.

87・IF information
・PLC

To show kind of Anybus installed on IF

・ENG No.

To show ENG No.

・Work IDTo show work ID No. which is different from ENG No.

・FTPTo show version of controller for each axis.

[Buttons]
・State update

To read latest information.

・Return to the Quality control menu
To return to “Quality control” menu.

887-4. CounterTo show number of tightening workpiece and tightening screw.
(Alarm can be output if over the value which is set in “Integration counter setting” in “Option”.)*Only display, not stop GSK.

Fig (7-4-1): Counter・Program counterTo show number of auto cycle.

・Screw counterTo show total number of tightening screw by auto cycle.

・ResetTo return to 0.

Max. value of accumulated counter is 99,999,999. Count up is done in finishing auto cycle.
Not count up in case of interrupting during auto cycle(make GSK reset signal ON before making Total OK or Total NG signal ON).
You can confirm and reset the counter by PC and outside display.
[Buttons]
・Returns to the quality control menu
To return to “Quality control” menu.

89

8. Print /Excel output
You can do setting of printer which is connected with GSK interface, print of setting and file conversion.

Fig (8-1): Print and Excel output screen
・Set online print for controller data
Setting of printing contents and timing in printing tightening result by printerconnected with interface.
・Print mode selection

To select timing of print from below items;

・Automatic print OFF

Not print tightening result by using printer connected with interface.
*Setting in program setting is not included.

・At every tightening end

To print tightening result in every finishing tightening.

・When NG occurred

To print tightening result only when tightening NG occurs.

・First N set + data when NG occurred
To print tightening result every time for N times set.
After this, print only when NG occurs.
*If you select other than "Automatic print OFF", result printing is selected.
Please select from the following items
・Socket fitting result print
・Pre tightening result print
・Reverse rotation result print
・Real tightening result print
・Zero magnification result print*Only when you select "First N set + data when NG occurred", first number is set.
・First number

Numbers of executing tightening program from machine power ON.
To count by numbers of total judgement from machine power ON.

90・PC setting print

To print setting or convert to Excel file by each item or all together.
After clicking each button below, print preview screen is shown.
Your default printer is selected automatically.

・Print preview of SOC.T, PRE.T, REV.T, REA.T
To print data of SOC.T, PRE.T, REV.T and REA.T kept in PC.
Clicking this button shows comment input screen. If no comment, no problem.
Clicking “Preview” shows print preview screen, then clicking “Print” button starts printing.
・Print preview of RATE
To print rate data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of PROGRAM
To print program data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of BLOCK
To print screw No. arrangement data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of SCREW NUMBER
To print block data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of Cylinder name Timer Interference
To print cylinder name, timer and interference data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of X rate Y rate
To print XY axis rate data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・Print preview of X Y point
To print XY point data kept on your using software.
Clicking this button shows print preview screen, then clicking “Print” button starts printing.
・All settings print

To print all settings data kept on your using software.
Clicking this button shows comment input screen. If no comment, no problem.
Clicking “Preview” shows print preview screen, then clicking “Print” button starts printing.
・All settings XLS output
To output all setting data kept on your using software.
・Return to the Main menu
To return “Main menu”.

919. I/O Monitor
You can confirm the status of input / output signal and control.

Fig (9-1): I/O monitor menu
・Monitor (F1)To show monitor screen.

・Dummy input (F2)To show dummy input screen.

・Dummy output (F3)To show dummy output screen.

・Return to the main menu (F12)

To return to “Main menu”.

929-1. Monitor
Selecting “Monitor” from “I/O monitor” menu.
To monitor signal between GSK and PLC.
*Signal ON: Green, Signal OFF: Gray

Fig (9-1-1): I/O monitor
・Unit No.

To specify unit No.

・Input monitor

To show input status of input signal of controller.
*As for details of each signal, please refer to instruction manual of controller.

・Output monitor

To show output status of output signal of controller.
*As for details of each signal, please refer to instruction manual of controller.

・Return to I/O monitor

To return to “I/O monitor” menu.

939-2. Dummy input
The below screen is shown if selecting “Dummy input” in “I/O monitor”.
You can input outside input signals of GSK to GSK on this screen.
By using this function, you can control GSK without using outside equipment like PLC etc.

Fig (9-2-1): Dummy input screen[Items]・Dummy input

To select signals to GSK from signal list
Selected signals turn to green.
Selecting several signals is also possible.

・Output monitor

To show output signals which GSK outputs to outside.
Output signals turn to green.

[Buttons]
・Run

To send signals selected on “Dummy input” to GSK.
Password is needed for execution.

・CancelTo cancel selection of signals input on “Dummy input”.
If several signals are selected, all cancelled

・Return to I/O monitor

To return to “I/O monitor” menu.

949-3. Dummy output
The below screen is shown if selecting “Dummy output” in “I/O monitor”.
To confirm movement of outside equipment, you can send output signals of GSK to PLC etc. via interface
at any timing.

Fig (9-3-1): Dummy output screen[Items]・Input monitor

To show the status of input signals from outside.
Signals to be input turn to green.
Selecting several signals is also possible.

・Dummy output

To select signals which is sent outside from GSK.
Selected signals turn to green.
Selecting several signals is also possible.

[Buttons]
・Run

To send signals selected on “Dummy output” to GSK.
Password is needed for execution.

・CancelTo cancel selection of signals on “Dummy output”.
If several signals are selected, all cancelled

・Return to I/O monitor

To return to “I/O monitor” menu.

9510. Help
To open instruction manual.
After clicking “Help” button in “Main menu”, “help.pdf” file in install folder of setting software is opened.

Fig (10-1): Install folder

9611. Option
You can do setting of various options.

Fig (11-1): Option menu
・Calendar setting

Setting of date information.

・Tightening data output setting

Setting of output conditions

・DISP・PC setting

Setting of display and setting PC

・NG treatment setting

Setting of details of tightening NG and cycle stop・Integration counter setting

Setting of threshold of counter alarm

・PLC setting

Setting related to connection with PLC・Network setting

Setting related to IP address, FTP・Special setting

Setting for special specification or setting of speed of adjustment mode

・Setting read

To read tightening data output setting from controller or file・Setting write

To write tightening data output setting to controller or file・Return to the main menu

To return to “Main menu”.

97ex) output tightening data etc to outside

11-1. Calendar
You can do setting of date of GSK.

Fig (11-1-1): Calendar[Items]・Setting

The present date and time is updated by clicking “Setting”.
Then, if clicking OK button for “Do you want to set Calendar?” message withpassword,
the calendar setting is written to controller.
[Buttons]
・Return

To return to “Option setting menu”.

9811-2. Tightening data output setting
You can do setting of tightening data which is output to PLC, ID controller and printer etc. by RS422 orRS232C.

Fig (11-2-1): Tightening data output setting[Communication connection example]*GSK interface

CN8 (ID controller / RS422)
CN9 (printer or quality control / RS422)
CN10 (printer / RS232C)*Printer: DPU-414 thermal printer / made by Seiko Instruments Inc. (RS232C)(As for details, please refer to GSK・GKL controller instruction manual.)[Items]・Axis determination transmission Yes/No

Yes/No selection for transmitting output of OK, NG and

No judgement for each axis.
・Screw number transmission Yes/No

Yes/No selection for transmitting No. of screw.

・Engine No. digit setting

Number of digits of Engine No. or Work identification No.

(input area : 0-8)・Output timing setting

To select timing of tightening data output from the below 3

kinds;“Data transmission after the tightening total determination
output”“Data transmission after the next block started or thedetermination
reset is input”“Data transmission by the data transmission requirement fromthe99

upper rank”
・Torque transmission setting

Setting related to torque value output of tightening result.
To select “No transmission” or according to digits of transmission.

Tightening torque is output according to the below priority;

・Priority

Priority(High)

1: Final tightening
2: Reverse rotation
3: Pre-tightening(Low)

4: Socket fitting*Data to be transmitted is only 1 kind according to the priority
even ifvarious movements are executed in same block.
Snag torque value in final tightening setting (angle mode) is・Snagtransmitted.
・Angle transmission setting

Setting related to angle value output of tightening result.
To select “No transmission” or according to digits of transmission.
Tightening angle is output according to the below priority;
Priority(High)

1: Final tightening
2: Reverse rotation
3: Pre-tightening(Low)

4: Socket fitting*Data to be transmitted is only 1 kind according to the priority
even ifvarious movements are executed in same block.
・Slope / snag torque transmission setting

Setting related to output in angle mode.
To select “No transmission” or according to digits of transmission.

・SlopeThe result of gradient judgement used in angle mode.

・Snag

The result of snag torque used in angle mode.

・Time transmission setting

Setting related to time value output of tightening result.
To select “No transmission” or according to digits of transmission.
Tightening angle is output according to the below priority;
Priority(High)

1: Final tightening
2: Reverse rotation
3: Pre-tightening(Low)

4: Socket fitting*Data to be transmitted is only 1 kind according to the priority
even ifvarious movements are executed in same block.
・Unit number transmission Yes/No

Yes/No selection for transmitting unit No.
100

・Program number transmission Yes/No

Yes/No selection for transmitting program No.

・Date and Time transmission Yes/No

Yes/No selection for transmitting date and time.

・Printer/data output switching setting

To select destination of tightening data output andtransmission format.
*As for communication spec. and transmission/reception format,
please refer to GSK・GKL controller instruction manual.

[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・PrintTo print contents of this setting.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

10111-3. DISP・PC setting
You can do setting of display and setting PC.

Fig (11-3-1): DISP・PC setting[Items]
Display・Language setting

Setting of language in disply.
*The display needs to correspond with the language.
*In selecting “No description”, communication is not executed.

・Communication speed

Setting of communication speed between display and GSK・Waveform display resolution

To input resolution of tightening waveform in display.

PC (or JTEKT monitor)
・COM port setting

Setting of COM No. in communication between setting PC and GSK.

・Setting PC communication speed
Setting of communication speed between setting PC and GSK.
・Quality control PC communication speed
Setting of communication speed between quality control PC and GSK.
*Quality control PC: PC which tightening data collection software(made by GIKEN) is installed.

102

・Waveform read maximum wait time
To be set in case of not finishing reading of tightening waveform between blocks
in short time. Movement stops during this setting time to give priority to waveform
reading. After completing reading waveform within the setting time, proceedingwith the next step.
*Valid only in positioning GSK.
・I/O monitor unit number
blocks in (input area : 0-7)

To be set in case of not finishing reading of tightening waveform between
short time. Movement stops during this setting time to give priority to

waveform
reading.
[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

10311-4. NG treatment setting
You can do setting of treatment in occurring tightening NG and the movement after stopping cycle.

Fig (11-4-1): NG treatment[Items]Tightening NG action
・Action method
QL action

To change NG output to OK output by the signal input from outside (QL wrenchetc.)
Retightening by program operation
To retighten the total NG screw by restart of program.
The movement after restart is repeat operation in program unit.
Multi axis GSK:

Usable・To tighten only screw to be retightened.
・As for IN/SYNC/START SYNC etc, move as normal.

Positioning GSK: Usable
・Z axis down commands are executed only in tightening screw.
・Z axis up commands are treated as cylinder return(up until up end).
・As for SYN, WAIT and MARK etc, move as normal.

104

Retightening by block operation
To retighten the block NG screw in block unit.
Multi axis GSK:

To execute same block again by start signal ON

after the block NG.
To tighten only screw to be retightened.
As for IN/OUT/PRINT, move as normal.
SYNC command is ignored.
Positioning GSK: Unusable
Retightening by NG screw only
To retighten the total NG screw by restart of program.
The movement after restart is repeat operation only for NG screw.
Multi axis GSK:

Unusable

Positioning GSK: To tighten only tightening NG screw with XY movement.
・QL action completion condition
Valid in selecting “QL action” in “Action method”.
Completed with NG screw only action
To be total OK if signal input from outside (QL wrench etc.) is input in same
numbers of NG.
Completed with all screw treatment after NG screw action
To be total OK if signal input from outside (QL wrench etc.) is input in numbers
which equal numbers of NG + numbers of all screws.
Cycle stop action
・Restart after cycle stop

To select “not move” or “move” for restart after cycle stop.

・Go to next block at start after cycle stop
Invalid: To restart from the beginning of the interrupted block.
Valid: To restart from the next step of the interrupted block.
[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

10511-5. Integration counter setting
You can do setting of threshold to output alarm from integration counter.

Fig (11-5-1): Integration counter setting[Items]・Work integration warning value

Setting of threshold to output alarm against work integration value.

・Screw integration warning value

Setting of threshold to output alarm against screw integration value.

[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

106

11-6. PLC setting
You can do setting related to PLC connection.

Fig (11-6-1): PLC setting[Items]
PLC connection
・MNET start address

Setting of communication address with MNET

(input area : 1-7)
・I/O size

To select I/O size of communication to be used in Anybus.

・PLC connection wait time

Some PLC cut connection temporarily and re-connect soon after completing(Input area : 0-50)

connection after power ON.
GSK judges as PLC connection error and output alarmin detecting such a cutting.
By this setting, such a connection error can be avoided.
Please set enough time in considering the timing of re-connection of PLC.

107

・Tightening result pattern(input area : 0-15)

To select contents of tightening result which is notified per one screw
according to tightening pattern.

Pattern No.

Byte perSetting PC Decimal

one screw

OffsetContents of notification+0

NG code

+2

Time

+4

Angle

+6

Torque+0

NG code

--

+2

Angle

*1

+6

Torque+0

NG code--+2

Pre-tightening time--+4

Pre-tightening angle--+6

Pre-tightening torque--+8

Pre-tightening area

--

+10

Final tightening time

--

+12

Final tightening angle

--

+14

Final tightening torque

--

+16

Final tightening area

--

+18

Final

Fn6-12 (Hexadecimal)
0

1

2

8

6

20

*1

tightening

snag

--

torque
3

4

5

8

4

12

+0

NG code--+2

Snag torque

--

+4

Angle

*1

+6

Torque

+0

Angle

+2

Torque+0

NG code

--

+2

Alarm

--

+4

Socket fitting torque--+6

Snag torque

--

+8

Angle

*1

+10

Torque

*1

6

2

+0

Torque

--

7

2

+0

Snag torque

--

8

4

+0

NG code--+2

Torque

--

108

9

4

(～15)

+0

NG code--+2

Snag torque

--

Spare

*1 Result data in priority.
As for torque data, time data and angle data, data to be sent is only 1 kind even if several movements are
executed in same block.
The selection of movement is taken place according to the below priority.
If same movements are executed more than 2 times in same block, the last movement is selected.
Priority (High)

1: Final tightening
2: Reverse rotation
3: Pre-tightening(Low)

4: Socket fitting

109

Item

Unit

Supplementation

Time

1ms

Angle

0.1 degrees

Torque

0.1Nm

Area

1Nm・degree

NG codeHexadecimal 4 digits

To be “FFFF” in case of stopping without alarm.
To be “FFXX” in case of stopping by alarm “XX”.
ex) “FFC4” in case of alarm “C4”

Alarm

Hexadecimal 4 digits

Upper 2 digits IF alarm / Lower 2 digits DRV alarm

・Tightening result address automatic adjustment
In valid, more results can be output by reducing blank parts of tightening
result.
*In valid, the address is different from I/O map table.
System GSK connection

System GSK is GIKEN original sequence system.

・System GSK (1 I/O board)

Selecting Valid / Invalid of system GSK.

・Use 2 I/O boards

To select valid in using 2 I/O boards.

・System GSK

To move to “System GSK setting” menu.
As for operation, please refer to “System GSK instruction manual”.

[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

11011-7. Network setting
You can do setting related to Ethernet or FTP server.

Fig (11-7-1): Network setting[Items]・PLC Network setting

Setting of IP address of Ethernet.

・FTP Network setting

Setting related to FTP server.

111

11-7-1. PLC Network setting
You can do setting related to Ethernet or FTP server.

Fig (11-7-2): PLC Network setting
Setting of address in using Ethernet of Anybus or PROFINET etc.

11211-7-2. FTP Network setting
11-7-2-1. Network

Fig (11-7-3): FTP Network setting
Setting of address in using BIG

Network tab
DATE or FTP server.

11-7-2-2. FTP

Fig (11-7-4): FTP Network setting

FTP tabSetting of address in using FTP server and name etc.

11311-7-2-3. FTP state

Fig (11-7-5): FTP Network setting

FTP state tab

To confirm the status of FTP server.

114

11-8. Special setting
You can do setting related to special spec. machine.

Fig (11-8-1): Special setting[Items]・Special setting Fn6-13

Manufacturer’s specification. Normal setting: 00

・Special setting Fn6-14

Manufacturer’s specification. Normal setting: 00

・NR unit block timer

Manufacturer’s specification. Normal setting: 00(input area : 0-15)
・Adjustment mode speed

Setting of percentage of speed in adjustment mode on XY teaching.

[Buttons]・Read

To read tightening data output setting from controller or file.

・WriteTo write tightening data output setting to controller or file.

・OK

To return to “Option setting menu” with fixing changes.

・CancelTo return to Option setting menu” with cancelling changes.

Print screen (P)To print the present screen.

115

11-9. Setting read, Setting write
You can read and write setting of .GSKOP extension file.

11612. NG code・Alarm code
12-1. NG code list
Mode
AlwaysCodeContents

FFFF

Emergency stop

FF00

Ready OFF during operation or Start OFF during program running.

0001

0002

0003
Zero
Magnification/
0004

check etc.

Zero offset error
Zero output exceeds “Set over” range in Zero / Magnification check.
Magnification error
Magnification output exceeds “Set over” range in Zero/Magnification check.
Zero offset fluctuation error
The difference between the latest output and the last one exceeds “Limit over”.
Magnification fluctuation error
The difference between the latest output and the last one exceeds “Limit over”.
In case of Nut runner

0033

Tightening sampling error
In case of positioning
Home return over time error

0034

0106

0107

0108
SOC. T
0111

Operation in not completion of home return
Under the status of not completion of home return, position shift commands of X, Y axis are input.
Gear check NG1
Reach “Cutting angle” during “Monitoring time for no-torque”
Gear check NG2
Rotating motor current exceeds “Upper torque limit”.
Fitting angle overNot reach “Fitting torque” after over “Cutting angle”.
Fitting torque overOver “Upper torque limit” when stop.

0112

Fitting torque under

0133

Fitting over time
Pre-tightening early tightening NG

0207

Reach “Premature tightening determination torque” between start and “Angle of fast
forwarding”.

PRE. T

0208
0211

0212

Reservation
Pre-tightening torque overOver Upper torque limit when stopped
Pre-tightening torque underNot reach Lower torque limit when stopped
117

Mode

Code
0221

0222

PRE. T

0231

0232

Contents
Pre-tightening time overOver upper time limit when stopped.
Pre-tightening time underNot reach lower time limit when stopped
Pre-tightening angle overOver upper angle limit when stopped
Pre-tightening angle underNot reach under angle limit when stopped

0233

Pre-tightening over time0240

Pre-tightening area over

0306
0307
0311
Reverse
0321

0322
0333
0403

Passing torque no detection NG
Not reach passing torque
Baking torque NG
Reverse judgement torque overOver judgement torque in measurement angle
Reverse time overOver upper time limit when stopped
Reverse time underNot reaching lower time limit when stopped
Reverse over time
Final tightening zone NG
Out of zone judgement range in Torque mode
Final Tightening slope NG

0404

Over setting in Angle mode
Movement finish before getting basic slope

0405

Final tightening

0406

0407

0411

0412

0421

Quality check torque NG
Over torque range when stopped
Quality check angle NG
Over angle range when stopped
Early tightening torque NG
Reached Cut torque between start and premature tightening determination angle
Final tightening torque overOver torque upper limit when stopped
Final tightening torque underNot reaching lower torque limit when stopped
Final Tightening time overOver upper time limit when stopped

118

Mode

Code
0422

0431

0432
0433
Final tightening

0434
0440
0441

0442

0451

Contents
Final Tightening time underNot reaching lower time limit when stopped
Final tightening angle overOver upper angle limit when stopped
Final tightening angle underNot reaching lower angle limit when stopped
Final tightening over time
Final tightening Cutting angle overOver Cutting angle from Final tightening start (Only without torque sensor)
Final tightening area overFinal tightening Snag torque overSnag torque over the range
Final tightening Snag torque underSnag torque not reach the range
Final tightening torque decline NG
Getting lower than Passing torque of reatightening after passing Snag torque.

11912-2. Alarm code list (EC alarm)
Alarm which are occurred in GSK interface.
Code/

Display

content

EC 0
Program

No.

error

Factor

Program select error /Content error

Cause

Countermeasures

The designated program is

Confirmout of range.

selecting program

Program data stored in GSKIF is incorrect (check SUM)
No NR axis in multi axis mode

EC 1
Movement
content error

Unbreakable movement
is setsignalofRe-setting of program
Confirm unit setting

Program data stored in GSKIF

isincorrect(Unknown

Re-setting of programcommand is found)
Mistake of unit setting

Confirm unit setting
Confirm
communication
between GSK-IF and
GSK controller

EC 2
No moving axis

The designated axis iserror

not installed / Axis No. is

ARCNET*Resetduplicatedfault

Confirm
communication

communication
between

impossible

GSK

controllers
Confirm

matching

axis

in

No.

unit

setting and that in
GSK controller
EC 3
FRAM error

Detect error by self-check*Resetof GSK-IF

Shortage of back up area etc.

Re-setting of program

impossible
Miswiring

communication
error*Resetimpossible

M-NET

connection

EC 4
Outsideof

Station
Stop
with
PLC)

communication
outside(mainly

addresssequencer,

error

Numbersofoftransceiver byte error

Confirm wiring
Confirm

settingsequencer

Mis-setting of M-NET station

Confirm

address

station address

Shield processing defect of MNET wire

120

of

Confirm wire

M-NET

EC 5
Rate No. setting
error
EC 6
Position

selecterror

Rate No. error of NR axis,
X axis, Y axis

Rate specification of NR axis,
X axis, Y axis is other than 130

Confirm

programsetting

Position select error in

Position specification in JOG

Confirm input/output

JOG operation

operation is other than 1-255

signalCan cable connection defectReplace cable

EC 7
CAN

Communication

communication

with CAN

error

error
ARCNETEC 9defect

ARCNET
communication
error

in

communication

power

Occur in power ON
No reply from controller

ON

Same as EC 2
Confirm

matching

axis

in

No.

setting and that in
GSK controller

121

unit

12-3. Alarm code list (EC alarm details)
You can confirm code details of alarm by connecting with setting PC.
“Man menu” ⇒ “Quality control” ⇒ “Self diagnosis”
EC0

Program operation error[Detecting contents] Errors related to program operation. These occur in detecting problem in selection andcontents of program.
[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Selected program No. is out of range

Confirm program No. of input signal(***1)
0101(0 or over max. program no.)0201

Some NR axis moves in first program start ofStart until stopping NR movement

all units
0301

NR axis of the unit moves in starting block ofStart until stopping NR movement

the unit
0401

Block to be executed is not decided in start

Block to be executed is not decided in
start

0501

Blocks to be executed for all axes are blank

Confirm program contents of No. to be
executed

0601
0701

The block No. to be started is over max.

Confirm version of IF firm

(Self diagnosis error of IF firm)

Version up of IF firm

Zero/magnification

ON

in

block

which

tightening command not exist

Confirm

contents

ofprogram.

Tightening command is necessary forblock of zero/magnification ON

0801

MARK command No. is duplicatedConfirm MARK command No. inprogram

0901

Timing of retightening start is too early

About 300ms interval is needed
between loosening signal ON andstart signal ON

0A01

0B01

Retightening cannot be started by mismatch

To

match

numbers ofblock byof block numbers of each unit in retightening

inserting dummy blocks, or changeof multi-unit and block movement mode.

the mode of retightening

XY block is detected in multi-axis mode

Confirm contents of program(After changing unit setting, program not

Input correct program

overwritten)*XY block is prohibited in multi-axis mode)
0C01

NR block is detected in positioning mode andConfirm contents of program

unit without NR axis

Input correct program*NR block is prohibited in unit without NR
122

axis

0D01

MOVXY command which cannot be executed

Confirm MOVX, MOVY, MOVXY

is detectedcommand.

(ex: MOVX command is detected in unit

Input correct program

without X axis)
0E01

Z axis command which cannot be executed is

Confirm command related to Z axis

detected(ex: Pressing down command is detected inunit without Z axis)
0F01“Finish SYNC” ON is detected in positioning

Make

mode.

SYNC”

*”Finish SYNC” is only used in multi-axis
mode

123

program

without“FinishEC1

Program step error[Detecting contents] Unbreakable movement is set in program. Step cannot be read.
[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Backup error of program (Old FRAM etc.)

Rewriting program(This also occurs if the program never be

To replace IF in occurring frequently(***2)
0102

written after changing setting of programmax. value)0202

Unbreakable step command is detected

Rewriting program *(undefined command)
0302

SPW command is detected

Rewriting program *0402

Program step is overRewriting program *0502

Rate No. is out of range

Rewriting program *0602

Internal memory shortage for program cache

Confirm unit setting and program

Valid axis No. which is exceeding programmax. value setting.

max. value

Rewriting program *END command of program cannot be detected

Rewriting program *

0702

124

EC2

Controller connection error[Detecting contents] Communication with controller (driver) cannot be executed.
Mainly ARCNET communication error.
[Status and Countermeasures]
Codedetails

Cause

Countermeasures

In start-up: Version of controller (driver) is

Version up firm of controller

oldReplacement of controller(***3)
0103(GSK driver, but old version)0203

In start-up: System No. error of controller

Replacement of controller

0303

In start-up: Axis of controller not foundConfirm axis No. of controller(No reply from driver)

Confirm connection between GSKIF
and controller
・Termination resistor is installed?
・There is noise or not?
・Contact failure of cable?

0403

In start-up: Axis which no reply from

Refer to 0303

controller)
1003

ARCNET communication is interrupted

Refer to 0303

(Communication success in start-up, butfailed later)
EC3

I/F unit error[Detecting contents] Any IF error is detected.
[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Backup error of parameter (Old FRAM etc.)

Rewriting of GSK setting parameter(***4)
0104(Possibility of breaking of various setting
value
0204

Definition error of input/output signal

Version up of IF firm

(Self-diagnosis error of IF firm)
0304

Size shortage of program area

Version up of IF firm

(Problem of IF firm. Shortage of backup area)

125

EC4

Outside communication error (Sequencer connection error)[Detecting contents] Sequencer (M-NET etc.) communication error is detected.
[Status and Countermeasures]
Codedetails

Cause

Countermeasures

In start-up: Sequencer communication defectAccording to the sequencer(***5)
0105

Refer to supplementation
0205

M-NET: Receive

size

specification

fromConfirm IO size of MNET sequencer

specification

fromConfirm IO size of MNET sequencer

specification

fromConfirm IO size of MNET sequencer

fromConfirm IO size of MNET sequencer

parent station is too small
0305

M-NET: Receive

size

parent station is too large
0405

M-NET: Receive

size

parent station is too small
0505

M-NET: Receive

size

specification

parent station is too large
1005

Sequencer communication error

Refer to supplementation(Success in start-up, but failed later)[Supplementation] In case that PLC is M-NET
Status

Cause

Countermeasures

Occurred afterMis-wiring of M-NET connection

Confirm wiring

power ON *1

Mismatchin

PLC

stationaddress,

Confirm

M-NET

address

communication speed etc. *2matches with PLC setting

Shield treatment fault of M-NET wire

Confirm wiring

setting*1
In case of M-NET, EC 4 is not occurred right after GSKIF power ON even if M-NET cannot be connected.
EC 4 is occurred in case of interruption after M-NET is connected once after power ON (Same as GSS).
If GSKIF does not reply to signals from PLC regardless of no EC 4, please check the above cause andcountermeasures.
Others
M-NET instructs numbers of send/receive bytes, but not check whether this size matches with
input/output signal size of GSKIF. If only a part of input/output signals can be communicated, pleaseconfirm each signal size according to PLC stations.
[Related main parameter] M-NET station address setting: Fn7-No.03

126

[Supplementation] In case that PLC is other than M-NET (Anybus board is connected in CN 13 connector)
Status

Cause

Countermeasures

Occurred afterMis-wiring of PLC connection

Confirm wiring

power ON *1

Mismatch of PLC address, communication

Confirm

speed etc. *2matches with Anybus board setting orwhether

PLC

settingnot.
Mismatch of input/output signal size

Confirm PLC setting (Fn6-12)
Confirm PLC setting (Fn6-15)

Occurred after

Shield treatment fault of PLC wire

Confirm wiring

Shield treatment fault of PLC wire

Confirm wiring

power ON
How to use Anybus board is different according to kinds of PLC (Devicenet/CCLINK/Profinet etc.)
As for details, please refer to Anybus specification.
*1 Sometimes it takes max. a few tens of seconds until alarm because sometimes it takes time forcompletion of connection sequence with PLC.
*2 Setting is different according to PLC.
[Related main parameter] PLC setting: Fn6-No.12

127

EC5

Fault of position movement[Detecting contents] Error related to XYZ movement[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Return: Cannot move because some axes not

Make the axes return to home

return to home position

position

Program operation cannot be done because

Make the axes return to home

some axes not return to home position

positionError of POS No. range which specified in

Confirm position No. specified byprogram operation

input signal (If Z axis exists, max. No.

(***6)
0106
0206
0306

is 160)0406

There is problem in X rate (speed 0 etc.)

Confirm X rate

0506

There is problem in Y rate (speed 0 etc.)

Confirm Y rate

0606

There is problem in Z rate (speed 0 etc.)

Confirm Z rate

1006

Z axis: Home return parameter error

Confirm Z rate

1106

Z axis: JOG parameter error

Confirm Z rate

1206

Z axis: Teaching parameter error

Confirm Z rate

1306

Fault of Z axis down. Z axis down during Z

Mainly rewrite IF firm, but correction

axis operation.

of overwrap distance in Z rate setting*Error in IF internal check. Possibility is low.

or insertion of wait by DELAY
command will be effective.

2006

XY movement by JOG signal: Cannot move byStart JOG after reducing interference

interference

between units.

*Now not occur
2206
2306

XY movement by JOG signal: Error of POS

Confirm the range of position No.

No. of target position

specified by input signal.

XY movement by JOG signal: Cannot move

Make the axes return to homebecause some axes not return to home

position

position

128

EC6

Out of range of target positions[Detecting contents] Error related to target positions of XYZ movement[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Z axis: Error of target coordinates, limit overConfirm Z axis coordinates of the(Try to move over up limit or down limit)

specified position

Z axis: Z axis coordinates is unknown in

Confirm whether the specified point

cylinder down command

No. is within the range.

・Coordinate value of Z axis is 0 mm

Confirm whether Z axis coordinate

・The point No. without Z axis coordinates isvalue of the specified point is larger

specified.

than up limit (Need to turn to down(***7)
0107
0207ex) return No. 255 etc.

direction).
0307
0407
1007

X coordinates of return target point is out ofConfirm XY coordinates of target

soft limit.

point are within soft limit.

Y coordinates of return target point is out of

To expand the range of soft limit if

soft limit.

necessary.

X coordinates of program target point is outof soft limit.

1107

Y coordinates of program target point is outof soft limit.

2007

X coordinates of JOG target point is out of soft
limit.

2107

Y coordinates of JOG target point is out of soft
limit.

129

EC7

CAN communication error[Detecting contents] Error in CAN communication (SVNET communication)[Status and Countermeasures]
Codedetails

Cause

Countermeasures

CAN open fault

Version up of IF firm(***8)
0108(Shortage of resource of RAM etc.)
0208

CAN communication fault in start up

Confirm

wiring・Connection fault of CAN cable

resistance etc.)

・Axis No. of Z axis is duplicated, mismatch

Confirm electricity(termination

Confirm axis No. (MAC-ID)
0308

CAN communication fault after start up

Confirm wiring(Interrupted after connected once)
EC8

Error of parameter contents[Detecting contents] Inappropriate parameter contents of IF[Status and Countermeasures]
Codedetails

Cause

Countermeasures

0109

UNIT setting: No valid axis

Confirm unit setting.

0209

UNIT setting: UNIT No. for each axis is not

Confirm unit setting. Each axis No.

ascending order.

shall be decided in ascending order of(***9)

unit No.
0309

UNIT setting: Axis No. is not in order as

Confirm unit setting. As for axes in

NR/X/Y/Z.

same unit, each axis No. in ascendingorder is allotted to NR/X/Y/Z.

0409 *1

UNIT setting: X axis not exist, Y axis exists

To add dummy X axis.

(Positioning cannot be done without X axis)
0509 *1

UNIT

setting:

Only

Z

axis

existsaspositioning

To add dummy X axis.
Correct axes in machine.

(Positioning cannot be done without X axis)
0609

UNIT setting: numbers of unit over(Max. numbers of unit in positioning is 4
units)*1: For old version. Movable in the latest IF.

130

Add additional IF.

EC9Tightening movement error[Detecting contents] Error related to NR movement[Status and Countermeasures]
Codedetails

Cause

Countermeasures

Axis off against other than NR axes in “Axis

Confirm contents of axis off setting(***A)
010A

off setting”.
020A

Axis off against other than NR axes by input

Confirm input signal for axis off

signal200A

210A

NR axis inching: Start fault

Confirm the selected program No..

(Selected program No. or program contents

Confirmare broken)

inching. Rewrite if necessary.

NR axis inching: Start fault

Confirm(Selected

programisblank.

program.)

No

valid

programprogramcontents
contentsforforinching.
(More than 1 tightening block beexisted.)131

13. Others
13-1. About Operation ready ON/OFF in reading/writing setting
・Read setting
The entire setting○

Nut runner setting (Rate setting, Block control, SOC.T, PRE.T, REV.T, REA.T)○

Unit setting○

Tightening data output setting○

Option setting○

Screw number setting○

Program setting○

Position setting(Cylinder name、X rate、Y rate、Interference)○

XY Point○

Timer setting○

Tightening record

×・Write setting
The entire setting×

Nut runner setting (Rate setting, Block control, SOC.T, PRE.T, REV.T, REA.T)×

Unit setting×Tightening data output setting×

Option setting

×

Screw number setting×

Program setting×

Position setting(Cylinder name、X rate、Y rate、Interference)×

Timer setting×

XY Point△(Note1)(Note1) Only single operation in single, judgement OFF

132

The terminology explanation
・UNIT
Max. 30 axes of motors are controlled in several groups.
The group is called “Unit”.
1 unit of interface can control max. 7 axes in multi-axis and max. 4 units in positioning.
At least more than one axis of motor is belonged to one interface, and each unit moves simultaneously.
In communicating with PLC etc., signals need to be input to each unit.

・PROGRAMThe largest framework regarding movement of NR and positioning motor is called “program”.
Axis numbers, setting numbers and setting contents of program is selected from the below 1-3;30 axes, 16 program No., 220 steps
30 axes, 50 program No., 70 steps
8 axes, 50 program No., 220 steps
As default, 1 is selected.
Program is set by using tightening block and positioning command regarding movement of NR and positioning motor
which are set in unit setting.
In program, at least more than one block needs to be set.

・STEP
Movement content of each NR which is set in program is called “Step”.
Each step has its number from No.1 to max. No. which is selected, and movement is decided by inserting tightening
blocks and positioning commands into each step.
Movement of NR is executed from step 1, and finish in the last end command.
After reaching the last end command, GSK outputs total judgement (Total OK/NG).
Each NR axis in a unit is synchronized in each step, and axes which finish movement of the step turn servo off andwait until other remaining axes finish movement.
After all axes finish the step, proceed to the next step.

・BLOCKA set of tightening command for each screw is called “block”.
The tightening command is operation command as Socket fitting, Pre-tightening, Reverse rotation and Finaltightening and order command as Socket removal, Retry and End.
Block which NR rate No., screw No. and zero/magnification check etc. are added is inserted into steps.
When program start is ON, one block in multi-axis and all steps in positioning are executed.
In the step of finishing the block, judgement (Block OK/NG) to the block is output.
If any step in the block is NG, judgement becomes Block NG and the next step is not executed.
After judgement, the next block is started by program start.
In case of retry, the following tightening command of retry command is executed before judgement, and in case of
positioning unit, the next tightening is executed after judgement.
133

・RETRY
The command to retry operation in case of NG in each operation (Fitting, Pre-tightening, Reverse and Finaltightening) of block.
In case of setting retry in tightening block and outputting NG from block start until retry, operation after retry until end
is executed.
If NG not occurs, tightening block is finished normally.
・SOCKET FITTING
To rotate in specified speed and until specified angle.
To be inserted into steps of tightening block and tightening program.
By using monitoring torque as option, pick up (fitting between socket and screw) operation before tightening andpreventive operation against socket-engagement after tightening can be done.

・PRETIGHTENING
The operation from screw rotation until pre-tightening.
This operation consists of 3 processes; Screw fitting process, Fast feeding process without load and tightening
process.
To be inserted into steps of tightening block and tightening program.
・REVERSE ROTATION
To loosen screw in some rotation after seating.
By monitoring the residual torque, judgement of bolt seizure can be done.

・FINAL TIGHTENING
To be used as final tightening in normal tightening setting.
Several judgements can be done by tightening method like Torque mode and Angle mode etc. and torque curve
method like zone judgement and gradient judgement etc.
・SOCKET REMOVALThe command used for removing socket from the screw which is tightened in final tightening.
Setting No. 50 of socket fitting is used for the movement.
This command is inserted into steps of tightening block and tightening program.

・QL INPUT
In the block where the tightening operation is in progress, if the tightening operation is not within the OK range, “NG”
determination 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 the tightening output of
the manual torque wrench to the controller. This input is called a QL input.

134

・TIGHTENING OUTPUT SETTING
To set data which is output from interface unit to ID controller.

・TIGHTENING SUMPLING OPERATIONThe operation to measure the length of screw in using sampling setting of auto setting.
To make NR rotate in constant speed to tightening direction of selected rate information, and finish in “Tightening
sampling stop torque”, then calculate the angle of the rotation.
Based upon this angle, simple setting is made and sampling data is acquired, then setting value is made from thisdata.
・SMOOTHING TIGHTENING
Stepless control of rotary speed from “Initial speed” until “Speed in cutting torque” is called “Smoothing tightening”.

・AREA CULCULATING
Integrated value of the torque value every 0.5 degree from this total or at the beginning of the temporary closing
movement to the end (the 1Nm unit) is indicated. The indicated value is 1/10 of a calculation result.
・END SYNCHRONIZATIONTo re-tighten until the tightening torque in 5 rpm after pre-tightening and final tightening
・STRETCH WAVEFORM
Torque mode in final tightening: Measuring start torque, Angle mode: tightening waveform from snag torque135

The revise history
VersionChange contents

notes

001

New creationArp.2019

002

E-mail address change

Mar.2020

003

Addition of overseas bases

Mar.2023

136

GIKEN INDUSTRIAL CO .,LTD.
■HeadOffice97-8, Imago-cho Yamatokoriyama, Nara, 639-1031
TEL：+81-743-59-3730
E-Mail（Sales engineering department）：gyomu@gikenkogyo.com
E-Mail（technical department）：seigyo@gikenkogyo.com
URL ： http://www.gikenkogyo.com■Nagoya Branch Office1202, Kumada, Nagakute, Aichi, 480-1144
TEL：+81-561-63-5321
E-Mail：nagoya@ gikenkogyo.com■Kanto Branch Office
1-2-15, Matoba, Kawagoe-city, Saitama, 350-1101
TEL：+81-49-298-4755
E-Mail：kanto@ gikenkogyo.com
Overseas base
■Giken Sanko Engineering（Thailand）Co.,
798Moo.7,T.Bangpoo Mhai
A.Muang Samutprakarn,
SAMUTPRAKARN
Thailand 10208
TEL：+66 0817556602
Version 003
Mar.2023
137